CN116652944B - Intelligent grabbing control device based on cooperative robot - Google Patents
Intelligent grabbing control device based on cooperative robot Download PDFInfo
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- CN116652944B CN116652944B CN202310606048.6A CN202310606048A CN116652944B CN 116652944 B CN116652944 B CN 116652944B CN 202310606048 A CN202310606048 A CN 202310606048A CN 116652944 B CN116652944 B CN 116652944B
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000003825 pressing Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000001788 irregular Effects 0.000 abstract description 6
- 238000001125 extrusion Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 239000013072 incoming material Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000105 evaporative light scattering detection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an intelligent grabbing control device based on a cooperative robot, which comprises a robot main body, a control module, an image recognition device and a grabbing mechanism, wherein the robot main body comprises a mounting block, a driving assembly is arranged in the mounting block, the driving assembly is in transmission connection with two clamping blocks which are symmetrically arranged, and clamping mechanisms are arranged on opposite side surfaces of the two clamping blocks; a quality detection assembly is arranged on the side surface of the mounting block, which is far away from the connecting arm; the clamping mechanism comprises a plurality of groups of clamping components; when the object is in an irregular shape, the multiple groups of clamping assemblies stretch out correspondingly according to the clamping positions, so that the clamping force between the first plurality of abutting plates and the object is ensured to reach a preset value, namely, the invention can increase the effective contact area with the object when in use, so that the stress between the object and the grabbing mechanism is uniform, and the problem that the object is easily damaged due to overhigh local pressure is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent grabbing control device based on a cooperative robot.
Background
The assisting robot is used for assisting human work and is widely used for producing and manufacturing work environments with high risk coefficients, such as buildings and the like.
In the prior art, as disclosed in the patent with the application number of CN202211341519.7, a clamping device of a robot for logistics transportation is provided, which comprises a clamping main body, a multi-curved-surface cargo protection mechanism, a symmetrical-type closure fixing mechanism and a convex-type selective ditch thorn embedding mechanism, wherein the multi-curved-surface cargo protection mechanism is arranged on the clamping main body, the symmetrical-type closure fixing mechanism is arranged on the multi-curved-surface cargo protection mechanism, and the convex-type selective ditch thorn embedding mechanism is arranged on the symmetrical-type closure fixing mechanism; the clamping operation of goods is realized.
However, the robot gripping device provided in the above patent has the following problems in use:
1. the variety of incoming material product is complicated, exists the condition that overall dimension is different, and the device is got to clamp that above-mentioned patent provided is when pressing from both sides getting the irregular goods of overall dimension, and effective area of contact between splint and the goods is less, then is guaranteeing to grasp the goods smoothly through increasing clamping force, because area of contact is less, leads to increasing clamping force and can greatly increased goods and splint contact position's pressure to cause the damage with the goods surface easily.
2. The quality of the supplied material product is variable, and when the clamping device provided by the patent clamps the overload goods with the quality, overload can be formed on the mechanical arm, so that the service life of the device is reduced.
Disclosure of Invention
The invention aims to provide an intelligent grabbing control device based on a cooperative robot, so as to solve the problems in the background technology.
The aim of the invention can be achieved by the following technical scheme:
the intelligent grabbing control device based on the collaborative robot comprises a robot main body, a control module, an image recognition device and grabbing mechanisms arranged at the front end of the robot main body, wherein the robot main body comprises a plurality of connecting arms connected through rotating joints, each grabbing mechanism comprises a mounting block in transmission connection with each connecting arm, a driving assembly is arranged in each mounting block, two clamping blocks which are symmetrically arranged are in transmission connection with each other, and clamping mechanisms are arranged on opposite side surfaces of each clamping block;
a quality detection assembly is arranged on the side surface, far away from the connecting arm, of the mounting block, and the quality detection assembly is used for judging whether an object to be grabbed is overloaded or not;
the clamping mechanism comprises a plurality of groups of clamping assemblies, the clamping assemblies are distributed in an array along the length direction of the clamping block, clamping control pieces are arranged in the clamping assemblies, and the clamping control pieces are used for automatically controlling the clamping force of the clamping assemblies on an object;
the top surfaces of the clamping blocks and the mounting blocks are provided with measuring assemblies, and the measuring assemblies are used for detecting the outline dimensions of objects;
the control module is electrically connected with the rotary joint, the driving assembly, the image recognition device, the measuring assembly, the quality detection assembly and the clamping assembly.
Further, a mounting groove is formed in the side surface, far away from the connecting arm, of the mounting block, the driving assembly comprises a double-end screw rod rotatably mounted between two ends of the mounting groove and a motor fixedly mounted on the bottom surface of the mounting block, a driven bevel gear is fixedly mounted in the middle of the periphery of the double-end screw rod, the shaft end of an output shaft of the motor extends into the mounting groove, and a driving bevel gear meshed with the driven bevel gear is fixedly mounted at the shaft end of the output shaft of the motor;
and two clamping blocks are connected with the periphery of the double-head screw rod in a threaded manner.
Further, one end of the clamping block is fixedly connected with a protruding block, a first mounting hole is formed in the side face of the protruding block, a screw nut is fixedly mounted in the first mounting hole, one end of the protruding block, which is far away from the clamping block, is slidably mounted in the mounting groove, and the protruding block is in threaded connection with the double-head screw rod through the screw nut;
and a plurality of second mounting holes for mounting the clamping mechanism are formed in the side face of the clamping block along the length direction of the clamping block in an array manner.
Further, a group of clamping assemblies are arranged in the second mounting hole, each clamping assembly comprises an electric push rod, a fixing part of each electric push rod is fixedly arranged in the second mounting hole, two baffle rings which are arranged at intervals are fixedly connected to the periphery of a telescopic part of each electric push rod at positions far away from the fixing part, and annular grooves I which are coaxial with the telescopic parts are formed in the opposite side surfaces of the two baffle rings;
the outer periphery of the telescopic part is also provided with a lantern ring positioned between the two baffle rings, a rotating bearing is fixedly arranged between the inner walls of the lantern ring, the lantern ring is rotationally connected with the telescopic part through the rotating bearing, two end faces of the lantern ring are respectively provided with a second annular groove, a plurality of balls are clamped between the second annular groove and the first annular groove which is opposite to the second annular groove, and the balls are in rolling contact with the baffle rings and the lantern ring;
the periphery of the lantern ring is fixedly connected with a plurality of first convex plates, and a plurality of first convex plates are commonly connected with a collision component.
Further, the abutting component comprises a connecting block, a plurality of telescopic rods are obliquely connected to the outer side face of the connecting block, one ends, far away from the connecting block, of the telescopic rods are in an outward expansion shape, the number of the telescopic rods is equal to that of the first convex plates, and one ends, far away from the connecting block, of the telescopic rods are fixedly connected with one ends, far away from the lantern ring, of the first convex plates respectively;
the connecting block is fixedly connected with a connecting rod at one end far away from the first convex plate, a ball head is fixedly arranged at one end of the connecting rod far away from the connecting block, a spherical connecting seat is connected to a part of the ball head far away from the connecting rod, a connecting seat is fixedly arranged at one end of the spherical connecting seat far away from the ball head, a first abutting plate is fixedly arranged at one side of the connecting seat far away from the spherical connecting seat, and a friction pad in contact with an object is covered on an abutting surface of the first abutting plate;
the clamping control piece is arranged between the telescopic part and the connecting block.
Further, a plurality of third convex plates are fixedly connected to the outer side face of the connecting block, a plurality of second convex plates which are equal to the plurality of third convex plates in number are fixedly connected to the periphery of the spherical connecting seat, and a first spring is fixedly connected between the plurality of second convex plates and the plurality of third convex plates respectively.
Further, the clamping control piece comprises a hollow column fixedly arranged at the front end of the telescopic part, a first pressure sensor is fixedly arranged in one end, close to the telescopic part, of the hollow column, and a sliding rod is inserted into one end, far away from the telescopic part, of the hollow column in a sliding manner;
the sliding rod is located at one end of the hollow column, the sliding block is fixedly connected with the inner wall of the hollow column in a sliding mode, the second spring is fixedly connected with one end of the sliding block, which is far away from the sliding rod, the pressing plate is fixedly connected with one end of the second spring, which is far away from the sliding block, and one end of the pressing plate, which is far away from the second spring, is in movable contact with the first pressure sensor.
Further, the measuring assembly comprises a first laser ranging device fixedly mounted on the top surface of the clamping block and a second laser ranging device fixedly mounted on the top surface of the mounting block.
Further, the quality detection assembly comprises an electric telescopic rod fixedly connected with the mounting block, a pushing plate is fixedly arranged at the front end of the electric telescopic rod, a second abutting plate is arranged on one side, away from the electric telescopic rod, of the pushing plate, and a second pressure sensor is arranged between the second abutting plate and the pushing plate.
Another object of the present invention is to provide a control method of an intelligent gripping control device based on a collaborative robot, including the following steps:
s1: conveying the object through a conveying device;
s2: the image recognition device feeds back signals to the control module, the control module controls a plurality of rotary joints in the robot main body to enable the grabbing mechanism to approach to the object, so that the object is positioned between two clamping blocks, and the front end of the quality detection assembly is in contact with the outer side of the object;
s3: the quality detection assembly detects the quality of an object, judges whether the object is overloaded, and when the object is overloaded, the control module controls the robot main body to drive the grabbing mechanism to reset; when the object is not overloaded, continuing the grabbing action;
s4: the measuring assembly measures the outline dimension of the object and feeds back measuring information to the control module, and the control module controls the driving assembly according to the information, so that the two clamping blocks move towards the object until the front end of the clamping mechanism contacts with the side surface of the object;
s5: the clamping components in the clamping mechanism are close to the object to be clamped, acting force between the clamping components and the object is fed back to the clamping control piece, and when the stress of the clamping control piece reaches a set value, the clamping components stop moving;
s6: the control module controls the robot main body to move the grabbed object to the designated position, so as to finish the grabbing action of the object.
The invention has the beneficial effects that:
1. when the grabbing mechanism clamps an object, the electric push rod starts to enable the telescopic part to extend out, so that the first abutting plate is in extrusion contact with the avoidance surface of the object, when the extrusion force between the first abutting plate and the object reaches a preset value (the preset value is preset according to the material of goods), the telescopic part stops moving, a plurality of groups of clamping components are arranged in the grabbing mechanism, when the object is in an irregular shape, for example, the surface of the object is an arc surface, the plurality of groups of clamping components can extend out in a matched mode according to the clamping position, and the clamping force between the first abutting plates and the object is ensured to reach the preset value.
2. According to the invention, the limiting pressure value between the clamping assembly and the object can be preset according to the material of the object by arranging the clamping control piece, so that the invention can be flexibly adjusted according to objects with different materials, and has better practicability.
3. The invention sets a limit load value when in use, before the grabbing mechanism clamps an object, the electric telescopic rod is started, so that the second abutting plate is in extrusion contact with the object, then the object is pushed, the second pressure sensor senses the thrust and transmits a signal to the control module, when the thrust is smaller than the limit load, the grabbing action is allowed, otherwise, the grabbing action is stopped and reset; according to the invention, the mass of the object is estimated through the determined friction coefficient and the determined thrust, so that whether the object is overloaded is judged before the object is grabbed, and the device can be ensured to work in a safe state through the arrangement.
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 description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort;
FIG. 1 is a schematic three-dimensional structure of the present invention in its operative state;
FIG. 2 is a schematic three-dimensional representation of the overall structure of the present invention;
FIG. 3 is a schematic three-dimensional view of the mounting relationship between the clamping blocks and the clamping mechanism in the present invention;
FIG. 4 is a schematic three-dimensional structure of a clamping block according to the present invention;
FIG. 5 is a schematic three-dimensional view of the connection between the clamping block and the clamping assembly according to the present invention;
FIG. 6 is a schematic three-dimensional view of a clamping assembly according to the present invention;
FIG. 7 is a schematic view of the three-dimensional structure of FIG. 6 at another angle;
FIG. 8 is an enlarged view of portion A of FIG. 7;
FIG. 9 is a schematic view of the structure of the clamping control member of the present invention;
FIG. 10 is a schematic three-dimensional structure of the connection between the collar and the telescoping portion of the present invention;
FIG. 11 is a schematic three-dimensional view of the mounting relationship between the retainer ring and the telescoping portion in accordance with the present invention;
FIG. 12 is a schematic view of a mass detection assembly of the present invention;
reference numerals in the drawings are as follows:
the robot comprises a robot body, a 2-conveying device, a 3-grabbing mechanism, a 4-object, a 5-connecting arm, a 6-rotating joint, a 7-mounting block, an 8-clamping block, a 9-first laser distance measuring device, a 10-second laser distance measuring device, a 11-quality detection component, a 12-motor, a 13-double-head screw rod, a 14-clamping mechanism, a 15-mounting groove, a 16-driven bevel gear, a 17-lug, a 18-mounting hole I, a 19-screw nut, a 20-mounting hole II, a 21-clamping component, a 22-electric push rod, a 23-telescopic part, a 24-fixing part, a 25-baffle ring, a 26-convex plate I, a 27-collar, a 28-clamping control piece, a 29-abutting plate I, a 30-friction pad, a 31-connecting seat, a 32-spherical mounting seat, a 33-ball, a 34-convex plate II, a 35-connecting rod, a 36-spring I, a 37-convex plate III, a 38-connecting block, a 39-telescopic rod, a 40-hollow column, a 41-convex rod, a 42-pressure sensor I, a 43-pressing plate, a 44-spring II, a 45-sliding rod, a 46-annular groove II, a 48-annular groove II, a 52-sliding rod, a 52-pressing plate, a 52-sliding rod, a 52-bearing II, a 52-bearing and a 52-pressing plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1 to 11, in the embodiment of the present invention, an intelligent grabbing control device based on a collaborative robot includes a robot main body 1, a control module, an image recognition device, and a grabbing mechanism 3 installed at the front end of the robot main body 1, where the robot main body 1 includes a plurality of connection arms 5 connected by rotation joints 6, and the intelligent grabbing control device is characterized in that the grabbing mechanism 3 includes a mounting block 7 in transmission connection with the connection arms 5, a driving assembly is disposed in the mounting block 7, two clamping blocks 8 that are symmetrically disposed are in transmission connection with each other, and clamping mechanisms 14 are disposed on opposite sides of the two clamping blocks 8; the image recognition device comprises a camera and a recognition system, which are of the prior art and are not described herein.
The side surface of the mounting block 7, which is far away from the connecting arm 5, is provided with a quality detection component 11, and the quality detection component 11 is used for judging whether the object 4 to be grabbed is overloaded or not;
the clamping mechanism 14 comprises a plurality of groups of clamping assemblies 21, the groups of clamping assemblies 21 are distributed along the length direction of the clamping block 8 in an array manner, clamping control pieces 28 are arranged in the clamping assemblies 21, and the clamping control pieces 28 are used for automatically controlling the clamping force of the clamping assemblies 21 on the object 4;
the top surfaces of the clamping blocks 8 and the mounting blocks 7 are provided with measuring components which are used for detecting the outline dimension of the object 4;
the control module is electrically connected with the rotary joint 6, the driving assembly, the image recognition device, the measuring assembly, the quality detection assembly 11 and the clamping assembly 21.
As shown in fig. 1 to 3, a mounting groove 15 is formed in the side surface, far away from the connecting arm 5, of the mounting block 7, the driving assembly comprises a double-end screw rod 13 rotatably mounted between two ends of the mounting groove 15 and a motor 12 fixedly mounted on the bottom surface of the mounting block 7, a driven bevel gear 16 is fixedly mounted in the middle of the periphery of the double-end screw rod 13, the shaft end of an output shaft of the motor 12 extends into the mounting groove 15, and a driving bevel gear meshed with the driven bevel gear 16 is fixedly mounted at the shaft end of the output shaft of the motor 12;
two clamping blocks 8 are connected on the periphery of the double-head screw rod 13 in a threaded manner.
As shown in fig. 4 and 5, one end of the clamping block 8 is fixedly connected with a protruding block 17, a first mounting hole 18 is formed in the side surface of the protruding block 17, a screw nut 19 is fixedly mounted in the first mounting hole 18, one end of the protruding block 17 away from the clamping block 8 is slidably mounted in the mounting groove 15, and the protruding block 17 is in threaded connection with the double-end screw rod 13 through the screw nut 19;
the side surface of the clamping block 8 is provided with a plurality of mounting holes II 20 for mounting the clamping mechanism 14 along the length direction thereof.
In the driving assembly, the motor 12 drives the double-end screw rod 13 to rotate through the driving bevel gear and the driven bevel gear 16, and the double-end screw rod 13 simultaneously drives the two clamping blocks 8 to move close to or away from each other, so that the automatic adjustment can be performed according to the outline dimension of the object 4.
As shown in fig. 4 to 7, 10 and 11, a group of clamping assemblies 21 are installed in the second mounting hole 20, the clamping assemblies 21 comprise electric push rods 22, fixed parts 24 of the electric push rods 22 are fixedly installed in the second mounting hole 20, two baffle rings 25 which are arranged at intervals are fixedly connected to the periphery of telescopic parts 23 of the electric push rods 22 at positions far away from the fixed parts 24, and annular grooves I47 coaxial with the telescopic parts 23 are formed in opposite side surfaces of the two baffle rings 25;
the outer periphery of the telescopic part 23 is also provided with a collar 27 positioned between the two baffle rings 25, a rotary bearing 49 is fixedly arranged between the inner walls of the collar 27, the collar 27 is rotationally connected with the telescopic part through the rotary bearing 49, two end faces of the collar 27 are respectively provided with a second annular groove 48, a plurality of balls 46 are clamped between the second annular grooves 48 and the first annular grooves 47 which are opposite, and the balls 46 are in rolling contact with the baffle rings 25 and the collar 27; the limit of the collar 27 is achieved through the arrangement of the baffle ring 25, and meanwhile the axial force borne by the rotating bearing 49 can be counteracted through the cooperation of the annular groove II 48, the annular groove I47 and the balls 46, so that the service life of the rotating bearing 49 is prolonged.
A plurality of protruding plates 26 are fixedly connected to the periphery of the collar 27, and the plurality of protruding plates 26 are commonly connected with a collision component.
As shown in fig. 6, 7 and 10, the abutting component comprises a connecting block 38, wherein a plurality of telescopic rods 39 are obliquely connected to the outer side surface of the connecting block 38, one ends of the telescopic rods 39 far away from the connecting block 38 are in an outward expansion shape, the number of the telescopic rods 39 is equal to that of the convex plates 26, and one ends of the telescopic rods 39 far away from the connecting block 38 are fixedly connected with one ends of the convex plates 26 far away from the lantern rings 27 respectively;
the connecting rod 35 is fixedly connected to one end of the connecting block 38, which is far away from the first convex plate 26, the ball head 33 is fixedly arranged at one end of the connecting rod 35, which is far away from the connecting block 38, the spherical connecting seat 32 is connected to the part of the ball head 33, which is far away from the connecting rod 35, the connecting seat 31 is fixedly arranged at one end of the spherical connecting seat 32, which is far away from the ball head 33, the first abutting plate 29 is fixedly arranged at one side of the connecting seat 31, and the abutting surface of the first abutting plate 29 is covered with the friction pad 30 which is contacted with the object 4; the arrangement of the telescopic rods 39 enables the first abutting plate 29 to be in elastic extrusion contact with the object 4, namely the grabbing mechanism 3 flexibly clamps the object 4, elastic pretightening force is provided between the first abutting plate 29 and the object 4, meanwhile, protection capability of the object 4 is improved, and after the first abutting plate 29 is in contact with the surface of the object 4, the first abutting plate 29 can correspondingly change along with the surface condition of the object 4 through the arrangement of the spherical connecting seat 32 and the spherical head 33, so that the contact area between the first abutting plate 29 and the object 4 is improved, namely the grabbing stability of the object 4 is improved; the arrangement of the friction pad 30 allows flexible contact between the first interference plate 29 and the object 4 and increases the static friction between the first interference plate 29 and the object 4.
The grip control member 28 is disposed between the telescoping portion 23 and the connecting block 38.
As shown in fig. 7 to 9, the clamping control member 28 includes a hollow column 40 fixedly mounted at the front end of the telescopic portion 23, a first pressure sensor 42 is fixedly mounted inside the hollow column 40 at one end close to the telescopic portion 23, and a sliding rod 41 is slidably inserted into one end of the hollow column 40 away from the telescopic portion 23;
one end of the sliding rod 41 positioned in the hollow column 40 is fixedly connected with a sliding block 45 which is in sliding connection with the inner wall of the hollow column 40, one end of the sliding block 45 away from the sliding rod 41 is fixedly connected with a second spring 44, one end of the second spring 44 away from the sliding block 45 is fixedly connected with a pressing plate 43, and one end of the pressing plate 43 away from the second spring 44 is in movable contact with the first pressure sensor 42.
After the first pressing plate 29 is stressed, the sliding rod 41 slides into the hollow column 40 to drive the pressing plate 43 to be in extrusion contact with the first pressure sensor 42, so that the first pressure sensor 42 is stressed, when the stress value of the first pressure sensor 42 reaches a preset value, a signal is transmitted to the control module, the electric push rod 22 stops extending, the fact that the plurality of groups of clamping assemblies 21 can be contacted with the surface of the object 4 according to the preset pressure value through the arrangement of the clamping control piece 28 is achieved, the electric push rod can adapt to the object 4 with an irregular appearance, and the practicability of the electric push rod is improved.
As shown in fig. 2, the measuring assembly comprises a first laser ranging device 9 fixedly installed on the top surface of the clamping block 8 and a second laser ranging device 10 fixedly installed on the top surface of the installation block 7, and the accurate measurement of the object 4 is realized through the arrangement of the clamping block 8 and the second laser ranging device 10, so that the control action of accurately grabbing the object 4 is realized.
The assisting robot is used for assisting human work and is widely used for producing and manufacturing work environments with high risk coefficients, such as buildings and the like. In the prior art, as disclosed in the patent with the application number of CN202211341519.7, a robot clamping device for logistics transportation is provided, so that the clamping operation of goods is realized; however, the robot gripping device provided in the above patent has the following problems in use:
1. the variety of incoming material product is complicated, exists the condition that overall dimension is different, and the device is got to clamp that above-mentioned patent provided is when pressing from both sides getting the irregular goods of overall dimension, and effective area of contact between splint and the goods is less, then is guaranteeing to grasp the goods smoothly through increasing clamping force, because area of contact is less, leads to increasing clamping force and can greatly increased goods and splint contact position's pressure to cause the damage with the goods surface easily.
2. The quality of the supplied material product is variable, and when the clamping device provided by the patent clamps the overload goods with the quality, overload can be formed on the mechanical arm, so that the service life of the device is reduced.
Whereas in the present invention: the packaging materials of the objects 4 are consistent, and the friction coefficient between the objects 4 and the conveying device 2 is the same;
in use, the object 4 is transported by the conveyor 2; the position of the object 4 is identified through the image identification device, a signal is fed back to the control module, the control module controls the plurality of rotary joints 6 in the robot main body 1 to enable the grabbing mechanism 3 to approach the object 4, the object 4 is positioned between the two clamping blocks 8, and the front end of the quality detection assembly 11 is in contact with the outer side of the object 4; then the quality detection component 11 detects the quality of the object 4, judges whether the object 4 is overloaded, and when the object 4 is overloaded, the control module controls the robot main body 1 to drive the grabbing mechanism 3 to reset; when the object 4 is not overloaded, continuing the grabbing action; the measuring assembly measures the external dimension of the object 4 and feeds back the measuring information to the control module, and the control module controls the driving assembly according to the information so that the two clamping blocks 8 move towards the object 4 until the front end of the clamping mechanism 14 contacts with the side surface of the object 4; the clamping assemblies 21 in the clamping mechanism 14 are all close to the object 4 to be clamped, acting force between the clamping assemblies 21 and the object 4 is fed back to the clamping control piece 28, and when the stress of the clamping control piece 28 reaches a set value, the clamping assemblies 21 stop moving; then, the control module controls the robot body 1 to move the gripped object 4 to a specified position, so as to complete the gripping action of the object 4.
Compared with the prior art, in the using process, the object 4 is automatically positioned by the image recognition technology, the external dimension of the object 4 is further and accurately measured by the measuring assembly, and then the distance between the two clamping blocks 8 is automatically adjusted, so that the automatic degree is higher, and the use is more convenient; when the grabbing mechanism 3 clamps the object 4, the electric push rod 22 starts to enable the telescopic part 23 to extend, so that the first abutting plate 29 is in extrusion contact with the avoidance surface of the object 4, when the extrusion force between the first abutting plate 29 and the object 4 reaches a preset value (the preset value is preset according to the material of goods), the telescopic part 23 stops moving, the grabbing mechanism 3 is provided with a plurality of groups of clamping assemblies 21, when the object 4 is in an irregular shape, for example, the surface of the object 4 is an arc surface, the plurality of groups of clamping assemblies 21 extend correspondingly according to the clamping positions, and the clamping force between the plurality of abutting plates 29 and the object 4 is ensured to reach the preset value.
Example 2:
referring to fig. 6 and 10, on the basis of embodiment 1, a plurality of third convex plates 37 are fixedly connected to the outer side surface of the connecting block 38, a plurality of second convex plates 34 equal to the plurality of third convex plates 37 are fixedly connected to the periphery of the spherical connecting seat 32, and a first spring 36 is fixedly connected between the plurality of second convex plates 34 and the plurality of third convex plates 37.
Through the arrangement of the plurality of first springs 36, the first abutting plate 29 is kept in a state perpendicular to the electric push rod 22 in an initial state, the side surface, far away from the second convex plate 34, of the first abutting plate 29 is guaranteed to be in contact with the surface of the object 4 for the first time, and then practical rotation is carried out according to the surface condition of the object 4; the side of the first abutting plate 29 is prevented from being in press contact with the object 4, so that the object 4 is prevented from being damaged.
Example 3:
referring to fig. 2 and 12, based on embodiment 2, the quality detecting assembly 11 includes an electric telescopic rod 50 fixedly connected with the mounting block 7, a push plate 51 is fixedly mounted at the front end of the electric telescopic rod 50, a second abutting plate 53 is disposed on a side of the push plate 51 away from the electric telescopic rod 50, and a second pressure sensor 52 is mounted between the second abutting plate 53 and the push plate 51.
The invention sets up the limit load value when using, before grasping the organization 3 clamps the body 4, the electric telescopic link 50 starts, make the second of the interference plates 53 contact with body 4 extrusion, then promote the body 4, the second of the pressure sensors 52 senses the magnitude of thrust and transmits the signal to the control module, when the thrust is smaller than limit load, allow to grasp the movements, stop grasping movements and reset otherwise; according to the invention, the mass of the object 4 is estimated by the determined friction coefficient and the determined thrust, so that whether the object 4 is overloaded is determined before the object 4 is grabbed, and the device can be ensured to work in a safe state by the arrangement.
Example 4:
referring to fig. 1 to 12, on the basis of embodiment 3, a control method of an intelligent grabbing control device based on a collaborative robot is provided in this example, and includes the following steps:
s1: the objects 4 are conveyed by the conveying device 2;
s2: the image recognition device feeds back signals to a control module, and the control module controls a plurality of rotary joints 6 in the robot main body 1 to enable the grabbing mechanism 3 to approach the object 4, so that the object 4 is positioned between two clamping blocks 8, and the front end of the quality detection assembly 11 is in contact with the outer side of the object 4;
s3: the quality detection assembly 11 detects the quality of the object 4, judges whether the object 4 is overloaded, and when the object 4 is overloaded, the control module controls the robot main body 1 to drive the grabbing mechanism 3 to reset; when the object 4 is not overloaded, continuing the grabbing action;
s4: the measuring assembly measures the external dimension of the object 4 and feeds back the measuring information to the control module, and the control module controls the driving assembly according to the information so that the two clamping blocks 8 move towards the object 4 until the front end of the clamping mechanism 14 contacts with the side surface of the object 4;
s5: the clamping assemblies 21 in the clamping mechanism 14 are all close to the object 4 to be clamped, acting force between the clamping assemblies 21 and the object 4 is fed back to the clamping control piece 28, and when the stress of the clamping control piece 28 reaches a set value, the clamping assemblies 21 stop moving;
s6: the control module controls the robot body 1 to move the gripped object 4 to a specified position, so as to finish the gripping action of the object 4.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (7)
1. The intelligent grabbing control device based on the collaborative robot comprises a robot main body (1), a control module, an image recognition device and grabbing mechanisms (3) arranged at the front end of the robot main body (1), wherein the robot main body (1) comprises a plurality of connecting arms (5) connected through rotating joints (6), and the intelligent grabbing control device is characterized in that each grabbing mechanism (3) comprises an installation block (7) in transmission connection with each connecting arm (5), a driving assembly is arranged in each installation block (7), two clamping blocks (8) which are symmetrically arranged are in transmission connection with each other, and clamping mechanisms (14) are arranged on opposite sides of each clamping block (8);
a quality detection assembly (11) is arranged on the side surface, far away from the connecting arm (5), of the mounting block (7), and the quality detection assembly (11) is used for judging whether an object (4) to be grabbed is overloaded or not;
the clamping mechanism (14) comprises a plurality of groups of clamping assemblies (21), the groups of clamping assemblies (21) are distributed in an array along the length direction of the clamping block (8), clamping control pieces (28) are arranged in the clamping assemblies (21), and the clamping control pieces (28) are used for automatically controlling the clamping force of the clamping assemblies (21) on the object (4);
the top surfaces of the clamping blocks (8) and the mounting blocks (7) are provided with measuring components which are used for detecting the outline dimension of the object (4);
the control module is electrically connected with the rotary joint (6), the driving assembly, the image recognition device, the measuring assembly, the quality detection assembly (11) and the clamping assembly (21);
a group of clamping assemblies (21) are arranged in the second mounting hole (20), the clamping assemblies (21) comprise electric push rods (22), fixing parts (24) of the electric push rods (22) are fixedly arranged in the second mounting hole (20), two baffle rings (25) which are arranged at intervals are fixedly connected to the periphery of telescopic parts (23) of the electric push rods (22) at positions far away from the fixing parts (24), and annular grooves I (47) which are coaxial with the telescopic parts (23) are formed in the opposite side surfaces of the two baffle rings (25);
the outer periphery of the telescopic part (23) is also provided with a collar (27) positioned between the two baffle rings (25), a rotating bearing (49) is fixedly arranged between the inner walls of the collar (27), the collar (27) is rotationally connected with the telescopic part through the rotating bearing (49), two end faces of the collar (27) are respectively provided with a second annular groove (48), a plurality of balls (46) are clamped between the second annular grooves (48) and the first annular grooves (47) which are opposite, and the balls (46) are in rolling contact with the baffle rings (25) and the collar (27);
a plurality of first convex plates (26) are fixedly connected to the periphery of the lantern ring (27), and the first convex plates (26) are commonly connected with a collision component;
the interference assembly comprises a connecting block (38), a plurality of telescopic rods (39) are obliquely connected to the outer side face of the connecting block (38), one ends of the telescopic rods (39) far away from the connecting block (38) are in an outward expansion shape, the number of the telescopic rods (39) is equal to that of the convex plates (26), and one ends of the telescopic rods (39) far away from the connecting block (38) are fixedly connected with one ends of the convex plates (26) far away from the lantern rings (27) respectively;
one end of the connecting block (38) away from the convex plate I (26) is fixedly connected with a connecting rod (35), one end of the connecting rod (35) away from the connecting block (38) is fixedly provided with a ball head (33), the part of the ball head (33) away from the connecting rod (35) is connected with a spherical connecting seat (32), one end of the spherical connecting seat (32) away from the ball head (33) is fixedly provided with a connecting seat (31), one side of the connecting seat (31) away from the spherical connecting seat (32) is fixedly provided with a first abutting plate (29), and the abutting surface of the first abutting plate (29) is covered with a friction pad (30) contacted with an object (4);
the clamping control piece (28) is arranged between the telescopic part (23) and the connecting block (38);
the outer side face of the connecting block (38) is fixedly connected with a plurality of convex plate III (37), the periphery of the spherical connecting seat (32) is fixedly connected with a plurality of convex plate II (34) which are equal to the convex plate III (37), and springs I (36) are respectively and fixedly connected between the convex plate II (34) and the convex plate III (37).
2. The intelligent grabbing control device based on the cooperative robot as claimed in claim 1, wherein a mounting groove (15) is formed in the side surface, far away from the connecting arm (5), of the mounting block (7), a driving assembly comprises a double-end screw rod (13) rotatably mounted between two ends of the mounting groove (15) and a motor (12) fixedly mounted on the bottom surface of the mounting block (7), a driven bevel gear (16) is fixedly mounted in the middle of the periphery of the double-end screw rod (13), an output shaft end of the motor (12) extends into the mounting groove (15), and a driving bevel gear meshed with the driven bevel gear (16) is fixedly mounted at the output shaft end of the motor (12);
two clamping blocks (8) are connected to the periphery of the double-head screw rod (13) in a threaded manner.
3. The intelligent grabbing control device based on the cooperative robot according to claim 2, wherein one end of the clamping block (8) is fixedly connected with a protruding block (17), a first mounting hole (18) is formed in the side face of the protruding block (17), a screw nut (19) is fixedly installed in the first mounting hole (18), one end, far away from the clamping block (8), of the protruding block (17) is slidably installed in the mounting groove (15), and the protruding block (17) is in threaded connection with the double-head screw (13) through the screw nut (19);
the side surface of the clamping block (8) is provided with a plurality of mounting holes II (20) for mounting the clamping mechanism (14) along the length direction of the clamping block.
4. A cooperative robot-based intelligent gripping control device according to claim 3, wherein the gripping control member (28) comprises a hollow column (40) fixedly mounted at the front end of the telescopic part (23), a first pressure sensor (42) is fixedly mounted inside the hollow column (40) at one end close to the telescopic part (23), and a sliding rod (41) is slidably inserted into one end, far away from the telescopic part (23), of the hollow column (40);
the sliding rod (41) is located at one end of the inside of the hollow column (40) and fixedly connected with a sliding block (45) which is in sliding connection with the inner wall of the hollow column (40), one end of the sliding block (45) away from the sliding rod (41) is fixedly connected with a second spring (44), one end of the second spring (44) away from the sliding block (45) is fixedly connected with a pressing plate (43), and one end of the pressing plate (43) away from the second spring (44) is in movable contact with the first pressure sensor (42).
5. The intelligent grabbing control device based on the cooperative robot according to claim 1, wherein the measuring assembly comprises a first laser ranging device (9) fixedly mounted on the top surface of the clamping block (8) and a second laser ranging device (10) fixedly mounted on the top surface of the mounting block (7).
6. The intelligent grabbing control device based on the cooperative robot according to claim 1, wherein the quality detection assembly (11) comprises an electric telescopic rod (50) fixedly connected with the installation block (7), a push plate (51) is fixedly arranged at the front end of the electric telescopic rod (50), a second abutting plate (53) is arranged on one side, far away from the electric telescopic rod (50), of the push plate (51), and a second pressure sensor (52) is arranged between the second abutting plate (53) and the push plate (51).
7. A control method of the intelligent gripping control device based on the cooperative robot as claimed in claim 1, wherein the control method comprises the steps of:
s1: the object (4) is conveyed by the conveying device (2);
s2: the image recognition device feeds back signals to the control module, the control module controls a plurality of rotary joints (6) in the robot main body (1) to enable the grabbing mechanism (3) to approach the object (4), so that the object (4) is positioned between two clamping blocks (8), and the front end of the quality detection assembly (11) is in contact with the outer side of the object (4);
s3: the quality detection assembly (11) detects the quality of the object (4) and judges whether the object (4) is overloaded, and when the object (4) is overloaded, the control module controls the robot main body (1) to drive the grabbing mechanism (3) to reset; when the object (4) is not overloaded, continuing the grabbing action;
s4: the measuring assembly measures the outline dimension of the object (4) and feeds back measuring information to the control module, and the control module controls the driving assembly according to the information, so that the two clamping blocks (8) move towards the object (4) until the front end of the clamping mechanism (14) is contacted with the side surface of the object (4);
s5: the clamping mechanism comprises a plurality of groups of clamping components (21) in the clamping mechanism (14), wherein the clamping components are close to an object (4) to be clamped, acting force between the clamping components (21) and the object (4) is fed back to a clamping control piece (28), and when the stress of the clamping control piece (28) reaches a set value, the clamping components (21) stop moving;
s6: the control module controls the robot main body (1) to move the grabbed object (4) to a designated position, so as to finish the grabbing action of the object (4).
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| CN117961868B (en) * | 2024-04-02 | 2024-06-04 | 四川航天拓达玄武岩纤维开发有限公司 | Manipulator for processing high-pressure pipe |
| CN118305560A (en) * | 2024-06-11 | 2024-07-09 | 深圳市威雅特电子科技有限公司 | Module assembling equipment for computer camera production |
| CN118322167B (en) * | 2024-06-17 | 2024-09-03 | 长春电子科技学院 | Control grabbing device of robot |
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