Unlock instant, AI-driven research and patent intelligence for your innovation.

Quantitative evaluation method for reasonable degree of working space of four-degree-of-freedom palletizing robot

A palletizing robot and workspace technology, which is applied in the direction of instruments, electrical digital data processing, special data processing applications, etc., can solve problems such as the optimization design of the workspace that cannot be palletized robots, and achieve the effect of low algorithm requirements

Active Publication Date: 2017-04-12
HEFEI UNIV OF TECH
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, so far, there is no quantitative analysis and evaluation method for the reasonableness of the workspace of the four-degree-of-freedom palletizing robot. Unable to quantify the optimal design of the working space of this type of palletizing robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Quantitative evaluation method for reasonable degree of working space of four-degree-of-freedom palletizing robot
  • Quantitative evaluation method for reasonable degree of working space of four-degree-of-freedom palletizing robot
  • Quantitative evaluation method for reasonable degree of working space of four-degree-of-freedom palletizing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] When the user proposes a figure 1 In the rectangular task space requirement of l=1250mm, h=1500mm, establish the coordinate system for the given two models of four-degree-of-freedom palletizing robots according to the D-H method respectively. Take the workspace of the XOZ section of the two four-degree-of-freedom palletizing robots in the coordinate system as the actual workspace 1( Figure 2A shown) and the actual workspace 2 ( Figure 2B shown), in specific implementation, it can also be taken as the YOZ section in the coordinate system. The evaluation method is carried out in the following steps:

[0047] Step 1. Move the rectangular task space in the direction parallel to the X-axis and Z-axis in the XOZ section, and respectively compare the coordinate values ​​of the four vertices I, II, III, and IV of the rectangular task space with the actual workspace 1. The actual workspace 2 corresponding to the discrete point coordinates on the contour line, the comparison...

Embodiment 2

[0050] When the user proposes a figure 1 In the rectangular task space requirements of l=1250mm, h=1500mm, establish coordinate systems for two given models of four-degree-of-freedom palletizing robots according to the D-H method, and take the two four-degree-of-freedom palletizing robots in the coordinate system XOZ The working space of the section is the actual working space 3 corresponding to the four-degree-of-freedom palletizing robot (such as Figure 4A shown) and the actual workspace 4 (as Figure 4B shown); the evaluation method is carried out according to the following steps:

[0051] Step 1. Move the rectangular task space in the direction parallel to the X-axis and Z-axis in the XOZ section, and respectively compare the coordinate values ​​of the four vertices I, II, III, and IV of the rectangular task space with the actual workspace. 3. The actual workspace 4 corresponding to the discrete point coordinates on the contour line, the comparison shows that the actual...

Embodiment 3

[0055] When the user proposes a figure 1 In the rectangular task space requirement of l=1250mm, h=1500mm, establish the coordinate system for the given two models of four-degree-of-freedom palletizing robots according to the D-H method respectively. Take the workspace of the XOZ section of the two four-degree-of-freedom palletizing robots in the coordinate system as the actual workspace 5 and actual workspace 6 of the corresponding four-degree-of-freedom palletizing robot, as Figure 6A and Figure 6B Shown; the evaluation method is carried out as follows:

[0056] Step 1. Move the rectangular task space in the direction parallel to the X-axis and Z-axis in the XOZ section, and respectively compare the coordinate values ​​of the four vertices I, II, III, and IV of the rectangular task space with the actual workspace. 5. The actual workspace 6 corresponding to the discrete point coordinates on the contour line, the comparison shows that the actual workspace 5 and the actual w...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a four-freedom-degree palletizing robot work space reasonable degree quantitative evaluation method. The method is characterized in that firstly, coordinate systems of all four-freedom-degree palletizing robots to be evaluated are built according to a D-H method, whether the four-freedom-degree palletizing robots can meet the expected basic requirements or not is determined according to comparison of the actual work space of the four-freedom-degree palletizing robots and the rectangular task space in the coordinate systems; quantitative evaluation is conducted on the work space reasonable degree of the four-freedom-degree palletizing robots through the space utilization rate H of the actual work space, the left side contour line slope absolute value K and the centroid offset rate e of the four-freedom-degree palletizing robots. By means of the four-freedom-degree palletizing robot work space reasonable degree quantitative evaluation method, the reasonable degree of the given actual work space can be visually and quickly judged under the condition of a set rectangular task space, reference is provided for model selection of the four-freedom-degree palletizing robots, and a guiding significance is provided for structural design of the four-freedom-degree palletizing robots.

Description

technical field [0001] The invention relates to a method for quantitatively evaluating the rationality of the working space of a palletizing robot with four degrees of freedom. Background technique [0002] The working space is an important attribute of the palletizing robot, which reflects the working range of the palletizing robot. When designing the structure of the palletizing robot, engineers usually first design the palletizing robot according to the rectangular task space proposed by the user, so that the working space of the palletizing robot can completely contain the required rectangular task space. Whether the working space is reasonable directly affects the overall performance of the palletizing robot and the production and use costs of the palletizing robot. [0003] Aiming at the research on the working space of the four-degree-of-freedom palletizing robot, the "Mechanical Structure and Control System Design of Palletizing Robot" edited by Li Jinquan et al. us...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 卢剑伟马树全燕培磊姜平谷先广吴勃夫胡金芳曹兴枫
Owner HEFEI UNIV OF TECH