Pickup robot of five-bar parallel-connection mechanism of variable-drive layout
A variable drive, robot technology, applied in the field of robots, can solve the problems of poor mechanism rigidity and small movement space of picking robots, and achieve the effects of large working space, stable movement and high control precision.
Inactive Publication Date: 2017-06-23
ZHONGBEI UNIV
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Problems solved by technology
[0003] In order to solve the problems of the above-mentioned picking robot with small movement space, singular configuration, and poor rigidity of the mechanism, the present invention provides a picking robot with a five-bar parallel mechanism with a variable drive layout
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Embodiment 1
[0027] Such as figure 1 and figure 2 As shown, a picking robot with a five-bar parallel mechanism with a variable drive layout includes a base support device 1, a work surface 2, an initial position determination device 3, a motor and a five-bar mechanism 4, a grabbing mechanism 5, and a control system 6;
[0028] Such as image 3 As shown, the base supporting device 1 includes a lower supporting device 101 and an upper supporting device 102, the upper supporting device 102 is arranged on the top of the lower supporting device 101, and the working surface 2 is arranged on the top of the lower supporting device 101, specifically the lower supporting device 101 is composed of 10 A-type Pozi-shaped profiles and four B-type Pozi-shaped profiles, 2 A-type Pozi-shaped profiles, 4 B-type Pozi-shaped profiles and 2 C-type Pozi-shaped profiles constitute the upper part of the base support device , among which, the lengths of the A, B, and C types of rice-shaped profiles are respecti...
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The invention discloses a pickup robot of a five-bar parallel-connection mechanism of a variable-drive layout. The pickup robot is composed of a base supporting device, a work table top, an initial position determination device, a motor and five-bar mechanism, a grabbing mechanism and a control system. Two servo motors are fixed to the base supporting device in an axis collinear layout manner and connected with an aligned parallel-connection five-bar mechanism through flange couplers to form a horizontal work space. The grabbing mechanism is composed of an air cylinder connection U frame, a double-acting type air cylinder, an electromagnet and a steel ball fixing frame and connected with the hinge positions of two rocking bars of the aligned parallel-connection five-bar mechanism through the air cylinder connection U frame. An optoelectronic switch is utilized to determine the initial position of the five-rod mechanism. The control system is composed of a PC, a movement control card, a servo motor driver, an I / O module, an electromagnetic valve and a control program and is used for controlling the servo motors to drive the five-bar mechanism and driving the grabbing mechanism to reach the specific station to execute pickup and releasing orders.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a picking robot with a five-bar parallel mechanism with a variable drive layout. Background technique [0002] The parallel mechanism has the advantages of low motion inertia, high load capacity, and high precision without cumulative error effect. With a compact layout and limited arm internal space, it is widely used in some light industries such as food, medicine, electronics, etc., to replace humans in a large number of repetitive tasks such as sorting, picking, and packing. Canada's MECADEMIC company discloses a dual-arm SCARA picking robot, and Chinese patent 201610085978.1 discloses a modular five-bar parallel robot training platform. The five-bar mechanism drive motor axes are arranged in parallel, so there is a small movement space for the pick-up robot. There are deficiencies in singular configuration and poor rigidity of the mechanism. Contents of the invention [00...
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Login to View More IPC IPC(8): B25J9/00B25J9/04
CPCB25J9/003B25J9/042
Inventor 郑智贞侯志利张涛杜雨婷郭同心冯吉宇张佳豪张梦平秦慧斌
Owner ZHONGBEI UNIV