Intelligent parallel mechanism carrying robot based on Hall positioning system

Abstract

The invention discloses an intelligent parallel mechanism carrying robot based on a Hall positioning system. The robot comprises the positioning system, a grabbing mechanism and a walking mechanism. A stretchable Hall probe is selected and matched with the walking mechanism, and positioning with the accuracy in the millimeter level is achieved, the defect that a traditional terrestrial magnetism positioning system only can conduct positioning at terrestrial magnetism reference points is overcome, and the positions between the adjacent terrestrial magnetism reference points are accurately positioned; the positioning system formed by the Hall probe, a stretchable rod and a stepping motor is additionally arranged, a positioning algorithm is achieved based on Arduino, the random position between two terrestrial magnetism positioning points is accurately positioned, the density of the terrestrial magnetism positioning points does not need to be increased, the 90-degree and 90-multiple-degree accurate turning effect is achieved, and the values that the system structure is simple, and positioning is rapid and accurate are achieved; the parallel-mechanism grabbing device with evenly-distributed balance weights is adopted, it is guaranteed that the gravity center of the mechanism passes through the geometric center of a supporting face, and the high stability of the grabbing device during dynamic movement is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an intelligent parallel mechanism handling robot based on a Hall positioning system. Background technique [0002] The robot has exquisite structure, reliable control, stable operation, wide range of uses, and flexible application. It can be installed with different end effectors to complete the handling of workpieces of various shapes and states, which greatly reduces the heavy physical labor of humans and improves product quality. The quality stability and the automation level of the enterprise reduce the labor cost of the enterprise. The traditional handling robot uses the geomagnetism buried on the ground to mark the position coordinates, and uses the geomagnetic recognition sensor to accurately find and distinguish the marked objects. Objects, after the calculation and analysis of the control part, control the mechanical structure installed on the robot, transfer the objects ...

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Problems solved by technology

[0002] The robot has exquisite structure, reliable control, stable operation, wide range of uses, and flexible application. It can be installed with different end effectors to complete the handling of workpieces of various shapes and states, which greatly reduces the heavy physical labor of humans and improves product quality. The quality stability and the automation level of the enterprise reduce the labor cost of the enterprise. The traditional handling robot uses the geomagnetism buried on the ground to mark the position coordinates, and uses the geomagnetic recognition sensor to accurately find and distinguish the marked objects. Objects, after the calculation and analysis of the control part, control the mechanical structure installed on the robot, transfer the objects to the designated location, realize the purpose of intelligent classification, loading, unloading, and handling, make the handling of goods transportation and handling places intelligent, reduce human labor, and achieve comprehensive intelligence Management, the traditional geomagnetic positioning robot cannot accurately locate between adjacent geomagnetic fields, and at the same time, the traditional robot has the problem of instability in the grasping process

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