CN113460681A

CN113460681A - Automatic three-dimensional vision grabbing device of intelligent robot

Info

Publication number: CN113460681A
Application number: CN202110775434.9A
Authority: CN
Inventors: 阳建军
Original assignee: Wuhan Nordjia Technology Co ltd
Current assignee: Wuhan Nordjia Technology Co ltd
Priority date: 2021-07-08
Filing date: 2021-07-08
Publication date: 2021-10-01

Abstract

The invention provides an automatic three-dimensional visual grabbing device of an intelligent robot, which comprises a mechanical arm and a grabbing mechanism, wherein the grabbing mechanism comprises an installation plate and L-shaped clamping plates, the number of the L-shaped clamping plates is 2, the two L-shaped clamping plates are respectively installed on two sides of the installation plate through rotating shafts, an installation shell is fixedly installed at the top of the installation plate, the automatic three-dimensional visual grabbing device of the intelligent robot is reasonable in design, and when the grabbing mechanism carries out grabbing action, the two L-shaped clamping plates and a laminating soft plate are matched to form a triangular clamping space, so that clamping of articles in different shapes can be met, dropping of the articles can be prevented, clamping force applied to the articles can be reduced under the condition of keeping stable clamping, and the articles can be prevented from being damaged.

Description

Automatic three-dimensional vision grabbing device of intelligent robot

Technical Field

The invention belongs to the technical field of unmanned vending grabbing equipment, and particularly relates to an automatic three-dimensional visual grabbing device of an intelligent robot.

Background

The unmanned vending equipment can greatly facilitate the life of people, the unmanned vending equipment has various types, the commodities in the unmanned vending equipment are generally placed on the goods shelf, when selling goods, the intelligent robot pushes the goods by the pushing mechanism or picks the goods by the intelligent robot, the grabbing mechanism is greatly limited by the placing space of the goods shelf, the goods can be successfully grabbed only by stretching into the goods shelf and enabling the goods to be positioned in the middle of the clamping mechanism, and the goods are kept stable in the grabbing and moving process, however, the existing intelligent robot gripping mechanism cannot solve the above problems, and when the existing gripping mechanism grips the goods, the intelligent robot automatic three-dimensional vision grabbing device is low in adaptability to commodities, the shape of the commodities has a large influence on grabbing stability, the commodities are likely to be damaged or fall off, and the balance and dispersion of clamping force cannot be performed.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides an intelligent robot automatic three-dimensional vision gripping device which is reasonable in design, and when a gripping mechanism executes a gripping action, two L-shaped gripping plates and a fitting soft plate are matched to form a triangular gripping space, so that the gripping of articles in different shapes can be met, the articles can be prevented from falling off, the gripping force applied to the articles can be reduced under the condition of keeping stable gripping, and the articles can be prevented from being damaged.

In order to achieve the purpose, the invention is realized by the following technical scheme: an automatic three-dimensional visual grabbing device of an intelligent robot comprises mechanical arms and a grabbing mechanism, wherein the grabbing mechanism comprises a mounting plate and L-shaped clamping plates, the number of the L-shaped clamping plates is 2, the two L-shaped clamping plates are respectively mounted on two sides of the mounting plate through rotating shafts, a mounting shell is fixedly mounted at the top of the mounting plate, two sides of the mounting shell are respectively connected with clamping electric push rods through rotating shafts, output shafts of the clamping electric push rods are respectively connected with the two L-shaped clamping plates through the rotating shafts, cavities are formed in the L-shaped clamping plates, a plurality of inner stirring rollers are mounted between inner side walls of two sides of the cavities through bearings, strip-shaped holes are formed in positions, corresponding to the inner stirring rollers, of one sides of the L-shaped clamping plates, one sides of the inner stirring rollers penetrate through the strip-shaped holes and extend out of the L-shaped clamping plates, and a synchronous chain wheel and a transmission chain wheel are fixedly mounted at one end of the inner stirring rollers, the inner poking roller is characterized in that a plurality of synchronous sprockets on the inner poking roller are sleeved with a transmission chain, an electric motor is fixedly installed in the cavity, a driving sprocket is fixedly installed on an output shaft of the electric motor, the driving sprocket and one of the transmission sprockets are sleeved with the driving chain, a laminating electric push rod is fixedly installed in the installation shell, the laminating soft board comprises a rubber soft shell and a plurality of pressure balancing devices, each pressure balancing device comprises a middle seat, an upper convex telescopic rod and a lower convex telescopic rod, a middle through hole is formed in the center of the middle seat, the upper convex telescopic rod and the lower convex telescopic rod are movably inserted into the opening ends of the top and the bottom of the middle through hole respectively, one end of each upper convex telescopic rod and one end of each lower convex telescopic rod are fixedly connected with the inner side walls of the top and the bottom of the rubber soft shell respectively, and an elastic connecting pipe is fixedly connected in front of every two adjacent middle seats, elastic connection pipe and the middle part intercommunication of medium-sized through-hole, the top fixed mounting of rubber soft shell has the buffer beam, and the flexible groove has been seted up to the one end of connecting rod, the mounting groove has been seted up on the inside wall that the open end was kept away from to the flexible groove, install pressure sensor in the mounting groove, movable mounting has the limiting plate in the mounting groove, the bottom fixedly connected with spring of limiting plate, the one end of buffer beam pass the open end in flexible groove and with spring fixed connection, the through-hole has all been seted up with the bottom of installation shell on the mounting panel, the other end of connecting rod pass the through-hole and with laminating electric putter's output shaft fixed connection.

In a preferred embodiment of the present invention, hydraulic oil is filled between the upper convex telescopic rod and the lower convex telescopic rod and in the elastic connecting rod.

As a preferred embodiment of the present invention, a connecting plate is fixedly mounted on the top of the mounting shell, and the connecting plate is fixedly connected to the working end of the mechanical arm through a bolt.

In a preferred embodiment of the present invention, the synchronous sprocket is engaged with a drive chain, and the drive sprocket are both engaged with the drive chain.

In a preferred embodiment of the present invention, the number of the clamping electric push rods is 2.

In a preferred embodiment of the present invention, the flexible joint board is located between two L-shaped holding boards.

The invention has the beneficial effects that: the invention discloses an automatic three-dimensional visual grabbing device of an intelligent robot, which comprises a mechanical arm, a grabbing mechanism, a mounting plate, an L-shaped clamping plate, a clamping electric push rod, a cavity, an inner poking roller, a strip-shaped hole, a synchronous chain wheel, a transmission chain, an electric motor, a driving chain wheel, a driving chain, a mounting shell, a laminating electric push rod, a laminating soft plate, a rubber soft shell, a pressure balancing device, an elastic connecting pipe, a middle seat, an upper convex telescopic rod, a lower convex telescopic rod, a middle through hole, a buffer rod, a connecting rod, a telescopic groove, a mounting groove, a pressure sensor, a limiting plate, a spring and a connecting plate.

1. When the grabbing mechanism of the automatic three-dimensional visual grabbing device for the intelligent robot performs grabbing actions, the two L-shaped clamping plates and the laminating soft plate are matched to form a triangular clamping space, so that clamping of articles in different shapes can be met, dropping of commodities is prevented, clamping force of the commodities is reduced under the condition that clamping is stable, and damage of the commodities is prevented.

2. A plurality of inner poking rollers are arranged on an L-shaped clamping plate of the intelligent robot automatic three-dimensional vision gripping device, when grabbing goods on the goods shelf, the goods can be conveyed inwards to the triangular clamping space only by positioning the goods at the openings of the two L-shaped clamping plates and the inner poking roller, on one hand, the adaptability to the placing space of the goods shelf and the goods placing mode can be effectively improved, the grabbing mechanism can successfully grab goods only by a small part of the grabbing mechanism extending into the goods shelf, so that the grabbing mechanism can always accurately grab the goods, on the other hand, the positioning effect can be achieved on the clamped goods, so that the goods can be accurately positioned in the triangular clamping space formed by the two L-shaped clamping plates and the attaching soft plate, the accuracy and the stability of centre gripping are improved, prevent commodity clamping position skew, and then prevent that centre gripping in-process commodity from dropping, further prevent that commodity from impaired.

3. The pressure balancing devices are arranged in the rubber soft shell of the laminating soft board of the intelligent robot automatic three-dimensional visual grabbing device, in the process of clamping commodities by the laminating soft board, the pressure balancing device corresponding to the position where the rubber soft shell is contacted with the commodities starts to perform pressure balancing, the lower convex telescopic rod is pressed to move in the middle through hole of the middle seat, and the lower convex telescopic rod pushes the upper convex telescopic rod to move out of the middle through hole through hydraulic oil, so that one side, contacted with the commodities, of the rubber soft shell is inwards concave, the opposite side is outwards convex, the radian of the laminated soft board is formed at the position, meanwhile, the current pressure balancing device conveys the hydraulic oil to the pressure balancing devices at two sides through the elastic connecting pipe, the pressure balancing device corresponding to the position where the rubber soft shell is not contacted with the commodities works, and the rubber soft shell at the position is deformed and is close to the commodities, through hydraulic oil decentralized pressure, and in the same way, each pressure balance device all carries out pressure balance, because each pressure balance device's hydraulic oil all communicates, therefore, when the oil pressure is stable, the laminating soft board can form the shape that accords with the commodity contact surface, and then can make the commodity receive add the holding power even and stable, prevent that local pressure is too big to lead to the commodity to damage, can further improve the adaptability to the commodity simultaneously, when releasing the commodity, under elastic connection pipe's spring action, the laminating soft board resets gradually into dull and stereotyped form, therefore, the clothes hanger is strong in practicability.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent robot automated three-dimensional vision gripping device according to the present invention;

FIG. 2 is a schematic structural diagram of a grabbing mechanism of the automatic three-dimensional vision grabbing device of the intelligent robot of the present invention;

FIG. 3 is a schematic cross-sectional view of a grabbing mechanism of an intelligent robot automated three-dimensional vision grabbing device according to the present invention;

FIG. 4 is a schematic cross-sectional view of an L-shaped clamping plate of an intelligent robot automated three-dimensional vision gripping apparatus according to the present invention;

FIG. 5 is a schematic partial cross-sectional view of an inner toggle roller of the automatic three-dimensional visual gripping device of the intelligent robot according to the present invention;

FIG. 6 is a schematic cross-sectional view of a flexible board for attachment of an automatic three-dimensional vision gripping device of an intelligent robot according to the present invention;

FIG. 7 is a schematic view of the installation of a pressure balancing device of an intelligent robot automated three-dimensional vision gripping device according to the present invention;

in the figure: 1. a mechanical arm; 2. a grabbing mechanism; 3. mounting a plate; 4. an L-shaped clamping plate; 5. clamping the electric push rod; 6. a cavity; 7. an inner stirring roller; 8. a strip-shaped hole; 9. a synchronous sprocket; 10. a drive sprocket; 11. a drive chain; 12. an electric motor; 13. a drive sprocket; 14. a drive chain; 15. mounting a shell; 16. attaching the electric push rod; 17. attaching the soft board; 18. a rubber bladder; 19. a pressure balancing device; 20. an elastic connecting pipe; 21. a middle seat; 22. an upwardly convex telescopic rod; 23. a downward convex telescopic rod; 24. a medium-sized through hole; 25. a buffer rod; 26. a connecting rod; 27. a telescopic groove; 28. mounting grooves; 29. a pressure sensor; 30. a limiting plate; 31. a spring; 32. a connecting plate.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Referring to fig. 1 to 7, the present invention provides a technical solution: an automatic three-dimensional visual grabbing device of an intelligent robot comprises a mechanical arm 1 and a grabbing mechanism 2, wherein the grabbing mechanism 2 comprises a mounting plate 3 and L-shaped clamping plates 4, the number of the L-shaped clamping plates 4 is 2, two L-shaped clamping plates 4 are respectively mounted on two sides of the mounting plate 3 through rotating shafts, a mounting shell 15 is fixedly mounted at the top of the mounting plate 3, two sides of the mounting shell 15 are respectively connected with a clamping electric push rod 5 through the rotating shafts, an output shaft of the clamping electric push rod 5 is respectively connected with the two L-shaped clamping plates 4 through the rotating shafts, a cavity 6 is formed in each L-shaped clamping plate 4, a plurality of inner stirring rollers 7 are mounted between inner side walls of two sides of the cavity 6 through bearings, a strip-shaped hole 8 is formed in a position corresponding to one side of each L-shaped clamping plate 4 and the inner stirring roller 7, one side of each inner stirring roller 7 penetrates through the strip-shaped hole 8 and extends out of the L-shaped clamping plate 4, one end of the inner poking roller 7 is fixedly provided with a synchronous chain wheel 9 and a transmission chain wheel 10, a plurality of synchronous chain wheels 9 on the inner poking roller 7 are sleeved with a transmission chain 11, an electric motor 12 is fixedly arranged in the cavity 6, an output shaft of the electric motor 12 is fixedly provided with a driving chain wheel 13, the driving chain wheel 13 and one of the transmission chain wheels 10 are sleeved with a driving chain 14, a laminating electric push rod 16 is fixedly arranged in the mounting shell 15, the laminating soft plate 17 comprises a rubber soft shell 18 and a plurality of pressure balancing devices 19, each pressure balancing device 19 comprises a middle seat 21, an upper convex telescopic rod 22 and a lower convex telescopic rod 23, a middle through hole 24 is formed in the center position of the middle seat 21, the upper convex telescopic rod 22 and the lower convex telescopic rod 23 are movably inserted into the open ends of the top and the bottom of the middle through hole 24 respectively, one end of each of the upper convex expansion link 22 and the lower convex expansion link 23 is fixedly connected with the inner side wall of the top and the bottom of the rubber soft shell 18, an elastic connecting pipe 20 is fixedly connected in front of each two adjacent middle seats 21, the elastic connecting pipe 20 is communicated with the middle part of the middle-sized through hole 24, the top of the rubber soft shell 18 is fixedly provided with a buffer rod 25, one end of a connecting rod 26 is provided with a telescopic groove 27, an installation groove 28 is arranged on the inner side wall of the telescopic groove 27 far away from the opening end, a pressure sensor 29 is arranged in the installation groove 28, a limit plate 30 is movably arranged in the mounting groove 28, the bottom of the limit plate 30 is fixedly connected with a spring 31, one end of the buffer rod 25 passes through the open end of the telescopic slot 27 and is fixedly connected with the spring 31, through-holes are formed in the mounting plate 3 and the bottom of the mounting shell 15, and the other end of the connecting rod 26 penetrates through the through-holes and is fixedly connected with an output shaft of the attached electric push rod 16.

In a preferred embodiment of the present invention, hydraulic oil is filled between the upper convex expansion link 22 and the lower convex expansion link 23 and in the elastic connecting rod 26.

In a preferred embodiment of the present invention, a connecting plate 32 is fixedly mounted on the top of the mounting shell 15, and the connecting plate 32 is fixedly connected with the working end of the robot arm 1 through a bolt.

In a preferred embodiment of the present invention, the synchronous sprocket 9 is engaged with a drive chain 11, and the

drive sprockets

10 and 13 are engaged with a drive chain 14.

In a preferred embodiment of the present invention, the number of the clamping electric push rods 5 is 2.

In a preferred embodiment of the present invention, the flexible joint plate 17 is located between the two L-shaped holding plates 4.

As a preferred embodiment of the invention, when in use, the mechanical arm 1 is arranged in the unmanned vending equipment, the mechanical arm 1, the pressure sensor 29, the clamping electric push rod 5 and the laminating electric push rod 16 are connected with a control system of the unmanned vending equipment, the control system controls the whole operation, when grabbing commodities, the mechanical arm 1 moves the grabbing mechanism 2 to the commodity on a goods shelf and controls the grabbing mechanism 2 to approach to the commodities on the goods shelf, a plurality of inner poking rollers 7 are arranged on an L-shaped clamping plate 4 of the grabbing mechanism 2, an electric motor 12 drives the inner poking rollers 7 to rotate through a transmission chain wheel 10, a driving chain wheel 13 and a driving chain 14 in a matching way, the inner poking rollers 7 drive the other inner poking rollers 7 to rotate synchronously through a synchronous chain wheel 9 and a transmission chain 11, when grabbing the commodities on the goods shelf, the commodities only need to be positioned at the openings of the two L-shaped clamping plates 4, the inner poking roller 7 can convey goods inwards to the triangular clamping space, meanwhile, the clamping electric push rod 5 extends to close the two L-shaped clamping plates 4, on one hand, the adaptability to the placing space and the goods placing mode of a goods shelf can be effectively improved, the grabbing mechanism 2 can grab goods successfully only by extending a small part into the goods shelf, so that the grabbing mechanism 2 can always grab the goods accurately, on the other hand, the positioning effect can be achieved on the clamped goods, the goods can be accurately positioned in the triangular clamping space formed by the two L-shaped clamping plates 4 and the laminating soft plate 17, the clamping accuracy and stability are improved, the goods clamping position is prevented from being inclined, the goods are prevented from falling off in the clamping process, the goods are further prevented from being damaged, the two L-shaped clamping plates 4 and the laminating soft plate 17 can form a triangular clamping space in a matching mode, and therefore the clamping of the goods with different shapes can be met, the commodity is prevented from falling, the clamping force borne by the commodity can be reduced under the condition of keeping stable clamping, the commodity is prevented from being damaged, meanwhile, in the process of closing the two L-shaped clamping plates 4, the laminating electric push rod 16 extends to push the laminating soft plate 17 to the closing ends of the two L-shaped clamping plates 4, the laminating soft plate 17 is gradually close to the commodity, a plurality of pressure balance devices 19 are installed in the rubber soft shell 18 of the laminating soft plate 17, in the process of clamping the commodity by the laminating soft plate 17, the corresponding pressure balance device 19 at the position which is firstly contacted with the commodity starts to carry out pressure balance, the lower convex telescopic rod 23 is pressed to move towards the middle through hole 24 of the middle seat 21, the lower convex telescopic rod 23 pushes the upper convex telescopic rod 22 to move towards the outside of the middle through hole 24 through hydraulic oil, therefore, one side, contacted with the commodity, of the rubber soft shell 18 is inwards sunken, the opposite side is outwards protruded, therefore, the radian of the attached soft board 17 is formed at the position to be attached to the commodity, meanwhile, the current pressure balance device 19 conveys hydraulic oil to the pressure balance devices 19 at two sides through the elastic connecting pipe 20, so that the pressure balance device 19 corresponding to the position where the rubber soft shell 18 does not contact the commodity works, and further the rubber soft shell 18 at the position is deformed and approaches to the commodity, pressure is dispersed through the hydraulic oil, and similarly, each pressure balance device 19 performs pressure balance, because the hydraulic oil of each pressure balance device 19 is communicated, when the hydraulic oil is stable, the attached soft board 17 can form a shape conforming to the contact surface of the commodity, further, the holding force received by the commodity is uniform and stable, the damage of the commodity caused by overlarge local pressure is prevented, meanwhile, the adaptability to the commodity can be further improved, after the commodity is released, under the elastic action of the elastic connecting pipe 20, the soft plate 17 is gradually restored to be in a flat plate shape, and the practicability is high.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The automatic three-dimensional visual grabbing device of intelligent robot comprises a mechanical arm (1) and grabbing mechanisms (2), and is characterized in that the grabbing mechanisms (2) comprise mounting plates (3) and L-shaped clamping plates (4), the number of the L-shaped clamping plates (4) is 2, two, the L-shaped clamping plates (4) are respectively mounted on two sides of the mounting plates (3) through rotating shafts, mounting shells (15) are fixedly mounted at the tops of the mounting plates (3), clamping electric push rods (5) are connected to two sides of the mounting shells (15) through the rotating shafts, output shafts of the clamping electric push rods (5) are respectively connected with the two L-shaped clamping plates (4) through the rotating shafts, cavities (6) are formed in the L-shaped clamping plates (4), and a plurality of inner stirring rollers (7) are mounted between inner side walls of two sides of the cavities (6) through bearings, one side of L type grip block (4) and the position department that interior stirring roller (7) corresponds have seted up bar hole (8), one side of interior stirring roller (7) is passed bar hole (8) and is extended to outside L type grip block (4), the one end fixed mounting of interior stirring roller (7) has synchronous sprocket (9) and driving sprocket (10), a plurality of the cover is equipped with drive chain (11) on synchronous sprocket (9) on interior stirring roller (7), fixed mounting has electric motor (12) in cavity (6), fixed mounting has driving sprocket (13) on the output shaft of electric motor (12), the cover is equipped with drive chain (14) on driving sprocket (13) and one of them driving sprocket (10), fixed mounting has laminating electric putter (16) in installation shell (15), and laminating soft board (17) include rubber soft shell (18) and a plurality of pressure balance device (19), the pressure balancing device (19) comprises a middle seat (21), an upper convex telescopic rod (22) and a lower convex telescopic rod (23), a middle through hole (24) is formed in the center of the middle seat (21), the upper convex telescopic rod (22) and the lower convex telescopic rod (23) are movably inserted into the open ends of the top and the bottom of the middle through hole (24), one end of the upper convex telescopic rod (22) and one end of the lower convex telescopic rod (23) are fixedly connected with the inner side walls of the top and the bottom of the rubber soft shell (18), an elastic connecting pipe (20) is fixedly connected in front of each two adjacent middle seats (21), the elastic connecting pipe (20) is communicated with the middle of the middle through hole (24), a buffer rod (25) is fixedly installed at the top of the rubber soft shell (18), and a telescopic groove (27) is formed in one end of each connecting rod (26), mounting groove (28) have been seted up on the inside wall of open end is kept away from in flexible groove (27), install pressure sensor (29) in mounting groove (28), movable mounting has limiting plate (30) in mounting groove (28), the bottom fixedly connected with spring (31) of limiting plate (30), the one end of buffer beam (25) pass the open end of flexible groove (27) and with spring (31) fixed connection, the through-hole has all been seted up with the bottom of installation shell (15) on mounting panel (3), the other end of connecting rod (26) pass the through-hole and with the output shaft fixed connection of laminating electric putter (16).

2. The intelligent robot-automated three-dimensional visual grasping device according to claim 1, characterized in that: hydraulic oil is filled between the upper convex expansion link (22) and the lower convex expansion link (23) and in the elastic connecting rod (26).

3. The intelligent robot-automated three-dimensional visual grasping device according to claim 1, characterized in that: the top fixed mounting of installation shell (15) has connecting plate (32), connecting plate (32) pass through the working end fixed connection of bolt and arm (1).

4. The intelligent robot-automated three-dimensional visual grasping device according to claim 1, characterized in that: the synchronous chain wheel (9) is meshed with a transmission chain (11), and the transmission chain wheel (10) and the driving chain wheel (13) are meshed with a driving chain (14).

5. The intelligent robot-automated three-dimensional visual grasping device according to claim 1, characterized in that: the number of the clamping electric push rods (5) is 2.

6. The intelligent robot-automated three-dimensional visual grasping device according to claim 1, characterized in that: the fit soft board (17) is arranged between the two L-shaped clamping boards (4).