CN112248001A - Mechanical claw, mechanical hand, replenishment robot and replenishment system - Google Patents
Mechanical claw, mechanical hand, replenishment robot and replenishment system Download PDFInfo
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- CN112248001A CN112248001A CN202011064475.9A CN202011064475A CN112248001A CN 112248001 A CN112248001 A CN 112248001A CN 202011064475 A CN202011064475 A CN 202011064475A CN 112248001 A CN112248001 A CN 112248001A
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- telescopic
- controller
- flexible fingers
- replenishment
- target object
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a mechanical claw, a mechanical hand, a replenishment robot and a replenishment system, wherein the mechanical claw specifically comprises a mounting plate, an adsorption component and two flexible fingers, the finger roots of the two flexible fingers are respectively horizontally and symmetrically mounted on the front side of the mounting plate, the finger faces of the two flexible fingers are close to each other, the adsorption component is mounted on the mounting plate and is positioned below or above the space between the two flexible fingers, the adsorption component is provided with a sucker with a forward opening, the adsorption component is used for enabling the sucker to move and approach a target object and enabling the sucker to drive the target object adsorbed by the sucker to move close to the mounting plate after the sucker adsorbs the target object, and the two flexible fingers are opened so that the sucker drives the target object adsorbed by the sucker to move between the sucker and the flexible fingers or bend to approach each other so as to clamp the target object between the two flexible fingers. This application gripper, manipulator, replenishment robot can realize the stability of article and take, this application replenishment system can replace artifical replenishment.
Description
Technical Field
The invention relates to the technical field of supermarket replenishment robots, in particular to a mechanical claw, a mechanical hand, a replenishment robot and a replenishment system.
Background
The goods in the supermarket are various in types, people can select the goods in various modes, in order to better enable people to select the favorite goods quickly and accurately, the goods must be placed correctly, the goods are placed more neatly, and consumers can find the needed goods clearly and quickly.
Because the commodities in the supermarket are various and large in quantity, if manual tallying is adopted, the manual tallying consumes a large amount of manpower, material resources and financial resources because of various types of the commodities in the supermarket.
The gripper of the existing robot can not extend into the goods shelf to grab and place goods, and difficulty is caused to automatic replenishment of goods in the supermarket.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mechanical claw, a mechanical arm, a replenishment robot and a replenishment system, which can realize stable and accurate cargo grabbing.
The utility model provides a gripper, includes mounting panel, adsorption component and two flexible fingers, the vertical setting of left right direction is followed to the mounting panel, two the installation of level and symmetry respectively of the root of the finger of flexible finger the front side of mounting panel, and the two finger indicates that the face is close to each other, two the root department of the finger of flexible finger is equipped with the air inlet for intercommunication air pump respectively, adsorption component installs on the mounting panel, and be located two below or top between the flexible finger, adsorption component has the opening sucking disc forward, the sucking disc is used for the air inlet intercommunication with the vacuum pump to produce the negative pressure at its opening part.
Preferably, the adsorption component includes first extensible member, two first extensible member is respectively along fore-and-aft direction horizontal installation the front side of mounting panel, just the flexible end of first extensible member is forward, two first extensible member is along left right direction horizontal interval distribution, two the sucking disc is installed respectively on the flexible end of first extensible member, and the opening of the two is forward, first extensible member can drive to correspond the sucking disc back-and-forth movement is in order to be close to or keep away from the mounting panel.
Preferably, the adsorption component further comprises a horizontal moving unit, the horizontal moving unit is installed on the mounting plate, the horizontal moving unit is provided with two driving ends, the first extensible member and the suckers are respectively provided with two suckers, the first extensible member is distributed at intervals along the left direction and the right direction, the suckers are respectively installed at two extensible ends of the first extensible member, the first extensible member is respectively installed at two driving ends of the horizontal moving unit, and the horizontal moving unit is used for driving the first extensible member to synchronously move so as to be close to or away from each other.
The manipulator comprises the mechanical claw and a mechanical arm, wherein the mounting plate is mounted on the tail end driving end of the mechanical arm.
Preferably, still include controller, camera, air pump and vacuum pump, camera, arm air pump and vacuum pump respectively with the controller electricity is connected, just the air pump with the vacuum pump is all installed on the arm, the air pump with the air inlet intercommunication of flexible finger, the vacuum pump with the inside intercommunication of sucking disc, the camera is installed on the mounting panel, and its camera lens is forward, the camera is used for acquireing the image signal of target article and sends to the controller, the controller is used for sending signal respectively extremely according to image signal the arm the air pump with the vacuum pump makes the arm drive the gripper removes and is close to and centre gripping target article.
Preferably, still include with the second extensible member that the controller electricity is connected, the second extensible member is installed on the terminal drive end of arm, and its flexible end is forward, the mounting panel is installed the flexible end of second extensible member.
Preferably, the device further comprises two pressure sensors respectively connected with the controller through signals, wherein the two pressure sensors are respectively installed on the finger surfaces of the two flexible fingers and are respectively used for detecting the pressure between the flexible fingers and a target object clamped by the flexible fingers.
The utility model provides a replenishment robot, includes above-mentioned manipulator, still include with the running gear that the controller electricity is connected, the arm is installed running gear's upper end.
Preferably, the robot further comprises a lifting driving unit electrically connected with the controller, the lifting driving unit is mounted on the walking device, and the mechanical arm is mounted at a driving end of the lifting driving unit.
The utility model provides a replenishment system, includes above-mentioned replenishment robot, still include goods shelves and with the detecting element that the controller electricity is connected, the goods shelves have a plurality of level and shelve the shelf plate on the goods shelves, install detecting element on the shelf plate, just detecting element is used for acquireing the gravity of the goods on the shelf plate.
The mechanical claw can accurately and stably take articles, and the flexible finger is suitable for articles in various shapes, including bagged articles and bottled articles, and can more flexibly grip the articles; the adsorption component enables the mechanical claw to take the commodity without extending into the goods shelf, so that the structure is more reasonable;
according to the mechanical arm, the shape and the type of an article can be realized through the camera, so that the mechanical arm and the mechanical claw can stably and accurately grab, move and place goods according to the shape and the weight of the article;
this application replenishment robot and replenishment system fungible manual work accomplish the automatic replenishment of article, reduce the required manpower of replenishment, material resources and financial resources to can realize the high-efficient high-quality replenishment.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a gripper according to embodiment 1 of the present invention;
fig. 2 is a second schematic structural view of the gripper according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a robot according to embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of a replenishment robot according to embodiment 3 of the present invention;
FIG. 5 is a schematic diagram of a AGV with Mecanum wheels according to embodiment 3 of the present invention.
The specific meanings of the reference numerals are:
1. mounting a plate; 2. an adsorption component; 21. a suction cup; 22. a first telescoping member; 23. a horizontal moving unit; 3. a flexible finger;
10. a gripper; 20. a mechanical arm; 30. a camera; 40. a second telescoping member;
100. a manipulator; 200. a traveling device; 300. a lifting driving unit.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The principles and features of the present invention are described below in conjunction with the accompanying fig. 1-5, which are provided as examples to illustrate the invention and not to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1-2, an embodiment 1 of the present invention is provided, in which the gripper 10 includes a mounting plate 1, an adsorption component 2, and two flexible fingers 3, the mounting plate 1 is vertically disposed along a left-right direction, finger bases of the two flexible fingers 3 are respectively horizontally and symmetrically mounted on a front side of the mounting plate 1, finger surfaces of the two flexible fingers are close to each other, air inlets for communicating with an air pump are respectively disposed at the finger bases of the two flexible fingers 3, the adsorption component 2 is mounted on the mounting plate 1 and located below or above a space between the two flexible fingers 3, the adsorption component 2 has a suction cup 21 with a forward opening, and the suction cup 21 is used for communicating with an air inlet of a vacuum pump to generate a negative pressure at an opening thereof.
The operating principle of the gripper 10 in this embodiment is as follows:
when a target object is clamped, the suction assembly 2 drives the suction disc 21 to move away from the mounting plate 1 and close to the target object, after the vacuum pump enables the suction disc 21 of the suction assembly 2 to generate negative pressure and suck the target object, the suction assembly 2 drives the suction disc 21 to move close to the mounting plate 1, the air pump pumps air from the two flexible fingers 3 outwards so that the two flexible fingers 3 bend and open towards the sides far away from each other, the suction assembly 2 drives the suction disc 21 to move close to the mounting plate 1 to be located between the two flexible fingers 3, and the air pump inflates the two flexible fingers 3 so that the two flexible fingers 3 bend towards the sides close to each other and clamp the target object between the two flexible fingers 3;
when a target object is placed, the air pump extracts air from the two flexible fingers 3, the two flexible fingers 3 bend and open towards one side far away from each other, the suction assembly 2 drives the suction disc 21 to move away from the mounting plate 1 to the position above the object, and the suction disc 21 releases the negative pressure between the suction disc 21 and the target object, so that the target object on the suction disc 21 is placed at the target position.
According to the mechanical claw 10, after the adsorption component 2 is adopted to adsorb a target article, the flexible fingers 3 clamp the target article, so that the article can be taken more accurately, and the combination of the adsorption component 2 and the two flexible fingers 3 is suitable for articles in various shapes, including bagged articles and bottled articles; the adsorption component 2 and the two flexible fingers 3 simultaneously hold a target object, so that the stability of the mechanical claw 10 in grabbing the target object is ensured, and the target object is prevented from being damaged due to falling; the two flexible fingers 3 can be coordinated to meet the shape of an article, and the article can be grabbed more flexibly.
On the basis of the embodiment 1, the two sides of the flexible fingers 3 close to each other are respectively provided with a buffer pad so as to prevent the flexible fingers 3 from damaging vulnerable articles.
As shown in fig. 1, the flexible finger 3 of this embodiment adopts a novel flexible finger disclosed in the chinese utility model patent with publication number CN107378980A, and is simple to install and flexible to grab.
Preferably, the adsorption component 2 includes a first telescopic member 22, two the first telescopic member 22 is installed along fore-and-aft direction horizontal installation respectively in the front side of mounting panel 1, just the flexible end of first telescopic member 22 is forward, two first telescopic member 22 is along left right direction horizontal interval distribution, two sucking discs 21 are installed respectively on the flexible end of first telescopic member 22, and the opening of the two is forward, first telescopic member 22 can drive to correspond sucking discs 21 back-and-forth movement is in order to be close to or keep away from mounting panel 1.
First extensible member 22 can drive sucking disc 21 removes in order to be close to or keep away from mounting panel 1, sucking disc 21 respectively with the vacuum pump intercommunication, the vacuum pump is used for sucking disc 21 opening part produces the negative pressure, so that sucking disc 21 realizes the absorption and the release of target goods.
Preferably, the adsorption assembly 2 further includes a horizontal moving unit 23, the horizontal moving unit 23 is installed on the mounting plate 1, and has two driving ends, the first extensible member 22 and the suction cups 21 are respectively provided with two, and two of the first extensible member 22 are distributed at intervals along the left-right direction, two of the suction cups 21 are respectively installed at the two extensible ends of the first extensible member 22, two of the first extensible members 22 are respectively installed on the two driving ends of the horizontal moving unit 23, and the horizontal moving unit 23 is used for driving the two first extensible members 22 to synchronously move so as to be close to or away from each other.
As shown in fig. 1-2, the suction assembly 2 is provided with two suction cups 21 and two first expansion pieces 22, the two first expansion pieces 22 are distributed at intervals along the left-right direction, the two suction cups 21 are respectively installed at the expansion ends of the two first expansion pieces 22, and the two suction cups 21 have different sizes so as to be suitable for target objects with different sizes and weights.
The horizontal moving unit 23 can drive the two first telescopic members 22 to drive the two suction cups 21 to move synchronously to get close to or get away from each other, so that the distance between the two suction cups 21 is suitable for goods with different sizes.
Wherein, the horizontal movement unit 23 comprises a screw rod, two sliding blocks and a motor, the mounting plate 1 is provided with a strip-shaped groove which runs through the mounting plate from front to back and is horizontally distributed, the screw rod is horizontally and rotatably arranged in the strip-shaped groove, two ends of the screw rod are respectively arranged on two side groove walls of the strip-shaped groove through bearings which are in running fit with the screw rod, the screw thread directions from the middle part of the screw rod to the two ends of the screw rod are opposite, the lower ends of the two sliding blocks are provided with sliding grooves which are matched with the lower side groove walls of the strip-shaped groove, the two sliding blocks are respectively arranged at two ends of the screw rod through threads and are in sliding connection with the mounting plate 1 through the sliding grooves at the lower ends of the sliding blocks, the motor is arranged at one side of the strip-shaped groove, an output shaft of the motor is, and the driven gear is engaged with the driving gear, and the motor can drive the screw rod to rotate through the driving gear and the driven gear, so that the two first expansion pieces 22 are driven by the slide block to synchronously move to be close to or far away from each other.
The horizontal moving unit 23 drives the two suckers 21 to move by adopting a screw rod transmission mechanism, and the movement is stable.
Example 2
As shown in fig. 3, this embodiment 2 discloses a robot arm 100, which includes the gripper 10 according to embodiment 1, and further includes a robot arm 20, wherein the mounting plate 1 is mounted on a distal driving end of the robot arm 20.
This application arm 20 when snatching article, arm 20 drive mounting panel 1 moves to being close to target article, and the air pump is followed two flexible finger 3 outwards bleeds, produce the negative pressure in the flexible finger 3, so that flexible finger 3 opens, horizontal migration unit 23 adjusts two distance between sucking disc 21 makes its shape unanimous with target article, two first extensible member 22 extension and drive two sucking disc 21 removes to be close to and absorbs target article, first extensible member 22 shortens and drives two sucking disc 21 shortens and moves to two between the flexible finger 3, two flexible finger 3 is crooked again and is close to each other with the centre gripping target.
Referring to fig. 3, the output end at the end of the mechanical arm 20 may drive the mounting plate 1 to rotate, so that after the arrangement between the two flexible fingers 3 is consistent with the shape of the target object, the two first telescopic members 22 are extended to drive the two suction cups 21 to approach the target object, so that the suction assembly 2 can accurately and stably suck the target object, and the mechanical gripper 10 is suitable for the object with irregular shape.
As shown in fig. 3, the seven-axis flexible mechanical arm adopting LBR iiiwa 7R800 in this embodiment has relatively light weight, no additional load, and high degree of freedom, and the flexible mechanical arm is made of a flexible material, and has the characteristics of high flexibility, complex environment adaptability, safety, human-computer interaction, and the like.
Preferably, still include controller, camera 30, air pump and vacuum pump, camera 30, arm 20, air pump and vacuum pump respectively with the controller electricity is connected, just the air pump with the vacuum pump is all installed on arm 20, the air pump with the air inlet intercommunication of flexible finger 3, the vacuum pump with the inside intercommunication of sucking disc 21, camera 30 installs on mounting panel 1, and its camera lens is forward, camera 30 is used for acquireing the image signal of target article and sends to the controller, the controller is used for respectively sending signal to arm 20, adsorption component 2, air pump and the vacuum pump according to image signal, makes arm 20 drive mounting panel 1 moves and is close to target article, the air pump makes two flexible finger 3 open, adsorption component 2 drive sucking disc 21 moves and is close to target article, the vacuum pump generates negative pressure in the sucker 21 and adsorbs a target object, the adsorption component 2 drives the sucker 21 to drive the target object to move between the two flexible fingers 3, and the air pump inflates air to bend the two flexible fingers 3 and clamp the target object between the two flexible fingers 3.
The flexible finger 3 is flexible to bend, and the flexible finger 3 can be bent into a shape matched with the shape of the target object, so that the target object can be stably taken.
As shown in fig. 1-2, in this embodiment, the camera 30 employs a binocular camera, the binocular camera collects images of an article to be carried, the controller can extract three-dimensional information of the target article according to a two-dimensional image of the target article and obtain a distance between the target article and the mounting plate 1, the controller sends a signal to the robot arm 20, so that the robot arm 20 drives the mounting plate 1 to move close to the target article, after the two flexible fingers 3 are opened, the adsorption component 2 adsorbs the target article to between the two flexible fingers 3, and the flexible fingers 3 can be bent to form a three-dimensional space matched with the shape of the target article to clamp the target article.
Preferably, the robot further comprises a second telescopic member 40 electrically connected with the controller, the second telescopic member 40 is installed on the end driving end of the robot arm 20, the telescopic end of the second telescopic member 40 faces forwards, and the mounting plate 1 is installed on the telescopic end of the second telescopic member 40.
The binocular camera is for guaranteeing image acquisition's the field of vision, requires that the maximum dimension of binocular camera distance target goods is within 200mm to 500mm, is guaranteeing under the prerequisite of the distance of binocular camera and goods, through setting up second extensible member 40 is in order to guarantee mounting panel 1 can arm 20 with the drive of second extensible member 40 is removed down and is close to the target goods.
Preferably, the device further comprises two pressure sensors respectively connected with the controller through signals, wherein the two pressure sensors are respectively installed on the finger surfaces of the two flexible fingers 3 and are respectively used for detecting the pressure between the flexible fingers 3 and the target object clamped by the flexible fingers 3.
The two pressure sensors are in signal connection with the controller through a wireless communication module, after the target object is clamped between the two pressure sensors by the two flexible fingers 3, the two pressure sensors are respectively used for detecting the pressure between the flexible fingers 3 and the target object clamped by the flexible fingers 3, when the pressure between the flexible fingers 3 and the target object clamped by the flexible fingers is smaller than a set value, the controller sends a signal to the air pump, the air pump inflates the two flexible fingers 3, so that the clamping force of the two flexible fingers 3 on the target object is increased, the pressure between the flexible fingers and the target object is increased, and the pressure value measured by the pressure sensors is matched with the set value, so that the stability of the mechanical claw 10 for clamping the target object is ensured; when the pressure between the flexible fingers 3 and the target object clamped by the flexible fingers is larger than a set value, the controller sends a signal to the air pump, and the air pump sucks air from the two flexible fingers 3 to reduce the pressure between the two flexible fingers 3 to the set value, so that the object is prevented from being damaged due to the fact that the pressure between the flexible fingers 3 and the target object is too large, and the mechanical arm 20 is suitable for clamping the fragile object.
In this embodiment, the pressure sensor employs a piezoelectric film, which has high chemical stability, low hygroscopicity, high thermal stability, high ultraviolet radiation resistance, high impact resistance, and high fatigue resistance, and has chemical stability 10 times higher than that of ceramics, and the piezoelectric film is soft in texture and light in weight, and does not damage a target object.
Example 3
As shown in fig. 4, embodiment 3 provides a replenishment robot, including the robot arm 20 according to embodiment 2, and further including a traveling device 200 electrically connected to the controller, wherein the robot arm 20 is mounted on an upper end of the traveling device 200.
When the replenishment robot needs replenishment, the controller sends a signal to the traveling device 200, the traveling device 200 moves to a position close to a place where a target object is placed, the camera 30 collects an image signal of the place where the target object is placed and sends the image signal to the controller, the controller obtains commodity information and position information of the replenishment object according to the image signal, the controller sends a signal to the mechanical arm 20, the air pump and the vacuum pump, the mechanical arm 20 drives the mounting plate 1 to move to be close to the target object, the air pump pumps air from the two flexible fingers 3 outwards, negative pressure is generated in the flexible fingers 3 to open the flexible fingers 3, the horizontal moving unit 23 adjusts the distance between the two suckers 21 to enable the distance to be consistent with the shape of the target object, the two first telescopic pieces 22 extend and drive the two suckers 21 to move to be close to and suck the target object, first extensible member 22 shortens and drives two sucking disc 21 shortens and removes to two between the flexible finger 3, two flexible finger 3 is crooked again and is close to each other with the centre gripping target after, running gear 200 drives again manipulator 100 and the target article of its centre gripping move to being close to the target location, and the air pump is followed two flexible finger 3 is outwards bled and is made flexible finger 3 opens, and first extensible member 22 extends and drives two sucking disc 21 removes the top to the target location, sucking disc 21 relieves the negative pressure in order to place the target article on the target location, first extensible member 22 shortens so that two sucking disc 21 restores the normal position can.
As shown in fig. 5, running gear 200 adopts mecanum wheel AGV dolly, and mecanum wheel AGV dolly has dispatch system, and steerable a plurality of AGVs are gone in order and are accomplished each item job task, guarantee that AGV's route of traveling is more excellent, are favorable to improving restocking efficiency.
Preferably, the robot further comprises a lifting driving unit 300 electrically connected to the controller, wherein the lifting driving unit 300 is installed on the walking device 200, and the robot arm 20 is installed at a driving end of the lifting driving unit 300.
As shown in fig. 3, the lifting driving unit 300 includes a driving motor, a bottom plate, a vertical mounting, a guide plate on the walking device 200, and a vertical mounting on a threaded rod and two guide rods on the front side of the guide plate, and two ends of the threaded rod are respectively mounted on the front side of the guide plate through bearings matched with the threaded rod in a rotating manner, two guide rods are vertically and fixedly mounted on two sides of the threaded rod, the base is in threaded connection with the threaded rod, the base is in sliding connection with the two guide rods, the base forms a lifting end of the lifting driving unit 300, the mechanical arm 20 is mounted on the upper end of the base, the driving motor is mounted on the walking device 200, and a driving shaft of the driving motor faces upwards, and is in transmission connection with a lower end of the threaded rod.
The driving motor can drive the threaded rod to rotate, so that the base drives the mechanical arm 20 to ascend or descend, and grabbing or replenishment of target objects at different heights is met.
The application the lift drive unit 300's transmission efficiency is high, the transmission is steady, longe-lived, the precision is high, thereby avoids the arm 20 causes at the lift in-process the shake of arm 20.
On the basis of the above embodiment, the traveling device 200 is provided with an article placing groove with an upward groove opening, after the gripper 10 grabs the replenishment commodity, the mechanical arm 20 sequentially places the replenishment commodity in the article placing groove, and then the traveling device 200 drives the mechanical arm 20 to move to the replenishment position to complete replenishment of various or multiple target commodities at one time.
Example 4
Embodiment 4 provides a replenishment system, which includes the replenishment robot of embodiment 3, and further includes a rack and a detection unit electrically connected to the controller, wherein the rack has a plurality of rack plates horizontally resting on the rack, the rack plates are mounted with the detection unit, and the detection unit is used to obtain the gravity of the goods on the rack plates.
When the weight of the goods on the shelf board is smaller than a preset value, the controller sends a signal to the traveling device 200, the traveling device 200 drives the replenishment robot to travel to a target article close to the goods to be replenished, the camera 30 acquires an image signal of a place where the target article is placed and sends the image signal to the controller, the controller respectively sends a signal to the mechanical arm 20, the air pump and the vacuum pump, the mechanical arm 20 drives the gripper 10 to move to be close to and grab the target article, the traveling device 200 further drives the mechanical arm 20 to move to be close to the shelf, the camera 30 acquires an image signal of the shelf and sends the image signal to the controller, the controller obtains position information of the target article placed on the shelf according to the received image information and respectively sends a signal to the mechanical arm 20, the air pump and the vacuum pump, the mechanical arm 20 drives the gripper 10 to move to a target position close to the replenishment, the gripper 10 releases the target item for placement on the target location.
Article information on the goods shelves, the positional information of article in the warehouse internal prestore in the controller, this application the theory of operation of replenishment system includes following step:
step 2, the camera 30 acquires picture signals of the storage positions of the short-order items and sends the picture signals to the controller, the controller acquires the relative position and the shape information of the target items to be replenished according to the picture signals, sends the signals to the mechanical arm 20, the lifting driving unit 300, the first telescopic part 22, the second telescopic part 40, the air pump and the vacuum pump, the mechanical arm 20, the lifting driving unit 300 and the second telescopic part 40 drive the mechanical claw 10 to move to be close to the target items, the tail end of the mechanical arm 20 drives the mounting plate 1 to rotate so as to adjust the suckers 21 and the two flexible fingers 3 to be matched with the shapes of the target items, the two flexible fingers 3 are bent and far away from each other, the first telescopic part 22 drives the two suckers 21 to move to be close to the target items, and the vacuum pump enables the two suckers 21 to generate negative pressure and adsorb the target items, the two first telescopic pieces 22 are shortened to enable the two suckers 21 to drive the target object to move between the two flexible fingers 3, the two flexible fingers 3 bend again and approach each other, and the space formed by the two flexible fingers 3 is matched with the shape of the target object so as to take the supplemented target object;
step 4, the mechanical arm 20, the lifting driving unit 300, the first telescopic part 22 and the second telescopic part 40 drive the mechanical claw 10 to move close to the object placing groove, the two flexible fingers 3 bend and are far away from each other, the first telescopic part 22 drives the two suckers 21 to move close to the object placing groove, the vacuum pump enables the two suckers 21 to release negative pressure, and the target object is released, so that the target object to be replenished is placed in the object placing groove;
step 5, the controller sends a signal to the traveling device 200 according to the shelf position information to be replenished, and the traveling device 200 drives the robot to move to the front side of the shelf position to be replenished;
step 6, the camera 30 acquires picture signals in the storage tank and sends the picture signals to the controller, the controller sends signals to the controller, the controller acquires the relative position of the target object to be replenished according to the picture signals in the storage tank and sends the signals to the mechanical arm 20, the lifting driving unit 300, the first telescopic piece 22, the second telescopic piece 40, the air pump and the vacuum pump, and the mechanical claw 10 grabs the target object to be replenished;
step 7, the camera 30 acquires picture signals of a shelf to be replenished and sends the picture signals to the controller, the controller acquires information of a target position where a target article is stored on the shelf to be replenished according to the picture signals and sends the information to the mechanical arm 20, the lifting driving unit 300, the first telescopic piece 22, the second telescopic piece 40, the air pump and the vacuum pump, the mechanical arm 20, the lifting driving unit 300 and the first telescopic piece 22 drive the mechanical claw 10 to move to be close to the target position, and the mechanical claw 10 releases the target article at the target position to finish replenishing operation.
The detection unit of the present embodiment may be a pressure sensor and a gravity sensor, which are used for detecting the weight of the goods on the shelf board, and are not described in detail herein.
This embodiment the replenishment system has realized the automatic replenishment of article, can reduce manpower, material resources, financial resources, and replenishment robot improves work efficiency, can high-efficient high-quality completion goods on the goods shelves work of replenishing.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a gripper, its characterized in that includes mounting panel (1), adsorption component (2) and two flexible fingers (3), vertical setting, two of left right direction are followed in mounting panel (1) the installing of finger root difference level and symmetry of flexible finger (3) the front side of mounting panel (1), and the finger face of the two is close to each other, two the finger root department of flexible finger (3) is equipped with the air inlet that is used for communicateing the air pump respectively, adsorption component (2) are installed on mounting panel (1), and lie in two below or top between flexible finger (3), adsorption component (2) have opening sucking disc (21) forward, sucking disc (21) are used for the air inlet intercommunication with the vacuum pump to produce the negative pressure at its opening part.
2. The gripper according to claim 1, wherein the suction assembly (2) comprises first telescopic members (22), two first telescopic members (22) are respectively horizontally installed at the front side of the mounting plate (1) along the front-back direction, the telescopic ends of the first telescopic members (22) face forwards, the two first telescopic members (22) are horizontally distributed at intervals along the left-right direction, two suction cups (21) are respectively installed at the telescopic ends of the first telescopic members (22), the openings of the two suction cups face forwards, and the first telescopic members (22) can drive the corresponding suction cups (21) to move back and forth to be close to or far away from the mounting plate (1).
3. The gripper according to claim 2, wherein the suction assembly (2) further comprises a horizontal moving unit (23), the horizontal moving unit (23) is mounted on the mounting plate (1) and has two driving ends, the first telescopic member (22) and the suction cups (21) are respectively provided with two, the two first telescopic members (22) are distributed at intervals along the left-right direction, the two suction cups (21) are respectively mounted at the telescopic ends of the two first telescopic members (22), the two first telescopic members (22) are respectively mounted at the two driving ends of the horizontal moving unit (23), and the horizontal moving unit (23) is used for driving the two first telescopic members (22) to move synchronously to approach or move away from each other.
4. A manipulator, comprising a gripper (10) according to any of claims 1-3, and further comprising a robot arm (20), wherein the mounting plate (1) is mounted on a distal drive end of the robot arm (20).
5. The robot hand of claim 4, further comprising a controller, a camera (30), an air pump and a vacuum pump, the camera (30), the mechanical arm (20), the air pump and the vacuum pump are respectively electrically connected with the controller, the air pump and the vacuum pump are both arranged on the mechanical arm (20), the air pump is communicated with the air inlet of the flexible finger (3), the vacuum pump is communicated with the inside of the sucker (21), the camera (30) is arranged on the mounting plate (1), the lens of the camera is forward, the camera (30) is used for acquiring image signals of a target object and sending the image signals to the controller, the controller is used for respectively sending signals to the mechanical arm (20), the air pump and the vacuum pump according to image signals, so that the mechanical arm (20) drives the mechanical claw (10) to move close to and clamp a target object.
6. The manipulator according to claim 5, further comprising a second telescopic member (40) electrically connected to the controller, wherein the second telescopic member (40) is installed on the end driving end of the robot arm (20) with its telescopic end facing forward, and the mounting plate (1) is installed on the telescopic end of the second telescopic member (40).
7. The manipulator according to claim 5, further comprising two pressure sensors respectively connected with the controller by signals, wherein the two pressure sensors are respectively arranged on the finger surfaces of the two flexible fingers (3) and are respectively used for detecting the pressure between the flexible fingers (3) and the target object clamped by the flexible fingers.
8. A restocking robot, comprising the manipulator (100) according to any one of claims 5 to 7, further comprising a traveling device (200) electrically connected to the controller, the robot arm (20) being mounted on an upper end of the traveling device (200).
9. The replenishment robot according to claim 8, further comprising a lifting drive unit (300) electrically connected to the controller, wherein the lifting drive unit (300) is mounted on the traveling device (200), and the robot arm (20) is mounted at a driving end of the lifting drive unit (300).
10. A replenishment system comprising the replenishment robot according to claim 8 or 9, and further comprising a rack and a detection unit electrically connected to the controller, wherein the rack has a plurality of rack plates horizontally resting on the rack, the rack plates having the detection unit mounted thereon, and the detection unit is configured to acquire the weight of the goods on the rack plates.
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| CN202011064475.9A CN112248001A (en) | 2020-09-30 | 2020-09-30 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
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| CN202011064475.9A CN112248001A (en) | 2020-09-30 | 2020-09-30 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
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| CN112959306A (en) * | 2021-03-26 | 2021-06-15 | 合肥工业大学 | Flexible cable parallel medicine taking robot for large pharmacy |
| CN113120542A (en) * | 2021-04-21 | 2021-07-16 | 重庆电子工程职业学院 | Intelligent automatic logistics carrying robot |
| CN113134846A (en) * | 2021-03-31 | 2021-07-20 | 杭州电子科技大学 | Modularization software gripper based on micropump drive |
| CN113352339A (en) * | 2021-06-25 | 2021-09-07 | 安徽普瑞普勒传热技术有限公司 | Error-proofing clamping device for machining heat exchanger plate and clamping method thereof |
| CN113618709A (en) * | 2021-07-07 | 2021-11-09 | 浙江大学 | Multi-mode force-control lossless grabbing device for intelligent production line |
| CN114193487A (en) * | 2021-11-25 | 2022-03-18 | 浙江大学 | Flexible manipulator for detecting in-situ quality of fruits and detection method |
| CN114559456A (en) * | 2022-04-29 | 2022-05-31 | 太原福莱瑞达物流设备科技有限公司 | A transport manipulator for stereoscopic warehouse |
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