CN108527423A - Structure adaptive manipulator grasping mechanism - Google Patents
Structure adaptive manipulator grasping mechanism Download PDFInfo
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- CN108527423A CN108527423A CN201810197477.1A CN201810197477A CN108527423A CN 108527423 A CN108527423 A CN 108527423A CN 201810197477 A CN201810197477 A CN 201810197477A CN 108527423 A CN108527423 A CN 108527423A
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- Prior art keywords
- sucker
- grasping mechanism
- translation mechanism
- spur
- translation
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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
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of structure adaptive manipulator grasping mechanism, the grasping mechanism include rotating device, grasping mechanism and three translation mechanisms；Three translation mechanisms include the first translation mechanism, the second translation mechanism and third translation mechanism；It adjusts the positional distance between industrial sucker according to the location information of feedback, so that industrial sucker is passed through the smooth adsorbable surface location of rotation, translational motion to television backboard, ensure that the television backboard of different model can be completed to detect automatically, be captured, the process of sorting；This is that the first step of TV set intelligent metaplasia producing line is also a most important step, for the TV set production line of different model, it is no longer necessary to manually replace manipulator, assembly precision is also improved while improving productivity.
Description
Technical field
The present invention relates to television set automated assembly line design fields, certainly more specifically to a kind of television backboard
Adapt to grasping mechanism device.
Background technology
Automatic production line is even more important as manufacture basis.With the continuous improvement of China's scientific and technological strength, the work in China
Industry auto-control technology and application have tremendous development, industrial computer system industry to be formed, and automatic production line is
To intelligent, networking and integrated direction development.Currently, during actual industrial production, be typically necessary to workpiece into
Row feeding, movement, overturning operation, but be all to implement feeding, movement using artificial and turn over during many processings
The operation turned, operational motion is single, repeats, and inconvenient, low production efficiency, and is easy to damage and pollute workpiece in this way,
The fatigue of operator can be especially caused, and the production automated can ensure high-precision, high quality, the high efficiency requirement of product,
Therefore automatic mechanical hand researched and developed extensively and using on the devices such as molding machine, lathe, assembly line and die casting machine, with
For executing the operations such as movement, sorting, crawl and detection, but the prior art and device have the shortcomings that respective, such as occupancy sky
Between big, the complicated, limitations such as efficiency is low.How gripping to different model television backboard is realized, to realize workpiece
Accurately, it fast and efficiently moves and is automatically controlled with automatic identification model, be many enterprises in research and search problem.
Invention content
Goal of the invention：
The present invention designs a kind of automatic identification television backboard model based on machine vision and according to backplane model adjust automatically
The adaptive manipulator of crawl position, i.e. structure adaptive manipulator grasping mechanism, being capable of automatic material taking, sorting, movement, rotation
Turn and have many advantages, such as production efficiency height, movement locus take up space it is small.The purpose is to solve the production of television set assembling line
The problem of motor of different model needs replacing manipulator saves manpower, reduces cost, improves production efficiency.
Technical solution：
A kind of structure adaptive manipulator grasping mechanism, it is characterised in that：The grasping mechanism include rotating device, grasping mechanism and
Three translation mechanisms that can be moved horizontally to three directions；Three translation mechanisms include the first translation mechanism, the second translation mechanism
With third translation mechanism；Wherein the first translation mechanism and the second translation mechanism are arranged between upper cover plate, lower cover, the first translation
The movement locus of mechanism and the second translation mechanism is all to move horizontally in the x-direction, and third translation mechanism is arranged on upper cover plate
In top plate, rotating device be arranged on the top plate of third translation mechanism or upper cover plate on；Grasping mechanism includes the first gripper
Structure, the second grasping mechanism and third grasping mechanism, the first grasping mechanism, the second grasping mechanism and third grasping mechanism are separately connected
First translation mechanism, the second translation mechanism and third translation mechanism.
First translation mechanism includes the first spur gear, the first spur rack and the first supporting pin；Second translation mechanism includes the
Two spur gears, the second spur rack and the second supporting pin, the first spur gear are connected directly by lock-screw and first motor axis, the
One spur gear and the first spur rack are fitted（Engagement）, the first spur rack and the first supporting pin are parallel；
Second spur gear is connected directly by lock-screw and the second motor shaft, and the second spur gear and the second spur rack are fitted, the
Two spur racks and the second supporting pin are parallel；
First spur rack, the first supporting pin, the second spur rack, the second supporting pin length are identical, the first spur rack and the first support
One end of separate upper cover plate of pin is connected with the first sucker fixed plate of the first grasping mechanism jointly, the second spur rack and second
The one end for supportting the separate upper cover plate of pin is connected with the second sucker fixed plate of the second grasping mechanism jointly；
Third translation mechanism includes third spur gear, third spur rack and third supporting pin；Third spur gear passes through lock-screw
Be connected directly with third motor shaft, third spur gear and third spur rack are fitted, third spur rack it is parallel with third supporting pin and
Length is identical, and common and one end of the separate top plate of third spur rack and third supporting pin has two pilot holes to be captured with third respectively
The third sucker fixed plate of mechanism is connected.
Said gear and rack are for driving, and supporting pin is for being servo-actuated and limiting；
Rotating device includes rotation device base, rotary shaft, lateral helical gear（It is axial horizontal）, vertical helical gear（It is axial perpendicular
Directly）, rotating disk and rotating device support plate（38）；Rotation device base（04）It is arranged in upper cover plate by pilot hole（01）On,
Rotating device support plate（38）It is installed to rotation device base by two sides pilot hole（04）On, rotary shaft（34）One end
（Lower end）It is inserted into rotation device base（04）In centre bore, the 4th motor（08）It is supported in rotating device by pilot hole setting
Plate（38）Side, electric machine main shaft and lateral helical gear（35）It is directly connected to, rotary shaft（34）The other end（Upper end）It is inserted into vertical oblique
Gear（36）And rotating disk（37）In centre bore, vertical helical gear（36）It is arranged in rotating device support plate（38）Inside passes through upper
Four, face pilot hole and rotating disk（37）It is assembled together, lateral helical gear（35）It is also disposed at rotating device support plate（38）It is interior
Portion, vertical helical gear（36）With lateral helical gear（35）Vertical fitting, rotating disk（37）It is arranged in rotating device support plate（38）
It is external（Top as shown in the figure！）, rotating disk（37）On there are pilot hole, can directly with most of serial manipulators, parallel machine
Device people and Cartesian robot end are connected directly, and pass through the 4th motor（08）Rotation drives lateral helical gear（35）With it is vertical
Helical gear（36）Rotation, vertical helical gear（36）Rotation drives rotating disk（37）Rotation, to make entire manipulator be rotated along z-axis
Certain angle realizes that manipulator can be captured, be sorted, placing and take the actions such as backboard at any angle.
Grabbing device is divided into three grasping mechanisms, and three grasping mechanisms correspond to three translation mechanisms, wherein the first gripper
Structure includes the first sucker fixed plate（21）, the first sucker geometrical clamp（22）With the first industrial sucker（23）；
Second grasping mechanism includes the second sucker fixed plate（24）, the second sucker geometrical clamp（25）With the second industrial sucker（26）；
First industrial sucker（23）It is arranged in the first sucker geometrical clamp（22）Lower section, the second industrial sucker（26）Setting is solid in the second sucker
Clamp（25）Lower section, the first sucker fixed plate（21）It is arranged in the first sucker geometrical clamp（22）Two nuts up and down between, second
Sucker fixed plate（24）It is arranged in the second sucker geometrical clamp（25）Two nuts up and down between, the first sucker geometrical clamp（22）Top
It is inserted into suction pipe and the first industrial sucker（23）It connects, the second sucker geometrical clamp（25）Suction pipe and the second industrial sucker are inserted into top
（26）；
Third grasping mechanism includes third sucker fixed plate（31）, third sucker geometrical clamp（32）With third industry sucker（33）,
Third industry sucker（33）It is arranged in third sucker geometrical clamp（32）Lower section, third sucker fixed plate（31）It is arranged in third sucker
Geometrical clamp（32）Two nuts up and down between, third sucker geometrical clamp（32）Suction pipe and third industry sucker are inserted into top（33）It connects
It is logical.
First sucker fixed plate（21）With the first spur rack of the first translation mechanism（14）With the first supporting pin（15）Setting
Together, pass through first motor（05）Drive the first spur gear（13）Rotation, the first spur gear（13）With the first spur rack（14）
Engagement, to drive the first grasping mechanism to move horizontally in the x-direction.
Second sucker fixed plate（24）With the second spur rack of the second translation mechanism（17）And second supporting pin（18）If
It sets together, passes through the second motor（06）Drive the second spur gear（16）Rotation, the second spur gear（16）With the second spur rack
（17）Engagement, to drive the second grasping mechanism to move horizontally in the x-direction.
Third sucker fixed plate（31）With the third spur rack of third translation mechanism（28）And third supporting pin（29）If
It sets together, passes through third motor（07）Drive third spur gear（27）Rotation, third spur gear（27）With third spur rack
（28）Engagement, to drive third grasping mechanism to move horizontally in the y-direction.
First sucker fixed plate（21）, the second sucker fixed plate（24）With third sucker fixed plate（31）It is arranged in same water
Flat height ensures each industrial sucker also in same level height.
First translation mechanism and the second translation mechanism are about upper cover plate（01）And lower cover（02）Central point it is symmetrical
（I.e. the first translation mechanism is identical at a distance from the external terminal to central point of the second translation mechanism！）, corresponding in translation mechanism
Detection device is provided on position；Detection device includes the first displacement sensor（19）, second displacement sensor（20）, third position
Displacement sensor（30）And industrial camera（12）, wherein the first displacement sensor（19）With second displacement sensor（20）It is arranged upper
Cover board（01）With lower cover（02）Between, the first displacement sensor（19）With second displacement sensor（20）It is flat that first is corresponded to respectively
It is opposite with manipulator central shaft to detect the first grasping mechanism and the second grasping mechanism for telephone-moving structure and the second translation mechanism（It is i.e. entire
The central shaft of device, it may also be said to be upper cover plate（01）With lower cover（02）Central shaft）Horizontal position, wherein third displacement
Sensor（30）It is arranged in top plate（03）In, corresponding third translation mechanism, detection third grasping mechanism is opposite with manipulator center
The horizontal position of axis（That is the central shaft of whole device, it may also be said to be upper cover plate（01）With lower cover（02）Central shaft）,
Middle industrial camera（12）Mounted on camera tripod（39）On, camera tripod（39）Be arranged at rotating device rear, and with it is upper
Cover board（01）It is assembled together, industrial camera（12）Lens direction is in the z-direction vertically downward.
Industrial camera（12）The image of the television backboard of shooting is handled and standard form is compared, inspection
The quality for surveying television backboard extracts crawl position coordinate in the image of television backboard, is input to controller, controller is same
When control four motors rotation, the rotation of rotating device and moving horizontally for translating device are realized, with the first displacement sensor
（19）, second displacement sensor（20）, third displacement sensor（30）Feedack compares composition full closed loop control and carries in real time
The kinematic accuracy of high manipulator completes the automatic adjusument of manipulator.
The one the second translation mechanism is mounted between upper and lower cover plates about center symmetric setting, the parallel side of motion track
To on the contrary, the third translation mechanism is mounted between upper cover plate and top plate, motion track is vertical with the one the second translation mechanisms,
Each translation mechanism is respectively adopted set of gears rack support pin and is slided in the slot in cover board, and gear is direct with motor shaft
It is connected, does not interfere with each other between three sets of translation mechanisms, do not conflict mutually, ensure that the feasibility of structure.
Rotating disk is mounted on firm banking upper surface, and rotating disk, which is equipped with pilot hole, can be mounted on robot end.
The driving mechanism is the rotation of four groups of movements and a rotating device for controlling three translating devices respectively altogether；Institute
The driving device motor for stating control translating device is arranged on motor cabinet, and the first, second driving device is mounted on upper cover plate, point
Cloth is in third translating device both sides, about center symmetric setting；
The detection device includes industrial camera CCD, the first displacement sensor, second displacement sensor, third displacement sensor,
The industrial camera CCD is installed to upper cover plate in the following, the shooting direction of industrial camera vertically downward, is shot by camera tripod
Television backboard is analyzed, visual examination analysis is carried out by image processing software, extracts rotation of the backboard relative to manipulator
Angle feed-back is to rotating device, and adjusting manipulator in real time makes manipulator and television backboard relative level, and extracting backboard can
Input signal of the position coordinates of adsorbing surface area as translating device；Three displacement sensors correspond to three sets of translation dresses respectively
It sets, wherein the first displacement sensor, second displacement sensor are arranged between upper and lower cover plates, third displacement sensor is built in top
In plate, direction is respectively toward to each self-absorption disc fixed plate, measure the horizontal displacement of industrial sucker and as control feedback signal with
Input signal is compared, and constitutes close loop control circuit.
The industry sucker is connected with sucker geometrical clamp, and the sucker geometrical clamp is engaged with sucker fixed plate, per side
Three industrial suckers are set in sucker fixed plate, and described industry sucker fixed plate one end is installed on rack, and the other end is installed to
With rack in mating supporting pin, it can ensure that industrial sucker follows translating device to be moved horizontally to designated position.
Preferably, first, second, third and fourth driving motor is stepper motor or servo motor.
Preferably, the industrial sucker for forming grasping mechanism is nine, and six industrial suckers are designed in technical solution can
Stable crawl television backboard, it is wherein to have sucker failure or a certain in order to prevent that design, which uses nine industrial suckers,
A industry sucker suction surface of position is rough to ensure that television backboard can still be moved by stable crawl when can not achieve absorption
It is dynamic, improve the safety and reliability of manipulator.
The beneficial effects of the invention are as follows：The present invention uses three translating devices and a rotating device, can drive simultaneously
The rotation of the movement and manipulator entirety of three side industry suckers, increases the degree of freedom of manipulator, improves flexibility, versatility
By force.
Advantageous effect：
The advantage of the present invention is specific as follows：
1. realizing the manipulator automatic adjusument based on television backboard model size；
2. manipulator can carry out appearance detection, attributional analysis to television backboard in real time equipped with industrial camera CCD；
3. there is assembly threaded hole in rotating disk, most of serial manipulators, parallel robot and rectangular co-ordinate machine can be mounted on
Device people end, versatility are good；
4. rotating mechanism can make manipulator automatic adjusument, turn to specified angle, it is ensured that backboard can any angle grab and take, put
It sets；
5. being respectively provided with displacement monitor, angle detection device on translating device and rotating device, closed-loop control is constituted, it is ensured that
Manipulator has very high kinematic accuracy；
6. structure adaptive manipulator grasping mechanism, using electric transmission function, a set of manipulator can be mounted on the electricity of different size
Depending on machine assembling line, reducing artificial replacement manipulator situation, labour is saved, production efficiency is improved.
7. the adaptive of television backboard not only may be implemented in structure adaptive manipulator grasping mechanism provided by the invention
Crawl, and to being currently suitble to thin plate, the workpiece etc. of industrial sucker crawl that can all realize the works such as mobile, sorting, crawl and detection
Make.
Description of the drawings
Fig. 1 is the structure adaptive manipulator grasping mechanism schematic three dimensional views provided in the embodiment of the present invention；
Fig. 2 is the upper and lower cover plates graphics provided in the embodiment of the present invention；
Fig. 3 is the structure adaptive manipulator grasping mechanism general assembly vertical view provided in the embodiment of the present invention；
Fig. 4 is the structure adaptive manipulator grasping mechanism general assembly left view provided in the embodiment of the present invention；
Fig. 5 is the directions the x translating device graphics provided in the embodiment of the present invention；
Fig. 6 is the directions the y translating device graphics provided in the embodiment of the present invention；
Fig. 7 is the rotating device graphics provided in the embodiment of the present invention；
Specific implementation mode：
A kind of structure adaptive manipulator grasping mechanism, the grasping mechanism include rotating device, grasping mechanism and can be to three sides
To three translation mechanisms moved horizontally；Three translation mechanisms include the first translation mechanism, the second translation mechanism and third translation
Mechanism；Wherein the first translation mechanism and the second translation mechanism are arranged between upper cover plate 01, lower cover 02, the first translation mechanism and
The movement locus of second translation mechanism is all to move horizontally in the x-direction, and the top plate on upper cover plate 01 is arranged in third translation mechanism
In 03, rotating device be arranged on the top plate 03 of third translation mechanism or upper cover plate 01 on；Grasping mechanism includes the first crawl
Mechanism, the second grasping mechanism and third grasping mechanism, the first grasping mechanism, the second grasping mechanism and third grasping mechanism connect respectively
Connect the first translation mechanism, the second translation mechanism and third translation mechanism.
First translation mechanism includes the first spur gear 13, the first spur rack 14 and the first supporting pin 15；Second translation mechanism
Including the second spur gear 16, the second spur rack 17 and the second supporting pin 18, the first spur gear 13 passes through lock-screw and the first electricity
05 axis of machine is connected directly, and the first spur gear 13 is engaged with the fitting of the first spur rack 14, the first spur rack 14 and the first supporting pin 15
It is parallel；
Second spur gear 16 is connected directly by lock-screw and 06 axis of the second motor, the second spur gear 16 and the second spur rack 17
Fitting, the second spur rack 17 are parallel with the second supporting pin 18；
First spur rack 14, the first supporting pin 15, the second spur rack 16,17 length of the second supporting pin are identical, the first spur rack 14
It is connected jointly with the first sucker fixed plate 21 of the first grasping mechanism with one end of the separate upper cover plate 01 of the first supporting pin 15, the
Second sucker of the one end of two spur racks 17 and the separate upper cover plate 01 of the second supporting pin 18 jointly with the second grasping mechanism is fixed
Plate 24 is connected；
Third translation mechanism includes third spur gear 27, third spur rack 28 and third supporting pin 29；Third spur gear 27 passes through
Lock-screw is connected directly with 07 axis of third motor, and third spur gear 27 is fitted with third spur rack 28,28 He of third spur rack
Third supporting pin 29 is parallel and length is identical, and one end of the separate top plate 03 of third spur rack 28 and third supporting pin 29 has respectively
Two pilot holes with the third sucker fixed plate 31 of third grasping mechanism for being connected.
Said gear and rack are for driving, and supporting pin is for being servo-actuated and limiting；
Rotating device includes rotation device base 04, rotary shaft 34, lateral helical gear 35（It is axial horizontal）, vertical helical gear 36
（It is axial vertical）, rotating disk 37 and rotating device support plate 38；Rotation device base 04 is arranged by pilot hole in upper cover plate 01
On, rotating device support plate 38 is installed to by two sides pilot hole in rotation device base 04, one end of rotary shaft 34（Under
End）It is inserted into 04 centre bore of rotation device base, the 4th motor 08 is arranged by pilot hole in 38 side of rotating device support plate
Face, electric machine main shaft are directly connected to lateral helical gear 35,34 other end of rotary shaft（Upper end）It is inserted into vertical helical gear 36 and rotation
In 37 centre bore of disk, the setting of vertical helical gear 36 passes through four pilot holes and rotating disk above inside rotating device support plate 38
37 are assembled together, and lateral helical gear 35 is also disposed inside rotating device support plate 38, vertical helical gear 36 and lateral helical teeth
The vertically fitting of wheel 35, rotating disk 37 are arranged outside rotating device support plate 38（Top as shown in the figure！）, stay in rotating disk 37
There is pilot hole, can directly be connected directly, pass through with most of serial manipulators, parallel robot and Cartesian robot end
The rotation of 4th motor 08 drives lateral helical gear 35 and vertical helical gear 36 to rotate, and the rotation of vertical helical gear 36 drives rotating disk 37
Rotation realizes that manipulator can be captured, be sorted, placing and take at any angle to make entire manipulator rotate by a certain angle along z-axis
The actions such as backboard.
Grabbing device is divided into three grasping mechanisms, and three grasping mechanisms correspond to three translation mechanisms, wherein the first gripper
Structure includes the first sucker fixed plate 21, the first sucker geometrical clamp 22 and the first industrial sucker 23；
Second grasping mechanism includes the second sucker fixed plate 24, the second sucker geometrical clamp 25 and the second industrial sucker 26；First work
Industry sucker 23 is arranged below the first sucker geometrical clamp 22, and the second industrial sucker 26 is arranged below the second sucker geometrical clamp 25,
First sucker fixed plate 21 is arranged between two nuts up and down of the first sucker geometrical clamp 22, and the setting of the second sucker fixed plate 24 exists
Between two nuts up and down of second sucker geometrical clamp 25, suction pipe and the first industrial sucker 23 are inserted into 22 top of the first sucker geometrical clamp
It connects, suction pipe and the second industrial sucker 26 are inserted into 25 top of the second sucker geometrical clamp；
Third grasping mechanism includes third sucker fixed plate 31, third sucker geometrical clamp 32 and third industry sucker 33, third work
Industry sucker 33 is arranged below third sucker geometrical clamp 32, and third sucker fixed plate 31 is arranged in the upper of third sucker geometrical clamp 32
Between lower two nuts, 32 top of third sucker geometrical clamp is inserted into suction pipe and is connected with third industry sucker 33.
First sucker fixed plate 21 is set together with the first spur rack 14 of the first translation mechanism and the first supporting pin 15,
The rotation of the first spur gear 13 is driven by first motor 05, the first spur gear 13 engage with the first spur rack 14, thus drive the
One grasping mechanism moves horizontally in the x-direction.
The second spur rack 17 and the second supporting pin 18 of second sucker fixed plate 24 and the second translation mechanism are arranged one
It rises, the rotation of the second spur gear 16 is driven by the second motor 06, the second spur gear 16 is engaged with the second spur rack 17, to drive
Second grasping mechanism moves horizontally in the x-direction.
Third sucker fixed plate 31 and the third spur rack 28 and third supporting pin 29 of third translation mechanism are arranged one
It rises, drives third spur gear 27 to rotate by third motor 07, third spur gear 27 is engaged with third spur rack 28, to drive
Third grasping mechanism moves horizontally in the y-direction.
First sucker fixed plate 21, the second sucker fixed plate 24 are arranged with third sucker fixed plate 31 in same level height
Degree ensures each industrial sucker also in same level height.
First translation mechanism and the second translation mechanism are about the central point of upper cover plate 01 and lower cover 02 symmetrical i.e. the
One translation mechanism is identical at a distance from the external terminal to central point of the second translation mechanism！, on the corresponding position of translation mechanism
It is provided with detection device；Detection device includes the first displacement sensor 19, second displacement sensor 20, third displacement sensor 30
With industrial camera 12, wherein the first displacement sensor 19 and the setting of second displacement sensor 20 upper cover plate 01 and lower cover 02 it
Between, the first displacement sensor 19 and second displacement sensor 20 correspond to the first translation mechanism and the second translation mechanism, detection respectively
First grasping mechanism and the second grasping mechanism are opposite with manipulator central shaft（That is the central shaft of whole device, it may also be said on being
The horizontal position of cover board 01 and the central shaft of lower cover 02）, wherein third displacement sensor 30 is arranged in top plate 03, and corresponding the
Three translation mechanisms, the opposite horizontal position with manipulator central shaft of detection third grasping mechanism（That is the central shaft of whole device,
It can be described as the central shaft of upper cover plate 01 and lower cover 02）, wherein industrial camera 12 is on camera tripod 39, camera branch
The setting of support 39 is assembled together at rotating device rear, and with upper cover plate 01, and 12 lens direction of industrial camera is vertical in the z-direction
Downwards.
The image for the television backboard that industrial camera 12 is shot is handled and standard form is compared, detection
The quality of television backboard extracts crawl position coordinate in the image of television backboard, is input to controller, controller is simultaneously
Control four motors rotation, realizes the rotation of rotating device and moving horizontally for translating device, with the first displacement sensor 19, the
Two displacement sensors 20,30 feedack of third displacement sensor compare in real time constitutes the fortune that full closed loop control improves manipulator
Dynamic precision, completes the automatic adjusument of manipulator.
The present invention is described in further details below in conjunction with the accompanying drawings：
As shown in Figure 1, driving device corresponds to translating device and rotating device respectively, translating device is divided into three the horizontal of direction and moves
Dynamic, wherein the first translation mechanism and the second translation mechanism are arranged between upper cover plate 01, lower cover 02, movement locus is all along the side x
To moving horizontally, for the setting of third translation mechanism in top plate 03, on upper cover plate 02, rotating device is located next to third translation mechanism
It is arranged on upper cover plate 02, detection device is arranged on manipulator and the corresponding position of translating device.
Upper cover plate 01, which is arranged, to be assembled together on 02 top of lower cover by the bolt and nut at four angles, as shown in Figure 2 its
For 02 inside of middle upper cover plate 01 and lower cover there are four level trough, slot both sides all-pass in the x-direction, is the straight of the first and second translation mechanism
Rack and supporting pin provide transverse horizontal sliding rail, and the setting of top plate 03 is assembled on 01 top of upper cover plate by bolt and nut,
There are two vertical slots, slot both sides all-pass in the y-direction provides the inside of middle top plate 03 for the spur rack and supporting pin of third translation mechanism
Vertical levels sliding rail, the setting of rotation device base 04 are assembled on upper cover plate 01 by bolt and nut.
There are four driving mechanisms altogether for driving device, as shown in figure 3, the first driving mechanism includes the 05, first electricity of first motor
Machine base 09, the second driving mechanism include the second motor 06, the second motor base 10, the first driving mechanism and the second driving mechanism
Setting is located at third translation mechanism both sides on upper cover plate 01, and third driving mechanism includes third motor 07, third motor
Pedestal 11, third driving mechanism is arranged on top plate 03 is assembled using bolt and nut, and the 4th driving mechanism includes the 4th motor 08,
It is arranged in 38 side of rotating device support plate.
There are three translation mechanisms altogether for translating device, wherein the first translation mechanism includes the first spur gear 13, the first spur rack
14, the first supporting pin 15, the first spur rack 14 and the setting of the first supporting pin 15 move horizontally in upper cover plate 01 and lower cover 02
In slot, the first spur gear 13 is connected directly by lock-screw and 05 axis of first motor, the first spur gear 13 and the first spur rack
14 fittings, the first spur rack 14 is identical with 15 length of the first supporting pin, is having two pilot holes and first respectively far from cover board one end
First sucker fixed plate 21 of grasping mechanism is connected, wherein the second translation mechanism include the second spur gear 16, the second spur rack 17,
Second supporting pin 18, the second spur rack 17 and the setting of the second supporting pin 18 horizontal movement trough in upper cover plate 01 and lower cover 02
Interior, the second spur gear 16 is connected directly by lock-screw and 06 axis of the second motor, the second spur gear 16 and the second spur rack 17
Fitting, the second spur rack 16 is identical with 17 length of the second supporting pin, is having two pilot holes to be grabbed with second respectively far from cover board one end
The second sucker fixed plate 24 of mechanism is taken to be connected, as shown in Figure 5；Third translation mechanism includes third spur gear 27, third straight-tooth
Item 28, third supporting pin 29, third spur rack 28 and third supporting pin 29 are arranged in top plate 03 in horizontal movement trough, and third is straight
Rack 28,29 spur gear 27 of third supporting pin are straight by lock-screw and third spur rack 28, third supporting pin 29 motor, 07 axis
Connect connected, third spur gear 27 and third spur rack 28 are fitted, and third spur rack 28 is identical with 29 length of third supporting pin, remote
There are two pilot holes to be connected with the third sucker fixed plate 24 of third grasping mechanism respectively from cover board one end, as shown in Figure 6.
Rotating device includes rotation device base 04, rotary shaft 34, lateral helical gear 35, vertical helical gear 36, rotating disk
37, rotating device support plate 38, as shown in fig. 7, rotation device base 04 is arranged by pilot hole on upper cover plate 01, rotating dress
It sets support plate 38 to be installed in rotation device base 04 by two sides pilot hole, rotary shaft 34 is inserted into rotation device base 04
In centre bore, the 4th motor 08 is arranged by pilot hole in 38 side of rotating device support plate, electric machine main shaft and lateral helical gear
35 are directly connected to, and 34 other end of rotary shaft is inserted into vertical helical gear 36 and 37 centre bore of rotating disk, and vertical helical gear 36 is arranged
It is assembled together with rotating disk 37 by four pilot holes above inside rotating device support plate 38, vertical helical gear 36 and cross
Vertically be fitted to helical gear 35, there are pilot hole in rotating disk 37, can directly with most of serial manipulators, parallel robot and
Cartesian robot end is connected directly, and is rotated by the 4th motor 08 and is driven 36 turns of lateral helical gear 35 and vertical helical gear
Dynamic, the rotation of vertical helical gear 36 drives rotating disk 37 to rotate, and to make entire manipulator rotate by a certain angle along z-axis, ensures machine
Tool hand can capture, sort, places and takes backboard at any angle.
Grabbing device is divided into three grasping mechanisms, wherein first crawl include the first sucker fixed plate 21, the first sucker consolidate
The industrial sucker 23 of clamp 22, first, as shown in figure 4, the first industrial sucker 23 is arranged below the first sucker geometrical clamp 22, first
Sucker fixed plate 21 is arranged between 22 liang of nuts of the first sucker geometrical clamp, and suction pipe and the are inserted into the top of the first sucker geometrical clamp 22
One industrial sucker 23 is connected, and the first sucker fixed plate 21 is set with the first spur rack 14 of the first translation mechanism, the first supporting pin 15
It sets together, drives the rotation of the first spur gear 13, the first spur gear 13 to be engaged with the first spur rack 14 by the first driving mechanism,
To drive the first grasping mechanism to move horizontally in the x-direction, wherein the second grasping mechanism includes the second sucker fixed plate 24, second
The industrial sucker 26 of sucker geometrical clamp 25, second, as shown in figure 5, the second industrial sucker 26 is arranged under the second sucker geometrical clamp 25
Side, the second sucker fixed plate 24 are arranged between 25 liang of nuts of the second sucker geometrical clamp, and 25 top of the second sucker geometrical clamp is inserted into
Suction pipe and the second industrial sucker 26, the second sucker fixed plate 24 and the second spur rack 17 of the second translation mechanism, the second supporting pin
18 are set together, and the rotation of the second spur gear 16, the second spur gear 16 and the second spur rack 17 are driven by the second driving mechanism
Engagement, to drive the second grasping mechanism to move horizontally in the x-direction, wherein third grasping mechanism includes third sucker fixed plate
31, third sucker geometrical clamp 32, third industry sucker 33, as shown in fig. 6, the setting of third industry sucker 33 is fixed in third sucker
32 lower section of folder, third sucker fixed plate 31 is arranged between 32 liang of nuts of third sucker geometrical clamp, on third sucker geometrical clamp 32
Side is inserted into suction pipe and is connected with third industry sucker 33, the third spur rack 28 of third sucker fixed plate 31 and third translation mechanism,
Third supporting pin 29 is set together, and drives third spur gear 27 to rotate by third driving mechanism, third spur gear 27 and the
Three spur racks 28 engage, to drive third grasping mechanism to move horizontally in the y-direction, wherein the first sucker fixed plate 21, second
Sucker fixed plate 24 is arranged with third sucker fixed plate 31 in same level height, ensures nine industrial suckers also in same level
Highly.
Detection device includes the first displacement sensor 19, second displacement sensor 20, third displacement sensor 30, industrial phase
Machine 12, wherein the first displacement sensor 19, second displacement sensor 20 are arranged between upper cover plate 01 and lower cover 02, it is right respectively
It answers the first translation mechanism, the second translation mechanism, detects the first grasping mechanism and the second grasping mechanism is opposite with manipulator central shaft
Horizontal position, wherein third displacement sensor 30 is arranged in top plate 03, and corresponding third translation mechanism detects third gripper
The opposite horizontal position with manipulator central shaft of structure, wherein industrial camera 12 are mounted on camera tripod 39, camera tripod
39 are arranged rotating device rear in the robot, are assembled together with upper cover plate 01,12 lens direction of industrial camera hangs down in the z-direction
It is straight downward.
Operation principle be handled by the image of the television backboard shot to industrial camera and standard form carry out
Analysis is compared, the quality of television backboard is detected, crawl position coordinate is extracted in the image of television backboard, is input to control
Device, controller control four motor rotations, realize the rotation of rotating device and moving horizontally for translating device, passed with displacement simultaneously
Sensor feedack compares in real time constitutes the kinematic accuracy that full closed loop control improves manipulator, completes the adaptive tune of manipulator
Section.
To sum up, the positional distance between industrial sucker is adjusted according to the location information of feedback, industrial sucker is made to pass through rotation
Turn, the smooth adsorbable surface location of translational motion to television backboard, ensure that the television backboard of different model can be complete
At the process of automatic detection, crawl, sorting；This is that the first step of TV set intelligent metaplasia producing line is also a most important step, right
In the TV set production line of different model, it is no longer necessary to manually replace manipulator, assembly is also improved while improving productivity
Precision.
Claims (10)
1. a kind of structure adaptive manipulator grasping mechanism, it is characterised in that：The grasping mechanism includes rotating device, grasping mechanism
With three translation mechanisms；Three translation mechanisms include the first translation mechanism, the second translation mechanism and third translation mechanism；Wherein
One translation mechanism and the second translation mechanism are arranged in upper cover plate（01）, lower cover（02）Between, the first translation mechanism and second flat
The movement locus of telephone-moving structure is all to move horizontally in the x-direction, and third translation mechanism is arranged in upper cover plate（01）On top plate（03）
Interior, the top plate in third translation mechanism is arranged in rotating device（03）Upper or upper cover plate（01）On；Grasping mechanism is grabbed including first
Take mechanism, the second grasping mechanism and third grasping mechanism, the first grasping mechanism, the second grasping mechanism and third grasping mechanism difference
Connect the first translation mechanism, the second translation mechanism and third translation mechanism.
2. structure adaptive manipulator grasping mechanism according to claim 1, it is characterised in that：First translation mechanism includes
First spur gear（13）, the first spur rack（14）With the first supporting pin（15）；Second translation mechanism includes the second spur gear（16）、
Second spur rack（17）With the second supporting pin（18）, the first spur gear（13）With first motor（05）Axis is connected directly, and first is straight
Gear（13）With the first spur rack（14）Fitting, the first spur rack（14）With the first supporting pin（15）It is parallel；
Second spur gear（16）With the second motor（06）Axis is connected directly, the second spur gear（16）With the second spur rack（17）It is quasi-
It closes, the second spur rack（17）With the second supporting pin（18）It is parallel；
First spur rack（14）, the first supporting pin（15）, the second spur rack（16）, the second supporting pin（17）Length is identical, and first
Spur rack（14）With the first supporting pin（15）Separate upper cover plate（01）One end jointly with the first sucker of the first grasping mechanism
Fixed plate（21）It is connected, the second spur rack（17）With the second supporting pin（18）Separate upper cover plate（01）One end jointly with second
Second sucker fixed plate of grasping mechanism（24）It is connected；
Third translation mechanism includes third spur gear（27）, third spur rack（28）With third supporting pin（29）；Third spur gear
（27）With third motor（07）Axis is connected directly, third spur gear（27）With third spur rack（28）Fitting, third spur rack
（28）With third supporting pin（29）Parallel and length is identical, third spur rack（28）With third supporting pin（29）Separate top plate
（03）The common third sucker fixed plate with third grasping mechanism（31）It is connected.
3. structure adaptive manipulator grasping mechanism according to claim 1, it is characterised in that：Rotating device includes rotation
Device pedestal（04）, rotary shaft（34）, lateral helical gear（35）, vertical helical gear（36）, rotating disk（37）With rotating device branch
Fagging（38）；Rotation device base（04）It is arranged in upper cover plate by pilot hole（01）On, rotating device support plate（38）Pass through
Two sides pilot hole is installed to rotation device base（04）On, rotary shaft（34）One end be inserted into rotation device base（04）In
In heart hole, the 4th motor（08）It is arranged in rotating device support plate by pilot hole（38）Side, electric machine main shaft and lateral helical teeth
Wheel（35）It is directly connected to, rotary shaft（34）The other end is inserted into vertical helical gear（36）And rotating disk（37）It is vertical oblique in centre bore
Gear（36）It is arranged in rotating device support plate（38）Internal and and rotating disk（37）It is assembled together, lateral helical gear（35）
It is arranged in rotating device support plate（38）Inside, vertical helical gear（36）With lateral helical gear（35）Vertical fitting, rotating disk
（37）It is arranged in rotating device support plate（38）Outside, rotating disk（37）On there are direct with most of serial manipulators, in parallel
The pilot hole that robot and Cartesian robot end are connected directly, passes through the 4th motor（08）Rotation drives lateral helical gear
（35）With vertical helical gear（36）Rotation, vertical helical gear（36）Rotation drives rotating disk（37）Rotation, to make entire machinery
Hand rotates by a certain angle by axis of z-axis, realize manipulator can capture, sort, places take at any angle backboard act.
4. structure adaptive manipulator grasping mechanism according to claim 2, it is characterised in that：Grabbing device is divided into three
Grasping mechanism, three grasping mechanisms correspond to three translation mechanisms, wherein the first grasping mechanism includes the first sucker fixed plate（21）、
First sucker geometrical clamp（22）With the first industrial sucker（23）；
Second grasping mechanism includes the second sucker fixed plate（24）, the second sucker geometrical clamp（25）With the second industrial sucker（26）；
First industrial sucker（23）It is arranged in the first sucker geometrical clamp（22）Lower section, the second industrial sucker（26）Setting is inhaled second
Disk geometrical clamp（25）Lower section, the first sucker fixed plate（21）It is arranged in the first sucker geometrical clamp（22）Two nuts up and down between,
Second sucker fixed plate（24）It is arranged in the second sucker geometrical clamp（25）Two nuts up and down between, the first sucker geometrical clamp（22）
Suction pipe and the first industrial sucker are inserted into top（23）It connects, the second sucker geometrical clamp（25）Suction pipe is inserted into top and the second industry is inhaled
Disk（26）；
Third grasping mechanism includes third sucker fixed plate（31）, third sucker geometrical clamp（32）With third industry sucker（33）,
Third industry sucker（33）It is arranged in third sucker geometrical clamp（32）Lower section, third sucker fixed plate（31）It is arranged in third sucker
Geometrical clamp（32）Two nuts up and down between, third sucker geometrical clamp（32）Suction pipe and third industry sucker are inserted into top（33）It connects
It is logical.
5. structure adaptive manipulator grasping mechanism according to claim 4, it is characterised in that：First sucker fixed plate
（21）With the first spur rack of the first translation mechanism（14）With the first supporting pin（15）It is set together, passes through first motor（05）
Drive the first spur gear（13）Rotation, the first spur gear（13）With the first spur rack（14）Engagement, to drive the first gripper
Structure moves horizontally in the x-direction.
6. structure adaptive manipulator grasping mechanism according to claim 4, it is characterised in that：Second sucker fixed plate
（24）With the second spur rack of the second translation mechanism（17）And second supporting pin（18）It is set together, passes through the second motor
（06）Drive the second spur gear（16）Rotation, the second spur gear（16）With the second spur rack（17）Engagement, to drive second to grab
Mechanism is taken to move horizontally in the x-direction.
7. structure adaptive manipulator grasping mechanism according to claim 4, it is characterised in that：Third sucker fixed plate
（31）With the third spur rack of third translation mechanism（28）And third supporting pin（29）It is set together, passes through third motor
（07）Drive third spur gear（27）Rotation, third spur gear（27）With third spur rack（28）Engagement, to drive third to grab
Mechanism is taken to move horizontally in the y-direction.
8. the structure adaptive manipulator grasping mechanism according to any one of claim 4-7, it is characterised in that：First
Sucker fixed plate（21）, the second sucker fixed plate（24）With third sucker fixed plate（31）Setting ensures in same level height
Each industry sucker is also in same level height.
9. the structure adaptive manipulator grasping mechanism according to any one of claim 4-7, it is characterised in that：First
Translation mechanism and the second translation mechanism are about upper cover plate（01）And lower cover（02）Central point it is symmetrical, in translation mechanism pair
It is provided with detection device on the position answered；Detection device includes the first displacement sensor（19）, second displacement sensor（20）,
Triple motion sensor（30）And industrial camera（12）, wherein the first displacement sensor（19）With second displacement sensor（20）Setting
In upper cover plate（01）With lower cover（02）Between, the first displacement sensor（19）With second displacement sensor（20）The is corresponded to respectively
One translation mechanism and the second translation mechanism detect the first grasping mechanism and the opposite water with manipulator central shaft of the second grasping mechanism
Prosposition is set, wherein third displacement sensor（30）It is arranged in top plate（03）In, corresponding third translation mechanism detects third gripper
The opposite horizontal position with manipulator central shaft of structure, wherein industrial camera（12）Mounted on camera tripod（39）On, camera branch
Support（39）It is arranged at rotating device rear, and and upper cover plate（01）It is assembled together, industrial camera（12）Lens direction is along the side z
To vertically downward.
10. structure adaptive manipulator grasping mechanism according to claim 9, it is characterised in that：Industrial camera（12）It claps
The image for the television backboard taken the photograph is handled and standard form is compared, and the quality of television backboard is detected, in electricity
Depending on extracting crawl position coordinate in the image of machine backboard, it is input to controller, controller controls four motor rotations, realizes simultaneously
The rotation of rotating device and moving horizontally for translating device, with the first displacement sensor（19）, second displacement sensor（20）,
Triple motion sensor（30）Feedack compares in real time constitutes the kinematic accuracy that full closed loop control improves manipulator, completes machinery
The automatic adjusument of hand.
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|---|---|---|---|
| CN201810197477.1A CN108527423A (en) | 2018-03-11 | 2018-03-11 | Structure adaptive manipulator grasping mechanism |
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|---|---|---|---|
| CN201810197477.1A CN108527423A (en) | 2018-03-11 | 2018-03-11 | Structure adaptive manipulator grasping mechanism |
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Family
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| CN109132065A (en) * | 2018-09-21 | 2019-01-04 | 深圳市纳瑞科技有限公司 | A kind of full-automatic dyestripping engaging machine of mould group |
| CN109249417A (en) * | 2018-09-26 | 2019-01-22 | 重庆元谱机器人技术有限公司 | Skylight grabbing device |
| CN109317460A (en) * | 2018-11-16 | 2019-02-12 | 徐福云 | A kind of new energy Chinese medicine cleaning equipment |
| CN109366469A (en) * | 2018-12-18 | 2019-02-22 | 广东华工佳源环保科技有限公司 | A kind of paper mould is at sizing manipulator |
| CN110065666A (en) * | 2019-05-05 | 2019-07-30 | 长沙格力暖通制冷设备有限公司 | A kind of grasping mechanism and air-conditioning produce packaging facilities |
| CN110103248A (en) * | 2019-05-29 | 2019-08-09 | 格力电器（郑州）有限公司 | The clamping method of the grasping structures of manipulator, manipulator and product |
| CN110171013A (en) * | 2019-06-28 | 2019-08-27 | 厦门大学嘉庚学院 | Arm end effector suitable for robot palletizer |
| CN110712191A (en) * | 2019-09-25 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Exoskeleton robot hydraulic drive system |
| CN111543257A (en) * | 2020-05-09 | 2020-08-18 | 吉林大学 | Mushroom is picked with anti-damage bionic sucking disc with detect function |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
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| CN113165815A (en) * | 2018-11-05 | 2021-07-23 | 蛋-鸡自动化技术公司 | Unit for sorting moving parts |
| CN109317460A (en) * | 2018-11-16 | 2019-02-12 | 徐福云 | A kind of new energy Chinese medicine cleaning equipment |
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| CN110065666A (en) * | 2019-05-05 | 2019-07-30 | 长沙格力暖通制冷设备有限公司 | A kind of grasping mechanism and air-conditioning produce packaging facilities |
| CN110103248A (en) * | 2019-05-29 | 2019-08-09 | 格力电器（郑州）有限公司 | The clamping method of the grasping structures of manipulator, manipulator and product |
| CN110171013A (en) * | 2019-06-28 | 2019-08-27 | 厦门大学嘉庚学院 | Arm end effector suitable for robot palletizer |
| CN110712191A (en) * | 2019-09-25 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Exoskeleton robot hydraulic drive system |
| CN110712191B (en) * | 2019-09-25 | 2021-01-08 | 中国船舶重工集团公司第七0七研究所九江分部 | Exoskeleton robot hydraulic drive system |
| CN111543257A (en) * | 2020-05-09 | 2020-08-18 | 吉林大学 | Mushroom is picked with anti-damage bionic sucking disc with detect function |
| CN111543257B (en) * | 2020-05-09 | 2022-01-28 | 吉林大学 | Mushroom is picked with anti-damage bionic sucking disc with detect function |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN112518634B (en) * | 2020-11-26 | 2022-05-27 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN113119107A (en) * | 2021-03-05 | 2021-07-16 | 广东工业大学 | Method for planning adjustable adsorption points and adsorption system |
| CN114632882A (en) * | 2022-05-17 | 2022-06-17 | 合肥合锻智能制造股份有限公司 | Hot stamping feeding device |
| CN114632882B (en) * | 2022-05-17 | 2022-08-09 | 合肥合锻智能制造股份有限公司 | Hot stamping feeding device |
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Application publication date: 20180914 |