CN215789919U

CN215789919U - Robot grabbing mechanism based on 3D vision guiding

Info

Publication number: CN215789919U
Application number: CN202122379527.8U
Authority: CN
Inventors: 胡竟新; 毕照
Original assignee: Wuhan Huanuo 3d Intelligent Technology Co ltd
Current assignee: Wuhan Huanuo 3d Intelligent Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-02-11
Anticipated expiration: 2031-09-29

Abstract

The utility model discloses a robot grabbing mechanism based on 3D vision guidance, which comprises a mounting rack and a large shaft sleeve, wherein a round sleeve is arranged in the middle of one end of the mounting rack, the large shaft sleeve is sleeved on the round sleeve through a bearing, fixing columns are arranged at the upper end and the lower end of the large shaft sleeve, clamping arms are slidably arranged in the upper fixing column and the lower fixing column, a round pin is arranged in the middle of the two clamping arms, the round pin on the upper clamping arm is arranged on the front side, the round pin on the lower clamping arm is arranged on the back side, an electric telescopic rod is arranged in the mounting rack, an electric telescopic rod telescopic column penetrates through the mounting rack and penetrates through the round sleeve, a small shaft sleeve is rotatably arranged at the end of the electric telescopic rod telescopic column, the round pin at the upper end of the small shaft sleeve is arranged on the front side, the round pin at the lower end of the small shaft sleeve is arranged on the back side, and a connecting rod is movably arranged between the round pin arranged at the upper end and the lower end of the small shaft sleeve and the round pins arranged on the two clamping arms. The utility model realizes that the grabbing device can rotate to adjust the grabbing angle, is suitable for grabbing materials in different states, and improves the grabbing efficiency.

Description

Robot grabbing mechanism based on 3D vision guiding

Technical Field

The utility model relates to the technical field of intelligent grabbing devices, in particular to a robot grabbing mechanism based on 3D vision guidance.

Background

The visual system is a computer software and hardware technology which utilizes a machine to replace human eyes for measurement, judgment and operation, the visual system is also a branch in a computational department, the labor consumption in the industry can be reduced through the industrial robot visual system, the operation is quick and effective, the error rate is lower, the mechanical arm is one of the mechanical arms, the mechanical arm can replace people in the industry for sorting, and the production efficiency is improved.

Traditional grabbing device under the effect of arm, only can carry out about, about and the back-and-forth movement, snatchs in the time and puts orderly object, when the object slope was put, grabbing device can not self rotation snatch the angle modulation, will lead to the error when snatching the material, and the effect is snatched in the influence, reduces production efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot grabbing mechanism based on 3D vision guidance, which is provided with a grabbing device capable of rotating to adjust a grabbing angle, is suitable for grabbing materials in different states, has the advantage of improving grabbing efficiency, and solves the problems in the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: a robot grabbing mechanism based on 3D vision guidance comprises an installation frame and a large shaft sleeve, wherein a round sleeve is installed in the middle of one end of the installation frame, the large shaft sleeve is sleeved on the round sleeve through a bearing, the lower end of the large shaft sleeve is provided with a fixed column, the upper fixed column and the lower fixed column are internally provided with clamping arms in a sliding manner, a round pin is arranged at the middle position of the two clamping arms, the round pin on the upper clamping arm is arranged on the front side, the round pin on the lower clamping arm is arranged on the back side, an electric telescopic rod is arranged in the mounting frame, a telescopic column of the electric telescopic rod penetrates through the mounting frame and penetrates through the round sleeve, a small shaft sleeve is rotatably arranged at the end head of the telescopic column of the electric telescopic rod, round pins are symmetrically arranged at the upper end and the lower end of the small shaft sleeve, the round pin at the upper end of the small shaft sleeve is arranged on the front side, the round pin at the lower end of the small shaft sleeve is arranged on the back side, and a connecting rod is movably arranged between the round pins arranged at the upper end and the lower end of the small shaft sleeve and the round pins arranged on the two clamping arms.

Preferably, the gear A is welded on one surface, located on the mounting frame, of the large shaft sleeve.

Preferably, a small motor is installed at the upper end of the installation frame, a gear B is installed on an output shaft of the small motor, and the gear B is meshed with the gear A to be connected.

Preferably, a fixing rod is installed in the middle of the upper surface of the installation frame, and a CCD camera is fixed on the fixing rod.

Preferably, the clamping heads are inserted into the clamping ends of the two clamping arms, and the two clamping heads are fixed on the two clamping arms through fixing screws.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, by starting the electric telescopic rod, the electric telescopic rod extends to drive the small shaft sleeve to move rightwards, the small shaft sleeve drives the two connecting rods to move rightwards, so that the two clamping arms are driven to move oppositely along the fixed column, the two clamping heads which are close to each other clamp an object, then the object is moved to a position for placing the object to be grabbed, the electric telescopic rod retracts to separate the two clamping heads, and the object to be grabbed is put down, so that the object is transferred.

2. According to the utility model, the small motor is started, the small motor works to drive the gear B mounted on the output shaft of the small motor to rotate, the gear B rotates to drive the gear A in meshed connection with the gear B to rotate, the gear A drives the large shaft sleeve to rotate, and the small shaft sleeve is matched to rotate, so that the clamping heads mounted on the two clamping arms are driven to adjust the clamping angle, and the clamping efficiency is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a capture state of the present invention.

In the figure: 1. a round sleeve; 2. a CCD camera; 3. a mounting frame; 4. an electric telescopic rod; 5. fixing the rod; 6. a small-sized motor; 7. a gear A; 8. a gear B; 9. a large shaft sleeve; 10. fixing a column; 11. clamping arms; 12. fixing screws; 13. a clamping head; 14. a round pin; 15. a small shaft sleeve; 16. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to fig. 1 to 2, the present invention provides a robot gripping mechanism based on 3D vision guidance, which comprises: a robot grabbing mechanism based on 3D vision guidance comprises a mounting rack 3 and a large shaft sleeve 9, wherein a round sleeve 1 is mounted in the middle of one end of the mounting rack 3, the large shaft sleeve 9 is sleeved on the round sleeve 1 through a bearing, a gear A7 is welded on one side, located on the mounting rack 3, of the large shaft sleeve 9, a fixing column 10 is mounted at the upper end and the lower end of the large shaft sleeve 9, clamping arms 11 are mounted in the upper fixing column and the lower fixing column 10 in a sliding mode, clamping heads 13 are inserted into clamping ends of the two clamping arms 11, and the two clamping heads 13 are fixed on the two clamping arms 11 through fixing screws 12; two holding heads 13 are fixed on two arm locks 11 through fixed screw 12, and when the effect was snatched in the wearing and tearing influence appeared in holding head 13, only need twist out fixed screw 12, with wearing and tearing holding head 13 with change can, it is very convenient. A round pin 14 is arranged in the middle of the two clamping arms 11, the round pin 14 on the upper clamping arm 11 is arranged on the front side, the round pin 14 on the lower clamping arm 11 is arranged on the back side, an electric telescopic rod 4 is arranged in the mounting rack 3, a telescopic column of the electric telescopic rod 4 penetrates through the mounting rack 3 and penetrates through the round sleeve 1, a small shaft sleeve 15 is rotatably arranged at the end head of the telescopic column of the electric telescopic rod 4, the round pins 14 are also symmetrically arranged at the upper end and the lower end of the small shaft sleeve 15, the round pin 14 at the upper end of the small shaft sleeve 15 is arranged on the front side, the round pin 14 at the lower end of the small shaft sleeve 15 is arranged on the back side, and a connecting rod 16 is movably arranged between the round pin 14 arranged at the upper end and the lower end of the small shaft sleeve 15 and the round pins 14 arranged on the two clamping arms 11; starting the electric telescopic rod 4, the electric telescopic rod 4 works to stretch out to drive the small shaft sleeve 15 to move rightwards, the small shaft sleeve 15 drives the two connecting rods 16 to move rightwards, so that the two clamping arms 11 are driven to move towards each other along the fixing column 10, the two clamping heads 13 which are close to each other clamp an object tightly, then the object is moved to a position for placing the object to be grabbed, and the electric telescopic rod 4 works to retract to separate the two clamping heads 13, so that the object to be grabbed is put down.

The upper end of the mounting rack 3 is provided with a small motor 6, the output shaft of the small motor 6 is provided with a gear B8, a gear B8 is meshed with a gear A7, the middle of the upper surface of the mounting rack 3 is provided with a fixed rod 5, and the fixed rod 5 is fixedly provided with a CCD camera 2; the small-sized motor 6 is started, the small-sized motor 6 works to drive the gear B8 arranged on the output shaft of the small-sized motor to rotate, the gear B8 rotates to drive the gear A7 connected with the gear B8 in a meshed mode to rotate, the gear A7 drives the large shaft sleeve 9 to rotate, and the small shaft sleeve 15 is matched to rotate, so that the clamping heads 13 arranged on the two clamping arms 11 are driven to grab the angle adjusting device.

The motor is designed by adopting a small servo motor, namely a 14HS2408 motor, the motor is only used as a reference for selection by a person in the technical field, the person in the technical field can select and match the motor with the same parameters and functions for installation, debugging and use according to actual production requirements, and the motor is not described in detail.

The working principle is as follows: when the utility model is used, a grabbing device is required to be arranged on a mechanical arm, the grabbing device is moved to a grabbing point through the up-down, left-right and front-back movement of the mechanical arm, the position of a grabbed object is determined through a CCD camera 2, an electric telescopic rod 4 is started, the electric telescopic rod 4 works to extend out to drive a small shaft sleeve 15 to move rightwards, the small shaft sleeve 15 drives two connecting rods 16 to move rightwards, so that two clamping arms 11 are driven to move oppositely along a fixed column 10, two clamping heads 13 which are close to each other clamp the object, then the object is moved to a grabbed object placing point, the electric telescopic rod 4 works to retract to separate the two clamping heads 13, the grabbed object is put down, when the CCD camera 2 determines that the grabbed object is inclined, a small motor 6 can be started, the small motor 6 works to drive a gear B8 arranged on an output shaft of the small motor to rotate, a gear B8 rotates to drive a gear A7 meshed with the small motor to rotate, the gear A7 drives the large shaft sleeve 9 to rotate, the small shaft sleeve 15 is matched to rotate, so that the clamping heads 13 mounted on the two clamping arms 11 are driven to adjust to a proper angle, and then the actions are repeated to grab.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a mechanism is snatched to robot based on 3D vision guide, includes mounting bracket (3) and big axle sleeve (9), its characterized in that: the round sleeve (1) is installed in the middle of one end of the mounting rack (3), the large shaft sleeve (9) is sleeved on the round sleeve (1) through a bearing, the upper end and the lower end of the large shaft sleeve (9) are provided with fixing columns (10), the upper fixing column (10) and the lower fixing column (10) are internally provided with clamping arms (11) in a sliding manner, round pins (14) are installed at the middle positions of the two clamping arms (11), the round pins (14) on the upper clamping arm (11) and the lower clamping arm (11) are installed on the front side, an electric telescopic rod (4) is installed in the mounting rack (3), a telescopic column of the electric telescopic rod (4) penetrates through the mounting rack (3) and penetrates through the round sleeve (1), a small shaft sleeve (15) is installed at the end of the telescopic column of the electric telescopic rod (4) in a rotating manner, the round pins (14) are also symmetrically installed at the upper end and the lower end of the small shaft sleeve (15), and the round pins (14) at the upper end of the small shaft sleeve (15) are installed on the front side, the round pin (14) at the lower end of the small shaft sleeve (15) is arranged on the reverse side, and a connecting rod (16) is movably arranged between the round pin (14) arranged at the upper end and the lower end of the small shaft sleeve (15) and the round pins (14) arranged on the two clamping arms (11).

2. The robotic grasping mechanism based on 3D visual guidance according to claim 1, characterized in that: the large shaft sleeve (9) is positioned on one side of the mounting frame (3) and is welded with a gear A (7).

3. The robotic grasping mechanism based on 3D visual guidance according to claim 1, characterized in that: mounting bracket (3) upper end is installed small-size motor (6), installs gear B (8) on small-size motor (6) output shaft, and gear B (8) and gear A (7) meshing are connected.

4. The robotic grasping mechanism based on 3D visual guidance according to claim 1, characterized in that: a fixing rod (5) is installed in the middle of the upper surface of the mounting rack (3), and a CCD camera (2) is fixed on the fixing rod (5).

5. The robotic grasping mechanism based on 3D visual guidance according to claim 1, characterized in that: two clamping heads (13) are inserted into the clamping ends of the clamping arms (11), and the two clamping heads (13) are fixed on the two clamping arms (11) through fixing screws (12).