13 results about "Delta robot" patented technology

The invention discloses a Delta robot motion limit calibration method, which is characterized in that a limit theoretical value of a tail end reachable working space range in a coordinate axis direction is obtained through robot structure parameters, then a cuboid space covering the limit theoretical value is generated, and three-dimensional grid division is carried out; and performing kinematics solution verification on the generated three-dimensional grid points, filtering out unreachable points to obtain a discrete point cloud set of a reachable space, then performing dimension reduction processing in a hierarchical slicing manner, extracting boundaries in a kernel density estimation manner, performing fitting to generate a boundary curve, and obtaining the three-dimensional motion limiting boundary of the tail end of the robot. According to the method, waste of effective space can be better reduced, dependence on human subjective experience is eliminated, and calibration repeatability and efficiency are improved.

The invention discloses a nonlinear PID control method based on intelligent element driving and a fault-tolerant control system thereof, and belongs to the technical field of intelligent control. According to the method, three behavior mapping mechanisms of punishment, memory and prediction are introduced, a traditional PID controller structure is expanded, a compound error signal is constructed, and a dual-channel control strategy of instinct response and learning response is designed. The controller provided by the invention has adaptive gain adjustment capability, a dynamic adjustment law is constructed in combination with a Lyapunov stability theory, and robust control without model information is realized. Meanwhile, a fault-tolerant mechanism is provided for correcting control signal input by considering the situation of performance degradation of an actual actuator, so that the stability and tracking precision of a control system under non-ideal conditions are improved. The control method is suitable for complex nonlinear object control scenes such as underwater robots, mobile robots and parallel Delta robots.

The invention discloses a Delta-robot-based low-drive high-speed bag supply device, and belongs to the technical field of packaging equipment, the Delta-robot-based low-drive high-speed bag supply device comprises a rack, the rack is connected with a downward Delta robot, the Delta robot comprises a fixed platform, the fixed platform is fixedly connected with the top of the rack, the fixed platform is connected with a plurality of drooping symmetrical driving branches, and the fixed platform is fixedly connected with the top of the rack. A movable platform is fixedly arranged at the terminals of the symmetrical driving branches, a cam device is arranged between the fixed platform and the movable platform, a transmission device connected with the cam device is arranged at the bottom of the movable platform, and a plurality of bag clamping devices are arranged at the bottom of the transmission device. The use of a driving motor is reduced, the equipment manufacturing cost is reduced, and the problem of high production cost is solved.

The invention discloses a Delta robot trajectory tracking method based on fuzzy-RBF (Radial Basis Function) control. The Delta robot trajectory tracking method comprises the following steps: firstly, establishing a conventional dynamic model of a Delta robot; a virtual control signal is introduced, a sliding mode surface is constructed, and a control law of a dynamic surface sliding mode controller is designed to ensure the stability and convergence of the system. And constructing a specific fuzzy logic system for adjusting the control gain. A radial basis function (RBF) structure is embedded into a fuzzy membership function, and the center and width of the membership function are iteratively updated by adopting an online adaptive optimization algorithm based on gradient descent, so that dynamic self-learning and parameter adaptation of a fuzzy system are realized. Finally, the output of the designed fuzzy-RBF self-adaptive dynamic surface sliding mode controller acts on a robot joint driving system, and high-precision trajectory tracking control of the Delta robot end effector is successfully achieved. A simulation result verifies the effectiveness and robustness of the provided control method in the aspects of processing parameter uncertainty and external disturbance.

The invention relates to a food processing machine (1), in particular in the form of a cutting machine (27), in the form of a thermoforming packaging machine (2), in the form of a tray sealing machine (20), in the form of a dough processing machine, in the form of a tubular bag machine or in the form of a delta robot (31), wherein the food processing machine (1) is functionally connectable to a mobile control unit (17) which has a configuration program (18) for setting operating parameters of the food processing machine (1), and wherein the food processing machine (1) has at least one stationary control unit (13) with a reduced range of functions for controlling the operational operation of the food processing machine (1) compared to the mobile control unit (17), at least with regard to its configuration program (18).

The invention relates to the field of agricultural product processing equipment, in particular to an intelligent deep-fried prepared food grading system which comprises a supporting frame, a conveying mechanism, a detecting mechanism, a grading executing mechanism, a control mechanism and a collecting mechanism. The supporting frame is constructed by aluminum profiles to form a mounting foundation; the conveying mechanism comprises a stainless steel mesh conveying belt, a motor and an encoder; the detection mechanism comprises an industrial camera and an edge computing device, a deep learning model embedded in the edge computing device classifies products in real time, grabbing position coordinates and grabbing time intervals of the unqualified products are sent to a control mechanism end Arduino development board, and the Arduino development board determines the grabbing position coordinates of the unqualified products according to the two pieces of received information and the speed of a conveying belt. Task scheduling, movement control of a Delta robot and opening and closing grabbing of a fin line claw are further conducted, unqualified products above the conveying belt are safely grabbed to a defective product collecting area, qualified products and the unqualified products fall into corresponding collecting frames after reaching the tail end of the conveying belt, and the consistency and the percent of pass of fried prepared food are guaranteed.

The application discloses an aluminum row and a shielding equipment and process thereof. The shielding equipment comprises a rack, a fixing frame, a soaking tank, a fixing jig and a Delta robot. The rack is provided with a pre-gluing station, a gluing station and a post-gluing station. The pre-gluing station and the post-gluing station are both provided with the fixing frame. The gluing station is provided with the soaking tank. The fixing jig is used for clamping a plurality of workpieces to be shielded. The fixing frame is used for suspending the fixing jig and making the part to be shielded of the workpiece face downward. The soaking tank is used for containing insulating glue solution. The Delta robot is fixed on the rack and is provided with a mechanical hand. The mechanical hand executes the actions of clamping the fixing jig at the pre-gluing station, suspending the fixing jig at the gluing station and placing the fixing jig at the post-gluing station under the control of the Delta robot. When the fixing jig is suspended at the gluing station, the part to be shielded of the workpiece is soaked in the insulating glue solution. The aluminum row is prepared by the shielding equipment. The application can replace manual operation and improve the precision and efficiency of shielding.

The invention relates to a food processing machine (1), in particular in the form of a cutting machine (27), in the form of a thermoforming packaging machine (2), in the form of a tray closing machine (20), in the form of a dough processing machine, in the form of a tubular-bag machine, or in the form of a delta robot (31), wherein the food processing machine (1) can be functionally connected to a mobile operating unit (17) which has a configuration program (18) for setting operating parameters of the food processing machine (1), and the food processing machine (1) has at least one stationary operating unit (13) having a reduced functional scope compared to the mobile operating unit (17) at least with respect to the configuration program (18) thereof for controlling an operative operation of the food processing machine (1).

Full-automatic sorting equipment for gas discharge tubes comprises a mechanical movement assembly, an electrical control assembly and a detection assembly, the mechanical movement assembly is composed of a vibration disc, a conveying belt and a Cyerature Delta robot, the vibration disc conducts feeding through vibration, and the Delta robot achieves high-precision grabbing and sorting through a pneumatic flexible clamping jaw; the electrical control assembly is integrated with an eight-position valve terminal and a multi-axis motion controller; the base adopts a T-shaped groove aluminum frame and is provided with composite ground trundles, and stability and moving flexibility are both considered. Through high-precision sensing, an intelligent algorithm and modular design, the problems of low detection efficiency, high misjudgment rate and insufficient intelligence in the prior art are solved, the sorting speed of more than 60 pieces per minute is realized, the misjudgment rate is less than or equal to 0.1%, the energy consumption is reduced by 30%, flexible production and remote data management of multi-specification discharge tubes are simultaneously supported, and the working efficiency is improved. And production efficiency and product quality are improved, and high-standard sorting requirements in the fields of electric power, communication and the like are met.

A robotic manipulator (M), in particular a delta robot, comprising a mounting frame and a plurality of articulated arms (200) mounted on the mounting frame. The manipulator (M) further comprises a movable support (300) having at least one operating member (400) and comprising a first and a second portion (300a, 300b) coupled together by means of a sliding coupling defining a sliding axis (S). The first and the second portions (300a, 300b) being each connected to at least one of the articulated arms (200). At least one operating member (400) is operated by relative sliding between the portions (300a, 300b) of the movable support (300).

This application relates to the field of food packaging technology and discloses an automatic pastry packaging system and method, comprising: a frame, which serves as a basic component to support lower structures; a forming machine, disposed on one side of the frame, for producing pastries; a dust removal and filtration box connected to the output end of the forming machine; and a material preparation unit disposed inside the frame, the material preparation unit including a tray-separating dust removal structure, which is equipped with a dust removal electro-ion fan and multiple tray-pressing mechanisms. By integrating the material preparation unit, the robot tray loading unit, and the box-sealing output unit, a fully automated packaging line is constructed, from carton tray separation, middle tray loading, pastry gripping, fork assembly to box lid sealing. The carton tray pull-down and flipping mechanism completes the automatic separation and flipping of the carton, the parallel Delta robot realizes the automatic gripping and stepped arrangement of pastries, and the lid-closing and conveying mechanism completes the automatic positioning and closing of the box lid.

A robotic manipulator (M) having four parallel kinematic arms, in particular a delta robot, comprising a support frame and four manipulator arms. Each arm comprises a first segment (200a) comprising a first end (200a') connected to the support frame and a second end (200a''), and a second segment (200b) comprising a first end (200b') connected to the second end (200a'') of the first segment (200a) and a second end (200b''). The manipulator (M) further comprises a movable support (300) on which an operating member is mounted or mountable. The second ends (200b'') of the second segments (200b) are hinged to the movable support (300). Each of the first segments (200a) is connected to the support frame in a rotatable manner about a respective main axis of rotation (X1, X2, X3, X4) so as to move the movable support (300). The main axes of rotation (X1, X2, X3, X4) lie on at least two positioning axes (G1, G2) parallel to each other.

The present invention relates to a collaborative Delta robot (1) comprising a stationary base (2) and a mobile basket (3) connected to the base (2) by means of three kinematic chains (4, 5, 6), where each kinematic chain is driven by its own motor (7), characterized in that the robot comprises first means (8) for detecting the presence of an object or a living being in a first safety zone around the robot, in that the robot comprises means for detecting contact between one of the kinematic chains (4, 5, 6) or the basket (3) with an object or living being, and in that the robot comprises a motor control unit configured to reduce the speed of the motors from a first speed to a second speed when an object or living being is detected in the first safety zone and to stop the motors when contact between a kinematic chain (4, 5, 6) or the basket (3) with an object or living being is detected.