Robotic vision-guided grasping mechanism

Abstract

The utility model provides a kind of robot vision guidance grabbing mechanism, belong to grabbing mechanism technical field;Including: base, base upper end surface center position rotationally connected with first rotating seat, first rotating seat one side rotationally connected with first connecting arm, first connecting arm one side edge position rotationally connected with first connecting seat, first connecting seat front end surface center position rotationally connected with second connecting arm, second connecting arm front end surface center position fixedly connected with second connecting seat, second connecting seat lower end surface center position rotationally connected with moving structure;The utility model first camera and second camera can be overall visual monitoring to work area, the setting of double camera can obtain the image information of target object from different angles, improve the accuracy and integrity of visual data, before grabbing operation, vision structure can quickly and accurately position the position, shape, size and other key information of target object.

Description

Technical Field

[0001] This utility model relates to the field of grasping mechanism technology, and in particular to a robot vision-guided grasping mechanism. Background Technology

[0002] Robotic grasping operations play a crucial role in many fields such as modern industrial production and logistics warehousing. Traditional robotic grasping mechanisms often rely on pre-set programs and fixed coordinates for grasping operations. However, in actual working scenarios, the position, shape, and orientation of the object to be grasped may have considerable randomness.

[0003] One existing robotic vision-guided grasping mechanism can be found in Chinese Utility Model Patent Publication No. CN219946250U, which discloses a robotic vision-guided grasping mechanism including a clamping rod with a buckle and a fixing rod in the middle of the buckle. A cylinder is located in the middle of the fixing rod, and rotating rods are located on both sides of the cylinder. Two grooves are located on the right end of the clamping rod, and springs are installed within the grooves. A fixing clip is located in the middle of the grooves, and a rotating shaft is located in the middle of the fixing clip. Clamping blocks are located on both sides of the rotating shaft, and the clamping blocks are symmetrically arranged with an inclined shape. When grasping an object, the pressure generated by grasping the object pushes the clamping plate to rotate around the rotating shaft. A buckle groove is connected to the bottom of the clamping plate, and the buckle groove is connected to a spring. The elastic force provided by the spring pushes the clamping plate to rotate in the opposite direction. Under the balance of these two forces, the mechanism can automatically adapt to the angle at which the clamping blocks grasp the object, achieving a more stable and secure grasping of the object.

[0004] However, in actual use, it was found that although the above-mentioned utility model can grip objects, it does not describe a visual guidance structure. Without a visual structure, how can visual guidance be used for accurate gripping? Furthermore, the gripping structure lacks anti-slip capability. Therefore, this application provides a robot visual guidance gripping mechanism to meet the requirements. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a robot vision-guided grasping mechanism to solve the problem of how to perform accurate grasping with vision guidance without a vision structure, and the grasping structure has no anti-slip capability.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A robot vision-guided grasping mechanism includes: a base, a first rotating seat rotatably connected to the center of the upper surface of the base, a first connecting arm rotatably connected to one side of the first rotating seat, a first connecting seat rotatably connected to one edge of one side of the first connecting arm, a second connecting arm rotatably connected to the center of the front end surface of the first connecting seat, a second connecting seat fixedly connected to the center of the front end surface of the second connecting arm, and a movable structure rotatably connected to the center of the lower surface of the second connecting seat. The movable structure includes a mounting plate, and two grasping structures are threadedly connected to the lower surface of the mounting plate. Each grasping structure includes a grasping plate, and vision structures are bolted to both sides of the upper surface of the mounting plate near the center. Each vision structure includes a fixed seat.

[0007] A drive motor is fixedly installed on one side of the inner wall of the mounting plate, and a bidirectional screw is fixedly connected to the output end of the drive motor. A reducer is rotatably connected to the other side of the outer surface of the bidirectional screw.

[0008] A connecting plate is fixedly installed at the upper edge of the gripping plate, and mounting seats are fixedly installed on both sides of the gripping plate. An anti-slip pad is snapped into the center of each mounting seat.

[0009] A first camera is bolted to one side of the lower end face of the mounting base, and a second camera is bolted to the center of the other side of the mounting base.

[0010] A first rotating motor is fixedly installed at the edge of the upper end face of the first rotating seat, and a second rotating motor is fixedly connected at the edge of the first connecting arm.

[0011] A fourth rotating motor is fixedly installed at the rear edge of the first connecting seat, and a third rotating motor is rotatably connected at one side edge of the first connecting seat.

[0012] A fifth rotating motor is rotatably connected to one side of the second connecting seat.

[0013] Compared with the prior art, this utility model has at least the following beneficial effects: 1. In the above scheme, the vision structure of the device is bolted to both sides of the upper surface of the mounting plate near the center. The first and second cameras on the fixed base can perform comprehensive visual monitoring of the working area. The dual-camera setup can acquire image information of the target object from different angles, improving the accuracy and completeness of visual data. Before the grasping operation, the vision structure can quickly and accurately locate the key information such as the position, shape, and size of the target object, and then feed this information back to the control system to guide the grasping structure to accurately perform the grasping operation, thereby improving the success rate of grasping and work efficiency.

[0014] 2. In the above solution, the gripping plate of the device's gripping structure is threadedly connected to the lower end face of the mounting plate, and its up-and-down movement is controlled by a drive motor, a bidirectional screw, and a reducer, thus increasing the motion precision of the gripping plate. The precise rotation of the bidirectional screw allows for accurate adjustment of the gripping plate's height, adapting to gripping objects of different heights. Anti-slip pads are engaged on the mounting seats on both sides of the gripping plate, increasing friction with the object's surface during gripping. Whether gripping smooth metal or rough plastic surfaces, the anti-slip pads effectively prevent the object from slipping during gripping, improving the stability and reliability of the gripping process. Attached Figure Description

[0015] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present disclosure and, together with the specification, further serve to explain the principles of the present disclosure and enable those skilled in the art to implement and use the present disclosure.

[0016] Figure 1 A schematic diagram of the three-dimensional structure of a robot vision-guided grasping mechanism; Figure 2 A schematic diagram of the vision structure of a robot vision-guided grasping mechanism; Figure 3 A schematic diagram of the internal structure of a robot vision-guided grasping mechanism; Figure 4 This is a schematic diagram of the grasping structure of a robot vision-guided grasping mechanism.

[0017] [Figure Labels] 1. Base; 2. First rotating seat; 3. First rotating motor; 4. Second rotating motor; 5. First connecting arm; 6. Third rotating motor; 7. Fourth rotating motor; 8. First connecting seat; 9. Second connecting arm; 10. Second connecting seat; 11. Fifth rotating motor; 12. Vision structure; 1201. Fixed seat; 1202. First camera; 1203. Second camera; 13. Moving structure; 1301. Mounting plate; 1302. Drive motor; 1303. Bidirectional screw; 1304. Reducer; 14. Gripping structure; 1401. Gripping plate; 1402. Connecting plate; 1403. Mounting seat; 1404. Anti-slip pad.

[0018] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of this utility model. However, this is only for illustrative purposes and is not intended to limit this utility model to the specific structure, device and environment. According to specific needs, those skilled in the art can adjust or modify these devices and environments, and such adjustments or modifications are still included in the scope of the appended claims. Detailed Implementation

[0019] The robot vision-guided grasping mechanism provided by this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are listed as best and preferred embodiments, and other alternative methods may be used by those skilled in the art; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit this utility model.

[0020] like Figures 1 to 4 As shown, an embodiment of this utility model provides a robot vision-guided grasping mechanism, including: a base 1, a first rotating seat 2 rotatably connected to the center of the upper surface of the base 1, a first connecting arm 5 rotatably connected to one side of the first rotating seat 2, a first connecting seat 8 rotatably connected to one edge of one side of the first connecting arm 5, a second connecting arm 9 rotatably connected to the center of the front end surface of the first connecting seat 8, a second connecting seat 10 fixedly connected to the center of the front end surface of the second connecting arm 9, and a movable structure 13 rotatably connected to the center of the lower surface of the second connecting seat 10. The movable structure 13 includes a mounting plate 1301, and two grasping structures 14 are threadedly connected to the lower surface of the mounting plate 1301. The grasping structure 14 includes a grasping plate 1401. Visual structures 12 are bolted to both sides of the upper end face of 301 near the center. The visual structure 12 includes a fixed seat 1201, a first rotating seat 2 for changing the position of the first connecting arm 5, the first connecting arm 5 for changing the position of the first connecting seat 8, the first connecting seat 8 for changing the position of the second connecting arm 9, the second connecting arm 9 for connecting the second connecting seat 10 and the first connecting seat 8, the second connecting seat 10 for installing the movable structure 13 and serving as a connection, the movable structure 13 for moving the grasping structure 14, the mounting plate 1301 for providing an installation location, the visual structure 12 for providing a field of view so that the grasping structure 14 can achieve precise grasping, and the fixed seat 1201 for fixing the position of the two cameras.

[0021] like Figure 3 and Figure 4 As shown, a drive motor 1302 is fixedly installed on one side of the inner wall of the mounting plate 1301. A bidirectional screw 1303 is fixedly connected to the output end of the drive motor 1302. A reducer 1304 is rotatably connected to the other side of the outer surface of the bidirectional screw 1303. The drive motor 1302 is used to drive the bidirectional screw 1303 to rotate. The bidirectional screw 1303 is used to drive the gripping structure 14 to move and grip the object. The reducer 1304 can better solve the required speed requirements and avoid the gripping structure 14 from moving incorrectly.

[0022] like Figure 3 and Figure 4As shown, a connecting plate 1402 is fixedly installed at the edge of the upper end face of the gripping plate 1401, and mounting seats 1403 are fixedly installed on both sides of the gripping plate 1401. Anti-slip pads 1404 are snapped into the center of each mounting seat 1403. The connecting plate 1402 is used to connect with the bidirectional screw 1303 by threads. The mounting seat 1403 is used to install the anti-slip pads 1404 to grip objects. The anti-slip pads 1404 can prevent the gripped items from slipping.

[0023] like Figure 1 and Figure 3 As shown, a first camera 1202 is bolted to one side of the lower end face of the fixing base 1201, and a second camera 1203 is bolted to the center of the other side of the fixing base 1201. The first camera 1202 and the second camera 1203 are used to transmit vision to accurately grasp the object and avoid the failure of grasping the object due to the visual difference between the two sides.

[0024] like Figure 1 and Figure 2 As shown, a first rotating motor 3 is fixedly installed at the edge of the upper end face of the first rotating seat 2, and a second rotating motor 4 is fixedly connected at the edge of the first connecting arm 5. The first rotating motor 3 is used to drive the first rotating seat 2 to rotate, and the second rotating motor 4 is used to drive the first connecting arm 5 to rotate.

[0025] like Figure 1 and Figure 2 As shown, a fourth rotary motor 7 is fixedly installed at the rear end edge of the first connecting seat 8, and a third rotary motor 6 is rotatably connected at one side edge of the first connecting seat 8. The fourth rotary motor 7 is used to drive the second connecting arm 9 to rotate, and the third rotary motor 6 is used to drive the first connecting seat 8 to rotate.

[0026] like Figure 1 and Figure 2 As shown, a fifth rotary motor 11 is rotatably connected to one side of the second connecting seat 10. The fifth rotary motor 11 is used to drive the second connecting seat 10 to rotate.

[0027] In the technical solution provided by this utility model, during operation, the first rotating motor 3 at the edge of the upper surface of the first rotating seat 2 is started, and the first rotating motor 3 drives the first rotating seat 2 to rotate about the center of the upper surface of the base 1. The second rotating motor 4 drives the first connecting arm 5 to rotate relative to the first rotating seat 2. The third rotating motor 6 and the fourth rotating motor 7 work together to make the first connecting seat 8 rotate relative to the first connecting arm 5. As the first connecting seat 8 moves, the position and posture of the second connecting arm 9 also change accordingly. The second connecting seat 10 moves with the movement of the second connecting arm 9, maintaining a relatively fixed connection relationship. When it is necessary to adjust the angle of the moving structure 13, the fifth rotating motor 11 rotatably connected to one side of the second connecting seat 10 is started, driving the moving structure 13 to rotate relative to the second connecting seat 10. The first camera 1202 bolted to one side of the lower surface of the fixed seat 1201 in the vision structure 12 and the second camera 1203 bolted to the center position on the other side start to work. These devices can acquire images of the working area, obtaining information such as the position and shape of the target object, providing visual data support for the grasping operation. During the grasping operation, the drive motor 1302 starts, and the bidirectional screw 1303 fixedly connected to the output end of the drive motor 1302 begins to rotate. A reducer 1304 is rotatably connected to the other side of the outer surface of the bidirectional screw 1303. The reducer 1304 can adjust the speed and torque of the bidirectional screw 1303. The connecting plate 1402, which is fixedly connected to the edge of the upper end face of the grasping plate 1401 of the grasping structure 14, will move along the axial direction of the bidirectional screw 1303, thereby driving the grasping plate 1401 to move. Anti-slip pads 1404 are snapped into the center of the mounting base 1403. When the grasping plate 1401 approaches the target object, the anti-slip pads 1404 can increase the friction between the grasping plate and the target object, ensuring stable grasping.

[0028] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A robot vision-guided grasping mechanism, characterized by, include: A base (1) is rotatably connected to a first rotating seat (2) at the center of its upper end face. A first connecting arm (5) is rotatably connected to one side of the first rotating seat (2). A first connecting seat (8) is rotatably connected to one edge of one side of the first connecting arm (5). A second connecting arm (9) is rotatably connected to the center of the front end face of the first connecting seat (8). A second connecting seat (10) is fixedly connected to the center of the front end face of the second connecting arm (9). A moving structure (13) is rotatably connected to the center of the lower end face of the second connecting seat (10). The moving structure (13) includes a mounting plate (1301). Two gripping structures (14) are threadedly connected to the lower end face of the mounting plate (1301). The gripping structure (14) includes a gripping plate (1401). Visual structures (12) are bolted to both sides of the upper end face of the mounting plate (1301) near the center. The visual structure (12) includes a fixed seat (1201).

2. The robotically-guided grasping mechanism of claim 1, wherein, A drive motor (1302) is fixedly installed on one side of the inner wall of the mounting plate (1301). A bidirectional screw (1303) is fixedly connected to the output end of the drive motor (1302). A reducer (1304) is rotatably connected to the other side of the outer surface of the bidirectional screw (1303).

3. The robotically-guided grasping mechanism of claim 1, wherein, A connecting plate (1402) is fixedly provided at the edge of the upper end face of the gripping plate (1401), and mounting bases (1403) are fixedly provided on both sides of the gripping plate (1401). Anti-slip pads (1404) are snapped into the center of each mounting base (1403).

4. The robotically-guided grasping mechanism of claim 1, wherein, The first camera (1202) is bolted to one side of the lower end face of the fixed base (1201), and the second camera (1203) is bolted to the center position of the other side of the fixed base (1201).

5. The robotically-guided grasping mechanism of claim 1, wherein, A first rotating motor (3) is fixedly installed at the edge of the upper end face of the first rotating seat (2), and a second rotating motor (4) is fixedly connected at the edge of the first connecting arm (5).

6. The robotically-guided grasping mechanism of claim 1, wherein, A fourth rotating motor (7) is fixedly installed at the rear end edge of the first connecting seat (8), and a third rotating motor (6) is rotatably connected at one side edge of the first connecting seat (8).

7. The robotically-guided grasping mechanism of claim 1, wherein, A fifth rotary motor (11) is rotatably connected to one side of the second connecting seat (10).

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