CN209408485U - A kind of parallel robot of quick crawl lampshade - Google Patents
A kind of parallel robot of quick crawl lampshade Download PDFInfo
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- CN209408485U CN209408485U CN201822244489.3U CN201822244489U CN209408485U CN 209408485 U CN209408485 U CN 209408485U CN 201822244489 U CN201822244489 U CN 201822244489U CN 209408485 U CN209408485 U CN 209408485U
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- sucker
- parallel robot
- control device
- annulus
- lampshade
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Abstract
The utility model discloses a kind of parallel robots of quickly crawl lampshade, it include: power device, control device, control device and Acetabula device, the power device, control device are connected above the control device, lower section connection inside includes the Acetabula device of annulus sucker, and the control device is by commanding the power device movement that the control device movement is driven to complete grasping movement by the pull of vacuum that the annulus sucker generates after video acquisition data, operation.The influence of bowl-shape bottom of article labyrinth can be ignored to the full extent using the technical solution of the utility model, while bigger suction can be provided, the bowl-shape article of movement quickly, safe.
Description
Technical field
The utility model relates to Industrial Robot Technology fields, more particularly to a kind of parallel manipulator of quickly crawl lampshade
People, comprising: power device, control device, control device and Acetabula device.
Background technique
Parallel robot has good comprehensive kinematic and dynamic modeling, is commonly used for the packaging of light industry.Compare biography
The moving platform of the serial mechanism of system, parallel-connection structure passes through 6 or 3 drive rod supports, under identical self weight and volume, load-bearing
Ability is stronger than the bearing capacity of serial mechanism；Error on the end piece of serial mechanism be easy to produce accumulation and amplification so as to cause
Precision is low, and the error of each rod piece of parallel institution constitutes average value in contrast, forms that final error is relatively small and precision
It is high；And the power performance of parallel institution and real-time control are better than serial mechanism.
The moving platform of parallel robot used in industry generally uses aspirated-air type device travelling workpiece, but current gas
Lampshade and the irregular bowl structure workpiece of bottom structure can not be drawn by inhaling device.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model is solved is to provide a kind of energy suction foot structure
The device of irregular bowl structure article.
In order to solve the above technical problems, the technical solution adopted in the utility model is a kind of parallel machine of quickly crawl lampshade
Device people, comprising: power device, control device, control device and Acetabula device, the control device top connect the power dress
It sets, control device, lower section connection inside includes the Acetabula device of annulus sucker, and the control device passes through video acquisition
Command the power device movement that the control device is driven to act the vacuum generated by the annulus sucker after data, operation
Suction completes grasping movement.
The annulus sucker includes bowl-shape sucker fixed frame, annulus sucker and inhaling hose, and the annulus sucker is fixed
It is connected on the sucker fixed frame internal perisporium with described inhaling hose one end, described inhaling hose one end is pierced by described from inside
The vacuum air pump set in the fixed top of support of sucker and the power device is connected.
Preferably, the annulus sucker is rubber suction cups, and top is equipped with card slot, is around evenly distributed with and inhaling hose mouth
The stomata that diameter matches, it is possible to provide more average suction makes absorbate product uniform force, and the inhaling hose passes through described
Card slot is fixedly installed on the inside of the sucker fixed frame to be connected with the stomata, can be by the annulus by the vacuum air pump
Air in sucker is extracted out and generates pull of vacuum.
Preferably, stomata quantity is 4.
The control device, including silent flatform, servo motor, master arm, slave arm, center telescopic rod, moving platform, it is described
Servo motor is mounted in the motor installation groove of the side of the silent flatform, and passes through Ka Lankelian with described master arm one end
The connection of axis device, the master arm can carry out specified angle rotation around the motor shaft of the servo motor；The master arm other end
The slave arm is connected by spherical hinge structure, the slave arm can be rotated around junction；The center telescopic rod is contractile
Hydraulic stem, top are attached with silent flatform underrun omnidirectional connection type；The moving platform is the platform of hexagon
Structure, center top are connect by flexural pivot connection type with center telescopic rod bottom end, are distinguished at six endpoints of hexagon
It is attached with the slave arm by flexural pivot connection type.
Preferably, the slave arm setting quantity is 3, and each slave arm is respectively provided with two thin bars, and thin bar both ends are pacified
Equipped with spherical hinge structure.
The control device, including industrial camera and industrial computer, the industrial camera are fixedly installed in the silent flatform
Side, carried out data transmission by cable and industrial computer, the industrial computer includes PC machine, video frequency collection card and control
Device, the video frequency collection card are responsible for handling the information of the industrial camera transmission, and the PC machine positions lampshade according to video information
Location information carries out motion planning to the movement of parallel robot, and the controller is controlled by controlling the servo motor
The movement of parallel robot.
Preferably, the industrial camera 11 possesses gigabit ethernet interface, resolution ratio 3072*2048.
The power device, including vacuum air pump and inhaling hose, the vacuum air pump are fixedly installed in the silent flatform
Top, the inhaling hose stretches on club shaft around the center is fixed on, and one end passes through quick coupling and the vacuum
The air inlet of air pump connects, and the other end is connect at the top of the annulus sucker by quick coupling.
Preferably, the vacuum air pump rated power is 2200w, pressure 7.0Bar, and the inhaling hose diameter is
8mm。
Utility model works principle:
Parallel robot starting first resets, and industrial camera starts to acquire video information, by video information transmission to industry
In computer, after the video frequency collection card inside industrial computer pre-processes collected video information, by lampshade and other items
Location information is transferred in the PC machine inside industrial computer, and PC machine analyzes location information, makes the fortune of parallel robot
Dynamic planning, while control information is transferred to controller, servo motor makes corresponding rotation at controller control, servo motor
Rotation drives master arm to make the pivot centered on servo motor by shaft coupling, and master arm is connected by spherical hinge structure
It drives the position of slave arm mobile, drives moving platform to carry out the horizontal combination with vertical direction by the cooperative motion of slave arm and transport
It is dynamic, moving platform band logical sucker fixed frame, annulus sucker move at article position, vacuum air pump is started to work, and aspiration is passed through
Air of the hose extraction loop with suction cup interior constitutes pressure difference with external environment, lampshade and other items is adsorbed on annulus sucker, inhale
Movement is taken to complete.After industrial computer confirms lampshade and other items by the collected video information of industrial camera, instruction, control are issued
Device controls parallel robot and drives article mobile, and then realizes the movement and crawl of article.
It compared with prior art, can be utmostly by the sucker structure of ring-band shape using the technical solution of the utility model
On the influence for ignoring bowl-shape bottom of article labyrinth, while bigger suction is provided than small aspiration mouth, quickly, safety
Mobile bowl-shape article.
Detailed description of the invention
Fig. 1 is the utility model whole design schematic diagram；
Fig. 2 is the utility model top view；
Fig. 3 is the utility model servo motor and master arm installation diagram；
Fig. 4 is annulus sucker schematic diagram.
Specific embodiment
Specific embodiment of the present utility model is further described with reference to the accompanying drawing, but is not practical new to this
The restriction of type.
Fig. 1 to Fig. 4 shows a kind of parallel robot of quickly crawl lampshade, comprising: power device, control device, behaviour
Device and Acetabula device are controlled, the power device, control device are connected above the control device, lower section connection is internal to include
The Acetabula device of annulus sucker, the control device are dynamic by commanding the power device after video acquisition data, operation
Make to drive the control device movement and then grasping movement is completed by the pull of vacuum that the annulus sucker generates.
The annulus sucker includes bowl-shape sucker fixed frame 8, annulus sucker 9 and inhaling hose 10, the annulus sucker 9
It is fixed on 8 internal perisporium of sucker fixed frame and is connected with described 10 one end of inhaling hose, one end in the inhaling hose 10
The vacuum air pump set in 8 top surface of sucker fixed frame and the power device is pierced by from inside to be connected.
Preferably, the annulus sucker 9 is rubber suction cups, and top is equipped with card slot, is around evenly distributed with and inhaling hose
The stomata that bore matches, it is possible to provide more average suction makes absorbate product uniform force, and the inhaling hose 10 passes through
The card slot is fixedly installed in 8 inside of sucker fixed frame and is connected with the stomata, can be by institute by the vacuum air pump
It states the air extraction in annulus sucker 9 and generates pull of vacuum.
Preferably, stomata quantity is 4.
The control device, including silent flatform 2, servo motor 3, master arm 4, slave arm 5, center telescopic rod 6, moving platform
7, the servo motor 3 is mounted in the motor groove of the side of the silent flatform 2, and passes through method with described 4 one end of master arm
A blue gram shaft coupling is directly connected to, and the master arm 4 can be driven the rotation for carrying out specified angle by 3 motor shaft of servo motor；
4 other end of master arm connects the slave arm 5 by spherical hinge structure, and the slave arm 5 can be rotated around junction；In described
Heart telescopic rod 6 is contractile hydraulic stem, and top is attached with the 2 underrun omnidirectional connection type of silent flatform；It is described
Moving platform 7 is the platform structure of hexagon, and center top is connect by flexural pivot connection type with 6 bottom end of center telescopic rod,
It is attached respectively with the slave arm 5 by flexural pivot connection type at six endpoints of its hexagon.
Preferably, it is 3 that quantity, which is arranged, in the slave arm 5, and each slave arm 5 is respectively provided with two thin bars, and thin bar both ends are equal
Spherical hinge structure is installed.
The control device, including industrial camera 11 and industrial computer 12, the industrial camera 11 are fixedly installed in described
The side of silent flatform 2 is carried out data transmission by cable and industrial computer 12, and the industrial computer 12 is adopted including PC machine, video
Truck and controller, the video frequency collection card are responsible for handling the information that the industrial camera 11 transmits, and the PC machine is according to video
Information locating lampshade location information carries out motion planning to the movement of parallel robot, and the controller described in control by watching
Motor 3 is taken to control the movement of parallel robot.
Preferably, the industrial camera 11 possesses gigabit ethernet interface, resolution ratio 3072*2048.
The power device, including vacuum air pump 1 and inhaling hose 10, the vacuum air pump 1 are fixedly installed in described quiet
The top of platform 2, the inhaling hose 10 around being fixed on 6 body of rod of center telescopic rod, one end by quick coupling with
The air inlet of the vacuum air pump 1 connects, and the other end is connect at the top of the annulus sucker 9 by quick coupling.
Preferably, 1 rated power of vacuum air pump is 2200w, pressure 7.0Bar, and 10 diameter of inhaling hose is
8mm。
Utility model works principle:
Parallel robot starting first resets, and industrial camera 11 starts to acquire video information, by video information transmission to work
In industry computer 12, after the video frequency collection card inside industrial computer 12 pre-processes collected video information, by lampshade etc.
The location information of article is transferred in the PC machine inside industrial computer 12, and PC machine analyzes location information, makes parallel machine
The motion planning of device people, while control information is transferred to controller, servo motor 3 makes corresponding rotation at controller control,
The rotation of servo motor 3 drives master arm 4 to make the pivot centered on servo motor 3 by shaft coupling, and master arm 4 is logical
Crossing spherical hinge structure connection drives the position of slave arm 5 mobile, drives moving platform 7 to carry out level by the cooperative motion of slave arm 5
With the aggregate motion of vertical direction, 7 band logical of moving platform sucker fixed frame 8, annulus sucker 9 move at article position, vacuum
Air pump 1 is started to work, and by 10 extraction loop of aspiration hose with the air inside sucker 9, pressure difference is constituted with external environment, by lampshade
And other items be adsorbed on annulus sucker 9, sucking action complete.Industrial computer 12 passes through the collected video information of industrial camera 11
After confirming lampshade and other items, instruction is issued, controller controls parallel robot and drives article mobile, and then realizes the movement of article
With crawl.
It compared with prior art, can be utmostly by the sucker structure of ring-band shape using the technical solution of the utility model
On the influence for ignoring bowl-shape bottom of article labyrinth, while bigger suction is provided than small aspiration mouth, quickly, safety
Mobile bowl-shape article.
Detailed description is made that the embodiments of the present invention in conjunction with attached drawing above, but the utility model is not limited to
Described embodiment.To those skilled in the art, in the situation for not departing from the principles of the present invention and spirit
Under, these embodiments progress various change, modification, replacement and variant are still fallen in the protection scope of the utility model.
Claims (10)
1. a kind of parallel robot of quickly crawl lampshade characterized by comprising power device, control device, control device
And Acetabula device, the control device top connect the power device, control device, internal lower section connection includes that annulus is inhaled
The Acetabula device of disk, the control device is by commanding the power device movement to drive after video acquisition data, operation
The control device movement and then the pull of vacuum completion grasping movement generated by the annulus sucker.
2. the parallel robot of quick crawl lampshade according to claim 1, which is characterized in that the annulus sucker includes
Bowl-shape sucker fixed frame, annulus sucker and inhaling hose, the annulus sucker are fixed on the sucker fixed frame internal perisporium
Be connected with described inhaling hose one end, in the inhaling hose one end from inside be pierced by the fixed top of support of the sucker with it is described
The vacuum air pump set in power device is connected.
3. the parallel robot of quick crawl lampshade according to claim 2, which is characterized in that the annulus sucker is rubber
Glue sucker, top are equipped with card slot, are around evenly distributed with the stomata to match with inhaling hose bore, it is possible to provide more average
Suction makes absorbate product uniform force, and the inhaling hose is fixedly installed on the inside of the sucker fixed frame by the card slot
It is connected with the stomata, the air in the annulus sucker can be extracted out by the vacuum air pump and generate pull of vacuum.
4. the parallel robot of quick crawl lampshade according to claim 3, which is characterized in that the stomata quantity is 4
It is a.
5. the parallel robot of quick crawl lampshade according to any one of claims 1 to 4, which is characterized in that the behaviour
Device is controlled, including silent flatform, servo motor, master arm, slave arm, center telescopic rod, moving platform, the servo motor are mounted on
In the motor installation groove of the side of the silent flatform, and it is connect with described master arm one end by Ka Lanke shaft coupling, it is described
Master arm can carry out specified angle rotation around the motor shaft of the servo motor；The master arm other end is connected by spherical hinge structure
The slave arm is connect, the slave arm can be rotated around junction；The center telescopic rod is contractile hydraulic stem, top and institute
Silent flatform underrun omnidirectional connection type is stated to be attached；The moving platform is the platform structure of hexagon, and center top is logical
It crosses flexural pivot connection type to connect with center telescopic rod bottom end, pass through respectively with the slave arm at six endpoints of hexagon
Flexural pivot connection type is attached.
6. the parallel robot of quick crawl lampshade according to claim 5, which is characterized in that number is arranged in the slave arm
Amount is 3, and each slave arm is respectively provided with two thin bars, and thin bar both ends are mounted on spherical hinge structure.
7. the parallel robot of quick crawl lampshade according to claim 5, which is characterized in that the control device, packet
Industrial camera and industrial computer are included, the industrial camera is fixedly installed in the side of the silent flatform, passes through cable and industrial electro
Brain carries out data transmission, and the industrial computer includes PC machine, video frequency collection card and controller, and the video frequency collection card is responsible for processing
The information of the industrial camera transmission, the PC machine position lampshade location information according to video information, to the fortune of parallel robot
Dynamic to carry out motion planning, the controller controls the movement of parallel robot by controlling the servo motor.
8. the parallel robot of quick crawl lampshade according to claim 7, which is characterized in that the industrial camera 11 is gathered around
There are gigabit ethernet interface, resolution ratio 3072*2048.
9. the parallel robot of quick crawl lampshade according to claim 5, which is characterized in that the power device, packet
Vacuum air pump and inhaling hose are included, the vacuum air pump is fixedly installed in the top of the silent flatform, and the inhaling hose is surround
It is fixed on the center to stretch on club shaft, one end is connect by quick coupling with the air inlet of the vacuum air pump, the other end
It is connect at the top of the annulus sucker by quick coupling.
10. the parallel robot of quick crawl lampshade according to claim 9, which is characterized in that the vacuum air pump volume
Determining power is 2200w, and pressure 7.0Bar, the inhaling hose diameter is 8mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822244489.3U CN209408485U (en) | 2018-12-29 | 2018-12-29 | A kind of parallel robot of quick crawl lampshade |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822244489.3U CN209408485U (en) | 2018-12-29 | 2018-12-29 | A kind of parallel robot of quick crawl lampshade |
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| CN209408485U true CN209408485U (en) | 2019-09-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333518A (en) * | 2018-12-29 | 2019-02-15 | 桂林电子科技大学 | A kind of parallel robot of quick crawl lampshade |
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