CN109465812A - A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method - Google Patents
A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method Download PDFInfo
- Publication number
- CN109465812A CN109465812A CN201811417007.8A CN201811417007A CN109465812A CN 109465812 A CN109465812 A CN 109465812A CN 201811417007 A CN201811417007 A CN 201811417007A CN 109465812 A CN109465812 A CN 109465812A
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- Prior art keywords
- arm
- controller
- electromagnet
- magnetic
- mechanical
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J13/085—Force or torque sensors
-
- 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
- B25J13/086—Proximity sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of magnetic bodies and non-magnetic object stacking mechanical arm, including the installation pedestal as matrix, turntable is equipped at the top of the installation pedestal, the rotation countertop is equipped with several section machinery joint arms being sequentially connected, the end of final section machinery joint arm is connected with mechanical gripper, and mechanical gripper clamping middle part is equipped with electromagnet and adsorbs to magnetic bodies；It is equipped with controller inside the installation pedestal to be electrically connected with machinery joint arm, the mechanical gripper described in the turntable, multistage and the electromagnet respectively, the present invention also proposes a kind of control method of stacking mechanical arm.Compared with the prior art, technical solution of the present invention has many advantages, such as structure simply and facilitates control, and mechanical arm can be improved to the judgment accuracy of magnetic object and non magnetic object and carry convenience.
Description
Technical field
The present invention relates to mechanical arm applied technical field, in particular to a kind of magnetic bodies and non-magnetic object stacking are mechanical
Arm and control method.
Background technique
In industrial application technical field or service technology field, mechanical arm is had been more and more widely used, existing skill
Most of mechanical arm of art is usually all to use simple joint to control or teaching mode is used to control to run along trapped orbit,
But above-mentioned control mode of operation is relatively complicated and can only run under certain environmental conditions, so that above-mentioned control mode
Mechanical arm adaptability is not high.At the same time, the mechanical arm of the prior art carries out three-dimensional localization operation using vision or holder, this
Sample makes positioning and the anti-operand solved larger and complicated, and mechanical arm entirety occupied space is larger.
In addition, the mechanical arm of the prior art is difficult to sort magnetic bodies and non-magnetic object, it is therefore desirable to artificial
Classification sorting is carried out, to cause biggish working strength and reduce working efficiency.
Summary of the invention
The main object of the present invention is to propose that a kind of structure is simply divided with the magnetic bodies and non-magnetic object for facilitating control
Heap mechanical arm, the present invention also propose a kind of control method of stacking mechanical arm, it is intended to improve mechanical arm to magnetic object and non-magnetic
Property object judgment accuracy and carry convenience.
To achieve the above object, a kind of magnetic bodies and non-magnetic object stacking mechanical arm proposed by the present invention, including make
For the installation pedestal of matrix, the installation pedestal top is equipped with turntable, and the rotation countertop is several equipped with being sequentially connected
Mechanical joint arm is saved, the end of final section machinery joint arm is connected with mechanical gripper, and mechanical gripper clamping middle part is equipped with electromagnetism
Iron adsorbs magnetic bodies；Be equipped with inside the installation pedestal controller respectively with machinery joint arm described in the turntable, multistage,
The mechanical gripper and electromagnet electrical connection.
Preferably, the electromagnet bottom surface is equipped with mounting hole, is equipped with pressure sensor and the control in the mounting hole
Device electrical connection processed, the pressure sensor part protrudes from the electromagnet bottom surface, when magnetic object is adsorbed by the electromagnet,
The pressure sensor protruding parts is oppressed the elastic shrinkage into the mounting hole.
Preferably, machinery joint arm described in several sections includes the large arm being sequentially connected by cradle head, forearm and connection
Arm, the large arm, the forearm and the linking arm end are equipped with driver and are electrically connected with the controller.
Preferably, the turntable can rotate horizontally certain angle, and the large arm, the forearm and the linking arm exist
Certain angle is swung respectively in same perpendicular.
Preferably, the installation pedestal surface is equipped with range unit and is electrically connected with the controller.
Preferably, the range unit can appointing for laser ranging system, infrared distance measuring device or supersonic range finder
It anticipates one kind.
Preferably, it is equipped with inside the mechanical gripper for strutting the servo motor and the controller phase that two are grabbed finger
Even.
Preferably, the controller is PLC circuit controller.
The present invention also proposes a kind of control method using the stacking mechanical arm, comprising the following steps:
S1: the range unit treats operation object specific location and relative distance detection, and by the position of object to be operated
It sets data and is transmitted to the controller；
S2: the controller controls the turntable according to position data and swings certain angle, the section of machinery described in several sections
After perpendicular where arm and the central axis wait operate object are overlapped, the controller control driver makes described respectively
Large arm, the forearm and the linking arm make described grab by servo motor to lower swing certain angle, the mechanical gripper
Refer to and open, the electromagnetism, which falls, can treat operation object magnetic absorption；
S3: magnetic object is adsorbed by the electromagnet, and the pressure sensor suffers oppression and sends to the controller anti-
Feedback signal, the mechanical gripper hold the magnetic object being adsorbed simultaneously, and the controller controls the turntable and swings and make
Magnetic object is placed in magnetic object wobble area by machinery joint arm described in more piece, and the electromagnet powers off and makes the electromagnet
It is kept completely separate with the magnetic bodies；
S4: non magnetic object can not be adsorbed by the electromagnet, and the mechanical gripper holds the non magnetic object and cooperates
Machinery joint arm described in turntable and several sections is by article transfer to non magnetic object laydown area.
Technical solution of the present invention has the advantage that compared with the prior art
Technical solution of the present invention is rotated using turntable in horizontal plane and by multi-jointed mechanical joint arm same vertical flat
Face swings up and down, and is clamped by mechanical gripper to object, wherein by the way that pressure sensing is arranged in electromagnet bottom surface
Device can generate compressing to pressure sensor after magnetic bodies is adsorbed by electromagnet and issue feedback signal to controller, thus
The mechanical arm of technical solution of the present invention is enabled conveniently and accurately to judge magnetic object and non magnetic object, then by turning
Dynamic platform and multi-jointed mechanical joint arm cooperate jointly and are transferred to corresponding storage position, therefore technical solution of the present invention can reduce work
Intensity and promotion working efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of stacking mechanical arm of the present invention.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 1 | Installation pedestal | 6 | Mechanical gripper |
| 2 | Turntable | 61 | Grab finger |
| 3 | Large arm | 7 | Electromagnet |
| 4 | Forearm | 8 | Range unit |
| 5 | Linking arm | 9 | Object to be operated |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution
Conjunction is not present, also not the present invention claims protection scope within.
The present invention proposes a kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method.
Referring to Figure 1, magnetic bodies and non-magnetic object stacking mechanical arm mainly include installation in embodiments of the present invention
Pedestal 1, turntable 2, multiple mechanical joint arms (3,4,5), mechanical gripper 6 and electromagnet 7.Wherein in connection structure, installation
Pedestal 1 is set to minimum installation site and the installation base body as mechanical arm, and 1 top surface of installation pedestal can equipped with turntable 2
Certain angle is rotated or swings in horizontal plane, 2 top surface of turntable is equipped with and has been sequentially connected several section machinery joint arms, specifically, this
Several section machinery joint arms of embodiment include the large arm 3 being sequentially connected by cradle head (not indicating on figure), forearm 4 and connect
Arm 5 is connect, and large arm 3 is connected with 4 link position of forearm, forearm 4 and 5 connected position of linking arm, linking arm 5 with mechanical gripper 6
Position be provided with driver (not indicated on figure), driver can by controller (not indicated on figure) control to drive mechanical section
Arm is accordingly swung, and the rotation axis of the cradle head of the present embodiment is connected adjacent with by the cradle head at the same time
Respectively extending direction is mutually perpendicular to two mechanical joint arms, so that multiple machinery joint arms are connected and are located at the same perpendicular
It is interior.Since the mechanical arm of the present embodiment can be more by being sequentially connected by any rotation in the horizontal plane of turntable 2
A machinery joint arm is to realize that mechanical arm tail end is rocked to any orientation or position in vertical direction.
In the present embodiment, be set to the controller of base interior by route respectively with turntable 2, adjacent machine joint arm it
Between driver, the servo motor inside mechanical gripper 6 and the electromagnet 7 that is set in mechanical gripper 6 be electrically connected, therefore can
Above-mentioned electric component is controlled respectively by controller to be precisely controlled to realize.In addition, in order to treat the position essence of operation object 9
Quasi- detection, 1 surface of installation pedestal of the present embodiment are equipped with range unit 8 and are electrically connected with the controller, it is preferable that the present embodiment
Range unit 8 can be laser ranging system, infrared distance measuring device or supersonic range finder any one, therefore can lead to
It crosses range unit 8 and accurately detects range unit 8 and will plane mean distance between object 9 be operated.It is filled by ranging
Set 8 detect will after operating the distance of object 9, the range information that range unit 8 will test be sent to controller processing
It is analyzed and is handled, control driver makes multiple mechanical joint arms carry out adaptive motion in perpendicular to controller respectively again,
Controller also drives mechanical gripper 6 to treat operation object and carries out magnetic absorption, clamping and transhipment stacking processing at the same time.
In addition, being provided with electromagnet 7 in the middle part of the clamping of the mechanical gripper 6 of the present embodiment, grab in mechanical gripper 6 wait operate
When object 9, controller controls electromagnet 7 and is powered to adsorb to magnetic bodies, and mechanical arm can be realized in this way to magnetic material
Body and non-magnetic object carry out sorting and carrying out again stacking.At the same time, 7 bottom surface of electromagnet of the present embodiment is equipped with installation
Hole, and pressure sensor is installed in mounting hole and is electrically connected with the controller, pressure sensor part protrudes the bottom of electromagnet 7
Face, after magnetic bodies is adsorbed by electromagnet 7, pressure sensor protrusion position will will receive compressing and into mounting hole into
Row elastic shrinkage, thus whether can be pressurized by pressure sensor as controller judgment object whether be magnetic bodies weight
It will foundation.
Referring to Figure 1, the course of work of the magnetic bodies of the present embodiment and non-magnetic object stacking mechanical arm is as follows:
Distance between range unit 8 and object to be operated 9 is detected by range unit 8 first, and range unit 8 will test
To be sent to controller analysis processing apart from electric signal, controller can determine the reality between range unit 8 and object to be operated 9
Border distance, then between turntable 2, multi-jointed mechanical joint arm, mechanical gripper 6 and electromagnet 7 issue work order, it is logical first
It crosses turntable 2 to rotate by a certain angle, makes the vertical central axis of all perpendicular where mechanical joint arm and object to be operated 9
In approximately the same plane, then control large arm 3 is relatively with 2 link position of turntable to lower swing certain angle respectively again, with this
Meanwhile forearm 4 is controlled relatively with 3 link position of large arm to lower swing certain angle, so that mechanical gripper 6 be made to move closer to wait grasp
Make object 9.To reduce the Touch error between mechanical gripper 6 and object to be operated 9, controller control driver makes linking arm 5
Relatively with forearm connected position to lower swing certain angle, and mechanical gripper 6 moves closer to when operating object 9, controller control
Two of 6 left and right settings of mechanical gripper processed grab the opposite expansion of finger 61, and at the same time, controller is powered to electromagnet 7, to make electricity
Magnet 7 adsorbs magnetic bodies upwards, and after electromagnet 7 and magnetic object are connected to the adsorption, magnetic bodies is by squeezing setting
Pressure sensor in 7 bottom surface of electromagnet, pressure sensor send respective feedback signal, at the same time, mechanical gripping to controller
Hand 6 grabs that finger 61 is close to each other by servo motor driving and clamp magnetic bodies jointly, and controller can determine whether it by signal
Turntable 2 is driven for magnetic bodies and again, and the component of 2 or more turntable is made to be transferred to magnetic material in the case where clamping object
Part stacks region, then makes 7 power on/off of electromagnet, so that electromagnet 7 loses suction with magnetic object and is separated from each other.
And for non magnetic object, although electromagnet 7 is powered and band is magnetic, non magnetic object can not be inhaled upwards
It is attached, non magnetic object can only be clamped by mechanical gripper 6, when clamping non-magnetic object due to mechanical gripper 6, non-magnetic object
Pressure sensor can not be oppressed and generate signal, controller then can accurately judge that the object for non magnetic object, then passes through
The non-magnetic object is transferred to by driving turntable 2 to be stacked the region of non magnetic object originally and stores.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the design of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/it is used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (9)
1. a kind of magnetic bodies and non-magnetic object stacking mechanical arm, which is characterized in that including the installation pedestal as matrix, institute
It states and is equipped with turntable at the top of installation pedestal, the rotation countertop is equipped with several section machinery joint arms being sequentially connected, final section
The end of mechanical joint arm is connected with mechanical gripper, and mechanical gripper clamping middle part is equipped with electromagnet and adsorbs to magnetic bodies；Institute
State be equipped with inside installation pedestal controller respectively with machinery joint arm, the mechanical gripper described in the turntable, multistage and institute
State electromagnet electrical connection.
2. stacking mechanical arm as described in claim 1, which is characterized in that the electromagnet bottom surface is equipped with mounting hole, the peace
Pressure sensor is installed in dress hole to be electrically connected with the controller, the pressure sensor part protrudes from the electromagnet bottom
Face, when magnetic object is adsorbed by the electromagnet, the pressure sensor protruding parts is oppressed into the mounting hole elastic
It shrinks.
3. stacking mechanical arm as claimed in claim 2, which is characterized in that machinery joint arm described in several sections includes being closed by rotation
Large arm, forearm and the linking arm being sequentially connected are saved, the large arm, the forearm and the linking arm end are equipped with driving
Device is electrically connected with the controller.
4. stacking mechanical arm as claimed in claim 3, which is characterized in that the turntable can rotate horizontally certain angle, institute
It states large arm, the forearm and the linking arm and swings certain angle respectively in same perpendicular.
5. stacking mechanical arm as claimed in claim 4, which is characterized in that the installation pedestal surface is equipped with range unit and institute
State controller electrical connection.
6. stacking mechanical arm as claimed in claim 5, which is characterized in that the range unit can be laser ranging system, red
Any one of outer range unit or supersonic range finder.
7. stacking mechanical arm as claimed in claim 6, which is characterized in that be equipped with inside the mechanical gripper for strutting two
The servo motor for grabbing finger is connected with the controller.
8. stacking mechanical arm as claimed in claim 7, which is characterized in that the controller is PLC circuit controller.
9. a kind of control method using stacking mechanical arm as claimed in claim 8, which comprises the following steps:
S1: the range unit treats operation object specific location and relative distance detection, and by the positional number of object to be operated
According to being transmitted to the controller；
S2: the controller controls the turntable according to position data and swings certain angle, machinery joint arm institute described in several sections
After perpendicular and central axis wait operate object are overlapped, the controller control the driver make respectively it is described big
Arm, the forearm and the linking arm make grabbing fingers by servo motor to lower swing certain angle, the mechanical gripper
It opens, the electromagnetism, which falls, can treat operation object magnetic absorption；
S3: magnetic object is adsorbed by the electromagnet, and the pressure sensor suffers oppression and sends feedback letter to the controller
Number, the mechanical gripper holds the magnetic object being adsorbed simultaneously, and the controller controls the turntable and swings and make more piece
Magnetic object is placed in magnetic object wobble area by the machinery joint arm, and the electromagnet powers off and makes the electromagnet and institute
Magnetic bodies is stated to be kept completely separate；
S4: non magnetic object can not be adsorbed by the electromagnet, and the mechanical gripper holds the non magnetic object and cooperates rotation
Machinery joint arm described in platform and several sections is by article transfer to non magnetic object laydown area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417007.8A CN109465812A (en) | 2018-11-26 | 2018-11-26 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417007.8A CN109465812A (en) | 2018-11-26 | 2018-11-26 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109465812A true CN109465812A (en) | 2019-03-15 |
Family
ID=65673129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811417007.8A Pending CN109465812A (en) | 2018-11-26 | 2018-11-26 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109465812A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112047099A (en) * | 2020-09-02 | 2020-12-08 | 湖南财经工业职业技术学院 | Flexible bionic mechanical gripping device |
| CN112743533A (en) * | 2019-10-29 | 2021-05-04 | 天津新松机器人自动化有限公司 | Intelligent stacking robot |
| CN116520218A (en) * | 2023-04-20 | 2023-08-01 | 宁波元辰新材料有限公司 | Magnetic pole detection method, system, terminal and storage medium |
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| CN116520218B (en) * | 2023-04-20 | 2024-04-09 | 宁波元辰新材料有限公司 | Magnetic pole detection method, system, terminal and storage medium |
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Application publication date: 20190315 |