西林瓶拾取机械手的设计与研究

摘要

针对某西林瓶生产企业的生产需求,研制一套基于Delta结构的西林瓶拾取机械手,该机械手系统主要由视觉系统、移动和抓取结构以及控制系统构成.首先给出了拾取机械手的整体结构设计方案,详细描述了移动机构和抓取机构的组成及工作原理,然后通过运动学公式对拾取机械手进行了位置逆解分析,最后给出了视觉系统的工作流程和控制系统的设计原理.实际应用表明文中设计的西林瓶拾取机械手性能可靠,能够很好的实现抓取任务.%In order to meet the demand of an enterprise'' schering bottles production line,this paper develops a set of Picking Manipulator for Chering bottles,it is mainly composed of the visual system,mobile and scraping of the structure and control system.First of all,the overall structure of the picking manipulator is given,this paper describes composition and working principle of the movie mechanism and grasping mecha-nism.And then using the kinematics formula to analysis inverse solution of Picking manipulator'' position.Finally this paper gives work process of the visual system and design principle of the control system.Practical application proved that the picking manipulator for chering bottles designed in this paper has reliable perform-ance in the process of running,and can achieve the desired grasping task very well.