A flexible grasping device for a mobile robot arm

Abstract

The utility model discloses a kind of mobile robot mechanical arm flexible grabbing device, including mobile robot main body, mechanical arm main body, grab frame and grab bar, the bottom of the grab frame is equipped with transmission groove, the inside of the transmission groove is equipped with swing group frame, the grab bar is located at the bottom end of swing group frame, the periphery of the grab bar is equipped with grab pad, the top end pivot of the grab bar is connected with third motor, the upper of the grab bar is equipped with suction fixing mechanism, the suction fixing mechanism includes vacuum chuck, sealing valve and vacuum pump, the vacuum chuck is located at the side of grab bar.The utility model is driven by third motor and swing grab bar, different grab pad can be replaced, so as to adapt to different article grabbing work, object is suction fixed by vacuum chuck and vacuum pump, with the effect of multi-mode fixing.

Description

Technical Field

[0001] This utility model relates to the field of grasping device technology, specifically a flexible grasping device for a mobile robot arm. Background Technology

[0002] With the development of industrial automation, mobile robots are increasingly widely used in logistics, manufacturing, and other fields. Among them, the robotic arm, as a crucial execution component of a mobile robot, directly affects the robot's work efficiency and applicability due to its gripping function. For example, application number CN202023290590.6 discloses a handling robot, including an execution device, an execution drive device, a lifting device, a moving device, and a control system. The lifting device is located on the top surface of the moving device, and the execution device is located above the lifting device. The execution device includes a flexible robotic hand, a wrist, a first arm, arm joints, and a second arm. The flexible robotic hand includes several sets of flexible robotic fingers. The execution drive device includes a pneumatic mechanism, a wrist drive device, an arm joint drive device, a first arm drive device, a second arm drive device, and an electric rotary disk.

[0003] However, existing gripping devices use fixed gripping pads, which can only grip fixed objects and are ineffective at gripping irregularly shaped items. Furthermore, they cannot automatically replace the gripping pads. Some devices rely solely on mechanical clamping for fixation, which can easily lead to slippage when gripping smooth or lightweight items, resulting in low efficiency or even task failure. Therefore, this application proposes a flexible gripping device for a mobile robot arm to address these issues.

[0004] There are currently no effective solutions to the problems in the relevant technologies. Utility Model Content

[0005] The purpose of this invention is to provide a flexible grasping device for a mobile robot arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides a flexible gripping device for a mobile robot arm, comprising a mobile robot body, a robotic arm body, a gripping frame, and a gripping rod. The gripping frame has a transmission groove at its bottom, and a swing frame is provided inside the transmission groove. The gripping rod is located at the bottom end of the swing frame, and gripping pads are provided around the gripping rod. A third motor is connected to the top shaft of the gripping rod. An adsorption and fixing mechanism is provided on the gripping rod, which includes a vacuum suction cup, a sealing valve, and a vacuum pump. The vacuum suction cup is located on one side of the gripping rod.

[0007] Preferably, the main body of the robotic arm is mounted on one side of the main body of the mobile robot, the gripping frame is located at one end of the main body of the robotic arm, a second motor is provided on the top of the gripping frame, the second motor is bolted to the main body of the robotic arm, the output end of the second motor is bolted to the gripping frame, a gear set is provided on one side of the swing frame, the gear set is bolted to the swing frame, a first motor is connected to a rotating shaft on one side of the swing frame, the first motor is bolted to the gripping frame, the swing frame is connected to the gripping frame bearing, the gripping rod is connected to the swing frame bearing, a third motor is bolted to the swing frame, and the gripping pad is bolted to the gripping rod for rotating and replacing different gripping pads.

[0008] Preferably, the sealing valve pipe is connected to one side of the vacuum suction cup, the vacuum pump is located at the bottom of the gripping frame, the vacuum suction cup is bolted to the gripping rod, the sealing valve is bolted to the gripping rod, the vacuum pump is bolted to the gripping frame, and the vacuum pump is connected to the sealing valve pipe for vacuum adsorption to fix objects.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 0. This utility model is a flexible gripping device for a mobile robot arm. It is equipped with a gripping frame and a gripping rod. The gripping rod is opened and swung by a first motor on the gripping frame, and the gripping frame is rotated by a second motor to adjust the gripping angle. The gripping rod is rotated by a third motor to switch between different gripping pads, thereby adapting to the gripping of items of different sizes, greatly improving the versatility and adaptability of the device.

[0010] 1. This utility model is a flexible gripping device for a mobile robot arm. It is equipped with an adsorption and fixing mechanism. It can generate suction force through a vacuum pump. After the vacuum suction cup clamps and fixes the object, the vacuum suction cup is closed by a sealing valve, which effectively avoids the problem of the object slipping, improves the reliability of gripping, and has the effect of multiple fixing methods. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments 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.

[0012] Figure 1 This is a schematic diagram of the connection structure between a flexible gripping device of a mobile robot arm and the main body of a mobile robot according to an embodiment of the present utility model; Figure 2This is a schematic diagram of the structure of a flexible grasping device for a mobile robot arm according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of the internal structure of a flexible grasping device for a mobile robot arm according to an embodiment of the present utility model; Figure 4 This is a schematic diagram of the connection structure of the swing frame in a flexible grasping device for a mobile robot arm according to an embodiment of the present utility model; Figure 5 This is a schematic diagram of the internal structure of the swing frame and gripping rod in a flexible gripping device for a mobile robot arm according to an embodiment of the present invention.

[0013] Figure label: 1. Gripping frame; 101. Transmission groove; 102. Swinging frame; 103. Gear set; 104. First motor; 105. Second motor; 2. Gripping rod; 201. Gripping pad; 202. Third motor; 3. Adsorption and fixing mechanism; 301. Vacuum suction cup; 302. Sealing valve; 303. Vacuum pump; 4. Main body of robotic arm; 5. Main body of mobile robot. Detailed Implementation

[0014] The utility model will now be further described in conjunction with the accompanying drawings and specific embodiments: Please see Figure 1-5 According to an embodiment of the present invention, a flexible grasping device for a mobile robot arm includes a grasping frame 1, a grasping rod 2, an adsorption and fixing mechanism 3, a robot arm body 4, and a mobile robot body 5. The mobile robot body 5 can move freely in different working environments, providing basic support for the operation of the robot arm. The robot arm body 4 is installed on one side of the mobile robot body 5 and can be a multi-joint robot arm with multiple degrees of freedom, which can flexibly adjust the grasping position and posture.

[0015] According to the above-described scheme of this utility model, the gripping frame 1 is located at one end of the robotic arm body 4, and a second motor 105 is provided on its top. The second motor 105 can be a stepper motor. This motor is bolted to the robotic arm body 4, and its output end is bolted to the gripping frame 1. By controlling the rotation of the second motor 105, the gripping frame 1 can be driven to rotate, thereby adjusting the gripping angle. The bottom of the gripping frame 1 is provided with a transmission groove 101, and a swing frame 102 is provided in the transmission groove 101. A gear set 103 is provided on one side of the swing frame 102, and the gear set 103 is bolted to the swing frame 102. A first motor 104 is connected to a rotating shaft on one side of the swing frame 102. The first motor 104 can be a servo motor. This motor is bolted to the gripping frame 1, and the swing frame 102 is connected to the gripping frame 1 by a bearing. The first motor 104 drives the swing frame 102 to swing, thereby realizing the opening and closing action of the gripping rod 2.

[0016] According to the above-described scheme of this utility model, the gripping rod 2 is located at the bottom end of the swing frame 102 and is connected to the swing frame 102 bearing. Gripping pads 201 are provided around the gripping rod 2, and the gripping pads 201 are bolted to the gripping rod 2. Different materials and shapes of gripping pads 201 can be selected according to the characteristics of different items. A third motor 202 is connected to the top shaft of the gripping rod 2. The third motor 202 can be a micro motor, which is bolted to the swing frame 102. By controlling the rotation of the third motor 202, the gripping rod 2 can be rotated, switching between different gripping pads 201.

[0017] According to the above-described scheme of this utility model, the adsorption and fixing mechanism 3 includes a vacuum suction cup 301, a sealing valve 302, and a vacuum pump 303. The vacuum suction cup 301 is located on one side of the gripping rod 2 and is bolted to the gripping rod 2; the sealing valve 302 is pipe-connected to one side of the vacuum suction cup 301 and bolted to the gripping rod 2; the vacuum pump 303 is located at the bottom of the gripping frame 1, bolted to the gripping frame 1, and pipe-connected to the sealing valve 302. The vacuum pump 303 can be a small vacuum pump of model [specific model], and the sealing valve 302 can be an electromagnetic sealing valve.

[0018] In practical use, after the mobile robot moves near the target object, it first adjusts the position and angle of the gripping frame 1 using the robotic arm body 4 according to the object's position and posture. Then, the second motor 105 is activated, rotating the gripping frame 1 to a suitable gripping angle. Next, the first motor 104 is activated, driving the swing frame 102 to swing via the gear set 103, causing the gripping rod 2 to swing open and close towards the object until the gripping pad 201 contacts the object and performs initial clamping. If the object's specifications do not match the currently used gripping pad 201, the third motor 202 can be activated, rotating the gripping rod 2 to switch to a suitable gripping pad 201 for gripping.

[0019] During the gripping process, to improve the reliability of gripping, the vacuum pump 303 is activated. The vacuum pump 303 generates suction force through the pipes to the vacuum suction cup 301. Once the vacuum suction cup 301 is in close contact with the surface of the object, the sealing valve 302 is closed to maintain the suction force of the vacuum suction cup 301, thus achieving multi-mode fixation of the object. When it is necessary to put the object down, the sealing valve 302 is opened to release the suction force of the vacuum suction cup 301, and at the same time, the first motor 104 is activated to open the gripping rod 2 and put the object down.

[0020] In the description of this utility model, it should be noted that the terms "top," "bottom," "one side," "the other side," "front," "back," "middle part," "inner," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the fabric or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "joined" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A flexible grasping device for a mobile robot arm, characterized in that, The system includes a mobile robot body (5), a robotic arm body (4), a gripping frame (1) and a gripping rod (2). The gripping frame (1) has a transmission groove (101) at its bottom and a swing frame (102) inside the transmission groove (101). The gripping rod (2) is located at the bottom of the swing frame (102). The gripping rod (2) has gripping pads (201) around its perimeter. The top of the gripping rod (2) is connected to a third motor (202). The gripping rod (2) has an adsorption and fixing mechanism (3). The adsorption and fixing mechanism (3) includes a vacuum suction cup (301), a sealing valve (302) and a vacuum pump (303). The vacuum suction cup (301) is located on one side of the gripping rod (2).

2. The flexible grasping device for a mobile robot arm according to claim 1, characterized in that, The main body of the robotic arm (4) is installed on one side of the main body of the mobile robot (5), and the gripping frame (1) is located at one end of the main body of the robotic arm (4).

3. The flexible grasping device for a mobile robot arm according to claim 2, characterized in that, The top of the gripping frame (1) is provided with a second motor (105), which is bolted to the main body (4) of the robotic arm, and the output end of the second motor (105) is bolted to the gripping frame (1).

4. The flexible grasping device for a mobile robot arm according to claim 3, characterized in that, A gear set (103) is provided on one side of the swing frame (102). The gear set (103) is bolted to the swing frame (102). A first motor (104) is connected to a rotating shaft on one side of the swing frame (102). The first motor (104) is bolted to the gripping frame (1). The swing frame (102) is connected to the gripping frame (1) by a bearing.

5. The flexible grasping device for a mobile robot arm according to claim 4, characterized in that, The gripping rod (2) is connected to the swing frame (102) by a bearing, the third motor (202) is fixedly connected to the swing frame (102) by bolts, and the gripping pad (201) is fixedly connected to the gripping rod (2) by bolts.

6. The flexible grasping device for a mobile robot arm according to claim 1, characterized in that, The sealing valve (302) is connected to one side of the vacuum suction cup (301), the vacuum pump (303) is located at the bottom of the gripping frame (1), the vacuum suction cup (301) is bolted to the gripping rod (2), the sealing valve (302) is bolted to the gripping rod (2), the vacuum pump (303) is bolted to the gripping frame (1), and the vacuum pump (303) is connected to the sealing valve (302) via a pipe.

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