CN105397831A - Multi-suction-cup manipulator capable of grabbing irregular objects - Google Patents
Multi-suction-cup manipulator capable of grabbing irregular objects Download PDFInfo
- Publication number
- CN105397831A CN105397831A CN201510996754.1A CN201510996754A CN105397831A CN 105397831 A CN105397831 A CN 105397831A CN 201510996754 A CN201510996754 A CN 201510996754A CN 105397831 A CN105397831 A CN 105397831A
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- CN
- China
- Prior art keywords
- sucker
- turnbarrel
- camera
- motor
- console
- Prior art date
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention relates to a multi-suction-cup manipulator capable of grabbing irregular objects. The multi-suction-cup manipulator comprises a fixed platform and a connection rod I, wherein a rotary table is arranged on the fixed platform; a camera I is arranged on the rotary table; a camera II is also arranged on the side wall of the exterior of a fixed sleeve at the lower part of a rotary sleeve; a control console is arranged on the fixed platform and is used for locating directions and distances of objects to be grabbed according to images shot by the camera I; the control console is also used for calculating space coordinates of the objects to be grabbed according to the images shot by the camera II and finally grabbing the objects according to the location and the space coordinates of the objects to be grabbed. The multi-suction-cup manipulator capable of grabbing irregular objects is capable of accurately grabbing the irregular objects, locating the objects to be grabbed and calculating the space coordinates of the objects to be grabbed according to the images shot by the cameras and enabling the operations of grabbing the objects to be reliable and quick.
Description
Technical field
The present invention relates to manipulator field, be specifically related to a kind of multi-sucker manipulator capturing irregularly shaped object.
Background technology
In contemporary industry is produced, along with the development of Science and Technology Day crescent benefit, robot and manipulator and have the maximum difference of the arm of the mankind to be just: it has higher flexibility ratio and superpower resistance to dynamics.But, for some special-shaped irregular part, as the object of triangular pyramid, hemispherical and truncated conical shape, owing to also there is no a kind of manipulator fixture being specifically designed to this type objects of crawl at present, use existing manipulator to capture still more difficult, especially triangular pyramid and hemispherical objects, even if manually capture also very difficult.
Summary of the invention
In sum, in order to overcome the deficiencies in the prior art, technical problem to be solved by this invention is to provide a kind of multi-sucker manipulator capturing irregularly shaped object.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of multi-sucker manipulator capturing irregularly shaped object, comprise fixed station and connecting rod I, described fixed station is provided with turntable, described turntable is provided with can 360 ° of guide pillar consoles horizontally rotated by motor I drive, described guide pillar console is fixedly connected with the screw thread guide pillar vertically arranged, this screw thread guide pillar is provided with to be threaded with it and described guide pillar console rotate can the movable block of upper and lower displacement, it is fast that described connecting rod I one end is fixedly connected with described movement, other one end horizontal-extending of described connecting rod I also connects one end of horizontally disposed connecting rod II by articulated link chain I, this articulated link chain I is driven by motor II and described connecting rod II can be driven around described articulated link chain I level 360 ° rotation, described connecting rod II is away from the downward fixed muffle of one end vertical connecting of described articulated link chain I, and described connecting rod I is drive the telescopic rod that can extend or shorten by cylinder I,
Being provided with in described fixed muffle can the turnbarrel of axial rotation by the drive of motor III, and it is outside that the bottom of described turnbarrel extends to described fixed muffle lower end, described turnbarrel bottom and the circle sidewall being in described fixed muffle outside evenly connects multiple sides sucker guide rod, described side sucker guide rod forms the handgrip capturing object side, the side sucker for adsorbing object side is provided with away from one end of described turnbarrel at described side sucker guide rod, the front sucker guide rod that can be realized upper and lower displacement by the drive of cylinder II is also provided with in described turnbarrel, the front sucker adsorbing object upper surface is provided with in the lower end of described front sucker guide rod, described connecting rod II is provided with can by the vacuum generator of described side sucker and described front suction disc vacuum pumping,
Described turntable is provided with camera I, in described turnbarrel bottom the sidewall being in described fixed muffle outside is also provided with camera II, described fixed station is provided with console, this console and described camera I, described camera II, described motor I, described motor II, described motor III, described cylinder I and described cylinder II Electricity Federation, and described console positions the azimuth-range capturing thing according to the shooting of described camera I, described console also calculates the space coordinates capturing thing according to the shooting of described camera II, last described console controls described motor I according to the location and space coordinates that capture thing, described motor II, described motor III, the operation of described cylinder I and described cylinder II realizes the crawl of object.
On the basis of technique scheme, the present invention can also do following improvement:
Further, described console comprises with ARM is the control centre of main control module.
Further, described turnbarrel connects described side sucker guide rod by articulated link chain II.
Further, described turnbarrel comprises the less part of top radial dimension and the larger part composition of bottom radial dimension, and the less part of this top radial dimension is rotatably in described fixed muffle.
Further, be provided with at the top of described screw thread guide pillar and prevent described movable block from departing from the block of described screw thread guide pillar to top offset.
Further, the baffle ring for preventing described turnbarrel from departing from described fixed muffle is provided with at the top of described fixed muffle.
Further, described fixed station is fixed on locomotive by connecting hole.
Further, described motor I, described motor II and described motor III are stepper motor.
Further, described camera I is arranged on described turntable by support I.
Further, described camera II is arranged on the sidewall of described turnbarrel by support II.
The invention has the beneficial effects as follows: a kind of multi-sucker manipulator capturing irregularly shaped object provided by the invention, the accurate crawl to irregularly shaped object can be realized, and positioning and calculating to capturing thing the space coordinates capturing thing by the shooting of camera, making the crawl reliable operation of object quick.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of turnbarrel.
In accompanying drawing, the list of parts representated by each label is as follows:
1, side sucker, 2, side sucker bar, 3, front sucker, 4, front sucker guide rod, 5, rotating hinge chain link I, 6, turnbarrel, 7 fixed muffles, 8, baffle ring, 9, vacuum generator, 10, connecting rod II, 11, rotating hinge chain link I, 12, connecting rod I, 13, block, 14, mobile fast, 15, screw thread guide pillar, 16, guide pillar console, 17, turntable, 18, console, 19, connecting hole, 20, fixed station, 21, support I, 22, camera I, 23, support II, 24, camera II.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, a kind of multi-sucker manipulator capturing irregularly shaped object, comprises fixed station 20 and connecting rod I 12, and described fixed station 20 is fixed on locomotive by connecting hole 19.Described fixed station 20 is provided with turntable 17, described turntable 17 is provided with can 360 ° of guide pillar consoles 16 horizontally rotated by motor I drive, described guide pillar console 16 is fixedly connected with the screw thread guide pillar 15 vertically arranged, this screw thread guide pillar 15 is provided with to be threaded with it and to horizontally rotate with described guide pillar console 16 can the movable block 14 of upper and lower displacement, is provided with at the top of described screw thread guide pillar 15 and prevents described movable block 14 from departing from the block 13 of described screw thread guide pillar 15 to top offset.Described connecting rod I 12 one end is fixedly connected with described movement fast 14, other one end horizontal-extending of described connecting rod I 12 also connects one end of horizontally disposed connecting rod II 10 by articulated link chain I 11, this articulated link chain I 11 is driven by motor II and described connecting rod II 10 can be driven around described articulated link chain I 11 level 360 ° rotation, described connecting rod II 10 is away from the downward fixed muffle 7 of one end vertical connecting of described articulated link chain I 11, and described connecting rod I 12 is drive the telescopic rod that can extend or shorten by cylinder I.
Being provided with in described fixed muffle 7 can the turnbarrel 6 of axial rotation by the drive of motor III, concrete: described turnbarrel 6 comprises the less part of top radial dimension and the larger part composition of bottom radial dimension, and the part that this top radial dimension is less is rotatably in described fixed muffle 7, be provided with the baffle ring 8 for preventing described turnbarrel 6 from departing from described fixed muffle 7 at the top of described fixed muffle 7.And it is outside that the bottom of described turnbarrel 6 extends to described fixed muffle 7 lower end, described turnbarrel 6 bottom and the circle sidewall being in described fixed muffle 7 outside evenly connects multiple side sucker guide rod 2 swung up and down by articulated link chain II 5, described side sucker guide rod 2 forms the handgrip capturing object side, the side sucker 1 for adsorbing object side is provided with away from one end of described turnbarrel 6 at described side sucker guide rod 2, the front sucker guide rod 4 that can be realized upper and lower displacement by the drive of cylinder II is also provided with in described turnbarrel 6, the front sucker 3 adsorbing object upper surface is provided with in the lower end of described front sucker guide rod 4, described connecting rod II 10 is provided with the vacuum generator 9 that described side sucker 1 and described front sucker 3 can be vacuumized.
Described turntable 17 is provided with camera I 22 by support I 21, in described turnbarrel 6 bottom the sidewall being in described fixed muffle 7 outside is also provided with camera II 24 by support II 23, described fixed station 20 is provided with and comprises with ARM the console 18 be main control module being control centre, this console 18 and described camera I 22, described camera II 24, described motor I, described motor II, described motor III, described cylinder I and described cylinder II Electricity Federation, and described console 18 positions the azimuth-range capturing thing according to the shooting of described camera I 22, described console 18 also calculates the space coordinates capturing thing according to the shooting of described camera II 24, last described console 18 controls described motor I according to the location and space coordinates that capture thing, described motor II, described motor III, the operation of described cylinder I and described cylinder II realizes the crawl of object, described motor I, described motor II and described motor III are stepper motor.
In the process of the work of crawl, first the azimuth-range capturing thing is positioned according to the shooting of camera I 22 by the control centre of console 18, then console 18 realizes the upper and lower displacement of movable block 14 by the operation controlling motor I, the rotation of connecting rod II 10 is realized by the operation controlling motor II, the rotation of turnbarrel 6 is realized by the operation controlling motor III, realize the flexible of connecting rod I 12 by the operation of control cylinder I and realized the upper and lower displacement of front sucker guide rod 4 by the operation of control cylinder II, the gripper that side sucker guide rod 2 and front sucker guide rod 4 are formed moves to and captures directly over thing by final console 18.Carry out IMAQ by camera II 24 to capturing the space profiles of thing again, and to be sent to the image of collection with ARM being the control centre of main control module, by control centre, image being processed, calculating the space coordinates capturing thing.Then console 18 is captured crawl thing by the above-mentioned control realization gripper to motor I, motor II, motor III, cylinder I and cylinder II again.By vacuum generator 9, side sucker 1 and front sucker 3 are vacuumized, front vacuum cup 3 can capture irregularly shaped object separately, the handgrip that side sucker 1 is formed also can capture some irregularly shaped object, and the handgrip that front vacuum cup 3 and side sucker 1 are formed if desired is combined and carried out stablely effectively capturing to object.When adopting separately front vacuum cup 3 to work, the handgrip that side sucker 1 is formed rotates up under the drive of stepper motor, until side sucker 1 is all in the both sides of turnbarrel 6, finally captures object by front vacuum cup 3 again.When adopting separately side sucker 1 to work, front sucker guide rod 4 upwards shrinks, side sucker bar 1 is rotated along with the rotation of turnbarrel 6 by the operation of stepper motor III, side sucker 1 is moved to correct position and namely fit to the side capturing thing, process is vacuumized by vacuum generator 9 pairs of side suckers 1, thus adsorb crawl thing, realize capturing.Due to the three-dimensional localization adopting image processing techniques to complete object, more accurate three-dimensional coordinate is provided, thus makes the crawl reliable operation of object quick.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. one kind captures the multi-sucker manipulator of irregularly shaped object, it is characterized in that, comprise fixed station (20) and connecting rod I (12), described fixed station (20) is provided with turntable (17), described turntable (17) is provided with can 360 ° of guide pillar consoles (16) horizontally rotated by motor I drive, described guide pillar console (16) is fixedly connected with the screw thread guide pillar (15) vertically arranged, this screw thread guide pillar (15) is provided with to be threaded with it and to horizontally rotate with described guide pillar console (16) can the movable block (14) of upper and lower displacement, described connecting rod I (12) one end is fixedly connected with described movement fast (14), other one end horizontal-extending of described connecting rod I (12) also connects one end of horizontally disposed connecting rod II (10) by articulated link chain I (11), this articulated link chain I (11) is driven by motor II and described connecting rod II (10) can be driven around the 360 ° of rotations of described articulated link chain I (11) level, described connecting rod II (10) is away from the downward fixed muffle (7) of one end vertical connecting of described articulated link chain I (11), and described connecting rod I (12) is drive the telescopic rod that can extend or shorten by cylinder I,
Being provided with in described fixed muffle (7) can the turnbarrel (6) of axial rotation by the drive of motor III, and it is outside that the bottom of described turnbarrel (6) extends to described fixed muffle (7) lower end, described turnbarrel (6) bottom and be on the outside circle sidewall of described fixed muffle (7) and evenly connect multiple side sucker guide rod (2) that can swing up and down, described side sucker guide rod (2) formed captures the handgrip of object side, the side sucker (1) for adsorbing object side is provided with away from one end of described turnbarrel (6) described side sucker guide rod (2), front sucker guide rod (4) that can be realized upper and lower displacement by the drive of cylinder II is also provided with in described turnbarrel (6), the front sucker (3) adsorbing object upper surface is provided with in the lower end of described front sucker guide rod (4), described connecting rod II (10) is provided with the vacuum generator (9) that described side sucker (1) and described front sucker (3) can be vacuumized,
Described turntable (17) is provided with camera I (22), be on the outside sidewall of described fixed muffle (7) be also provided with camera II (24) in described turnbarrel (6) bottom, described fixed station (20) is provided with console (18), this console (18) and described camera I (22), described camera II (24), described motor I, described motor II, described motor III, described cylinder I and described cylinder II Electricity Federation, and described console (18) positions the azimuth-range capturing thing according to the shooting of described camera I (22), described console (18) also calculates the space coordinates capturing thing according to the shooting of described camera II (24), last described console (18) controls described motor I according to the location and space coordinates that capture thing, described motor II, described motor III, the operation of described cylinder I and described cylinder II realizes the crawl of object.
2. multi-sucker manipulator according to claim 1, is characterized in that, it is the control centre of main control module that described console (18) comprises with ARM.
3. multi-sucker manipulator according to claim 1, is characterized in that, described turnbarrel (6) connects described side sucker guide rod (2) by articulated link chain II (5).
4. multi-sucker manipulator according to claim 1, it is characterized in that, be provided with at the top of described screw thread guide pillar (15) and prevent described movable block (14) from departing from the block (13) of described screw thread guide pillar (15) to top offset.
5. multi-sucker manipulator according to claim 1, it is characterized in that, being provided with the baffle ring (8) for preventing described turnbarrel (6) from departing from described fixed muffle (7) at the top of described fixed muffle (7).
6. multi-sucker manipulator according to claim 1, is characterized in that, described fixed station (20) is fixed on locomotive by connecting hole (19).
7. multi-sucker manipulator according to claim 1, it is characterized in that, described turnbarrel (6) comprises the less part of top radial dimension and the larger part composition of bottom radial dimension, and the less part of this top radial dimension is rotatably in described fixed muffle (7).
8., according to the arbitrary described multi-sucker manipulator of claim 1 to 7, it is characterized in that, described motor I, described motor II and described motor III are stepper motor.
9., according to the arbitrary described multi-sucker manipulator of claim 1 to 7, it is characterized in that, described camera I (22) is arranged on described turntable (17) by support I (21).
10., according to the arbitrary described multi-sucker manipulator of claim 1 to 7, it is characterized in that, described camera II (24) is arranged on the sidewall of described turnbarrel (6) by support II (23).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510996754.1A CN105397831B (en) | 2015-12-28 | 2015-12-28 | A kind of multi-sucker mechanical hand of crawl irregularly shaped object |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510996754.1A CN105397831B (en) | 2015-12-28 | 2015-12-28 | A kind of multi-sucker mechanical hand of crawl irregularly shaped object |
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| CN105397831A true CN105397831A (en) | 2016-03-16 |
| CN105397831B CN105397831B (en) | 2017-04-05 |
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| CN106003119A (en) * | 2016-06-24 | 2016-10-12 | 先驱智能机械（深圳）有限公司 | Object grabbing method and system for suction type mechanical hand |
| CN107696054A (en) * | 2017-10-12 | 2018-02-16 | 汉尼康自动化科技（苏州）有限公司 | A kind of sucker supports the Suction cup assembly of device |
| CN107791271A (en) * | 2017-10-27 | 2018-03-13 | 桂林市味美园餐饮管理有限公司 | A kind of electromagnet manipulator |
| CN107856048A (en) * | 2017-10-27 | 2018-03-30 | 桂林市味美园餐饮管理有限公司 | A kind of electromagnet manipulator for capturing irregular metal object |
| CN108032448A (en) * | 2018-01-08 | 2018-05-15 | 东莞市德承精密数控设备有限公司 | A kind of automatic shutdown system and its closing method of jade cutting equipment |
| CN108202996A (en) * | 2016-12-16 | 2018-06-26 | 中国科学院沈阳自动化研究所 | A kind of feeding device and its control method with angle positioning |
| CN108296376A (en) * | 2018-02-11 | 2018-07-20 | 北京信息科技大学 | A kind of crawl of radiator disk head and conveying device |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
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| CN113007204A (en) * | 2021-01-31 | 2021-06-22 | 黄河科技学院 | Deformable sucker |
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| CN108296376A (en) * | 2018-02-11 | 2018-07-20 | 北京信息科技大学 | A kind of crawl of radiator disk head and conveying device |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
| CN108649171A (en) * | 2018-05-15 | 2018-10-12 | 中航锂电（江苏）有限公司 | A kind of lithium battery septation extractor special |
| CN109342458A (en) * | 2018-11-14 | 2019-02-15 | 大连崇达电路有限公司 | A kind of high-accuracy printed wiring board appearance quality detecting device and its application method |
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| CN112794068A (en) * | 2021-01-31 | 2021-05-14 | 黄河科技学院 | Control method of deformable sucker |
| CN113007204A (en) * | 2021-01-31 | 2021-06-22 | 黄河科技学院 | Deformable sucker |
| CN112894825A (en) * | 2021-02-23 | 2021-06-04 | 中科(深圳)智慧信息科技有限公司 | Industrial robot visual identification control system and method |
| CN113858239A (en) * | 2021-09-24 | 2021-12-31 | 华能山东石岛湾核电有限公司 | Mechanical arm |
| CN113858239B (en) * | 2021-09-24 | 2023-08-15 | 华能山东石岛湾核电有限公司 | Mechanical arm |
| CN114249133A (en) * | 2021-12-02 | 2022-03-29 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
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| CN105397831B (en) | 2017-04-05 |
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