113 results about "Delta robot" patented technology

A delta robot has motor/gearing units, which are respectively assigned to an arm and which are disposed on one side each of a triangle. Each motor/gearing unit has a gearing, by virtue of material-locking and/or positive-locking connection of gearing components, is free from backlash over the whole of the motional range of the gearing, allowing virtually all aspects fundamental to the delta robot to be optimized, especially the rigidity, the control characteristics, the spatial requirement, the speed and the positioning accuracy.

An industrial delta robot with an arm system rotatable in space and including a base section, a moveable plate, several multi-jointed pull rods and a telescopic axle arranged between the base section and the moveable plate, opposite ends of the pull rods and of the telescopic axle being connected with the base section and the moveable plate respectively, and the telescopic axle comprising an inner axle and an outer tube arranged on the inner axle and displaceable in a longitudinal direction where a pair of end-to-end torsional rigid bushings are arranged in a stationary manner on the outer tube in which the inner axle is mounted to be displaceable, the bushings being spaced apart at confronting inner ends to form a transversely extending lubrication pocket for continuous lubrication of the inner axle during movement relative to the bushings.

The invention relates to a delta robot control method for sorting multiclass workpieces. The delta robot control method for sorting multiclass workpieces comprises the step of image acquisition and information processing, specifically images of the workpieces on a conveyor belt are collected, the acquisition time is recorded and a center point pixel coordinate and class information of each workpiece image in the images are extracted, workpiece center point physical coordinates are obtained through a perspective projection equation, workpiece grasp tasks corresponding to the workpiece images are added to the workpiece grasp queue; and the step of workpiece sorting, specifically, before implementing the grasp task, according to the workpiece center point physical coordinates of each workpiece grasp task in current workpiece grasp queue, the workpiece grasp task has the priority to be implemented is selected; and based on the Ferrari's dynamic grasp algorithm, workpiece grasping and a calculation of sorting placement coordinates are conducted and the grasp task is implemented. The invention further provides a delta robot control system for sorting multiclass workpieces based on the method. The delta robot control method and system for sorting multiclass workpieces saves costs and spaces by grasping and sorting multi-class workpieces through a Delta robot.

The invention provides a vision-guided trajectory planning method on the basis of a Delta robot joint space. The method is applied to the optimal time motion of a Delta robot. The method comprises the following steps: solving a kinematic relation of the Delta robot; establishing an inverse kinematical equation for a motion from an end effector to each joint; acquiring a target position through an industrial intelligent camera; updating the target position on real time through an encoder; dividing a working area of the Delta robot into 9*13 subareas; planning the motion route of each joint at different areas through a B spline offline; maintaining smooth and continuous speed, acceleration and jerk; reducing the impact of a servo motor to a mechanical structure; improving the typical particle swarm optimization; speeding up to search time nodes with optimal solution by the fractional order particle swarm optimization in order to avoid local optimal solution; then performing the two-dimensional fuzzy method to select the optimal time node corresponding to the working area of the robot on line, and thus finishing control.

The invention relates to an improved Delta parallel mechanism robot and belongs to the technical field of parallel robot mechanisms. Projection included angles of three groups of electric linear guide rails on the horizontal plane are 120 degrees, and the three groups of electric linear guide rails are evenly arranged circumferentially. The three groups of guide rails and three groups of electric linear guide rail center lines with horizontal plane included angles of 45 degrees are converged at one point. Three groups of stepping motors are placed at the bottoms of the linear guide rails respectively, are fixed on a fixed platform and respectively drive connecting pieces on the three groups of linear guide rails to enable the connecting pieces to move along the direction of the linear guide rails. One ends of connecting rods are hinged to the connecting pieces on the three groups of linear guide rails respectively through spherical hinges, the other ends of the connecting rods are hinged to a movable platform through spherical hinges, and three groups of parallelogram branched chains are formed respectively. Compared with a traditional Delta robot, the improved Delta parallel mechanism robot is safe, high in reliability and precision, large in work space, compact in overall structure and small in volume mass.

The invention discloses a neural network-based visual system calibration method. The method comprises the steps of deriving a Faugeras calibration algorithm suitable for a Delta robot vision system according to a position relationship between a robot and a video camera; solving a linear intrinsic parameter and a linear extrinsic parameter for vision system calibration by utilizing the Faugeras calibration algorithm, and taking the linear intrinsic parameter and the linear extrinsic parameter as an initial weight value and an offset of a neural network; and deriving a 2-2-3-1 four-layer neural network structure suitable for Delta robot vision system calibration by utilizing Faugeras, wherein a transitive relation between an input layer and a hidden layer of the network represents an extrinsic parameter for video camera calibration, a transitive relation between the hidden layer and an output layer of the network represents the extrinsic parameter for the vision system calibration, and an activation function of the neural network is nonlinear due to existence of nonlinear factors such as distortion and the like. In an output of the neural network, an X axis and a Y axis of a coordinate system of the robot have different network characteristics, so that the 2-2-3-1 four-layer distributed neural network structure is adopted; and in addition, the experimental calibration precision of the method is 0.109mm, and the precision of a conventional Faugeras calibration algorithm is 0.535mm.

The invention discloses a control system and method of DELTA robots based on visual tracking. Servo drivers and a motion controller in the system are connected through a series bus, the method achieves leak repairing distribution, odd and even distribution and classification distribution by utilizing the servo drivers in series connection, and motion tracks of robots are further optimized. The control system achieves cooperative control over the double DELTA robots, the universality of the system is improved, and the system is easy to set and convenient to debug. The method achieves various cooperative control modes based on the double DELTA robots, and is suitable for different working environments, high in universality and low in miss rate. Meanwhile, the speed and the accuracy that the robots sort target objects are further improved through optimization of the motion tracks, and working efficiency of the robots is improved. The control system and method of the DELTA robots based on visual tracking can be widely applied to the field of industrial robots.

The invention discloses a method for quick modeling of a Delta robot based on MAPLESIM. The method is characterized by comprising the following steps of 1, according to the multibody mechanical graph theory principle, abstracting a mechanism topology configuration of the actual Delta robot into a linear graph, and expressing in a character and graph type; 2, sequentially selecting the required elements from a built MAPLESIM element base, and setting attributes and parameters; 3, according to the linear graph, connecting the elements and components, and building a single-branch chain physical model of the Delta robot; 4, copying the built single-branch chain model in step 3 into two other branch chains, and connecting the three branch chains in parallel to build a complete basic model of the Delta robot; 5, solving the built single-branch chain model in step 4, and simulating the motion control on the complete model according to the solved explicit inverse solution. The method has the advantage that by operating the MAPLESIM to analyze, the built model is tested according to the three-dimensional cartoons and tracks, so as to obtain the satisfactory property.

The invention relates to a trajectory link control method for a Delta robot based on a Bezier curve. The trajectory link control method is characterized in that the method establishes a curve arc length model, and the curve arc length model represents the corresponding relation between the arc length of the Bezier curve and a curve parameter, the Bezier curve is constructed according to a given trajectory parameter and the curve arc length model to obtain a Cartesian space coordinate, transforming the Cartesian space coordinate to a joint space angle of the Delta robot based on an inverse kinematic model of the Delta robot, and carrying out trajectory link on the Delta robot. Compared with the prior art, the trajectory link control method for the Delta robot based on the Bezier curve disclosed by the invention has the advantages of improving the smoothness of the end motion of the Delta robot, reducing the loss of a motor and the like.

The invention provides a Delta robot locus programming method based on a gravitation searching particle swarm algorithm, comprising: employing a grid division mode to segment a Delta robot main conveyor belt operation area into M*N grids and determining a standard point coordinate; constructing a Cartesian space door-shaped grabbing locus, and deriving the kinematic inverse solution of each driving shaft angle and a rear end performer position; employing a gravitation searching particle swarm algorithm, using time optimum as a fitness function, and under the condition of meeting continuous and smooth joint speed, acceleration and pulsation and not exceeding a servo motor rated restriction value, constructing seven non-uniform rational B-spline functions, and obtaining an off line interpolation joint space angle-time node sequence; and after the Delta robot identifying a target point coordinate, calculating a joint space angle discrete sequence, querying data off-line stored in a three-dimensional array, obtaining a time node sequence, programming a motion locus and completing specified motion.

The invention provides a three-degree of freedom mechanical wrist and relates to the robot field. The three-degree of freedom mechanism wrist comprises a mechanical wrist base and a mechanical wrist head; a first transmission shaft and two second transmission shafts are arranged on the mechanical wrist base; a tail end rotating shaft is arranged inside the mechanical wrist head; the tail end rotating shaft is connected with a third transmission shaft coaxially; the upper end of the third transmission shaft is connected with the lower end of the first transmission shaft through a universal joint; the lower ends of the second transmission shafts are connected with a first main driving arm which is arranged outside the mechanical base through a reversing transmission device; the first main driving arm is connected to the lateral wall of the mechanical wrist head through a middle connecting rod and a driven arm sequentially. The invention also provides a novel six-degree of freedom DELTA robot comprising the mechanical wrist. The mechanical arm is connected to the tail end of the DELTA robot. The DELTA robot is flexible, rapid in speed, low in manufacturing coast and large in loading.

The invention discloses a detaching and recycling system for electric energy meter package boxes. The system comprises a full box conveying line, a sorting conveying line, a box opening device on the full box conveying line, a rack, a cover fetching device, a sorting device and a waste package box processor. The box opening device comprises a support, a rotary tool, a first package box positioning assembly and a coordinate robot. The cover fetching device comprises a suspension module fixed to the rack in a suspended mode, a second package box positioning assembly, a cover fetching air cylinder and a cover removing module. The cover removing module comprises an upper cover removing assembly and a paper holder removing assembly. The sorting device comprises a third package box positioning assembly used for grasping electric energy meters, a vacuum suction cup claw and a Delta robot, wherein the Delta robot is fixed to the rack and used for driving the vacuum suction cup claw to move. The detaching and recycling system for electric energy meter package boxes can automatically open electric energy meter package boxes, fetch covers, sort boxes and process waste package boxes, and is high in production efficiency, low in labor intensity and good in production safety.

The invention discloses a trajectory planning method. The trajectory planning method firstly uses a right angle transition part between a smooth vertical motion and a horizontal motion of a PH curve in Cartesian space to determine a motion trajectory; a polynomial motion law is then used to plan a one-dimensional curve displacement of the trajectory, and the position of a motion trajectory interpolation point is determined; and finally, PH curve parameters are optimized with the minimum pick-and-place operation cycle as a target, and through deduction, the optimization method is proved to obtain the minimum curvature difference under the PH curve. The invention also discloses application of a parallel robot trajectory planning method to a Delta robot system. the pick-and-place operation ofthe trajectory planning method has a short motion cycle, and the trajectory is smooth and has smooth motion characteristics. The Delta robot of the present invention can perform grasping operation ata speed of 90 times/minute, thereby realizing high-speed operation of the parallel robots.

The invention provides a defective bamboo block detection sorting device and method based on the visual sense. The defective bamboo block detection sorting device comprises a workpiece tank; the workpiece tank cooperates with a second conveyor belt through a first conveyor belt; a baffle and a first door-type adjustable support are arranged on the second conveyor belt, and a first rectangular shadowless light source and a first camera are connected to the first door-type adjustable support; the tail end of the second conveyor belt is provided with a first delta robot, and a first friction wheel below the second conveyor belt is coaxially connected with a first encoder; the tail end of the second conveyor belt is matched with the head end of a third conveyor belt to form a bamboo block turn-over structure; a second friction wheel below the third conveyor belt is coaxially connected with a second encoder, and the third conveyor belt is provided with a second delta robot and a second door-type adjustable support; and the second door-type adjustable support is connected with a second rectangular shadowless light source and a second camera. According to the defective bamboo block detection sorting method, defective bamboo block detection sorting is achieved through cooperation of the encoders, the cameras and the delta robots. The stability and robustness are improved, the efficiency is higher, and the more intelligentized effect is achieved.

The invention relates to an improved robotic arm apparatus and associated method which improves a robot configured in a “delta” arrangement. The robotic arm apparatus is arranged with three substantially identical movable arm assemblies connected together with three linear actuators in a triangular configuration such that each end of each linear actuator has at least one translational degree of freedom.

The invention discloses a carrying robot at seven degrees of freedom with symmetrically arranged driven arms and belongs to the technical field of the robot. The robot comprises a frame, moveable platforms, a synchronous belt mechanism, a ball screw, a rack and pinion mechanism and three branch chains, wherein each of the branch chains comprises a big driving arm, a small driving arm, a driving arm connecting rod, a lining rack and a driven arm; the upper end of the driven arm is connected with the lower end part of the linking rack; the lower end of the driven arm is connected with an upper moveable platform. The moveable platform is remolded and upgraded and a degree of freedom is added on the basis of a six-axis delta robot, so that the robot disclosed by the invention has two platforms. A lower moveable platform is deflected for a certain degree on the basis of the upper moveable platform, so that the deflection angle of a tail end executing mechanism is increased. The problems, such as, smaller deflection angle of the tail end executing mechanism, caused by the problems, such as, limitation to a parallel robot at six degrees of freedom in a practical motion process, can be solved by the carrying robot disclosed by the invention; the application scope of the carrying robot disclosed by the invention is wider; the carrying robot can more effectively meet the practical requirement.

The invention relates to a Delta robot control system with the traction visual teaching function. The Delta robot control system comprises a motion controller. The motion controller controls multiple servo drivers and motors through a bus. The position control mode is adopted for the servo drivers and the motors. The motion controller comprises a position receiving unit, a point table generation unit and a position control unit. The position receiving unit is used for receiving position signals fed back by encoders of the motors. The point table generation unit is used for converting the position signals into coordinate points and generating a point table according to the coordinate points. The position control unit completes closed-loop control over the positions of the motors according to the generated point table, and the target position of a Delta robot is kept consistent with the actual position, so that the traction visual teaching function is achieved. By the adoption of the Delta robot control system with the traction visual teaching function, the field adaptability of the Delta robot is improved.

A device for carrying and fastening a robot (4), in particular a delta robot, is designed in a gallows shape. It has a foot (1), a column (2) adjoining the foot (1), and at least one cantilever arm (3), fastened to this column (2), for fastening the robot (4). The cantilever arm (3) in this case is fastened to the column (2) in a fixed position. The device consists at least partly of a composite material, in particular a cast mineral. This device for carrying and fastening a robot is extremely space-saving and nonetheless has good vibration-damping properties.

The invention discloses a parallel connecting rod type Delta robot forth axis transmission mechanism, and relates to a Delta robot forth axis transmission mechanism. The parallel connecting rod type Delta robot forth axis transmission mechanism can meet demands for performances of a Delta robot during the rapid development process of industry of our country. The parallel connecting rod type Delta robot forth axis transmission mechanism comprises a drive motor, an upper end universal joint and a lower end universal joint. The parallel quadrangle connecting rod transmission mechanism of the forth axis of the Delta robot with four degrees of freedom further comprises a parallel connecting rod mechanism and a work platform. An output shaft of the drive motor is connected with the upper end universal joint in transmission mode. The upper end universal joint is connected with a diagonal shaft at the upper end of the parallel connecting rod mechanism. A diagonal shaft at the lower end of the parallel connecting rod mechanism is connected with the lower end universal joint. The lower end universal joint is connected with the work platform. The parallel connecting rod type Delta robot forth axis transmission mechanism is used on the Delta robot with the four degrees of freedom, and can meet the demands for the performances of the Delta robot during the rapid development process of the industry of our country.

A linear delta mechanism includes a base platform, a movable platform, and a plurality of guide sets. The base platform includes a base structure and a base stand. The base stand is disposed at a center location of the base structure. The movable platform is movable with respect to the base platform. The plurality of guide sets are connected to the base platform and configured to drive the movable platform. Each of the guide sets includes a linear actuator and an actuating rod. The linear actuators of the guide sets are symmetrically disposed around the base stand. Each of the actuating rods has a first end and a second end. The first end is driven by the linear actuator, and the second end is connected to the movable platform.

The invention relates to a simulated industrial site laboratory. The laboratory comprises a stereoscopic warehouse, a warehouse-out platform, an AGV dolly, a number one loading robot, a number one transmission line, a DELTA robot, a number two transmission line, an air compressor, a robot control cabinet, a SCARA robot, a speed multiplication chain, a laser marking machine, a number two loading robot, a 3D printer, a warehouse-in platform and a control platform. In the invention, through simulating industrial streamline work, a student can visually combine learnt knowledge and industrial production; and through usage of various kinds of robots, the student can grasp structures and applications of many robots during a view and emulation process. In the invention, modern technology means of an automation stereoscopic warehouse, the AGV dolly, visual sense detection, 3D printing, laser marking and the like are combined; through a simplest mode, a production mode of a modern factory is presented; and an automation degree is high.

The invention discloses a center shaft structure of a delta robot and belongs to the technical field of mechanical equipment. The problems that inertia is high, efficiency is lower and operation accuracy is reduced due to the fact that the center shaft structure of an existing delta robot is large in structural weight are solved. The center shaft structure of the delta robot comprises at least two robot driving arms and at least one robot operation arm, the robot driving arms are parallel, one ends of the robot driving arms are fixedly connected together via a fixing sleeve, the other ends of the robot driving arms are fixedly connected with a first slider, one ends of the robot operation arms penetrate the first slider, the robot operation arms can slide relative to the slider along the self axial direction, and both the robot driving arms and the robot operation arms are made of carbon fiber materials. The center shaft of the delta robot is simple in structure and light in weight, thereby being low in inertia and high in efficiency when in running.

The invention provides a method for designing a controller of a Delta robot movement mechanism based on LabVIEW graphical programming software and belongs to the technical field of robot control. The method is used for improving the dynamic response performance of a system and improving the tracking precision. The method for designing the controller of the Delta robot movement mechanism comprises the steps that the kinematic relation of a Delta robot is solved based on the structure of the Delta robot, and the inverse kinematical equations of an end effector moving to all shafts are established; the movement paths of all the shafts are fitted by means of a quintic polynomial curve; information obtained through feedback of an encoder of a servo motor and positional deviation e obtained through processing of an FPGA module are input to the fuzzy PI controller, and a speed pulse signal is output by the controller; a servo motor driver is driven through the FPGA module on a PCI-7842 board card of an NI, so that the motor is made to rotate to a specific position accurately and rapidly.

The invention relates to a machine vision-based fruit sorting system and an image recognition method thereof, and belongs to the technical field of machine vision and mechanical design and control. Asystem device comprises an image collecting device, a conveying device, a robot support frame, a delta robot and a pneumatic fixture. The image collecting device is arranged above the conveying device, the delta robot is arranged behind the image collecting device through the robot support frame, the pneumatic fixture is connected with the delta robot, all parts cooperate with each other, image information is collected and uploaded to a computer for analysis and calculation, and the position coordinates of a defective fruit are obtained. Finally, the computer controls the delta robot to drivethe pneumatic fixture to clamp the fruit and put the fruit on a corresponding conveyor belt to complete the sorting process, and the recognition accuracy efficiency is high.

The invention provides an automatic packing production line based on an improved delta robot, relates to the technical field of automated food production lines and further discloses an automatic food packing system. The automatic food packing system is composed of an electric base sliding table (10), a pair of bases (11), a robot gantry rack (12), the six-degree-of-freedom delta robot (13), a rotary pneumatic picking claw (14), a robot visual control system (20), an image comparison recognition system (21), a production line control system (22), qualified product packaging boxes (15) and unqualified production collection boxes (16). The sliding rails of the electric base sliding table (10) are parallel to the two sides of a conveying belt (4) and fixedly arranged on the ground. The automatic packing production line is reasonable in process layout, high in automation degree and high in efficiency and has very high market population value, manpower is saved greatly, the food specifications are highly unified.

The invention discloses a delta robot drive-control system, comprising a main control subsystem, a control subsystem and a power supply module; the main control subsystem realizes robot dynamics operation and closed loop control; the control subsystem realizes the control of a servo motor; two-way data coordination transmission is performed between the main control subsystem and the control subsystem; the main control subsystem comprises an F28M36 double-core chip; the F28M36 double-core chip comprises an ARM processor in charge of monitoring peripheral circuits and a DSP processor in charge of all operation of the robot; the Delta robot drive-control system adopts an EtherCAT bus mode to connect the F283M36 double-core chip for realizing the high efficiency communication between an upper host and a robot child node; the power supply module is used for supplying power to the main control subsystem and the control subsystem; a DSP processor is adopted to increase the operation speed rate of the system and greatly increases the cost performance; and the EtherCAT bus communication mode enables the communication efficiency of all robots in one network to be played to the greatest extend.

A coordinate measuring machine (10) based on a delta robot structure (12) comprising: a base plate (42); arms (16, 16', 16''); a movable platform (18) with a probe (4), and a control unit (38) for controlling the movement of the movable platform (18). The base plate (42) is configured for accommodating a first workpiece (50) and the probe (4) is arranged in/at/on the movable platform (18) in a way using the free inside space of the delta robot structure (12) between the arms (16, 16', 16'') as measuring volume.