CN209022086U - A kind of industrial software crawl robot - Google Patents
A kind of industrial software crawl robot Download PDFInfo
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- CN209022086U CN209022086U CN201821781114.4U CN201821781114U CN209022086U CN 209022086 U CN209022086 U CN 209022086U CN 201821781114 U CN201821781114 U CN 201821781114U CN 209022086 U CN209022086 U CN 209022086U
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Abstract
A kind of industrial software crawl robot, there is bottom rotary support in the application pedestal, mechanical arm fixed frame bottom is fixed on the rotary support of bottom, the lower end of mechanical arm two is fixed at the top of mechanical arm fixed frame, there is mechanical arm motor in the upper end of mechanical arm two, in the shaft for the mechanical arm motor that one rear end bottom bracket of mechanical arm is fixed on two upper end of mechanical arm, mechanical arm cylinder is fixed on rear side of mechanical arm two, mechanical arm is fixedly installed with vacuum pump on one rear end, software hand connection frame is fixed on one front end of mechanical arm, software hand fixed frame is fixed on software hand connection frame bottom end, camera is fixed on software hand connection frame side, ball shape soft hand is fixed below software hand fixed frame, vacuum pump connects ball shape soft hand by connecting pipe.The application robot makes structure be deformed or move by inflating in the structure using ball shape soft handgrip using air pressure, to realize driving crawl, mainly applies in industrial production, may adapt to the crawl of different shape article.
Description
Technical field
The utility model relates to soft robot fields, grab robot more particularly to a kind of industrial software.
Background technique
Traditional rigid machine people the characteristics of its high rigidity, high intensity, high-precision, high speed in industrial circle to obtain extensively
General application, however, when numerous scientific researches and technical staff pay great efforts and attempt to answer rigid machine people from industrial production line
With expand to other field (such as household services, help the elderly help the disabled, agricultural automation, medical rehabilitation) when, it has been found that heavy dependence
The rigid machine people of structured environment and mathematical models is in above-mentioned non-structural complex environment and is difficult to accurately number
Model is learned to be described.When object complicated and changeable interacts operation, high rigidity, high intensity, the high-precision of rigid machine people is special
Point becomes the shortcomings that leading to its this not competent generic task instead.In this case, soft robot research is gradually risen.
The supple body of nature biotechnology, excellent flexibility and powerful environmental suitability are that machine man-based development mentions
New approaches are supplied.Soft robot is using the software biology of nature as prototype, and body is mainly by that can bear the bullet of large deformation
Property material constitute, can continuously deform, have high freedom degree.By imitating molluscan movement, this robot
The forms of motion such as wriggle, reverse, creep, moving about may be implemented.Soft robot can arbitrarily change certainly according to actual needs
Body shape and size, the operation in more complex environment.Compared to traditional hard robot, soft robot has higher
Safety and better Environmental compatibility, be more suitable service trade and medical field.Based on the above advantage, soft robot tool
There are good flexibility, environmental suitability, in terms of industrial production, medical services, military affairs with wide before
Scape, soft robot have become the research hotspot of robot field.
For grabbing robot, the finger for designing and manufacturing similar people is relatively difficult, is easy to appear failure, and make
Tens joints with controller control mechanical finger are also very complicated.The people of new era need more advanced imitated manpower.This
The imitated hand of kind can preferably carry out human-computer interaction, can work in complex environment more flexiblely.For example, it can be light
It changes places and sorts that shape is changeable, object of surface-fragile；Paralytic can be serviced more heart to heart；It can be in the case where safer
Carry out operation auxiliary.In these working environments, traditional rigidity operation arm device is difficult work.
Utility model content
In order to solve problem above, the utility model provides a kind of industrial software crawl robot, which uses
Ball shape soft handgrip makes structure be deformed or move by inflating in the structure using air pressure, to realize that driving is grabbed
It takes, mainly applies in industrial production, may adapt to the crawl of different shape article, for this purpose, the utility model mentions
Grab robot for a kind of industrial software, including vacuum pump, connecting pipe, mechanical arm one, software hand connection frame, camera,
Software hand fixed frame, ball shape soft hand, mechanical arm motor, mechanical arm two, mechanical arm fixed frame, bottom rotary support, control plane
Plate, pedestal and mechanical arm cylinder have bottom rotary support in the pedestal, there is control panel, the control plane on the pedestal
Plate is on front side of the rotary support of bottom, and mechanical arm fixed frame bottom is fixed in the shaft of bottom rotary support, the machinery
The lower end of arm two is fixed on by motor control in bracket at the top of mechanical arm fixed frame, and there is mechanical arm in the upper end of the mechanical arm two
Motor, in the shaft for the mechanical arm motor that the one rear end bottom bracket of mechanical arm is fixed on two upper end of mechanical arm, the machinery
Mechanical arm cylinder is fixed on rear side of arm two, the telescopic rod end of the mechanical arm cylinder supports one back lower of mechanical arm, described
Vacuum pump is fixedly installed on one rear end of mechanical arm, the software hand connection frame is fixed on one front end of mechanical arm, the software hand
Fixed frame is fixed on software hand connection frame bottom end, and the camera is fixed by the bracket in software hand connection frame side, the ball
Shape software hand is fixed in the opening below software hand fixed frame, and the vacuum pump passes through software hand fixed frame by connecting pipe
Ball shape soft hand is connect, is filled with particulate matter in the ball shape soft hand.
Further improvement of the utility model, mechanical arm fixed frame side are provided with scram button, and setting emergency stop is pressed
Button can carry out emergent control to robot in emergency case.
Further improvement of the utility model, the pedestal pass through a pair of of connecting line and are connected with 2 Photoelectric infrared switches respectively.
The Photoelectric infrared switch model E18-D80NK can carry out article position preliminary true by 2 Photoelectric infrared switches
It is fixed.
Further improvement of the utility model, the camera have one or a pair of, the single camera of the application,
Dual camera can more preferably judge position.
Further improvement of the utility model, singlechip control chip is using using in the control panel
The IAP15W4K61S4 single-chip microcontroller of STC15W4K32S4 series, the application can be run using the above chip.
Further improvement of the utility model, the vacuum pump use the minipump of direct current DC12V, and vacuum pump uses
The above model.
Further improvement of the utility model, the ball shape soft hand getting latex elastic film, the application ball shape soft
Hand generally uses latex elastic film.
A kind of industrial software of the utility model grabs robot, has the following advantages that；
1, the application is designed using ball shape soft hand: ball shape soft hand getting latex elastic film, and internal filling is tiny
Particulate matter more can be easily picked up object absorption in the state of extruding there are gaps between particulate matter under rarefaction.
More adapt to changeable grasping object, can comparatively ideal realization and the tight fit of body form, it is adaptable；
2. the application uses pneumatic actuation mode: passing through minipump pair using pneumatic actuation using obstruction principle
Apply negative pressure inside software hand and realizes crawl of the ball shape soft hand to object.Pneumatic actuation reaction speed is fast, and power density is high；
3. the application object detects positioning automatically: detecting in a certain range using E18-D80NK Photoelectric infrared switch
Existing object, and signal is passed into single-chip microcontroller, then camera is cooperated to carry out object space positioning.This mode can answer extensively
Detection for plant produced line article；
4. the program-controlled movement of the application mechanical arm: the program of mechanical arm displacement, control can be executed using single-chip microcontroller control
It is directed at object, to realize that grasping movement is prepared.
Detailed description of the invention
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model robot system functional structure chart；
Fig. 3 is the utility model robotic system software design flow diagram；
1. vacuum pump in figure；2. connecting pipe；3. mechanical arm one；4. software hand connection frame；5. camera；6. software hand is solid
Determine frame；7. ball shape soft hand；8. mechanical arm motor；9. mechanical arm two；10. mechanical arm fixed frame；11. bottom rotary support；12.
Control panel；13. Photoelectric infrared switch；14. pedestal；15. scram button；16. mechanical arm cylinder.
Specific embodiment
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing:
The utility model provides a kind of industrial software crawl robot, which uses ball shape soft handgrip, pass through
It inflates in the structure, so that structure is deformed or is moved using air pressure, to realize driving crawl, mainly apply to industrial life
In production, the crawl of different shape article may adapt to.
As a kind of embodiment of the utility model, the utility model provides a kind of industrial software crawl robot, including
Vacuum pump 1, connecting pipe 2, mechanical arm 1, software hand connection frame 4, camera 5, software hand fixed frame 6, ball shape soft hand 7,
Mechanical arm motor 8, mechanical arm 29, mechanical arm fixed frame 10, bottom rotary support 11, control panel 12, pedestal 14 and mechanical arm
Cylinder 16 has bottom rotary support 11 in the pedestal 14, has control panel 12 on the pedestal 14, the control panel 12 exists
11 front side of bottom rotary support, 10 bottom of mechanical arm fixed frame are fixed in the shaft of bottom rotary support 11, the machine
The lower end of tool arm 29 is fixed at the top of mechanical arm fixed frame 10 through motor control in bracket, and the upper end of the mechanical arm 29 has
Mechanical arm motor 8, the one 3 rear end bottom bracket of mechanical arm are fixed on the shaft of the mechanical arm motor 8 of 29 upper end of mechanical arm
On, 29 rear side of mechanical arm is fixed with mechanical arm cylinder 16, and the telescopic rod end of the mechanical arm cylinder 16 supports mechanical arm
One 3 back lowers are fixedly installed with vacuum pump 1 on one 3 rear end of mechanical arm, and the software hand connection frame 4 is fixed on machinery
One 3 front end of arm, the software hand fixed frame 6 are fixed on 4 bottom end of software hand connection frame, and the camera 5 is fixed by the bracket
4 side of software hand connection frame, the ball shape soft hand 7 are fixed in the opening of 6 lower section of software hand fixed frame, the vacuum pump 1
Software hand fixed frame 6 is passed through by connecting pipe 2 and connects ball shape soft hand 7, is filled with particulate matter in the ball shape soft hand 7.
As a kind of specific embodiment of the utility model, the utility model provides a kind of industrial software as shown in Figure 1
Grab robot, including vacuum pump 1, connecting pipe 2, mechanical arm 1, software hand connection frame 4, camera 5, software hand fixed frame
6, ball shape soft hand 7, mechanical arm motor 8, mechanical arm 29, mechanical arm fixed frame 10, bottom rotary support 11, control panel 12,
Pedestal 14 and mechanical arm cylinder 16 have bottom rotary support 11 in the pedestal 14, there is control panel 12, institute on the pedestal 14
Control panel 12 is stated in 11 front side of bottom rotary support, 10 bottom of mechanical arm fixed frame is fixed on bottom rotary support 11
In shaft, 10 side of mechanical arm fixed frame is provided with scram button 15, and setting scram button can be in emergency case to machine
Device people carries out emergent control, and the lower end of the mechanical arm 29 is fixed at the top of mechanical arm fixed frame 10 through motor control in bracket
There are mechanical arm motor 8 in system, the upper end of the mechanical arm 29, and the one 3 rear end bottom bracket of mechanical arm is fixed on mechanical arm 29
In the shaft of the mechanical arm motor 8 of upper end, 29 rear side of mechanical arm is fixed with mechanical arm cylinder 16, the mechanical arm cylinder
16 telescopic rod end supports one 3 back lower of mechanical arm, is fixedly installed with vacuum pump 1 on one 3 rear end of mechanical arm, described
Software hand connection frame 4 is fixed on one 3 front end of mechanical arm, and the software hand fixed frame 6 is fixed on 4 bottom end of software hand connection frame, institute
Stating camera 5 has one or a pair of, and the single camera of the application, dual camera can more preferably judge position,
The camera 5 is fixed by the bracket in 4 side of software hand connection frame, and the ball shape soft hand 7 is fixed on software hand fixed frame 6
In the opening of lower section, the vacuum pump 1 passes through software hand fixed frame 6 by connecting pipe 2 and connects ball shape soft hand 7, the spherical shape
Particulate matter is filled in software hand 7, the pedestal 14 passes through a pair of of connecting line and is connected with 2 Photoelectric infrared switches 13 respectively, passes through 2
A Photoelectric infrared switch can primarily determine article position.
The application software grabs robot system, which mainly realizes function are as follows: determines arbitrary shaped body crawl
Position；Mechanical arm is mobile；Ball shape soft hand is drawn and orientation is carried.System specifically includes that object locating module, mechanical arm driving mould
Block, ball shape soft hand draw and carry and single-chip microcontroller Central Control Module.Systematic functional structrue figure is as indicated with 2.
Photoelectric infrared switch detects that fixed bit is equipped with object, will test signal and sends single-chip microcontroller to, then by single-chip microcontroller into
Row processing, makes mechanical arm be moved to object space, then absorption snatch is realized by software hand, by the object of various shapes and characteristic
From. while being moved to specified.
System is using the IAP15W4K61S4 single-chip microcontroller of STC15W4K32S4 series as main control chip；Photoelectric infrared switch
The detecting distance of E18-D80NK；PWM servo driving mechanical arm module；Pneumatic driving is carried out using the minipump of direct current DC12V
It is dynamic；Ball shape soft hand getting latex elastic film, it is internal to fill tiny particles content, under rarefaction between particulate matter there are
Gap more can easily pick up object absorption in the state of extruding.
Fig. 3 is software program design flow chart.Whole work process are as follows: Photoelectric infrared switch detects object, by position
Information sends single-chip microcontroller to, and single-chip microcontroller call action group allows mechanical arm to be moved to object space, then issues control information and gives
L298N allows it to drive micro vacuum pump work, and ball shape soft grabs object, and then single-chip microcontroller controls its action group and realizes crawl
The movement and placement of object.
The above descriptions are merely preferred embodiments of the present invention, is not to make any other to the utility model
The limitation of form, and according to any modification or equivalent variations made by the technical essence of the utility model, it is practical new to still fall within this
Type range claimed.
Claims (8)
1. a kind of industrial software grabs robot, including vacuum pump (1), connecting pipe (2), mechanical arm one (3), software hand connect
Connect frame (4), camera (5), software hand fixed frame (6), ball shape soft hand (7), mechanical arm motor (8), mechanical arm two (9), machine
Tool arm fixed frame (10), bottom rotary support (11), control panel (12), pedestal (14) and mechanical arm cylinder (16), feature
It is: has bottom rotary support (11) in the pedestal (14), have control panel (12), the control plane on the pedestal (14)
For plate (12) on front side of bottom rotary support (11), mechanical arm fixed frame (10) bottom is fixed on bottom rotary support (11)
In shaft, the lower end of the mechanical arm two (9) is fixed on by motor control in bracket at the top of mechanical arm fixed frame (10), described
The upper end of mechanical arm two (9) has mechanical arm motor (8), and mechanical arm one (3) rear end bottom bracket is fixed on mechanical arm two (9)
In the shaft of the mechanical arm motor (8) of upper end, mechanical arm cylinder (16), the machinery are fixed on rear side of the mechanical arm two (9)
The telescopic rod end of arm cylinder (16) supports mechanical arm one (3) back lower, is fixedly installed on mechanical arm one (3) rear end
Vacuum pump (1), the software hand connection frame (4) are fixed on mechanical arm one (3) front end, and the software hand fixed frame (6) is fixed on
Software hand connection frame (4) bottom end, the camera (5) are fixed by the bracket in software hand connection frame (4) side, and the spherical shape is soft
Body hand (7) is fixed in the opening below software hand fixed frame (6), and the vacuum pump (1) passes through software by connecting pipe (2)
Hand fixed frame (6) connects ball shape soft hand (7), and particulate matter is filled in the ball shape soft hand (7).
2. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the mechanical arm fixed frame
(10) side is provided with scram button (15).
3. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the pedestal (14) passes through
A pair of of connecting line is connected with 2 Photoelectric infrared switches (13) respectively.
4. a kind of industrial software according to claim 3 grabs robot, it is characterised in that: the Photoelectric infrared switch
(13) model E18-D80NK.
5. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the camera (5) has
One or a pair.
6. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the control panel (12)
Interior singlechip control chip uses the IAP15W4K61S4 single-chip microcontroller using STC15W4K32S4 series.
7. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the vacuum pump (1) is adopted
With the minipump of direct current DC12V.
8. a kind of industrial software according to claim 1 grabs robot, it is characterised in that: the ball shape soft hand
(7) latex elastic film is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821781114.4U CN209022086U (en) | 2018-10-31 | 2018-10-31 | A kind of industrial software crawl robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821781114.4U CN209022086U (en) | 2018-10-31 | 2018-10-31 | A kind of industrial software crawl robot |
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| CN209022086U true CN209022086U (en) | 2019-06-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109249411A (en) * | 2018-10-31 | 2019-01-22 | 金陵科技学院 | A kind of industrial software crawl robot |
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- 2018-10-31 CN CN201821781114.4U patent/CN209022086U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109249411A (en) * | 2018-10-31 | 2019-01-22 | 金陵科技学院 | A kind of industrial software crawl robot |
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