一种基于机器视觉的多工作头机械手结构的总体设计  

Design of a Multi-working Head Manipulator Structure Based on Machine Vision

作　　者：杨振宇[1] 罗锦涛 谢祥吉 钟勇锐 YANG Zhen-Yu;LUO Jin-Tao;XIE Xiang-Ji;ZHONG Yong-Rui(Zhongshan Polytechnic,Zhongshan Guangdong528404,China)

机构地区：[1]中山职业技术学院,广东中山528400

出　　处：《机电产品开发与创新》2022年第6期14-16,共3页Development & Innovation of Machinery & Electrical Products

基　　金：广东省中山市科技项目(2019B2078)。

摘　　要：针对单工作头机械手工作效率不高,多工作头机械手不易实现对每个工作头进行精确角度校正的技术问题,本文提出了一种基于视觉检测的多工作头机械手,并阐述了其总体结构设计,对主要组成部分的结构设计进行了详细描述,尤其是设计提出了一种电磁离合器,将空心旋转轴和气缸杆两个有轴向相对运动的零件,进行相互吸合并同轴旋转运动,有效解决了多个工作头的角度校正问题。机械手具有结构简单,空间利用性好,方便增加设计工作头的数目的优点,而且控制算法简单,能有效提高机械手的工作效率,可以应用于多物料的上下料和安装装配,也可用于电子器件的贴片机械手。In view of the technical problems of single-head manipulator’s low productivity,and multi-head manipulator no easy to achieve accurate Angle correction of each head,this paper presents a multi-head manipulator based on visual detection,and expounds the overall structure design,describes the structure design of the main components,especially a kind of electromagnetic clutch,the hollow rotating shaft and cylinder rod two axial relative motion parts,effectively solve the problem of multiple head angle correction.The manipulator has the advantages of simple structure,good space use,convenient to increase the number of design heads,and simple control algorithm,can effectively improve the working efficiency of the manipulator,can be applied to the loading and unloading and installation assembly,can also be used in the patch manipulator of electronic devices.

关 键 词：多工作头 机械手 角度校正 电磁离合器 

分 类 号：TH122[机械工程—机械设计及理论]