CN108481309A - Vision positioning five degree of freedom labelling machines people - Google Patents
Vision positioning five degree of freedom labelling machines people Download PDFInfo
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- CN108481309A CN108481309A CN201810303614.5A CN201810303614A CN108481309A CN 108481309 A CN108481309 A CN 108481309A CN 201810303614 A CN201810303614 A CN 201810303614A CN 108481309 A CN108481309 A CN 108481309A
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- 238000002372 labelling Methods 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 210000000245 forearm Anatomy 0.000 claims description 101
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000006698 induction Effects 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 13
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 18
- 239000010959 steel Substances 0.000 abstract description 18
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
Vision positioning five degree of freedom labelling machines people, identification positioning and labeling operation, the robot for object end face include：Silent flatform（1）, branch in parallel（2）, moving platform（3）, annular array of light sources（4）, camera（5）, series arm（6）With labeling manipulator（7）.Robot of the present invention uses hybrid mechanism, have both that serial mechanism working space is big, pose adjustment ability is strong and parallel institution high speed, high-precision advantage, round steel end face labeling operating rate and precision are effectively improved, by the way that annular array of light sources and camera to be fixed on moving platform to realize the labeling vision positioning work of round steel end face and simplify exterior arrangement.
Description
Technical field
The present invention relates to a kind of labelling machines people more particularly to a kind of vision positioning five degree of freedom labelling machines people, belong to
Intelligent robot technology field.
Background technology
Since 21 century, the development of robot technology is increasingly paid attention in recent years both at home and abroad, robot is in steel products
Labeling field is more and more widely used, and replaces traditional-handwork labeling to greatly improve label with robot labeling
Efficiency and quality.For the labelling machines people applied to steel and iron industry, traditional design generally uses cascaded structure.Serial mechanism
The advantages of the shortcomings that having its own, parallel institution, compensates for the shortcomings that parallel institution just, while again proper the advantages of serial mechanism
The shortcomings that compensating for parallel institution well.Due to this relationship so that series connection with it is in parallel between application it is upper be not substitution effect, and
It is complementary relationship.Therefore the advantages of both comprehensive, its disadvantage is kept away, research will by the series-parallel robot that series, parallel mechanism forms
It is the development trend of mechanical industry.Series-parallel connection equipment has both parallel institution high-speed, high precision stability good advantage and cascade machine
The advantages of good posture adjustment ability of structure, larger working space.Therefore, the series-parallel connection towards steel mill's round steel end face automatic labeling is studied
Robot architecture is very necessary.
Invention content
For the performance requirement for meeting in steel plant's labeling fast development process to labelling machines people's high-speed, high precision, the present invention
A kind of vision positioning five degree of freedom labelling machines people is provided, for realizing that round steel end face labels work.
Vision positioning five degree of freedom labelling machines people of the present invention includes：Silent flatform 1, branch 2 in parallel, moving platform 3, circular array
Row light source 4, camera 5, series arm 6 and labeling manipulator 7.Silent flatform 1 is fixed at work, is bolted three simultaneously
Join the initiating terminal of branch 2.The end of three branches 2 in parallel is mounted by means of bolts on the inside of moving platform 3, every branch in parallel
The parallel installation of axis at 2 both ends of chain.The both ends of three branches 2 in parallel are spatially respectively along the circumferential direction of silent flatform 1 and moving platform 3
120 degree uniformly distributed.Moving platform 3 can realize that the three-dimensional relative to silent flatform 1 is mobile by the movement of three branches 2 in parallel.Annular
Array light source 4 is fixed on the outside of moving platform 3, and the rear end of camera 5 is fixed on the inside of moving platform 3, and the front end of camera 5 is driven flat
It is stretched out in platform 3 and the center hole of annular array of light sources 4, annular array of light sources 4 and camera 5 are coaxially arranged, are used for visual identity
With positioning.Series arm 6 is fixed on the inside of moving platform 3, can realize the two-dimensional rotary relative to moving platform 3.Label manipulator 7
It is fixed on the end of series arm 6, for realizing the labeling work of robot.
Branch 2 in parallel includes：Parallel-connected induction motors 2-1, is installed in parallel plate 2-2, parallel connection transmission shafting 2-3, master arm 2-4 and from
Swing arm 2-5.Parallel connection transmission shafting 2-3 includes：Parallel-connected induction motors seat 2-3-1, shaft coupling 2-3-2 in parallel, parallel connection transmission axis 2-3-3,
A set of cups 2-3-4 in parallel, angular contact ball bearing 2-3-5 in parallel and end cap 2-3-6 in parallel.Slave arm 2-5 includes：Pull rod connecting shaft 2-
5-1, bulb mechanism 2-5-2, pull rod connecting plate 2-5-3 and pull rod 2-5-4.It is L-shaped to be installed in parallel plate 2-2, wherein opening up on one side
Parallel-connected induction motors 2-1 and parallel-connected induction motors seat 2-3-1, parallel-connected induction motors seat 2-3-1 is bolted from being installed in parallel plate in circular through hole
It is stretched out in the circular through hole of 2-2, another side is bolted on silent flatform 1.The output shaft of parallel-connected induction motors 2-1 passes through shaft coupling
Device 2-3-2 is connect with the left end of parallel connection transmission axis 2-3-3.Two parallel connection angular contact ball bearing 2-3-5 are installed face-to-face in pairs, and two
Installation axle sleeve locating shaft holds inner ring between a parallel connection angular contact ball bearing 2-3-5.Parallel connection transmission axis 2-3-3 is mounted to using
Angular contact ball bearing 2-3-5 in parallel, left end is provided with the shaft shoulder, right end is provided with screw thread, by two round nuts to using in pairs
Angular contact ball bearing 2-3-5 in parallel carry out axially position.The bearing outer ring of the angular contact ball bearing 2-3-5 in parallel used in pairs
Left end is positioned by a set of cups 2-3-4 in parallel, and right end is positioned by end cap 2-3-6 in parallel.A set of cups 2-3-4 in parallel and end cap 2- in parallel
3-6 is bolted together on the right side of parallel-connected induction motors seat 2-3-1.The rear end of master arm 2-4 is passed by key in parallel
The rear end of moving axis 2-3-3 connections, master arm 2-4 is provided with sleeve, right end setting along parallel connection transmission axis 2-3-3 axis direction left ends
There is locking nut to carry out axially position.The pull rod connecting shaft 2-5-1 that the front end of master arm 2-4 passes through key and the rear ends slave arm 2-5
Connection, the front end of master arm 2-4 are provided with the shaft shoulder along pull rod connecting shaft 2-5-1 axis directions one end, and the other end is provided with nut
Axially position is carried out, the pivot center of master arm 2-4 is parallel with silent flatform 1.The both ends pull rod connecting shaft 2-5-1 be threaded hole, one
End is that the orthodontic other end is anti-tooth, and wherein one end is externally threaded to install the nut of fixed master arm 2-4, bulb mechanism 2-5-
2 be L-shaped, and one end is screw rod, and the other end is threaded hole, and there are one through-holes for pull rod 2-5-4 centre settings, and both ends are screw thread, one end
It is anti-tooth for the orthodontic other end, two both ends pull rod 2-5-4 are connected respectively to the screw thread nose end of four bulb mechanism 2-5-2, and two
Two bulb mechanism 2-5-2 ends of thread of the same ends root pull rod 2-5-4 are symmetrically installed the screw thread at the both ends pull rod connecting shaft 2-5-1
One pull rod connecting plate 2-5-3 of through-hole pin joint among Kong Shang, two pull rod 2-5-4 constitutes parallelogram mechanism.
Moving platform 3 is generally in annular shape, and inner circumferential is separated by 120 degree of uniformly distributed three pull rods connection shaft stool 3-1, uses
It is threadedly coupled and fixes.The outside of moving platform 3 and annular array of light sources 4 are fixed using threaded connection.Three pull rods connect shaft stool
The installation center axis of 3-1 corresponds to parallel, guarantee pull rod connection shaft stool 3-1 and master with the pivot center of master arm 2-4 two-by-two
Swing arm 2-4 central coaxials.The pull rod connecting shaft 2-5-1 of the front ends slave arm 2-5 connect shaft stool 3-1 connections by key with pull rod,
Pull rod connects shaft stool 3-1 and pull rod connecting shaft 2-5-1 axis directions one end is provided with the shaft shoulder, and the other end is provided with nut progress
Axially position.L-shaped camera support 5-1 is installed in the inside of moving platform 3, and camera support 5-1 is used for fixed camera 5, the mirror of camera 5
Head end is stretched out by the annulus hole of moving platform 3, and the same side is in annular array of light sources 4.
Series arm 6 includes：Upper arm mounting plate 6-1, upper arm motor 6-2, upper arm drive shaft system 6-3, forearm mounting plate 6-4,
Forearm motor 6-5 and forearm drive shaft system 6-6.Upper arm drive shaft system 6-3 includes：Upper arm motor cabinet 6-3-1, upper arm shaft coupling 6-
3-2, upper arm transmission shaft 6-3-3, upper arm a set of cups 6-3-4, upper arm angular contact ball bearing 6-3-5, upper arm end cap 6-3-6 and upper arm connect
Joint chair 6-3-7.Forearm drive shaft system 6-6 includes：Forearm motor cabinet 6-6-1, forearm shaft coupling 6-6-2, forearm transmission shaft 6-6-
3, forearm a set of cups 6-6-4, forearm angular contact ball bearing 6-6-5, forearm end cap 6-6-6 and forearm connecting seat 6-6-7.Upper arm is installed
Plate 6-1 is L-shaped, wherein open up circular through hole on one side, upper arm motor 6-2 be bolted and upper arm motor cabinet 6-3-1, upper arm
Motor cabinet 6-3-1 is stretched out from the circular through hole of upper arm mounting plate 6-1, and another side is bolted on moving platform 3.Upper arm
The output shaft of motor 6-2 is connect by upper arm shaft coupling 6-3-2 with the left end of upper arm transmission shaft 6-3-3.Two upper arm angular contacts
Ball bearing 6-3-5 is installed face-to-face in pairs, and axle sleeve locating shaft is installed between two upper arm angular contact ball bearing 6-3-5 and holds inner ring.
Upper arm transmission shaft 6-3-3 is mounted to the upper arm angular contact ball bearing 6-3-5 to using, and left end is provided with the shaft shoulder, right end is provided with
Screw thread carries out axially position by two round nuts to the upper arm angular contact ball bearing 6-3-5 used in pairs.What is used in pairs is upper
The bearing outer ring left end of arm angular contact ball bearing 6-3-5 is positioned by upper arm a set of cups 6-3-4, and right end passes through upper arm end cap 6-3-6
Positioning.Upper arm a set of cups 6-3-4 and upper arm end cap 6-3-6 are bolted together on the right side of upper arm motor cabinet 6-3-1.
Forearm mounting plate 6-4 is L-shaped, wherein opening up circular through hole on one side, forearm motor 6-5 being bolted and forearm motor cabinet 6-
6-1, forearm motor cabinet 6-6-1 are stretched out from the circular through hole of forearm mounting plate 6-4, and another side is bolted upper arm company
On joint chair 6-3-7.The output shaft of forearm motor 6-5 is connected by the left end of forearm shaft coupling 6-6-2 and forearm transmission shaft 6-6-3
It connects.Two forearm angular contact ball bearing 6-6-5 are installed face-to-face in pairs, are installed between two forearm angular contact ball bearing 6-6-5
Axle sleeve positions bearing inner race.Forearm transmission shaft 6-6-3 is mounted to the forearm angular contact ball bearing 6-6-5 to using, left end setting
There are the shaft shoulder, right end to be provided with screw thread, the forearm angular contact ball bearing 6-6-5 used in pairs is carried out axially by two round nuts
Positioning.The bearing outer ring left end of the forearm angular contact ball bearing 6-6-5 used in pairs is positioned by forearm a set of cups 6-6-4, right end
It is positioned by forearm end cap 6-6-6.Forearm a set of cups 6-6-4 and forearm end cap 6-6-6 are bolted forearm motor together
On the right side of seat 6-6-1.Upper arm connecting seat 6-3-7 structures in T shape on the whole, rear end, which is hollow shaft structure, passes through key and upper
The 6-3-3 connections of arm transmission shaft, rear end are realized to be threadedly coupled and be fixed in flange plate structure and forearm mounting plate 6-4.Upper arm connecting seat
6-3-7 keeps the motor shaft axis of upper arm motor 6-2 and forearm motor 6-5 vertical.Forearm connecting seat 6-6-7 and labeling manipulator 7
It is connected through a screw thread fixation.
The present invention advantageous effects include：
Robot of the present invention uses hybrid mechanism, has both that serial mechanism working space is big, pose adjustment ability is strong and in parallel
Mechanism high speed, high-precision advantage effectively improve round steel end face labeling operating rate and precision, by by annular array of light sources and
Camera is fixed on moving platform to realize the labeling vision positioning work of round steel end face and simplify exterior arrangement.
Description of the drawings
Fig. 1 is the general structure schematic diagram of vision positioning five degree of freedom labelling machines people of the present invention；
Fig. 2 is the structural schematic diagram of vision positioning five degree of freedom labelling machines people's parallel connection branch 2 of the present invention；
Fig. 3 is the front view of vision positioning five degree of freedom labelling machines people's parallel connection transmission shafting 2-3 of the present invention；
Fig. 4 is the structural schematic diagram of vision positioning five degree of freedom labelling machines people's slave arm 2-5 of the present invention；
Fig. 5 is the scheme of installation of vision positioning five degree of freedom labelling machines people camera 5 of the present invention；
Fig. 6 is the scheme of installation of vision positioning five degree of freedom labelling machines people annular array of light sources 4 of the present invention；
Fig. 7 is the structural schematic diagram of vision positioning five degree of freedom labelling machines person series arm 6 of the present invention；
Fig. 8 is the front view of vision positioning five degree of freedom labelling machines person series arm 6 of the present invention；
Fig. 9 is the left view of vision positioning five degree of freedom labelling machines person series arm 6 of the present invention.
Specific embodiment：
Structure and the concrete operations of present system are introduced in conjunction with attached drawing 1-9.
Vision positioning five degree of freedom labelling machines people of the present invention includes：Silent flatform 1, branch 2 in parallel, moving platform 3, circular array
Row light source 4, camera 5, series arm 6 and labeling manipulator 7.Silent flatform 1 is in the form of annular discs on the whole, fixed at work, leads to
Cross the initiating terminal that bolt fixes three branches 2 in parallel.The end of three branches 2 in parallel is mounted by means of bolts on moving platform 3
Inside, the parallel installation of axis at every 2 both ends of branch in parallel.The both ends of three branches 2 in parallel are spatially respectively along quiet flat
120 degree of the circumferential direction of platform 1 and moving platform 3 is uniformly distributed.Moving platform 3 can be realized by the movement of three branches 2 in parallel relative to quiet flat
The three-dimensional of platform 1 is mobile.Annular array of light sources 4 is fixed on the outside of moving platform 3, and the rear end of camera 5 is fixed on the interior of moving platform 3
The front end of side, camera 5 is stretched out from moving platform 3 and the center hole of annular array of light sources 4, and annular array of light sources 4 and camera 5 are same
Axis arrangement is used for visual identity and positioning.Series arm 6 is fixed on the inside of moving platform 3, can realize relative to moving platform 3
Two-dimensional rotary.Labeling manipulator 7 is fixed on the end of series arm 6, for realizing the labeling work of robot.
Branch 2 in parallel includes：Parallel-connected induction motors 2-1, is installed in parallel plate 2-2, parallel connection transmission shafting 2-3, master arm 2-4 and from
Swing arm 2-5.Parallel connection transmission shafting 2-3 includes：Parallel-connected induction motors seat 2-3-1, shaft coupling 2-3-2 in parallel, parallel connection transmission axis 2-3-3,
A set of cups 2-3-4 in parallel, angular contact ball bearing 2-3-5 in parallel and end cap 2-3-6 in parallel.Slave arm 2-5 includes：Pull rod connecting shaft 2-
5-1, bulb mechanism 2-5-2, pull rod connecting plate 2-5-3 and pull rod 2-5-4.It is L-shaped to be installed in parallel plate 2-2, wherein opening up on one side
Parallel-connected induction motors 2-1 and parallel-connected induction motors seat 2-3-1, parallel-connected induction motors seat 2-3-1 is bolted from being installed in parallel plate in circular through hole
It is stretched out in the circular through hole of 2-2, another side is bolted on silent flatform 1.The output shaft of parallel-connected induction motors 2-1 passes through shaft coupling
Device 2-3-2 is connect with the left end of parallel connection transmission axis 2-3-3.Two parallel connection angular contact ball bearing 2-3-5 are installed face-to-face in pairs, and two
Installation axle sleeve locating shaft holds inner ring between a parallel connection angular contact ball bearing 2-3-5.Parallel connection transmission axis 2-3-3 is mounted to using
Angular contact ball bearing 2-3-5 in parallel, left end is provided with the shaft shoulder, right end is provided with screw thread, by two round nuts to using in pairs
Angular contact ball bearing 2-3-5 in parallel carry out axially position.The bearing outer ring of the angular contact ball bearing 2-3-5 in parallel used in pairs
Left end is positioned by a set of cups 2-3-4 in parallel, and right end is positioned by end cap 2-3-6 in parallel.A set of cups 2-3-4 in parallel and end cap 2- in parallel
3-6 is bolted together on the right side of parallel-connected induction motors seat 2-3-1.The rear end of master arm 2-4 is passed by key in parallel
The rear end of moving axis 2-3-3 connections, master arm 2-4 is provided with sleeve, right end setting along parallel connection transmission axis 2-3-3 axis direction left ends
There is locking nut to carry out axially position.The pull rod connecting shaft 2-5-1 that the front end of master arm 2-4 passes through key and the rear ends slave arm 2-5
Connection, the front end of master arm 2-4 are provided with the shaft shoulder along pull rod connecting shaft 2-5-1 axis directions one end, and the other end is provided with nut
Axially position is carried out, the pivot center of master arm 2-4 is parallel with silent flatform 1.The both ends pull rod connecting shaft 2-5-1 be threaded hole, one
End is that the orthodontic other end is anti-tooth, and wherein one end is externally threaded to install the nut of fixed master arm 2-4, bulb mechanism 2-5-
2 be L-shaped, and one end is screw rod, and the other end is threaded hole, and there are one through-holes for pull rod 2-5-4 centre settings, and both ends are screw thread, one end
It is anti-tooth for the orthodontic other end, two both ends pull rod 2-5-4 are connected respectively to the screw thread nose end of four bulb mechanism 2-5-2, and two
Two bulb mechanism 2-5-2 ends of thread of the same ends root pull rod 2-5-4 are symmetrically installed the screw thread at the both ends pull rod connecting shaft 2-5-1
One pull rod connecting plate 2-5-3 of through-hole pin joint among Kong Shang, two pull rod 2-5-4 constitutes parallelogram mechanism.
Moving platform 3 is generally in annular shape, and inner circumferential is separated by 120 degree of uniformly distributed three pull rods connection shaft stool 3-1, uses
It is threadedly coupled and fixes.The outside of moving platform 3 and annular array of light sources 4 are fixed using threaded connection.Three pull rods connect shaft stool
The installation center axis of 3-1 corresponds to parallel, guarantee pull rod connection shaft stool 3-1 and master with the pivot center of master arm 2-4 two-by-two
Swing arm 2-4 central coaxials.The pull rod connecting shaft 2-5-1 of the front ends slave arm 2-5 connect shaft stool 3-1 connections by key with pull rod,
Pull rod connects shaft stool 3-1 and pull rod connecting shaft 2-5-1 axis directions one end is provided with the shaft shoulder, and the other end is provided with nut progress
Axially position.L-shaped camera support 5-1 is installed in the inside of moving platform 3, and camera support 5-1 is used for fixed camera 5, the mirror of camera 5
Head end is stretched out by the annulus hole of moving platform 3, and the same side is in annular array of light sources 4.
Series arm 6 includes：Upper arm mounting plate 6-1, upper arm motor 6-2, upper arm drive shaft system 6-3, forearm mounting plate 6-4,
Forearm motor 6-5 and forearm drive shaft system 6-6.Upper arm drive shaft system 6-3 includes：Upper arm motor cabinet 6-3-1, upper arm shaft coupling 6-
3-2, upper arm transmission shaft 6-3-3, upper arm a set of cups 6-3-4, upper arm angular contact ball bearing 6-3-5, upper arm end cap 6-3-6 and upper arm connect
Joint chair 6-3-7.Forearm drive shaft system 6-6 includes：Forearm motor cabinet 6-6-1, forearm shaft coupling 6-6-2, forearm transmission shaft 6-6-
3, forearm a set of cups 6-6-4, forearm angular contact ball bearing 6-6-5, forearm end cap 6-6-6 and forearm connecting seat 6-6-7.Upper arm is installed
Plate 6-1 is L-shaped, wherein open up circular through hole on one side, upper arm motor 6-2 be bolted and upper arm motor cabinet 6-3-1, upper arm
Motor cabinet 6-3-1 is stretched out from the circular through hole of upper arm mounting plate 6-1, and another side is bolted on moving platform 3.Upper arm
The output shaft of motor 6-2 is connect by upper arm shaft coupling 6-3-2 with the left end of upper arm transmission shaft 6-3-3.Two upper arm angular contacts
Ball bearing 6-3-5 is installed face-to-face in pairs, and axle sleeve locating shaft is installed between two upper arm angular contact ball bearing 6-3-5 and holds inner ring.
Upper arm transmission shaft 6-3-3 is mounted to the upper arm angular contact ball bearing 6-3-5 to using, and left end is provided with the shaft shoulder, right end is provided with
Screw thread carries out axially position by two round nuts to the upper arm angular contact ball bearing 6-3-5 used in pairs.What is used in pairs is upper
The bearing outer ring left end of arm angular contact ball bearing 6-3-5 is positioned by upper arm a set of cups 6-3-4, and right end passes through upper arm end cap 6-3-6
Positioning.Upper arm a set of cups 6-3-4 and upper arm end cap 6-3-6 are bolted together on the right side of upper arm motor cabinet 6-3-1.
Forearm mounting plate 6-4 is L-shaped, wherein opening up circular through hole on one side, forearm motor 6-5 being bolted and forearm motor cabinet 6-
6-1, forearm motor cabinet 6-6-1 are stretched out from the circular through hole of forearm mounting plate 6-4, and another side is bolted upper arm company
On joint chair 6-3-7.The output shaft of forearm motor 6-5 is connected by the left end of forearm shaft coupling 6-6-2 and forearm transmission shaft 6-6-3
It connects.Two forearm angular contact ball bearing 6-6-5 are installed face-to-face in pairs, are installed between two forearm angular contact ball bearing 6-6-5
Axle sleeve positions bearing inner race.Forearm transmission shaft 6-6-3 is mounted to the forearm angular contact ball bearing 6-6-5 to using, left end setting
There are the shaft shoulder, right end to be provided with screw thread, the forearm angular contact ball bearing 6-6-5 used in pairs is carried out axially by two round nuts
Positioning.The bearing outer ring left end of the forearm angular contact ball bearing 6-6-5 used in pairs is positioned by forearm a set of cups 6-6-4, right end
It is positioned by forearm end cap 6-6-6.Forearm a set of cups 6-6-4 and forearm end cap 6-6-6 are bolted forearm motor together
On the right side of seat 6-6-1.Upper arm connecting seat 6-3-7 structures in T shape on the whole, rear end, which is hollow shaft structure, passes through key and upper
The 6-3-3 connections of arm transmission shaft, rear end are realized to be threadedly coupled and be fixed in flange plate structure and forearm mounting plate 6-4.Upper arm connecting seat
6-3-7 keeps the motor shaft axis of upper arm motor 6-2 and forearm motor 6-5 vertical.Forearm connecting seat 6-6-7 and labeling manipulator 7
It is connected through a screw thread fixation.
Label the specific steps of operation：
First, vision positioning five degree of freedom labelling machines people is fixed on apart from bundled round steel end face position appropriate, is made quiet flat
The central axis of platform 1 and the integral central axis of bundled round steel are placed in parallel.Then, 3 position of adjustment moving platform makes it be aligned to
Round steel end face center position is tied, to avoid series arm 6 from influencing vision positioning work, the pose of adjustment series arm 6 makes 6 He of series arm
Labeling manipulator 7 be in below moving platform, and robot pose when using vision positioning, as its initial pose, often bundle round steel arrives
Up to after precalculated position, robot is adjusted to initial pose, carries out vision positioning work.After vision positioning works, circular array
Row light source 4 and camera 5 just no longer work, and labeling manipulator 7 can the free movement in the working space of entire robot.
Label fixed position prepares and places in labeling work, and vision positioning works so that robot can recognize that bundled round steel
In every round steel end face and end face center point is accurately positioned, such robot just obtained draw label and adhesive label mesh
Mark appearance.Three parallel-connected induction motors 2-1, upper arm motor 6-2 and forearm motor 6-5 are driven simultaneously so that 7 end of labeling manipulator
Right over label and label is drawn, then drives three parallel-connected induction motors 2-1, upper arm motor 6-2 and forearm motor 6-5 simultaneously,
So that 7 end of labeling manipulator is in first round steel end face center that identification obtains and label is attached its end face.It is so past
It is multiple, it is sequentially completed the labeling work of entire bundle round steel end face.
Claims (5)
1. vision positioning five degree of freedom labelling machines people, identification and labeling operation, the robot for object end face include：
Silent flatform（1）, branch in parallel（2）, moving platform（3）, annular array of light sources（4）, camera（5）, series arm（6）With labeling manipulator
（7）, which is characterized in that silent flatform（1）It is fixed at work, it is bolted three branches in parallel（2）Initiating terminal,
Three branches in parallel（2）End be mounted by means of bolts on moving platform（3）Inside, every branch in parallel（2）Both ends
The parallel installation of axis, three branches in parallel（2）Both ends spatially respectively along silent flatform（1）And moving platform（3）Circumferential 120
Degree is uniformly distributed, moving platform（3）Three branches in parallel can be passed through（2）Movement realize relative to silent flatform（1）Three-dimensional it is mobile, ring
Shape array light source（4）It is fixed on moving platform（3）Outside, camera（5）Rear end be fixed on moving platform（3）Inside, camera（5）
Front end from moving platform（3）And annular array of light sources（4）Center hole in stretch out, annular array of light sources（4）And camera（5）Together
Axis arrangement is used for visual identity and positioning, series arm（6）It is fixed on moving platform（3）Inside can be realized relative to moving platform
（3）Two-dimensional rotary, label manipulator（7）It is fixed on series arm（6）End, for realizing the labeling work of robot.
2. vision positioning five degree of freedom labelling machines people according to claim 1, which is characterized in that branch 2 in parallel includes：
Parallel-connected induction motors（2-1）, it is installed in parallel plate（2-2）, parallel connection transmission shafting（2-3）, master arm（2-4）And slave arm（2-5）, in parallel
Drive shaft system（2-3）Including：Parallel-connected induction motors seat（2-3-1）, shaft coupling in parallel（2-3-2）, parallel connection transmission axis（2-3-3）, in parallel
A set of cups（2-3-4）, angular contact ball bearing in parallel（2-3-5）With end cap in parallel（2-3-6）, slave arm（2-5）Including：Pull rod connects
Axis（2-5-1）, bulb mechanism（2-5-2）, pull rod connecting plate（2-5-3）And pull rod（2-5-4）, it is installed in parallel plate（2-2）For L
Shape, wherein opening up circular through hole on one side, parallel-connected induction motors being bolted（2-1）With parallel-connected induction motors seat（2-3-1）, parallel-connected induction motors
Seat（2-3-1）From being installed in parallel plate（2-2）Circular through hole in stretch out, another side is bolted silent flatform（1）On, and
Join motor（2-1）Output shaft pass through shaft coupling（2-3-2）With parallel connection transmission axis（2-3-3）Left end connection, two angles in parallel
Contact ball bearing（2-3-5）Installation face-to-face in pairs, two angular contact ball bearings in parallel（2-3-5）Between install axle sleeve locating shaft
Hold inner ring, parallel connection transmission axis（2-3-3）It is mounted to the angular contact ball bearing in parallel to using（2-3-5）, left end be provided with the shaft shoulder,
Right end is provided with screw thread, by two round nuts to the angular contact ball bearing in parallel that uses in pairs（2-3-5）Axially position is carried out,
The angular contact ball bearing in parallel used in pairs（2-3-5）Bearing outer ring left end pass through a set of cups in parallel（2-3-4）Positioning, right end are logical
Cross end cap in parallel（2-3-6）Positioning, a set of cups in parallel（2-3-4）With end cap in parallel（2-3-6）It is bolted parallel connection together
Motor cabinet（2-3-1）Right side on, master arm（2-4）Rear end pass through key and parallel connection transmission axis（2-3-3）Connection, master arm
（2-4）Rear end along parallel connection transmission axis（2-3-3）Axis direction left end is provided with sleeve, and right end is provided with locking nut and carries out axis
To positioning, master arm（2-4）Front end pass through key and slave arm（2-5）The pull rod connecting shaft of rear end（2-5-1）Connection, master arm
（2-4）Front end along pull rod connecting shaft（2-5-1）Axis direction one end is provided with the shaft shoulder, and the other end is provided with nut and carries out axially
Positioning, master arm（2-4）Pivot center and silent flatform（1）It is parallel, pull rod connecting shaft（2-5-1）Both ends are threaded hole, one end
It is anti-tooth for the orthodontic other end, wherein one end is externally threaded to install fixed master arm（2-4）Nut, bulb mechanism（2-
5-2）For L-shaped, one end is screw rod, and the other end is threaded hole, pull rod（2-5-4）There are one through-holes for centre setting, and both ends are screw thread,
One end is that the orthodontic other end is anti-tooth, two pull rods（2-5-4）Both ends are connected respectively to four bulb mechanisms（2-5-2）Screw thread
Nose end, two pull rods（2-5-4）Two bulb mechanisms of the same end（2-5-2）The end of thread is symmetrically installed pull rod connecting shaft（2-
5-1）On the threaded hole at both ends, two pull rods（2-5-4）Intermediate one pull rod connecting plate of through-hole pin joint（2-5-3）, constitute flat
Row quadrangular mechanism.
3. vision positioning five degree of freedom labelling machines people according to claim 1, which is characterized in that moving platform（3）It is overall
Upper is in annular shape, and inner circumferential is separated by 120 degree of uniformly distributed three pull rods connection shaft stools（3-1）, fixed, moved flat using being threadedly coupled
Platform（3）Outside and annular array of light sources（4）It is fixed using being threadedly coupled, three pull rods connect shaft stool（3-1）Installation in
Mandrel line and master arm（2-4）Pivot center correspond to two-by-two it is parallel, ensure pull rod connect shaft stool（3-1）With master arm（2-
4）Central coaxial, slave arm（2-5）The pull rod connecting shaft of front end（2-5-1）By key shaft stool is connect with pull rod（3-1）Connection,
Pull rod connects shaft stool（3-1）Along pull rod connecting shaft（2-5-1）Axis direction one end is provided with the shaft shoulder, and the other end is provided with nut
Carry out axially position, moving platform（3）Inside L-shaped camera support is installed（5-1）, camera support（5-1）For fixed camera
（5）, camera（5）Camera end pass through moving platform（3）Annulus hole stretch out, with annular array of light sources（4）In the same side.
4. vision positioning five degree of freedom labelling machines people according to claim 1, which is characterized in that series arm（6）Including：
Upper arm mounting plate（6-1）, upper arm motor（6-2）, upper arm drive shaft system（6-3）, forearm mounting plate（6-4）, forearm motor（6-5）
With forearm drive shaft system（6-6）, upper arm drive shaft system（6-3）Including：Upper arm motor cabinet（6-3-1）, upper arm shaft coupling（6-3-
2）, upper arm transmission shaft（6-3-3）, upper arm a set of cups（6-3-4）, upper arm angular contact ball bearing（6-3-5）, upper arm end cap（6-3-6）
With upper arm connecting seat（6-3-7）, forearm drive shaft system（6-6）Including：Forearm motor cabinet（6-6-1）, forearm shaft coupling（6-6-
2）, forearm transmission shaft（6-6-3）, forearm a set of cups（6-6-4）, forearm angular contact ball bearing（6-6-5）, forearm end cap（6-6-6）
With forearm connecting seat（6-6-7）, upper arm mounting plate（6-1）For L-shaped, wherein opening up circular through hole on one side, being bolted
Arm motor（6-2）With upper arm motor cabinet（6-3-1）, upper arm motor cabinet（6-3-1）From upper arm mounting plate（6-1）Circular through hole in
It stretches out, another side is bolted moving platform（3）On, upper arm motor（6-2）Output shaft pass through upper arm shaft coupling（6-3-
2）With upper arm transmission shaft（6-3-3）Left end connection, two upper arm angular contact ball bearings（6-3-5）Installation face-to-face in pairs, two
A upper arm angular contact ball bearing（6-3-5）Between installation axle sleeve locating shaft hold inner ring, upper arm transmission shaft（6-3-3）It is mounted to making
Upper arm angular contact ball bearing（6-3-5）, left end is provided with the shaft shoulder, right end is provided with screw thread, by two round nuts at
To the upper arm angular contact ball bearing used（6-3-5）Carry out axially position, the upper arm angular contact ball bearing used in pairs（6-3-5）
Bearing outer ring left end pass through upper arm a set of cups（6-3-4）Positioning, right end pass through upper arm end cap（6-3-6）Positioning, upper arm a set of cups（6-
3-4）With upper arm end cap（6-3-6）It is bolted upper arm motor cabinet together（6-3-1）Right side on, forearm mounting plate
（6-4）For L-shaped, wherein opening up circular through hole on one side, forearm motor being bolted（6-5）With forearm motor cabinet（6-6-1）,
Forearm motor cabinet（6-6-1）From forearm mounting plate（6-4）Circular through hole in stretch out, another side be bolted upper arm company
Joint chair（6-3-7）On, forearm motor（6-5）Output shaft pass through forearm shaft coupling（6-6-2）With forearm transmission shaft（6-6-3）'s
Left end connects, two forearm angular contact ball bearings（6-6-5）Installation face-to-face in pairs, two forearm angular contact ball bearings（6-6-
5）Between installation axle sleeve locating shaft hold inner ring, forearm transmission shaft（6-6-3）It is mounted to the forearm angular contact ball bearing to using（6-
6-5）, left end is provided with the shaft shoulder, right end is provided with screw thread, by two round nuts to the forearm angular contact ball bearing that uses in pairs
（6-6-5）Carry out axially position, the forearm angular contact ball bearing used in pairs（6-6-5）Bearing outer ring left end pass through forearm set
Cup（6-6-4）Positioning, right end pass through forearm end cap（6-6-6）Positioning, forearm a set of cups（6-6-4）With forearm end cap（6-6-6）One
And it is bolted forearm motor cabinet（6-6-1）Right side on, upper arm connecting seat（6-3-7）Knot in T shape on the whole
Structure, rear end are that hollow shaft structure passes through key and upper arm transmission shaft（6-3-3）Connection, rear end are in flange plate structure and forearm mounting plate
（6-4）It realizes to be threadedly coupled and fix, upper arm connecting seat（6-3-7）Make upper arm motor（6-2）With forearm motor（6-5）Motor shaft
Axis is vertical, forearm connecting seat（6-6-7）With labeling manipulator（7）It is connected through a screw thread fixation.
5. vision positioning five degree of freedom labelling machines people according to claim 1, which is characterized in that labeling manipulator（7）
For the vacuum cup with sliding stroke.
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| CN201810303614.5A CN108481309A (en) | 2018-04-08 | 2018-04-08 | Vision positioning five degree of freedom labelling machines people |
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498234A (en) * | 2019-01-30 | 2020-08-07 | 上海典汇自动化科技有限公司 | Flexible labeller of integral type robot |
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Application publication date: 20180904 |