CN103009378A - High-speed parallel-connection robot pickup device with vision - Google Patents
High-speed parallel-connection robot pickup device with vision Download PDFInfo
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- CN103009378A CN103009378A CN2012105404801A CN201210540480A CN103009378A CN 103009378 A CN103009378 A CN 103009378A CN 2012105404801 A CN2012105404801 A CN 2012105404801A CN 201210540480 A CN201210540480 A CN 201210540480A CN 103009378 A CN103009378 A CN 103009378A
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- rotating shaft
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
The invention discloses a high-speed parallel-connection robot pickup device with vision, and the high-speed parallel-connection robot pickup device mainly comprises a robot body structure, an installation frame, a vision system and a conveying system. The robot body structure comprises a fixed platform, three groups of mechanical arms, a rotating shaft and a movable platform. The vision system mainly comprises a charge coupled device (CCD) camera, an image collection card and an industrial control computer, wherein the CCD camera is fixed on the installation frame. The conveying system is fixed on the installation frame and comprises a motor, a reduction mechanism, a roller and a conveyor belt. The high-speed parallel-connection robot pickup device is high in speed and precision, good in rigidness and applicable to the high-speed sorting or pickup of articles in the industries such as food, medicine, electron and the like.
Description
Technical field
The present invention relates to a kind of high speed parallel robot pick device of being furnished with vision, belong to industrial robot and technical field of automation, particularly a kind of in the production of the industries such as food, medicine and electronics, can the realization the high speed sorting of product and the device that picks up.
Background technology
In food, medicine and electronic product industry, exist a large amount of sortings, pick up and packing work, at present these work have the shortcomings such as labour intensity is large, production efficiency is low, easy pollution mainly by manually finishing.Along with the development of science and technology, the introducing of the automation equipments such as robot becomes the development trend of industry.Yet existing product mainly is independent robot, need user oneself to be equipped with the auxiliary devices such as installing rack, vision system and transmission system, installation and debugging are complicated, need after the carrying again to debug, and precision and stability are subjected to the user that the impact of auxiliary device is provided.
Summary of the invention
For the deficiency of above-mentioned prior art, the invention provides a kind of high speed parallel robot pick device of being furnished with vision system.Because robot body, installing rack, vision system and transmission system are an integral body, can overcome the shortcoming of installation and debugging complexity, do not need after the carrying again to debug and can use, and can guarantee that precision and stability is constant.This high speed parallel robot pick device can be tackled the variation of working environment flexibly, realizes that the high speed of moving target object sorts exactly and picks up.
The technical scheme of employing of the present invention is as follows:
This high speed parallel robot pick device comprises robot body structure, installing rack, vision system and transmission system.
The robot body structure comprises fixed platform, three groups of mechanical arms, rotating shaft and moving platforms.Wherein fixed platform is provided with a plurality of installing holes, and the driving machine and the fixed platform that are used for installation manipulator arm and rotating shaft are fixedly connected with installing rack.Described mechanical arm is comprised of master arm and slave arm.One end of master arm is connected with driving mechanism by ring flange, and the other end is connected with slave arm by ball-joint.Slave arm is a parallel-crank mechanism, is comprised of ball-joint, follower link, pin, pin end nut and slave arm extension spring.Wherein follower link is comprised of follower lever connector, carbon fiber pipe.One end of slave arm is connected with master arm, and the other end is connected with moving platform by ball-joint.Rotating shaft is comprised of upper end bearing group, upper end Hooks coupling universal coupling, splined shaft, splined nut, sleeve, rotating shaft connector, lower end Hooks coupling universal coupling, bottom end bearing group.The upper end Hooks coupling universal coupling is connected with splined shaft with the upper end bearing group respectively by the elastic cylindrical pin two ends, splined nut and sleeve are realized radial and axial being located by connecting by key and hole with back-up ring, the two ends of rotating shaft connector are connected elastic cylindrical pin with sleeve with the lower end Hooks coupling universal coupling respectively and are connected, and the lower end Hooks coupling universal coupling is connected elastic cylindrical pin with the bottom end bearing group and connects.The two ends of rotating shaft are connected with moving platform with fixed platform respectively by two bearing group.Described moving platform is provided with screwed hole, and the installation of ball-joint is adjustable, and locks by thin nut.The center of moving platform is provided with installing hole, is used for the installation of the bearing block of bottom end bearing group.
Installing rack is welded by section bar, is provided with installing hole, is used for robot body structure, the video camera of vision system and the fixed installation of transmission system.
Vision system comprises ccd video camera, image pick-up card and industrial control computer.Ccd video camera is fixed on the installing rack by bracing frame, and image pick-up card links to each other with industrial control computer by pci bus, and industrial control computer sends instruction image is gathered and processes, and the information after processing is issued the control system of robot.
Transmission system comprises motor, reducing gear, cylinder and conveyer belt, is fixedly mounted on the installing rack by four supporting legs.
Effect of the present invention and benefit are:
(1) this high speed parallel robot pick device is an integral unit, and installation and debugging are simple, and does not need behind the integrated moving again to debug, and can effectively guarantee higher precision and stability.
(2) robot of this high speed parallel robot pick device has three translations and a rotational freedom, have wide range of applications, and robot rotating shaft employing ball spline structure, processing and manufacturing is simple, wear-resistant long service life has overcome the deficiency of prior art.
(3) this parallel robot pick device compact overall structure, good rigidly can be realized higher speed.
Description of drawings
Fig. 1 is that axle of the present invention is surveyed view;
Fig. 2 is that robot body axis of no-feathering of the present invention is surveyed view;
Fig. 3 is the partial enlarged drawing that robot of the present invention master arm is connected with slave arm;
Fig. 4 is the partial enlarged drawing that robot of the present invention moving platform is connected with slave arm;
Fig. 5 is the overview of robot of the present invention rotating shaft;
Fig. 6 is the cutaway view of robot of the present invention rotating shaft upper end bearing group;
Fig. 7 is the cutaway view of robot of the present invention rotating shaft bottom end bearing group;
Fig. 8 is the partial sectional view of robot of the present invention rotating shaft;
Among the figure: I robot body structure; The II installing rack; The III vision system; The IV transmission system;
1 fixed platform; 2 mechanical arms; 3 rotating shafts; 4 moving platforms; 11 master arms; 12 slave arms; 110 driving mechanisms; End connection on 111 master arms; 112 carbon fiber pipes; The terminal connector of 113 master arms; 117 motors; 118 decelerators; 119 decelerator connecting plates; 121 ball-joints; 122 follower link; 123 carbon fiber pipes; 124 pin end nuts; 125 follower lever connectors; 126 thin nuts; 127 pins; 128 slave arm extension springs; 30 rotating shaft driving mechanisms; 31 upper end bearing group; 32 upper end Hooks coupling universal couplings; 33 splined shafts; 34 sleeves; 35 lower end Hooks coupling universal couplings; 36 bottom end bearing groups; 37 hole back-up rings; 38 splined nuts; 39 keys; 40 rotating shaft connectors; 41 bearing blocks; 42 angular contact ball bearings; 43 bearing (ball) covers; 44 axles; 50 elastic cylindrical pins; The 301CCD video camera; 302 bracing frames; 401 supporting legs.
The specific embodiment
Below in conjunction with technical scheme and accompanying drawing the high speed parallel robot pick device of being furnished with vision that the present invention proposes is elaborated:
The high speed parallel robot pick device of being furnished with vision that the present invention proposes comprises robot body structure I, installing rack II, vision system III and transmission system IV.Wherein robot body structure I comprises fixed platform 1, three groups of mechanical arms 2, rotating shaft 3 and moving platforms 4.
Fixed platform 1 is triangular in shape, and leg-of-mutton each summit is provided with two installing holes 101, fixed platform 1 by these installing holes be fixedly connected with the installing rack II.The middle part on every limit that triangle is capable is provided with an installing port, and a side of installing port is provided with screwed hole 102, is used for the installation of every group of mechanical arm driver part 110.The position of triangle center is provided with screwed hole, is used for the installation of rotating shaft driver part 30.
The driving mechanism 110 of mechanical arm comprises motor 117 and decelerator 118, and decelerator 118 is fixed on the fixed platform 1 by decelerator connecting plate 119.Decelerator 118 is connected end connection 111 and is connected by ring flange with master arm.Master arm 11 is connected with slave arm by ball-joint 121 connections, and the installation length of ball-joint 121 on the terminal connector 113 of master arm is adjustable, by thin nut 126 lockings.The other end of slave arm 12 is connected connections by ball-joint 121 with moving platform, the installation length of ball-joint 121 is adjustable, locks by thin nut 126.During installation, must guarantee that the installation length of slave arm 12 two ends ball-joints 121 is identical.
Be mounted by means of screws with brake block on each decelerator connecting plate 119, be used for the anglec of rotation of restriction master arm.Brake block is provided with installing hole, and limit sensors is housed.The two ends of brake block are pasted with block rubber, play cushioning effect when master arm and brake block collision.
It is capable that moving platform 4 roughly is triangle, is arranged with three groups of screwed holes, is used for the installation of slave arm 12 lower end ball-joints.The center is provided with a larger counter sink, is used for the installation of the bearing block of bottom end bearing group 36.
The installing rack II is the cube structure that is welded by section bar, and there is reinforcement in corner, thereby can well promote whole rigidity.The top is provided with screwed hole and fixes for the suspension of robot body structure I and cameramount 302, and crossbeam is provided with the fixed installation that screwed hole is used for the transmission system IV.
The vision system III comprises ccd video camera 301, image pick-up card and industrial control computer.Ccd video camera 301 is fixed on the installing rack by bracing frame 302, and image pick-up card directly assigns on the PCI slot of industrial control computer.Industrial control computer carries out the collection of image by IMAQ card control ccd video camera, and the image that collects feeds back to industrial control computer with the posture information of target object after treatment, further sends robot control system to.
The transmission system IV mainly is comprised of motor, reducing gear, cylinder and conveyer belt, is fixedly mounted on the installing rack by four supporting legs 402.
Concrete course of action: target object moves with conveyer belt, industrial control computer gathers the target object image by IMAQ card control ccd video camera, by the image that collects being processed the posture information that obtains target object, upper procedure in the industrial control computer changes into control signal with the posture information of target object, send the control system of robot to, be further converted to the driving signal and pass to each servomotor.Three groups of mechanical arms under the driving of servomotor, be coupled out corresponding motion, drive the moving platform end effector mechanism and finish corresponding action, the rotating shaft that passes through of rotating shaft drive motors makes end effector mechanism rotate corresponding angle simultaneously, thus the high-speed picking-up of realize target object.
Claims (1)
1. a high speed parallel robot pick device of being furnished with vision comprises robot body structure (I), installing rack (II), vision system (III) and transmission system (IV), it is characterized in that:
Robot body structure (I) comprises fixed platform (1), three groups of mechanical arms (2), rotating shaft (3) and moving platform (4);
Fixed platform (1) is provided with installing hole (101), is used for the fixing of robot body structure, and screwed hole (102) is used for the fixed installation of driving merit mechanism (110) of robot;
Mechanical arm (2) is comprised of master arm (11) and slave arm (12), and master arm is comprised of end connection on the master arm (111), carbon fiber pipe (112), the terminal connector of master arm (113); Slave arm (12) forms parallel-crank mechanism by a pair of follower link (122) by ball-joint (121), comprises ball-joint (121), follower link (122), pin (127), pin end nut (124) and slave arm extension spring (128); Wherein follower link is comprised of follower lever connector (125), carbon fiber pipe (123), and ball-joint (121) is threaded connection with the terminal connector (113) of master arm and moving platform (4), locks by locking nut (126); Master arm (11) directly and the connection of the driving mechanism (110) on being connected fixed platform, slave arm (12) one ends are connected with master arm (11), the other end is connected with moving platform (4);
Rotating shaft (3) is comprised of upper end bearing group (31), upper end Hooks coupling universal coupling (32), splined shaft (33), splined nut (38), sleeve (34), rotating shaft connector (40), lower end Hooks coupling universal coupling (35), bottom end bearing group (36); Upper end Hooks coupling universal coupling (32) is connected 33 with upper end bearing group (31) with splined shaft respectively by elastic cylindrical pin (50) two ends) be connected, splined nut (38) is realized radial and axial location by key (39) and hole with back-up ring (37) with sleeve (34), the two ends of rotating shaft connector (40) are connected 35 with sleeve (34) with the lower end Hooks coupling universal coupling respectively) be connected by elastic cylindrical pin (50), lower end Hooks coupling universal coupling (35) is connected 36 with the bottom end bearing group) connect by elastic cylindrical pin (50); Wherein bearing group (31,36) is comprised of bearing block (41), angular contact ball bearing (42), axle (44) and bearing (ball) cover (43); Upper end bearing group (31) is fixedly connected with fixed platform (1), link to each other with rotating shaft driving mechanism (30) on being fixed on fixed platform (1) by shaft coupling, bottom end bearing group (36) is fixedly connected with moving platform (4), the end of bottom end bearing group (36) is provided with screwed hole, and executing agency is installed;
Moving platform (4) is arranged with three groups of screwed holes, is used for the installation of slave arm (12) lower end ball-joint; The center is provided with a larger counter sink, is used for the installation of bottom end bearing group (36);
Installing rack (II) is welded by section bar, is provided with screwed hole, is used for the fixed installation of robot body structure (I), vision system (III) ccd video camera (301) and transmission system (IV);
Vision system (III) comprises ccd video camera (301), image pick-up card and industrial control computer; Ccd video camera is fixed on the installing rack (II) by bracing frame (302), and image pick-up card links to each other with industrial control computer by pci bus;
Transmission system (IV) comprises motor, reducing gear, cylinder and conveyer belt, is fixedly mounted on the installing rack (II) by four supporting legs (401).
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| CN201210540480.1A CN103009378B (en) | 2012-12-13 | 2012-12-13 | High-speed parallel-connection robot pickup device with vision |
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| CN201210540480.1A CN103009378B (en) | 2012-12-13 | 2012-12-13 | High-speed parallel-connection robot pickup device with vision |
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| CN103009378B CN103009378B (en) | 2015-03-18 |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| CN103770106A (en) * | 2014-02-12 | 2014-05-07 | 青岛汇智机器人有限公司 | Bottom plate of parallel robot |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103802093A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot fixing plate |
| CN104139388A (en) * | 2014-07-30 | 2014-11-12 | 华南理工大学 | Delta parallel-connection mechanical hand for teaching |
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
| CN104369183A (en) * | 2014-11-19 | 2015-02-25 | 苏州赛腾精密电子有限公司 | Multidirectional mechanical arm |
| CN104511896A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Automated cooperative parallel operation device |
| CN105234939A (en) * | 2015-10-23 | 2016-01-13 | 广东惠利普智能科技有限公司 | Control system for high-speed parallel manipulator with four freedom degrees |
| CN105329485A (en) * | 2014-08-11 | 2016-02-17 | 达和机械（昆山）有限公司 | Automatic grabbing and conveying device for packing materials |
| CN105563457A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Intermediate shaft mechanism for high-speed parallel robot |
| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106927047A (en) * | 2017-03-22 | 2017-07-07 | 电子科技大学 | A kind of unmanned plane grabbing device |
| CN107322576A (en) * | 2017-08-31 | 2017-11-07 | 天津超众机器人科技有限公司 | A kind of three proofings parallel robot for being easy to safeguard |
| CN107414797A (en) * | 2017-08-18 | 2017-12-01 | 广州数控设备有限公司 | A kind of swabbing robot of linear electric motors driving |
| CN107694956A (en) * | 2017-10-25 | 2018-02-16 | 深圳市动力飞扬自动化设备有限公司 | A kind of wiring board sorting equipment |
| CN110404820A (en) * | 2019-07-22 | 2019-11-05 | 潍坊学院 | A kind of parallel connection type connecting rod robotic arm apparatus of earphone speaker shell sorting |
| CN110548685A (en) * | 2019-08-15 | 2019-12-10 | 大连大华中天科技有限公司 | Three-axis quick sorting robot system |
| CN110664587A (en) * | 2019-09-30 | 2020-01-10 | 太原理工大学 | Spherical parallel wrist rehabilitation robot |
| CN110802576A (en) * | 2019-11-15 | 2020-02-18 | 广州大学 | Three-axis delta machine platform based on linear motor |
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| CN112536790A (en) * | 2020-12-03 | 2021-03-23 | 重庆工程职业技术学院 | Parallel manipulator who possesses multi-angle installation |
| CN114377985A (en) * | 2022-01-18 | 2022-04-22 | 广州大学 | Parallel robot for bearing sorting |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624766A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Machine vision parallel sorting robot |
| CN104511896A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Automated cooperative parallel operation device |
| CN104511896B (en) * | 2013-09-28 | 2016-02-10 | 沈阳新松机器人自动化股份有限公司 | A kind of automation collaborative parallel operation device |
| CN103770106A (en) * | 2014-02-12 | 2014-05-07 | 青岛汇智机器人有限公司 | Bottom plate of parallel robot |
| CN103802094A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot |
| CN103802093A (en) * | 2014-02-14 | 2014-05-21 | 青岛汇智机器人有限公司 | Parallel robot fixing plate |
| CN104139388A (en) * | 2014-07-30 | 2014-11-12 | 华南理工大学 | Delta parallel-connection mechanical hand for teaching |
| CN105329485A (en) * | 2014-08-11 | 2016-02-17 | 达和机械（昆山）有限公司 | Automatic grabbing and conveying device for packing materials |
| CN104191427A (en) * | 2014-08-22 | 2014-12-10 | 深圳大宇精雕科技有限公司 | Parallel mechanism arm |
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| CN105563457A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Intermediate shaft mechanism for high-speed parallel robot |
| CN104369183A (en) * | 2014-11-19 | 2015-02-25 | 苏州赛腾精密电子有限公司 | Multidirectional mechanical arm |
| CN105234939A (en) * | 2015-10-23 | 2016-01-13 | 广东惠利普智能科技有限公司 | Control system for high-speed parallel manipulator with four freedom degrees |
| CN106695752A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Delta parallel robot |
| CN106927047A (en) * | 2017-03-22 | 2017-07-07 | 电子科技大学 | A kind of unmanned plane grabbing device |
| CN107414797A (en) * | 2017-08-18 | 2017-12-01 | 广州数控设备有限公司 | A kind of swabbing robot of linear electric motors driving |
| CN107322576A (en) * | 2017-08-31 | 2017-11-07 | 天津超众机器人科技有限公司 | A kind of three proofings parallel robot for being easy to safeguard |
| CN107322576B (en) * | 2017-08-31 | 2023-12-01 | 天津超众机器人科技有限公司 | Three-proofing parallel robot convenient to maintain |
| CN107694956A (en) * | 2017-10-25 | 2018-02-16 | 深圳市动力飞扬自动化设备有限公司 | A kind of wiring board sorting equipment |
| CN110404820A (en) * | 2019-07-22 | 2019-11-05 | 潍坊学院 | A kind of parallel connection type connecting rod robotic arm apparatus of earphone speaker shell sorting |
| CN110548685A (en) * | 2019-08-15 | 2019-12-10 | 大连大华中天科技有限公司 | Three-axis quick sorting robot system |
| CN110664587B (en) * | 2019-09-30 | 2021-11-05 | 太原理工大学 | Spherical parallel wrist rehabilitation robot |
| CN110664587A (en) * | 2019-09-30 | 2020-01-10 | 太原理工大学 | Spherical parallel wrist rehabilitation robot |
| CN110802576A (en) * | 2019-11-15 | 2020-02-18 | 广州大学 | Three-axis delta machine platform based on linear motor |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112536790A (en) * | 2020-12-03 | 2021-03-23 | 重庆工程职业技术学院 | Parallel manipulator who possesses multi-angle installation |
| CN112405586A (en) * | 2020-12-03 | 2021-02-26 | 重庆工程职业技术学院 | Parallel manipulator |
| CN114377985A (en) * | 2022-01-18 | 2022-04-22 | 广州大学 | Parallel robot for bearing sorting |
| CN114377985B (en) * | 2022-01-18 | 2024-03-19 | 广州大学 | Parallel robot for bearing sorting |
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