CN115557235A - Manipulator grabbing system - Google Patents

Abstract

The invention provides a manipulator grabbing system, which relates to the technical field of manipulators and comprises a rack, a manipulator body, a scanning assembly and a processor, wherein the manipulator body is arranged on the rack; the manipulator body is connected with the rack and used for grabbing materials and driving the materials to move in a three-dimensional space; the scanning assembly is arranged on the manipulator body and used for scanning to obtain position information of a material to be grabbed, contour information of the carriage and position information of the existing material in the carriage and sending the position information to the processor; the processor is connected with the manipulator body and the scanning assembly and used for receiving position information of materials to be grabbed, contour information of the carriage and position information of existing materials and controlling the grabbing position of the manipulator body. The manipulator grabbing system can scan the grabbing materials, the carriage and existing materials in the carriage through the scanning assembly to obtain accurate position information, achieves intelligent recognition of working environment in unmanned loading and unloading and lifting operation processes, and guarantees that the manipulator body can accurately and automatically load zinc ingot stacks.

Description

Manipulator grabbing system

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator grabbing system.

Background

With the gradual development of the nonferrous metal industry in China, the continuous and automatic level of nonferrous metal processing and production is continuously improved. Production parts in the metal smelting field (such as lead ore, zinc ore and the like) in China, such as stacking, packaging, transmission and other links, have all realized automatic operation, but still generally need manual assistance in the loading field. The loading of going on the line is carried out to the adoption artificial mode, not only extravagant manpower resources, and inefficiency has the potential safety hazard simultaneously.

In view of the above problem, the invention patent of CN216613221U discloses an automatic loading system, comprising: the tray comprises a bearing part and an adsorption part, the adsorption part is connected to the bearing part, the bearing part can bear materials, and the adsorption part can adsorb the materials; the conveying device is suitable for driving the tray to move along a preset path, and the preset path is provided with a disengaging position and a blanking position; the disengaging gear is arranged at the disengaging position; the separation device is suitable for moving to a separation position along a preset path along with the tray and can push the material to separate the material from the adsorption part; the material storage device can store materials; the moving device is arranged at the blanking position; the moving device can move the materials to the material storage device along the preset path along with the tray to the blanking position. The automatic loading system that this scheme provided can transport the material with automizing.

However, the above automatic loading system has at least the following problems: this automatic loading system utilizes adsorption equipment to realize the transportation of material, thereby recycles the disengaging gear and makes the material break away from the adsorption part and shift to and remove the device, further realizes moving the material to the stock device. But such design can't satisfy when the loading different motorcycle types and different vehicle parking circumstances still can accurate discernment and place the requirement of material not simultaneously. Meanwhile, the design comprises a visual recognition system which is used for acquiring image information towards the separation table. At the separating platform, separate material and tray, and when advancing the material to the device that moves, the material appears the side easily and falls the material, in disorder and the condition such as deformation, utilizes the vision identification system can acquire image information, and wherein the vision system is used for detecting the abnormal information of material only, and in actual loading operation, because the variety of truck is various, truck inner structure differs, there are various reasons such as change in truck parking position, above-mentioned system probably leads to the loading failure, further influences the operating efficiency of loading.

Disclosure of Invention

The invention aims to provide a manipulator grabbing system which can scan materials to be grabbed, a carriage and existing materials in the carriage through a scanning assembly to obtain accurate position information, realize intelligent identification of a working environment in the unmanned loading and unloading and hoisting operation processes, and ensure that a manipulator body can accurately and automatically load a zinc ingot stack.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a manipulator grabbing system which comprises a rack, a manipulator body, a scanning assembly and a processor, wherein the manipulator body is arranged on the rack;

the manipulator body is connected with the rack and used for grabbing materials and driving the materials to move in a three-dimensional space;

the scanning assembly is arranged on the manipulator body and used for scanning to obtain position information of a material to be grabbed, contour information of a carriage and position information of the existing material in the carriage and sending the position information to the processor;

the processor is connected with the manipulator body and the scanning assembly and used for receiving the position information of the material to be grabbed, the carriage profile information and the existing material position information and controlling the grabbing position of the manipulator body.

Further, the scanning subassembly includes first scanner, second scanner and third scanner, first scanner connect in the middle part of manipulator body, first scanner is used for the scanning to obtain wait to snatch material position information and send to the treater, the second scanner and the third scanner is located respectively the front and back both sides of first scanner, the second scanner and the third scanner all is used for the scanning to obtain carriage profile information with have material position information and send to the treater.

The manipulator body is used for detecting a carriage approaching signal of the manipulator body and sending the carriage approaching signal to the processor;

the processor is connected with the sensor assembly and used for receiving the approaching signal and controlling the manipulator body to grab the material.

Further, the manipulator body comprises a three-dimensional driving device and a grabbing device, the grabbing device is connected with the rack through the three-dimensional driving device, the three-dimensional driving device is used for driving the grabbing device to move in a three-dimensional space, and the grabbing device is used for grabbing the material;

the scanning assembly is arranged on the three-dimensional driving device and/or the grabbing device;

the sensor assembly is mounted on the grasping device.

Furthermore, the three-dimensional driving device comprises a transverse driving mechanism, a longitudinal driving mechanism and a lifting mechanism, the transverse driving mechanism is connected with the rack in a sliding mode, the longitudinal driving mechanism is connected with the transverse driving mechanism in a sliding mode, the lifting mechanism is fixedly installed on the transverse driving mechanism, and the grabbing device is installed on the lifting mechanism.

Furthermore, the gripping device comprises a top seat, a gripper mechanism and a gripping driving mechanism, the top seat is fixedly arranged on the lifting mechanism, the gripper mechanism is rotatably connected with the top seat, the gripping driving mechanism is connected with the gripper mechanism to drive the gripper mechanism to rotate relative to the top seat, and the sensor assembly is arranged at the bottom of the gripper mechanism.

Further, the gripper mechanism comprises a first gripper, a second gripper, a first fixing piece, a linkage piece and a second fixing piece;

the first gripper is hinged with the top seat, and the first fixing piece is fixedly connected to the first gripper;

the second hand grip is arranged opposite to the first hand grip, the second hand grip is hinged with the top seat, and the second fixing piece is fixedly connected to the second hand grip;

the grabbing driving mechanism is hinged to the first fixing piece and/or the second fixing piece;

the two ends of the linkage piece are respectively hinged with the first fixing piece and the second fixing piece, the hinge axis of the linkage piece and the first fixing piece is higher than the hinge axis of the first gripper and the top seat, and the hinge axis of the linkage piece and the second fixing piece is lower than the hinge axis of the second gripper and the top seat.

Further, the sensor assembly includes a first sensor connected to the bottom end of the first hand grip and a second sensor connected to the bottom end of the second hand grip.

Furthermore, the lifting mechanism comprises a guide rail, a base and a motor, the guide rail is fixedly arranged on the longitudinal driving mechanism, the base is connected with the guide rail in a sliding manner, the motor is arranged on the base, and the motor is in transmission connection with the guide rail.

Further, a rack is arranged on the guide rail, and a gear matched with the rack is arranged at the power output end of the motor.

The following description will be made by taking the example of grabbing the zinc ingot stack by the manipulator grabbing system:

after the carrying mine car drives into the area defined by the frame of the manipulator grabbing system, the system starts to operate. The manipulator body moves from the initial position of the system, drives the scanning assembly to scan the carriage and send the carriage to the processor, and therefore the placing position of the zinc ingot stack on the carriage and the working path of the manipulator body running each time can be intelligently planned.

The manipulator body returns initial position afterwards, utilizes the position information of scanning subassembly scanning zinc ingot buttress and sends to the treater, and the treater control manipulator body snatchs the zinc ingot buttress, and manipulator body centre gripping zinc ingot buttress removes to the zinc ingot buttress place position in the carriage and transfers the zinc ingot buttress afterwards. In the process, the scanning assembly scans the position information of the existing materials in the carriage and sends the position information to the processor, so that the problems of deviation or toppling over of the zinc ingot stack after placement can be solved.

And returning the manipulator body to the initial position again, and selecting the next zinc ingot stack again, thereby forming a working cycle. And then circulating by the mechanical arm grabbing system according to the working process, and transferring and loading the zinc ingot stack into the boxcar until the boxcar is full or the order requirement is met.

The manipulator grabbing system provided by the invention can scan materials to be grabbed, a carriage and existing materials in the carriage through the scanning assembly to obtain accurate position information, realize intelligent identification of working environment in unmanned loading and unloading and hoisting operation processes, and ensure that a manipulator body can accurately and automatically load zinc ingot stacks.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic three-dimensional structure diagram of a manipulator grabbing system according to an embodiment of the present invention;

fig. 2 is a schematic side view of a robot gripping system according to an embodiment of the present invention;

fig. 3 is a schematic three-dimensional structure diagram of a manipulator body according to an embodiment of the present invention;

FIG. 4 is a schematic three-dimensional structure diagram of a lateral driving mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic three-dimensional structure of a longitudinal driving mechanism according to an embodiment of the present invention;

fig. 6 is a schematic three-dimensional structure diagram of a lifting mechanism according to an embodiment of the present invention;

fig. 7 is a schematic three-dimensional structure diagram of a gripping device according to an embodiment of the present invention;

FIG. 8 is a schematic three-dimensional view of a gripping device (without a top seat) according to an embodiment of the present invention;

fig. 9 is a far schematic block diagram of a manipulator grabbing system according to an embodiment of the present invention.

Icon: 1-a frame; 11-a first guide bar; 12-a second guide bar; 13-a connecting rod; 14-a support bar; 2-a manipulator body; 21-a transverse drive mechanism; 211-left frame; 212-right frame; 213-a guide rail; 214-a rotating electrical machine; 215-a reducer; 216-wheel box; 217-a first guide wheel; 218-a second guide wheel; 22-longitudinal drive mechanism; 221-front support frame; 222-rear support shelf; 223-a connecting frame; 23-a lifting mechanism; 231-a guide rail; 232-base; 233-motor; 234-rack; 235-gear; 24-a top seat; 25-a gripper mechanism; 251-a first gripper; 252-a second gripper; 2521-a first jaw body; 2522-a second jaw body; 2523-first connecting shaft; 2524-a second connecting shaft; 2525-a first mount; 2526-a second mount; 2527-serration plate; 253-a first fixing member; 2531-first connection; 254-a linkage; 255-a second mount; 2551-a second connection; 26-a grasping drive mechanism; 3-a scanning assembly; 31-a first scanner; 32-a second scanner; 33-a third scanner; 4-a processor; 5-a sensor assembly; 51-a first sensor; 52-a second sensor; 6-transferring the platform; 7-compartment.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be construed broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The present embodiment provides a robot gripping system, as shown in fig. 1 and fig. 2, including a rack 1, a robot body 2, a scanning assembly 3, and a processor 4; the manipulator body 2 is connected with the rack 1, and the manipulator body 2 is used for grabbing materials and driving the materials to move in a three-dimensional space; the scanning component 3 is arranged on the manipulator body 2, and the scanning component 3 is used for scanning to obtain position information of a material to be grabbed, contour information of a carriage and position information of the existing material in the carriage and sending the position information to the processor 4; the processor 4 is connected with the mechanical hand body 2 and the scanning assembly 3, and the processor 4 is used for receiving position information of materials to be grabbed, carriage profile information and existing material position information and controlling the grabbing position of the mechanical hand body 2.

As shown in fig. 1, the manipulator grabbing system provided by the above embodiment can scan the materials to be grabbed on the loading platform 6, the carriage 7 for carrying the mine car and the existing materials in the carriage 7 through the scanning assembly 3 to obtain accurate position information, process the information through the processor 4, and control the grabbing position of the manipulator body 2, so as to realize intelligent identification of the working environment in the unmanned loading and unloading and hoisting process, and ensure that the manipulator body 2 can accurately and automatically load the materials.

The information scanned by the scanning assembly 3 may be not limited to the above, and the scanning assembly 3 may scan all objects in the region surrounded by the gantry 1. The materials can be various, such as zinc ingot stacks, angle steel stacks, wood plate stacks and the like. The following examples are all specifically described by taking the above materials as zinc ingot stacks.

The scanning assembly 3 is described in detail below:

in some embodiments, as shown in fig. 2, the scanning assembly 3 includes a first scanner 31, a second scanner 32 and a third scanner 33, the first scanner 31 is connected to the middle of the robot body 2, and the second scanner 32 and the third scanner 33 are respectively located at the front and rear sides of the first scanner 31.

It can be understood that the front and rear sides refer to the side near the head as the front side and the side near the tail as the rear side.

The second scanner 32 and the third scanner 33 are used for scanning to obtain carriage contour information and existing material position information and sending the carriage contour information and the existing material position information to the processor 4, so that obstacle avoidance and coarse positioning of the manipulator body 2 are realized; the first scanner 31 is used for scanning to obtain position information of the material to be grabbed and sending the position information to the processor 4, and accurately sensing the position relation between the manipulator body 2 and the zinc ingot stack.

It is understood that the scanning areas of the first scanner 31, the second scanner 32 and the third scanner 33 are scattered, that is, the scanning areas of the object are larger as the object is farther away from the scanner from the lower part of the scanner, so that the scanning ranges of the three scanners may overlap, but the point cloud data acquired by each scanner on the scanned object is not affected.

The first scanner 31, the second scanner 32, and the third scanner 33 are preferably laser scanners.

Another embodiment of the robotic gripper system is described in detail below:

in some embodiments, in order to further improve the positioning accuracy of the manipulator body 2 during the grabbing and dropping, the manipulator grabbing system further comprises a sensor assembly 5 mounted on the manipulator body 2, wherein the sensor assembly 5 is used for detecting an approach signal of the manipulator body 2 approaching the platform floor and sending the approach signal to the processor 4; the processor 4 is connected with the sensor assembly 5, and the processor 4 is used for receiving the approach signal and controlling the manipulator body 2 to grab the material.

The sensor assembly 5 can accurately sense the height position relation between the manipulator body 2 and the carriage bottom plate. When manipulator body 2 is close the carriage bottom plate, when the distance between manipulator body 2 and the carriage bottom plate is less than the setting value promptly, sensor assembly 5 sends proximity signal, and 4 accurate control manipulators body 2 snatchs the zinc ingot buttress and transfer the zinc ingot buttress that targets in place on appropriate position, improve the success rate and the reliability of snatching and transferring, avoid manipulator body 2 to collide the carriage bottom plate simultaneously.

The sensor assembly 5 may include one or more laser ranging sensors, ultrasonic ranging sensors, and the like.

The frame 1 is described in detail below:

as shown in fig. 1, the frame 1 includes a first guide bar 11, a second guide bar 12, a connecting rod 13 and a plurality of support rods 14, two first guide bars 11 are arranged in parallel relatively and connected through the connecting rod 13, the bottom ends of the first guide bar 11 and the second guide bar 12 are connected with the plurality of support rods 14, and the plurality of support rods 14 are used for supporting the first guide bar 11 and the second guide bar 12.

The first guide bar 11 and the second guide bar 12 have a longitudinal direction parallel to the longitudinal direction of the carrier car when it is parked or waiting to be loaded.

The structure of the robot body 2 will be specifically described below:

in some embodiments, the manipulator body 2 includes a three-dimensional driving device and a gripping device, the gripping device is connected with the frame 1 through the three-dimensional driving device, the three-dimensional driving device is used for driving the gripping device to move in a three-dimensional space, and the gripping device is used for gripping materials; the scanning component 3 is arranged on the three-dimensional driving device or the grabbing device, and the scanning component 3 can also be arranged on the three-dimensional driving device and the grabbing device; the sensor assembly 5 is mounted on the gripping device.

In at least one embodiment, as shown in fig. 2, the first scanner 31 is installed at the middle of the grasping apparatus, the second scanner 32 and the third scanner 33 are installed on the three-dimensional driving apparatus, and the distance between the second scanner 32 and the first scanner 31 is equal to the third scanner 33. And the first scanner 31.

The three-dimensional driving device can be slidably mounted on the frame 1, so that the three-dimensional driving device can move relative to the frame 1. It should be noted that all the structures capable of driving the gripping device to move in the three-dimensional space may be the three-dimensional driving device mentioned in the above embodiments. For example, the three-dimensional driving means includes a mechanism that moves laterally, longitudinally, and vertically, or the three-dimensional driving means includes a telescopic arm that can rotate in the horizontal direction as well as in the vertical direction.

In some embodiments, as shown in fig. 3, in order to make the structure of the three-dimensional driving device simpler, the three-dimensional driving device includes a transverse driving mechanism 21, a longitudinal driving mechanism 22, and a lifting mechanism 23, the transverse driving mechanism 21 is slidably connected with the frame 1, the longitudinal driving mechanism 22 is slidably connected with the transverse driving mechanism 21, the lifting mechanism 23 is fixedly mounted on the transverse driving mechanism 21, and the gripping device is mounted on the lifting mechanism 23.

The transverse driving mechanism 21 can slide relative to the frame 1 along the transverse direction, and the transverse direction is set to be the length direction of the carrying mine car when the carrying mine car stops and waits for loading, namely the direction of the head of the car pointing to the tail of the car; the longitudinal driving mechanism 22 is slidable relative to the lateral driving mechanism 21 in a longitudinal direction perpendicular to the width direction of the carrying car when it is parked or waiting to be loaded; the lifting mechanism 23 is movable relative to the longitudinal driving mechanism 22 in a height direction, which is a direction in which the material is taken in and taken out. In this way, the transverse drive 21, the longitudinal drive 22 and the lifting mechanism 23 can move the gripping device in three-dimensional space.

As shown in fig. 4, the transverse driving mechanism 21 includes a left frame 211, a right frame 212, a guide rail 213 and first power assemblies, the left frame 211 and the right frame 212 are connected through the guide rail 213, the left frame 211 is provided with two first power assemblies, and the right frame 212 is provided with two first power assemblies. The two first power components on the left frame 211 provide walking power for the left frame 211; the two first power assemblies on the right frame 212 provide walking power for the right frame 212.

The first power assembly comprises a rotating motor 214, a speed reducer 215 and wheels, wherein the input end of the speed reducer 215 is connected with the output end of the rotating motor 214, the output end of the speed reducer 215 is connected with the wheels, and the wheels are rotatably connected in wheel boxes 216 on the left frame and the right frame. The rotary motor 214 powers the rolling of the wheels, which can roll on the frame 1.

In order to make the movement of the lateral driving mechanism 21 more stable, a guide wheel set is mounted on each of the left frame 211 and the right frame 212, and the guide wheel set includes a first guide wheel 217 and a second guide wheel 218. The top ends of the first guide rod 11 and the second guide rod 12 are provided with protrusions along the length direction thereof, and the protrusions are clamped between the first guide wheel 217 and the second guide wheel 218 to play a role in guiding, so that the transverse driving mechanism 21 can be ensured to stably move along the length direction of the first guide rod 11 and the second guide rod 12.

As shown in fig. 5, the longitudinal driving mechanism 22 includes a front support frame 221, a rear support frame 222, a connecting frame 223, a first power assembly and a driven assembly, the front support frame 221 is connected with the rear support frame 222 through the connecting frame 223, the front support frame 221 is provided with a second power assembly and a driven assembly, and the right frame 212 is provided with a second power assembly and a driven assembly. A second power assembly on the front support frame 221 provides walking power for the front support frame 221, and the driven assembly is driven; the second power assembly on the rear support frame 222 provides walking power for the rear support frame 222, and the driven assembly is driven.

The connecting frame 223 can be in an inverted U shape, an included angle between two side edges and the bottom edge of the connecting frame 223 is an obtuse angle, and the connecting frame 223 can be fixedly connected with the lifting mechanism 23, so that the effect of bearing the lifting mechanism 23 is realized. The connecting frame 223 is a sinking structure which can reduce the longitudinal height of the manipulator grabbing system, and meanwhile, the grabbing device can be closer to a carrying mine car below.

The second power assembly is similar in structure to the first power assembly, and the transverse driving mechanism 21 may also be provided with a guide wheel set, and the driven assembly includes a driven wheel set and a driven guide wheel set, which are not illustrated in detail for the sake of brevity.

It should be noted that, there are various structures that can realize the lifting of the lifting mechanism 23, for example; the lifting mechanism 23 includes a hydraulic cylinder, a pneumatic cylinder, a linear motor, or the like.

In some embodiments, as shown in fig. 6, the lifting mechanism 23 includes a guide rail 231, a base 232, and a motor 233, the guide rail 231 is fixedly mounted on the longitudinal driving mechanism 22, the base 232 is slidably connected to the guide rail 231, the motor 233 is mounted on the base 232, and the motor 233 is in transmission connection with the guide rail 231.

When the device is used, the motor 233 operates, and the base 232 slides relative to the guide rail 231 under the action of the transmission connection between the motor 233 and the guide rail 231, so that the base 232 moves upwards and falls downwards.

In base 232 and guide rail 231 sliding connection, can be equipped with the spout on base 232, be equipped with on guide rail 231 with spout complex slide rail, also can be equipped with the slide rail on base 232, be equipped with on guide rail 231 with slide rail complex spout.

In at least one embodiment, a sliding block is disposed on the base 232, the sliding block forms a sliding slot, and a sliding rail engaged with the sliding slot is disposed outside the guide rail 231.

The above-mentioned transmission connection structure can be various, for example, as shown in fig. 6, the guide rail 231 has a rack 234, and the power output end of the motor 233 has a gear 235 engaged with the rack 234. Above-mentioned simple structure, rack 234 and gear 235 are convenient for install, and the transmission precision is high, can realize grabbing device's accurate snatching.

In some other embodiments, a nut may be disposed on the guide rail 231, a power output end of the motor 233 has a screw rod in threaded fit with the nut, the screw rod extends vertically, and the screw rod is driven by the motor 233 to rotate, so as to achieve up-and-down movement of the screw rod relative to the nut.

In at least one embodiment, in order to make the gripping device more stable when moving up and down, the lifting mechanism 23 includes two guide rails 231 arranged in parallel, and the motor 233 is a dual power output, i.e. it has two power output ends, which are respectively in transmission fit with two different guide rails 231.

As shown in fig. 7, the gripping device comprises a top seat 24, a gripper mechanism 25 and a gripping driving mechanism 26, wherein the top seat 24 is fixedly mounted on a base 232 in the lifting mechanism 23, the gripper mechanism 25 is rotatably connected with the top seat 24, the gripping driving mechanism 26 is connected with the gripper mechanism 25 to drive the gripper mechanism 25 to rotate relative to the top seat 24, so as to grip and release the zinc ingot stack, and the sensor assembly 5 is mounted at the bottom of the gripper mechanism 25 so as to obtain an approach signal of the gripper mechanism 25.

When the zinc ingot pile releasing device is used, the grabbing driving mechanism 26 acts to grab the zinc ingot pile by the grabbing mechanism 25, and after the three-dimensional driving device moves in place, the grabbing driving mechanism 26 acts reversely to release the zinc ingot pile by the grabbing mechanism 25.

The grasping driving mechanism 26 may be a rotary motor that directly drives the grasping mechanism 25 to rotate relative to the top base 24, or may be a linear motion mechanism such as a pneumatic cylinder, a hydraulic cylinder, or a linear motor, and the rotation of the grasping mechanism 25 relative to the top base 24 is realized by the hinge connection with the grasping mechanism 25.

In at least one embodiment, the grasping drive mechanism 26 is a pneumatic cylinder or an electric cylinder.

In some embodiments, as shown in fig. 8, the gripper mechanism 25 includes a first gripper 251, a second gripper 252, a first fastener 253, a linkage 254, and a second fastener 255, wherein:

the first handle 251 is hinged to the top base 24, and a first fixing member 253 is fixedly connected to the first handle 251;

the second hand grip 252 is arranged opposite to the first hand grip 251, the second hand grip 252 is hinged with the top seat 24, and a second fixing piece 255 is fixedly connected to the second hand grip 252;

the grabbing driving mechanism 26 is hinged on the first fixing part 253 or the second fixing part 255, and the grabbing driving mechanism 26 can also be hinged on the first fixing part 253 and the second fixing part 255;

two ends of the linkage piece 254 are respectively hinged with the first fixing piece 253 and the second fixing piece 255, the hinge axis of the linkage piece 254 and the first fixing piece 253 is higher than the hinge axis of the first gripper 251 and the top base 24, and the hinge axis of the linkage piece 254 and the second fixing piece 255 is lower than the hinge axis of the second gripper 252 and the top base 24, so that when the first gripper 251 grips a zinc ingot stack, the second gripper 252 can cooperate with the first gripper 251 to grip the zinc ingot stack together, and when the first gripper 251 releases the zinc ingot stack, the second gripper 252 can cooperate with the first gripper 251 to release the zinc ingot stack together.

When the grasping driving mechanism 26 is hinged to the first fixing part 253 and the second fixing part 255, as shown in fig. 8, a first connecting part 2531 extends outwards from the top end of the first fixing part 253, and the end of the first connecting part 2531 is hinged to the telescopic end of the grasping driving mechanism 26. The top end of the second fixing member 255 extends outwards to form a second connecting portion 2551, and the end of the second connecting portion 2551 is hinged to the fixed end of the grasping driving mechanism 26. When the grabbing driving mechanism 26 is shortened, the first grabbing hand 251 and the second grabbing hand 252 can be driven to be opened at the same time, and when the grabbing driving mechanism 26 is extended, the first grabbing hand 251 and the second grabbing hand 252 can be driven to be closed at the same time. In the above process, the linkage 254 plays a role in linking the first gripper 251 and the second gripper 252, so as to ensure the consistency of the actions of the first gripper 251 and the second gripper 252.

When the grabbing driving mechanism 26 is hinged to the first fixing member 253 or the second fixing member 255, the fixed end of the grabbing driving mechanism 26 may be fixedly mounted on the top seat 24, the telescopic end may rotate and be in sliding fit with the first connecting portion 2531 or rotate and be in sliding fit with the second connecting portion 2551, when the grabbing driving mechanism 26 is telescopic, the first fixing member 253 or the second fixing member 255 matched with the telescopic end is driven to rotate, so as to swing the first grabbing hand 251 or the second grabbing hand 252, and under the action of the linkage member 254, such as the first grabbing hand 251 is unfolded, the linkage member 254 pushes the second grabbing hand 252 to be unfolded, such as the first grabbing hand 251 is folded, and the linkage member 254 pulls the second grabbing hand 252 to be folded, so as to realize the linkage of the first grabbing hand 251 and the second grabbing hand 252.

When the grabbing driving mechanism 26 is hinged to the first fixing member 253 or the second fixing member 255, the fixed end of the grabbing driving mechanism 26 may also be hinged to the top seat 24, and the telescopic end may be hinged to the first fixing member 253 or the second fixing member 255.

The gripper mechanism 25 can realize the synchronous opening and closing of the first gripper 251 and the second gripper 252 only through one gripping driving mechanism 26, has a simple structure, ensures the consistency of the actions of the first gripper 251 and the second gripper 252, and has a more stable gripping effect.

Specifically, as shown in fig. 8, the second gripper 252 includes a first claw body 2521, a second claw body 2522, a first connection shaft 2523 and a second connection shaft 2524, wherein two ends of the first connection shaft 2523 are respectively fixed to the first claw body 2521 and the second claw body 2522, and two ends of the second connection shaft 2524 are respectively fixed to the first claw body 2521 and the second claw body 2522. The second fixing member 255 is sleeved outside the first connecting shaft 2523 and the second connecting shaft 2524 to fix the second handle 252. Of course, the second fixing member 255, the first connection shaft 2523, and the second connection shaft 2524 may be integrally formed.

In addition, in order to guarantee that the first claw body 2521 and the second claw body 2522 can stably grab the zinc ingot stack, the surfaces of the first claw body 2521 and the second claw body 2522, which are used for grabbing the zinc ingot stack, are of a saw-toothed structure, the saw-toothed structure can be clamped on each zinc ingot in the zinc ingot stack, the zinc ingot stack can be effectively prevented from slipping, the gravity of the zinc ingot stack is distributed at each position of the saw-toothed structure, the bottom end stress of only the first claw body 2521 and the second claw body 2522 is avoided, and the zinc ingot stack is more stable during transfer.

In order to enable the second hand grip 252 to grip the zinc ingot stack more stably, the second hand grip 252 further includes a first mounting part 2525, a second mounting part 2526 and a serrated plate 2527, both ends of the first mounting part 2525 are respectively connected with the first claw body 2521 and the second claw body 2522, both ends of the second mounting part 2526 are respectively connected with the first claw body 2521 and the second claw body 2522, both ends of the serrated plate 2527 are respectively connected with the first mounting part 2525 and the second mounting part 2526, and the serrated plate 2527 has a serrated structure for gripping the zinc ingot stack, so as to further ensure stability during transportation.

Of course, when the second grip 252 further includes the first mounting part 2525, the second mounting part 2526 and the serrated plate 2527, the first claw body 2521 and the second claw body 2522 may not have a serrated structure.

The first hand grip 251 has the same structure as the second hand grip 252 and is symmetrically disposed with respect to the second hand grip 252, and the structure of the first hand grip 251 will not be described in detail.

The gripping device may include one gripper mechanism 25, or may include two, three, or other gripping mechanisms 25, and when the gripping device includes a plurality of gripping mechanisms 25, the gripping mechanisms 25 are arranged side by side.

In at least one embodiment, as shown in fig. 8, the gripping device comprises two gripping mechanisms 25, and correspondingly, the gripping device comprises two gripping driving mechanisms 26, and each gripping mechanism 25 is driven by one gripping driving mechanism 26 to grip and release the zinc ingot stack.

In some embodiments, as shown in fig. 8, the sensor assembly 5 includes a first sensor 51 and a second sensor 52, the first sensor 51 is connected to the bottom end of the first grip 251, and in particular, can be connected to the second mount of the first grip 251, the second sensor 52 is connected to the bottom end of the second grip 252, and the body can be connected to the second mount 2526 of the second grip 252.

The sensor assembly 5 can monitor the distance between any one gripper and the carriage bottom plate, so that the gripping device can be controlled more accurately to grip the zinc ingot stack and place the zinc ingot stack in place at a proper position.

As shown in fig. 9, which is a schematic block diagram of the manipulator grabbing system provided in the above embodiment, the processor 4 may receive position information of a material to be grabbed, contour information of a carriage, and position information of an existing material, implement intelligent identification of a working environment in an unmanned loading, unloading, and hoisting process, process the information data, and perform feature abstraction and feature extraction on target objects such as a truck edge and a material. After the recognition and analysis of target objects such as carriage outlines, materials and the like are completed, the boxcar can be calibrated by using the recognition result, and the placement position of the zinc ingot stack is intelligently planned according to the size of the zinc ingot stack. And setting a working path for each operation of the transferring unit after the zinc ingot stack is placed according to the planned placing position of the zinc ingot stack.

It should be noted that the processor 4 may be obtained by outsourcing, and the information processing, identifying, analyzing and other principles thereof are conventional in the art, and are not described herein in detail for brevity.

The specific use process can be as follows:

after the carrying mine car is driven into the area enclosed by the frame 1, the system starts to operate. The three-dimensional driving device on the manipulator body 2 moves from the initial position of the system to drive the scanning assembly 3 to scan the area surrounded by the rack 1 and acquire point cloud data, and after the point cloud data is processed by the processor, target objects such as a vehicle board and a carriage edge are subjected to feature abstraction and feature extraction, so that the intelligent identification of the working environment in the unmanned loading and unloading and lifting operation process is realized.

After the identification and analysis of target objects such as carriage edges, vehicle plates and the like are completed, the carriage of the carrying mine car is calibrated by utilizing the identification result, and the placement position of the zinc ingot stack is intelligently planned according to the size of the zinc ingot stack. And setting the working path of each running of the three-dimensional driving device according to the planned placing position of the zinc ingot stack.

Then the three-dimensional driving device returns to the initial position, namely the position of the transfer platform 6. The scanning component 3 is used for scanning and judging the size and the position of the zinc ingot stack placed by the transfer forklift on the transfer platform 6, related information is sent to the processor 4, the three-dimensional driving device adjusts the plane position through the matching motion of the longitudinal driving mechanism 22 and the transverse driving mechanism 21, and the vertical position is adjusted through the lifting mechanism 23 to approach the zinc ingot stack. When the gripping device under the three-dimensional driving device approaches the bottom plate of the carriage, the sensor assembly 5 arranged at the bottom of the gripping device sends an approach signal to accurately sense the distance between the gripping device and the bottom plate of the carriage, so that the proper position for the gripping device to clamp the zinc ingot stack is determined. After the gripping device grips the zinc ingot stack, the three-dimensional driving device controls the longitudinal driving mechanism 22, the transverse driving mechanism 21 and the lifting mechanism 23 to cooperatively move to the placing position of the zinc ingot stack in the carriage according to the planned path.

When the three-dimensional driving device transfers the zinc ingot stack to a target placing point, the lifting mechanism 23 transfers the zinc ingot stack to the target placing point, and the distance between the zinc ingot stack and the bottom plate of the carriage is judged by the sensor assembly 5 arranged at the bottom of the grabbing device when the zinc ingot stack is close to the bottom plate of the carriage, so that the aim of accurate control is fulfilled. After the zinc ingot stack is placed at the target position, the gripping device is loosened, the three-dimensional driving device returns to the initial position along the planned path again, and the next zinc ingot stack is selected again at the transfer platform 6, so that a working cycle is formed. And then circulating by the mechanical arm grabbing system according to the working process, and transferring and loading the zinc ingot stack into the boxcar until the boxcar is full or the order requirement is met.

In the running process of the system, a gripping device below the three-dimensional driving device is used for gripping and placing the zinc ingot stack. The accurate control of the gripping device is the key to realizing the loading work, and a control algorithm of the gripping device is designed based on modeling and mechanical analysis of the gripping device and in combination with a sensor assembly 5 installed on the gripping device. The intelligent sensing in the grabbing process such as clamping judgment of the grabbing device, approaching judgment of the grabbing device, abnormity judgment of the grabbing device and the like can be realized.

Meanwhile, in the actual working process of the equipment, abnormal conditions exist, so that various complex problems are caused. If different trucks have the problem that the truck floor is uneven due to damage of the truck floor and the edge, the zinc ingot stack can shift or topple after being placed, and the like. The problem source can be analyzed by utilizing the intelligent sensing of the gripping device and the scanning result of the scanning component 3, and meanwhile, a control algorithm aiming at complex problems is designed, so that the automatic processing when abnormal conditions occur in the working process is realized.

The manipulator grabbing system provided by the embodiment has the following advantages:

1. the space utilization of the system in a factory building is high, the occupied area of equipment is small, the capital construction cost is saved, stable grabbing and releasing of materials can be realized, and the system is convenient to popularize and use.

2. The scanning of the scanning component 3 is used for recognizing the loading area, the checking of the shape and the position of the vehicle and the establishment of hoisting coordinates in the loading process can be realized, the noise reduction and the characteristic extraction are carried out on the point cloud data of the zinc ingot stack in the later period, and the central physical position and the size information of the point cloud data can be calculated. On the basis, environment spaces such as the edge position of a carriage of the carrying mine car and the position of the zinc ingot stack are constructed, and accurate automatic loading of the zinc ingot stack by the loading robot is guaranteed.

3. The source of the abnormal complex problem is analyzed by utilizing the intelligent sensing of the gripping device and the scanning result of the scanning component 3, and a control algorithm aiming at the complex problem can be designed according to the data, so that the automatic processing when the abnormal condition occurs in the working process is realized.

4. The manipulator grabbing system can solve the lagging situation that zinc ingot stack loading of enterprises and domestic zinc smelting enterprises depends on a large number of manual operations, provides a theoretical basis for realizing mechanization and automation operation of zinc ingot stack loading, improves the operation efficiency of zinc ingot stack loading, improves the operation conditions of personnel, avoids the danger of manual loading, and improves the market competitiveness of the zinc smelting enterprises in China.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The manipulator grabbing system is characterized by comprising a rack (1), a manipulator body (2), a scanning assembly (3) and a processor (4);

the manipulator body (2) is connected with the rack (1), and the manipulator body (2) is used for grabbing materials and driving the materials to move in a three-dimensional space;

the scanning assembly (3) is mounted on the manipulator body (2), and the scanning assembly (3) is used for scanning to obtain position information of a material to be grabbed, carriage profile information and position information of the existing material in the carriage (7) and sending the position information to the processor (4);

the processor (4) is connected with the mechanical arm body (2) and the scanning assembly (3), and the processor (4) is used for receiving the position information of the materials to be grabbed, the carriage profile information and the existing material position information and controlling the grabbing position of the mechanical arm body (2).

2. The manipulator grabbing system according to claim 1, wherein the scanning assembly (3) comprises a first scanner (31), a second scanner (32) and a third scanner (33), the first scanner (31) is connected to the middle of the manipulator body (2), the first scanner (31) is used for scanning to obtain the position information of the material to be grabbed and sending the position information to the processor (4), the second scanner (32) and the third scanner (33) are respectively located at the front side and the rear side of the first scanner (31), and the second scanner (32) and the third scanner (33) are both used for scanning to obtain the contour information of the carriage and the position information of the existing material and sending the contour information to the processor (4).

3. The manipulator gripping system according to claim 1, further comprising a sensor assembly (5) mounted on the manipulator body (2), the sensor assembly (5) being configured to detect an approach signal of the manipulator body (2) to a floor of a compartment and send the approach signal to the processor (4);

the processor (4) is connected with the sensor assembly (5), and the processor (4) is used for receiving the approaching signal and controlling the manipulator body (2) to grab the material.

4. The manipulator gripping system according to claim 3, wherein the manipulator body (2) comprises a three-dimensional driving device and a gripping device, the gripping device is connected with the frame (1) through the three-dimensional driving device, the three-dimensional driving device is used for driving the gripping device to move in a three-dimensional space, and the gripping device is used for gripping the material;

the scanning assembly (3) is arranged on the three-dimensional driving device and/or the grabbing device;

the sensor assembly (5) is mounted on the gripping device.

5. The manipulator grabbing system according to claim 4, wherein the three-dimensional driving device comprises a transverse driving mechanism (21), a longitudinal driving mechanism (22) and a lifting mechanism (23), the transverse driving mechanism (21) is slidably connected with the rack (1), the longitudinal driving mechanism (22) is slidably connected with the transverse driving mechanism (21), the lifting mechanism (23) is fixedly mounted on the transverse driving mechanism (21), and the grabbing device is mounted on the lifting mechanism (23).

6. The manipulator grabbing system according to claim 5, wherein the grabbing device comprises a top seat (24), a grabbing mechanism (25) and a grabbing driving mechanism (26), the top seat (24) is fixedly mounted on the lifting mechanism (23), the grabbing mechanism (25) is rotatably connected with the top seat (24), the grabbing driving mechanism (26) is connected with the grabbing mechanism (25) so as to drive the grabbing mechanism (25) to rotate relative to the top seat (24), and the sensor assembly (5) is mounted at the bottom of the grabbing mechanism (25).

7. The robotic gripper system according to claim 6, wherein the gripper mechanism (25) comprises a first gripper (251), a second gripper (252), a first fixture (253), a linkage (254), and a second fixture (255);

the first handle (251) is hinged with the top seat (24), and the first fixing piece (253) is fixedly connected to the first handle (251);

the second hand grip (252) is arranged opposite to the first hand grip (251), the second hand grip (252) is hinged to the top seat (24), and the second fixing piece (255) is fixedly connected to the second hand grip (252);

the grabbing driving mechanism (26) is hinged on the first fixing piece (253) and/or the second fixing piece (255);

two ends of the linkage piece (254) are respectively hinged with the first fixing piece (253) and the second fixing piece (255), the hinge axis of the linkage piece (254) and the first fixing piece (253) is higher than the hinge axis of the first gripper (251) and the top base (24), and the hinge axis of the linkage piece (254) and the second fixing piece (255) is lower than the hinge axis of the second gripper (252) and the top base (24).

8. The robotic gripper system according to claim 7, wherein the sensor assembly (5) comprises a first sensor (51) and a second sensor (52), the first sensor (51) being connected to a bottom end of the first gripper (251), the second sensor (52) being connected to a bottom end of the second gripper (252).

9. The manipulator grabbing system according to claim 5, wherein the lifting mechanism (23) comprises a guide rail (231), a base (232) and a motor (233), the guide rail (231) is fixedly mounted on the longitudinal driving mechanism (22), the base (232) is slidably connected with the guide rail (231), the motor (233) is mounted on the base (232), and the motor (233) is in transmission connection with the guide rail (231).

10. The robot gripping system of claim 9, wherein the guide rail (231) has a rack (234) thereon, and the power output of the motor (233) has a gear (235) that engages the rack (234).

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