Novel identification and operation integrated robot

Abstract

The utility model relates to a novel identification operation integrated mechanical hand belongs to the field of robot autonomous operation equipment, integrated mechanical hand support, palm, a plurality of finger assembly, gas flow guide component and camera. The camera is installed in the palm, is used for taking the article information that needs to be grabbed, the finger assembly is installed on the palm, is used for grabbing the article, the gas flow guide component connects the external gas source and the finger assembly, realizes the finger article grabbing through the control air pressure of finger assembly access. The structure embeds the camera in the palm of the mechanical hand, does not increase the appearance size of the mechanical hand additionally, reduces the coordinate deviation of the coordinate system of the mechanical hand and the camera simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of autonomous robot operation equipment, specifically to a novel integrated recognition and operation manipulator, which is a hand-eye coordinated operation manipulator. Background Technology

[0002] As a crucial tool in autonomous robot operations, the robotic arm directly impacts the successful completion of tasks. In hand-eye coordination, the hand-eye relationship can be categorized as either "eye on the hand" or "eye outside the hand." For solutions where the eye is on the hand, most mount the camera at the wrist. This increases the maximum external dimensions of the hand, requiring more space for movement and limiting its adaptability to the environment. Furthermore, with the eye at the wrist, there's a positional and orientation offset between the robotic arm's coordinate system and the camera's coordinate system. Combined with inherent errors in hand-eye calibration methods, the calculated coordinates of the target object from the calibrated coordinate transformation may deviate from the actual position, potentially leading to recognition failure.

[0003] Therefore, for hand-eye collaborative robotic arms with eye-on-hand technology, it is worthwhile to study how to minimize the size of the hand and avoid or reduce the accumulation of errors during the hand-eye coordinate transformation process. Summary of the Invention

[0004] The technical problem to be solved: To avoid the shortcomings of existing technologies, this utility model provides a novel integrated recognition and operation robotic hand. By embedding the camera into the palm of the robotic hand, the maximum external dimensions of the robotic hand are not increased, while the coordinate deviation between the coordinate system of the robotic hand and the coordinate system of the camera is reduced, thus solving the problem of installing the camera at the wrist in existing technologies.

[0005] The technical solution of this utility model is: a novel integrated identification and operation robotic arm, comprising: The support has a concave cavity on its upper end face; The palm is installed on the support. The lower end face of the palm fits with the upper end face of the support. The center of the upper end face of the palm has an inner groove. Multiple mounting holes are evenly distributed around the inner groove and extend into the cavity of the support. Multiple finger components are installed one by one with the mounting holes in the palm. One finger component is fixedly installed in each mounting hole. The finger components are used to pick up and put down items by changing the internal air pressure. The gas flow guide assembly is installed in the cavity of the support and is used to connect the external gas source to each finger assembly. And a camera, installed in the inner groove of the palm, is used to capture information about the items that the robotic arm needs to grasp and send it to the host computer.

[0006] A further technical solution of this utility model is: the finger assembly includes an airbag finger and a finger base, the finger base is fixedly inserted into the mounting hole, the airbag finger and the finger base are airtightly connected, the airbag finger is a columnar flexible airbag structure, located on the side of the palm facing away from the support; when the airbag finger is tightened, it bends toward the central axis of the palm for gripping objects; when the airbag finger is opened, it bends away from the central axis of the palm for releasing objects.

[0007] A further technical solution of this utility model is: the gas guiding component includes a gas guiding box and a gas guiding pipe. The gas guiding box is a closed box with an inlet and multiple outlets. The inlet is airtightly connected to an external gas source through a first gas guiding pipe, and the outlet is airtightly connected to a finger base through a second gas guiding pipe. Each outlet is connected to a finger base.

[0008] A further technical solution of this utility model is: the inlet and outlet of the air guide box are both provided with air pipe connectors, which are used for airtight connection with the air guide pipe.

[0009] A further technical solution of this utility model is: two through holes on one side of the support are connected to the cavity of the support, wherein the first through hole is used to install the first air guide tube, the second through hole is used to install the data transmission line of the camera, and the bottom of the inner groove is provided with a third through hole to connect to the cavity of the support. The data transmission line of the camera enters the cavity of the support through the third through hole, and then exits through the second through hole to connect with the host computer.

[0010] A further technical solution of this utility model is: the palm is provided with a plurality of fourth through holes along the axial direction, and the lower end face of the palm is provided with a plurality of hollow cylindrical positioning posts. The fourth through holes and the positioning posts are coaxial and correspond one to one. The upper end face of the support is provided with a stepped hole corresponding to the positioning post. The positioning post is embedded in the stepped hole and is connected by bolts passing through the fourth through hole, the positioning post and the stepped hole in sequence.

[0011] A further technical solution of this utility model is: the upper section of the stepped hole is a smooth hole, which is tightly fitted with the positioning post; the lower section of the stepped hole is a threaded hole, which is used for threaded connection with a screw.

[0012] A further technical solution of this utility model is that the number of the plurality of finger components is three.

[0013] A further technical solution of this utility model is: the support is installed at the end of the robot arm, and a plurality of mounting grooves are provided around the lower end face of the support, which are used for fixed connection with the robot arm.

[0014] The beneficial effects of this utility model are as follows: The novel integrated recognition and operation robotic hand provided by this utility model, by mounting the camera inside the palm, does not occupy additional space, thus reducing the maximum size of the robotic hand. Simultaneously, by mounting the camera at the center of the robotic hand, the coordinate deviation between the robotic hand's coordinate system and the camera's coordinate system is reduced, and even the two coordinate systems may coincide, reducing the accumulation of errors during coordinate transformation and minimizing the impact of hand-eye calibration errors on target positioning. Furthermore, mounting the camera inside the palm does not affect the camera's visual function. This structure effectively improves the environmental adaptability of the integrated hand-eye robotic hand and enhances the accuracy of its operation.

[0015] This structure connects the air source and the airbag fingers through a gas guide component. Its simple design, by placing the gas guide component within the support, does not occupy external space of the robotic arm while still meeting air supply requirements. By controlling the external air source to supply air to the airbag fingers via a host computer, the gripping and opening movements of the airbag fingers can be achieved, enabling the grasping of objects.

[0016] This structure places the camera's data transmission cable inside the palm and support, avoiding a large number of exposed cables that could affect the robot's movement and improving the robot's operational safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of a novel integrated recognition and operation robotic arm according to this utility model (airbag finger tightened state). Figure 2 This is a schematic diagram of the hand structure of this utility model; Figure 3 This is a schematic diagram showing the connection between the finger assembly and the gas guiding assembly of this utility model; Figure 4 This is a schematic diagram of the finger component structure and its connection with the air duct of this utility model; Figure 5 This is a schematic diagram of the support structure of this utility model; Figure 6 This is a schematic diagram of the integrated robotic arm with airbag fingers in the open state.

[0019] In the diagram: 1. Support, 11. Cavity, 12. First through hole, 13. Second through hole, 14. Stepped hole, 141. Open hole, 142. Threaded hole, 15. Mounting groove, 16. Blind hole, 2. Hand, 21. Inner groove, 22. Mounting hole, 23. Third through hole, 24. Positioning post, 25. Fourth through hole, 3. Finger assembly, 31. Airbag finger, 32. Finger base, 4. Gas guiding assembly, 41. Air box, 42. First air guide tube, 43. Second air guide tube, 44. Air tube connector, 5. Camera, 51. Data transmission line, 6. Bolt, 7. Screw. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] This utility model provides an embodiment of a novel integrated identification and operation robotic arm, such as... Figure 1 As shown, the integrated robotic arm includes a support 1, a palm 2, a three-finger assembly 3, a gas flow assembly 4, and a camera 5.

[0022] like Figure 5 As shown, the support 1 is cylindrical in shape, with a concave cavity 11 on its upper surface. The cavity 11 has an irregular shape and is mainly used to accommodate the gas guiding assembly 4. Multiple mounting slots 15 are provided around the lower surface of the support 1. These slots 15 are used for fixed connection with the robot's robotic arm, and the support 1 is installed at the end of the robot's robotic arm. Two through holes are provided on one side of the support 1: a first through hole 12 and a second through hole 13. Both through holes communicate with the cavity 11 of the support 1. The first through hole 12 is used to insert the gas guiding tube of the gas guiding assembly 4, and the second through hole 13 is used to insert the data transmission line 51 of the camera 5. Simultaneously, four stepped holes 14 are provided on the upper surface of the support 1. The stepped holes 14 are used to install the hand 2 via bolts 6. The upper section of the stepped hole 14 is a light hole 141, and the lower section is a threaded hole 142. Two blind holes 16 are also provided on the upper surface of the support 1 to avoid the screws 7 used to fix the camera 5.

[0023] like Figure 1 , Figure 2 , Figure 3As shown, the palm 2 is a cylindrical structure with the same outer diameter as the support 1. The palm 2 is coaxially mounted on the support 1, and the lower end face of the palm 2 is in contact with the upper end face of the support 1. A strip-shaped inner groove 21 is provided at the center of the upper end face of the palm 2. The inner groove 21 is used to install the camera 5. Three mounting holes 22 are evenly distributed around the inner groove 21. The mounting holes 22 extend into the cavity 11 of the support 1 and are used to install the finger assembly 3. The palm 2 has four fourth through holes 25 along the axial direction. The fourth through holes 25 are arranged in pairs, symmetrically arranged on both sides of the inner groove 21. The lower end face of the palm 2 is provided with four hollow cylindrical positioning posts 24. The positioning posts 24 and the fourth through hole 25 are coaxial and corresponding to each other. The positioning posts 24 are coaxially embedded in the stepped hole 14 and are tightly fitted with the light hole 141 to achieve positioning. The bolt 6 passes through the threaded hole 142 of the fourth through hole 25, the positioning post 24 and the stepped hole 14 in sequence and is screwed to fix the palm 2 and the support 1.

[0024] like Figure 1 , Figure 4 As shown, the three finger components 3 and the mounting holes 22 of the palm 2 are installed one-to-one. One finger component 3 is fixedly installed in each mounting hole 22. The finger component 3 is used to pick up and put down items by changing the internal air pressure.

[0025] The finger assembly 3 includes an airbag finger 31 and a finger base 32. The finger base 32 is inserted into the mounting hole 22 of the palm 2 and is fixedly connected to the palm 2 by welding. The airbag finger 31 is installed on the finger base 32 and is airtightly connected to the finger base 32 by gluing. The airbag finger 31 is located on the side of the palm 2 facing away from the support 1. The airbag finger 31 is a columnar flexible airbag structure, which is a mature existing technology. The deflection angle of the airbag finger 31 is controlled by changing the internal air pressure to achieve object grasping. Specifically, the airbag finger 31 guides axial bending by changing the internal pressure. When the internal pressure increases, the airbag finger 31 tightens, and the end of the airbag finger 31 away from the palm 2 bends towards the central axis of the palm 2, such as... Figure 1 As shown, this allows for gripping of objects; when the internal pressure decreases, the airbag fingers 31 open, and the ends of the airbag fingers 31 furthest from the palm 2 bend away from the central axis of the palm 2, as shown. Figure 6 As shown, this allows the object to be released. The finger base 32 and the gas guide assembly 4 are airtightly connected. The gas guide assembly 4 connects to an external air source, enabling the airbag finger 31 to grasp the object.

[0026] like Figure 3As shown, the gas guiding assembly 4 is installed in the cavity 11 of the support 1, connecting an external air source to each finger assembly 3. The gas guiding assembly 4 is used to connect the external air source to each finger assembly 3. The gas guiding assembly 4 includes an air guiding box 41, an air guiding pipe, and an air pipe connector 44. The air guiding pipe includes a first air guiding pipe 42 and a second air guiding pipe 43. The air guiding box 41 is a closed box with one inlet and three outlets. The inlet is airtightly connected to the external air source through the first air guiding pipe 42, and the outlets are airtightly connected to the finger base 32 through the second air guiding pipe 43. Each outlet is connected to a corresponding finger base 32. Specifically, an air pipe connector 44 is installed at the inlet and each outlet to achieve an airtight connection between the air guiding box 41 and the air guiding pipe. One end of the first air guiding pipe 42 is airtightly connected to the air pipe connector 44 at the inlet, and the other end passes through the first through hole 12 of the support 1 and connects to the external air source. There are three second air guide tubes 43. One end of each second air guide tube 43 is airtightly connected to an air tube connector 44 at an outlet of the air guide box 41, and the other end is airtightly connected to a finger base 32 by adhesive bonding. External air is supplied to each airbag finger 31 through the gas guide assembly 4.

[0027] like Figure 1 , Figure 3 As shown, camera 5 is installed in the inner groove 21 of palm 2 and is fixedly connected to palm 2 by two screws 7. The screws 7 pass through the lower end face of palm 2 into the inner groove 21 and are fixedly connected to camera 5. When palm 2 and support 1 are fixedly connected, the head of screw 7 is located in blind hole 16, which does not affect the surface contact between the lower end face of palm 2 and the upper end face of support 1. The bottom of inner groove 21 is provided with a third through hole 23, which connects to cavity 11 of support 1. Data transmission line 51 of camera 5 enters cavity 11 of support 1 through third through hole 23, and then exits through second through hole 13 of support 1 to connect to host computer. This wiring avoids excessive exposure of camera 5 cable to the robot arm, which would affect the robot arm's movement.

[0028] Camera 5 is used to capture information about the object to be grasped by the robotic arm. The camera is electrically connected to a host computer, which transmits the captured object information to the host computer. The host computer controls the movement of the robotic arm and controls the pressure supplied to the finger assembly 3 by the external air source, thereby controlling the airbag fingers 31 to grasp the object. In this embodiment, the host computer is a control computer, which acts as the central control unit to control the movement of the robot's robotic arm and, by controlling the external air source, controls the robotic arm to grasp the object.

[0029] Specific working principle: When the robotic arm arrives at the work area, camera 5 acquires environmental information and transmits it to the control computer through data transmission line 51. After the control computer calculates the position of the target, it controls the robotic arm to move and place the robotic arm in the grasping position. Then, the control computer controls the air source and delivers gas to the three airbag fingers 31 through the gas guide component 4. The airbag fingers 31 bend to complete the grasping of the target. The control computer controls the air source to depressurize, and the airbag fingers 31 release the grasped object.

[0030] This invention integrates camera 5 into the palm 2 of the robotic hand, which not only reduces the maximum size of the robotic hand, but also makes the hand-eye coordinates as consistent as possible, reduces the impact of hand-eye calibration errors on target positioning, improves the robotic hand's grasping accuracy and environmental adaptability after equipping it with a camera, and the installation position of camera 5 does not affect its visual function.

[0031] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel integrated robotic arm for recognition and operation, characterized in that, include: The support has a concave cavity on its upper end face; The palm is installed on the support. The lower end face of the palm fits with the upper end face of the support. The center of the upper end face of the palm has an inner groove. Multiple mounting holes are evenly distributed around the inner groove and extend into the cavity of the support. Multiple finger components are installed one by one with the mounting holes in the palm. One finger component is fixedly installed in each mounting hole. The finger components are used to pick up and put down items by changing the internal air pressure. The gas flow guide assembly is installed in the cavity of the support and is used to connect the external gas source to each finger assembly. And a camera, installed in the inner groove of the palm, is used to capture information about the items that the robotic arm needs to grasp and send it to the host computer.

2. The novel integrated identification and operation robotic arm according to claim 1, characterized in that, The finger assembly includes an airbag finger and a finger base. The finger base is fixedly inserted into the mounting hole. The airbag finger and the finger base are airtightly connected. The airbag finger is a columnar flexible airbag structure located on the side of the palm facing away from the support. When the airbag finger is tightened, it bends toward the central axis of the palm to grip the object. When the airbag finger is opened, it bends away from the central axis of the palm to release the object.

3. The novel integrated identification and operation robotic arm according to claim 2, characterized in that, The gas guiding assembly includes a gas guiding box and a gas guiding pipe. The gas guiding box is a closed box with one inlet and multiple outlets. The inlet is airtightly connected to an external gas source through a first gas guiding pipe, and the outlet is airtightly connected to a finger base through a second gas guiding pipe. Each outlet is connected to a corresponding finger base.

4. The novel integrated identification and operation robotic arm according to claim 3, characterized in that, The air guide box is equipped with air pipe connectors at both the inlet and outlet, which are used for airtight connection with the air guide pipe.

5. The novel integrated identification and operation robotic arm according to claim 1, characterized in that, The support has two through holes on one side, both of which are connected to the cavity of the support. The first through hole is used to install the first air guide tube, and the second through hole is used to install the camera's data transmission line. The bottom of the inner groove has a third through hole that connects to the cavity of the support. The camera's data transmission line enters the cavity of the support through the third through hole and then exits through the second through hole to connect with the host computer.

6. The novel integrated identification and operation robotic arm according to claim 1, characterized in that, The palm has multiple fourth through holes along the axial direction, and multiple hollow cylindrical positioning posts are provided on the lower end face of the palm. The fourth through holes and positioning posts are coaxial and correspond one-to-one. The upper end face of the support has stepped holes corresponding to the positioning posts. The positioning posts are embedded in the stepped holes and are connected by bolts passing through the fourth through holes, positioning posts and stepped holes in sequence.

7. The novel integrated identification and operation robotic arm according to claim 6, characterized in that, The upper section of the stepped hole is a smooth hole, which fits tightly with the positioning post. The lower section of the stepped hole is a threaded hole, which is used for threaded connection with bolts.

8. The novel integrated identification and operation robotic arm according to claim 1, characterized in that, The number of the plurality of finger components is three.

9. The novel integrated identification and operation robotic arm according to claim 1, characterized in that, The support is installed at the end of the robot arm. The support has multiple mounting slots around its lower end face for fixed connection with the robot arm.

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