CN111941454B - Clamp for power-assisted manipulator - Google Patents
Clamp for power-assisted manipulator Download PDFInfo
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- CN111941454B CN111941454B CN202010823961.8A CN202010823961A CN111941454B CN 111941454 B CN111941454 B CN 111941454B CN 202010823961 A CN202010823961 A CN 202010823961A CN 111941454 B CN111941454 B CN 111941454B
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- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- 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
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a clamp for a power-assisted manipulator, which comprises a sucker, a semicircular protective shell, a first mounting plate, a second mounting plate, a vertical connecting square tube, a connecting plate, a third mounting plate, a fourth mounting plate, a control box and a connecting body. The invention avoids the risk of influencing the surface quality of the transported device under the compression of high pressure in the prior art.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a clamp for a power-assisted manipulator.
Background
The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better.
Clamping structure of prior art presss from both sides tightly through the anchor clamps that include clamping structure (like the grip block) mostly, has the risk of the surface quality of the device that influences the transport under the effect of clamping force (for example when carrying heavy device (like heavy foundry goods), because the weight of heavy device is great, so need bigger clamping force to go to press from both sides heavy device and just can carry safely, but owing to under the oppression of higher clamping force, the heavy device surface can leave the mar even probably takes place to warp when having carried).
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a clamp for a power-assisted manipulator, which is used for solving the technical problem.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an anchor clamps for helping hand manipulator, includes sucking disc, semicircle protective housing, first mounting panel, second mounting panel, vertical connecting side pipe, connecting plate, third mounting panel, fourth mounting panel, control box, connector, its characterized in that, inside first mounting panel, the second mounting panel of being provided with of semicircle protective housing, install the sucking disc on first mounting panel, the second mounting panel, run through the vertical connecting side pipe of connection on third mounting panel, the fourth mounting panel, vertical connecting side pipe lower extreme fixedly connected with connector, be connected with the control box on the connector, be connected with the connecting plate on the fourth mounting panel, the upper end fixedly connected with semicircle protective housing of connecting plate, third mounting panel, fourth mounting panel still are connected with coupling assembling, coupling assembling is used for being connected with the manipulator.
Preferably, the connection assembly includes: the device comprises an air cylinder mounting plate, an air cylinder, a mounting seat, a transverse bracket, an adjusting screw and a fixing clamp;
the mounting seat is installed to cylinder mounting panel one side, the installation cylinder of mounting seat below, the fixing clip passes through the fix with screw with the cylinder mounting panel and fixes the cylinder card at the fixing clip is inside, the stiff end of cylinder passes through adjusting screw and fixes with the one end of horizontal support, the other end fixed connection of horizontal support third mounting panel, fourth mounting panel, the cylinder mounting panel is used for connecting the manipulator.
Preferably, connect through fastening screw between first mounting panel, the second mounting panel, first mounting panel is located second mounting panel top, sucking disc fixed connection be in first mounting panel upper end.
Preferably, the suction cup is a disc-shaped structure.
Preferably, the semicircular protective shell is of a semicircular cylinder structure.
Preferably, the method further comprises the following steps: the device comprises a laser scanner, a processor, an alarm, a display, a current detection device, a current control device and a weight sensor;
laser scanner, set up in on the cylinder mounting panel, with treater one end is connected, is used for working as when the for the helping hand manipulator anchor clamps are connected with external manipulator, scan the linking area of each subassembly, draw the connection structure picture in predetermineeing three-dimensional coordinate system in order to generate detection information, will detection information transmission extremely the treater, each subassembly includes: the device comprises a sucker, a semicircular protective shell, a first mounting plate, a second mounting plate, a mounting plate, an air cylinder, a mounting seat, a transverse bracket, an adjusting screw, a fixing clamp, a vertical connecting square tube, a connecting plate, a third mounting plate, a fourth mounting plate, a control box and a connecting body;
the other end of the processor is connected with the display and the alarm at the same time, and is used for comparing the detection information with preset connection structure information to determine whether the connection of each component is normal or not, acquiring an abnormal connection structure diagram when the connection of any two components is abnormal, transmitting the abnormal connection structure diagram to the display, and sending an alarm instruction to the alarm;
the display is arranged on the connecting body and used for displaying the abnormal connection structure chart;
the alarm is used for sending an alarm prompt to a user according to the alarm instruction;
the weight sensor is arranged on the sucker, is connected with the processor and is used for detecting the weight of the target transported object when the sucker starts to be sucked to the target transported object and transmitting the weight to the processor;
the processor is further used for calculating a target current value corresponding to the weight according to the weight, wherein the target current value is a current value for stably adsorbing and conveying the target conveyed object by the sucker;
the current detection device is arranged on the sucker, arranged on one side of the weight sensor, connected with the processor and used for detecting the current value of the sucker and transmitting the current value to the processor,
the processor is further used for comparing the current value with the target current value, and when the current value is determined to be larger than or smaller than the target current value, sending an adjusting instruction to the current control device;
and one end of the current control device is connected with the other end of the processor, and the other end of the current control device is electrically connected with the sucker and used for adjusting the current value of the sucker to be the target current value according to the adjusting instruction.
Preferably, the method further comprises the following steps: the dust detection device, the control device and the dust removal device;
the dust detection device is arranged between the first mounting plate and the second mounting plate, is connected with one end of the control device, and is used for detecting the thickness of first dust on the first mounting plate and the thickness of second dust on the second mounting plate and transmitting the thickness of the first dust and the thickness of the second dust to the control device;
the other end of the control device is connected with the dust removing device and used for sending a dust removing instruction to the dust removing device according to the first dust thickness and the second dust thickness;
the dust removing device is arranged on one side of the dust detecting device and is used for carrying out dust removing operation on the first mounting plate and the second mounting plate according to the dust removing instruction;
the dust removal instruction comprises a dust removal starting instruction and a subsequent dust removal instruction, and the step of sending the dust removal instruction to the dust removal device by the control device according to the first dust thickness and the second dust thickness comprises the following steps:
step A1, dividing the first mounting plate into a plurality of first areas, generating a first dust thickness set according to the thickness of the first dust thickness in each first area, dividing the second mounting plate into a plurality of second areas, generating a second dust thickness set according to the thickness of the second dust thickness in each second area,
step A1, calculating the current dust concentration in the space where the first mounting plate and the second mounting plate are located according to the first dust thickness set and the second dust thickness set:
where ρ represents the current dust concentration in the space in which the first and second mounting plates are located, m1 represents the mass of dust on the first mounting plate, m2 represents the mass of dust on the second mounting plate, n1 represents the total number of first areas divided by the first mounting plate, H1iExpressed as the thickness of the dust in the ith first region, S1iExpressed as the area of the ith first region, n2 is expressed as the total number of second regions divided by the second mounting plate, H2jExpressed as the area of the jth second region, S2jExpressed as the area of the jth second region, UA]Representing a dust mapping function corresponding to the space A where the first mounting plate and the second mounting plate are located;
step A2, comparing the current dust concentration rho with a preset dust concentration rho1Comparing, and when the dust concentration rho is larger than the preset dust concentration rho1When the dust removing device is used, the controller sends a dust removing starting instruction to the dust removing device;
step A3, calculating the dust removal efficiency eta of the dust removal device:
wherein v isgExpressed as the flow velocity, beta, of the dust in the space in which the first and second mounting plates are locatedgExpressed as the current viscosity of the dust, VgExpressed as the actual volume of dust removed, v, over a preset timehExpressed as a reference value of the flow velocity, beta, of the dust in the space in which said first and second mounting plates are locatedhExpressed as a preset viscosity reference value, V, for the dusthExpressing as a preset volume for dust removal within a preset time, Q as a dust removal coefficient of the dust removing device, and alpha as an error factor;
step A4, determining the target working time of the dust removing device according to the dust removing efficiency eta:
wherein T is expressed as a target operation time period of the dust removing device, T1Expressed as a preset operating time of the dust removing device, p is expressed as a dust density on the first mounting plate and the second mounting plate before the dust removing device is operated, p1The dust density is expressed as the preset dust density on the first mounting plate and the second mounting plate after the dust removing device is operated;
and step A5, the control device sends the subsequent dust removal instruction to the dust removing device according to the target working time length T.
(III) advantageous effects
The invention provides a clamp for a power-assisted manipulator, which has the following beneficial effects: the cylinder mounting plate of the device is connected with an external mechanical arm, the cylinder is connected with an air source, a corresponding control button (the circuit structure is simpler, the simple control function can be realized, so introduction is not needed) is arranged on a control box, a connector is grabbed by a hand to move when the device is used, and a sucker is moved to a device needing to be sucked for carrying iron. Compared with the prior art that the target carrying object is carried by the clamp, the work efficiency can be improved by using the sucker to adsorb the target carrying object, the target carrying object can be carried without applying pressure to the target carrying object, the problem that scratches or even deformation of heavy castings can be left on the surfaces of the heavy castings after carrying the heavy castings under the compression of high pressure in the prior art is avoided, the experience of users is improved while the carrying cost is reduced, meanwhile, the energy can be saved by using the sucker to carry the target carrying object, the cost is further reduced, and the safety is improved.
Drawings
FIG. 1 is a first perspective view of a first clamp for a power assist robot in accordance with the present invention;
FIG. 2 is a perspective view of a second embodiment of the present invention;
FIG. 3 is a structural diagram of a jig for a power manipulator according to the present invention;
fig. 4 is another structural diagram of a jig for a power-assisted robot according to the present invention.
In the figure: 1. a suction cup; 2. a semicircular protective shell; 3. a first mounting plate; 4. a second mounting plate; 5. fastening screws; 6. a cylinder mounting plate; 7. a cylinder; 8. a mounting seat; 9. a transverse support; 10. an adjusting screw; 11. fixing the card; 12. vertically connecting the square tubes; 13. a connecting plate; 14. a third mounting plate; 15. a fourth mounting plate; 16. a control box; 17. a linker; 18. a laser scanner; 19. a processor; 20. an alarm; 21. a display; 22. a current detection device; 23. a current control device; 24. a weight sensor; 25. a dust detection device; 26. a control device; 27. a dust removing device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the present invention provides a technical solution: a clamp for a power-assisted manipulator comprises a sucker 1 (the sucker can be an electromagnet sucker), a semicircular protective shell 2, a first mounting plate 3, a second mounting plate 4, a cylinder mounting plate 6, a cylinder 7, a mounting seat 8, a transverse support 9, an adjusting screw 10, a fixing clamp 11, a vertical connecting square tube 12, a connecting plate 13, a third mounting plate 14, a fourth mounting plate 15, a control box 16 and a connecting body 17, wherein the mounting seat 8 is mounted on one side of the cylinder mounting plate 6, the cylinder 7 is mounted below the mounting seat 8, the fixing clamp 11 and the cylinder mounting plate 6 are fixed through screws and clamp the cylinder 7 inside the fixing clamp 11, the fixed end of the cylinder 7 is fixed with one end of the transverse support 9 through the adjusting screw 10, the other end of the transverse support 9 is fixedly connected with the third mounting plate 14 and the fourth mounting plate 15, and the cylinder mounting plate 6 is used for connecting the manipulator, vertical connecting square pipe 12 of through connection on third mounting panel 14, the fourth mounting panel 15, 12 lower extreme fixedly connected with connectors 17 of vertical connecting square pipe, be connected with control box 16 on the connectors 17, be connected with connecting plate 13 on the fourth mounting panel 15, the upper end fixedly connected with semicircle protective housing 2 of connecting plate 13, third mounting panel 14, fourth mounting panel 15 still are connected with coupling assembling, coupling assembling is used for being connected with the manipulator, 2 inside first mounting panel 3, the second mounting panel 4 that are provided with of semicircle protective housing, install sucking disc 1 on first mounting panel 3, the second mounting panel 4.
Further, connect through fastening screw 5 between first mounting panel 3, the second mounting panel 4, first mounting panel 3 is located second mounting panel 4 top, 1 fixed connection of sucking disc is in first mounting panel 3 upper end is through setting up between first mounting panel 3, the second mounting panel 4 through fastening screw 5 for first mounting panel is more reliable with being connected of semicircle protective housing.
Further, the suction cup 1 has a disc-shaped structure.
Further, the semicircular protective shell 2 is of a semicircular cylinder structure.
The working principle of the technical scheme is as follows: the cylinder mounting plate 6 of the device is connected with an external mechanical arm, the cylinder 7 is connected with an air source, a corresponding control button is arranged on the control box 16, the connecting body 17 is held by a hand to move when the device is used, and the sucker 1 is moved to a device needing to be sucked for carrying iron. The invention has the characteristics of convenience and practicability.
The beneficial effects of the above technical scheme are: the cylinder 7 mounting plate 6 of the device is connected with an external manipulator, the cylinder 7 is connected with an air source, a corresponding control button is arranged on a control box 16, the sucker 1 is moved to a device needing to be sucked and carried by the manipulator, the device is sucked and grabbed, and then the device is transferred. And can drive third mounting panel 14, fourth mounting panel 15 through the control box control cylinder is flexible, makes the distance change of the sucking disc of connection on the semicircle protective housing apart from manipulator work end through connecting plate, semicircle protective housing to satisfy different transport demands.
Compared with the clamping structure in the prior art, the device to be transported is transported after being clamped by the clamp comprising the clamping structure (such as a clamping plate), and the surface quality of the transported device is influenced under the action of the clamping force (for example, the surface quality is easily damaged when the clamping force is too large for the device with high surface quality requirement, or when the heavy device (such as a heavy casting) is transported, the heavy device can be transported safely by needing larger clamping force to clamp the heavy device due to larger weight of the heavy device, but scratches are left on the surface of the heavy device after the heavy device is transported under the compression of higher clamping force, and even deformation possibly occurs), the device (the target transported object) to be transported can be transported by using the sucking disc 1, so that the working efficiency can be improved, and the target transported object can be transported without applying the clamping force (pressure) to the target transported object, the invention avoids the risk of influencing the surface quality of the transported device under the compression of high pressure in the prior art.
The sucker 1 can be used for carrying the object to be carried, so that energy is saved, the cost is further reduced, and the safety is improved.
In one embodiment, as shown in fig. 3, further comprising: a laser scanner 18, a processor 19, an alarm 20, a display 21, a current detection device 22, a current control device 23, and a weight sensor 24;
the laser scanner 18 is disposed on the cylinder mounting plate 6, is connected to one end of the processor 19, and is configured to scan a connection area of each component when the jig for the power-assisted manipulator is connected to an external manipulator, draw a connection structure diagram in a preset three-dimensional coordinate system to generate detection information, and transmit the detection information to the processor 19, where each component includes: the device comprises a sucker 1, a semicircular protective shell 2, a first mounting plate 3, a second mounting plate 4, a mounting plate 6, a cylinder 7, a mounting seat 8, a transverse support 9, an adjusting screw 10, a fixing clamp 11, a vertical connecting square tube 12, a connecting plate 13, a third mounting plate 14, a fourth mounting plate 15, a control box 16 and a connecting body 17;
the other end of the processor 19 is connected to the display 21 and the alarm 20 at the same time, and is configured to compare the detection information with preset connection structure information to determine whether connection of each component is normal, and when it is determined that connection of any two components is abnormal, obtain an abnormal connection structure diagram, transmit the abnormal connection structure diagram to the display 21, and send an alarm instruction to the alarm 20;
the display 21 is arranged on the connecting body 17 and used for displaying the abnormal connection structure diagram;
the alarm 20 is used for sending an alarm prompt to a user according to the alarm instruction;
the weight sensor 24 is disposed on the suction cup 1, connected to the processor 19, and configured to detect a weight of a target transported object when the suction cup 1 starts to be sucked to the target transported object and transmit the weight to the processor 19;
the processor 19 is further configured to calculate a target current value corresponding to the weight according to the weight, where the target current value is a current value at which the suction cup 1 stably sucks and conveys the target conveyed object;
the current detection device 22 is disposed on the suction cup 1, disposed on one side of the weight sensor 24, connected to the processor 19, and configured to detect a current value of the suction cup 1 and transmit the current value to the processor 19,
the processor 19 is further configured to compare the current value with the target current value, and when it is determined that the current value is greater than or less than the target current value, send an adjustment instruction to the current control device 23;
and one end of the current control device 23 is connected with the other end of the processor 19, and the other end of the current control device is electrically connected with the sucker 1 and used for adjusting the current value of the sucker 1 to the target current value according to the adjusting instruction.
The working principle of the technical scheme is as follows: when the fixture for the power-assisted manipulator is fixedly connected with an external manipulator, a laser scanner is utilized to scan a connection area of each component, a connection structure diagram is drawn in a preset three-dimensional coordinate system which is constructed in advance, detection information is generated according to the connection structure diagram and is transmitted to a processor, after the processor receives the detection information, the detection information is compared with preset connection structure information which is stored in the processor in advance to determine whether the connection between each component is normal or not, if the connection between any two components is abnormal, the abnormal connection structure diagram between the two components is obtained, the abnormal connection structure diagram is transmitted to a display to be displayed, an alarm instruction is sent to an alarm to enable the alarm to send an alarm prompt to a user, and after the connection between each component of the fixture for the power-assisted manipulator is detected to be normal, the fixture for the power-assisted manipulator is used for carrying a target carried object, when the suction cup of the jig for an assist robot is sucked to a target conveyed object, the weight sensor detects the weight of the target conveyed object and transmits the detected weight to the processor, the processor calculates a target current value corresponding to the weight of the target conveyed object based on the weight of the target conveyed object, the target current value is a current value at which the suction pad can stably suck and convey the target conveyed object, and the principle of calculating the target current value is that the current of the suction pad is larger, the larger the magnetic force is, the more firmly the object to be transported is adsorbed, the current value of the sucker is detected by the current detection device and transmitted to the processor, the processor compares the current value with the target current value to determine whether the current of the sucker needs to be adjusted, and when the adjustment is needed, sending an adjustment instruction to the current control device, and adjusting the current of the sucker from the current value to the target current value according to the adjustment instruction after the current control device receives the adjustment instruction.
The beneficial effects of the above technical scheme are: the structure that guarantees helping hand anchor clamps for the manipulator through the linkage structure that utilizes laser scanner scanning each subassembly is normal, avoid appearing connecting incompact and lead to carrying the object to be carried and the accident scheduling problem appears in handling, the security has been improved, when the connection structure of arbitrary two subassemblies appears unusually, connect the structure chart through the display and show unusually and send the warning suggestion simultaneously to the user through the alarm and can make the user know the subassembly of helping hand anchor clamps for the manipulator unusually and firmly operate very first time, the security has further been improved. The weight sensor is arranged to detect the weight of the target conveyed object so as to determine whether the sucker can be stably conveyed, and if not, the current of the sucker is adjusted so as to change the magnetic force of the sucker. The clamp for the power-assisted manipulator can be used for stably carrying the target goods, and stability and working efficiency are improved.
In one embodiment, as shown in fig. 4, further comprising: a dust detection device 25, a control device 26, and a dust removal device 27;
the dust detection device 25 is arranged between the first mounting plate 3 and the second mounting plate 4, is connected with one end of the control device 26, and is used for detecting a first dust thickness on the first mounting plate 3 and a second dust thickness on the second mounting plate 4 and transmitting the first dust thickness and the second dust thickness to the control device 26;
the other end of the control device 26 is connected with the dust removing device 27 and is used for sending a dust removing instruction to the dust removing device 27 according to the first dust thickness and the second dust thickness;
the dust removing device 27 is arranged on one side of the dust detecting device 25 and is used for performing dust removing operation on the first mounting plate 3 and the second mounting plate 4 according to the dust removing instruction;
the dust removal command comprises a dust removal starting command and a subsequent dust removal command, and the step of sending the dust removal command to the dust removing device 27 by the control device 26 according to the first dust thickness and the second dust thickness comprises the following steps:
step a1, dividing the first mounting plate 3 into a plurality of first areas, generating a first dust thickness set according to the thickness of the first dust thickness in each first area, dividing the second mounting plate 4 into a plurality of second areas, generating a second dust thickness set according to the thickness of the second dust thickness in each second area,
step a1, calculating the current dust concentration in the space where the first mounting plate 3 and the second mounting plate 4 are located according to the first dust thickness set and the second dust thickness set:
where ρ represents the current dust concentration in the space in which the first mounting plate 3 and the second mounting plate 4 are located, m1 represents the mass of dust on the first mounting plate 3, m2 represents the mass of dust on the second mounting plate 4, n1 represents the total number of first areas divided by the first mounting plate 3, H1iExpressed as the thickness of the dust in the ith first region, S1iExpressed as the area of the ith first zone, n2 is expressed as the total number of second zones divided by the second mounting plate 4, H2jExpressed as the area of the jth second region, S2jExpressed as the area of the jth second region, UA]A dust mapping function corresponding to the space A where the first mounting plate 3 and the second mounting plate 4 are located is represented;
step A2, comparing the current dust concentration rho with a preset dust concentration rho1Comparing, and when the dust concentration rho is larger than the preset dust concentration rho1When the dust removing device 27 is started, the controller sends a dust removing starting instruction to the dust removing device 27;
step a3, calculating the dust removal efficiency η of the dust removing device 27:
wherein v isgExpressed as the flow velocity, beta, of the dust in the space in which said first and second mounting plates 3, 4 are locatedgExpressed as the current viscosity of the dust, VgExpressed as the actual volume of dust removed, v, over a preset timehExpressed as a reference value of the flow velocity, beta, of the dust in the space in which said first and second mounting plates 3, 4 are locatedhExpressed as a preset viscosity reference value, V, for the dusthExpressed as a preset volume for dust removal within a preset time, Q is expressed as a dust removal coefficient of the dust removing device 27, and α is expressed as an error factor;
step a4, determining the target working time length of the dust removing device 27 according to the dust removal efficiency η:
wherein T is expressed as a target operation time period of the dust removing device 27, T1Expressed as a preset operating time of the dust removing device 27, p is expressed as a dust density on the first mounting plate 3 and the second mounting plate 4 before the dust removing device 27 is operated1As a preset dust density on the first mounting plate 3 and the second mounting plate 4 after the dust removing device 27 is operated;
step a5, the control device 26 sends the subsequent dust removal instruction to the dust removing device 27 according to the target working time;
in this embodiment, the space where the first mounting plate and the second mounting plate are located is an area of a minimum rectangular parallelepiped including the first mounting plate and the second mounting plate.
The working principle of the technical scheme is as follows: since the first mounting plate and the second mounting plate always keep moving and a large amount of dust is doped between the first mounting plate and the second mounting plate, the dust detection device is used for detecting a first dust thickness on the first mounting plate and a second dust thickness on the second mounting plate and transmitting the first dust thickness and the second dust thickness to the control device, the control device divides the first mounting plate into a plurality of areas after receiving the first dust thickness and the second dust thickness, generates a first dust thickness set according to the dust thickness in each area, divides the second mounting plate into a plurality of areas, generates a second dust thickness set according to the dust thickness in each area, the control device calculates the current dust concentration of the space where the first mounting plate and the second mounting plate are located according to the first dust thickness set and the second dust thickness set, and compares the calculated current dust concentration with the preset dust concentration, when the current dust concentration is confirmed to be larger than the preset dust concentration, a dust removal starting instruction is sent to the dust removing device, the dust removing device starts to remove dust on the first mounting plate and the second mounting plate according to the instruction, in the dust removing process, the dust removing efficiency of the dust removing device is calculated by using a series of parameters such as a dust removing coefficient of the dust removing device, the target working time length of the dust removing device is further calculated according to the dust removing efficiency, the calculation process is a formula for calculating the working time length at ordinary times, and is not repeated herein, and after the target working time length of the dust removing device is calculated, the control device sends a subsequent dust removing instruction to the dust removing device, and the subsequent dust removing instruction is an instruction of the working target working time length of the dust removing device.
The beneficial effects of the above technical scheme are: the dust thickness on the first mounting plate and the dust thickness on the second mounting plate are detected by the dust detection device and transmitted to the control device, the dust thickness on the first mounting plate and the dust thickness on the second mounting plate can be accurately detected, the control device divides the first mounting plate and the second mounting plate into a plurality of areas to obtain the dust thickness in each area to form a first dust thickness set and a second dust thickness combination, the problem that the dust thicknesses on the first mounting plate and the second mounting plate are inconsistent is solved, meanwhile, accurate data guarantee is provided for calculating the current dust concentration afterwards, the current dust concentrations in the spaces where the first mounting plate and the second mounting plate are located are calculated, the dust concentrations measured by directly taking an instrument are more accurate compared with the current dust concentrations, a more perfect dust removal effect can be achieved, and the working time required for the dust removal device to remove the dust on the first mounting plate and the second mounting plate can be obtained by calculating the dust removal efficiency of the dust removal device The working time of the dust removing device can be effectively controlled, the dust removing device is prevented from being operated after dust removal is finished, the working efficiency is improved, and the energy loss is saved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The clamp for the power-assisted manipulator is characterized by comprising a sucker (1), a semicircular protective shell (2), a first mounting plate (3), a second mounting plate (4), a vertical connecting square tube (12), a connecting plate (13), a third mounting plate (14), a fourth mounting plate (15), a control box (16) and a connecting body (17), wherein the first mounting plate (3) and the second mounting plate (4) are arranged inside the semicircular protective shell (2), the sucker (1) is arranged on the first mounting plate (3) and the second mounting plate (4), the vertical connecting square tube (12) is connected on the third mounting plate (14) and the fourth mounting plate (15) in a penetrating manner, the lower end of the vertical connecting square tube (12) is fixedly connected with the connecting body (17), the control box (16) is connected on the connecting body (17), and the connecting plate (13) is connected on the fourth mounting plate (15), the upper end of the connecting plate (13) is fixedly connected with a semicircular protective shell (2), the third mounting plate (14) and the fourth mounting plate (15) are further connected with a connecting assembly, and the connecting assembly is used for being connected with a manipulator;
further comprising: a dust detection device (25), a control device (26) and a dust removal device (27);
the dust detection device (25) is arranged between the first mounting plate (3) and the second mounting plate (4), is connected with one end of the control device (26), and is used for detecting a first dust thickness on the first mounting plate (3) and a second dust thickness on the second mounting plate (4) and transmitting the first dust thickness and the second dust thickness to the control device (26);
the other end of the control device (26) is connected with the dust removing device (27) and is used for sending a dust removing instruction to the dust removing device (27) according to the first dust thickness and the second dust thickness;
the dust removing device (27) is arranged on one side of the dust detecting device (25) and is used for carrying out dust removing operation on the first mounting plate (3) and the second mounting plate (4) according to the dust removing instruction;
the dust removal instruction comprises a dust removal starting instruction and a subsequent dust removal instruction, and the step of sending the dust removal instruction to the dust removing device (27) by the control device (26) according to the first dust thickness and the second dust thickness comprises the following steps:
step A1, dividing the first mounting plate (3) into a plurality of first areas, generating a first dust thickness set according to the thickness of the first dust thickness in each first area, dividing the second mounting plate (4) into a plurality of second areas, generating a second dust thickness set according to the thickness of the second dust thickness in each second area,
step A1, calculating the current dust concentration in the space where the first mounting plate (3) and the second mounting plate (4) are located according to the first dust thickness set and the second dust thickness set:
where ρ denotes the current dust concentration in the space in which the first mounting plate (3) and the second mounting plate (4) are located, m1 denotes the mass of dust on the first mounting plate (3), m2 denotes the mass of dust on the second mounting plate (4), n1 denotes the total number of first areas divided by the first mounting plate (3), H1iExpressed as the thickness of the dust in the ith first region, S1iExpressed as the area of the ith first zone, n2 represents the total number of second zones divided by the second mounting plate (4), H2jExpressed as the area of the jth second region, S2jExpressed as the area of the jth second region, UA]Representing a dust mapping function corresponding to a space A in which the first mounting plate (3) and the second mounting plate (4) are located;
step A2, comparing the current dust concentration rho with a preset dust concentration rho1Comparing, and when the dust concentration rho is larger than the preset dust concentration rho1When the dust removing device is used, the controller sends a dust removing starting instruction to the dust removing device (27);
step A3, calculating the dust removal efficiency eta of the dust removing device (27):
wherein v isgExpressed as the flow velocity, beta, of the dust in the space in which the first mounting plate (3) and the second mounting plate (4) are locatedgExpressed as the current viscosity of the dust, VgExpressed as the actual volume of dust removed, v, over a preset timehExpressed as a reference value of the flow velocity, beta, of the dust in the space in which said first mounting plate (3) and second mounting plate (4) are locatedhExpressed as a preset viscosity reference value, V, for the dusthExpressed as a preset volume for dust removal within a preset time, Q is expressed as a dust removal coefficient of the dust removing device (27), and α is expressed as an error factor;
step A4, determining the target working time length of the dust removing device (27) according to the dust removing efficiency eta:
wherein T represents a target operation time period of the dust removing device (27), T1Expressed as a preset operating time of the dust removing device (27), p is expressed as a dust density on the first mounting plate (3) and the second mounting plate (4) before the dust removing device (27) is operated, p is expressed as1Representing a preset dust density on the first mounting plate (3) and the second mounting plate (4) after the dust removing device (27) is operated;
and A5, the control device (26) sends the subsequent dust removal instruction to the dust removing device (27) according to the target working time length T.
2. A jig for a power assisted robot as set forth in claim 1, wherein the connecting assembly comprises: the device comprises a cylinder mounting plate (6), a cylinder (7), a mounting seat (8), a transverse bracket (9), an adjusting screw (10) and a fixing clip (11);
mounting seat (8) are installed to cylinder mounting panel (6) one side, mounting seat (8) below installation cylinder (7), fixing clip (11) are fixed and are fixed cylinder (7) card inside fixing clip (11) through the fix with screw with cylinder mounting panel (6), the stiff end of cylinder (7) is fixed through adjusting screw (10) and the one end of horizontal support (9), the other end fixed connection of horizontal support (9) third mounting panel (14), fourth mounting panel (15), cylinder mounting panel (6) are used for connecting the manipulator.
3. A clamp for a power-assisted manipulator according to claim 1, wherein the first mounting plate (3) and the second mounting plate (4) are connected through a fastening screw (5), the first mounting plate (3) is positioned above the second mounting plate (4), and the suction cup (1) is fixedly connected to the upper end of the first mounting plate (3).
4. A jig for a power assisted robot according to claim 1, wherein the suction cup (1) is of a disc-like configuration.
5. A jig for a power assisted robot according to claim 1, wherein the semi-circular protective case (2) has a semi-cylindrical structure.
6. The jig for a power-assisted robot according to claim 2, further comprising: the device comprises a laser scanner (18), a processor (19), an alarm (20), a display (21), a current detection device (22), a current control device (23) and a weight sensor (24);
laser scanner (18), set up in on the cylinder mounting panel (6), with treater (19) one end is connected for when the anchor clamps for the helping hand manipulator is connected with external manipulator, scan the connection region of each subassembly, draw the connection structure picture in predetermineeing three-dimensional coordinate system in order to generate detection information, will detection information transmission extremely treater (19), each subassembly includes: the device comprises a sucker (1), a semicircular protective shell (2), a first mounting plate (3), a second mounting plate (4), a mounting plate (6), a cylinder (7), a mounting seat (8), a transverse bracket (9), an adjusting screw (10), a fixing clamp (11), a vertical connecting square tube (12), a connecting plate (13), a third mounting plate (14), a fourth mounting plate (15), a control box (16) and a connecting body (17);
the other end of the processor (19) is connected with the display (21) and the alarm (20) at the same time, and is used for comparing the detection information with preset connection structure information to determine whether the connection of each component is normal or not, acquiring an abnormal connection structure diagram when the connection of any two components is confirmed to be abnormal, transmitting the abnormal connection structure diagram to the display (21), and sending an alarm instruction to the alarm (20);
the display (21) is arranged on the connecting body (17) and is used for displaying the abnormal connection structure chart;
the alarm (20) is used for sending an alarm prompt to a user according to the alarm instruction;
the weight sensor (24) is arranged on the sucker (1), is connected with the processor (19) and is used for detecting the weight of the target conveyed object when the sucker (1) starts to be sucked to the target conveyed object and transmitting the weight to the processor (19);
the processor (19) is further used for calculating a target current value corresponding to the weight according to the weight, wherein the target current value is a current value for stably adsorbing and conveying the target conveyed object by the sucker (1);
the current detection device (22) is arranged on the sucker (1), arranged on one side of the weight sensor (24), connected with the processor (19) and used for detecting the current value of the sucker (1) and transmitting the current value to the processor (19),
the processor (19) is further configured to compare the current value with the target current value, and when the current value is determined to be greater than or less than the target current value, send an adjustment instruction to the current control device (23);
and one end of the current control device (23) is connected with the other end of the processor (19), and the other end of the current control device is electrically connected with the sucker (1) and used for adjusting the current value of the sucker (1) to be the target current value according to the adjusting instruction.
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Denomination of invention: A jig for power-assisted robot Effective date of registration: 20230316 Granted publication date: 20211001 Pledgee: Industrial and Commercial Bank of China Limited Yancheng Development Zone Sub branch Pledgor: JIANGSU YUBO AUTOMATION EQUIPMENT Co.,Ltd. Registration number: Y2023990000166 |
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