A robotic arm structure with machine vision navigation function

Abstract

This utility model discloses a robotic arm structure with machine vision navigation function, including a first swing arm, a second swing arm at the top of the first swing arm, a suction cup gripper rotatably mounted at the end of the second swing arm away from the first swing arm, a camera fixedly mounted on the suction cup gripper, and a wire fixedly connected to the camera. The first and second swing arms are provided with a wire storage mechanism. During use, the wire storage mechanism stores the wire on the camera, allowing the wire to remain taut while allowing for a certain degree of extension and retraction to coordinate with the movement of the suction cup gripper.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm structure with machine vision navigation function. Background Technology

[0002] Robotic arms with machine vision navigation are a product of the deep integration of artificial intelligence and robotics technology. Their background technology stems from the dual needs of industrial automation for high-precision operation and intelligent perception.

[0003] Traditional robotic arms rely on preset programs or manual teaching and lack environmental adaptability. In contrast, the introduction of machine vision technology uses sensors such as cameras and lidar to collect three-dimensional spatial information in real time and combines image processing algorithms to achieve target recognition, localization and path planning.

[0004] The core technologies include: a deep learning-based object recognition model that can quickly distinguish workpieces of different materials and shapes; binocular vision or structured light technology to construct depth maps to obtain spatial coordinates; and kinematic algorithms that convert visual data into motion commands for the robotic arm joints. This structure breaks through the fixed operation mode of traditional robotic arms, enabling them to autonomously adjust their grasping strategies in unstructured environments, such as dynamically identifying randomly stacked packages in logistics sorting, or assisting doctors in performing minimally invasive procedures in medical surgery.

[0005] In existing robotic arm structures with machine vision navigation, the camera's cable is typically fixed to the outside of the robotic arm during use. As the robotic arm's flexibility increases, its movement distance and rotation angle also increase. This places certain demands on the tightness of the camera cable. If the cable is fixed in a limiting position, it will be in a taut state when the robotic arm rotates at large angles. Without fixing the cable, excessive slack in the cable may cause it to come into contact with other objects, posing a risk of snagging. The purpose of this invention is to provide a robotic arm structure with machine vision navigation to address the aforementioned shortcomings of the prior art. Utility Model Content

[0006] The purpose of this invention is to provide a robotic arm structure with machine vision navigation function to overcome the above-mentioned shortcomings in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm structure with machine vision navigation function, including a first swing arm, a second swing arm is provided at the top of the first swing arm, a suction cup gripper is rotatably mounted at the end of the second swing arm away from the first swing arm, a camera is fixedly mounted on the suction cup gripper, a wire is fixedly connected to the camera, and a wire storage mechanism is provided on the first swing arm and the second swing arm.

[0008] As a further description of the above technical solution: a connecting block is rotatably mounted on the top of the first swing arm, and one side of the connecting block is rotatably connected to the second swing arm.

[0009] As a further description of the above technical solution: the wire storage mechanism includes a first winding shaft and a second winding shaft. The first winding shaft is rotatably mounted on the top of the connecting block, and the second winding shaft is rotatably mounted on the top of the first swing arm. The wire is wound on the first winding shaft and the second winding shaft. A protective cover is fixedly mounted on the top of the connecting block. A first torsion spring is fixedly connected between the protective cover and the first winding shaft, and a second torsion spring is fixedly connected between the second winding shaft and the top of the first swing arm.

[0010] As a further description of the above technical solution: a mounting base is rotatably mounted on the bottom of the first swing arm, and mounting holes are provided at the four corners of the bottom of the mounting base.

[0011] As a further description of the above technical solution: a plurality of limiting rings are fixedly installed on the top of the second swing arm, the wire passes through the interior of the plurality of limiting rings, and ball bearings are rotatably installed on the inner wall of the plurality of limiting rings, the ball bearings being in contact with the wire.

[0012] As a further description of the above technical solution: a first bevel gear is rotatably mounted on the bottom of the first take-up shaft, and a second bevel gear is fixedly mounted on the second take-up shaft. The first bevel gear and the second bevel gear mesh with each other, and both the first bevel gear and the second bevel gear are rotatably mounted inside the connecting block.

[0013] This invention provides a robotic arm structure with machine vision navigation function. It has the following advantages: During use, the wire storage mechanism stores the wires on the camera, allowing the wires to remain taut while still being able to extend and retract to a certain extent, facilitating the movement of the suction cup gripper.

[0014] In this practical suction cup gripper, when driven, the wire follows the rotation of the second swing arm. When extension is needed, the tension on the wire drives the first and second winding shafts to rotate, releasing the excess wire wound on the first and second winding shafts to cooperate with the movement of the suction cup gripper. The first and second winding shafts are installed on the connecting block and the second swing arm respectively to accommodate the wire extension and retraction caused by the rotation of the second swing arm centered on the top of the first swing arm.

[0015] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit this disclosure.

[0016] This application provides an overview of various implementations or examples of the technology described in this disclosure, and is not a full disclosure of the entire scope or all features of the disclosed technology. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a robotic arm with machine vision navigation function proposed in this utility model.

[0018] Figure 2 This is a top view of the structure of this utility model;

[0019] Figure 3 This is a three-dimensional exploded view of the limiting ring of this utility model;

[0020] Figure 4 This is a three-dimensional structural diagram of the conductor, the first winding shaft, and the second winding shaft of this utility model;

[0021] Figure 5 This is a three-dimensional exploded view of the first and second winding shafts of this utility model.

[0022] Legend:

[0023] 1. First swing arm; 2. Second swing arm; 3. Suction cup gripper; 4. Camera; 5. Wire; 6. Connecting block; 7. First take-up shaft; 8. Second take-up shaft; 9. Protective cover; 10. First torsion spring; 11. Second torsion spring; 12. Mounting base; 13. Mounting hole; 14. Limiting ring; 15. Ball bearing; 16. First bevel gear; 17. Second bevel gear. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] Reference Figure 1-5A robotic arm structure with machine vision navigation function includes a first swing arm 1, a second swing arm 2 at the top of the first swing arm 1, and a suction cup gripper 3 rotatably mounted on the end of the second swing arm 2 away from the first swing arm 1. A camera 4 is fixedly mounted on the suction cup gripper 3, and a wire 5 is fixedly connected to the camera 4. The first swing arm 1 and the second swing arm 2 are provided with a wire 5 storage mechanism. During the use of this device, the wire 5 on the camera 4 is stored through the wire 5 storage mechanism, allowing the wire 5 to extend and retract to a certain extent while remaining taut, in order to cooperate with the movement of the suction cup gripper 3. The camera 4 serves as the core vision sensor. By capturing image or video data of the operating environment, the system provides real-time environmental perception capabilities. Its core functions are reflected in three aspects: first, environmental modeling and localization. After the two-dimensional or three-dimensional visual information collected by camera 4 is analyzed by image processing algorithms, an environmental map can be constructed and the robot's own pose can be determined, providing a basic coordinate system for navigation; second, target recognition and tracking. The object recognition model based on deep learning can accurately locate target objects and predict the trajectory of dynamic targets through continuous frame image analysis, guiding the robot to adjust its grasping strategy; and third, path planning and obstacle avoidance. The vision system, combined with the environmental map and target position, can generate the optimal motion path and achieve autonomous obstacle avoidance by monitoring obstacles in real time.

[0026] As a preferred technical solution of this embodiment, a connecting block 6 is rotatably installed at the top of the first swing arm 1, and one side of the connecting block 6 is rotatably connected to the second swing arm 2; the first swing arm 1 and the second swing arm 2 are connected by the connecting block 6, so that the second swing arm 2 can rotate around the top of the first swing arm 1 as the center, and can also rotate on its own axis, thereby increasing the flexibility of the suction cup gripper 3.

[0027] As a preferred embodiment, the wire 5 storage mechanism includes a first winding shaft 7 and a second winding shaft 8. The first winding shaft 7 is rotatably mounted on the top of the connecting block 6, and the second winding shaft 8 is rotatably mounted on the top of the first swing arm 1. The wire 5 is wound around the first winding shaft 7 and the second winding shaft 8. A protective cover 9 is fixedly mounted on the top of the connecting block 6. A first torsion spring 10 is fixedly connected between the protective cover 9 and the first winding shaft 7, and a second torsion spring 11 is fixedly connected between the second winding shaft 8 and the top of the first swing arm 1. In this practical suction cup gripper 3, when driven, the wire 5 follows the rotation of the second swing arm 2. When it needs to extend, the tension on the wire 5 drives the first winding shaft 7 and the second winding shaft 8 to rotate, releasing the excess wire 5 wound on the first winding shaft 7 and the second winding shaft 8 to cooperate with the movement of the suction cup gripper 3. The first winding shaft 7 and the second winding shaft 8 are installed on the connecting block 6 and the second swing arm 2 respectively to cooperate with the rotation of the second swing arm 2 with the top of the first swing arm 1 as the center, and to solve the problem of wire 5 extension and retraction.

[0028] As a preferred technical solution of this embodiment, a mounting base 12 is rotatably mounted on the bottom of the first swing arm 1, and mounting holes 13 are provided at the four corners of the bottom of the mounting base 12; the mounting base 12 is fixedly mounted on the workbench through the mounting holes 13 to effectively support the first swing arm 1 and the second swing arm 2.

[0029] As a preferred embodiment, a plurality of limiting rings 14 are fixedly installed on the top of the second swing arm 2. The wire 5 passes through the interior of the plurality of limiting rings 14. A ball bearing 15 is rotatably installed on the inner wall of the plurality of limiting rings 14, and the ball bearing 15 contacts the wire 5. The limiting rings 14 limit the wire 5, so that the wire 5 is tightly attached to the second swing arm 2. The contact between the ball bearing 15 and the wire 5 reduces the friction between the limiting rings 14 and the wire 5, which facilitates the retraction of the wire 5.

[0030] As a preferred embodiment, a first bevel gear 16 is rotatably mounted on the bottom of the first take-up shaft 7, and a second bevel gear 17 is fixedly mounted on the second take-up shaft 8. The first bevel gear 16 and the second bevel gear 17 mesh with each other, and both the first bevel gear 16 and the second bevel gear 17 are rotatably mounted inside the connecting block 6. The meshing of the first bevel gear 16 and the second bevel gear 17 enables mutual transmission between the first take-up shaft 7 and the second take-up shaft 8, facilitating the transmission of the wire 5 between the first take-up shaft 7 and the second take-up shaft 8 and reducing resistance.

[0031] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm structure with machine vision navigation function, comprising a first swing arm (1), characterized in that: The top end of the first swing arm (1) is provided with a second swing arm (2). A suction cup gripper (3) is rotatably installed on the end of the second swing arm (2) away from the first swing arm (1). A camera (4) is fixedly installed on the suction cup gripper (3). A wire (5) is fixedly connected to the camera (4). A wire (5) storage mechanism is provided on the first swing arm (1) and the second swing arm (2).

2. The robotic arm structure with machine vision navigation function according to claim 1, characterized in that, A connecting block (6) is rotatably mounted on the top of the first swing arm (1), and one side of the connecting block (6) is rotatably connected to the second swing arm (2).

3. The robotic arm structure with machine vision navigation function according to claim 2, characterized in that, The wire (5) storage mechanism includes a first winding shaft (7) and a second winding shaft (8). The first winding shaft (7) is rotatably mounted on the top of the connecting block (6), and the second winding shaft (8) is rotatably mounted on the top of the first swing arm (1). The wire (5) is wound around the first winding shaft (7) and the second winding shaft (8). A protective cover (9) is fixedly mounted on the top of the connecting block (6). A first torsion spring (10) is fixedly connected between the protective cover (9) and the first winding shaft (7), and a second torsion spring (11) is fixedly connected between the second winding shaft (8) and the top of the first swing arm (1).

4. The robotic arm structure with machine vision navigation function according to claim 3, characterized in that, The first swing arm (1) is rotatably mounted with a mounting base (12) at its bottom, and mounting holes (13) are provided at the four corners of the bottom of the mounting base (12).

5. A robotic arm structure with machine vision navigation function according to claim 4, characterized in that, Multiple limiting rings (14) are fixedly installed on the top of the second swing arm (2). The wire (5) passes through the inside of the multiple limiting rings (14). Ball bearings (15) are rotatably installed on the inner wall of the multiple limiting rings (14). The ball bearings (15) are in contact with the wire (5).

6. The robotic arm structure with machine vision navigation function according to claim 4, characterized in that, A first bevel gear (16) is rotatably mounted on the bottom of the first take-up shaft (7), and a second bevel gear (17) is fixedly mounted on the second take-up shaft (8). The first bevel gear (16) and the second bevel gear (17) mesh with each other, and both the first bevel gear (16) and the second bevel gear (17) are rotatably mounted inside the connecting block (6).

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