CN107813333B - Food grabbing mechanism for high-speed parallel robot - Google Patents
Food grabbing mechanism for high-speed parallel robot Download PDFInfo
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- CN107813333B CN107813333B CN201710795922.XA CN201710795922A CN107813333B CN 107813333 B CN107813333 B CN 107813333B CN 201710795922 A CN201710795922 A CN 201710795922A CN 107813333 B CN107813333 B CN 107813333B
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- grabbing
- food
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a food grabbing mechanism for a high-speed parallel robot, which comprises a grabbing connecting block, a linear module fixed at the bottom of the grabbing connecting block, a servo motor connected with the linear module, and a sliding block connected with the linear module, wherein an optical shaft is connected onto the sliding block, the left end of the optical shaft is connected with a first stainless steel clamping frame, a spring with one end abutting against the sliding block and the other end abutting against the first stainless steel clamping frame is sleeved on the optical shaft, the left lower end of the grabbing connecting block is connected with a force strain sensor, the bottom of the force strain sensor is connected with a fixed block, and the fixed block is connected with a second stainless steel clamping frame. The food grabbing mechanism mainly adopts a control mode of a servo motor, so that high-precision and high-efficiency grabbing is realized; the gripping force in the gripping process can be fed back in real time, and the food is prevented from being damaged by the gripping mechanism; the flexible design is adopted, so that the grabbing mode and the grabbing force can be improved according to food materials with different sizes and different materials.
Description
Technical Field
The invention relates to the technical field of food machinery, in particular to a food grabbing mechanism for a high-speed parallel robot.
Background
With the rapid development of the robot technology, the parallel robot is used as a big branch of the industrial robot field, has the characteristics of high speed, high precision and high efficiency, is more and more appeared on the production line of a factory at present, and is mainly applied to the fields of pharmacy, electronics, military industry, food and the like. In the field of specially designed foods, the parallel robot needs to replace human beings to complete high-precision and high-strength repetitive work, such as grabbing, sorting, packaging and the like. Meanwhile, the robot needs to maintain good working consistency when executing motion, which not only requires the robot to have good execution capacity, but also needs to ensure that the end effector has good gripping capacity. However, the existing gripping device mainly adopts a rigid direct gripping mode, the gripping mode easily clamps and damages products and food due to no protective measures, and the gripping mechanism is not provided with a force feedback mechanism, so that unstable gripping is easily caused, the food falls off, and the production efficiency is reduced.
Therefore, it is necessary to provide a novel food grabbing mechanism, which can not only be flexibly combined with a high-speed parallel robot, but also efficiently and quickly complete the food grabbing task, avoid causing food damage, and improve the production efficiency of enterprises.
Disclosure of Invention
In order to avoid and solve the technical problems, the invention provides a food grabbing mechanism for a high-speed parallel robot.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a food snatchs mechanism for high-speed parallel robot, includes the tongs connecting block that links to each other with high-speed parallel robot end, fixes at linear module in tongs connecting block bottom, the servo motor who is connected with linear module, connects the sliding block at linear module right-hand member, the left end sliding connection of sliding block has the optical axis, the left end of optical axis is connected with stainless steel clamping frame No. one, the cover is equipped with one end on the optical axis and supports to close on the sliding block and the other end supports to close the spring on stainless steel clamping frame No. one, force strain transducer is connected to the left lower extreme of tongs connecting block, force strain transducer's bottom is connected with the fixed block, be connected with No. two stainless steel clamping frames on the fixed block.
The data acquisition system is arranged in the high-speed parallel robot, the data acquisition system feeds back real-time data to the grabbing force, the high-speed parallel robot controls the motion of the device, and therefore food is prevented from being damaged in the grabbing process, and the high-speed parallel robot adopts an Ethercat communication mode to realize information transmission with the device through the Ethernet.
As a further improvement of the invention, the upper end of the fixing block and the bottom of the hand grip connecting block are both provided with fixing grooves matched with the force strain sensor.
As a further improvement of the invention, the inner side surfaces of the first stainless steel clamping frame and the second stainless steel clamping frame are respectively provided with a pollution-free buffer cushion.
As a further improvement of the invention, the sliding block and the fixed block are arranged in parallel to the gripper connecting block.
As a further improvement of the invention, the force-strain sensor feeds back the grabbing force in the grabbing process in real time, and the servo motor is adjusted in real time through feedback data.
As a further improvement of the invention, the sliding block moves linearly by 0-10cm through a linear module.
As a further improvement of the invention, the upper end of the gripper connecting block is designed with a plurality of threaded holes connected with the tail end of the high-speed parallel robot.
The invention has the beneficial effects that:
1. the food grabbing mechanism mainly adopts a control mode of a servo motor, and can control the position of the stainless steel clamping frame in real time through the sliding block, so that high-precision and high-efficiency grabbing is realized.
2. The food gripping mechanism has a force feedback function, and the gripping force of the two stainless steel clamping frames in the gripping process is fed back in real time through the force strain sensor, so that the food is prevented from being damaged by the gripping mechanism.
3. The food gripping mechanism adopts a flexible design, and can improve gripping modes and gripping force according to food materials with different sizes and different materials.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a front view of the present invention;
FIG. 2 is an exploded view of FIG. 1 at I, partially enlarged;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a perspective view of the present invention;
FIG. 6 is a block diagram of the present invention installed with a high speed parallel robot;
fig. 7 is a schematic diagram of the feedback process of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 7, a food grabbing mechanism for a high-speed parallel robot comprises a grabbing hand connecting block 4 connected with the end of a high-speed parallel robot 15, a linear module 5 fixed at the bottom of the grabbing hand connecting block 4, a servo motor 6 connected with the linear module 5, and a sliding block 7 connected at the right end of the linear module 5, wherein the left end of the sliding block 7 is connected with an optical axis 8 in a sliding manner, the left end of the optical axis 8 is connected with a first stainless steel clamping frame 10, the optical axis 8 is sleeved with a spring 9, one end of the spring abuts against the sliding block 7, the other end of the spring abuts against the first stainless steel clamping frame 10, the left lower end of the grabbing hand connecting block 4 is connected with a force-strain sensor 3, the bottom of the force-strain sensor 3 is connected with a fixed block 2, and the fixed block 2 is connected with a.
Through above-mentioned this kind of mode, through set up spring 9 between sliding block 7 and stainless steel clamping frame 10, the flexibility design when realizing pressing from both sides the piece, power strain sensor 3 will grab the power in the course of grabbing, transmit the data acquisition system in high-speed parallel robot 15, and data acquisition system makes real-time data feedback, and high-speed parallel robot 15 makes motion control to this device to prevent to destroy food 13 at the course of grabbing. The high-speed parallel robot 15 adopts an Ethercat communication mode to realize information transmission with the device through the Ethernet.
And the upper end of the fixing block 2 and the bottom of the gripper connecting block 4 are both provided with fixing grooves 11 matched with the force-strain sensor 3. The fixing groove 11 not only can play a role in positioning, but also can increase the contact force and improve the accuracy of the output numerical value of the force-strain sensor 3.
And the inner side surfaces of the first stainless steel clamping frame 10 and the second stainless steel clamping frame 1 are respectively provided with a pollution-free buffer cushion 12.
Sliding block 7 and fixed block 2 all are on a parallel with tongs connecting block 4 setting. Guarantee the higher depth of parallelism of sliding block 7 and fixed block 2 to tongs connecting block 4.
The force strain sensor 3 feeds back the grabbing force in the grabbing process in real time, and the servo motor 6 is adjusted in real time through feedback data. In this way, protection of the product is achieved.
The sliding block 7 makes 0-10cm linear motion through the linear module 5. The linear module 5 is controlled to move through the servo motor 6, so that the precision requirement of mechanism movement is guaranteed, and the robot can accurately and high-speed grab the food 13.
The upper end of the gripper connecting block 4 is provided with a plurality of threaded holes 16 connected with the tail end of the high-speed parallel robot 15.
The method of use of the present invention is further illustrated below:
in operation, the end of the high speed parallel robot 15 is connected to the present invention and the robot end is moved to a position above the food product 13 based on the position of the food product 13 on the conveyor.
According to the size of the food 13, the servo motor 6 makes the sliding block 7 of the grabbing mechanism move on the linear module 5, so that the distance between the first stainless steel clamping frame 10 and the second stainless steel clamping frame 1 is just equal to the size of the food 13, and the food grabbing is carried out simultaneously.
After the high-speed parallel robot 15 transfers the food 13 to the prescribed position, the robot system in the high-speed parallel robot 15 gives a control command to the gripping mechanism to gently place the food 13 in the food box 14 at the prescribed position.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a food snatchs mechanism for high-speed parallel robot, includes and holds in the palm connecting block (4) that links to each other with high-speed parallel robot end, fixes linear module (5) in tongs connecting block (4) bottom, servo motor (6) be connected with linear module (5), connects sliding block (7) at linear module (5) right-hand member, its characterized in that: the left end of the sliding block (7) is connected with an optical axis (8) in a sliding way, the left end of the optical axis (8) is connected with a first stainless steel clamping frame (10), a spring (9) with one end abutting against the sliding block (7) and the other end abutting against the first stainless steel clamping frame (10) is sleeved on the optical axis (8), the left lower end of the hand grip connecting block (4) is connected with a force-strain sensor (3), the bottom of the force strain sensor (3) is connected with a fixed block (2), the fixed block (2) is connected with a second stainless steel clamping frame (1), the upper end of the fixing block (2) and the bottom of the gripper connecting block (4) are both provided with a fixing groove (11) matched with the force-strain sensor (3), the force strain sensor (3) feeds back the grabbing force in the grabbing process in real time, and the servo motor (6) is adjusted in real time through feedback data.
2. The food gripping mechanism for the high-speed parallel robot of claim 1, wherein: and buffering cushions (12) are arranged on the inner side surfaces of the first stainless steel clamping frame (10) and the second stainless steel clamping frame (1).
3. The food gripping mechanism for the high-speed parallel robot of claim 1, wherein: sliding block (7) and fixed block (2) all are on a parallel with tongs connecting block (4) and set up.
4. The food gripping mechanism for the high-speed parallel robot of claim 1, wherein: the sliding block (7) makes 0-10cm linear motion through the linear module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795922.XA CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795922.XA CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
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| Publication Number | Publication Date |
|---|---|
| CN107813333A CN107813333A (en) | 2018-03-20 |
| CN107813333B true CN107813333B (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710795922.XA Active CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2581848B (en) * | 2019-03-01 | 2021-09-22 | Millitec Food Systems Ltd | End effector carriage for delta robot |
| CN110978023A (en) * | 2019-12-24 | 2020-04-10 | 宁波奥克斯电气股份有限公司 | Clamping jaw device and manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800865A (en) * | 2004-12-04 | 2006-07-12 | 飞而康公司 | Cantalever board conveying equipment |
| WO2012101953A1 (en) * | 2011-01-26 | 2012-08-02 | トヨタ自動車株式会社 | Gripping device, transfer device with same, and method for controlling gripping device |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN204414127U (en) * | 2015-01-20 | 2015-06-24 | 江苏久祥汽车电器集团有限公司 | A kind of assembly robot dynamics monitoring gripper |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| WO2015174670A1 (en) * | 2014-05-12 | 2015-11-19 | 국립대학법인 울산과학기술대학교 산학협력단 | Force control actuator module for a hand exoskeleton structure, and a hand exoskeleton system using same |
-
2017
- 2017-09-05 CN CN201710795922.XA patent/CN107813333B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800865A (en) * | 2004-12-04 | 2006-07-12 | 飞而康公司 | Cantalever board conveying equipment |
| WO2012101953A1 (en) * | 2011-01-26 | 2012-08-02 | トヨタ自動車株式会社 | Gripping device, transfer device with same, and method for controlling gripping device |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN104890001A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot hand, robot, robot system, and method of holding object |
| WO2015174670A1 (en) * | 2014-05-12 | 2015-11-19 | 국립대학법인 울산과학기술대학교 산학협력단 | Force control actuator module for a hand exoskeleton structure, and a hand exoskeleton system using same |
| CN204414127U (en) * | 2015-01-20 | 2015-06-24 | 江苏久祥汽车电器集团有限公司 | A kind of assembly robot dynamics monitoring gripper |
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| CN107813333A (en) | 2018-03-20 |
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