CN116330320B - Intelligent grabbing robot controlled in linear mode and control method - Google Patents
Intelligent grabbing robot controlled in linear mode and control method Download PDFInfo
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- CN116330320B CN116330320B CN202310615940.0A CN202310615940A CN116330320B CN 116330320 B CN116330320 B CN 116330320B CN 202310615940 A CN202310615940 A CN 202310615940A CN 116330320 B CN116330320 B CN 116330320B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an intelligent material grabbing robot controlled in a linearization manner and a control method thereof, and relates to the technical fields of industrial robots and manipulators. According to the invention, by designing the driving structure capable of driving the separated material storage barrel part and the bottom cone part to be matched with each other, and arranging the mutually matched spiral structures at the peripheries of the material storage barrel part and the bottom cone part, the material storage barrel part and the bottom cone part are driven to rotate by the rotary driving motor, the material storage barrel part and the bottom cone part can easily and quickly drill into a material area in the descending process of the material storage barrel part and the bottom cone part raw material area, and the material sucking on the surface layer of the raw material is carried out by arranging the material injection opening, correspondingly arranging the photoelectric distance probe and the negative pressure suction pipe at the material injection opening, so that the high-energy efficiency material grabbing and taking can be carried out on some high-density particle raw materials in the material grabbing and taking process of an industrial robot, the forced damage to raw material particles is reduced, and the material discharging area can be quickly opened by driving the bottom cone part to move downwards through the servo lifting device.
Description
Technical Field
The invention relates to the technical field of industrial robots and manipulators, in particular to an intelligent material grabbing robot with linear control and a control method.
Background
In the modern industrial production process, quantitative grabbing, leading-in mixing of raw materials is a common technological process in many industrial production processes. The density and the weight of the industrial raw material particles are large, the industrial robot and the mechanical arm with a bucket are directly adopted to forcedly dig materials, the materials are limited by the power of the industrial robot and the mechanical arm, the materials are difficult to dig deeply, the quantitative degree of each digging is difficult to ensure, the industrial robot and the mechanical arm can be adjusted to a model with high power output through design transformation, the forced digging of the raw materials can greatly increase the energy consumption and reduce the energy efficiency, and the integrity of some raw material particles, such as glass beads with fixed particle size range, is damaged. Therefore, how to grasp and take materials with high energy efficiency for some high-density particle raw materials and reduce forced damage to raw material particles becomes a problem that needs to be emphasized in the process of grasping and taking materials by an industrial robot.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the intelligent grabbing robot with linearization control and the control method, so that in the grabbing and taking process of the industrial robot, high-energy-efficiency grabbing and taking are carried out on some high-density particle raw materials, and forced damage to raw material particles is reduced.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an intelligent grabbing robot with linearization control, wherein a cylinder cone part is arranged at the lower part of a storage cylinder part, a plurality of annularly distributed material injection ports are arranged at the upper part of the storage cylinder part, an upper spiral structure is arranged on the outer ring surface of the storage cylinder part, and the upper spiral structure is positioned between the bottom end of the cylinder cone part and the material injection ports. The lower part of the cone of the storage cylinder is provided with a bottom cone member in a matched mode, the outer ring surface of the bottom cone member is provided with a bottom cone spiral structure, and the uppermost end of the bottom cone spiral structure of the bottom cone member is mutually connected and matched with the lowermost end of the upper spiral structure of the cone of the cylinder. The upper photoelectric distance probes and the lower photoelectric distance probes are embedded and configured in a plurality of annular shapes, wherein each upper photoelectric distance probe is independently opposite to one material injection hole, and the lower photoelectric distance probes are positioned below the upper photoelectric distance probes. The top surface of the rotary bottom cover is provided with a negative pressure assembly, the negative pressure assembly is provided with a plurality of negative pressure suction pipes which are independently inserted into the storage barrel, and the opening position of the lower end of each negative pressure suction pipe is independently matched with the position of one material injection opening. The center of the rotary bottom cover is movably inserted with a lifting rod piece, the lower end of the lifting rod piece is connected with a bottom cone piece, a rotary mounting frame is fixedly provided with a servo lifting device with a downward output end, the output end of the servo lifting device is connected with the upper end of the lifting rod piece, a rotary driving motor is arranged above the servo lifting device, the output end of the rotary driving motor faces downward and is matched and connected with the servo lifting device, the top side of the rotary driving motor is in rotary fit with the rotary mounting frame through a thrust bearing ring, and a position adjusting mechanical arm is arranged above the rotary driving motor.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: the inside internal fixation spare that is equipped with of end cone spare, internal fixation spare configuration have end cone connecting rod, and end slot has been seted up to the promotion member lower extreme, and end cone connecting rod fixed mounting is in end slot position department.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: the upper end of the lifting rod piece is provided with a top slot, and the output end of the servo lifting device is fixedly arranged at the position of the top slot.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: a square through groove is formed in the center of the rotary bottom cover, and the horizontal cross section of the lifting rod piece is square.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: a filter screen plug is arranged at the position of the opening at the lower end of the negative pressure suction pipe, and the horizontal height of the opening at the lower end of the negative pressure suction pipe is higher than the horizontal position of the highest point of the material injection port.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: the inner periphery of the rotary mounting frame is fixedly provided with an interlayer fixing plate fixedly connected with the top side of the servo lifting device, and the output end of the rotary driving motor is fixedly connected to the interlayer fixing plate.
As the preferable technical scheme of the grabbing robot, the invention comprises the following steps: the top side of the rotary mounting frame is provided with a limiting ring plate, the top side of the rotary driving motor is fixedly provided with a top layer fixing plate, and the thrust bearing ring is arranged between the top layer fixing plate and the limiting ring plate.
The invention provides an intelligent grabbing control method for linearization control, which comprises the following steps:
step one, spiral drilling: the position adjusting mechanical arm drives the combined structure of the rotary mounting frame, the material storage barrel part and the bottom cone part to reach a designated material grabbing area, the rotary driving motor starts to drive the combined structure of the rotary mounting frame, the material storage barrel part and the bottom cone part to rotate, the position adjusting mechanical arm downwards adjusts the positions of the rotary mounting frame, the material storage barrel part and the bottom cone part, and the rotary mounting frame, the material storage barrel part and the bottom cone part in the rotating process drill into the raw material area through the bottom cone spiral structure and the upper spiral structure and gradually sink deeply;
step two, negative pressure sucking of the surface layer: when any one upper photoelectric distance probe senses a shielding signal, the position adjusting mechanical arm stops driving the rotary mounting frame, the material storage barrel part and the bottom cone part to move downwards, the rotary driving motor stops rotating, the negative pressure suction pipe at the position corresponding to the upper photoelectric distance probe which detects the shielding signal performs negative pressure suction, and surface layer raw materials in the raw material area enter the material storage barrel part from the material injection port.
Step three, sinking and drilling: when all the upper photoelectric distance probes do not sense the shielding signal and any one of the lower photoelectric distance probes do not sense the shielding signal, the rotary driving motor continues to rotate, the position adjusting mechanical arm continues to drive the rotary mounting frame, the storage cylinder part and the bottom cone part to move downwards until any one of the upper photoelectric distance probes senses the shielding signal again, the rotary driving motor and the position adjusting mechanical arm stop acting.
Step four, separating from the raw material area: when all lower photoelectric distance probes sense shielding signals, the position adjusting mechanical arm reversely drives the rotary mounting frame, the storage cylinder part and the bottom cone part to move upwards, and the rotary driving motor starts to drive the bottom cone spiral structure and the upper spiral structure to reversely rotate until the bottom cone part is separated from the raw material area.
Step five, quick discharging: the position adjusting mechanical arm drives the rotary mounting frame, the material storage barrel part and the bottom cone part to move to the material discharging area, the servo lifting device drives the lifting rod piece and the bottom cone part to move downwards for a certain distance, a material discharging opening is formed between the bottom cone part and the barrel cone part, and raw materials in the material storage barrel part are discharged from the position of the material discharging opening.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, a matching mode of the storage barrel part and the bottom cone part which can be driven to be separated is designed, the periphery is provided with a mutually matched spiral structure, the storage barrel part and the bottom cone part are driven to rotate by the rotary driving motor, the raw material area is easily and rapidly drilled in the descending process of the raw material area of the storage barrel part and the bottom cone part, and the material is sucked on the surface layer of the raw material by arranging the material injection port, correspondingly arranging the photoelectric distance probe and the negative pressure suction pipe at the material injection port, so that the high-energy efficiency material grabbing and taking are carried out on some high-density particle raw materials in the material grabbing and taking process of an industrial robot, and the forced damage on raw material particles is reduced; meanwhile, the invention can drive the bottom cone piece to move downwards through the servo lifting device during discharging, and rapidly open a discharging area.
Drawings
Fig. 1 is a schematic diagram of an intelligent grabbing robot in the invention.
Fig. 2 is a schematic diagram of fig. 1 at a partial enlargement.
FIG. 3 is a schematic view of the external spiral structure of the cartridge and the bottom cone of the present invention.
Fig. 4 is an exploded view of the intelligent grabbing robot in the invention.
Fig. 5 is a schematic view of a part of the structure of the rotary mounting frame in the present invention.
FIG. 6 is a schematic view of a cartridge of the present invention.
Fig. 7 is a schematic view of a lifting lever according to the present invention.
Fig. 8 is a schematic view of a base cone according to the present invention.
FIG. 9 is a schematic diagram of a negative pressure assembly according to the present invention.
Fig. 10 is a schematic diagram of the intelligent grabbing robot in the invention during emptying.
Wherein: 1-a storage barrel part, 101-a barrel cone part, 102-a material injection port and 103-an upper spiral structure; 2-bottom cone parts, 201-inner fixing parts, 202-bottom cone connecting rods and 203-bottom cone spiral structures; 3-rotating mounting frames, 301-rotating bottom covers, 3011-square through grooves, 302-inner ring plates, 303-interlayer fixing plates, 304-top layer fixing plates, 305-limiting ring plates and 306-thrust bearing rings; 4-lifting rod pieces, 401-bottom slots, 402-blanking conical surfaces and 403-top slots; 5 a-upper photoelectric distance probe, 5 b-lower photoelectric distance probe; 6-servo lifting device; 7-a rotary drive motor; 8-a position adjustment mechanical arm; 9-negative pressure components, 901-annular cavities, 902-limiting protrusions, 903-lifting fan annular plates, 904-vent holes, 905-sealing plugs, 906-guide rods, 907-iron rings, 908-electromagnetic rings, 909-inner airflow pipelines and 910-main air pipes; 10-negative pressure suction tube, 1001-filter screen plug.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The first embodiment of the invention relates to an intelligent grabbing robot with linearization control, which is mainly characterized by comprising the following structural characteristics:
referring to fig. 1, a cartridge 1: the lower part is a cylinder cone part 101, a bottom cone part 2 is arranged below the cylinder cone part 101, and the bottom cone part 2 can be closely contacted with or separated from the bottom end of the cylinder cone part 101. The rotary mounting frame 3 is arranged above the storage barrel part 1, the rotary bottom cover 301 is arranged at the bottom of the rotary mounting frame 3, and the rotary bottom cover 301 is fixedly connected with the upper end of the storage barrel part 1. The lifting rod piece 4 is movably inserted in the center position of the rotary bottom cover 301, the upper end of the lifting rod piece 4 is connected with the output end of the servo lifting device 6, the lower end of the lifting rod piece 4 is connected with the bottom cone piece 2, the servo lifting device 6 and the rotary driving motor 7 are fixedly arranged on the inner periphery of the rotary mounting frame 3, and the output end of the servo lifting device 6 faces downwards.
The rotary driving motor 7 is installed above the servo lifting device 6, the output end of the rotary driving motor 7 faces downwards, and the output end of the rotary driving motor 7 is connected with the top position of the servo lifting device 6, wherein the specific structure is as follows: the inner periphery of the rotary mounting frame 3 is provided with an interlayer fixing plate 303, the interlayer fixing plate 303 is fixedly arranged on the top side of the servo lifting device 6, and the output end of the rotary driving motor 7 is fixedly connected to the interlayer fixing plate 303.
The top side of the rotary driving motor 7 is in running fit with the rotary mounting frame 3 through a thrust bearing ring 306, wherein the specific structure is as follows: the top side of the rotary mounting frame 3 is a limiting ring plate 305, a top layer fixing plate 304 is fixedly mounted on the top side of the rotary driving motor 7, and a thrust bearing ring 306 is mounted between the top layer fixing plate 304 and the limiting ring plate 305.
The position adjusting mechanical arm 8 is arranged above the rotary driving motor 7, and the position adjusting mechanical arm 8 is directly connected with the rotary driving motor 7, so that when the rotary driving motor 7 rotates, the rotary driving motor 7 does not rotate, but drives the rotary mounting frame 3 to rotate instead, the position adjusting mechanical arm 8 drives the rotary driving motor 7, the rotary mounting frame 3, the material storage barrel part 1 and the like to move in position, and the required position moving operation can be completed by adopting a common industrial mechanical arm.
Referring to fig. 2 and 5, a plurality of injection ports 102 are disposed at the upper portion of the storage barrel 1, the plurality of injection ports 102 are annularly distributed around the annular side surface of the storage barrel 1, an inner annular plate 302 is disposed at the bottom surface of the rotary bottom cover 301, the upper photoelectric distance probe 5a and the lower photoelectric distance probe 5b are mounted on the inner annular plate 302, the upper photoelectric distance probe 5a and the lower photoelectric distance probe 5b are all distributed in a plurality of annular positions, each upper photoelectric distance probe 5a is directly opposite to one injection port 102, the lower photoelectric distance probe 5b is located below the upper photoelectric distance probe 5a, the lower photoelectric distance probe 5b can be generally disposed below the lowest point of the injection ports 102, and therefore, when the sensing detection of the raw materials in the storage barrel 1 is performed, the raw materials do not exceed the injection ports 102 when the raw materials reach the lower photoelectric distance probe 5b, and the raw materials do not overflow from the injection ports 102 in the moving process of the storage barrel 1.
The negative pressure assembly 9 is installed on the upper side of the rotary bottom cover 301, a plurality of negative pressure suction pipes 10 are connected with the negative pressure assembly 9, the negative pressure suction pipes 10 are mutually independent, the negative pressure suction pipes 10 are inserted into the storage barrel 1, wherein one negative pressure suction pipe 10 is configured at the position of one material injection hole 102, the lower end opening position of the negative pressure suction pipe 10 is generally higher than the highest point horizontal position of the opening position of the material injection hole 102, and a filter screen plug 1001 is installed at the lower end opening position of the negative pressure suction pipe 10.
Referring to fig. 3, the outer ring surface of the storage barrel 1 is an upper spiral structure 103, the outer ring surface of the bottom cone 2 is a bottom cone spiral structure 203, the upper spiral structure 103 is located between the bottom end of the barrel cone 101 and the material injection port 102, and the uppermost end of the bottom cone spiral structure 203 of the bottom cone 2 is engaged with the lowermost end of the upper spiral structure 103 of the barrel cone 101.
Referring to fig. 4, a schematic view of the storage barrel 1, the bottom cone 2, the rotary mounting frame 3, and the lifting rod 4 when not assembled together is shown.
Referring to fig. 1 and 5, a square through slot 3011 is formed at the center of the rotary bottom cover 301, the horizontal cross section of the lifting rod 4 is square, the square through slot 3011 at the center of the rotary bottom cover 301 and the lifting rod 4 with square cross section are mutually limited, and during the rotation of the storage barrel 1, the bottom cone 2 is also forced to rotate synchronously, so that the external upper spiral structure 103 and the bottom cone spiral structure 203 synchronously rotate in combination with fig. 3.
Referring to fig. 6, the material storage barrel 1 has a vertical through structure, a material injection port 102 is arranged at the upper part, a barrel cone 101 is arranged at the lower part, and a mounting plate structure with a mounting hole can be arranged at the periphery of the upper part of the material storage barrel 1.
Referring to fig. 7 and 8, an inner fixing member 201 is fixedly installed inside the bottom cone member 2, a bottom cone connecting rod 202 is disposed on the upper portion of the inner fixing member 201, a bottom slot 401 is disposed at the lower end of the lifting rod 4, the bottom cone connecting rod 202 is fixedly installed at the position of the bottom slot 401, and transverse through slots matched with each other can be formed at the lower end of the lifting rod 4 and the bottom cone connecting rod 202, and the lifting rod and the bottom cone connecting rod are fixed through fixing rods or bolts, nuts and the like. In addition, the lower end of the lifting rod 4 is further provided with a discharging conical surface 402, and when the material storage barrel 1 is used for discharging, the discharging conical surface 402 can smoothly discharge materials.
Referring to fig. 2 and 7, a top slot 403 is formed at the upper end of the lifting rod 4, the output end of the servo lifting device 6 is fixedly mounted at the position of the top slot 403, and the upper end of the lifting rod 4 and the output end of the servo lifting device 6 can be provided with mutually matched transverse through slots in the same way as the bottom cone connecting rod 202 and the bottom slot 401, and are fixed by means of fixing rods, bolts, nuts and the like.
Referring to fig. 9, the present invention provides a structural form of the negative pressure assembly 9, and any structural configuration that can achieve the function of the negative pressure assembly 9 of the present invention can be applied to the present invention. The negative pressure assembly 9 is whole annular, the main air pipe 910 has been set up to negative pressure assembly 9 upside, the inside ring chamber 901 that has set up of negative pressure assembly 9, ring chamber 901 and main air pipe 910 intercommunication, ring chamber 901 inner wall has set up spacing arch 902, spacing arch 902 below has set up a plurality of lift fan annular plates 903, every lift fan annular plate 903 bottom surface central point put all has set up sealing plug 905, a plurality of air vents 904 of encircleing around the sealing plug have been seted up to lift fan annular plate 903, every lift fan annular plate 903 bottom surface has set up two guide bars 906, an iron ring 907 has been connected jointly to two guide bars 906 bottom, still set up an electricity magnetic ring 908 below every iron ring 907, lift fan annular plate 903 below sets up air current inner tube 909, air current inner tube 909 is connected with negative pressure straw 10. When the negative pressure suction pipe 10 at the current position needs to be opened, the negative pressure action of the main air pipe 910 and the annular cavity 901 can directly attract the lifting fan annular plate 903 upwards, and the opening at the upper end of the air flow inner pipeline 909 is opened. When the negative pressure suction pipe 10 at the current position needs to be closed, after the electromagnetic ring 908 is electrified, the iron ring 907 descends, the lifting fan annular plate 903 descends, and the sealing plug 905 seals the upper opening of the air flow inner pipe 909.
Referring to fig. 10, when the raw materials in the storage barrel 1 need to be guided out, the servo lifting device 6 drives the lifting rod 4 and the bottom cone 2 to descend.
The method for installing the components of the device in the second embodiment is as follows:
first, the servo lift device 6, the rotary drive motor 7, the negative pressure unit 9, the upper photoelectric distance probe 5a, and the lower photoelectric distance probe 5b are integrally disposed on the rotary mount 3. Then, the bottom cone 2 is fixedly installed at the lower side end of the lifting rod 4, the lifting rod 4 passes upward through the square through groove 3011 of the rotary bottom cover 301, and attention is paid to the abutting alignment of the upper end of the bottom cone spiral structure 203 of the bottom cone 2 with the lower end of the upper spiral structure 103 of the cylindrical cone 101 when the lifting rod 4 passes through the square through groove 3011. Then the output end of the servo lifting device 6 is fixedly connected with the upper end of the lifting rod 4, and the upper end of the storage barrel 1 is fixedly connected with the rotary bottom cover 301.
The third embodiment of the invention relates to an intelligent grabbing control method for linearization control, which mainly comprises the following steps:
firstly, a position adjusting mechanical arm 8 drives a combined structure of a rotary mounting frame 3, a storage barrel part 1 and a bottom cone part 2 to reach a designated material grabbing area, a rotary driving motor 7 starts to drive the combined structure of the rotary mounting frame 3, the storage barrel part 1 and the bottom cone part 2 to rotate, the position adjusting mechanical arm 8 downwards adjusts the positions of the rotary mounting frame 3, the storage barrel part 1 and the bottom cone part 2, and the rotary mounting frame 3, the storage barrel part 1 and the bottom cone part 2 in the rotating process drill into a raw material area through a bottom cone spiral structure 203 and an upper spiral structure 103 and gradually sink deeply;
normally, the detection signal of the upper photoelectric distance probe 5a directly passes through the material injection port 102 to detect the external environment, at this time, the upper photoelectric distance probe 5a cannot detect the shielding signal, and when the upper photoelectric distance probe 5a detects the shielding signal, it is indicated that the material injection port 102 is lower than the surface of the material area, and the material starts to enter the material storage barrel 1 from the material injection port 102. Therefore, when any one of the upper photoelectric distance probes 5a senses a shielding signal, the position adjusting mechanical arm 8 stops driving the rotary mounting frame 3, the material storage barrel part 1 and the bottom cone part 2 to move downwards, the rotary driving motor 7 stops rotating, the negative pressure suction pipe 10 at the position corresponding to the upper photoelectric distance probe 5a which detects the shielding signal performs negative pressure suction (if the upper photoelectric distance probe 5a does not detect the shielding signal, the negative pressure suction pipe 10 at the position does not perform negative pressure suction), and surface raw materials in the raw material area enter the material storage barrel part 1 from the material injection port 102.
The lower photoelectric distance probe 5b only senses the distance to the inner wall of the storage barrel 1 in a normal state. When the raw materials in the storage barrel part 1 accumulate to the lower photoelectric distance probe 5b, the distance sensed by the lower photoelectric distance probe 5b is smaller than the distance of the inner wall of the storage barrel part 1, and at the moment, the lower photoelectric distance probe 5b is considered as a shielding signal sensed and detected. Therefore, when all the upper photoelectric distance probes 5a do not sense the shielding signal and any one of the lower photoelectric distance probes 5b does not sense the shielding signal, the rotary driving motor 7 continues to rotate, the position adjusting mechanical arm 8 continues to drive the rotary mounting frame 3, the material storage barrel part 1 and the bottom cone part 2 to move downwards, and until any one of the upper photoelectric distance probes 5a senses the shielding signal again, the rotary driving motor 7 and the position adjusting mechanical arm 8 stop acting.
Then, when all lower photoelectric distance probes 5b sense the shielding signals, the position adjusting mechanical arm 8 reversely drives the rotary mounting frame 3, the material storage barrel part 1 and the bottom cone part 2 to move upwards, and the rotary driving motor 7 starts to drive the bottom cone spiral structure 203 and the upper spiral structure 103 to reversely rotate until the bottom cone part 2 is separated from the raw material area.
Finally, the position adjusting mechanical arm 8 drives the rotary mounting frame 3, the material storage barrel part 1 and the bottom cone part 2 to move to a discharging area, then the servo lifting device 6 drives the lifting rod 4 and the bottom cone part 2 to descend for a certain distance, a discharging opening is formed between the bottom cone part 2 and the barrel cone part 101, and raw materials in the material storage barrel part 1 are discharged from the position of the discharging opening.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. Intelligent grabbing robot controlled in linear mode is characterized in that:
the automatic feeding device comprises a storage barrel part (1), wherein a barrel cone part (101) is arranged at the lower part of the storage barrel part (1), a plurality of annularly distributed material injection ports (102) are arranged at the upper part of the storage barrel part (1), an upper spiral structure (103) is arranged on the outer annular surface of the storage barrel part (1), and the upper spiral structure (103) is positioned between the bottom end of the barrel cone part (101) and the material injection ports (102);
a bottom cone member (2) is arranged below the cone portion (101) of the material storage barrel member (1) in a matched mode, a bottom cone spiral structure (203) is arranged on the outer annular surface of the bottom cone member (2), and the uppermost end of the bottom cone spiral structure (203) of the bottom cone member (2) is mutually connected and matched with the lowermost end of the upper spiral structure (103) of the cone portion (101);
a rotary mounting frame (3) is arranged above the storage barrel part (1), a rotary bottom cover (301) fixedly mounted and connected with the storage barrel part (1) is arranged at the bottom of the rotary mounting frame (3), an inner annular plate (302) is arranged on the bottom surface of the rotary bottom cover (301), a plurality of annularly distributed upper photoelectric distance probes (5 a) and lower photoelectric distance probes (5 b) are embedded and arranged on the annular side of the inner annular plate (302), each upper photoelectric distance probe (5 a) is independently opposite to one material injection port (102), and the lower photoelectric distance probe (5 b) is positioned below the upper photoelectric distance probe (5 a);
the top surface of the rotary bottom cover (301) is provided with a negative pressure assembly (9), the negative pressure assembly (9) is provided with a plurality of negative pressure suction pipes (10) which are independently inserted into the storage barrel (1), and the opening position of the lower end of each negative pressure suction pipe (10) is independently matched with the position of one material injection port (102);
the rotary bottom cover (301) is characterized in that a lifting rod piece (4) is movably inserted in the center of the rotary bottom cover, the lower end of the lifting rod piece (4) is connected with a bottom cone piece (2), a servo lifting device (6) with a downward output end is fixedly installed on the rotary installation frame (3), the output end of the servo lifting device (6) is connected with the upper end of the lifting rod piece (4), a rotary driving motor (7) is arranged above the servo lifting device (6), the output end of the rotary driving motor (7) faces downwards and is connected with the servo lifting device (6) in a matched mode, the top side of the rotary driving motor (7) is in running fit with the rotary installation frame (3) through a thrust bearing ring (306), and a position adjusting mechanical arm (8) is arranged above the rotary driving motor (7);
an interlayer fixing plate (303) fixedly connected with the top side of the servo lifting device (6) is fixedly arranged on the inner periphery of the rotary mounting frame (3), and the output end of the rotary driving motor (7) is fixedly connected to the interlayer fixing plate (303);
the top side of the rotary mounting frame (3) is provided with a limiting ring plate (305), the top side of the rotary driving motor (7) is fixedly provided with a top layer fixing plate (304), and the thrust bearing ring (306) is arranged between the top layer fixing plate (304) and the limiting ring plate (305).
2. The intelligent linearly controlled grasping robot of claim 1, wherein:
the inside internal fixation spare (201) that is equipped with of end cone spare (2), internal fixation spare (201) configuration have end cone connecting rod (202), end slot (401) have been seted up to lifting rod spare (4) lower extreme, end cone connecting rod (202) fixed mounting is in end slot (401) position department.
3. The intelligent linearly controlled grasping robot of claim 1, wherein:
the upper end of the lifting rod piece (4) is provided with a top slot (403), and the output end of the servo lifting device (6) is fixedly arranged at the position of the top slot (403).
4. The intelligent linearly controlled grasping robot of claim 1, wherein:
a square through groove (3011) is formed in the center of the rotary bottom cover (301), and the horizontal cross section of the lifting rod piece (4) is square.
5. The intelligent linearly controlled grasping robot of claim 1, wherein:
the filter screen plug (1001) is arranged at the opening position of the lower end of the negative pressure suction pipe (10), and the horizontal height of the opening of the lower end of the negative pressure suction pipe (10) is higher than the horizontal position of the highest point of the material injection port (102).
6. An intelligent material grabbing control method for linearization control is characterized in that the intelligent material grabbing robot adopting linearization control as claimed in any one of claims 1 to 5 comprises the following steps:
step one, twist drill in
The position adjusting mechanical arm (8) drives the combined structure of the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2) to reach a specified material grabbing area, the rotary driving motor (7) starts to drive the combined structure of the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2) to rotate, the position adjusting mechanical arm (8) downwards adjusts the positions of the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2), and the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2) in the rotating process drill into the raw material area through the bottom cone spiral structure (203) and the upper spiral structure (103) and gradually sink deeply;
step two, surface negative pressure sucking material
When any upper photoelectric distance probe (5 a) senses a shielding signal, the position adjusting mechanical arm (8) stops driving the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2) to move downwards, the rotary driving motor (7) stops rotating, negative pressure suction is carried out by the negative pressure suction pipe (10) at the position corresponding to the upper photoelectric distance probe (5 a) which detects the shielding signal, and surface raw materials in the raw material area enter the material storage barrel part (1) from the material injection port (102);
step three, sinking and drilling
When all the upper photoelectric distance probes (5 a) do not sense the shielding signal and any one of the lower photoelectric distance probes (5 b) does not sense the shielding signal, the rotary driving motor (7) continues to rotate, the position adjusting mechanical arm (8) continues to drive the rotary mounting frame (3), the storage barrel part (1) and the bottom cone part (2) to move downwards until any one of the upper photoelectric distance probes (5 a) senses the shielding signal again, the rotary driving motor (7) and the position adjusting mechanical arm (8) stop acting;
step four, separating from the raw material area
When all lower photoelectric distance probes (5 b) sense shielding signals, the position adjusting mechanical arm (8) reversely drives the rotary mounting frame (3), the storage cylinder (1) and the bottom cone (2) to move upwards, and the rotary driving motor (7) starts to drive the bottom cone spiral structure (203) and the upper spiral structure (103) to rotate reversely until the bottom cone (2) is separated from a raw material area;
step five, quick discharging
The position adjusting mechanical arm (8) drives the rotary mounting frame (3), the material storage barrel part (1) and the bottom cone part (2) to move to the material discharging area, the servo lifting device (6) drives the lifting rod piece (4) and the bottom cone part (2) to move downwards by a certain distance, a material discharging opening is formed between the bottom cone part (2) and the barrel cone part (101), and raw materials in the material storage barrel part (1) are discharged from the material discharging opening position.
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