Automatic grabbing device, autonomous mobile robot and automatic grabbing system

Abstract

The embodiment of the utility model provides an automatic grabbing device, an autonomous mobile robot and an automatic grabbing system. The automatic grabbing device comprises a collaborative robot and an execution assembly installed at the end of the collaborative robot. The collaborative robot is used for driving the execution assembly to linearly move in any one of the first direction, the second direction and the third direction or rotate at any angle in a plane formed by the second direction and the third direction. The execution assembly comprises a linear motion module and an adsorption module, in the second direction, the first end of the linear motion module is installed at the end of the collaborative robot, the second end of the linear motion module is connected with the adsorption module, the length of the linear motion module in the second direction is adjustable, and the adsorption module is used for adsorbing materials. Thus, automatic transfer of the materials can be achieved, the grabbing scene of the automatic grabbing device is not limited when the automatic grabbing device grabs the materials, and transfer of the materials can be completed in a limited space and an environment not suitable for manual transfer.

Description

Technical Field

[0001] The utility model relates to the technical field of material transfer, in particular to an automatic grasping device, an autonomous mobile robot and an automatic grasping system. Background Art

[0002] In the field of material transfer technology, materials are often manually removed from a warehouse and then moved to a pre-set location. For example, beverages are manually moved from a warehouse shelf to a designated location on the shelf. However, manual transfer not only results in low transfer efficiency but is also prone to errors in material placement. Furthermore, manual transfer safety is difficult to ensure in environments unsuitable for manual transfer (e.g., low or high temperature environments, or environments with toxic gases). Utility Model Content

[0003] In order to solve or partially solve the above problems, the utility model discloses an automatic grasping device, an autonomous mobile robot and automatic grasping, so as to solve the problems of low efficiency of manual transfer and environmental limitations of manual transfer in the prior art.

[0004] In a first aspect, to solve the above-mentioned problem, an embodiment of the present utility model provides an automatic grasping device, wherein the automatic grasping device has a first direction, a second direction, and a third direction that intersect with each other;

[0005] The automatic grasping device includes a collaborative robot and an execution component installed at the end of the collaborative robot; wherein,

[0006] The collaborative robot is used to drive the actuator to move linearly along any one of the first direction, the second direction and the third direction, or to rotate along any angle in a plane formed by the second direction and the third direction;

[0007] The execution component includes a linear motion module and an adsorption module. In the second direction, the first end of the linear motion module is installed on the end of the collaborative robot, and the second end of the linear motion module is connected to the adsorption module. The length of the linear motion module in the second direction is adjustable, and the adsorption module is used to adsorb materials.

[0008] Optionally, the automatic grasping device further includes a movable base and at least two shooting components, and the execution component further includes an extension rod having a length direction in the first direction;

[0009] The collaborative robot is mounted on the movable base, and a shooting assembly is mounted on each of the first surface and the second surface of the extension rod, wherein the first surface and the second surface are two surfaces of the extension rod facing different directions;

[0010] In the first direction, the first end of the extension rod is connected to the collaborative robot, and the second end of the extension rod is connected to the linear motion module. The collaborative robot is used to move along the first direction to the minimum distance close to the movable base, and the second end of the collaborative robot approaches the bottom of the movable base in the first direction.

[0011] Optionally, the linear motion module includes a drive motor, a drive screw, a screw nut and a telescopic arm;

[0012] The driving shaft of the driving motor is connected to the driving screw, and the screw nut is threadedly connected to the driving screw. The driving motor is used to drive the driving screw to rotate so that the screw nut moves along the second direction. The first end of the telescopic arm is connected to the screw nut, and the second end of the telescopic arm is connected to the adsorption module. The axis of the telescopic arm is parallel to the axis of the driving screw.

[0013] The linear motion module further includes a mounting bracket, wherein the mounting bracket includes a first mounting plate and a second mounting plate intersecting with each other;

[0014] The plane where the first mounting plate is located intersects with the first direction, the plane where the second mounting plate is located intersects with the second direction, and the drive motor and the second mounting plate are respectively mounted on two opposite ends of the first mounting plate in the second direction;

[0015] A slide rail is provided on the bottom surface of the first mounting plate, and the slide rail extends along the second direction. The screw nut is slidably connected to the slide rail, and the driving screw is installed on the second mounting plate through the screw nut. The second end of the telescopic arm passes through the second mounting plate and is connected to the adsorption module.

[0016] Optionally, the adsorption module includes a suction cup base, a suction cup mounting seat and a vacuum suction cup;

[0017] The suction cup base is connected to the second end of the telescopic arm, the suction cup base and the suction cup mounting seat are connected to form a vacuum air path, the vacuum suction cup is installed on the surface of the suction cup mounting seat away from the suction cup base, and is connected to the vacuum air path.

[0018] Optionally, the surface of the suction cup mounting seat away from the suction cup base is a curved surface.

[0019] Optionally, a vacuum check valve is provided between the suction cup base and the suction cup mounting seat;

[0020] The vacuum check valve is connected between the vacuum air path and the vacuum suction cup.

[0021] Optionally, the adsorption module further includes a vacuum pipe, and the vacuum pipe is connected to the vacuum air path;

[0022] A pipe mounting bracket is mounted on the first surface of the mounting bracket. The pipe mounting bracket includes a limiting groove in which the vacuum pipe is embedded. The first surface is the surface of the mounting bracket opposite to the surface on which the slide rail is mounted.

[0023] Optionally, there are multiple vacuum suction cups, and the multiple vacuum suction cups are arranged in a matrix.

[0024] In a second aspect, an embodiment of the present utility model further provides an autonomous mobile robot, which includes the automatic grasping device described in any of the above embodiments.

[0025] In a third aspect, an embodiment of the present utility model provides an automatic grasping system, the automatic grasping system comprising a server and the autonomous mobile robot described in the second aspect;

[0026] The autonomous mobile robot is communicatively connected to the server.

[0027] In the embodiment of the present application, since the actuator is mounted on the end of the collaborative robot, the collaborative robot is used to drive the actuator to move linearly along any of the first, second, and third directions, or to rotate along any angle in the plane formed by the second and third directions. Therefore, the actuator can be driven by the collaborative robot to move linearly along any of the first, second, and third directions, or to rotate along any angle in the plane formed by the second and third directions, that is, the actuator can be moved in any direction and at any position. Furthermore, since the actuator includes a linear motion module and an adsorption module, in the second direction, the first end of the linear motion module is mounted on the end of the collaborative robot, the second end of the linear motion module is connected to the adsorption module, the length of the linear motion module in the second direction is adjustable, and the adsorption module is used to adsorb materials. Therefore, the adsorption module can be driven by the linear motion module to approach or move away from the object along the second direction, thereby realizing the action of automated transportation. To sum up, the automatic grabbing device provided by the embodiment of the utility model can realize the automatic transfer of materials, improve the efficiency of item transfer, save manpower, and make the grabbing scene of the automatic grabbing device unrestricted when grabbing materials, and can complete the transfer of materials in limited space and in environments that are not suitable for manual transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a structural diagram of an automatic grabbing device provided by an embodiment of the present utility model;

[0030] Figure 2 This is a schematic diagram of the exploded structure of an automatic grabbing device provided by an embodiment of the utility model;

[0031] Figure 3 This is a schematic diagram of the assembly of a linear motion module and an adsorption module included in an automatic grasping device provided by an embodiment of the present utility model;

[0032] Figure 4 It is a schematic diagram of the assembly of various components of a linear motion module included in an automatic grasping device provided by an embodiment of the present utility model.

[0033] Description of reference numerals:

[0034] 1: Collaborative robot; 2: Actuator; 21: Linear motion module; 211: Drive motor; 212: Drive screw; 213: Screw nut; 214: Telescopic arm; 215: Mounting bracket; 2151: First mounting plate; 2152: Second mounting plate; 2153: Pipe mounting bracket; 216: Slide rail; 22: Adsorption module; 221: Suction cup base; 222: Suction cup mounting base; 223: Vacuum suction cup; 23: Extension rod; 3: Removable base; 4: Shooting component. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] It should be understood that references throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic associated with the embodiment is included in at least one embodiment of the present invention. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0037] like Figures 1 to 4 As shown, an embodiment of the present invention provides an automatic grasping device, which has a first direction (Z), a second direction (X), and a third direction (Y) that intersect each other, including:

[0038] A collaborative robot 1 and an actuator 2 installed at the end of the collaborative robot 1.

[0039] Among them, the collaborative robot 1 is used to drive the execution component 2 to move linearly along any direction of the first direction (Z), the second direction (X) and the third direction (Y), or to rotate at any angle in the plane formed by the second direction (X) and the third direction (Y).

[0040] The execution component 2 includes a linear motion module 21 and an adsorption module 22. In the second direction (X), the first end of the linear motion module 21 is installed on the end of the collaborative robot 1, and the second end of the linear motion module 21 is connected to the adsorption module 22. The length of the linear motion module 21 in the second direction (X) is adjustable, and the adsorption module 22 is used to adsorb materials.

[0041] It can be seen from the above embodiments that in the embodiments of the present application, since the execution component 2 is installed at the end of the collaborative robot 1, the collaborative robot 1 is used to drive the execution component 2 to move linearly along any direction of the first direction (Z), the second direction (X) and the third direction (Y), or rotate along any angle in the plane formed by the second direction (X) and the third direction (Y). Therefore, the execution component 2 can move linearly along any direction of the first direction (Z), the second direction (X) and the third direction (Y) or rotate along any angle in the plane formed by the second direction (X) and the third direction (Y) under the drive of the collaborative robot 1, that is, the execution component 2 can move in any direction and at any position. Furthermore, since the execution component 2 includes a linear motion module 21 and an adsorption module 22, in the second direction (X), the first end of the linear motion module 21 is installed on the end of the collaborative robot 1, and the second end of the linear motion module 21 is connected to the adsorption module 22. The length of the linear motion module 21 in the second direction (X) is adjustable, and the adsorption module 22 is used to adsorb materials. Therefore, the adsorption module 22 can be driven by the linear motion module 21 to approach or move away from the object along the second direction, thereby realizing the action of automatic transfer. In summary, the automatic grasping device provided by the embodiment of the present invention can realize the automatic transfer of materials, improve the efficiency of the transfer of items, save manpower, and make the grasping scene of the automatic grasping device unrestricted when grasping materials, and can complete the transfer of materials in limited space and in an environment that is not suitable for manual transfer.

[0042] Among them, in the above embodiment, the collaborative robot 1 can ensure three linear axes and two rotation axes. Specifically, the collaborative robot 1 can include an X-axis, a Y-axis, a Z-axis, an A-axis and a B-axis. The X-axis can move in a first direction X, the Y-axis can move in a first direction Y, and is usually connected to the X-axis. The Z-axis can move in a first direction Z, and is usually connected to the Y-axis. The A-axis rotates around the X-axis, and the B-axis rotates around the Y-axis. In this way, through the coordination between the X-axis, the Y-axis, the Z-axis, the A-axis and the B-axis, the actuator 2 can move linearly in any direction of the first direction (Z), the second direction (X) and the third direction (Y) under the drive of the collaborative robot 1, or rotate at any angle in the plane formed by the second direction (X) and the third direction (Y), thereby making the movement direction of the actuator 2 unrestricted.

[0043] The linear motion module 21 included in the actuator 2 can be a cylinder push rod structure, a motor screw structure, or other drive structure capable of linear motion, and the present invention does not limit this. The suction module 22 can be any of an electromagnetic suction cup, a vacuum suction cup 223, an airbag suction cup, or an electrostatic suction structure. The specific type of suction module 22, the structure of the material, and the material of the material determine this, and the present invention does not limit this.

[0044] It should be noted that according to Figure 1 In the embodiment of the present invention, the X-axis direction and the Z-axis direction intersect, the X-axis direction and the Y-axis direction intersect, and the Y-axis direction and the Z-axis direction intersect. For the sake of convenience, the first direction is defined as the Z-axis direction, the second direction is defined as the X-axis direction (that is, the extension direction of the connecting member 3 in the embodiment of the present invention), and the third direction is defined as the Y-axis direction.

[0045] The structure of the execution component 2 provided by the embodiment of the present invention is described in detail below:

[0046] In some embodiments, the automatic grasping device further includes a movable base 3 and at least two shooting components 4, and the execution component 2 further includes an extension rod 23 having a length direction in the first direction (Z); the collaborative robot 1 is mounted on the movable base 3, and a shooting component 4 is mounted on the first surface and the second surface of the extension rod 23, wherein the first surface and the second surface are two surfaces of the extension rod 23 facing different directions, and a shooting component 4 is mounted on the first surface and the second surface, wherein the first surface and the second surface are two surfaces of the extension rod facing different directions. In the first direction (Z), the first end of the extension rod 23 is connected to the collaborative robot 1, and the second end of the extension rod 23 is connected to the linear motion module 21. The collaborative robot 1 is used to move along the first direction (Z) to a minimum position close to the movable base 3, and the second end of the collaborative robot 1 approaches the bottom of the movable base 3 in the first direction (Z).

[0047] In this embodiment, the extension rod 23 can be a unitary rod-shaped structure or a split rod-shaped structure, which is not limited in this embodiment of the present invention. For example, taking the split rod-shaped structure as an example, the extension rod 23 can include a first extension plate and a second extension plate, the first extension plate and the second extension plate being spaced apart along the first direction. The first end of the extension rod 23 can be connected to the end of the collaborative robot 1 via a flange structure, and the second end of the extension rod 23 can be connected to the linear motion module via another flange structure. In this way, since the collaborative robot 1 is mounted on the movable base 3, the extension rod 23 extends along the first direction (Z), the first end of the extension rod 23 is connected to the collaborative robot 1, and the second end of the extension rod 23 is connected to the linear motion module 21. When the collaborative robot 1 moves along the first direction (Z) to the minimum distance close to the movable base 3, the second end of the collaborative robot 1 approaches the bottom of the movable base 3 in the first direction (Z). Therefore, the extension rod 23 can compensate for the limitation on the movement distance of the collaborative robot 1 in the first direction (Z) due to the setting of the movable base 3, so that the actuator 2 can grasp objects located on the side of the bottom of the movable base 3 in the first direction (Z), so that the grasping range of the actuator 2 is not limited. Among them, the minimum distance that the collaborative robot 1 moves along the first direction (Z) to the movable base 3 can be understood as the maximum distance that the Z axis of the collaborative robot 1 moves along the first direction (Z) to the direction close to the movable base 3, that is, the minimum distance between the collaborative robot 1 and the movable base 3 when it can no longer move further along the Z axis in the first direction (Z).

[0048] It should be noted that when the collaborative robot 1 includes the X-axis, Y-axis, Z-axis, A-axis, and B-axis in the above embodiment, the Y-axis, Z-axis, A-axis, and B-axis are usually connected to one side of the Z-axis, and the Z-axis is connected to the movable base 3. Therefore, the X-axis can be connected to the Z-axis first, and then the Y-axis can be connected to the X-axis, the A-axis can be connected to the Y-axis, and the B-axis can be connected to the A-axis. Finally, the extension rod 23 can be used to connect the B-axis, so that the extension rod 23 can drive the actuator 2 to reach the bottom of the movable base 3. It should also be noted that. The shooting component 4 may include a camera and a fixed housing, so that the camera is installed in the fixed housing, and the fixed housing is then installed on the extension rod 23. Since the automatic replenishment component includes at least two shooting components 4, a shooting component 4 is installed on the first surface and the second surface of the extension rod 23, wherein the first surface and the second surface are two surfaces of the extension rod 23 facing different directions, and a shooting component 4 is installed on the first surface and the second surface, so that the two intersecting surfaces of the extension rod 23 can each have a shooting component 4, that is, at least two shooting components 4 have different orientations, that is, at least two shooting components have different shooting angles, and thus the shooting component 4 can be used to more accurately locate and address objects, facilitating subsequent accurate and rapid grasping of objects. In addition, the movable base 3 may include a mounting seat and a roller, and the roller can be installed at the bottom of the mounting seat, so that the movable base 3 can be moved in any direction. In addition, the movable base 3 can be a kind of smart car, and the movement of the automatic grasping device can be achieved through the movable base 3.

[0049] In some embodiments, the linear motion module includes a drive motor 211, a drive screw 212, a screw nut 213 and a telescopic arm 214; the drive shaft of the drive motor 211 is connected to the drive screw 212, and the screw nut 213 is threadedly connected to the drive screw 212. The drive motor 211 is used to drive the drive screw 212 to rotate, so that the screw nut 213 moves along the second direction (X). The first end of the telescopic arm 214 is connected to the screw nut 213, and the second end of the telescopic arm 214 is connected to the adsorption module 22. The axis of the telescopic arm 214 is parallel to the axis of the drive screw 212.

[0050] In this embodiment, when the drive motor 211 rotates, it can drive the drive screw 212 to rotate. Since the screw nut 213 is threadedly connected to the drive screw 212, the screw nut 213 can move along the extension direction of the drive screw 212. Since the screw nut 213 moves along the second direction (X), the first end of the telescopic arm 214 is connected to the screw nut 213, and the second end of the telescopic arm 214 is connected to the adsorption module 22. The axis of the telescopic arm 214 is parallel to the axis of the drive screw 212. Therefore, the telescopic arm 214 can move along the second direction (X) with the screw nut 213, thereby causing the adsorption module 22 connected to the end of the telescopic arm 214 to move closer to and away from the material.

[0051] In some embodiments, the linear motion module also includes a mounting bracket 215, and the mounting bracket 215 includes an intersecting first mounting plate 2151 and a second mounting plate 2152; the plane where the first mounting plate 2151 is located intersects with the first direction (Z), and the plane where the second mounting plate 2152 is located intersects with the second direction (X), and the drive motor 211 and the second mounting plate 2152 are respectively installed on the two opposite ends of the first mounting plate 2151 in the second direction (X); a slide rail 216 is provided on the bottom surface of the first mounting plate 2151, and the slide rail 216 extends along the second direction. The screw nut 213 is slidably connected to the slide rail 216, and the drive screw 212 is installed on the second mounting plate 2152 through the screw nut 213, and the second end of the telescopic arm 214 passes through the second mounting plate 2152 and is connected to the adsorption module 22.

[0052] In this embodiment, the first mounting plate 2151 and the second mounting plate 2152 can form an L-shaped plate structure, and the drive motor 211 can be installed at the end of the first mounting plate 2151 in the second direction (X) by connecting parts such as bolts and snaps. The second mounting plate 2152 can be fixed to the end of the first mounting plate 2151 in the second direction (X) by welding, snap connection, threaded connection or other connection methods. Thus, since a slide rail 216 is provided on the bottom surface of the first mounting plate 2151, the slide rail 216 extends along the second direction (X), the screw nut 213 is slidably connected to the slide rail 216, the drive screw 212 passes through the screw nut 213 and is mounted on the second mounting plate 2152, and the second end of the telescopic arm 214 passes through the second mounting plate 2152 and is connected to the adsorption module 22. Therefore, when the drive screw 212 rotates, the screw nut 213 can slide along the extension direction of the slide rail 216, thereby ensuring that the telescopic arm 214 can slide in a predetermined direction, making the adsorption module 22 mounted at the end of the telescopic arm 214 move closer to or away from an object more smoothly. In addition, it should be noted that a threaded hole can be provided in the middle of the screw nut 213, so that the screw nut 213 is threadedly connected to the threaded hole, and a groove is provided on the surface of the screw nut 213 facing the first mounting plate 2151, so that the slide rail 216 is embedded in the groove, thereby achieving a sliding connection between the screw nut 213 and the slide rail 216. In addition, a mounting hole can be opened on the second mounting plate 2152, and a lubricating sleeve can be installed in the mounting hole. Then, the second end of the telescopic arm 214 is passed through the lubricating sleeve, thereby reducing the friction of the telescopic arm 214 during movement and improving the smoothness of the process of the adsorption module 22 installed at the end of the telescopic arm 214 approaching or moving away from the object.

[0053] In some embodiments, the adsorption module 22 includes a suction cup base 221, a suction cup mounting base 222 and a vacuum suction cup 223; the suction cup base 221 is connected to the second end of the telescopic arm 214, the suction cup base 221 and the suction cup mounting base 222 are connected to form a vacuum air path, and the vacuum suction cup 223 is installed on the surface of the suction cup mounting base 222 away from the suction cup base 221, and is connected to the vacuum air path.

[0054] In this embodiment, the suction cup base 221 and the suction cup mounting base 222 can both be plate-like structures. During installation, the suction cup base 221 can be mounted on the second end of the telescopic arm 214 via the mounting plate. The suction cup base 221 and the suction cup mounting base 222 are then snapped together. The suction cup base 221 has a plurality of first through-hole structures, and the suction cup mounting base 222 has a plurality of second through-hole structures. The plurality of first through-hole structures and the second through-hole structures are connected to form a vacuum air path. The suction cup base 221 and the suction cup mounting base 222 are sealed so that the vacuum air path formed between the suction cup base 221 and the suction cup mounting base 222 is in a sealed state. The suction cup base 221 should have a cavity for inputting vacuum into the plurality of first through-hole structures. In this way, since the vacuum suction cup 223 is installed on the surface of the suction cup mounting seat 222 away from the suction cup base 221 and is connected to the vacuum air path, the object can be adsorbed by the vacuum suction cup 223. In addition, the vacuum suction cup 223 has a large adsorption force, which can prevent the object from falling off during the transportation process after grabbing the object.

[0055] In some embodiments, the surface of the suction cup mounting seat 222 away from the suction cup base 221 is a curved surface.

[0056] In this embodiment, since the surface of the suction cup mounting seat 222 away from the suction cup base 221 is a curved surface, the suction cup mounting seat 222 can fit the curved surface of the object, further preventing the object from falling off during the transportation process after grasping the object. It should be noted that this embodiment can be understood as that since the surface of the suction cup mounting seat 222 away from the suction cup base 221 is a curved surface, when the multiple vacuum suction cups 223 have the same size, the adsorption surface formed by the multiple vacuum suction cups 223 on the curved surface is a curved surface, which facilitates the adhesion with the curved surface of the object surface, thereby ensuring the adsorption effect.

[0057] In some embodiments, a vacuum check valve is provided between the suction cup base 221 and the suction cup mounting seat 222 , and the vacuum check valve is connected between the vacuum air path and the vacuum suction cup 223 .

[0058] In this embodiment, since a vacuum check valve is provided between the suction cup base 221 and the suction cup mounting seat 222, and the vacuum check valve is connected between the vacuum air path and the vacuum suction cup 223, the vacuum check valve can be used to ensure that the vacuum air path is cut off when the vacuum suction cup 223 does not contact the object to prevent air leakage, thereby ensuring the adsorption effect of the vacuum suction cup 223.

[0059] In some embodiments, the adsorption module 22 also includes a vacuum pipe, which is connected to the vacuum air path; a pipe mounting bracket 2153 is installed on the first surface of the mounting bracket 215, and the pipe mounting bracket 2153 includes a limiting groove, and the vacuum pipe is embedded in the limiting groove. The first surface is the surface of the mounting bracket 215 that is opposite to the surface of the mounting rail 216.

[0060] In this embodiment, the pipe mounting bracket 2153 may include a first side panel and a second side panel that are arranged relative to each other along a third direction (Y), and a third side panel that intersects the first direction (Z). The third side edge is installed between the first side panel and the second side panel. The first side panel, the second side panel, and the third side panel bracket form a U-shaped frame structure, thereby making the first side panel, the second side panel, and the third side panel form a U-shaped limiting groove. In this way, the vacuum pipe can be embedded in the limiting groove, which not only protects and accommodates the vacuum pipe through the limiting groove, but also prevents the vacuum pipe from bending and causing airflow problems. In addition, since the pipe mounting bracket 2153 is installed on the first surface of the mounting bracket 215, it can save space for the installation of the vacuum pipe, thereby reducing the space occupied by the entire automatic gripping device and making the entire structure more compact.

[0061] It should be noted that, in an embodiment of the present invention, a vacuum digital pressure gauge is also provided, which is connected between the suction cup base 221 and the vacuum pump through a vacuum pipe, and can provide real-time feedback on the vacuum value to ensure that the object can be successfully adsorbed.

[0062] In some embodiments, there are multiple vacuum cups 223 arranged in a matrix. This allows for equal spacing between adjacent vacuum cups 223, ensuring a more even distribution of the suction force exerted by the vacuum cups 223 on the object, thereby preventing a loose suction caused by insufficient local suction force.

[0063] It can be seen from the above embodiments that in the embodiments of the present application, since the execution component 2 is installed at the end of the collaborative robot 1, the collaborative robot 1 is used to drive the execution component 2 to move linearly along any direction of the first direction (Z), the second direction (X) and the third direction (Y), or rotate along any angle in the plane formed by the second direction (X) and the third direction (Y). Therefore, the execution component 2 can move linearly along any direction of the first direction (Z), the second direction (X) and the third direction (Y) or rotate along any angle in the plane formed by the second direction (X) and the third direction (Y) under the drive of the collaborative robot 1, that is, the execution component 2 can move in any direction and at any position. Furthermore, since the execution component 2 includes a linear motion module 21 and an adsorption module 22, in the second direction (X), the first end of the linear motion module 21 is installed on the end of the collaborative robot 1, and the second end of the linear motion module 21 is connected to the adsorption module 22. The length of the linear motion module 21 in the second direction (X) is adjustable, and the adsorption module 22 is used to adsorb materials. Therefore, the adsorption module 22 can be driven by the linear motion module 21 to approach or move away from the object along the second direction, thereby realizing the action of automatic transfer. In summary, the automatic grasping device provided by the embodiment of the present invention can realize the automatic transfer of materials, improve the efficiency of the transfer of items, save manpower, and make the grasping scene of the automatic grasping device unrestricted when grasping materials, and can complete the transfer of materials in limited space and in an environment that is not suitable for manual transfer.

[0064] In a second aspect, embodiments of the present invention further provide an autonomous mobile robot comprising the automatic grasping device described in any of the above embodiments. The beneficial effects of the autonomous mobile robot are consistent with those of the automatic grasping device described in the above embodiments, and are not further described in the embodiments of the present invention.

[0065] In a second aspect, an embodiment of the present utility model further provides an automatic grasping system, which includes a server and the autonomous mobile robot described in the embodiment of the second aspect; the autonomous mobile robot and the server are communicatively connected.

[0066] It should be noted that when grasping an object, the server can first control the automatic grabbing device to move to the location of the object. After that, the specific position of the grabbing component is obtained through the shooting component 4. After the server receives the specific position information of the grabbing component obtained by the shooting component 4, the collaborative robot 1 is controlled to move to the specified position, and then the adsorption module 22 is driven by the linear motion module 21 to approach the object until the vacuum suction cup 223 included in the adsorption module 22 is adsorbed on the object. Then, the adsorption module 22 is driven by the linear motion module 21 away from the carrier where the loaded object is located, and then the server controls the collaborative robot 1 to move to a position to prevent the object. In this way, since the automatic grabbing system includes the automatic grabbing device described in any embodiment of the first aspect, the degree of automation in the automatic grabbing system can be improved, and the efficiency of material transportation can be improved. It should also be noted that the automatic grabbing system provided by the embodiment of the present utility model can be used in any scenario of automatic picking and placing of materials in the agricultural field, industrial field and commercial field, and the embodiment of the present utility model is not limited to this.

[0067] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to in detail.

[0068] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0069] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0070] The above is a detailed introduction to the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An automatic grasping device, characterized in that: The automatic grasping device has a first direction (Z), a second direction (X) and a third direction (Y) that intersect each other; The automatic grasping device includes a collaborative robot and an execution component installed at the end of the collaborative robot; wherein, The collaborative robot is used to drive the actuator to move linearly along any one of the first direction (Z), the second direction (X), and the third direction (Y), or to rotate along any angle in a plane formed by the second direction (X) and the third direction (Y); The execution component includes a linear motion module and an adsorption module. In the second direction (X), the first end of the linear motion module is installed on the end of the collaborative robot, and the second end of the linear motion module is connected to the adsorption module. The length of the linear motion module in the second direction (X) is adjustable, and the adsorption module is used to adsorb materials.

2. The automatic gripping device according to claim 1, characterized in that: The automatic grasping device further includes a movable base and at least two shooting assemblies, and the execution assembly further includes an extension rod having a length direction in the first direction (Z); The collaborative robot is mounted on the movable base, and a shooting assembly is mounted on each of the first surface and the second surface of the extension rod, wherein the first surface and the second surface are two surfaces of the extension rod facing different directions; In the first direction (Z), the first end of the extension rod is connected to the collaborative robot, and the second end of the extension rod is connected to the linear motion module. The collaborative robot is used to move along the first direction (Z) to the minimum distance close to the movable base, and the second end of the collaborative robot approaches the bottom of the movable base in the first direction (Z).

3. The automatic grasping device according to claim 1 or 2, characterized in that: The linear motion module includes a drive motor, a drive screw, a screw nut and a telescopic arm; The driving shaft of the driving motor is connected to the driving screw, and the screw nut is threadedly connected to the driving screw. The driving motor is used to drive the driving screw to rotate so that the screw nut moves along the second direction (X). The first end of the telescopic arm is connected to the screw nut, and the second end of the telescopic arm is connected to the adsorption module. The axis of the telescopic arm is parallel to the axis of the driving screw.

4. The automatic grasping device according to claim 3, characterized in that: The linear motion module further includes a mounting bracket, the mounting bracket including a first mounting plate and a second mounting plate intersecting each other; a plane on which the first mounting plate is located intersects the first direction (Z), a plane on which the second mounting plate is located intersects the second direction (X), and the drive motor and the second mounting plate are respectively mounted on two opposite ends of the first mounting plate in the second direction (X); A slide rail is provided on the bottom surface of the first mounting plate, and the slide rail extends along the second direction (X). The screw nut is slidably connected to the slide rail, and the driving screw is installed on the second mounting plate through the screw nut. The second end of the telescopic arm passes through the second mounting plate and is connected to the adsorption module.

5. The automatic grasping device according to claim 4, characterized in that: The adsorption module includes a suction cup base, a suction cup mounting seat and a vacuum suction cup; The suction cup base is connected to the second end of the telescopic arm, the suction cup base and the suction cup mounting seat are connected to form a vacuum air path, the vacuum suction cup is installed on the surface of the suction cup mounting seat away from the suction cup base, and is connected to the vacuum air path.

6. The automatic grasping device according to claim 5, characterized in that: The surface of the suction cup mounting seat away from the suction cup base is a curved surface.

7. The automatic grasping device according to claim 5, characterized in that: A vacuum check valve is provided between the suction cup base and the suction cup mounting seat; The vacuum check valve is connected between the vacuum air path and the vacuum suction cup.

8. The automatic gripping device according to any one of claims 5 to 7, characterized in that: The adsorption module further includes a vacuum pipe, the vacuum pipe being in communication with the vacuum air path; A pipe mounting bracket is mounted on the first surface of the mounting bracket. The pipe mounting bracket includes a limiting groove in which the vacuum pipe is embedded. The first surface is the surface of the mounting bracket opposite to the surface on which the slide rail is mounted.

9. An autonomous mobile robot, characterized in that: The autonomous mobile robot comprises the automatic grasping device according to any one of claims 1 to 8.

10. An automatic grasping system, characterized in that: The automatic grasping system comprises a server and the autonomous mobile robot according to claim 9; The autonomous mobile robot is communicatively connected to the server.

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