CN206326616U - A kind of swinging pneumatic suction device and delta robots - Google Patents
A kind of swinging pneumatic suction device and delta robots Download PDFInfo
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- CN206326616U CN206326616U CN201621363091.6U CN201621363091U CN206326616U CN 206326616 U CN206326616 U CN 206326616U CN 201621363091 U CN201621363091 U CN 201621363091U CN 206326616 U CN206326616 U CN 206326616U
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Abstract
The utility model discloses a kind of swinging pneumatic suction device and delta robots, the swinging pneumatic suction device includes pneumatic circuit pedestal, gyroaxis, the gyroaxis relative to pneumatic circuit pedestal is rotated through pneumatic circuit pedestal and by floating bearing, Pneumatic suction cup is fixed on gyroaxis by fixed briquetting, gyroaxis middle setting has gas circuit runner, annular groove is provided with gyroaxis, the diameter of annular groove is less than the diameter of gyroaxis, at least one passage is provided with annular groove, gas circuit runner one end is connected with Pneumatic suction cup inner chamber, the gas circuit runner other end is connected with passage, pneumatic circuit pedestal on the position of annular groove just to being provided with blow vent, annular groove is vertically disposed with sealing ring, floating bearing periphery is fixed with gyroaxis bearing, pneumatic circuit pedestal is fixed in gyroaxis bearing.The utility model physical dimension is small, and integration is strong, it is to avoid the possibility that tracheae is wound in sucker turning course, reduces the extra load quality and load inertia of robot end.
Description
Technical field
The utility model is related to robotics, and in particular to a kind of swinging pneumatic suction device and delta machines
Device people.
Background technology
Delta robots are to be applied to the light industries such as food, medicine, replace manually realizing material in product line
Rapid sorting, reason material, packaging etc. process.Its implementation is to install pneumatic clamps on the end effector of DELTA robots
Tool or Pneumatic suction cup, crawl or absorbing material are carried and put in specified location special angle.Special pin
To the material of some angled adjustment, the Plane Angle according to obtained by detection, paw or sucker crawl thing are needed after crawl
Material progress rotates to an angle and could correctly be put into material tray or given process position.Pneumatic circuit can be now related to exist
Pipeline tangled up and knotted during multiple rotary, while delta robots are a underloading highspeed sorters device people, therefore must take into consideration
The lightweight of end effector, it is impossible to compact reliable crawl and the revolution work of high speed is realized using products such as traditional commutators
Make.
Many delta robots have only used 3 translational degree of freedom at present, and are not added with the function of paw revolution.On a small quantity
Product with paw revolute function, its implementation is to be installed using small-sized motor with decelerator as driving element is performed
On the end effector of robot or using commercial connector, as a valve block inside connector, then in valve block
Periphery design connecting interface is connected with Pneumatic suction cup, the sufficiently complex high cost of the structure, and increases the extra of robot end
Load quality and load inertia, the performance for reducing robot (reduce normal speed, nominal load, positioning and repeated
Positioning precision, large inertia causes overshoot phenomenon), while complicated structure brings larger appearance and size, cause robot to exist
Limited range increase in operating space.
Utility model content
In view of this, in order to solve pneumatic circuit of the prior art pipeline tangled up and knotted, machine during multiple rotary
Device people is the problem of limited range is big in operating space, and the utility model proposes a kind of swinging pneumatic suction device and delta
Robot.
The utility model is solved the above problems by following technological means：
A kind of swinging pneumatic suction device, including pneumatic circuit pedestal, gyroaxis, the gyroaxis pass through pneumatic circuit
Pedestal is simultaneously rotated by floating bearing relative to pneumatic circuit pedestal, and Pneumatic suction cup is fixed on gyroaxis by fixed briquetting,
Gyroaxis middle setting, which has, is provided with annular groove on gas circuit runner, gyroaxis, the diameter of annular groove is less than on the diameter of gyroaxis, annular groove
At least one passage is provided with, gas circuit runner one end is connected with Pneumatic suction cup inner chamber, the gas circuit runner other end and passage phase
Even, pneumatic circuit pedestal is just to being provided with blow vent on the position of annular groove, and annular groove is vertically disposed with outside sealing ring, floating bearing
It is fixed with gyroaxis bearing week, pneumatic circuit pedestal is fixed in gyroaxis bearing.
Further, the pneumatic circuit pedestal is fixed in gyroaxis bearing by fixing nut.
Further, the passage is four.
Further, the swinging pneumatic suction device is also inserted soon including internal for the ventilation of cavity, and the ventilation is fast
In the blow vent for being inserted in pneumatic circuit pedestal.
A kind of delta robots, including the swinging pneumatic suction device, are also filled including control system, vacuum
Put, robot body, the robot body include body base, front pivot arm, rear driving arm, end effector, gyroaxis
Bearing is fixed on end effector；
The vacuum generating device is used to make Pneumatic suction cup inner chamber become vacuum to produce suction；
The control system is used to control vacuum generating device, the front pivot arm on robot body, rear driving arm, revolution
Axle makes corresponding action.
Further, the gyroaxis bearing is secured by bolts on end effector.
Further, the control system include dual core processor, dual core processor respectively with network communication module, data
Memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；Network leads to
News module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules and simulation
Amount instruction servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also refers to pulse respectively
Make servo-driver, analog quantity instruction servo-driver, encoder connection；
The dual core processor includes first processor, second processing device；Enter between first processor and second processing device
Row data communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot body；
The second processing device is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot body；
The host computer is used for the control mode that user operates selection control system, and control mode is controlled including network communication
Mode, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control system child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
The pulse command servo-driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive front pivot arm on robot body, rear driving arm, gyroaxis to make accordingly
Mechanical action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.
Further, the first processor is arm processor, and second processing device is DSP Processor.
Further, the network communication module realizes that host computer leads to the efficient of control system child node by Ethernet
News, the network communication servo-driver drives servomotor according to the ethernet signal of reception.
Further, the control system is also including the serial port module being connected with dual core processor, display module, extension IO
Module；
The serial port module is used to realize that control system is connected with external equipment using the expansion interface of serial communication mode
Connect；
The display module is used for the status data for showing reflection control system；
The extension I/O module is used for control system and carries out data analysis with external equipment or exchange.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), physical dimension is small, and integration is strong；
2), using integrated pneumatic loop pedestal so that gas circuit is short, Pneumatic suction cup reaches required vacuum required time more
It is short；
3) possibility that tracheae is wound in sucker turning course, is avoided；
4) the extra load quality and load inertia of robot end, is reduced, the performance of robot is added, expanded
The field of employment of great Liao robots；
5), control system is using ARM as peripheral control and detection, and DSP completes system dynamics computing, taken full advantage of
Respective advantage, has simplified control system, and cost performance is increased substantially；
6), control system can realize that high-speed data is exchanged and networking using EhtherNet；
7), control system possesses EtherNet and Pulse analog control mode is for selection, and control mode is freer
Flexibly, the servo-driver and servomotor of multiple control modes are suitable for.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model swinging pneumatic suction device；
Fig. 2 is the structural representation of the utility model delta robots；
Fig. 3 is the structural representation of the utility model control system.
Description of reference numerals：
1st, gyroaxis bearing 2, floating bearing 3, sealing ring 4, annular groove 5, sealing ring 6, gyroaxis 7, fixed briquetting
8th, Pneumatic suction cup 9, pneumatic rotary pedestal 10, ventilation it is fast insert 11, fixing nut 12, bolt 13, end effector 14, after
Actuating arm 15, body base 16, front pivot arm
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with accompanying drawing and
The technical solution of the utility model is described in detail specific embodiment.It is pointed out that described embodiment is only
Only it is a part of embodiment of the utility model, rather than whole embodiments, based on the embodiment in the utility model, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to the utility model
The scope of protection.
Embodiment 1
As shown in figure 1, the utility model provides a kind of swinging pneumatic suction device, including pneumatic circuit pedestal 9, revolution
Axle 6, the gyroaxis 6 is through pneumatic circuit pedestal 9 and is rotated by floating bearing 2 relative to pneumatic circuit pedestal 9, pneumatic suction
Disk 8 is fixed on gyroaxis 6 by fixed briquetting 7, and the middle setting of gyroaxis 6, which has, be provided with annular groove on gas circuit runner, gyroaxis 6
4, the diameter of annular groove 4, which is less than on the diameter of gyroaxis 6, annular groove 4, is provided with four passages, gas circuit runner one end and Pneumatic suction cup
8 inner chambers are connected, and the gas circuit runner other end is connected with passage, and pneumatic circuit pedestal 9 on the position of annular groove 4 just to being provided with ventilation
Mouthful, it is provided with above annular groove 4 below sealing ring 3, annular groove 4 and is provided with sealing ring 5, it is ensured that between blow vent and gyroaxis
Sealing, the periphery of floating bearing 2 is fixed with gyroaxis bearing 1, and pneumatic circuit pedestal 9 is fixed on revolution by fixing nut 11
On bearing block 1.
The swinging pneumatic suction device also includes inside and inserts 10 soon for the ventilation of cavity, and the ventilation is inserted 10 and is inserted in soon
In the blow vent of pneumatic circuit pedestal 9.
Embodiment 2
As shown in Fig. 2 the utility model also provides a kind of delta robots, including the swinging pneumatic suction device,
Also include control system, vacuum generating device, robot body, the robot body includes body base 15, front pivot arm
16th, rear driving arm 14, end effector 13, gyroaxis bearing 1 are fixed on end effector 13 by bolt 12；
The vacuum generating device is used to make the inner chamber of Pneumatic suction cup 8 become vacuum to produce suction；Outside pneumatic tube
Curb front pivot arm and rear driving arm is connected with end effector, and the vacuum generating pump in vacuum generating device is arranged on end
On actuator, the vacuum port of vacuum generator is connected on blow vent of the present utility model, when sorting machine people captures object
After when needing the angle of revolution to operate, drive gyroaxis to turn round corresponding angle by motor, while not influenceing external feed stream implication
The absolute position of pipe, it is to avoid the possibility that tracheae is wound in sucker turning course.
The control system be used for control vacuum generating device, the front pivot arm 16 on robot body, rear driving arm 14,
Gyroaxis 6 makes corresponding action.
As shown in figure 3, the control system include dual core processor, dual core processor respectively with network communication module, number
According to memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；Network
Communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules and mould
Analog quantity instruction servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also respectively with pulse
Instruct servo-driver, analog quantity instruction servo-driver, encoder connection；
The dual core processor uses F28M36P63C2, and dual core processor includes first processor, second processing device；The
Data communication is carried out by IPC between one processor and second processing device；First processor is arm processor, second processing device
For DSP Processor, arm processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot body, DSP processing
Device is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot body.
The host computer is used for the control mode that user operates selection control system, and control mode is controlled including network communication
Mode, pulse command control mode, analog quantity instruction control mode, facilitate the real-time switching control mode of user, control mode ratio
Relatively flexibly, the servo-driver and servomotor of multiple control modes can be used, versatility is stronger.
The network communication servo-driver is used to drive servomotor according to the network signal of reception；The pulse generation
Module is used to send corresponding pulse command according to the pulse generation of reception instruction；The pulse command servo-driver is used for root
Servomotor is driven according to the pulse command of reception；The DAC D/A converter modules, which are used to change the digital command of reception, to be simulated
Amount instruction；Circuit uses the generation of DAC8871 chips realization ± 10V analog quantity voltages；The analog quantity instructs servo-driver
For the analog quantity order-driven servomotor according to reception；Watching for multiple control modes is applicable to according to control mode selection
Driver and servomotor are taken, when using network communication mode, network communication circuit unit is effective, when using pulse command control
During mode processed, effectively, when using Analog control mode, DAC-circuit enables effective pulse generating circuit unit.
The servomotor is used to drive front pivot arm on robot body, rear driving arm, gyroaxis to make accordingly
Mechanical action.
The network communication module is used to realize host computer and the high efficiency communication of control system child node, using EtherNET
Bus mode, realizes host computer and the communication of control system child node high efficiency communication or control system and servo-drive system,
EtherNet PORT COMs circuit is realized using LAN8710 and H1102 net mouth transformers.
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system.
The data memory module is used to store various data, includes the various parameters of monitoring module detection.
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.Operational factor on servomotor is fed back to control system by the orthogonal encoder on robot servo motors in real time
System, realizes closed loop computing.
The utility model control system uses industrial computer PC+ in ARM+DSP control strategies, substitution traditional approach to move
Control card+servo-driver+Serve Motor Control mode, ARM is responsible for the motion planning and trajectory planning of robot body,
DSP Processor then be responsible for robot body dynamics and kinematics operation, take full advantage of the powerful operational capabilities of DSP with
And ARM peripheral control ability.Such function distribution can effectively reduce the expense of main control chip, and more resources are used for
Control system security and it is accurately controlled, cost performance can be increased substantially.
The utility model control system possesses EtherNet and Pulse analog control mode is available for user to select, and is suitable for
The servo-driver and servomotor of multiple control modes, facilitate the real-time method for handover control of user, and versatility is stronger.
The workflow of the utility model control system is as follows：
User is first by the control mode of upper computer selecting control system, and network communication controlling party may be selected in control mode
Formula, pulse command control mode, analog quantity instruction control mode, network communication module realize host computer and control system child node
High efficiency communication, dual core processor F28M36P63C2 includes arm processor, DSP Processor, arm processor and DSP Processor
Between data communication can be carried out by IPC, arm processor is used to being responsible for the motion planning of robot body, trajectory planning and outer
System is contained, DSP Processor is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot body, when selection network leads to
When interrogating control mode, effectively, dual core processor is sent the signal to network communication circuit unit by EtherNET bus modes
Network communication servo-driver, network communication servo-driver drives servomotor band mobile robot according to the network signal of reception
Body makes corresponding mechanical action；When selecting pulse command control mode, effectively, double-core is handled pulse generating circuit unit
Device sends pulse generation instruction and arrives pulse generating module, and pulse generating module sends corresponding according to the pulse generation of reception instruction
Pulse command, pulse command servo-driver drives servomotor to drive robot body to make phase according to the pulse command of reception
The mechanical action answered；When selecting analog quantity instruction control mode, DAC-circuit is enabled effectively, and dual core processor sends numeral and referred to
DAC D/A converter modules are made, DAC D/A converter modules instruct the digital command transformation analog quantity of reception, analog quantity instruction
Servo-driver drives robot body to make corresponding mechanical action according to the analog quantity order-driven servomotor of reception, supervises
Controlling module is used for temperature, voltage and the electric current of detecting and controlling system, and data memory module is used to store various data, including prison
The various parameters of module detection are controlled, encoder is used to gather operational factor Real-time Feedback on servomotor to dual core processor,
Realize closed loop computing.
The control system is also including the serial port module being connected with dual core processor, display module, extension I/O module；
The serial port module is used to realize that control system is connected with external equipment using the expansion interface of serial communication mode
Connect；
The display module is used for the status data for showing reflection control system；
The extension I/O module is used for control system and carries out data analysis with external equipment or exchange.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), physical dimension is small, and integration is strong；
2), using integrated pneumatic loop pedestal so that gas circuit is short, Pneumatic suction cup reaches required vacuum required time more
It is short；
3) possibility that tracheae is wound in sucker turning course, is avoided；
4) the extra load quality and load inertia of robot end, is reduced, the performance of robot is added, expanded
The field of employment of great Liao robots；
5), control system is using ARM as peripheral control and detection, and DSP completes system dynamics computing, taken full advantage of
Respective advantage, has simplified control system, and cost performance is increased substantially；
6), control system can realize that high-speed data is exchanged and networking using EhtherNet；
7), control system possesses EtherNet and Pulse analog control mode is for selection, and control mode is freer
Flexibly, the servo-driver and servomotor of multiple control modes are suitable for.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of swinging pneumatic suction device, it is characterised in that including pneumatic circuit pedestal, gyroaxis, the gyroaxis is worn
Cross pneumatic circuit pedestal and rotated by floating bearing relative to pneumatic circuit pedestal, Pneumatic suction cup is fixed on by fixed briquetting
On gyroaxis, gyroaxis middle setting, which has, is provided with annular groove on gas circuit runner, gyroaxis, and the diameter of annular groove is less than the straight of gyroaxis
At least one passage is provided with footpath, annular groove, gas circuit runner one end is connected with Pneumatic suction cup inner chamber, the gas circuit runner other end with
Passage is connected, and pneumatic circuit pedestal is just to being provided with blow vent on the position of annular groove, annular groove is vertically disposed with sealing ring, returns
Rotating shaft holds periphery and is fixed with gyroaxis bearing, and pneumatic circuit pedestal is fixed in gyroaxis bearing.
2. swinging pneumatic suction device according to claim 1, it is characterised in that the pneumatic circuit pedestal passes through solid
Determine nut to be fixed in gyroaxis bearing.
3. swinging pneumatic suction device according to claim 1, it is characterised in that the passage is four.
4. swinging pneumatic suction device according to claim 1, it is characterised in that the swinging pneumatic suction device
Also include inside to insert soon for the ventilation of cavity, the ventilation is inserted in the blow vent of pneumatic circuit pedestal soon.
5. a kind of delta robots, it is characterised in that including any described swinging pneumatic suction devices of claim 1-4,
Also include control system, vacuum generating device, robot body, the robot body include body base, front pivot arm, after
Actuating arm, end effector, gyroaxis bearing are fixed on end effector；
The vacuum generating device is used to make Pneumatic suction cup inner chamber become vacuum to produce suction；
The control system is used to control vacuum generating device, the front pivot arm on robot body, rear driving arm, gyroaxis to do
Go out corresponding action.
6. delta robots according to claim 5, it is characterised in that the gyroaxis bearing is secured by bolts in
On end effector.
7. delta robots according to claim 5, it is characterised in that the control system includes dual core processor, double
Core processor respectively with network communication module, data memory module, monitoring module, network communication servo-driver, pulse generation
Module, the connection of DAC D/A converter modules；Network communication module is connected with host computer；Pulse generating module and pulse command servo
Driver is connected；DAC D/A converter modules are connected with analog quantity instruction servo-driver；Network communication servo-driver and servo
Motor connection；Servomotor is also connected with pulse command servo-driver, analog quantity instruction servo-driver, encoder respectively；
The dual core processor includes first processor, second processing device；Enter line number between first processor and second processing device
According to communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot body；
The second processing device is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot body；
The host computer is used for the control mode that user operates selection control system, and control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control system child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
The pulse command servo-driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive front pivot arm on robot body, rear driving arm, gyroaxis to make corresponding machinery
Action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes closed loop computing to dual core processor.
8. delta robots according to claim 7, it is characterised in that the first processor is arm processor, the
Two processors are DSP Processor.
9. delta robots according to claim 7, it is characterised in that the network communication module is real by Ethernet
Existing host computer and the high efficiency communication of control system child node, the network communication servo-driver is according to the ethernet signal of reception
Drive servomotor.
10. delta robots according to claim 7, it is characterised in that the control system also includes and double-core processing
The serial port module of device connection, display module, extension I/O module；
The serial port module is used to realize that control system is connected with external equipment using the expansion interface of serial communication mode；
The display module is used for the status data for showing reflection control system；
The extension I/O module is used for control system and carries out data analysis with external equipment or exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363091.6U CN206326616U (en) | 2016-12-13 | 2016-12-13 | A kind of swinging pneumatic suction device and delta robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363091.6U CN206326616U (en) | 2016-12-13 | 2016-12-13 | A kind of swinging pneumatic suction device and delta robots |
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| Publication Number | Publication Date |
|---|---|
| CN206326616U true CN206326616U (en) | 2017-07-14 |
Family
ID=59290855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363091.6U Withdrawn - After Issue CN206326616U (en) | 2016-12-13 | 2016-12-13 | A kind of swinging pneumatic suction device and delta robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393159A (en) * | 2016-12-13 | 2017-02-15 | 广州中国科学院先进技术研究所 | Rotary type pneumatic adsorption device and delta robot |
-
2016
- 2016-12-13 CN CN201621363091.6U patent/CN206326616U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393159A (en) * | 2016-12-13 | 2017-02-15 | 广州中国科学院先进技术研究所 | Rotary type pneumatic adsorption device and delta robot |
| CN106393159B (en) * | 2016-12-13 | 2019-01-18 | 广州中国科学院先进技术研究所 | A kind of rotary pneumatic suction device and delta robot |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170714 Effective date of abandoning: 20190118 |