CN212553849U

CN212553849U - Object grabbing manipulator

Info

Publication number: CN212553849U
Application number: CN202020900522.8U
Authority: CN
Inventors: 冯威潮; 熊伟
Original assignee: Tengmi Robot Technology Shenzhen Co ltd
Current assignee: Tengmi Robot Technology Shenzhen Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-02-19
Anticipated expiration: 2030-05-26

Abstract

The utility model provides an article snatchs manipulator belongs to manipulator technical field. The manipulator comprises a push-pull mechanism, the tail end of the push-pull mechanism is connected with a grabbing mechanism, the grabbing mechanism comprises a vacuum chuck and a rotary motor, a depth camera is installed above the grabbing mechanism, and a telescopic tray is arranged below the manipulator body. The technical scheme of the utility model, compact structure, the suitability is good, through the cooperation with the robot, can realize adopting different modes to snatch to the article of different sizes, different weight, different shapes and different soft or hard, snatch the process safety, stability, reliable and better protection article moreover.

Description

Object grabbing manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, especially, relate to a manipulator is snatched to article.

Background

With the rapid development of the electronic commerce industry and the logistics industry, a great deal of demands for warehousing, sorting and goods loading and unloading work follow. However, in the conventional operation management mode, mainly people pick up goods from the shelves according to the system orders, and the efficiency of manually picking up the objects is low, which results in low efficiency of warehouse sorting and high labor cost.

In recent years, various manipulators have been developed to improve sorting and picking efficiency and automation level. In the disclosed technology, a considerable part of the robot arms use vacuum chucks to grasp an object. The working principle of the vacuum sucker, also called as a vacuum hanger, is mainly to grip an object by generating pressure difference inside and outside by compressed air.

The vacuum chuck is generally made of rubber materials, and the object cannot be damaged when being grabbed and put down; meanwhile, the paint has the advantages of high temperature resistance, static resistance, low mark, chemical resistance, large suction force, suitability for objects of various shapes, sizes and materials and the like.

The vacuum sucker has the defects that when the weight of an object to be sucked is larger, the sucking can be realized only by increasing the diameter size of the sucker and the number of the suckers; in the process of horizontally or vertically sucking the object by the sucker, the gravity of the sucked object is overcome by the adsorption force to carry the object, and once the adsorption force generated by various reasons is rapidly reduced, the grabbing failure is caused, namely the object falling is commonly called.

Therefore, the existing vacuum chuck mechanical arm is poor in adaptability to various grabbed objects with different sizes, weights and hardness, and the grabbing reliability needs to be improved due to the fact that the existing vacuum chuck mechanical arm is poor in adaptability and has 'falling pieces' in the grabbing process.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model discloses a manipulator is snatched to article can realize snatching the letter sorting to the article of different sizes, different weight, different shapes and different soft or hard.

To this end, the technical scheme of the utility model is that:

the bottom of the manipulator main body is provided with a manipulator connecting hole for being connected with a robot attached to the manipulator main body, the grabbing mechanism is connected with the manipulator main body through the push-pull mechanism, and the telescopic bearing tray is movably connected with the bottom of the manipulator main body.

By adopting the technical scheme, when the object needs to be picked and placed, the mechanical arm moves to the position of the object to be picked and placed, the mechanical arm adopts different grabbing strategies according to the information of the object, and the rotary motor adjusts the grabbing angle of the sucker according to the normal direction of the grabbing surface of the grabbed object. If the object is in a sheet shape and has small thickness, such as books and letters, the rotary motor rotates the grabbing mechanism to vertically suck; if the thickness of the object is enough, the rotary motor rotates the grabbing mechanism to horizontally suck, and the mechanical arm cooperates with the pushing mechanism to move to the object sucking position through the mechanical arm to suck; if the object is heavy and has a large volume, the pushing mechanism and the bearing tray can simultaneously extend out in a coordinated mode, and the extending length of the pushing mechanism and the bearing tray is determined by the position and the length of the object. And (3) moving the normal angle of the sucker plate surface to be consistent with the normal angle of the sucking surface by the mechanical handle, sucking the object by the sucker on the pushing mechanism, and pulling the object to the bearing tray.

Furthermore, the push-pull mechanism is driven by an electric screw rod in the manipulator main body.

Furthermore, the tail end of a push-pull mechanism of the manipulator is connected with a grabbing mechanism.

Furthermore, the grabbing mechanism comprises a rotary motor and a vacuum sucker, and the rotary motor drives the sucker to rotate.

Furthermore, a depth camera is installed above the grabbing mechanism.

Furthermore, a telescopic bearing tray is arranged below the manipulator main body.

Furthermore, the telescopic bearing tray is controlled to be telescopic by an electric screw rod arranged in the manipulator.

Furthermore, the electric screw rod is respectively connected with the push-pull mechanism and the telescopic bearing tray.

Compared with the prior art, the beneficial effects of the utility model are that:

the technical scheme of the utility model provides a hardware structure of article snatchs manipulator, can realize adopting different modes to snatch the letter sorting to the article of different size, different weight, different shapes and different soft or hard, and the thing process is safer, stable, reliable moreover, better protection article; especially for heavier objects, the manipulator can firstly drag the heavier objects out of the place to be placed and pull the heavier objects onto the bearing tray, so that the bearing tray can mainly bear the weight of the objects, and the objects can be taken and placed more safely and reliably.

Drawings

Fig. 1 and fig. 2 are schematic structural diagrams of an object grabbing manipulator of the present invention.

Fig. 3 is a working state diagram of the object grabbing manipulator grabbing the portable object.

Fig. 4 is a working state diagram of the object grabbing manipulator grabbing heavy objects.

Fig. 5 is a working state diagram of the object grabbing manipulator grabbing the sheet-like object.

The reference numerals include: the robot comprises a manipulator body 1, a push-pull mechanism 2, a grabbing mechanism 3, a telescopic bearing tray 4, a lead screw motor 21, a guide rod 22, a depth camera 31, a rotary motor 32, a vacuum chuck 33, a tray 41, a lead screw sliding table 42 and a linear guide rail 43.

Detailed Description

Preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, an object grasping robot includes a robot main body 1, a push-pull mechanism 2, a grasping mechanism 3, and a retractable load-bearing tray 4. The grabbing mechanism 3 is connected with the manipulator main body 1 through a push-pull mechanism 2, and the telescopic bearing tray 4 is movably connected with the bottom of the manipulator main body 1.

The push-pull mechanism 2 is driven by a lead screw motor 21 arranged in the manipulator main body 1, and is guided by matching a guide rod 22 and a linear bearing. The end of the guide rod 22 is fixedly connected with the grabbing mechanism 3.

The grabbing mechanism 3 comprises a depth camera 31, a rotary motor 32, a vacuum chuck 33, an electromagnetic valve connected with the vacuum chuck 33 and a vacuum generator. Further, the vacuum chuck 33 is a corrugated chuck, the side lip of the chuck 33 is thinner than the middle wall, and a sponge gasket is attached to the lip of the chuck 33.

The telescopic load-bearing pallet 4 comprises a pallet 41, a screw slide 42 and a linear guide 43. The screw sliding table 42 is used for driving the tray 41 and controlling the telescopic stroke of the tray 41.

The manipulator is grabbed to article of this embodiment, as the terminal actuating mechanism of robot, can the manual work carry out semi-automatic control, also can combine prior art's control technology to realize better automation.

When the robot receives an instruction for extracting a specific cargo, the robot moves to the position of the object to be grabbed according to a preset route, the robot performs image matching or label two-dimensional code recognition by using a depth camera 31 installed at the tail end of the object grabbing manipulator of the embodiment, and when the matching is correct, the robot determines the spatial position (x, y, z) of the object by using the depth camera 31. Two electric screw rods are arranged in the manipulator main body 1, the electric screw rods are respectively connected with the push-pull mechanism 2 and the telescopic bearing tray 4, then the vacuum chuck 33 on the grabbing mechanism 3 is pushed to the surface of a target object through the push-pull mechanism 2, a control module of the robot sends an instruction to the electromagnetic valve, and the electromagnetic valve opens the air path to enable the vacuum chuck 33 to form negative pressure and adsorb the object. After the article is sucked, if the article is light, the vacuum chuck 33 horizontally sucks the article, and directly carries the sucked article to a designated turnover box or a designated shelf through the grabbing mechanism 3, as shown in fig. 3. If the object is heavy, the vacuum chuck 33 cannot provide enough suction force to support the object, the screw sliding table 42 will extend the tray 41 by a certain stroke according to the size of the object, and the push-pull mechanism 2 will pull the object adsorbed by the vacuum chuck 33 onto the tray 41, so as to transfer the object, as shown in fig. 4.

The end of the grabbing mechanism 3 is provided with a rotary motor 32, the rotation direction of which is perpendicular to the manipulator main body 1 and is used for changing the adsorption direction of a vacuum chuck 33. When the size of the picked-up goods is larger than the diameter of the vacuum suction cup 33, the suction direction of the vacuum suction cup 33 is kept in the same horizontal direction with the robot main body 1, and the objects are horizontally sucked, as shown in fig. 3 and 4. When the picked-up object is thin, such as books and letters, and has a thickness smaller than the diameter of the vacuum chuck 33, the rotary motor 32 changes the suction direction of the vacuum chuck 33 from horizontal to vertical downward to vertically suck the object, as shown in fig. 5. After the manipulator moves the adsorbed object to a designated position, the electromagnetic valve disconnects the vacuum gas circuit, the object is separated from the vacuum chuck 32, and the grabbing of the object is completed.

Through the analysis, the object taking and placing manipulator of the embodiment adds a degree of freedom to the manipulator through the rotary motor so as to switch the directions of the suckers and realize the grabbing of the light and thin object; meanwhile, for the objects with heavy weight and large volume, the object taking and placing robot of the embodiment drags the objects into the bearing tray in a pulling mode, and the adsorption force of the sucker only needs to overcome the friction force between the objects and the contact surface instead of the gravity of the objects. Therefore, the object picking and placing robot of the present embodiment can pick objects with a much larger range of overall size and weight than other suction cup robots.

The above-mentioned embodiments are the preferred embodiments of the present invention, and the scope of the present invention is not limited to the above-mentioned embodiments, and the scope of the present invention includes and is not limited to the above-mentioned embodiments, and all equivalent changes made according to the shape and structure of the present invention are within the protection scope of the present invention.

Claims

1. An article grabbing manipulator is characterized in that: the novel manipulator comprises a manipulator main body (1), a push-pull mechanism (2), a grabbing mechanism (3) and a telescopic bearing tray (4), wherein two electric screw rods are arranged in the manipulator main body (1), the grabbing mechanism (3) is connected with the manipulator main body (1) through the push-pull mechanism (2), a depth camera (31) is installed above the grabbing mechanism (3), and the telescopic bearing tray (4) is movably connected with the bottom of the manipulator main body (1).

2. The article grasping robot of claim 1, wherein: the push-pull mechanism (2) is driven by an electric screw rod in the manipulator main body (1).

3. The article grasping robot of claim 1, wherein: the tail end of the push-pull mechanism (2) of the manipulator is connected with the grabbing mechanism (3).

4. The article grasping robot of claim 1, wherein: and a depth camera (31) is arranged above the grabbing mechanism (3).

5. The article grasping robot of claim 1, wherein: the grabbing mechanism (3) comprises a rotary motor (32) and a vacuum sucker (33), and the rotary motor (32) drives the vacuum sucker (33) to rotate.

6. The article grasping robot of claim 1, wherein: the electric screw rod is respectively connected with the push-pull mechanism (2) and the telescopic bearing tray (4).