Robot vision‑based automatic grasping device and method

Abstract

A robot vision‑based automatic grasping device, comprising a base (1). A driving arm (2) is mounted at the top of the base (1); a support column (3) is mounted at the other end of the driving arm (2); a vision detection probe (4) is provided at the top of the driving arm (2); a grasping assembly is provided at the top of the base (1); the grasping assembly comprises an adjustment rod (5); the adjustment rod (5) is fixedly connected to the bottom of the support column (3); a support plate (6) is fixedly connected to the surface of the adjustment rod (5); clamping plates (7) are provided at the bottom of the support plate (6). By means of the provision of the grasping assembly, during material grasping, the driving arm (2) can drive the clamping plates (7) to move to the surface of the material, then a driving motor (14) drives the clamping plates (7) to move, and when the three clamping plates (7) move relative to each other at the same time, the material can be clamped from three sides at the same time, thereby improving the stability of material grasping; moreover, rubber pads (31) are used to provide a cushioning gap between the clamping plates (7) and the material, thereby providing a protective effect on the material. Also provided is a robot vision‑based automatic grasping method.

Description

Robot vision automatic grabbing device and method TECHNICAL FIELD

[0001] The present application belongs to the field of robotics, in particular relates to a robot vision automatic grabbing device and method. BACKGROUND

[0002] Robot vision automatic grabbing is an intelligent application combining computer vision and mechanical grabbing technology. Through advanced image processing algorithms, robots can identify and locate target objects in real time, thereby achieving precise grabbing. This technology is widely used in industrial automation, logistics and warehousing, intelligent manufacturing and other fields.

[0003] In the prior art, a patent with publication number "CN218195270U" discloses an AI image recognition combined 3D positioning robot multi-angle grabbing device. The rotating shaft is driven to rotate by a variable frequency motor, the grabbing seat is rotated along the second ball bearing, the positions of the first cylinder seat, the second cylinder seat, the third cylinder seat and the fourth cylinder seat are exchanged, so that multiple objects can be grabbed at one time without repeated grabbing, improving convenience, solving the problem that most of the grabbing clamps used by current robots are single rotation, which requires repeated grabbing and cannot grab multiple objects with different angles at one time.

[0004] However, the above-mentioned device still has the following problems in the implementation process: when the positioning robot moves the fixed clamping plate to the front side of the material to be grabbed, the two groups of clamping plates are driven to move relative to each other by the cylinder to clamp the material. However, the surface of the material is often irregularly shaped, and the two groups of clamping plates are moved relative to each other to clamp the material by relying on the clamping force, which may cause excessive pressure and damage the material. If the clamping force is too small, the object is very easy to fall off, which is very inconvenient to use.

[0005] Therefore, we provide a robot vision automatic grabbing device and method to solve the above-mentioned problems.

[0006] SUMMARY

[0007] The present application aims to provide a robot vision automatic grabbing device and method, which solves the problem of lack of anti-falling function when the positioning robot grabs the material in the prior art, and the problem that the clamping force is too small and the object is easy to fall off.

[0008] To solve the above technical problems, the present application is realized by the following technical scheme:

[0009] The application is a kind of robot vision automatic grabbing device and method, including base, the top of base is installed with driving arm, the other end of driving arm is installed with support column, the top of driving arm is provided with visual detection probe;

[0010] The top of base is provided with a grabbing assembly, the grabbing assembly includes an adjusting rod, the adjusting rod is fixedly connected to the bottom of the support column, the surface of the adjusting rod is fixedly connected with a support plate, the bottom of the support plate is provided with a clamping plate, the material is clamped by the grabbing assembly;

[0011] The inside of the support column is provided with a pressure storage assembly, the pressure storage assembly includes a sealing plug, the sealing plug is slidingly connected to the inside of the support column, the top of the support column is communicated with an exhaust pipe, the surface of the exhaust pipe is sleeved with a solenoid valve, the gas pressure is stored by the pressure storage assembly;

[0012] The top of the support plate is provided with a protection assembly, the protection assembly includes a rotating shaft, the rotating shaft is movably connected to the inside of the clamping plate, the surface of the rotating shaft is fixedly connected with a protection plate, a sealing tube is installed in the inside of the clamping plate, the material is protected from falling by the protection assembly.

[0013] The application further provides that the inside of the adjusting rod is provided with a driving assembly, the driving assembly includes a driving motor, the driving motor is fixedly connected to the inside of the adjusting rod, the output end of the driving motor is fixedly connected with a threaded rod, the surface of the threaded rod is threadedly connected with a moving sleeve.

[0014] The application further provides that the inside of the support plate is fixedly connected with a sliding rod, the surface of the sliding rod is slidingly connected with a sliding sleeve, the top of the sliding sleeve is fixedly connected with the clamping plate.

[0015] The application further provides that the surface of the moving sleeve is fixedly connected with a moving block, the other side of the moving block is movably connected with a driving rod, the other end of the driving rod penetrates through the adjusting rod and is movably connected with the sliding sleeve.

[0016] The application further provides that the top of the moving sleeve is fixedly connected with a moving rod, the other end of the moving rod penetrates through the support column and is fixedly connected with the sealing plug.

[0017] The application further provides that the protection assembly further includes a pneumatic tube, the pneumatic tube is communicated with the top of the exhaust pipe, the other end of the pneumatic tube is communicated with the sealing tube, a sealing plate is slidingly connected in the inside of the sealing tube, a push rod is fixedly connected to the bottom of the sealing plate, the other end of the push rod penetrates to the outside of the sealing tube and is fixedly connected with a fixed block.

[0018] The application is further provided with a supporting shaft movably connected to one side of the clamping plate, a first sprocket fixedly connected to the surface of the supporting shaft, a second sprocket fixedly connected to the surface of the rotating shaft, and a chain sleeved on the surfaces of the first sprocket and the second sprocket.

[0019] The application is further provided with a sliding groove formed in one side of the adjusting rod.

[0020] The application is further provided with a bracket fixedly connected to one side of the visual detection probe, the other end of the bracket fixedly connected to the base, and a rubber pad fixedly connected to one side of the clamping plate.

[0021] A robot visual automatic grabbing method, comprising the following steps:

[0022] S1: A worker starts the visual detection probe through an external controller, identifies the position, shape, size and other characteristics of a target object, and then controls the system to adjust the movement trajectory of the driving arm according to the analysis result, the driving arm moves the adjusting rod together with the supporting column, and the adjusting rod moves the clamping plate to the surface of the material;

[0023] S2: Then, the driving motor is started, the driving motor moves the moving sleeve together with the threaded rod, the moving sleeve moves the driving rod together with the moving block, the driving rod moves the clamping plate together with the sliding sleeve, and the three groups of driving rods are simultaneously moved by the moving sleeve, so that the three groups of clamping plates are relatively moved to clamp and fix the material;

[0024] S3: The moving sleeve moves the moving rod, the moving rod moves the sealing plug to compress and store the air in the supporting column, and after the clamping plate clamps and fixes the material, the electromagnetic valve can be started to open the exhaust pipe, the exhaust pipe releases the air pressure in the supporting column, high-pressure gas is injected into the pneumatic pipe, and the pneumatic pipe injects the gas into the sealing pipe;

[0025] S4: After the gas is injected into the sealing pipe, the sealing plate is moved, the sealing plate moves the fixing block together with the push rod, the fixing block moves the chain, the chain rotates the second sprocket, the second sprocket rotates the protection plate together with the rotating shaft, the bottom of the material is shielded, and the protection against falling is achieved.

[0026] The application has the following beneficial effects:

[0027] 1、Through the setting of the grabbing assembly, the clamping plate can be moved to the surface of the material by the driving arm, then the clamping plate is moved by the driving motor, when the three groups of clamping plates are simultaneously relatively moved, the material can be clamped from three sides at the same time, the stability of material grabbing is improved, and the rubber pad provides a buffer interval between the clamping plate and the material, so as to provide protection for the material.

[0028] 2、The present application can drive the sealing plug to move by the driving motor when the clamping plate is driven to move by the driving motor, and the air in the supporting column is compressed and stored when the sealing plug moves, and the compressed gas can drive the protection plate to rotate to shield and protect the bottom of the material when the position of the protection plate needs to be adjusted by opening the electromagnetic valve.

[0029] 3、The present application can drive the three protection plates to rotate simultaneously by the compressed gas after the clamping plate clamps and fixes the material, and the bottom of the material can be formed into a ring-shaped shielding when the three protection plates rotate simultaneously, and the material will not fall off when the surface of the material is irregular, and the protection effect is improved.

[0030] Of course, it is not necessary to achieve all the advantages described above when implementing any product of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed for the embodiment description will be briefly introduced as follows.

[0032] Fig. 1 is a structure perspective view of a robot vision automatic grabbing device and method;

[0033] Fig. 2 is a rotating schematic view of a supporting column and a clamping plate in a robot vision automatic grabbing device and method;

[0034] Fig. 3 is a sectional view of a supporting column and a clamping plate in a robot vision automatic grabbing device and method;

[0035] Fig. 4 is a partial sectional view of a supporting plate in a robot vision automatic grabbing device and method;

[0036] Fig. 5 is a side sectional view of a clamping plate in a robot vision automatic grabbing device and method;

[0037] Fig. 6 is a partial sectional view of a sealing pipe in a robot vision automatic grabbing device and method;

[0038] Fig. 7 is a rotating schematic view of a protection plate in a robot vision automatic grabbing device and method.

[0039] In the drawings: 1, base; 2, drive arm; 3, support column; 4, visual detection probe; 5, adjusting rod; 6, support plate; 7, clamping plate; 8, sealing plug; 9, exhaust pipe; 10, electromagnetic valve; 11, rotating shaft; 12, protection plate; 13, sealing pipe; 14, drive motor; 15, threaded rod; 16, moving sleeve; 17, sliding rod; 18, sliding sleeve; 19, moving block; 20, drive rod; 21, moving rod; 22, pneumatic pipe; 23, sealing plate; 24, push rod; 25, fixed block; 26, support shaft; 27, first sprocket; 28, second sprocket; 29, chain; 30, bracket; 31, rubber pad. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. The described embodiments are only some of the embodiments of the present application, not all.

[0041] Embodiment I

[0042] Please refer to FIGS. 1-7, the present application is a kind of robot vision automatic grabbing device and method, including base 1, base 1 top is equipped with drive arm 2, drive arm 2 other end is equipped with support column 3, drive arm 2 top is provided with visual detection probe 4;Base 1 top is provided with grabbing assembly, grabbing assembly includes adjusting rod 5, adjusting rod 5 is fixedly connected to the bottom of support column 3, adjusting rod 5 surface is fixedly connected with support plate 6, support plate 6 bottom is provided with clamping plate 7, by grabbing assembly to the material clamping;Support column 3 inside is provided with pressure storage assembly, pressure storage assembly includes sealing plug 8, sealing plug 8 is slidably connected in support column 3, support column 3 top is communicated with exhaust pipe 9, exhaust pipe 9 surface is equipped with electromagnetic valve 10, by pressure storage assembly to store gas pressure;Support plate 6 top is provided with protection assembly, protection assembly includes rotating shaft 11, rotating shaft 11 is movably connected in clamping plate 7, rotating shaft 11 surface is fixedly connected with protection plate 12, clamping plate 7 inside is equipped with sealing pipe 13, by protection assembly to prevent falling protection of material.

[0043] Specifically: visual detection probe 4 through camera or camera, system captures the image of the detected object, the collected image is processed, including denoising, enhancing contrast, edge detection, etc., commonly used image processing algorithm can help extract important features, and determine its position and attitude in three-dimensional space, once the target object is identified, the control system will calculate the best grabbing path of the mechanical arm, the robot arm is composed of multiple joints and connecting rods, the robot arm is equipped with a controller for receiving input signals and issuing instructions, the control system is based on PLC (programmable logic controller), microcontroller, the robot arm is equipped with sensors (such as position sensor, force sensor and vision sensor), for real-time monitoring of state and environmental information, to ensure efficient and safe access to the target.

[0044] Specific embodiment two

[0045] Please refer to Figure 1-7, on the basis of the specific embodiment one, the adjusting rod 5 is internally provided with a driving assembly, the driving assembly includes a driving motor 14, the driving motor 14 is fixedly connected to the inside of the adjusting rod 5, the output end of the driving motor 14 is fixedly connected with a threaded rod 15, the threaded rod 15 surface is threadedly connected with a moving sleeve 16, the inside of the supporting plate 6 is fixedly connected with a sliding rod 17, the sliding rod 17 surface is slidingly connected with a sliding sleeve 18, the sliding sleeve 18 top is fixedly connected with the clamping plate 7, the moving sleeve 16 surface is fixedly connected with a moving block 19, the moving block 19 other side is movably connected with a driving rod 20, the driving rod 20 other end penetrates through the adjusting rod 5 and is movably connected with the sliding sleeve 18, the moving sleeve 16 top is fixedly connected with a moving rod 21, the moving rod 21 other end penetrates through the supporting column 3 and is fixedly connected with the sealing plug 8.

[0046] Specific: the number of clamping plates 7 is three, the relative movement of the three clamping plates 7 can be used to clamp the material, the sealing strip is installed on the surface of the sealing plug 8, the sealing plug 8 is slidingly connected with the inner wall of the supporting column 3, and the air inside the supporting column 3 can be compressed when the sealing plug 8 moves, the number of pneumatic tubes 22 is three, and the pneumatic tubes 22 are all communicated with the bottom of the exhaust pipe 9, the electromagnetic valve 10 can control the opening and closing of the exhaust pipe 9, and the sliding sleeve 18 and the sliding rod 17 surface are slidingly connected, which can support the movement of the clamping plate 7.

[0047] Specific embodiment three

[0048] Please refer to Figure 1-7, on the basis of the specific embodiment one, the protection assembly further includes a pneumatic pipe 22, the pneumatic pipe 22 is communicated with the top of the exhaust pipe 9, the other end of the pneumatic pipe 22 is communicated with the sealing pipe 13, the sealing plate 23 is slidingly connected in the sealing pipe 13, the push rod 24 is fixedly connected to the bottom of the sealing plate 23, the other end of the push rod 24 penetrates to the outside of the sealing pipe 13 and is fixedly connected with a fixed block 25, the supporting shaft 26 is movably connected on one side of the clamping plate 7, the first sprocket 27 is fixedly connected on the surface of the supporting shaft 26, the second sprocket 28 is fixedly connected on the surface of the rotating shaft 11, the chain 29 is sleeved on the surfaces of the first sprocket 27 and the second sprocket 28, the other end of the fixed block 25 penetrates through the clamping plate 7 and is fixedly connected with the chain 29, the adjusting rod 5 is provided with a sliding groove on one side, the visual detection probe 4 is fixedly connected with a support 30 on one side, the other end of the support 30 is fixedly connected with the base 1, and the clamping plate 7 is fixedly connected with a rubber pad 31 on one side.

[0049] Specifically: the drive rod 20 two ends are respectively through the pin shaft and the moving block 19 and the sliding sleeve 18 movable connection, the adjusting rod 5 one side is provided with the sliding slot, the moving block 19 and the sliding slot inner wall sliding connection, the sealing plate 23 and the sealing pipe 13 inner wall sliding connection, can be injected into the air in the sealing pipe 13, push the push rod 24, the fixed block 25 one side and chain 29 fixed connection, can be driven under the pushing of fixed block 25, drive the second sprocket 28 rotation.

[0050] The working principle of the present application is that: the staff starts the visual detection probe 4 through the external controller, the visual detection probe 4 shoots the working environment in real time, analyzes the image through the machine learning algorithm, identifies the position, shape and size of the target object, and then the control system adjusts the motion trajectory of the driving arm 2 according to the analysis result, the driving arm 2 drives the adjusting rod 5 to move in cooperation with the supporting column 3, and the adjusting rod 5 drives the clamping plate 7 to move to the surface of the material;

[0051] Then start the driving motor 14, the driving motor 14 drives the moving sleeve 16 to move in cooperation with the threaded rod 15, the moving sleeve 16 drives the driving rod 20 to move in cooperation with the moving block 19, the driving rod 20 drives the clamping plate 7 to move in cooperation with the sliding sleeve 18, and the three groups of driving rods 20 are driven to move simultaneously by the moving sleeve 16, so that the three groups of clamping plates 7 are relatively moved to clamp and fix the material;

[0052] The moving sleeve 16 moves while driving the moving rod 21 to move, the moving rod 21 drives the sealing plug 8 to move to compress and store the air in the supporting column 3, after the clamping plate 7 clamps and fixes the material, the electromagnetic valve 10 can be started to open the exhaust pipe 9, the exhaust pipe 9 releases the air pressure in the supporting column 3, injects high-pressure gas into the pneumatic pipe 22, and the pneumatic pipe 22 injects the gas into the sealing pipe 13;

[0053] After the gas is injected into the sealing pipe 13, the sealing plate 23 is driven to move, the sealing plate 23 drives the fixed block 25 to move in cooperation with the push rod 24, the fixed block 25 drives the chain 29 to move, the chain 29 drives the second sprocket 28 to rotate, the second sprocket 28 drives the protection plate 12 to rotate in cooperation with the rotating shaft 11, and the bottom of the material is shielded, which plays a role in preventing falling protection.

[0054] The standard parts used in the present application can be purchased from the market, and can be customized according to the description and drawings. The specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art. The mechanical parts and equipment adopt the conventional type in the prior art. The control mode is automatically controlled by the control unit. The control circuit of the control unit can be realized by simple programming of the technical personnel in the field, which belongs to the common knowledge in the field. Therefore, the control mode and circuit connection in the present application are not explained in detail.

[0055] The preferred embodiments of the application disclosed above are only used to illustrate the present application, the preferred embodiments do not describe all the details, and the present application is not limited to the specific embodiments described. The embodiments are selected and described in the specification in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. A robotic vision automated grasping device comprising a base (1), characterized in that: The base (1) top is provided with driving arm (2), the other end of driving arm (2) is provided with support column (3), the top of driving arm (2) is provided with visual detection probe (4); The base (1) top is provided with a grabbing assembly, the grabbing assembly includes an adjusting rod (5), the adjusting rod (5) is fixedly connected to the bottom of the support column (3), the surface of the adjusting rod (5) is fixedly connected with a support plate (6), the bottom of the support plate (6) is provided with a clamping plate (7), the material is clamped by the grabbing assembly; The support column (3) is provided with a pressure storage assembly, the pressure storage assembly includes a sealing plug (8), the sealing plug (8) is slidably connected in the support column (3), the top of the support column (3) is communicated with an exhaust pipe (9), the surface of the exhaust pipe (9) is sleeved with a solenoid valve (10), the gas pressure is stored by the pressure storage assembly; The support plate (6) top is provided with protection assembly, the protection assembly includes rotating shaft (11), the rotating shaft (11) is movably connected in the clamping plate (7), the surface of the rotating shaft (11) is fixedly connected with a protection plate (12), the clamping plate (7) is provided with a sealing tube (13), the material is protected by the protection assembly.

2. The robot vision automatic grabbing device according to claim 1, characterized in that: The adjusting rod (5) is provided with a driving assembly, the driving assembly includes a driving motor (14), the driving motor (14) is fixedly connected to the inside of the adjusting rod (5), the output end of the driving motor (14) is fixedly connected with a threaded rod (15), the surface of the threaded rod (15) is threadedly connected with a moving sleeve (16).

3. The robotic vision automated grasping device of claim 2, wherein: The support plate (6) is fixedly connected with a sliding rod (17), the surface of the sliding rod (17) is slidably connected with a sliding sleeve (18), the top of the sliding sleeve (18) is fixedly connected with the clamping plate (7).

4. The robotic vision automated grasping device of claim 3, wherein: The surface of the moving sleeve (16) is fixedly connected with a moving block (19), the other side of the moving block (19) is movably connected with a driving rod (20), the other end of the driving rod (20) penetrates through the adjusting rod (5) and is movably connected with the sliding sleeve (18).

5. The robotic vision automated grasping device of claim 2, wherein: The top of the moving sleeve (16) is fixedly connected with a moving rod (21), the other end of the moving rod (21) penetrates through the support column (3) and is fixedly connected with the sealing plug (8).

6. The robotic vision automated grasping device of claim 1, wherein: The protection assembly further includes a pneumatic tube (22), the pneumatic tube (22) is communicated with the top of the exhaust pipe (9), the other end of the pneumatic tube (22) is communicated with the sealing tube (13), the sealing tube (13) is slidably connected with a sealing plate (23), the bottom of the sealing plate (23) is fixedly connected with a push rod (24), the other end of the push rod (24) penetrates to the outside of the sealing tube (13) and is fixedly connected with a fixed block (25).

7. The robotic vision automated grasping device of claim 1, wherein: The clamping plate (7) is movably connected with a support shaft (26), the surface of the support shaft (26) is fixedly connected with a first sprocket (27), the surface of the rotating shaft (11) is fixedly connected with a second sprocket (28), the surface of the first sprocket (27) and the second sprocket (28) is sleeved with a chain (29).

8. The robotic vision automated grasping device of claim 6, wherein: The fixed block (25) is penetrated through the clamping plate (7) and is fixedly connected with the chain (29), and the adjusting rod (5) is provided with a sliding groove on one side.

9. The robotic vision automated grasping device of claim 1, wherein: The visual detection probe (4) is fixedly connected with a support (30) on one side, and the support (30) is fixedly connected with the base (1) on the other side, and the clamping plate (7) is fixedly connected with a rubber pad (31) on one side.

10. A robot vision automatic grabbing method based on the robot vision automatic grabbing device according to any one of claims 1-9, characterized in that, Comprise the following steps: S1: the staff starts the visual detection probe (4) through the external controller, identifies the position, shape and size of the target object and other characteristics, and then controls the system to adjust the motion trail of the driving arm (2) according to the analysis result, the driving arm (2) drives the adjusting rod (5) to move in cooperation with the supporting column (3), the adjusting rod (5) drives the clamping plate (7) to move to the surface of the material; S2: then start the driving motor (14), the driving motor (14) drives the moving sleeve (16) to move in cooperation with the threaded rod (15), the moving sleeve (16) drives the driving rod (20) to move in cooperation with the moving block (19), the driving rod (20) drives the clamping plate (7) to move in cooperation with the sliding sleeve (18), three groups of driving rods (20) are driven to move at the same time by the moving sleeve (16), so that three groups of clamping plates (7) are relatively moved to clamp and fix the material; S3: the moving sleeve (16) moves while driving the moving rod (21) to move, the moving rod (21) drives the sealing plug (8) to move to compress and store the air in the supporting column (3), after the clamping plate (7) clamps and fixes the material, the electromagnetic valve (10) can be started to open the exhaust pipe (9), the exhaust pipe (9) releases the air pressure in the supporting column (3), and high-pressure gas is injected into the pneumatic pipe (22), and the pneumatic pipe (22) injects the gas into the sealing pipe (13); S4: the sealing pipe (13) injects the gas to drive the sealing plate (23) to move, the sealing plate (23) drives the fixed block (25) to move in cooperation with the push rod (24), the fixed block (25) drives the chain (29) to move, the chain (29) drives the second sprocket (28) to rotate, the second sprocket (28) drives the protection plate (12) to rotate in cooperation with the rotating shaft (11), and the bottom of the material is shielded, which plays a role in preventing falling protection.

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