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Structural topology method of round steel end-face labeling hybrid robot

A robot and standard hybrid technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large cumulative error at the end of the mechanism, slow speed, small working space, etc.

Active Publication Date: 2020-06-02
HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Description
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Problems solved by technology

The labeling robot in the system adopts the serial robot, which has the disadvantages of slow speed and large cumulative error at the end of the mechanism, while the commercial parallel robot cannot realize the pitching motion during labeling work and its working space is relatively small

Method used

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  • Structural topology method of round steel end-face labeling hybrid robot
  • Structural topology method of round steel end-face labeling hybrid robot
  • Structural topology method of round steel end-face labeling hybrid robot

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Embodiment Construction

[0062] The structural topology method of the round steel end face labeling hybrid robot includes the following steps:

[0063] The first step is to determine the kinematic output characteristic matrix of the labeling hybrid mechanism by analyzing the round steel end face labeling process

[0064] ,

[0065] The motion output characteristic matrix of the parallel part

[0066] ,

[0067] Motion output characteristic matrix of series part

[0068] ,

[0069] in,

[0070]

[0071] In the formula, is the independent translation output at the end of the hybrid mechanism, is the number of independent translation outputs;

[0072] is the independent rotation output at the end of the hybrid mechanism, is the number of independent rotation outputs;

[0073] is the independent translation output of the end member of the series section, is the number of independent translation outputs;

[0074] is the independent rotary output of the end member of the ...

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Abstract

The invention relates to a round steel end face labeling mixed-connected robot structure topological method. The round steel end face labeling mixed-connected robot structure topological method comprises the following steps that according to the round steel end face labeling technology, a motion output characteristic matrix of a labeling mixed-connected mechanism and a motion output characteristic matrix of the series-parallel connection mechanism are determined; a parallel mechanism branch circuit structure type is constructed, and a branch circuit combination scheme is determined; the geometrical condition for assembling branch circuits between two platforms is determined, and the degree of freedom is checked according to a parallel mechanism freedom degree formula; a passive joint is judged, and an active joint is judged; BKC judgment and coupling degree calculation are carried out, the activity degree type is judged, and the mechanism motion input-output decoupling is judged; a serial mechanism is constructed according to a motion characteristic matrix and an orientative characteristic equation operational rule of the serial mechanism; and the serial mechanism and the parallel mechanism are connected in series to form a labeling mixed-connected robot, and the distributing manner of the robot and a camera is determined. By means of the method, the configuration of the round steel end face automatic labeling mixed-connected robot is effectively synthesized, and the practicability of the round steel end face automatic labeling mixed-connected robot is improved.

Description

technical field [0001] The invention relates to a structural topology method applied to a hybrid robot for automatic labeling on the end face of round steel, and belongs to the technical field of automatic labeling in the metallurgical industry. Background technique [0002] At present, the work of labeling round steel end faces in iron and steel plants mainly relies on manual labor. In some iron and steel enterprises, automatic labeling systems are gradually being adopted to realize automatic labeling of round steel end faces by robots. For example: in Chinese patent numbers CN2016202585353 and CN201610193686X, a robot automatic labeling system applied to the end face labeling of bundled round steel is proposed. The labeling robot used in the system has the disadvantages of slow speed and large cumulative error at the end of the mechanism, while the commercial parallel robot cannot realize the pitching motion during labeling work and its working space is relatively small. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 张付祥刘再黄永建黄风山
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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