CN109333518A - A kind of parallel robot of quick crawl lampshade - Google Patents
A kind of parallel robot of quick crawl lampshade Download PDFInfo
- Publication number
- CN109333518A CN109333518A CN201811631684.XA CN201811631684A CN109333518A CN 109333518 A CN109333518 A CN 109333518A CN 201811631684 A CN201811631684 A CN 201811631684A CN 109333518 A CN109333518 A CN 109333518A
- Authority
- CN
- China
- Prior art keywords
- sucker
- annulus
- parallel robot
- lampshade
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of parallel robots of quickly crawl lampshade, it include: power device, control device, control device and Acetabula device, the power device, control device are connected above the control device, lower section connection inside includes the Acetabula device of annulus sucker, and the control device is by commanding the power device movement that the control device movement is driven to complete grasping movement by the pull of vacuum that the annulus sucker generates after video acquisition data, operation.The influence of bowl-shape bottom of article labyrinth can be ignored to the full extent using technical solution of the present invention, while bigger suction can be provided, the bowl-shape article of movement quickly, safe.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of parallel robot of quickly crawl lampshade, packets
It includes: power device, control device, control device and Acetabula device.
Background technique
Parallel robot has good comprehensive kinematic and dynamic modeling, is commonly used for the packaging of light industry.Compare biography
The moving platform of the serial mechanism of system, parallel-connection structure passes through 6 or 3 drive rod supports, under identical self weight and volume, load-bearing
Ability is stronger than the bearing capacity of serial mechanism；Error on the end piece of serial mechanism be easy to produce accumulation and amplification so as to cause
Precision is low, and the error of each rod piece of parallel institution constitutes average value in contrast, forms that final error is relatively small and precision
It is high；And the power performance of parallel institution and real-time control are better than serial mechanism.
The moving platform of parallel robot used in industry generally uses aspirated-air type device travelling workpiece, but current gas
Lampshade and the irregular bowl structure workpiece of bottom structure can not be drawn by inhaling device.
Summary of the invention
In view of the deficiencies of the prior art, technical problem solved by the invention be to provide it is a kind of can suction foot structure do not advise
The device of bowl structure article then.
In order to solve the above technical problems, the technical solution adopted by the present invention is that a kind of parallel manipulator of quickly crawl lampshade
People, comprising: power device, control device, control device and Acetabula device, the control device top connect the power dress
It sets, control device, lower section connection inside includes the Acetabula device of annulus sucker, and the control device passes through video acquisition
Command the power device movement that the control device is driven to act the vacuum generated by the annulus sucker after data, operation
Suction completes grasping movement.
The annulus sucker includes bowl-shape sucker fixed frame, annulus sucker and inhaling hose, and the annulus sucker is fixed
It is connected on the sucker fixed frame internal perisporium with described inhaling hose one end, described inhaling hose one end is pierced by described from inside
The vacuum air pump set in the fixed top of support of sucker and the power device is connected.
Preferably, the annulus sucker is rubber suction cups, and top is equipped with card slot, is around evenly distributed with and inhaling hose mouth
The stomata that diameter matches, it is possible to provide more average suction makes absorbate product uniform force, and the inhaling hose passes through described
Card slot is fixedly installed on the inside of the sucker fixed frame to be connected with the stomata, can be by the annulus by the vacuum air pump
Air in sucker is extracted out and generates pull of vacuum.
Preferably, stomata quantity is 4.
The control device, including silent flatform, servo motor, master arm, slave arm, center telescopic rod, moving platform, it is described
Servo motor is mounted in the motor installation groove of the side of the silent flatform, and passes through Ka Lankelian with described master arm one end
The connection of axis device, the master arm can carry out specified angle rotation around the motor shaft of the servo motor；The master arm other end
The slave arm is connected by spherical hinge structure, the slave arm can be rotated around junction；The center telescopic rod is contractile
Hydraulic stem, top are attached with silent flatform underrun omnidirectional connection type；The moving platform is the platform of hexagon
Structure, center top are connect by flexural pivot connection type with center telescopic rod bottom end, are distinguished at six endpoints of hexagon
It is attached with the slave arm by flexural pivot connection type.
Preferably, the slave arm setting quantity is 3, and each slave arm is respectively provided with two thin bars, and thin bar both ends are pacified
Equipped with spherical hinge structure.
The control device, including industrial camera and industrial computer, the industrial camera are fixedly installed in the silent flatform
Side, carried out data transmission by cable and industrial computer, the industrial computer includes PC machine, video frequency collection card and control
Device, the video frequency collection card are responsible for handling the information of the industrial camera transmission, and the PC machine positions lampshade according to video information
Location information carries out motion planning to the movement of parallel robot, and the controller is controlled by controlling the servo motor
The movement of parallel robot.
Preferably, the industrial camera 11 possesses gigabit ethernet interface, resolution ratio 3072*2048.
The power device, including vacuum air pump and inhaling hose, the vacuum air pump are fixedly installed in the silent flatform
Top, the inhaling hose stretches on club shaft around the center is fixed on, and one end passes through quick coupling and the vacuum
The air inlet of air pump connects, and the other end is connect at the top of the annulus sucker by quick coupling.
Preferably, the vacuum air pump rated power is 2200w, pressure 7.0Bar, and the inhaling hose diameter is
8mm。
Working principle of the present invention:
Parallel robot starting first resets, and industrial camera starts to acquire video information, by video information transmission to industrial computer
In, after the video frequency collection card inside industrial computer pre-processes collected video information, by the position of lampshade and other items
Information is transferred in the PC machine inside industrial computer, and PC machine analyzes location information, makes the movement rule of parallel robot
It draws, while control information is transferred to controller, servo motor makes corresponding rotation, the rotation of servo motor at controller control
Master arm is driven to make the pivot centered on servo motor by shaft coupling, master arm is connected by spherical hinge structure and driven
The position of slave arm is mobile, drives moving platform to carry out the horizontal aggregate motion with vertical direction by the cooperative motion of slave arm,
Moving platform band logical sucker fixed frame, annulus sucker move at article position, vacuum air pump start to work, pass through aspiration hose
Air of the extraction loop with suction cup interior constitutes pressure difference with external environment, lampshade and other items is adsorbed on annulus sucker, draws dynamic
It completes.After industrial computer confirms lampshade and other items by the collected video information of industrial camera, instruction, controller control are issued
Parallel robot processed drives article mobile, and then realizes the movement and crawl of article.
It compared with prior art, can be to the full extent by the sucker structure of ring-band shape using technical solution of the present invention
Ignore the influence of bowl-shape bottom of article labyrinth, while bigger suction being provided than small aspiration mouth, movement quickly, safe
Bowl-shape article.
Detailed description of the invention
Fig. 1 is whole design schematic diagram of the present invention；
Fig. 2 is top view of the present invention；
Fig. 3 is servo motor of the present invention and master arm installation diagram；
Fig. 4 is annulus sucker schematic diagram.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing, but is not to limit of the invention
It is fixed.
Fig. 1 to Fig. 4 shows a kind of parallel robot of quickly crawl lampshade, comprising: power device, control device, behaviour
Device and Acetabula device are controlled, the power device, control device are connected above the control device, lower section connection is internal to include
The Acetabula device of annulus sucker, the control device are dynamic by commanding the power device after video acquisition data, operation
Make to drive the control device movement and then grasping movement is completed by the pull of vacuum that the annulus sucker generates.
The annulus sucker includes bowl-shape sucker fixed frame 8, annulus sucker 9 and inhaling hose 10, the annulus sucker 9
It is fixed on 8 internal perisporium of sucker fixed frame and is connected with described 10 one end of inhaling hose, one end in the inhaling hose 10
The vacuum air pump set in 8 top surface of sucker fixed frame and the power device is pierced by from inside to be connected.
Preferably, the annulus sucker 9 is rubber suction cups, and top is equipped with card slot, is around evenly distributed with and inhaling hose
The stomata that bore matches, it is possible to provide more average suction makes absorbate product uniform force, and the inhaling hose 10 passes through
The card slot is fixedly installed in 8 inside of sucker fixed frame and is connected with the stomata, can be by institute by the vacuum air pump
It states the air extraction in annulus sucker 9 and generates pull of vacuum.
Preferably, stomata quantity is 4.
The control device, including silent flatform 2, servo motor 3, master arm 4, slave arm 5, center telescopic rod 6, moving platform
7, the servo motor 3 is mounted in the motor groove of the side of the silent flatform 2, and passes through method with described 4 one end of master arm
A blue gram shaft coupling is directly connected to, and the master arm 4 can be driven the rotation for carrying out specified angle by 3 motor shaft of servo motor；
4 other end of master arm connects the slave arm 5 by spherical hinge structure, and the slave arm 5 can be rotated around junction；In described
Heart telescopic rod 6 is contractile hydraulic stem, and top is attached with the 2 underrun omnidirectional connection type of silent flatform；It is described
Moving platform 7 is the platform structure of hexagon, and center top is connect by flexural pivot connection type with 6 bottom end of center telescopic rod,
It is attached respectively with the slave arm 5 by flexural pivot connection type at six endpoints of its hexagon.
Preferably, it is 3 that quantity, which is arranged, in the slave arm 5, and each slave arm 5 is respectively provided with two thin bars, and thin bar both ends are equal
Spherical hinge structure is installed.
The control device, including industrial camera 11 and industrial computer 12, the industrial camera 11 are fixedly installed in described
The side of silent flatform 2 is carried out data transmission by cable and industrial computer 12, and the industrial computer 12 is adopted including PC machine, video
Truck and controller, the video frequency collection card are responsible for handling the information that the industrial camera 11 transmits, and the PC machine is according to video
Information locating lampshade location information carries out motion planning to the movement of parallel robot, and the controller described in control by watching
Motor 3 is taken to control the movement of parallel robot.
Preferably, the industrial camera 11 possesses gigabit ethernet interface, resolution ratio 3072*2048.
The power device, including vacuum air pump 1 and inhaling hose 10, the vacuum air pump 1 are fixedly installed in described quiet
The top of platform 2, the inhaling hose 10 around being fixed on 6 body of rod of center telescopic rod, one end by quick coupling with
The air inlet of the vacuum air pump 1 connects, and the other end is connect at the top of the annulus sucker 9 by quick coupling.
Preferably, 1 rated power of vacuum air pump is 2200w, pressure 7.0Bar, and 10 diameter of inhaling hose is
8mm。
Working principle of the present invention:
Parallel robot starting first resets, and industrial camera 11 starts to acquire video information, by video information transmission to industrial electro
In brain 12, after the video frequency collection card inside industrial computer 12 pre-processes collected video information, by lampshade and other items
Location information be transferred in the PC machine inside industrial computer 12, PC machine analyzes location information, makes parallel robot
Motion planning, while by control information be transferred to controller, servo motor 3 makes corresponding rotation, servo at controller control
The rotation of motor 3 drives master arm 4 to make the pivot centered on servo motor 3 by shaft coupling, and master arm 4 passes through ball
The connection of hinged structure drives the position of slave arm 5 mobile, by the cooperative motion of slave arm 5 drive moving platform 7 carry out it is horizontal with it is perpendicular
Histogram to aggregate motion, 7 band logical of moving platform sucker fixed frame 8, annulus sucker 9 move at article position, vacuum air pump 1
It starts to work, by 10 extraction loop of aspiration hose with the air inside sucker 9, pressure difference is constituted with external environment, by objects such as lampshades
Product are adsorbed on annulus sucker 9, and sucking action is completed.Industrial computer 12 is confirmed by the collected video information of industrial camera 11
After lampshade and other items, instruction is issued, controller controls parallel robot and drives article mobile, and then realizes the movement of article and grab
It takes.
It compared with prior art, can be to the full extent by the sucker structure of ring-band shape using technical solution of the present invention
Ignore the influence of bowl-shape bottom of article labyrinth, while bigger suction being provided than small aspiration mouth, movement quickly, safe
Bowl-shape article.
Detailed description is made that embodiments of the present invention in conjunction with attached drawing above, but the present invention be not limited to it is described
Embodiment.To those skilled in the art, without departing from the principles and spirit of the present invention, to these implementations
Mode carries out various change, modification, replacement and variant are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of parallel robot of quickly crawl lampshade characterized by comprising power device, control device, control device
And Acetabula device, the control device top connect the power device, control device, internal lower section connection includes that annulus is inhaled
The Acetabula device of disk, the control device is by commanding the power device movement to drive after video acquisition data, operation
The control device movement and then the pull of vacuum completion grasping movement generated by the annulus sucker.
2. the parallel robot of quickly crawl lampshade as described in claim 1, which is characterized in that the annulus sucker includes bowl
Sucker fixed frame, annulus sucker and the inhaling hose of shape, the annulus sucker be fixed on the sucker fixed frame internal perisporium with
Described inhaling hose one end is connected, and one end is pierced by the fixed top of support of the sucker from inside and moves with described in the inhaling hose
The vacuum air pump set in power device is connected.
3. the parallel robot of quickly crawl lampshade as claimed in claim 2, which is characterized in that the annulus sucker is rubber
Sucker, top are equipped with card slot, are around evenly distributed with the stomata to match with inhaling hose bore, it is possible to provide more average suction
Power makes absorbate product uniform force, the inhaling hose by the card slot be fixedly installed on the inside of the sucker fixed frame with
The stomata is connected, and can extract the air in the annulus sucker out by the vacuum air pump and generate pull of vacuum.
4. the parallel robot of quickly crawl lampshade as claimed in claim 3, which is characterized in that the stomata quantity is 4.
5. such as the parallel robot of the described in any item quick crawl lampshades of Claims 1-4, which is characterized in that the manipulation
Device, including silent flatform, servo motor, master arm, slave arm, center telescopic rod, moving platform, the servo motor are mounted on institute
It states in the motor installation groove of the side of silent flatform, and is connect with described master arm one end by Ka Lanke shaft coupling, the master
Swing arm can carry out specified angle rotation around the motor shaft of the servo motor；The master arm other end is connected by spherical hinge structure
The slave arm, the slave arm can be rotated around junction；The center telescopic rod be contractile hydraulic stem, top with it is described
Silent flatform underrun omnidirectional connection type is attached；The moving platform is the platform structure of hexagon, and center top passes through
Flexural pivot connection type is connect with center telescopic rod bottom end, passes through ball with the slave arm respectively at six endpoints of hexagon
The mode of being hinged is attached.
6. the parallel robot of quickly crawl lampshade as claimed in claim 5, which is characterized in that quantity is arranged in the slave arm
It is 3, each slave arm is respectively provided with two thin bars, and thin bar both ends are mounted on spherical hinge structure.
7. such as the parallel robot of the described in any item quick crawl lampshades of Claims 1-4, which is characterized in that the manipulation
Device, including industrial camera and industrial computer, the industrial camera are fixedly installed in the side of the silent flatform, by cable with
Industrial computer carries out data transmission, and the industrial computer includes PC machine, video frequency collection card and controller, and the video frequency collection card is negative
Duty handles the information of the industrial camera transmission, and the PC machine positions lampshade location information according to video information, to parallel manipulator
The movement of people carries out motion planning, and the controller controls the movement of parallel robot by controlling the servo motor.
8. the parallel robot of quickly crawl lampshade as claimed in claim 7, which is characterized in that the industrial camera 11 possesses
Gigabit ethernet interface, resolution ratio 3072*2048.
9. such as the parallel robot of the described in any item quick crawl lampshades of Claims 1-4, which is characterized in that the power
Device, including vacuum air pump and inhaling hose, the vacuum air pump are fixedly installed in the top of the silent flatform, and the air-breathing is soft
Pipe ring stretches on club shaft around the center is fixed on, and one end is connect by quick coupling with the air inlet of the vacuum air pump,
The other end is connect at the top of the annulus sucker by quick coupling.
10. the parallel robot of quickly crawl lampshade as claimed in claim 9, which is characterized in that the vacuum air pump is specified
Power is 2200w, and pressure 7.0Bar, the inhaling hose diameter is 8mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811631684.XA CN109333518A (en) | 2018-12-29 | 2018-12-29 | A kind of parallel robot of quick crawl lampshade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811631684.XA CN109333518A (en) | 2018-12-29 | 2018-12-29 | A kind of parallel robot of quick crawl lampshade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333518A true CN109333518A (en) | 2019-02-15 |
Family
ID=65297349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811631684.XA Pending CN109333518A (en) | 2018-12-29 | 2018-12-29 | A kind of parallel robot of quick crawl lampshade |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333518A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110508453A (en) * | 2019-08-02 | 2019-11-29 | 郑军锋 | A kind of glued pressing device for lampshade liner |
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
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| CN108995727A (en) * | 2018-07-17 | 2018-12-14 | 东北大学 | A kind of Delta robot of pneumatic muscles driving |
| CN209408485U (en) * | 2018-12-29 | 2019-09-20 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
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| JPH1110569A (en) * | 1997-06-23 | 1999-01-19 | Ishikawajima Harima Heavy Ind Co Ltd | Work handling vacuum pad |
| CN2898412Y (en) * | 2005-12-13 | 2007-05-09 | 张达硕 | Sucker |
| KR20090017949A (en) * | 2007-08-16 | 2009-02-19 | (주)용성엔지니어링 | Vacuum suction cup |
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| CN110508453A (en) * | 2019-08-02 | 2019-11-29 | 郑军锋 | A kind of glued pressing device for lampshade liner |
| CN110508453B (en) * | 2019-08-02 | 2020-06-09 | 郑军锋 | Gluing and pressing device for lampshade lining |
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
| CN113146589B (en) * | 2021-05-19 | 2023-12-22 | 江苏睿动智能科技有限公司 | Logistics sorting robot with embedded mechanical claw |
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