Mechanical arm platform with 3D visual recognition function

Abstract

The utility model provides a mechanical arm platform with 3D visual identification, which is applied to the field of mechanical arms and comprises a workbench, a mechanical arm component is fixedly mounted at the upper end of the workbench and comprises a base, the upper end of the base is connected with a first-stage rotating arm through a first electric rotating shaft, and the upper end of the first-stage rotating arm is connected with a second-stage rotating arm through a second electric rotating shaft. The upper end of the second-stage rotating arm is connected with a plug-in assembly through a third electric rotating shaft, the front end of the plug-in assembly is slidably connected with a motor base, the end, away from the plug-in assembly, of the motor base is rotatably connected with a clamping assembly through a servo motor, and the first-stage rotating arm is matched with the second-stage rotating arm so that the clamping assembly can move to a proper position; the motor base and the clamping assembly are pushed by the plugging assembly to move front and back in parallel to realize plugging and pulling actions, so that actions of the whole structure are reduced, and deviation is reduced.

Description

Technical Field

[0001] This application relates to the field of robotic arms, and particularly to a robotic arm platform with 3D vision recognition. Background Art

[0002] A robotic arm is a widely used automation device in the field of robotics. In particular, multi-degree-of-freedom robotic arms play an increasingly important role in multiple fields such as mechanical manufacturing, automotive, semiconductor, medical, and home services. Due to limitations in conditions, the intelligence of robotic arms is still not high enough. More often, they perform mechanical teaching actions, and there are still many problems in applying them to changing environments. Machine vision is a branch of artificial intelligence. Briefly speaking, machine vision uses a camera to replace the human eye to judge and analyze the surrounding environment, and combines certain algorithms to achieve intelligent decision-making. It is a comprehensive technology that includes image processing, mechanical engineering technology, control, electric light source lighting, optical imaging, sensors, analog and digital video technology, computer software and hardware technology, etc. Machine vision is divided into several types in principle, such as monocular, binocular, and 3D vision. Combining machine vision with a robotic arm is equivalent to adding intelligent "eyes" to the robotic arm, which can greatly enhance the environmental perception ability and intelligent decision-making ability of the robotic arm, thereby further expanding the application fields of the robotic arm.

[0003] However, in actual industrial applications, a robotic arm can handle general rotational and translational movements, but insertion actions often require the robotic arm to complete within a relatively small space. However, the shape, position, and posture of objects in the actual scene have great uncertainties, which pose great challenges to the insertion actions of the robotic arm.

[0004] In response to this, we propose a robotic arm platform with 3D vision recognition to solve the above problems. Utility Model Content

[0005] The purpose of this application is to adjust the motion posture of the robotic arm through deformation compensation of the robotic arm. Compared with the prior art, a robotic arm platform with 3D vision recognition is provided, including a workbench. A robotic arm assembly is fixedly installed at the upper end of the workbench. The robotic arm assembly includes a base. An electric rotating shaft one is connected to a first-stage rotating arm at the upper end of the base. A second-stage rotating arm is connected to the upper end of the first-stage rotating arm through an electric rotating shaft two. A third-stage rotating arm is connected to the upper end of the second-stage rotating arm through an electric rotating shaft three. A plugging assembly is connected to the front end of the third-stage rotating arm in a sliding manner. A motor seat is slidably connected to the front end of the plugging assembly. A clamping assembly is rotatably connected to the end of the motor seat away from the plugging assembly through a servo motor. The first-stage rotating arm cooperates with the second-stage rotating arm to move the clamping assembly to a suitable position. The plugging assembly is used to push the motor seat and the clamping assembly to move back and forth in parallel to achieve insertion and extraction actions, reducing the actions of the overall structure and reducing deviations.

[0006] Further, a reserved groove is provided at one end of the plug-in component close to the motor base. An electric telescopic rod is installed inside the reserved groove. The electric telescopic rod includes a first-stage telescopic section. At one end of the first-stage telescopic section away from the plug-in component, there is a plug-in area. A compression spring is sleeved on the outer wall of the plug-in area. A buffer groove corresponding to the position of the plug-in area is provided at one end of the motor base close to the plug-in component. When the clamping component inserts an object, the plug-in area at the front end of the first-stage telescopic section is inserted into the buffer groove and cooperates with the compression spring to achieve soft insertion, effectively reducing the knocking and damage to the object during hard insertion. By installing a pressure sensor inside the buffer groove, the insertion force can be directly observed. When the insertion force exceeds the threshold of the pressure sensor, the insertion action can be stopped in time, effectively protecting the safety of the object.

[0007] Further, the electric telescopic rod further includes a second-stage telescopic section slidably connected to the end of the plug-in area. Limiting rings are provided on the side walls of both the second-stage telescopic section and the end of the plug-in area away from the plug-in component. The limiting rings are adapted to the inner diameter of the buffer groove. A limiting block adapted to the outer diameter of the plug-in area is provided at the opening of the buffer groove. By using the second-stage telescopic section to extend forward and abut against the bottom of the buffer groove and cooperating with the extrusion of the limiting ring of the plug-in area on the limiting block, the stable fixed connection between the motor base and the electric telescopic rod is realized, improving the overall connection stability between the motor base and the plug-in component, and enabling the clamping component to clamp heavier objects.

[0008] Further, a plurality of limiting rods are installed at one end of the motor base close to the plug-in component. A chute corresponding to the position of the limiting rods is provided at the front end of the plug-in component. The stable connection between the motor base and the plug-in component is improved by the cooperation between the plurality of limiting rods and the chute.

[0009] Further, the clamping component includes a three-finger flexible claw and a depth camera installed at its upper end.

[0010] Compared with the prior art, the advantages of the present application are as follows:

[0011] 1. By means of the first-stage rotating arm and the second-stage rotating arm, the clamping component is moved to a suitable position. The plug-in component is used to push the motor base and the clamping component to move forward and backward in parallel to achieve the insertion and extraction actions, reducing the actions of the overall structure and reducing the deviation.

[0012] 2. When the clamping component inserts an object, the plug-in area at the front end of the first-stage telescopic section is inserted into the buffer groove and cooperates with the compression spring to achieve soft insertion, effectively reducing the knocking and damage to the object during hard insertion.

[0013] 3. By using the second-stage telescopic section to extend forward and abut against the bottom of the buffer groove and cooperating with the extrusion of the limiting ring of the plug-in area on the limiting block, the stable fixed connection between the motor base and the electric telescopic rod is realized, improving the overall connection stability between the motor base and the plug-in component, and enabling the clamping component to clamp heavier objects. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the main structure of this application;

[0015] Figure 2 It is a schematic diagram of the structure of the visual robotic arm assembly of this application;

[0016] Figure 3 It is a schematic diagram of the joint of the angle adjustment assembly and the clamping assembly of this application;

[0017] Figure 4 It is an exploded view of the angle adjustment assembly and the clamping assembly of this application;

[0018] Figure 5 It is a partial cross-sectional view of the joint of the plug-in assembly and the motor base of this application.

[0019] Explanation of the reference numerals in the figure:

[0020] 1. Workbench; 2. Robotic arm assembly; 21. Base; 22. First-level rotating arm; 23. Second-level rotating arm; 24. Plug-in assembly; 241. Slide groove; 242. First-level telescopic section; 243. Plug-in area; 244. Second-level telescopic section; 245. Limit ring; 25. Motor base; 251. Limit rod; 252. Buffer groove; 3. Clamping assembly. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model; obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0022] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0023] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, terms such as "installation", "provided with", "sheathed / connected", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside a component of a matching model. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0024] Embodiment 1:

[0025] The present utility model provides a robotic arm platform with 3D vision recognition. Please refer to Figures 1-3 , which includes a workbench 1. A robotic arm assembly 2 is fixedly installed at the upper end of the workbench 1. The robotic arm assembly 2 includes a base 21. The upper end of the base 21 is connected to a first-level rotating arm 22 through an electric rotating shaft one. The upper end of the first-level rotating arm 22 is connected to a second-level rotating arm 23 through an electric rotating shaft two. The upper end of the second-level rotating arm 23 is connected to a plug-in assembly 24 through an electric rotating shaft three. A motor base 25 is slidably connected to the front end of the plug-in assembly 24. One end of the motor base 25 away from the plug-in assembly 24 is rotatably connected to a clamping assembly 3 through a servo motor.

[0026] Specifically, the first-level rotating arm 22 and the second-level rotating arm 23 are used to move the clamping assembly to a suitable position. The plug-in assembly 24 is used to push the motor base 25 and the clamping assembly to move back and forth in parallel to achieve the insertion and extraction actions, reducing the actions of the overall structure and reducing the deviation.

[0027] Please refer to Figures 4-5 , a reserved slot is opened at one end of the plug-in assembly 24 close to the motor base 25. An electric telescopic rod is installed inside the reserved slot. The electric telescopic rod includes a first-level telescopic section 242. A plug-in area 243 is provided at one end of the first-level telescopic section 242 away from the plug-in assembly 24. A compression spring is sleeved on the outer wall of the plug-in area 243. A buffer slot 252 corresponding to the position of the plug-in area 243 is opened at one end of the motor base 25 close to the plug-in assembly 24.

[0028] Specifically, when the clamping assembly 3 inserts an object, the plug-in area 243 at the front end of the first-level telescopic section 242 is inserted into the buffer slot 252 and cooperates with the compression spring to absorb the insertion force, realizing soft insertion. It effectively reduces the knocking and damage to the object during hard insertion. A pressure sensor is installed inside the buffer slot 252 to directly observe the insertion force. When the insertion force exceeds the threshold of the pressure sensor, the insertion action can be stopped in time, effectively protecting the safety of the object, and the error position can also be found and corrected in time.

[0029] The clamping assembly 3 includes a three-finger flexible jaw and a depth camera mounted at its upper end, and connects the USB3.0 data cable of the camera to the overall controller; the camera can be a D435 depth camera, which is generally installed at the end of the robotic arm flange and has a good viewing angle (conducive to object detection).

[0030] Specifically, combining machine vision and the robotic arm is equivalent to adding intelligent "eyes" to the robotic arm, which can greatly enhance the environmental perception ability and intelligent decision-making ability of the robotic arm, thereby further expanding the application fields of the robotic arm.

[0031] Embodiment 2:

[0032] The present utility model provides a robotic arm platform with 3D vision recognition. Please refer to Figure 5 The electric telescopic rod further includes a secondary telescopic section 244 slidably connected to the end of the insertion area 243. Limiting rings 245 are provided on the side walls of the secondary telescopic section 244 and the insertion area 243 away from one end of the insertion assembly 24. The limiting rings 245 are adapted to the inner diameter of the buffer groove 252, and a limiting block adapted to the outer diameter of the insertion area 243 is provided at the opening of the buffer groove 252.

[0033] Specifically, by using the forward elongation of the secondary telescopic section 244 to abut against the bottom of the buffer groove 252 and the extrusion of the limiting block by the limiting ring of the insertion area 243, the stable connection of the motor base 25 to the electric telescopic rod is realized, improving the overall connection stability between the motor base 25 and the insertion assembly 24, so that the clamping assembly 3 can clamp heavier objects.

[0034] A plurality of limiting rods 251 are installed at one end of the motor base 25 close to the insertion assembly 24, and a sliding groove 241 corresponding to the position of the limiting rods 251 is provided at the front end of the insertion assembly 24. The stable connection between the motor base 25 and the insertion assembly 24 is improved by the cooperation between the plurality of limiting rods 251 and the sliding groove 241.

[0035] The above is only the best implementation mode adopted by the present application in combination with the current actual needs, but the protection scope of the present application is not limited thereto.

Claims

1. A robotic arm platform with 3D visual recognition, including a workbench (1), characterized in that, A robotic arm assembly (2) is fixedly installed at the upper end of the workbench (1). The robotic arm assembly (2) includes a base (21). One end of the upper end of the base (21) is connected to a first-level rotating arm (22) through a first electric rotating shaft. One end of the upper end of the first-level rotating arm (22) is connected to a second-level rotating arm (23) through a second electric rotating shaft. One end of the upper end of the second-level rotating arm (23) is connected to a plugging component (24) through a third electric rotating shaft. A motor base (25) is slidably connected to the front end of the plugging component (24). One end of the motor base (25) away from the plugging component (24) is rotatably connected to a clamping component (3) through a servo motor.

2. The robotic arm platform with 3D vision recognition according to claim 1, characterized in that, A reserved slot is opened at one end of the plugging component (24) close to the motor base (25). An electric telescopic rod is installed inside the reserved slot. The electric telescopic rod includes a first-level telescopic section (242). One end of the first-level telescopic section (242) away from the plugging component (24) is provided with a plugging area (243). A compression spring is sleeved on the outer wall of the plugging area (243). A buffer slot (252) corresponding to the position of the plugging area (243) is opened at one end of the motor base (25) close to the plugging component (24).

3. The robotic arm platform with 3D vision recognition according to claim 2, characterized in that, The electric telescopic rod further includes a second-level telescopic section (244) slidably connected to the end of the plugging area (243). Limit rings (245) are provided on the side walls of one ends of the second-level telescopic section (244) and the plugging area (243) away from the plugging component (24).

4. A robotic arm platform with 3D vision recognition according to claim 3, characterized in that, The inner diameter of the limit ring (245) is adapted to the inner diameter of the buffer slot (252). A limit block adapted to the outer diameter of the plugging area (243) is provided at the opening of the buffer slot (252).

5. A robotic arm platform with 3D vision recognition according to claim 1, characterized in that, A plurality of limit rods (251) are installed at one end of the motor base (25) close to the plugging component (24). A sliding slot (241) corresponding to the position of the limit rods (251) is opened at the front end of the plugging component (24).

6. The robotic arm platform with 3D vision recognition according to claim 1, characterized in that The clamping component (3) includes a three-finger flexible gripper and a depth camera installed at its upper end.

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