CN110587576A - Stacking robot based on single chip microcomputer - Google Patents
Stacking robot based on single chip microcomputer Download PDFInfo
- Publication number
- CN110587576A CN110587576A CN201910728912.3A CN201910728912A CN110587576A CN 110587576 A CN110587576 A CN 110587576A CN 201910728912 A CN201910728912 A CN 201910728912A CN 110587576 A CN110587576 A CN 110587576A
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- Prior art keywords
- motor
- driving motor
- driving
- arm
- relay
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a palletizing robot based on a single chip microcomputer, which comprises a base, a large arm, a small arm and a clamp, wherein a slide rail is installed at the upper end of the base, a conveying platform is installed on the slide rail, a synchronous belt is arranged on the conveying platform, a large arm motor and a small arm motor are installed on one side of the conveying platform, the large arm motor is in driving connection with the large arm, the small arm is installed on one side of the conveying platform, the small arm motor is connected with the small arm through a small arm linkage rod, a wrist motor is installed at the upper end part of the small arm, the lower end of the wrist motor is in driving connection with the clamp, a waist motor is also installed on the base and is in driving connection with the synchronous belt.
Description
Technical Field
The invention relates to the technical field of palletizing robots, in particular to a palletizing robot based on a single chip microcomputer.
Background
With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like. The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines have a fairly wide range of applications in the palletizing industry. The stacking robot greatly saves labor force and space. The stacking robot is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency.
The coordinate type robot of the palletizing robot system adopting the patent technology occupies flexible and compact space. The idea of being able to build efficient energy efficient fully automatic block machine production lines within a small footprint becomes a reality.
The existing palletizing robot has certain intellectualization, but the control effect is poor, so that improvement is needed.
Disclosure of Invention
The invention aims to provide a palletizing robot based on a single chip microcomputer, and the palletizing robot is used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a pile up neatly machine people based on singlechip, includes base, big arm, forearm and anchor clamps, the slide rail is installed to the base upper end, install conveying platform on the slide rail, the last hold-in range that is equipped with of conveying platform, big arm motor and forearm motor are installed to conveying platform one side, the last big arm of installing of conveying platform, big arm motor is connected with big arm drive, the forearm is installed to conveying platform one side, the forearm motor passes through the forearm trace and connects the forearm, wrist motor is installed to forearm upper end, wrist motor lower extreme transmission coupling jig, still install the waist motor on the base, the waist motor is connected with hold-in range transmission, still install the controller on the base.
Preferably, be equipped with main control chip, power module, RS485 communication module, first driving motor, second driving motor, third driving motor, fourth driving motor, opto-coupler circuit, relay in the controller, main control chip adopts the STM32 singlechip, main control chip connects power module, RS485 communication module, first driving motor, second driving motor, third driving motor, fourth driving motor, opto-coupler circuit, relay respectively, waist motor is connected to first driving motor, big arm motor is connected to second driving motor, forearm motor is connected to third driving motor, wrist motor is connected to fourth driving motor, opto-coupler circuit connects proximity switch, the solenoid valve is connected to the relay.
Preferably, the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are completely consistent, the output of the main control chip is connected with PUL-and DIR-of the driving motors, an optical coupling driving circuit is arranged in the driving motors, an optical coupling light-emitting diode of the circuit and a 270 omega resistor connected in series with the optical coupling light-emitting diode are used as loads, one end of the optical coupling light-emitting diode is connected with the output end of the main control chip, and the other end of the optical coupling light-emitting diode is connected with a 5V power supply.
Preferably, the number of the relays is two, the two relays are both HF33F/005, a relay driving chip is further arranged in the controller, the relay driving chip is NUD3105, and the relay driving chip is connected with the relays.
Compared with the prior art, the invention has the beneficial effects that: the automatic clamping device is novel in structural design and convenient to use, can freely control the work of the conveying belt, the large arm, the small arm and the clamp, achieves quick clamping and placing of materials, and effectively improves the working efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of the control scheme of the present invention;
FIG. 3 is a schematic view of the drive motor of the present invention;
FIG. 4 is a schematic diagram of the clamp control of the present invention.
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. 1-4, the present invention provides a technical solution: a palletizing robot based on a single chip microcomputer comprises a base 1, a large arm 2, a small arm 3 and a clamp 4, wherein a sliding rail 5 is installed at the upper end of the base 1, a conveying platform 6 is installed on the sliding rail 5, a synchronous belt 7 is arranged on the conveying platform 6, a large arm motor 8 and a small arm motor 9 are installed on one side of the conveying platform 6, the large arm 2 is installed on the conveying platform 6, the large arm motor 8 is in driving connection with the large arm 2, the small arm 3 is installed on one side of the conveying platform 6, the small arm motor 9 is connected with the small arm 3 through a small arm linkage rod 10, a wrist motor 11 is installed at the upper end of the small arm 3, the lower end of the wrist motor 11 is in transmission connection with the clamp 4, a waist motor 12 is further installed on the base 1, the waist motor 12 is in transmission connection with the synchronous belt 7, and a controller 13 is; the relay 22 sets up two, and two relay types 22 are HF33F/005, still set up relay driver chip 25 in the controller 13, relay driver chip 25 model is NUD3105, relay driver chip 25 connects relay 22. The robot palletizer clamp is characterized in that air pressure generated by an air compressor is controlled by an electromagnetic valve in a loosening and grasping mode, the on-off state of the electromagnetic valve is controlled by 24V voltage, one relay controls the loosening of the clamp, the other relay controls the grasping of the clamp, the on-off state of a relay coil is controlled by a GPIO port of a single chip microcomputer, meanwhile, a relay driving chip with the model of NUD3105 is adopted in the circuit, the chip is output in a reverse phase mode, when the GPIO port of the single chip microcomputer outputs high level, a normally open contact of the relay is closed, and.
In the invention, a main control chip 14, a power module 15, an RS485 communication module 16, a first driving motor 17, a second driving motor 18, a third driving motor 19, a fourth driving motor 20, an optical coupling circuit 21 and a relay 22 are arranged in a controller 13, the main control chip 14 adopts an STM32 single chip microcomputer, the main control chip 14 is respectively connected with the power module 15, the RS485 communication module 16, the first driving motor 17, the second driving motor 18, the third driving motor 19, the fourth driving motor 20, the optical coupling circuit 21 and the relay 22, the first driving motor 17 is connected with a waist motor 12, the second driving motor 18 is connected with a large arm motor 8, the third driving motor 19 is connected with a small arm motor 9, the fourth driving motor 20 is connected with the wrist motor 11, the optical coupling circuit 21 is connected with a proximity switch 23, and the relay 22 is connected with an electromagnetic valve 24.
In the invention, a first driving motor 17, a second driving motor 18, a third driving motor 19 and a fourth driving motor 20 are completely consistent, the output of a main control chip 14 is connected with PUL-and DIR-of the driving motors, an optical coupling driving circuit is arranged in the driving motors, an optical coupling light-emitting diode of the circuit and a 270 omega resistor connected in series with the optical coupling light-emitting diode are used as loads, one end of the optical coupling light-emitting diode is connected with the output end of the main control chip, and the other end of the optical coupling light-emitting diode is connected with a 5V power. The single chip microcomputer controls the stepping motor through a pulse + direction signal form, wherein the pulse frequency determines the rotating speed of the motor, and the pulse quantity determines the displacement.
In addition, in the robot palletizer disclosed by the invention, the grabbing path of the manipulator is optimized, as shown in fig. 4, line segments 1 to 7 are non-optimized paths, wherein:
line segment 1: the small arm (z-axis motor) of the mechanical arm moves upwards;
line segment 2: the large arm (x-axis motor) of the mechanical arm moves forwards;
line segment 3: the waist of the mechanical arm (a y-axis motor) moves leftwards;
line segment 4: the large arm (x-axis motor) of the mechanical arm moves backwards;
line segment 5: the small arm (z-axis motor) of the mechanical arm moves upwards;
line segment 6: the large arm (x-axis motor) of the mechanical arm moves backwards;
line segment 7: the arm forearm (z-axis motor) moves downward. As can be seen,
the above formula is the total operating time of the robotic arm without optimizing the path.
According to the formula, the operation time is prolonged due to non-optimization, the path is not concise, the obstacle avoidance effect is not good, and the mechanical arm is easy to shake when reaching each point. Therefore, a four-axis linkage algorithm is generally adopted to solve the problems that the operation time of the mechanical arm is too long, and the path is not simple. Line segment 8 to 10 are the route planning after traditional four-axis linkage algorithm optimizes, and traditional four-axis linkage algorithm is after becoming two-dimentional rectangular coordinate systems with three-dimensional space coordinate system, solves respectively and integrates again, and according to arm unipolar longest time in a section route as the benchmark, coordinates other triaxial motion, realizes arriving simultaneously of arm, promptly:
the line segment 8 is that the large arm of the mechanical arm moves forwards, the small arm moves upwards simultaneously, and the path of the mechanical arm is a straight line, so that the operation time is shortened;
the line segment 9 is that the large arm of the mechanical arm moves backwards, the small arm moves upwards, and the waist moves leftwards simultaneously;
the line segment 10 is the simultaneous movement of the mechanical arm with the big arm backward and the small arm downward. Therefore, it is known.
tmaxl＝max(t1，t2)
tmax2＝max(t3，t4，t5)
tmax3＝max(t6，t7)
The above formula is the total operation time of the mechanical arm under the condition of optimizing the path by the four-axis linkage algorithm.
According to the formula, the system operation time is greatly reduced, and the obstacle avoidance effect is obvious. However, when the mechanical arm reaches each point, the mechanical arm still generates a shaking phenomenon, which easily causes errors, and as the industrial field is more complicated, the more point locations are taught, the more point locations are required to avoid obstacles, and the path is increased. The invention adopts an optimized four-axis linkage algorithm. The point determination is changed into line determination, firstly, the locus of each point in the traditional four-axis linkage algorithm is determined, the corresponding locus range of each point is calculated according to the moving speed of the corresponding axis direction, and the path of the point is curved instead of a broken line, so that the path can be reduced, and the operation efficiency is improved; in addition, the shaking of the mechanical arm in place can be reduced, and errors are reduced.
In conclusion, the automatic clamping device is novel in structural design and convenient to use, can freely control the work of the conveying belt, the large arm, the small arm and the clamp, achieves quick clamping and placing of materials, and effectively improves the working efficiency.
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 invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a pile up neatly machine people based on singlechip, includes base (1), big arm (2), forearm (3) and anchor clamps (4), its characterized in that: a slide rail (5) is arranged at the upper end of the base (1), a conveying platform (6) is arranged on the slide rail (5), a synchronous belt (7) is arranged on the conveying platform (6), a large arm motor (8) and a small arm motor (9) are arranged on one side of the conveying platform (6), the conveying platform (6) is provided with a large arm (2), the large arm motor (8) is in driving connection with the large arm (2), a small arm (3) is arranged on one side of the conveying platform (6), a small arm motor (9) is connected with the small arm (3) through a small arm linkage rod (10), a wrist motor (11) is arranged at the upper end part of the small arm (3), the lower end of the wrist motor (11) is connected with a clamp (4) in a transmission way, still install waist motor (12) on base (1), waist motor (12) are connected with hold-in range (7) transmission, still install controller (13) on base (1).
2. The robot palletizer based on the single chip microcomputer according to claim 1, wherein: the controller is characterized in that a main control chip (14), a power module (15), an RS485 communication module (16), a first driving motor (17), a second driving motor (18), a third driving motor (19), a fourth driving motor (20), an optical coupling circuit (21) and a relay (22) are arranged in the controller (13), the main control chip (14) adopts an STM32 single chip microcomputer, the main control chip (14) is respectively connected with the power module (15), the RS485 communication module (16), the first driving motor (17), the second driving motor (18), the third driving motor (19), the fourth driving motor (20), the optical coupling circuit (21) and the relay (22), the first driving motor (17) is connected with a waist motor (12), the second driving motor (18) is connected with a large arm motor (8), the third driving motor (19) is connected with a small arm motor (9), and the fourth driving motor (20) is connected with a wrist motor (11), the optical coupling circuit (21) is connected with a proximity switch (23), and the relay (22) is connected with an electromagnetic valve (24).
3. The robot palletizer based on the single chip microcomputer according to claim 1, wherein: the driving circuit comprises a first driving motor (17), a second driving motor (18), a third driving motor (19) and a fourth driving motor (20), wherein the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are completely consistent, the output of a main control chip (14) is connected with PUL-and DIR-of the driving motors, an optical coupling driving circuit is arranged in the driving motors, an optical coupling light-emitting diode of the circuit and a 270 omega resistor which is connected with the optical coupling light-emitting diode in series are used as loads, one end of the optical coupling light-emitting diode is connected with the output end.
4. The robot palletizer based on the single chip microcomputer according to claim 2, wherein: the relay (22) sets up two, and two relay type (22) numbers are HF33F/005, still set up relay driver chip (25) in controller (13), relay driver chip (25) model is NUD3105, relay (22) are connected in relay driver chip (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728912.3A CN110587576A (en) | 2019-08-08 | 2019-08-08 | Stacking robot based on single chip microcomputer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728912.3A CN110587576A (en) | 2019-08-08 | 2019-08-08 | Stacking robot based on single chip microcomputer |
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| CN110587576A true CN110587576A (en) | 2019-12-20 |
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| CN201910728912.3A Pending CN110587576A (en) | 2019-08-08 | 2019-08-08 | Stacking robot based on single chip microcomputer |
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Application publication date: 20191220 |
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