CN113134844A - Accurate grabbing device of service robot - Google Patents
Accurate grabbing device of service robot Download PDFInfo
- Publication number
- CN113134844A CN113134844A CN202110600464.6A CN202110600464A CN113134844A CN 113134844 A CN113134844 A CN 113134844A CN 202110600464 A CN202110600464 A CN 202110600464A CN 113134844 A CN113134844 A CN 113134844A
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- Prior art keywords
- service robot
- racks
- infrared sensor
- gripping device
- infrared
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- 238000003466 welding Methods 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of service robots, in particular to an accurate grabbing device of a service robot, which comprises a connecting column, wherein one end of the connecting column is connected with a clamp main body, the clamp main body is connected with two racks in a sliding mode, the two racks are oppositely arranged, a motor is installed in the connecting column, an output shaft of the motor is connected with a gear, the gear is located between the two racks, the two racks are respectively meshed with the gear, clamping fingers are connected to the two racks, a first infrared sensor is arranged on the opposite surfaces of the two clamping fingers, a second infrared sensor is arranged on the front end surface of the clamp main body, a camera support is connected to the side wall of the connecting column, and a 3D vision camera is installed on the camera support. The invention can realize the accurate grabbing of the service robot to the target object, improve the success rate and the reliability of grabbing the object and promote the development of the service robot technical field; the invention has the advantages of flexible structure, strong universality, convenient use and stable and reliable working performance.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to an accurate grabbing device of a service robot.
Background
Along with the continuous development of scientific technology and computer level, the functions of intelligent service robot are more and more diversified, and play an important role in industrial production and daily life, wherein the grabbing operation is the most common service mode of service robot, however, when the service robot carries out grabbing operation, must acquire the accurate position of the target object first, then move grabbing device to the accurate position, just can grab the action and accomplish the task of grabbing, and current grabbing device generally adopts the blind grabbing mode, and this kind of grabbing mode has very high precision requirement to hardware and software, is difficult to satisfy the requirement in the precision in reality, and in addition, current grabbing device structure is complicated, is difficult to improve and grabs the accuracy, makes the grabbing device work efficiency of service robot low.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the precise grabbing device for the service robot is provided, the service robot can grab a target object precisely through the grabbing device, and the success rate and the reliability of grabbing the object are improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an accurate grabbing device of service robot, including the spliced pole, the one end of spliced pole is connected with the anchor clamps main part, sliding connection has two racks in the anchor clamps main part, two racks set up relatively, install the motor in the spliced pole, be connected with the gear on the output shaft of motor, the gear is located between two racks, two racks respectively with gear engagement, all be connected with on two racks and press from both sides the finger, be equipped with first infrared sensor on two faces that press from both sides the finger relative, be equipped with second infrared sensor on the preceding terminal surface of anchor clamps main part, be connected with the camera support on the lateral wall of spliced pole, install 3D vision camera on the camera support.
Furthermore, the other end of the connecting column is connected with a flange plate, the connecting column is fixed at the tail end of a mechanical arm of the service robot through the flange plate, and the motor, the first infrared sensor, the second infrared sensor and the 3D vision camera are all connected with a control system of the service robot.
Furthermore, two strip-shaped clamping grooves are formed in the clamp body, and the two racks are clamped in the two strip-shaped clamping grooves respectively and can move in the clamping grooves.
Furthermore, the center lines of the two clamping fingers are positioned on the same straight line.
Furthermore, two first infrared sensors are obliquely arranged on the opposite surfaces of the two clamping fingers respectively, infrared rays emitted by the two first infrared sensors face the outer side and are intersected with each other, and the central lines of the two first infrared sensors are positioned on the same straight line.
Furthermore, the two clamping fingers are fixed on the two racks respectively through welding.
Furthermore, two clamp indicate all to be equipped with first infrared sensor mounting hole on the relative face, and two first infrared sensors are fixed mounting respectively in two first infrared sensor mounting holes.
Furthermore, a second infrared sensor mounting hole is formed in the front end face of the clamp body, and the second infrared sensor is fixedly mounted in the second infrared sensor mounting hole.
In summary, the present invention has the following advantages:
firstly, the invention can realize the accurate grabbing of the target object by the service robot, improve the success rate and the reliability of grabbing the object and promote the development of the technical field of the service robot.
The invention has the advantages of flexible structure, strong universality, convenient use and stable and reliable working performance.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the connecting column of the present invention.
Fig. 3 is a side perspective view of the present invention.
Fig. 4 is a top perspective view of the present invention.
Wherein: the fixture comprises a connecting column 1, a fixture body 2, a strip-shaped clamping groove 2-1, a rack 3, a motor 4, a gear 5, a clamping finger 6, a first infrared sensor 7, a second infrared sensor 8, a camera support 9, a 3D vision camera 10 and a flange plate 11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1 and 2, the precise gripping device for the service robot comprises a connecting column, wherein one end of the connecting column is connected with a clamp main body, the clamp main body is connected with two racks in a sliding manner, the two racks are arranged oppositely, namely, two strip-shaped clamping grooves are formed in the clamp main body, and the two racks are respectively clamped in the two strip-shaped clamping grooves and can move in the clamping grooves; a motor is installed in the connecting column, a gear is connected to an output shaft of the motor and is positioned between the two racks, the two racks are respectively meshed with the gear, and clamping fingers are connected to the two racks; the two opposite surfaces of the two clamping fingers are provided with first infrared sensors, namely the two opposite surfaces of the two clamping fingers are provided with first infrared sensor mounting holes, and the two first infrared sensors are respectively and fixedly mounted in the two first infrared sensor mounting holes; the front end face of the clamp main body is provided with a second infrared sensor, namely a second infrared sensor mounting hole is formed in the front end face of the clamp main body, and the second infrared sensor is fixedly mounted in the second infrared sensor mounting hole; the lateral wall of the connecting column is connected with a camera support, and the camera support is provided with a 3D vision camera.
The motor drives the gear to rotate, the gear rotates to drive the two racks to move relatively, then the two clamping fingers are driven to move relatively to achieve closing or opening, positioning information of a target object is provided through the first infrared sensor, the second infrared sensor and the 3D vision camera, the two clamping fingers can clamp the target object, and accurate grabbing of the target object is achieved.
As shown in fig. 1, the other end of the connecting column is connected with a flange, the connecting column is fixed at the tail end of the mechanical arm of the service robot through the flange, and then the whole grabbing device is fixed at the tail end of the mechanical arm of the service robot, so that the mechanical arm of the service robot can drive the whole grabbing device to move together. The motor, the first infrared sensor, the second infrared sensor and the 3D vision camera are all connected with a control system of the service robot, so that the service robot can control the movement of the grabbing device.
The three-dimensional space information of the target object can be acquired through the 3D vision camera and used as a mechanical arm to drive the grabbing device to move for coarse positioning; the distance between the target object and the front end face of the clamp main body can be detected through the second infrared sensor, the distance between the target object and the two clamping fingers can be detected through the two first infrared sensors, and the accurate positioning of the target object is obtained.
As shown in fig. 3 and 4, the center lines of the two clamping fingers are positioned on the same straight line, so that the two clamping fingers can better clamp the object to realize the grabbing of the object. Two first infrared sensors are obliquely arranged on the opposite surfaces of the two clamping fingers respectively, infrared rays emitted by the two first infrared sensors face the outer side and are intersected with each other, and the central lines of the two first infrared sensors are positioned on the same straight line. Two first infrared sensor install on same water flat line promptly, and the infrared ray that two first infrared sensor jetted out is crossed, is convenient for detect the target object of arbitrary size, according to the target object's that two first infrared sensor detected distance, can judge the skew degree of the central point between target object and two clamp fingers, and the arm of being convenient for drives grabbing device motion for the target object's that two first infrared sensor detected distance equals, namely makes the target object be located the central point department between two clamp fingers.
The working principle of the invention is as follows:
the robot is fixedly arranged at the tail end of a mechanical arm of a service robot through a flange plate, is matched with the mechanical arm of the service robot for use, and realizes the grabbing of a target object mainly through two steps of rough grabbing and fine grabbing. Firstly, acquiring space three-dimensional information of a target object through a 3D vision camera, then transmitting the space three-dimensional information of the target object to a control system of a service robot through the 3D vision camera to be used as rough grabbing and positioning of a mechanical arm for driving a grabbing device to move, then driving the grabbing device to move to the area range of the target object through the mechanical arm, then detecting the distance between the target object and the front end face of a clamp main body through a second infrared sensor, detecting the distance between the target object and two clamping fingers through two first infrared sensors to obtain fine grabbing and positioning of the target object, judging the offset degree of the center position between the target object and the two clamping fingers, transmitting the detected distance information to the control system of the service robot through the second infrared sensor and the two first infrared sensors to be used as fine grabbing and positioning of the mechanical arm for driving the grabbing device to move, then the mechanical arm drives the grabbing device to move to the position of a target object, namely the target object is located at the center position between the two clamping fingers, then the motor is controlled to rotate, the motor drives the gear to rotate, the gear rotates to drive the two racks to move relatively, and then the two clamping fingers are driven to move relatively to close and clamp the target object, so that the target object is grabbed accurately.
In summary, the invention can realize the accurate grabbing of the target object by the service robot, improve the success rate and the reliability of grabbing the object, and promote the development of the technical field of the service robot. The invention has the advantages of flexible structure, strong universality, convenient use and stable and reliable working performance.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The utility model provides a precise grabbing device of service robot which characterized in that: including the spliced pole, the one end of spliced pole is connected with the anchor clamps main part, sliding connection has two racks in the anchor clamps main part, two racks set up relatively, install the motor in the spliced pole, be connected with the gear on the output shaft of motor, the gear is located between two racks, two racks respectively with gear engagement, all be connected with on two racks and press from both sides the finger, be equipped with first infrared sensor on two faces that press from both sides the finger relative, be equipped with second infrared sensor on the preceding terminal surface of anchor clamps main part, be connected with the camera support on the lateral wall of spliced pole, install 3D vision camera on the camera support.
2. The service robot precise gripping device according to claim 1, wherein: the other end of the connecting column is connected with a flange plate, the connecting column is fixed at the tail end of a mechanical arm of the service robot through the flange plate, and the motor, the first infrared sensor, the second infrared sensor and the 3D vision camera are all connected with a control system of the service robot.
3. The service robot precise gripping device according to claim 1, wherein: the clamp body is provided with two strip-shaped clamping grooves, and the two racks are clamped in the two strip-shaped clamping grooves respectively and can move in the clamping grooves.
4. The service robot precise gripping device according to claim 1, wherein: the central lines of the two clamping fingers are positioned on the same straight line.
5. The service robot precise gripping device according to claim 1, wherein: two first infrared sensors are obliquely arranged on the opposite surfaces of the two clamping fingers respectively, infrared rays emitted by the two first infrared sensors face the outer side and are intersected with each other, and the central lines of the two first infrared sensors are positioned on the same straight line.
6. The service robot precise gripping device according to claim 1, wherein: the two clamping fingers are fixed on the two racks respectively through welding.
7. The service robot precise gripping device according to claim 1, wherein: the two clamping fingers are provided with first infrared sensor mounting holes on opposite surfaces, and the two first infrared sensors are fixedly mounted in the two first infrared sensor mounting holes respectively.
8. The service robot precise gripping device according to claim 1, wherein: and a second infrared sensor mounting hole is formed in the front end face of the clamp main body, and the second infrared sensor is fixedly mounted in the second infrared sensor mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110600464.6A CN113134844A (en) | 2021-05-31 | 2021-05-31 | Accurate grabbing device of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110600464.6A CN113134844A (en) | 2021-05-31 | 2021-05-31 | Accurate grabbing device of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113134844A true CN113134844A (en) | 2021-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110600464.6A Pending CN113134844A (en) | 2021-05-31 | 2021-05-31 | Accurate grabbing device of service robot |
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| Country | Link |
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| CN (1) | CN113134844A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120286533A1 (en) * | 2011-05-13 | 2012-11-15 | University Of North Dakota | Gripper attachment for robot |
| CN206982705U (en) * | 2017-08-07 | 2018-02-09 | 武汉库柏特科技有限公司 | A kind of intelligent electric two refers to manipulator |
| CN108724168A (en) * | 2017-04-13 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Tire transfer robot end effector |
| CN109366484A (en) * | 2017-11-30 | 2019-02-22 | 金超 | A kind of Intelligent unattended is sold goods mechanical arm and its control system |
-
2021
- 2021-05-31 CN CN202110600464.6A patent/CN113134844A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120286533A1 (en) * | 2011-05-13 | 2012-11-15 | University Of North Dakota | Gripper attachment for robot |
| CN108724168A (en) * | 2017-04-13 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Tire transfer robot end effector |
| CN206982705U (en) * | 2017-08-07 | 2018-02-09 | 武汉库柏特科技有限公司 | A kind of intelligent electric two refers to manipulator |
| CN109366484A (en) * | 2017-11-30 | 2019-02-22 | 金超 | A kind of Intelligent unattended is sold goods mechanical arm and its control system |
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Application publication date: 20210720 |