CN210589290U - Mosaic image paving robot - Google Patents
Mosaic image paving robot Download PDFInfo
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- CN210589290U CN210589290U CN201921568298.0U CN201921568298U CN210589290U CN 210589290 U CN210589290 U CN 210589290U CN 201921568298 U CN201921568298 U CN 201921568298U CN 210589290 U CN210589290 U CN 210589290U
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Abstract
The utility model relates to a mosaic is spread and is pasted equipment technical field, especially relates to a mosaic image is spread and is pasted robot. The mosaic image paving and pasting robot comprises a machine base and a first mechanical arm horizontally and rotatably assembled on the machine base, a second mechanical arm is horizontally and rotatably assembled on the first mechanical arm, a printing device is horizontally and rotatably assembled on the second mechanical arm, the printing device comprises a fixed seat horizontally and rotatably assembled on the second mechanical arm and a lifting seat movably assembled on the fixed seat along the vertical direction, and a printing head is assembled on the lifting seat. The horizontal position of the printing device is determined by the rotation of the mechanical arm, the vertical position of the printing head is determined by the movement of the lifting seat, mosaic particles are grabbed and released by the printing head, a linear guide rail is omitted, and the occupied space is saved; meanwhile, the number of the mechanical arms is reduced to two, the whole robot only has three shaft joint degrees of freedom, the robot is flexible and convenient to move, a control system of the controller is simplified, and the cost of the robot is reduced.
Description
Technical Field
The utility model relates to a mosaic is spread and is pasted equipment technical field, especially relates to a mosaic image is spread and is pasted robot.
Background
The research and development of the automatic mosaic paving machine is always the subject of attention of ceramic building machinery, and the main design of the current paving machine can be roughly divided into two types: firstly, based on the manipulator adds the sucking disc and snatchs the granule, secondly based on material feeding unit adds the orbital blanking of many. The first type of paving machine has complex system design, and the cost of the robot or the manipulator is too high, so that six shaft joint degrees of freedom are usually required, so that the control system is complex and high in price, and is rarely and successfully applied in China; the second type of paving machine has a relatively simple design in the automatic control part, mostly utilizes a spiral feeding tray to feed materials and a track or a slideway to discharge materials, and has lower cost.
The Chinese patent with the publication number of CN105904900B and publication date of 2019.03.26 discloses an automatic paving and pasting device and a paving and pasting method for multi-color mosaics, wherein the automatic paving and pasting device for the multi-color mosaics comprises a feeding system, a front and back recognition and adjustment system, a conveying system, a paving and pasting stacking system and an automatic die feeding system; the feeding system comprises a vibration material tray placing table and a vibration material tray; the front and back recognition and adjustment system comprises a bracket, a light source, an air nozzle, a guide belt and a color code sensor; the conveying system comprises a guide way, a slide way, a conveying way, a straight vibration and a mosaic conveying belt; the paving and stacking system comprises a stacking mounting plate, a photoelectric sensor and a stacking barrel; the automatic die disc feeding system comprises a die disc placing frame, a die disc, a transverse linear guide rail and a longitudinal linear guide rail.
The multi-color mosaic automatic paving and pasting equipment is simple in control system, low in machine cost and strong in specificity, firstly, the feeding device controlled by the PLC realizes the sorting of mosaic particles with different colors, and then the sorted mosaic particles are placed in the die plate moving along the X/Y linear track. However, the die plate needs to move along the X/Y linear guide rail, so that the occupied space is large, the flexibility is insufficient, the paving difficulty and the cost are too high, and the large-scale popularization and application are difficult to realize.
SUMMERY OF THE UTILITY MODEL
The utility model aims at: the utility model provides a mosaic image is spread and is pasted robot to solve the mosaic among the prior art and spread equipment and take up an area of the space big, the flexibility is not enough, leads to spreading the problem of the degree of difficulty and the cost is too high.
In order to solve the technical problem, the utility model provides a mosaic image is spread and is pasted robot, rotate the assembly including frame and level first arm on the frame, keep away from on the first arm the one end level of frame is rotated and is equipped with the second arm, the second arm is kept away from the one end of first arm is the level still and is rotated and be equipped with printing device, printing device includes that the level rotates the assembly and is in fixing base on the second arm is in with along vertical direction activity assembly lift seat on the fixing base, it is equipped with the printer head that is used for snatching and releases the mosaic granule to go up and down to mount.
Preferably, a lifting motor is further arranged on the fixing seat of the printing device, and a transmission mechanism is connected between the lifting motor and the lifting seat to drive the lifting seat to lift.
Preferably, the fixing seat is provided with a sliding groove extending in the vertical direction, the lifting seat is assembled in the sliding groove in a guiding manner, and the transmission mechanism is a slider-crank mechanism.
Preferably, the fixing seat is provided with a groove pressing plate, the groove pressing plate is of a T-shaped structure, the groove pressing plate is provided with a vertical edge vertically connected with the fixing seat and a parallel edge arranged on the vertical edge and parallel to the fixing seat, the sliding groove is formed at an interval between the parallel edge and the fixing seat, and the lifting seat is provided with a sliding plate matched with the sliding groove.
Preferably, the lifting seat is threaded with a screw, and the printing head is arranged at the bottom end of the screw.
Preferably, the base is provided with a controller, and the lifting motor is in signal connection with the controller.
Preferably, the printing head is a sucker, an air pump connected with the sucker is further arranged on the base, and the air pump is in signal connection with the controller.
Preferably, the air pump is a vacuum pump, an electromagnetic valve is connected between the vacuum pump and the sucker, and the electromagnetic valve is in signal connection with the controller.
Preferably, a first motor is assembled on the machine base, and the first mechanical arm is in transmission connection with the first motor; a second motor is assembled on the first mechanical arm, and the second mechanical arm is in transmission connection with the second motor; one end of the second mechanical arm, which is far away from the first mechanical arm, is provided with a third motor, the printing device is in transmission connection with the third motor, and the controller is in signal connection with the first motor, the second motor and the third motor respectively to transmit rotation angle signals of the motors.
Preferably, the machine base comprises a base and a column arranged on the base, and the first mechanical arm is rotatably assembled at the top end of the column.
The embodiment of the utility model provides a mosaic image is spread and is pasted robot compares with prior art, and its beneficial effect lies in: the rotation of the mechanical arm drives the printing device to move in a plane so as to determine the horizontal position of the printing device, the movement of the lifting seat is used for driving the printing head to move so as to determine the vertical position of the printing head, the printing head is used for grabbing and releasing mosaic particles, a linear guide rail required by the movement of the arrangement die disc is omitted, and the occupied space of a robot is saved; meanwhile, the number of the mechanical arms is reduced to two, the whole robot only has three shaft joint degrees of freedom, the robot is flexible and convenient to move, a control system of the controller is simplified, and the cost of the robot is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a mosaic image paving robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a printing apparatus of the mosaic image laying robot of fig. 1;
FIG. 3 is an exploded schematic view of the printing apparatus of FIG. 2;
fig. 4 is a schematic workflow diagram of a mosaic image paving robot of fig. 1.
In the figure, 1, a machine base; 11. a base; 12. a column; 2. a first motor; 3. a second motor; 4. a third motor; 5. a first robot arm; 6. a second mechanical arm; 7. a printing device; 71. a fixed seat; 72. a lifting seat; 73. a groove pressing plate; 74. a slide plate; 75. a fixing plate; 76. a screw; 77. a lifting motor; 8. a controller; 9. an air pump; 91. an electromagnetic valve; 10. and (4) sucking discs.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The utility model discloses a preferred embodiment of robot is spread to mosaic image, as shown in fig. 1 to fig. 4, this robot is spread to mosaic image includes frame 1, first motor 2, second motor 3, third motor 4, first arm 5, second arm 6 and printing device 7. The machine base 1 comprises a base 11 and a stand column 12 arranged on the base 11, wherein the base 11 is a supporting component of the mosaic image paving robot, the base 11 is of a circular structure, the bottom end of the stand column 12 is welded and fixed on the base 11 and is eccentrically arranged, and the stand column 12 is used for providing a space for the movement of the printing device 7 in the vertical direction.
The top of the upright post 12 is fixedly connected with a first motor 2 through a bolt, an output shaft of the first motor 2 is fixedly provided with a first mechanical arm 5 extending along the horizontal direction, the first mechanical arm 5 is rotatably assembled at the top end of the upright post 12 through the first motor 2, and the first mechanical arm 5 can horizontally rotate under the driving of the first motor 2.
The second motor 3 is fixedly assembled at one end, far away from the base 1, of the first mechanical arm 5, the second mechanical arm 6 extending along the horizontal direction is fixedly assembled on an output shaft of the second motor 3, the second mechanical arm 6 is rotatably assembled at the top end of the upright post 12 through the second motor 3, and the second mechanical arm 6 can horizontally rotate under the driving of the second motor 3.
One end of the second mechanical arm 6, which is far away from the first mechanical arm 5, is provided with the third motor 4, the printing device 7 is fixedly arranged on an output shaft of the third motor 4, the printing device 7 is rotatably arranged on the second mechanical arm 6 through the third motor 4, and the printing device 7 can horizontally rotate.
The printing device 7 comprises a fixed seat 71 fixed with the third motor 4, a lifting seat 72 movably assembled along the vertical direction on the fixed seat 71 and a suction cup 10 arranged on the lifting seat 72, wherein a lifting motor 77 is arranged on the fixed seat 71, a transmission mechanism is connected between the lifting motor 77 and the lifting seat 72, and the lifting motor 77 is used for driving the lifting seat 72 to vertically move on the fixed seat 71. In this embodiment, the transmission mechanism is a slider-crank mechanism.
The fixed seat 71 is provided with a groove pressing plate 73, the groove pressing plate 73 is of a T-shaped structure, the groove pressing plate 73 is provided with a vertical edge which is vertically connected with the fixed seat 71 and a parallel edge which is arranged on the vertical edge and is parallel to the fixed seat 71, a sliding groove is formed between the parallel edge and the fixed seat 71, a sliding plate 74 which is matched with the sliding groove is arranged on the lifting seat 72, and the lifting seat 72 is slidably assembled on the fixed seat 71 through the sliding plate 74 and the sliding groove. The output shaft of the lifting motor 77 is rotatably provided with a crank, a connecting rod is connected between the crank and the lifting seat 72, two ends of the connecting rod are respectively hinged with the crank and the lifting seat 72, the crank, the connecting rod and the lifting seat 72 form a crank-slider mechanism, and the lifting seat 72 is a slider of the crank-slider mechanism.
The lifting seat 72 comprises a sliding plate 74 and a fixing plate 75 fixed on the sliding plate 74, the sliding plate 74 is an L-shaped structure, and two sliding plates 74 are symmetrically arranged in the sliding grooves of the fixing seat 71. The fixing plate 75 is used for fixedly mounting a printing head, the printing head is used for grabbing and releasing mosaic particles, in the embodiment, the printing head is a suction cup 10, a screw 76 is screwed on the fixing plate 75, the screw 76 extends in the vertical direction, the suction cup 10 is arranged at the bottom of the screw 76, and the suction cup 10 is used for sucking or releasing mosaic particles.
The base 11 is provided with an air pump 9, an electromagnetic valve 91 is connected between the air pump 9 and the suction cup 10, and the electromagnetic valve 91 is connected with the suction cup 10 through a hose. The air pump 9 is a vacuum pump, the electromagnetic valve 91 is a three-way valve, the air pump 9 is provided with an exhaust passage communicated with the outside air, and the electromagnetic valve 91 is provided with an intake passage communicated with the outside air. When the electromagnetic valve 91 is powered off, the exhaust channel on the electromagnetic valve 91 is closed, the vacuum pump extracts air from the air path and exhausts the air from the exhaust channel on the vacuum pump, the air pressure inside the suction cup 10 is lower than the external air pressure, and the suction cup 10 starts to suck mosaic particles and keeps in a sucking state; when the electromagnetic valve 91 is powered on, the air inlet channel of the electromagnetic valve 91 is opened, air enters the pipeline from the air inlet channel, the pressure in the suction cup 10 is the same as that in the outside, and the suction cup 10 releases mosaic particles.
The base 1 is also provided with a controller 8, the first motor 2, the second motor 3, the third motor 4 and the lifting motor 77 are all servo motors, and the first motor 2, the second motor 3, the third motor 4 and the lifting motor 77 are respectively in signal connection with the controller 8. The controller 8 is in signal connection with the air pump 9 and the electromagnetic valve 91, and the controller 8 can control the start and stop of the air pump 9 and the electromagnetic valve 91, so as to control the suction disc 10 to suck and release the mosaic particles.
The controller 8 calculates a corresponding mosaic template coordinate and color coordinate matrix according to an algorithm A according to mosaic 0/1 three-dimensional matrix data and a mosaic size generated by a mosaic image generation program of an upper machine, then calculates the mosaic coordinate matrix data into three-axis joint angle data through a robot inverse kinematics algorithm B, realizes that the tail end position and the posture of the robot meet preset requirements through path planning, and outputs the preset requirements to a control mainboard through a USB (universal serial bus) serial port, thereby transmitting rotation angle signals of the motors to the first motor 2, the second motor 3 and the third motor 4, the first motor 2 controls the rotation angle of the first mechanical arm 5 according to the rotation angle signals, the second motor 3 controls the rotation angle of the second mechanical arm 6 according to the rotation angle signals, the third motor 4 controls the rotation angle of the printing device 7 according to the rotation angle signals, thereby controlling the position of the printing apparatus 7 in the X/Y plane.
The principle of the inverse kinematics algorithm of the controller is that a certain three-dimensional n-row, M-column, p-type color mosaic 0/1 matrix M (n, M, p) is known, where M (i, j, k) represents the ith-row, jth-column, k-type color mosaic element (where: 1 represents that the position needs to be tiled, and 0 represents that the position does not need to be tiled). The mosaic size is S, then the mosaic template coordinate matrix P (x)i,j,k,yi,j,k) Calculated according to equation 1:
assuming that the mosaic color coordinates are arranged along the X-axis, the coordinate matrix C (X)k,yk) The matrix is calculated according to equation 2:
xk＝x0+Ck*(k-1)*S
yk＝y 02
wherein C iskGiven by:
x in the above formula0,y0Both represent the starting points of the matrix mosaic coordinates and the color mosaic coordinates.
The algorithm B is an inverse kinematics algorithm based on the D-H parameters of the robot, and the principle is as follows, wherein three shaft joints refer to the rotating assembly relation of three servo motors:
the known D-H parameter table for the structural design of an organism is as follows:
| connecting rod serial number i | ai-1 | αi-1 | di | θi | Variation of joint |
| 1 | 0 | 0 | 0 | 0 | θ1 |
| 2 | a1 | 0 | 0 | 0 | θ2 |
| 3 | a2 | 0 | 0 | 0 | θ3 |
The transformation matrix of two adjacent axis joints is as follows:
the transformation matrix for the 3 axis joints can thus be obtained as follows:
the transformation matrix from the 1 st axis joint to the 3 rd axis joint and the known terminal attitude matrix can be known as follows:
from the above equation, the following equation can be derived:
px＝a1cθ1+a2c(θ1+θ2)
py＝a1sθ1+a2s(θ1+θ2)
pz＝0
c(θ1+θ2+θ3)＝1
knowing the D-H parameter and the end coordinate px,py,pzFrom which theta can be obtained1，θ2，θ3。
θ3＝-(θ1+θ2)
C θ in the above equationi,sθiRespectively expressed as cos thetai,sinθi。
To sum up, the embodiment of the utility model provides a mosaic image paving robot, it utilizes the rotation of arm to drive printing device and remove in the plane in order to confirm printing device's position, utilizes the lift seat to remove in order to drive the sucking disc and absorb and release the mosaic granule, has saved the linear guide that needs when arranging the mould and remove, has saved the occupation of land space of robot; meanwhile, the number of the mechanical arms is reduced to two, the whole robot only has three shaft joint degrees of freedom, the structure of the three-shaft robot is greatly simplified, the data resolving and transmitting efficiency is obviously improved, the corresponding control system is simpler, the robot acts flexibly and conveniently, the control system of the controller is simplified, and the cost of the robot is reduced.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a mosaic image is spread and is pasted robot, its characterized in that rotates the assembly including frame and level and is in first arm on the frame, keep away from on the first arm the one end level of frame is rotated and is equipped with the second arm, the second arm is kept away from the one end of first arm is the level still and is rotated and be equipped with printing device, printing device includes that the level rotates the assembly and is in fixing base on the second arm is in with along vertical direction activity assembly lift seat on the fixing base, it is equipped with the printer head that is used for snatching and releases the mosaic granule to go up and down to mount.
2. The mosaic image paving robot according to claim 1, wherein a lifting motor is further arranged on the fixing base of the printing device, and a transmission mechanism is connected between the lifting motor and the lifting base to drive the lifting base to lift.
3. The mosaic image paving robot according to claim 2, wherein the fixing base is provided with a sliding groove extending in a vertical direction, the lifting base is guided and assembled in the sliding groove, and the transmission mechanism is a slider-crank mechanism.
4. A mosaic image paving robot according to claim 3, wherein the fixing base is provided with a pressure groove plate, the pressure groove plate is in a T-shaped structure, the pressure groove plate is provided with a vertical edge vertically connected with the fixing base and a parallel edge arranged on the vertical edge and parallel to the fixing base, the interval between the parallel edge and the fixing base forms the sliding groove, and the lifting base is provided with a sliding plate matched with the sliding groove.
5. A mosaic image paving robot according to claim 4, wherein the lifting base is screw-threaded with a screw, and the print head is disposed at the bottom end of the screw.
6. The mosaic image paving robot as claimed in claim 2, wherein a controller is arranged on the base, and the lifting motor is in signal connection with the controller.
7. The mosaic image paving robot according to claim 6, wherein the printing head is a suction cup, the base is further provided with an air pump connected with the suction cup, and the air pump is in signal connection with the controller.
8. The mosaic image paving robot according to claim 7, wherein the air pump is a vacuum pump, an electromagnetic valve is connected between the vacuum pump and the suction cup, and the electromagnetic valve is in signal connection with the controller.
9. The mosaic image paving robot according to claim 8, wherein a first motor is mounted on the base, and the first mechanical arm is in transmission connection with the first motor; a second motor is assembled on the first mechanical arm, and the second mechanical arm is in transmission connection with the second motor; one end of the second mechanical arm, which is far away from the first mechanical arm, is provided with a third motor, the printing device is in transmission connection with the third motor, and the controller is in signal connection with the first motor, the second motor and the third motor respectively to transmit rotation angle signals of the motors.
10. The mosaic image paving robot according to claim 1, wherein the base comprises a base and a column arranged on the base, and the first mechanical arm is rotatably mounted at the top end of the column.
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| CN201921568298.0U CN210589290U (en) | 2019-09-19 | 2019-09-19 | Mosaic image paving robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549324A (en) * | 2019-09-19 | 2019-12-10 | 刘邵宏 | mosaic image paving robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549324A (en) * | 2019-09-19 | 2019-12-10 | 刘邵宏 | mosaic image paving robot |
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