CN106881710A - It is a kind of to become the pickup robot for driving five bar parallel institutions of layout - Google Patents
It is a kind of to become the pickup robot for driving five bar parallel institutions of layout Download PDFInfo
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- CN106881710A CN106881710A CN201710256021.3A CN201710256021A CN106881710A CN 106881710 A CN106881710 A CN 106881710A CN 201710256021 A CN201710256021 A CN 201710256021A CN 106881710 A CN106881710 A CN 106881710A
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- servomotor
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- cranks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of five bar parallel institution pickup robots for becoming and driving layout, it is made up of base support meanss, work top, initial position determining device, motor and five-rod, grasping mechanism and control system.Two servomotors are fixed in base support meanss with the conllinear layout type in axle center, are connected with to heart parallel connection five-rod by flange-face coupling, form horizontal working space.Grasping mechanism is made up of cylinder connection U framves, double-acting type cylinder, electromagnet, steel ball fixed mount, and connect U framves by cylinder is connected with to the rocking bar hinged place of heart five-rod two.Optoelectronic switch determines the initial position of five-rod.Control system is made up of PC, motion control card, motor servo driver, I/O modules, magnetic valve and control program, for controlling servomotor to drive five-rod, drives grasping mechanism to reach specific station, performs pickup, release command.
Description
Technical field
The present invention relates to robotics, and in particular to a kind of change drives the pickup machine of five bar parallel institutions of layout
People.
Background technology
Parallel institution possess harmonic motion inertia, high bearing capacity, in the absence of accumulated error effect high accuracy the advantages of.With
Compact layout and limited arm inner space is widely used in some light industry such as food, medicine, electronics, to replace people
It is engaged in the substantial amounts of repetitive operation such as sorting, pickup, vanning.Canadian MECADEMIC companies disclose a kind of both arms SCARA and pick up
Robot is taken, Chinese patent 201610085978.1 discloses a kind of bar parallel robot practical traning platform of modularization five, and both are wherein
Five-rod motor diameter parallel layout, have that pickup robot space is small, there is Singularity, mechanism's rigidity
Poor deficiency.
The content of the invention
The present invention in order to solve that above-mentioned pickup robot space is small, there is Singularity, mechanism's poor rigidity is asked
Topic, there is provided a kind of to become the pickup robot for driving five bar parallel institutions of layout.
The technical scheme taken to solve the above problems of the present invention is：
It is a kind of to become the pickup robot for driving five bar parallel institutions of layout including base support meanss, work top, initial
Position determining means, motor and five-rod, grasping mechanism and control system, the base support meanss are filled including lower support
Put and upper supports, upper supports are arranged on the top of lower support device, work top is arranged on lower support
The top of device；The middle setting of the work top has several through holes, and all of through hole is distributed in annular concentric, and through hole is used
Object steel ball is picked up in placing；Described initial position determining device is established by cable by I optoelectronic switches, II optoelectronic switches, I light
Support and II optoelectronic switches support composition are closed, I optoelectronic switches support and II optoelectronic switch supports are symmetricly set on top
In support meanss, I optoelectronic switches and II optoelectronic switches are separately positioned on I optoelectronic switches support and II optoelectronic switch branch
On frame；
The motor is with five-rod by upper servomotor, motor support plate, upper flange shaft coupling, D cranks, E rocking bars, F
Rocking bar, G cranks, cushion block, lower flange shaft coupling and lower servomotor composition, motor support plate be arranged on upper supports and
Between I optoelectronic switches support and II optoelectronic switch supports, upper servomotor is arranged on and I also is located in motor support plate
Number between the optoelectronic switch support and II optoelectronic switch supports and top of upper servomotor extends to the outer of upper supports
Portion, the upper end of upper flange shaft coupling is connected with the motor shaft of upper servomotor, the lower end of upper flange shaft coupling and the left end of D cranks
Upper surface is connected, and the right-hand member lower surface of D cranks is connected by plane bearing with the left end upper surface of E rocking bars, the right side of E rocking bars
End lower surface is connected by plane bearing with the right-hand member upper surface of F rocking bars, the left end lower surface of F rocking bars pass through plane bearing and
The right-hand member upper surface of G cranks is connected, and the upper surface of cushion block is arranged on the lower section on the left of G cranks, and the lower surface of cushion block is convex with
The upper end of edge shaft coupling is connected, and the lower end of lower flange shaft coupling is connected with the motor shaft of lower servomotor；Lower servomotor
Mounting hole be arranged on work top and the fuselage of lower servomotor is extended in the cavity of lower support device；And lower servo
Motor overlaps with the axis of upper servomotor；
The grasping mechanism is made up of cylinder connection U framves, cylinder, electromagnet and steel ball fixed mount, cylinder connection U framves top
Upper surface be connected with F rocking bar lower surfaces；The neck of cylinder is fixed on the work of the inner surface and cylinder below cylinder connection U framves
Stopper rod extends to the bottom that cylinder connects U framves, and electromagnet is connected with the piston rod of cylinder, and iron core and the steel ball of electromagnet are fixed
Frame is connected to ensure that pickup object steel ball is located in steel ball fixed mount；
The control system is by PC, motion control card, upper motor servo driver, lower motor servo driver, I/O moulds
Block and solenoid valve block are into motion control card is inserted in the draw-in groove of PC, and upper motor servo driver is arranged on lower support device
Cavity in and be connected with upper servomotor to control the rotation of upper servomotor, lower motor servo driver is arranged on bottom
The cavity of support meanss is interior and is connected with lower servomotor to control the rotation of lower servomotor, and I/O modules are also disposed at down
The cavity of portion's support meanss is interior and is connected with magnetic valve and electromagnet to control the action of magnetic valve and the on and off of electromagnet,
Magnetic valve is arranged in the cavity of lower support device and is electrically connected with cylinder to control the upper and lower of cylinder, and control program is by returning
Zeroing program module, location action program module, grasping movement program module, release movement program module composition, work as operation
Back to zero operation program module, motor servo driver, lower motor servo driver drive watch respectively in motion control card control
Motor, the action of lower servomotor are taken, upper servomotor and lower servomotor drive D cranks, E rocking bars to rotate respectively, and then drive G
Crank, F rocking bars swing, and motion control card control I/O modules make I optoelectronic switches and II optoelectronic switches start working, when No. I
When optoelectronic switch detects D cranks, I/O modules to motion control card feedback signal, after motion control card receives feedback signal
Motor servo driver makes servomotor stop motion in control, and I/O modules control I optoelectronic switches are closed, when II light
When electric switch detects G cranks, I/O modules to motion control card feedback signal, after receiving feedback signal control by motion control card
The lower motor servo driver of system makes servomotor stop motion, and I/O modules control II optoelectronic switches are closed, and back to zero has been acted
Into；When location action module is run, motor servo driver drives upper servomotor action, motion in motion control card control
Motor servo driver drives lower servomotor action under control card control, by two axle routing motions, reaches grasping mechanism
Specify station；When grasping movement module is run, motion control card control I/O modules act cylinder, and band motor magnet is downward
Motion, while motion control card control I/O modules make electromagnet action produce magnetic force, steel ball is adsorbed onto on electromagnet, steel ball
Steel ball is locked onto electromagnet center by fixed mount, and motion control card control I/O modules move cylinder after absorption action is completed
Make, band motor magnet is moved upwards；When release movement module is run, motion control card control I/O modules act cylinder, band
Motor magnet is moved downward, and motion control card control I/O modules make electromagnet action after the completion of a upper action, and electromagnet magnetic force disappears
Lose and steel ball is placed into specified station, after placement action is completed, motion control card control I/O modules act cylinder, drive
Electromagnet is moved upwards.
Preferably, the two ends diameter of D cranks of the present invention is different, and the big one end of diameter is another with upper flange shaft coupling
End is connected, and the small one end of diameter is connected by plane bearing with the left end upper surface of E rocking bars.
Preferably, the two ends diameter of G cranks of the present invention is different, and the big one end of diameter is connected with cushion block, and diameter is small
One end be connected with the left end lower surface of F rocking bars.
Preferably, the axis of grasping mechanism of the present invention is concentric with E rocking bars, F rocking bars hinged place.
Preferably, the present invention is equipped with lower margin on four angles of the lower support device.
Compared with prior art, the present invention has working space big, the advantages of stable action；Using electromagnet and cylinder
Combination, has greatly played their respective advantages, improves operating efficiency；Controller of the present invention uses motion control card, tool
Have the advantages that control accuracy is high, drive two servomotors, drive two cranks to realize quantitative exercise, so that mechanism for picking reaches finger
Determine station and perform the corresponding command.The present invention drives the application of layout five-rod in parallel to provide theory and practice foundation to become.
Brief description of the drawings
Fig. 1 is that the present invention becomes the isometric three dimensional structure diagram for driving five bar parallel institution pickup robots of layout；
Fig. 2 is that the present invention becomes the side view for driving five bar parallel institution pickup robots of layout；
Fig. 3 is base support meanss isometric three dimensional structure diagram；
Fig. 4 is working face isometric three dimensional structure diagram；
Fig. 5 is initial position determining device schematic diagram；
Fig. 6 is motor and five-rod isometric view；
Fig. 7 is motor and five-rod front view；
Fig. 8 is five-rod and grasping mechanism position relationship schematic diagram；
Fig. 9 is grasping mechanism front view；
Figure 10 is pneumatic principle schematic diagram；
Figure 11 is control element distribution schematic diagram；
Figure 12 is that control element is distributed schematic top plan view.
Specific embodiment
Embodiment 1
As depicted in figs. 1 and 2, it is a kind of to become the pickup robot for driving five bar parallel institutions of layout, including base support dress
Put 1, work top 2, initial position determining device 3, motor and five-rod 4, grasping mechanism 5 and control system 6；
As shown in figure 3, the base support meanss 1 include lower support device 101 and upper supports 102, top
Support meanss 102 are arranged on the top of lower support device 101, and work top 2 is arranged on the top of lower support device 101,
Specially lower support device 101 is made up of 10 A classes rice font materials with four B classes rice font materials, 2 A classes rice font materials, 4
Root B classes rice font material and 2 top halfs of C classes rice font material composition base support meanss, wherein, A, B, C class rice font material
Length difference is equal, is connected by corner bracket between section bar and section bar；8 rice font materials are divided into two groups, and join end to end composition respectively
Two square-shaped frames, 4 B classes rice font materials are placed vertically, and two square-shaped frame horizontal positioneds are respectively fixed to B classes rice font material
Upper and lower part, it is the length of lower servomotor to constitute the distance between upper and lower both sides square-shaped frame, two square-shaped frames, lower margin with
The bottom of 4 B classes rice font materials placed vertically is connected by screw thread pair；Another 2 A classes rice font material is fixed on bottom square
The center of frame, for supporting lower servomotor, 2 A classes rice font materials to be individually fixed in 4 with 2 C classes rice font materials and put vertically
The B classes rice font material top put, constitutes the top half of base support；
As shown in figure 4, the middle setting of the work top 2 has several through holes 201, all of through hole 201 is in concentric
Annular spread, for placing steel ball class part, the top half of base support meanss is positioned and bottom by two grooves of working face
The latter half of seat supports device is connected；
As shown in figure 5, described initial position determining device 3 is by I optoelectronic switches 301, II optoelectronic switches No. 302, I number
Optoelectronic switch support 303 and II optoelectronic switches support 304 are constituted, I optoelectronic switches support 303 and II optoelectronic switch supports
304 are symmetricly set on upper supports 102, and I optoelectronic switches 301 and II optoelectronic switches 302 are separately positioned on I light
On electric switch support 303 and II optoelectronic switches support 304, wherein I optoelectronic switches 301 are arranged in the left side of servomotor 401
Side, the initial position for determining D cranks 404, II optoelectronic switches 302 are arranged in the right side of servomotor 401, for determining
The initial position of E cranks 407；
As shown in Figure 6 and Figure 7, the motor and five-rod 4 are by upper servomotor 401, motor support plate 402, convex
Edge shaft coupling 403, D cranks 404, E rocking bars 405, F rocking bars 406, G cranks 407, cushion block 408, lower flange shaft coupling 409 and under watch
Take motor 410 to constitute, motor support plate 402 is arranged on upper supports 102 and positioned at the He of I optoelectronic switches support 303
Between II optoelectronic switches support 304, upper servomotor 401 is arranged in motor support plate 402 and also is located at I optoelectronic switch branch
Between the frame 303 and II optoelectronic switches support 304 and top of upper servomotor 401 extends to the outer of upper supports 102
Portion, one end of upper flange shaft coupling 403 is connected with the motor shaft of upper servomotor 401, the other end of upper flange shaft coupling 403 with
The left end upper surface of D cranks 404 is connected, and the right-hand member lower surface of D cranks 404 passes through on the left end of plane bearing and E rocking bars 405
Surface is connected, and the right-hand member lower surface of E rocking bars 405 is connected by plane bearing with the right-hand member upper surface of F rocking bars 406, F rocking bars
406 left end lower surface is connected by plane bearing with the right-hand member upper surface of G cranks 407, and one end of cushion block 408 is arranged on G
The lower section in the left side of crank 407, the other end of cushion block 408 is connected with one end of lower flange shaft coupling 409, lower flange shaft coupling
409 other end is connected with the motor shaft of lower servomotor 410；The mounting hole of lower servomotor 410 is arranged on work top 2
Go up and the fuselage of lower servomotor 410 is extended in the cavity of lower support device 101；And lower servomotor 410 and upper servo
The axis of motor 401 overlaps.
As shown in Fig. 8, Fig. 9 and Figure 10, the grasping mechanism 5 is by cylinder connection U framves 501, cylinder 502, the and of electromagnet 503
Steel ball fixed mount 504 is constituted, and the upper surface of the top of cylinder connection U framves 501 is connected with the lower surface of F rocking bars 406；Cylinder 502
The piston rod of inner surface and cylinder 502 that neck is fixed on the lower section of cylinder connection U framves 501 is extended under cylinder connection U framves 501
Portion, electromagnet 503 is connected with the piston rod of cylinder 502, and the iron core of electromagnet 503 is connected with true with steel ball fixed mount 504
Protect pickup object steel ball to be located in steel ball fixed mount 504, steel ball fixed mount 504 is connected to electromagnet center, under original state
Solenoid directional control valve 507 is in left position, and the rod chamber volume of cylinder 502 is maximum, and electromagnet is in lifting status；Solenoid directional control valve
During 507 action, the rod chamber volume of cylinder is minimum, and electromagnet is in down state；Air pump 505 provides source of the gas, 506, choke valve
Pressure regulation is acted on so that cylinder stable action.
As is illustrated by figs. 11 and 12, the control system 6 is driven by PC 601, motion control card 602, upper servomotor
Device 603, lower motor servo driver 604, I/O modules 605, magnetic valve 606 and control program composition, motion control card 602 are inserted
In the draw-in groove of PC 601, upper motor servo driver 603 be arranged in the cavity of lower support device 101 and with upper servo
Motor 401 is connected to control the rotation of upper servomotor 401, and lower motor servo driver 604 is arranged on lower support device
101 cavity is interior and is connected with lower servomotor 410 to control the rotation of lower servomotor 410, and I/O modules 605 are also provided with
Action and the electricity being connected in the cavity of lower support device 101 and with magnetic valve 606 and electromagnet 503 to control magnetic valve
The on and off of magnet 503, magnetic valve 606 is arranged in the cavity of lower support device 101 and electrically connects to control with cylinder 502
Cylinder 502 it is upper and lower, control program by back to zero operation program module, location action program module, grasping movement program module,
Release movement program module is constituted, when operation back to zero operation program module, the upper motor servo driver of the control of motion control card 602
603rd, lower motor servo driver 604 drives servomotor 401, lower servomotor 410 to act respectively, upper servomotor 401
Drive D cranks 404, G cranks 407 to rotate respectively with lower servomotor 410, and then drive E rocking bars 405, F rocking bars 406 to swing, transport
The dynamic control I/O of control card 602 modules 605 make I optoelectronic switches 301 and II optoelectronic switches 302 start working, when I photoelectricity
When switch 301 detects D cranks 404, I/O modules 605 are received to the feedback signal of motion control card 602, motion control card 602
Upper motor servo driver 603 is controlled after feedback signal makes the stop motion of servomotor 401, the control I light of I/O modules 605
Electric switch 301 is closed, and when II optoelectronic switches 302 detect G cranks 407, I/O modules 605 are fed back to motion control card 602
Signal, the lower motor servo driver 604 of control stops servomotor 410 after motion control card 602 receives feedback signal
Motion, the control II of I/O modules 605 optoelectronic switches 302 are closed, and back to zero action is completed；When location action module is run, motion
The upper motor servo driver 603 of the control of control card 602 drives upper servomotor 401 to act, the lower servo of the control of motion control card 602
Motor driver 604 drives lower servomotor 410 to act, and by two axle routing motions, reaches grasping mechanism and specifies station；When
During operation grasping movement module, the control I/O of motion control card 602 modules 605 act cylinder 502, and band motor magnet 503 is downward
Motion, while the control I/O of motion control card 602 modules 605 act electromagnet 503 and producing magnetic force, steel ball being adsorbed onto into electromagnetism
On iron, steel ball is locked onto the center of electromagnet 503 by steel ball fixed mount 504, and motion control card 602 is controlled after absorption action is completed
I/O modules 605 processed act cylinder 502, and band motor magnet 503 is moved upwards；When release movement module is run, motion control
The control I/O of card 602 modules 605 act cylinder 502, and band motor magnet 503 is moved downward, motion control after the completion of a upper action
The control I/O of card 602 modules 605 act electromagnet 503, and electromagnet magnetic force to disappear and be placed into specified station by steel ball, place dynamic
After completing, the control I/O of motion control card 602 modules 605 act cylinder 502, and band motor magnet 503 is moved upwards.
Preferably, the two ends diameter difference of D cranks 404 described in the present embodiment, the big one end of diameter and upper flange shaft coupling
403 other end is connected, and the small one end of diameter is connected by plane bearing with the left end upper surface of E rocking bars 405.
Preferably, the two ends diameter of G cranks 407 described in the present embodiment is different, and the big one end of diameter is connected with cushion block 408
Connect, the small one end of diameter is connected with the left end lower surface of F rocking bars 406.
Preferably, the axis of grasping mechanism of the present invention 4 is concentric with E rocking bars 405, the junction of F rocking bars 406.
The course of work of the invention is as follows：
Become the pickup robot for driving layout five-rod in parallel, using motion control card for controller builds control system
System；Back to zero action is carried out first, and two optoelectronic switches detect D rocking bars 404, G rocking bars 407 respectively, and two optoelectronic switch full inspections are surveyed
I.e. back to zero action is finished to complete；Grasping movement is divided into following two step, when five-rod routing motion in parallel causes grasping mechanism 4
When reaching specified location, cylinder 502 is acted, and band motor magnet 503 is moved downward, and the action of electromagnet 503 produces magnetic force, by steel ball
It is adsorbed onto on electromagnet, steel ball is locked onto the center of electromagnet 503 by steel ball fixed mount 504, absorption action is completed with exhaust hood
502 actions, band motor magnet 503 resets；When five-rod in parallel motion drives grasping mechanism 4 to arrive next station, cylinder 502
Action, band motor magnet 503 is moved downward, and electromagnet 503 is acted, and magnetic force disappears and steel ball is placed on specified station, cylinder
502 actions so that electromagnet resets.The present invention can realize symmetrical pickup, array pickup etc. by designing different control programs
Difference in functionality.Pickup object of the invention is steel ball, and changing different grabbing devices can capture different articles, there is extensive
Application prospect.
Claims (5)
1. it is a kind of become drive layout five bar parallel institutions pickup robot, including base support meanss (1), work top (2),
Characterized by further comprising initial position determining device (3), motor and five-rod (4), grasping mechanism (5) and control system
(6), the base support meanss (1) include lower support device (101) and upper supports (102), upper supports
(102) top of lower support device (101) is arranged on, work top (2) is arranged on the top of lower support device (101)；
The middle setting of the work top (2) has several through holes (201), and all of through hole (201) is distributed in annular concentric, through hole
(201) for placing pickup object steel ball；Described initial position determining device (3) is by I optoelectronic switches (301), II light
Electric switch (302), I optoelectronic switches support (303) and II optoelectronic switches support (304) composition, I optoelectronic switch supports
(303) be symmetricly set on upper supports (102) with II optoelectronic switches support (304), I optoelectronic switches (301) and
II optoelectronic switches (302) are separately positioned on I optoelectronic switches support (303) and II optoelectronic switches support (304)；
The motor and five-rod (4) by upper servomotor (401), motor support plate (402), upper flange shaft coupling (403),
D cranks (404), E rocking bars (405), F rocking bars (406), G cranks (407), cushion block (408), lower flange shaft coupling (409) and under watch
Motor (410) composition is taken, motor support plate (402) is arranged on upper supports (102) and positioned at I optoelectronic switch supports
(303) and II optoelectronic switches support (304) between, upper servomotor (401) is arranged in motor support plate (402) and also is located at
Between I optoelectronic switches support (303) and II optoelectronic switches support (304) and the top of upper servomotor (401) extends to
The outside of upper supports (102), the upper end of upper flange shaft coupling (403) is connected with the motor shaft of upper servomotor (401),
The lower end of upper flange shaft coupling (403) is connected with the left end upper surface of D cranks (404), the right-hand member lower surface of D cranks (404)
It is connected with the left end upper surface of E rocking bars (405) by plane bearing, the right-hand member lower surface of E rocking bars (405) passes through plane bearing
Right-hand member upper surface with F rocking bars (406) is connected, and the left end lower surface of F rocking bars (406) is by plane bearing and G cranks (407)
Right-hand member upper surface be connected, the upper surface of cushion block (408) is arranged on the lower section on the left of G cranks (407), under cushion block (408)
Surface is connected with the upper end of lower flange shaft coupling (409), the lower end of lower flange shaft coupling (409) and lower servomotor (410)
Motor shaft be connected；The mounting hole of lower servomotor (410) is arranged on work top (2) and lower servomotor (410)
Fuselage is extended in the cavity of lower support device (101)；And the axis of lower servomotor (410) and upper servomotor (401)
Overlap.
The grasping mechanism (5) connects U framves (501), cylinder (502), electromagnet (503) and steel ball fixed mount (504) by cylinder
Composition, the upper surface that cylinder connects above U framves (501) is connected with F rocking bars (406) lower surface；The neck of cylinder (502) is fixed
The piston rod for connecting the inner surface below U framves (501) and cylinder (502) in cylinder is extended under cylinder connection U framves (501)
Portion, electromagnet (503) is connected with the piston rod of cylinder (502), iron core and steel ball fixed mount (504) phase of electromagnet (503)
Connection is located in steel ball fixed mount (504) with ensuring pickup object steel ball；
The control system (6) is by PC (601), motion control card (602), upper motor servo driver (603), lower servo electricity
Machine driver (604), I/O modules (605) and magnetic valve (606) composition, motion control card (602) are inserted in the card of PC (601)
In groove, upper motor servo driver (603) be arranged in the cavity of lower support device (101) and with upper servomotor (401)
It is connected to control the rotation of upper servomotor (401), lower motor servo driver (604) is arranged on lower support device
(101) in cavity and it is connected to control the rotation of lower servomotor (410), I/O modules with lower servomotor (410)
(605) it is also disposed in the cavity of lower support device (101) and is connected to control with magnetic valve (606) and electromagnet (503)
The action of magnetic valve processed and the on and off of electromagnet (503), magnetic valve (606) are arranged on the cavity of lower support device (101)
Interior and electrically connect to control the upper and lower of cylinder (502) with cylinder (502), control program is by back to zero operation program module, positioning
Operation program module, grasping movement program module, release movement program module composition, when operation back to zero operation program module, fortune
Motor servo driver (603), lower motor servo driver (604) drive servo electricity respectively in dynamic control card (602) control
Machine (401), lower servomotor (410) action, upper servomotor (401) and lower servomotor (410) drive D cranks respectively
(404), G cranks (407) are rotated, and then drive E rocking bars (405), F rocking bars (406) to swing, motion control card (602) control I/O
Module (605) makes I optoelectronic switches (301) and II optoelectronic switches (302) start working, when I optoelectronic switches (301) detection
During to D cranks (404), I/O modules (605) are received instead to motion control card (602) feedback signal, motion control card (602)
Upper motor servo driver (603) is controlled after feedback signal makes servomotor (401) stop motion, I/O modules (605) control I
Number optoelectronic switch (301) is closed, and when II optoelectronic switches (302) detect G cranks (407), I/O modules (605) are to motion
Control card (602) feedback signal, motion control card (602) receives the lower motor servo driver (604) of control after feedback signal
Make servomotor (410) stop motion, I/O modules (605) control II optoelectronic switches (302) to close, and back to zero action is completed；
When location action module is run, servomotor in motor servo driver (603) driving in motion control card (602) control
(401) act, the lower motor servo driver (604) of motion control card (602) control drives lower servomotor (410) action, leads to
Two axle routing motions are crossed, grasping mechanism is reached and is specified station；When grasping movement module is run, motion control card (602) control
I/O modules (605) processed act cylinder (502), and band motor magnet (503) is moved downward, while motion control card (602) is controlled
I/O modules (605) make electromagnet (503) act generation magnetic force, and steel ball is adsorbed onto on electromagnet, and steel ball fixed mount (504) will
Steel ball locks onto electromagnet (503) center, and motion control card (602) control I/O modules (605) makes after absorption action is completed
Cylinder (502) is acted, and band motor magnet (503) is moved upwards；When release movement module is run, motion control card (602) control
I/O modules (605) processed act cylinder (502), and band motor magnet (503) is moved downward, motion control after the completion of a upper action
Card (602) control I/O modules (605) acts electromagnet (503), and electromagnet magnetic force disappears and for steel ball to be placed into specified station,
After placement action is completed, motion control card (602) control I/O modules (605) acts cylinder (502), band motor magnet
(503) motion upwards.
2. a kind of change according to claim 1 drives the pickup robot of five bar parallel institutions of layout, it is characterised in that institute
The two ends diameter for stating D cranks (404) is different, the upper end phase of the big one end of D cranks (404) diameter and upper flange shaft coupling (403)
Connection, the small one end of D cranks (404) diameter is connected by plane bearing with the left end upper surface of E rocking bars (405).
3. a kind of change according to claim 1 drives the pickup robot of five bar parallel institutions of layout, it is characterised in that institute
The two ends diameter for stating G cranks (407) is different, and the big one end of G cranks (407) diameter is connected with cushion block (408) upper surface, and G is bent
The small one end of handle (407) diameter is connected with the left end lower surface of F rocking bars (406).
4. a kind of change according to claim 1 drives the pickup robot of five bar parallel institutions of layout, it is characterised in that institute
The axis for stating grasping mechanism (4) is concentric with E rocking bars (405), F rocking bars (406) hinged place.
5. a kind of change according to claim 1 drives the pickup robot of five bar parallel institutions of layout, it is characterised in that institute
State and be equipped with lower margin on four angles of lower support device (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256021.3A CN106881710A (en) | 2017-04-19 | 2017-04-19 | It is a kind of to become the pickup robot for driving five bar parallel institutions of layout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Application publication date: 20170623 |