CN107243894A - A kind of high-precision blob of viscose captures the method for work of robot - Google Patents
A kind of high-precision blob of viscose captures the method for work of robot Download PDFInfo
- Publication number
- CN107243894A CN107243894A CN201710642098.4A CN201710642098A CN107243894A CN 107243894 A CN107243894 A CN 107243894A CN 201710642098 A CN201710642098 A CN 201710642098A CN 107243894 A CN107243894 A CN 107243894A
- Authority
- CN
- China
- Prior art keywords
- blob
- viscose
- clamping device
- type clamping
- plc
- 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.)
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
Abstract
The invention discloses the method for work that a kind of high-precision blob of viscose captures robot, it is related to the technical field of plant equipment；Telescopic drives V-type clamping device to move down by connecting rod, while vision-based detection mechanism recognizes the profile of blob of viscose, judges the accurate location of blob of viscose and is sent to PLC；According to the feedback information of vision-based detection mechanism, V-type clamping device is after calibration blob of viscose, and cylinder shuts down, and V-type clamping device starts to capture blob of viscose under the driving of fuselage interior servomotor；After blob of viscose is fixed by V-type clamping device, telescopic drives V-type clamping device together to move up under cylinder driving, while the first joint shaft and second joint axle are moved to precalculated position under the driving of base inner servomotor according to PLC control program；Methods men of the present invention is simple to operate, damages small to blob of viscose during crawl, and operating efficiency and positioning precision are high, and the location of workpiece judges accurate, while having easily cooling and air-exhausting function.
Description
Technical field
The present invention relates to the technical field of plant equipment, specifically a kind of high-precision blob of viscose captures the work side of robot
Method.
Background technology
Manipulator is to imitate some holding functions of human arm, to be captured by fixed routine, carry object or operation instrument
Automatic pilot.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, and it can be replaced
The heavy labor of people can be operated with realizing the mechanization and automation of production under hostile environment, thus be widely used in
The departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Wherein crawl robot is produced by electric or pneumatic mode
Lively power, to replace frequently manual grasping movement, alleviates the working strength of personnel to a certain extent.
However, with the continuous development of scientific technology, there is also certain disadvantage while updating for crawl robot
Also there is following defect in end, such as the method for work of existing blob of viscose crawl robot：
1st, the impulsive force that clamping device is produced when capturing blob of viscose is easy to damage blob of viscose, and does not have in hot conditions operation
Effective cooling measure；
2nd, overall running is complex, it is necessary to which staff is operated in real time, and operating efficiency is low, and the amount of labour remains unchanged
It is very big, while positioning precision is low, easily occur the deviation on position during crawl；
3rd, after multiple crawl work, its clamping device surface can be stained with dust impurities, as handled not in time, can accumulate
For one layer of dirt, so that the crawl work of robot subsequently has been had a strong impact on, while also reducing the robot overall use longevity
Life.
The content of the invention
Goal of the invention：In order to overcome the above not enough, it is an object of the invention to provide a kind of high-precision blob of viscose crawl robot
Method of work, the methods men is simple to operate, damages small to blob of viscose during crawl, and operating efficiency and positioning precision
Height, the location of workpiece judges accurate, while having easily cooling and air-exhausting function.
Technical scheme：In order to realize the above object a kind of high-precision blob of viscose of the present invention captures the work of robot
Method, includes fuselage, connecting seat, telescopic, V-type clamping device and PLC；First joint shaft two ends respectively with it is described
Fuselage, second joint axle are connected, and first joint shaft, second joint axle and V-type clamping device are by fuselage
The servomotor driving that portion is provided with, the second joint axle top is connected to connecting seat；The telescopic top passes through second joint
Axle is connected with connecting seat, and top is connected to cylinder；The V-type clamping device is connected by connecting rod with telescopic, the V-type
Spring is provided with the middle part of clamping device, tip inside is provided with pad；The fuselage is connected with outside PLC；The V-type clamping
Mechanism side is provided with cooling body；The cooling body is connected by plastic tube, water pump with outer tank, the cooling body head
Portion can 360 ° of rotations；Fan is provided with the middle part of the V-type clamping device；The second joint axle bottom is provided with and PLC phase
Vision-based detection mechanism even.
Specific job step is as follows：
（1）, startup power supply first, staff passes through the carrying out practically parameter that PLC sets robot；
（2）, the first joint shaft and second joint axle be moved under the driving of fuselage interior servomotor according to PLC control program
Precalculated position；
（3）, cylinder driving telescopic move down；
（4）, telescopic by connecting rod drive V-type clamping device move down, while vision-based detection mechanism recognize blob of viscose profile,
Judge the accurate location of blob of viscose and be sent to PLC；
（5）, according to the feedback information of vision-based detection mechanism, V-type clamping device is after calibration blob of viscose, and cylinder shuts down, V-type folder
Mechanism is held to start to capture blob of viscose under the driving of fuselage interior servomotor；
（6）, after blob of viscose fixed by V-type clamping device, telescopic drives V-type clamping device together to moving up under cylinder driving
It is dynamic, while the first joint shaft and second joint axle are moved under the driving of base inner servomotor according to PLC control program
Precalculated position；
（7）, last V-type clamping device blob of viscose is seated to after specified location, continue executing with control instruction next time.
During work, clamping device surface is rinsed in time by rotatable cooling body, so as to serve good
The effect of cooling, it is therefore prevented that the generation of the fortuitous event such as fire, it is safe and reliable, and it reduces clamping machine by fan
Temperature around structure, eliminates the dust impurities on clamping device surface, it is therefore prevented that the generation of its surface smut；Additionally by LED
Lamp greatly facilitates the operation of staff, it is ensured that the degree of accuracy of crawl.
In method of work of the present invention, by PLC to whole robot carry out intelligent control, each joint shaft according to
PLC control program is accurately positioned automatically, is operated in real time without staff, therefore operating efficiency is high, personnel's work
Amount is small, and positioning precision is high；And it is padded by being set on the inside of clamping device, make so as to serve good bumper and absorbing shock
With, it is to avoid damage of the clamping device in gripping to blob of viscose；It recognizes profile of blob of viscose by vision-based detection mechanism in addition,
So as to judge particular location of the blob of viscose in feed zone, the accurate profile for judging blob of viscose, positioning precision is very high.
In the inventive method, V-type clamping device bottom is provided with four laser heads being connected with PLC, utilizes four
Laser ranging can accurately judge the posture and distance of blob of viscose, further ensure the degree of accuracy of crawl.
In the inventive method, staff by color touch display screen can supervisory-controlled robot in real time specific works feelings
Condition, is manipulated convenient and swift.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, a kind of heretofore described high-precision blob of viscose captures the method for work of robot, during work, by rotatable cold
But mechanism is rinsed to clamping device surface in time, so as to serve the good effect of cooling, it is therefore prevented that fire etc. is anticipated
It is outer the occurrence of, safe and reliable, and it reduces the temperature around clamping device by fan, eliminates clamping device table
The dust impurities in face, it is therefore prevented that the generation of its surface smut；The operation of staff is greatly facilitated additionally by LED, is protected
The degree of accuracy of crawl is demonstrate,proved.
2nd, a kind of heretofore described high-precision blob of viscose captures the method for work of robot, during work, passes through PLC controls
Device carries out intelligent control to whole robot, and each joint shaft is accurately positioned automatically according to PLC control program, without the people that works
Member is operated in real time, therefore operating efficiency is high, and personnel's amount of labour is small, and positioning precision is high.
3rd, a kind of heretofore described high-precision blob of viscose captures the method for work of robot, during work, by clamping
Pad is set, so as to serve good shock absorbing effect, it is to avoid clamping device is in gripping to blob of viscose on the inside of mechanism
Damage；Other staff by color touch display screen can supervisory-controlled robot in real time specific works situation, manipulation facilitates
Fast.
4th, a kind of heretofore described high-precision blob of viscose captures the method for work of robot, during work, is examined by vision
Mechanism is surveyed to recognize the profile of blob of viscose, so that judge particular location of the blob of viscose in feed zone, the accurate profile for judging blob of viscose, positioning
Precision is very high；The posture and distance of blob of viscose can be accurately judged furthermore with four laser rangings, crawl is further ensured
The degree of accuracy.
Brief description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure：Fuselage 1, the first joint shaft 2, second joint axle 3, connecting seat 4, cylinder 5, telescopic 6, connecting rod 7, spring 8,
V-type clamping device 9, pad 10, PLC 11, cooling body 12, fan 13, vision-based detection mechanism 14, LED 15, laser
First 16, color touch display screen 111.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
The specific scope of the present embodiment is not limited to, based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, a kind of high-precision blob of viscose of the present embodiment captures the method for work of robot, specific job step is such as
Under：
（1）, startup power supply first, staff passes through the carrying out practically parameter that PLC 11 sets robot；
（2）, the first joint shaft 2 and second joint axle 3 move under the driving of the inside servomotor of fuselage 1 according to PLC control program
Move to precalculated position；
（3）, cylinder 5 driving telescopic 6 move down；
（4）, telescopic 6 drive V-type clamping device 9 to move down by connecting rod 7, while vision-based detection mechanism 14 identification blob of viscose
Profile, judges the accurate location of blob of viscose and is sent to PLC 11；
（5）, according to the feedback information of vision-based detection mechanism 14, V-type clamping device 9 is after calibration blob of viscose, and cylinder 5 shuts down, V
Type clamping device 9 starts to capture blob of viscose under the driving of the inside servomotor of fuselage 1；
（6）, after blob of viscose fixed by V-type clamping device 9, telescopic 6 drives V-type clamping device 9 together upward under the driving of cylinder 5
It is mobile, while the first joint shaft 2 and second joint axle 3 are moved under the driving of the inside servomotor of support 1 according to PLC control program
Move to precalculated position；
（7）, last V-type clamping device 9 blob of viscose is seated to after specified location, continue executing with control instruction next time.
During work, the surface of V-type clamping device 9 can be rinsed by cooling body 12, and reduced by fan 13
Temperature around V-type clamping device 9, eliminates the dust impurities on the surface of V-type clamping device 9；It is very big additionally by LED 15
Facilitate the operation of staff.
In the present embodiment method of work, the bottom of V-type clamping device 9 is provided with four laser heads being connected with PLC 11
16, the posture and distance of blob of viscose can be accurately judged using four laser rangings.
In the present embodiment method of work, staff can real-time supervisory-controlled robot by color touch display screen 111
Specific works situation.
Embodiments of the invention are provided for the sake of example and description, and are not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Select and describe embodiment and be more preferably to illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art
It will be appreciated that the present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (3)
1. a kind of high-precision blob of viscose captures the method for work of robot, it is characterised in that：Including：Fuselage（1）, connecting seat（4）, stretch
Contracting set（6）, V-type clamping device（9）And PLC（11）；First joint shaft（2）Two ends respectively with the fuselage（1）, second
Joint shaft（3）It is connected, first joint shaft（2）, second joint axle（3）And V-type clamping device（9）Pass through fuselage
（1）The servomotor driving that inside is provided with, the second joint axle（3）Top is connected to connecting seat（4）；The telescopic（6）On
Portion passes through second joint axle（3）With connecting seat（4）It is connected, and top is connected to cylinder（5）；The V-type clamping device（9）It is logical
Cross connecting rod（7）With telescopic（6）Connect, the V-type clamping device（9）Middle part is provided with spring（8）, tip inside is provided with pad
（10）；The fuselage（1）With outside PLC（11）It is connected；The V-type clamping device（9）Side is provided with cooling body
（12）；The cooling body（12）It is connected by plastic tube, water pump with outer tank, the cooling body（12）Head can be 360 °
Rotation；The V-type clamping device（9）Middle part is provided with fan（13）；The second joint axle（3）Bottom is provided with and PLC
（11）Connected vision-based detection mechanism（14）；
Specific job step is as follows：
（1）, startup power supply first, staff passes through PLC（11）Set the carrying out practically parameter of robot；
（2）, the first joint shaft（2）With second joint axle（3）In fuselage（1）According to PLC controls under the driving of internal servomotor
Program is moved to precalculated position；
（3）, cylinder（5）Drive telescopic（6）Move down；
（4）, telescopic（6）Pass through connecting rod（7）Drive V-type clamping device（9）Move down, while vision-based detection mechanism（14）Know
The profile of other blob of viscose, judges the accurate location of blob of viscose and is sent to PLC（11）；
（5）, according to vision-based detection mechanism（14）Feedback information, V-type clamping device（9）After calibration blob of viscose, cylinder（5）Stop
Operating, V-type clamping device（9）In fuselage（1）Start to capture blob of viscose under the driving of internal servomotor；
（6）, blob of viscose is by V-type clamping device（9）After fixation, telescopic（6）In cylinder（5）Driving is lower to drive V-type clamping device（9）
Together move up, while the first joint shaft（2）With second joint axle（3）In support（1）Pressed under the driving of internal servomotor
Precalculated position is moved to according to PLC control program；
（7）, last V-type clamping device（9）Blob of viscose is seated to after specified location, control instruction next time is continued executing with；
During work, pass through cooling body（12）Can be to V-type clamping device（9）Surface is rinsed, and by fan（13）Drop
Low V-type clamping device（9）The temperature of surrounding, eliminates V-type clamping device（9）The dust impurities on surface；Additionally by LED
（15）Greatly facilitate the operation of staff.
2. a kind of high-precision blob of viscose according to claim 1 captures the method for work of robot, it is characterised in that：V-type is pressed from both sides
Hold mechanism（9）Bottom is provided with and PLC（11）Four connected laser heads（16）, can accurately be sentenced using four laser rangings
The posture and distance of disconnected blob of viscose.
3. a kind of high-precision blob of viscose according to claim 1 captures the method for work of robot, it is characterised in that：Work people
Member passes through color touch display screen（111）Can supervisory-controlled robot in real time specific works situation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642098.4A CN107243894A (en) | 2017-07-31 | 2017-07-31 | A kind of high-precision blob of viscose captures the method for work of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642098.4A CN107243894A (en) | 2017-07-31 | 2017-07-31 | A kind of high-precision blob of viscose captures the method for work of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107243894A true CN107243894A (en) | 2017-10-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642098.4A Withdrawn CN107243894A (en) | 2017-07-31 | 2017-07-31 | A kind of high-precision blob of viscose captures the method for work of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165191A (en) * | 2018-12-13 | 2021-07-23 | 川崎重工业株式会社 | Cooling device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
| CN205733544U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of intelligent welding manipulator |
-
2017
- 2017-07-31 CN CN201710642098.4A patent/CN107243894A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
| CN205733544U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of intelligent welding manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165191A (en) * | 2018-12-13 | 2021-07-23 | 川崎重工业株式会社 | Cooling device |
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Application publication date: 20171013 |