CN114523463A - Distributed polar coordinate positioning and grabbing system - Google Patents

Abstract

The invention provides a distributed polar coordinate positioning and grabbing system, which comprises: the grabbing modules are distributed on the top of the supporting base in an array manner; the grabbing module is provided with a clamping mechanism capable of being opened, closed and clamped, and the clamping mechanism is suitable for rotating around the axis of the clamping mechanism; the grabbing module is provided with a fixed shaft which is kept static relative to the supporting base, a fixed interval is formed between the clamping mechanism and the fixed shaft, and the clamping mechanism is suitable for revolving around the fixed shaft in the circumferential direction; and the control modules are in one-to-one correspondence with the grabbing modules and are used for controlling the clamping mechanisms to open, close, rotate and revolve. According to the invention, multiple modules in the grabbing modules distributed in an array are selected to realize multi-point positioning of the same rod piece so as to keep a specific form; a plurality of grabbing modules distributed in an array are divided into a plurality of groups, so that a plurality of rod pieces can be positioned at the same time. The multi-point control positioning grabbing is performed instead of manual work, and a positioning grabbing platform is provided for the weaving structure and the machining process needing multi-point intervention control.

Description

A Distributed Polar Coordinate Positioning and Grabbing System

technical field

The invention relates to the technical field of grabbing robots, in particular to a distributed polar coordinate positioning grabbing system.

Background technique

As an interesting pattern design form, weaving pattern is not only often used in the design of daily necessities, handicrafts, etc., but also more and more widely used in the skin design of modern steel structure buildings.

The knitting pattern is formed by crossing and stacking multiple rods. According to the design requirements, each rod needs to maintain a certain bending shape during the knitting process; most of the existing robotic arm-type grasping robots have only 1-2 A tool target point cannot keep multiple rods in a certain bending shape at the same time; therefore, a large amount of manual positioning of the rods is required.

SUMMARY OF THE INVENTION

Therefore, the technical problem to be solved by the present invention is to overcome the defect that the grasping robot in the prior art cannot perform cooperative grasping and positioning of a large number of rods, thereby providing a distributed polar coordinate positioning grasping system.

In order to solve the above-mentioned technical problems, a distributed polar coordinate positioning and grabbing system provided by the present invention includes:

support base;

There are a plurality of grabbing modules, which are distributed on the top of the support base in an array;

The grabbing module has a clamping mechanism that can be opened and closed, and the clamping mechanism is suitable for self-rotation around its own axis; the grabbing module has a fixed axis that remains stationary relative to the support base, so There is a fixed interval between the clamping mechanism and the fixed shaft, and the clamping mechanism is suitable for circumferential revolution around the fixed shaft;

The control module has a plurality of one-to-one correspondence with the grasping modules, and the control module is used for controlling the clamping mechanism to perform tensioning, self-rotation and revolution.

Further, the clamping mechanism can be vertically lifted and lowered on the grabbing module, and the clamping mechanism has a first state of being raised to a preset position and a second state of being lowered to an initial position.

Further, the grabbing module also includes:

a support frame, connected to the top of the support base;

a rotating disk, which is rotatably connected to the support frame;

a first driving member rotatably connected to the rotating disk, the first driving member has a vertically retractable driving rod, and the clamping mechanism is connected to the driving rod of the first driving member;

a second driving member, arranged on the support frame, for driving the rotary disk to rotate;

A third driving member is arranged on the rotating disk and is used for driving the first driving member to rotate.

Further, a transmission mechanism is provided on the rotating disk, and the transmission mechanism includes:

a driving gear, sleeved on the driving end of the third driving member, and the third driving member is used to drive the driving gear to rotate;

A driven gear is connected to the first driving member, the driven gear is meshed with the driving gear, and the driven gear is used to drive the first driving member to rotate.

Further, the clamping mechanism is located on the top surface of the rotating disk, the rotating axis of the rotating disk is a fixed axis, and the top surface of the rotating disk has an arc scale arranged around the fixed axis.

Further, it also includes:

a first sensor, mounted on the grabbing module and signally connected to the control module, the first sensor is used to detect and transmit the revolution angle of the clamping mechanism;

A second sensor is installed on the grabbing module and is signally connected to the control module, and the second sensor is used to detect and transmit the rotation angle of the clamping mechanism.

Further, the top surface of the support base is in a grid structure, and the grabbing modules are connected at intersection nodes of the grid structure.

Further, the top surface of the support base is provided with a vertically arranged guardrail in the circumferential direction, and the guardrail and the top surface of the support base together form an accommodation space for accommodating the grabbing module.

The technical scheme of the present invention has the following advantages:

1. In the distributed polar coordinate positioning grabbing system provided by the present invention, one grabbing module is equivalent to a tool target point, and by selecting a plurality of modules in the grabbing modules distributed in an array, the multi-point positioning of the same rod is realized In order to maintain a specific shape; the multiple grabbing modules distributed in the array are divided into multiple groups to realize the simultaneous positioning of multiple rods. The clamping mechanism revolves around the fixed axis in the circumferential direction. The point on the fixed axis is equivalent to the pole. The fixed interval between the clamping mechanism and the fixed axis is the polar axis. The polar axis can rotate at any angle. Any position of the revolution track; the clamping mechanism rotates around its own axis to adapt to any adjustment of the opening and closing direction; therefore, through the revolution and rotation of the clamping mechanism, it is suitable for grasping the rod at any angle, so as to meet the requirements of the rod. Polymorphic positioning. The above-mentioned system can replace manual multi-point control positioning and grasping, and provide a positioning and grasping platform for the woven structure and the processing process requiring multi-point intervention control.

2. In the distributed polar coordinate positioning and grasping system provided by the present invention, the clamping mechanism can be vertically lifted and lowered to realize the successive grasping and positioning of multiple rods, that is, the module for grasping work rises to the first state, and the The non-working modules have a certain height difference to avoid mutual interference caused by simultaneous positioning and grasping of multiple rods.

3. The distributed polar coordinate positioning and grasping system provided by the present invention detects and transmits the angle signal of the clamping mechanism through the first sensor and the second sensor, and the control module controls the clamping mechanism to zero or reset according to the angle signal, so as to Reduce the difficulty of controlling multiple grabbing modules and ensure grabbing accuracy.

4. In the distributed polar coordinate positioning and grasping system provided by the present invention, the rotating disk is marked with an arc scale. Before grasping and positioning, it is convenient to observe whether the clamping mechanism is angular by observing the angular position of the clamping mechanism on the rotating disk. in the initial state.

5. In the distributed polar coordinate positioning and grasping system provided by the present invention, the intersection nodes on the top surface of the support base have greater support strength than other parts, so each grasping module is connected at the intersection nodes.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a distributed polar coordinate positioning and grabbing system provided in the present invention.

FIG. 2 is a schematic structural diagram of a grasping module.

FIG. 3 is a right side view of the grabbing module shown in FIG. 2 .

Description of reference numbers:

1. Grabbing module; 2. Clamping mechanism; 3. Support frame; 4. Rotary disk; 5. First driving part; 6. Second driving part; 7. Third driving part; 8. Driving gear; 9. 10, a support base; 11, a second sensor; 12, a first carrier; 13, a second carrier; 14, a guardrail; 15, a control module.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

The distributed polar coordinate positioning and grasping system provided in this embodiment includes: a support base, a grasping module 1 and a control module 15 corresponding to the grasping module 1 .

As shown in FIG. 1 , a plurality of grabbing modules 1 are distributed on the top of the support base in an array, and the multi-point positioning of the rod is realized by the plurality of grabbing modules 1 to keep the rod in a specific shape. The grabbing module 1 has a clamping mechanism 2 that can be opened and closed, and the clamping mechanism 2 is suitable for self-rotation around its own axis; the grabbing module 1 has a stationary relative to the support base. A fixed shaft, there is a fixed interval between the clamping mechanism 2 and the fixed shaft, and the clamping mechanism 2 is suitable for circumferential revolution around the fixed shaft. Each of the grabbing modules 1 corresponds to a respective control module 15 , and the control module 15 is used to control the clamping mechanism 2 to perform tension, rotation and revolution.

In this embodiment, one grasping module 1 is equivalent to a tool target point, and by selecting multiple modules in the grasping modules 1 distributed in the array, the multi-point positioning of the same rod can be realized to maintain a specific shape; The distributed multiple grabbing modules 1 are divided into multiple groups to achieve simultaneous positioning of multiple rods. The clamping mechanism 2 revolves around the fixed axis in the circumferential direction. The point on the fixed axis is equivalent to the pole. The fixed interval between the clamping mechanism 2 and the fixed axis is used as the polar axis. The polar axis can rotate at any angle. The clamping mechanism 2 passes through the polar coordinates. The positioning principle reaches any position of the revolution track; the clamping mechanism 2 rotates around its own axis to adapt to any adjustment of the opening and closing direction; therefore, the revolution and rotation of the clamping mechanism 2 are used to adapt to the grasping of the rod at any angle, In order to meet the multi-modal positioning of rods. The above-mentioned system can replace manual multi-point control positioning and grasping, and provide a positioning and grasping platform for the woven structure and the processing process requiring multi-point intervention control.

In this embodiment, the clamping mechanism 2 can be vertically raised and lowered on the grabbing module 1 , and the clamping mechanism 2 has a first state of being raised to a preset position and a first state of being lowered to an initial position. Second state. The purpose of the vertical lifting and lowering of the clamping mechanism 2 is to realize the sequential grasping and positioning of a plurality of rods, so as to avoid mutual interference caused by simultaneous positioning and grasping of a plurality of rods. That is, different rods correspond to different grasping modules 1, and the grasping modules 1 are divided into multiple grasping groups according to the number and shape requirements of the rods; when one grasping group performs a grasping action, the control The module 15 controls the clamping mechanism 2 of this group to rise to the first state synchronously, and the clamping mechanism 2 of this group has a certain height difference with the clamping mechanism 2 of other groups; after the clamping mechanism 2 of this group has finished grasping , down to the second state, the initial height.

As shown in FIG. 2 and FIG. 3 , the grabbing module 1 includes: a clamping mechanism 2 , a support frame 3 , a rotating disk 4 , a first driving member 5 , a second driving member 6 , a third driving member 7 and a transmission mechanism ; Wherein, the transmission mechanism includes a driving gear 8 and a driven gear 9 that are meshed with each other. The support frame 3 is used to connect with the support base, and the support frame 3 can be any structure that can support the rotating disk 4; in the embodiment, the support frame 3 is a rectangular frame structure processed from a plate, The frame structure is provided with weight-reducing holes. The second driving member 6 selects a driving motor, the second driving member 6 is installed on the top of the support frame 3, and the drive shaft of the second driving member 6 extends vertically from the top surface of the support frame 3; The central position of the rotating disk 4 is connected to the driving shaft of the second driving member 6 through a flange, and the second driving member 6 is used to drive the rotating disk 4 to rotate; wherein, the second driving member 6 The axis of the drive shaft of the drive member 6 serves as a fixed shaft that remains stationary relative to the support base. The first drive member 5 is a miniature push rod cylinder, a support base 10 is fixedly connected to the bottom surface of the rotary disk 4, and the rotation of the first drive member 5 is connected to the support base 10; Part of the cylinder of the driving member 5 and its driving rod pass through the top surface of the rotating disk 4 vertically. The driving rod of the first driving member 5 is connected to the center of the bottom surface of the clamping mechanism 2. The driving member 5 is used to drive the clamping mechanism 2 to move up and down. The third driving member 7 selects a driving motor, the third driving member 7 is connected to the rotating disk 4, and the drive shaft of the third driving member 7 extends vertically from the top of the rotating disk 4; the driving gear 8 The driven gear 9 is sleeved on the drive shaft of the third driving member 7, the driven gear 9 is sleeved on the cylinder of the first driving member 5, the driven gear 9 is meshed with the driving gear 8, and the third driving member 7 It is used to drive the first driving member 5 to rotate and realize the rotation of the clamping mechanism 2 . In this embodiment, the clamping mechanism 2 uses pneumatic clamping fingers, and the clamping mechanism 2 is vertically arranged on the top surface of the rotating disk 4 .

As shown in FIG. 2 , the axis of the driving shaft of the second driving member 6 is a fixed shaft, and the fixed shaft is also the rotating shaft of the rotating disk 4 , and the top surface of the rotating disk 4 has an arc set around the fixed shaft. shape scale. Before grasping and positioning, it can be detected whether the clamping mechanism 2 is in the initial state by observing the angular position of the clamping mechanism 2 on the rotating disk 4 .

As shown in FIG. 2 and FIG. 3 , the first sensor is installed on the support frame 3 of the grabbing module 1, and the rotating disk 4 is installed with a first detection piece matching the first sensor; when When the rotary disk 4 rotates, the rotation angle of the first detection member is consistent with the revolution angle of the clamping mechanism 2 , and the first sensor obtains the revolution angle of the clamping mechanism 2 by sensing the angular position of the first detection member. The second sensor 11 is installed on the rotary disk 4, and the clamping mechanism 2 is equipped with a second detection piece matched with the second sensor 11; when the clamping mechanism 2 rotates, the second detection piece The rotation angle of the clamping mechanism 2 is consistent with the rotation angle of the clamping mechanism 2 , and the second sensor 11 obtains the rotation angle of the clamping mechanism 2 by sensing the angular position of the second detection piece. The above-mentioned first sensor and second sensor 11 are connected to the control module 15 by signal, and the control module 15 controls the clamping mechanism 2 to return to zero or reset according to the received revolution angle and rotation angle signals before the grasping operation. The difficulty of controlling the multiple grabbing modules 1 is reduced, and the grabbing accuracy is guaranteed.

As shown in FIG. 1 , the support base is a frame structure, including a first carrier 12 for connecting with the grabbing module 1 and a second carrier 13 for supporting on the ground. The first carrier 12 is connected to the ground. The second carrier 13 is arranged at intervals up and down, and the two are connected by a carrier rod; wherein, the first carrier 12 and the second carrier 13 are both spliced into a grid structure formed by square tubes, and the grabbing modules 1 are respectively connected At the intersection node of the first carrier 12 . The top of the first carrier 12 has a vertically arranged guardrail 14 in the circumferential direction. The guardrail 14 and the top surface of the support base together form an accommodation space for accommodating the grabbing module 1 . The guardrail 14 It protects each grabbing module 1 and prevents each grabbing module 1 from colliding with other equipment.

working principle:

The control module 15 receives the following four positioning signals: the angle signal of the rotating disk 4 (the revolution angle signal of the clamping mechanism 2 ), the opening and closing signal of the clamping mechanism 2 , and the angle signal of the first driving member 5 (the rotation angle signal of the clamping mechanism 2 ). The rotation angle signal) and the lifting signal of the clamping mechanism 2; the control module 15, according to the received signal, drives the second driving member 6 for driving the rotary disk 4 to rotate, the third driving member 7 for driving the rotation of the clamping mechanism 2, and the driving clamp The first driving member 5 for lifting and lowering of the holding mechanism 2 and the solenoid valve for driving the clamping mechanism 2 to open and close send the running command.

Since multiple rods need to be grasped and positioned successively, only part of the grasping modules 1 can receive commands to complete the corresponding actions each time, that is, the rotating disk 4 rotates at a certain angle, the clamping mechanism 2 rotates at a certain angle, and the clamping mechanism 2 rotates at a certain angle. When it rises to a predetermined height, the clamping mechanism 2 closes and clamps the rod;

After completing the gripping action, the grasping module 1 descends to the initial height;

Wait for the next grab command, which is consistent with the above clamping process;

After the positioning of all the rods is completed, after the rods are taken out, the angle of the rotary disk 4 and the first driving member 5 is reset to zero.

Obviously, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (8)

1. a distributed polar coordinate positioning grabbing system, is characterized in that, comprises: support base; There are a plurality of grabbing modules (1), which are distributed on the top of the support base in an array; The grabbing module (1) has a clamping mechanism (2) that can be stretched and clamped, and the clamping mechanism (2) is suitable for self-rotation around its own axis; the grabbing module (1) has a relative The support base maintains a stationary fixed shaft, the clamping mechanism (2) and the fixed shaft have a fixed interval, and the clamping mechanism (2) is suitable for circumferential revolution around the fixed shaft; The control module (15) has a plurality of one-to-one correspondence with the grabbing modules (1), and the control module (15) is used to control the clamping mechanism (2) to perform tensioning, self-rotation and revolution. 2 . The distributed polar coordinate positioning grabbing system according to claim 1 , wherein the clamping mechanism (2) can be vertically lifted and lowered on the grabbing module (1), and the clamp The holding mechanism (2) has a first state raised to a preset position and a second state lowered to an initial position. 3. The distributed polar coordinate positioning grabbing system according to claim 2, wherein the grabbing module (1) further comprises: a support frame (3), connected to the top of the support base; a rotating disk (4), which is rotatably connected to the support frame (3); A first driving member (5) is rotatably connected to the rotating disk (4), the first driving member (5) has a vertically retractable driving rod, and the clamping mechanism (2) is connected to on the driving rod of the first driving member (5); A second driving member (6), arranged on the support frame (3), is used to drive the rotary disk (4) to rotate; A third driving member (7) is arranged on the rotating disk (4), and is used for driving the first driving member (5) to rotate. 4. The distributed polar coordinate positioning and grabbing system according to claim 3, wherein a transmission mechanism is provided on the rotating disk (4), and the transmission mechanism comprises: a driving gear (8), sleeved on the driving end of the third driving member (7), and the third driving member (7) is used to drive the driving gear (8) to rotate; A driven gear (9) is connected to the first driving member (5), the driven gear (9) is meshed with the driving gear (8), and the driven gear (9) is used to drive The first drive member (5) rotates. 5. The distributed polar coordinate positioning and grabbing system according to claim 3, wherein the clamping mechanism (2) is located on the top surface of the rotating disk (4), and the rotating disk (4) The rotating shaft is a fixed shaft, and the top surface of the rotating disk (4) has arc scales arranged around the fixed shaft. 6. distributed polar coordinate positioning grabbing system according to claim 1, is characterized in that, also comprises: a first sensor, mounted on the grabbing module (1) and signally connected to the control module (15), the first sensor is used to detect and transmit the revolution angle of the clamping mechanism (2); A second sensor (11) is installed on the gripping module (1) and is signally connected to the control module (15), the second sensor (11) is used to detect and transmit the clamping mechanism ( 2) of the rotation angle. 7. The distributed polar coordinate positioning grabbing system according to claim 1, wherein the top surface of the support base is in a grid structure, and the grabbing module (1) is connected to the grid structure. at the intersection node. 8 . The distributed polar coordinate positioning and grabbing system according to claim 7 , wherein the top surface of the support base is provided with a vertically arranged guardrail (14) in the circumferential direction, and the guardrail (14) is connected to the The top surfaces of the support bases together form an accommodating space for accommodating the grabbing module (1).

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