CN108147107A - A kind of grape shaping, dynamic pick-and-place mechanism and method - Google Patents
A kind of grape shaping, dynamic pick-and-place mechanism and method Download PDFInfo
- Publication number
- CN108147107A CN108147107A CN201711122456.5A CN201711122456A CN108147107A CN 108147107 A CN108147107 A CN 108147107A CN 201711122456 A CN201711122456 A CN 201711122456A CN 108147107 A CN108147107 A CN 108147107A
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- CN
- China
- Prior art keywords
- grape
- pick
- place
- control system
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
- B65G2201/0211—Fruits and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of grape shaping, dynamic pick-and-place mechanism and method, the grape shaping, dynamic pick-and-place mechanism include feed mechanism, grape arrangement mechanism, intelligent pick-and-place manipulator, sensor and control system；The feed mechanism is connected with grape arrangement mechanism, and the sensor is mounted in grape arrangement mechanism, and the sensor, intelligent pick-and-place manipulator are connect with control system.The invention also includes a kind of grape shaping, dynamic gripping methods.It is captured at a high speed present invention could apply to irregular particle bulk material, energy one-off captures multiple materials and material is moved to designated position respectively automatically, and cost control is in a certain range, it is expected the more severe repeated manual work of alternative environment, efficiency is artificial several times, and reduces production cost.
Description
Technical field
The present invention relates to a kind of grape shaping, dynamic pick-and-place mechanism and methods.
Background technology
At present, in food service industry grape assembling field, many loading grapes, such as betel nut inner cavity is needed to order grape,
It is the pattern using manual assembly.However, since workshop smell is pungent, environment is more severe, betel nut, grape size,
Form differs, and supplied materials situation is uncontrollable, while domestic aging is serious, the presence of the factors such as labor shortage, using automatic
Change equipment and high speed assembling is carried out to grape and betel nut, it is expected to substitute repeated manual work, reduce workshop labor intensity, solve
Labor shortage, improving production efficiency reduce production cost, extremely urgent.
Invention content
The technical problem to be solved by the invention is to provide one kind can improve production efficiency, reduce the grape of production cost
Shaping, dynamic pick-and-place mechanism and method.
The technical solution adopted by the present invention to solve the technical problems is：
The grape shaping of the present invention, dynamic pick-and-place mechanism including feed mechanism, grape arrangement mechanism, intelligent pick-and-place manipulator, pass
Sensor and control system；The feed mechanism is connected with grape arrangement mechanism, and the sensor is mounted in grape arrangement mechanism,
The sensor, intelligent pick-and-place manipulator are connect with control system.
Further, the feed mechanism is vibrations feed mechanism, including vibrator, elevating hopper and stent, the vibrator,
Elevating hopper is rack-mount, and the lower section of the elevating hopper is equipped with discharge port, and the discharge outlet is equipped with adjustable plate, can adjust
Discharge port size controls discharging speed, and it is uniform to protect positive discharging；The elevating hopper side is equipped with sensor, is reported when lacking material
It is alert, worker is reminded to supplement grape.
Further, the grape arrangement mechanism includes straight line vibrator and ordered series of numbers V-type deflector chute（V-type is not limited to, can be
Other guide grooves with positioning function such as U-shaped）, the straight line vibrator is on ordered series of numbers V-type deflector chute, each V-type guide
Slot is equipped with the aperture for installing sensor, and the straight line vibrator is connect with control system.
Further, the intelligent pick-and-place machinery hand includes X-motion mechanism, Y-motion mechanism, Z-motion machine
Structure and pick-and-place mechanism, the Y-motion mechanism are fixed in X-motion mechanism, and the Z-motion mechanism is fixed on Y
In axial motion mechanism, the pick-and-place mechanism is connected in Z-motion mechanism；The intelligence pick-and-place manipulator can be in X, Y, Z
Three axis directions arbitrarily pick and place.
Further, the pick-and-place mechanism includes acupuncture treatment, driving cylinder, limited block and installing plate, the driving cylinder connection
In installing plate bottom, and arrangement arranged in parallel；An acupuncture treatment is fixed in each driving mechanism, is had an acupuncture treatment across limited block, limited block
Connection is on a mounting board；It realizes that the bundle of material takes when acupuncture treatment is stretched out, realizes that material is placed when acupuncture treatment is retracted.
Further, rack is additionally provided with, the intelligence pick-and-place manipulator is mounted in rack.
Further, the control system is positioned over machine frame inside, is to integrate machine photoelectricity in the intelligence control system of one, should
Intelligence control system is to grape arrangement mechanism, intelligent pick-and-place manipulator integrated control.
The grape shaping of the present invention, dynamic gripping method, feed mechanism is put by grape, under the action of feed mechanism,
Grape spreads out arranges mechanism into grape, and the irregular grape of bulk is arranged in multiple row by grape arrangement mechanism, mounted on Portugal
When the sensor sensing of grape arrangement actuator base is to grape, signal is fed back into control system, the intelligent pick-and-place of control system control
Manipulator captures material immediately, and grape is quickly transferred to designated position.
Present invention could apply to grape supplied materials is uncontrollable, grape shape individual difference is larger, captures grape at a high speed, can pole
Big raising production efficiency reduces labor intensity and production cost, generates larger economic benefit, solves what China will face
Labor shortage problem.
The present invention can also be applied to other irregular particle bulk materials and capture at a high speed, and crawl is more automatically for energy one-off
Material is simultaneously moved to designated position, and cost control is in a certain range by a material respectively, it is expected alternative environment more
Severe repeated manual work, efficiency is artificial several times, and reduces production cost.
Description of the drawings
Fig. 1 is the axis side design sketch of the embodiment of the present invention；
Fig. 2 is that the grape of embodiment illustrated in fig. 1 arranges the structure diagram of mechanism；
Fig. 3 is the structure diagram of the intelligent pick-and-place manipulator of embodiment illustrated in fig. 1；
Fig. 4 is the structure diagram of the pick-and-place mechanism of embodiment illustrated in fig. 3.
Specific embodiment
Below in conjunction with drawings and examples, the invention will be further described.
Embodiment
With reference to Fig. 1, a kind of grape shaping, dynamic pick-and-place mechanism are grabbed including feed mechanism 1, grape arrangement mechanism 2, intelligence
Put manipulator 3, fibre optical sensor 5 and control system；The feed mechanism 1 is connected with grape arrangement mechanism 2, the intelligence pick-and-place
Manipulator 3 is mounted in rack 4, and the fibre optical sensor 5 is mounted in grape arrangement mechanism 2, the fibre optical sensor 5, intelligence
Energy pick-and-place manipulator 3 is connect with control system.
The feed mechanism 1 is vibrations feed mechanism, including vibrator, elevating hopper and stent, the vibrator, elevating hopper
Rack-mount, the lower section of the elevating hopper is equipped with discharge port, and the discharge outlet is equipped with adjustable plate, can adjust discharge port
Size controls discharging speed, and it is uniform to protect positive discharging；The elevating hopper side is equipped with sensor, alarms when lacking material, reminds
Worker supplements grape.
With reference to Fig. 2, the grape arrangement mechanism 2 includes straight line vibrator 21 and ordered series of numbers V-type deflector chute 22, the straight line shake
Dynamic device 21 is mounted on ordered series of numbers V-type deflector chute 22, and each V-type deflector chute 22 is equipped with the aperture for installing fibre optical sensor,
The straight line vibrator 21 is connect with control system.
With reference to Fig. 3, the intelligence pick-and-place manipulator 3 include X-motion mechanism 34, Y-motion mechanism 32, Z axis to
Motion 31 and pick-and-place mechanism 33；The Y-motion mechanism 32 is fixed in X-motion mechanism 34, and the Z axis is to fortune
Motivation structure is fixed in Y-motion mechanism 32, and the pick-and-place mechanism 33 is connected in Z-motion mechanism 31；The intelligence
Pick-and-place manipulator 3 can arbitrarily be picked and placeed in tri- axis direction of X, Y, Z.
With reference to Fig. 4, the pick-and-place mechanism 33 includes acupuncture treatment 334, driving cylinder 332, limited block 333 and installing plate 331, institute
It states driving cylinder 332 and is connected to 331 bottom of installing plate, and arrangement arranged in parallel；An acupuncture treatment is fixed on each driving cylinder 332
334, acupuncture treatment 334 passes through limited block 333, and limited block 333 is connected on installing plate 331；The bundle of material is realized when acupuncture treatment 334 is stretched out
It takes, realizes that material is placed when acupuncture treatment 334 is retracted.
In the present embodiment, rack 4 is additionally provided with, the intelligence pick-and-place manipulator 3 is mounted in rack 4.
In the present embodiment, the control system is positioned over machine frame inside, is to integrate machine photoelectricity in the intelligent control system of one
System, the intelligence control system is to grape arrangement mechanism, intelligent pick-and-place manipulator integrated control.
Grape is put into feed mechanism 1, under the action of feed mechanism 1, Portugal by a kind of grape shaping, dynamic gripping method
Grape spread out arranges mechanism 2 into grape, and the irregular grape of bulk is arranged in multiple row by grape arrangement mechanism 2, mounted on Portugal
When the fibre optical sensor 5 of 2 bottom of grape arrangement mechanism senses grape, signal is fed back into control system, control system control intelligence
Energy pick-and-place manipulator 3 captures material, and grape is quickly transferred to designated position immediately.
Claims (8)
1. a kind of grape shaping, dynamic pick-and-place mechanism, it is characterised in that：Including feed mechanism, grape arrangement mechanism, intelligent pick-and-place
Manipulator, sensor and control system；The feed mechanism is connected with grape arrangement mechanism, and the sensor is arranged mounted on grape
In row mechanism, the sensor, intelligent pick-and-place manipulator are connect with control system.
2. grape shaping according to claim 1, dynamic pick-and-place mechanism, it is characterised in that：The feed mechanism is vibrations
Feed mechanism, including vibrator, elevating hopper and stent, the vibrator, elevating hopper are rack-mount, under the elevating hopper
Side is equipped with discharge port, and the discharge outlet is equipped with adjustable plate；The elevating hopper side is equipped with sensor, is reported when lacking material
It is alert, worker is reminded to supplement grape.
3. grape shaping according to claim 1 or 2, dynamic pick-and-place mechanism, it is characterised in that：The grape arranges mechanism
Including straight line vibrator and ordered series of numbers V-type deflector chute, the straight line vibrator is mounted on ordered series of numbers V-type deflector chute, each V-type guide
Slot is equipped with the aperture for installing sensor, and the straight line vibrator is connect with control system.
4. grape shaping according to claim 1 or 2, dynamic pick-and-place mechanism, it is characterised in that：The intelligence pick-and-place machinery
Hand includes X-motion mechanism, Y-motion mechanism, Z-motion mechanism and pick-and-place mechanism；The Y-motion mechanism consolidates
It is scheduled in X-motion mechanism, the Z-motion mechanism is fixed in Y-motion mechanism, and the pick-and-place mechanism is connected to
In Z-motion mechanism；The intelligence pick-and-place manipulator can arbitrarily be picked and placeed in tri- axis direction of X, Y, Z.
5. grape shaping according to claim 4, dynamic pick-and-place mechanism, it is characterised in that：The pick-and-place mechanism includes pricking
Needle, driving cylinder, limited block and installing plate；The driving cylinder is connected to installing plate bottom, and arrangement arranged in parallel；It is each to drive
An acupuncture treatment is fixed on motivation structure, is had an acupuncture treatment across limited block, limited block connects on a mounting board；Material is realized when acupuncture treatment is stretched out
Bundle takes, and realizes that material is placed when acupuncture treatment is retracted.
6. grape shaping according to claim 5, dynamic pick-and-place mechanism, it is characterised in that：It is additionally provided with rack, the intelligence
Pick-and-place manipulator is mounted in rack.
7. grape shaping according to claim 6, dynamic pick-and-place mechanism, it is characterised in that：The control system is positioned over
Machine frame inside is to integrate machine photoelectricity in the intelligence control system of one, which grabs grape arrangement mechanism, intelligence
Put manipulator integrated control.
8. a kind of grape shaping, dynamic gripping method, it is characterised in that：Grape is put into feed mechanism, in the work of feed mechanism
Under, grape spreads out arranges mechanism into grape, and the irregular grape of bulk is arranged in multiple row, installed by grape arrangement mechanism
When the sensor sensing of grape arrangement actuator base is to grape, signal is fed back into control system, control system control intelligence
Pick-and-place manipulator captures material immediately, and grape is quickly transferred to designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711122456.5A CN108147107A (en) | 2017-11-14 | 2017-11-14 | A kind of grape shaping, dynamic pick-and-place mechanism and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711122456.5A CN108147107A (en) | 2017-11-14 | 2017-11-14 | A kind of grape shaping, dynamic pick-and-place mechanism and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147107A true CN108147107A (en) | 2018-06-12 |
Family
ID=62468707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711122456.5A Pending CN108147107A (en) | 2017-11-14 | 2017-11-14 | A kind of grape shaping, dynamic pick-and-place mechanism and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108147107A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592357A (en) * | 2019-02-01 | 2019-04-09 | 深圳若贝特智能机器人科技有限公司 | A kind of betel nut orders raisins or fructus lycii material tidying mechanism |
| CN114538028A (en) * | 2021-12-27 | 2022-05-27 | 四川凿为科技有限公司 | Screening equipment is arranged fast to plum |
| CN114633985A (en) * | 2020-12-15 | 2022-06-17 | 深圳市益华电子科技有限公司 | Automation equipment for dropping raisins into areca nut cavity |
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|---|---|---|---|---|
| EP0320498A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Industrial robot |
| JPH11292276A (en) * | 1998-04-15 | 1999-10-26 | Mitsubishi Heavy Ind Ltd | Automatically cutting and dividing device for gripped article |
| CN101565125A (en) * | 2008-04-21 | 2009-10-28 | 河南农业大学 | Sequencing feeding device |
| CN104743327A (en) * | 2013-12-31 | 2015-07-01 | 深圳富泰宏精密工业有限公司 | Automatic clamping machine |
| CN204528429U (en) * | 2015-01-15 | 2015-08-05 | 温增璟 | Multichannel arrangement feeding device |
| CN104890936A (en) * | 2015-05-22 | 2015-09-09 | 广州达意隆包装机械股份有限公司 | Feeding system and method for block-shaped food |
| CN204802539U (en) * | 2015-05-29 | 2015-11-25 | 深圳市锦翔盛实业有限公司 | Automatic pendulum material equipment |
| CN204976647U (en) * | 2015-06-23 | 2016-01-20 | 陈晓辉 | Sponge material pay -off grabbing device |
| CN105431031A (en) * | 2015-12-28 | 2016-03-23 | 杭州信多达电器有限公司 | Electronic circuit board automatic component inserter |
-
2017
- 2017-11-14 CN CN201711122456.5A patent/CN108147107A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0320498A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Industrial robot |
| JPH11292276A (en) * | 1998-04-15 | 1999-10-26 | Mitsubishi Heavy Ind Ltd | Automatically cutting and dividing device for gripped article |
| CN101565125A (en) * | 2008-04-21 | 2009-10-28 | 河南农业大学 | Sequencing feeding device |
| CN104743327A (en) * | 2013-12-31 | 2015-07-01 | 深圳富泰宏精密工业有限公司 | Automatic clamping machine |
| CN204528429U (en) * | 2015-01-15 | 2015-08-05 | 温增璟 | Multichannel arrangement feeding device |
| CN104890936A (en) * | 2015-05-22 | 2015-09-09 | 广州达意隆包装机械股份有限公司 | Feeding system and method for block-shaped food |
| CN204802539U (en) * | 2015-05-29 | 2015-11-25 | 深圳市锦翔盛实业有限公司 | Automatic pendulum material equipment |
| CN204976647U (en) * | 2015-06-23 | 2016-01-20 | 陈晓辉 | Sponge material pay -off grabbing device |
| CN105431031A (en) * | 2015-12-28 | 2016-03-23 | 杭州信多达电器有限公司 | Electronic circuit board automatic component inserter |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592357A (en) * | 2019-02-01 | 2019-04-09 | 深圳若贝特智能机器人科技有限公司 | A kind of betel nut orders raisins or fructus lycii material tidying mechanism |
| CN109592357B (en) * | 2019-02-01 | 2024-02-27 | 深圳若贝特智能机器人科技有限公司 | Betel nut spot raisin or medlar arranging mechanism |
| CN114633985A (en) * | 2020-12-15 | 2022-06-17 | 深圳市益华电子科技有限公司 | Automation equipment for dropping raisins into areca nut cavity |
| CN114538028A (en) * | 2021-12-27 | 2022-05-27 | 四川凿为科技有限公司 | Screening equipment is arranged fast to plum |
| CN114538028B (en) * | 2021-12-27 | 2024-04-02 | 四川凿为科技有限公司 | Li Zikuai quick arrangement screening equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180612 |