CN109533458A - A kind of soft device for touching grasping means and realizing this method of type self-adapting type article - Google Patents
A kind of soft device for touching grasping means and realizing this method of type self-adapting type article Download PDFInfo
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- 238000000034 method Methods 0.000 title abstract description 20
- 230000000007 visual effect Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims description 17
- 210000000078 claw Anatomy 0.000 claims description 16
- 230000007723 transport mechanism Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 9
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 5
- 241000207961 Sesamum Species 0.000 description 5
- 235000003434 Sesamum indicum Nutrition 0.000 description 5
- 238000013467 fragmentation Methods 0.000 description 5
- 238000006062 fragmentation reaction Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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Abstract
The present invention provides a kind of soft touching grasping means of type self-adapting type article, it is characterised in that: grabs article using at least two software fingers；Before software finger grip article, type of goods, item sizes and Item Weight are first obtained, driving atmospheric pressure value is set according to type of goods, item sizes and Item Weight；During software finger grip article, baric systerm is inflated software finger interior according to driving atmospheric pressure value to drive software digital flexion to grab article.This method adjusts software finger interior air pressure according to type of goods, item sizes and Item Weight, not only can securely grasp article and article is avoided to fall from software finger, but also can prevent that grasping force is excessive and cause article folder bad.It realizes the above method the present invention also provides a kind of, article flexible crawl, the not only device that can securely grasp article but also grasping force can be prevented excessive can be achieved.
Description
Technical field
The present invention relates to articles to grab technical field, grabs more specifically to a kind of soft touching of type self-adapting type article
It takes method and realizes the device of this method.
Background technique
With the development of automatic producing technology, automated production equipment is used in article processing and packaging technical field
Instead of being manually produced into for development trend, human resources can be saved and improve production efficiency, it is higher simultaneously for hygienic requirements
Industry, such as food service industry can avoid human body bacterium and falls into article, can avoid labor intensive environment and pollute to article,
Ensure that article reaches healthy requirement.
But in article processing and packaging equipment, the automatic operation of article crawl is unsatisfactory.Such as equipment component
Article is clamped using hard fixture, is easy that article is caused to scratch or be crushed, influences article quality, or even make product not
It can factory, increase material loss and production cost.Especially for the softer more easily-deformable or frangible article of quality, such as the moon
Cake, crisp short cakes with sesame, cake etc., it is very sensitive to chucking power, it is easy to be damaged in clamping process, existing articles clamping device can not expire
Its clamping of foot requires.
Software finger is novel handle device, by produce software digital flexion can to article the inflation of software finger interior
Raw chucking power, soft-touch can avoid that article is scratched or scratched, and be the ideal fixtures realizing article and automatically grabbing.But mesh
Preceding software finger still may not apply to more easily-deformable or more frangible article；For such article, existing soft touching crawl technology
It is still likely to occur and presss from both sides article to situations such as deformation or fragmentation.
Therefore, it is necessary to design a kind of article fetching, it both can securely grasp article and avoid article from software finger
On fall, and can prevent that grasping force is excessive and cause article folder bad.
Summary of the invention
To overcome shortcoming and deficiency of the prior art, it is an object of the present invention to provide one kind both can be with firm grip
Article is held to avoid article from falling from software finger, can prevent grasping force excessive again and to cause article to press from both sides bad type adaptive
The soft touching grasping means of formula article.It is another object of the present invention to provide a kind of soft touchings of realization mentioned kind self-adapting type article
Grasping means can be achieved article flexible crawl, not only can securely grasp article article be avoided to fall from software finger but also can be with
Prevent that grasping force is excessive and article is caused to press from both sides bad device.
In order to achieve the above object, the technical scheme is that: a kind of type self-adapting type article
Soft touching grasping means, it is characterised in that: grab article using at least two software fingers；Software finger grip article it
Before, type of goods, item sizes and Item Weight are first obtained, drive is set according to type of goods, item sizes and Item Weight
Dynamic atmospheric pressure value；During software finger grip article, baric systerm inflates software finger interior according to driving atmospheric pressure value
To drive software digital flexion to grab article.
In the method for the present invention, baric systerm drives software clinodactyly to mention to article to the inflation of software finger interior
For grasping force, software finger interior air pressure is adjusted according to type of goods, item sizes and Item Weight.Due to variety classes object
The soft or hard degree of product is different with frangible degree, and especially the soft or hard degree of article surface is different with frangible degree, to grasp force
Demand will be different.Item sizes difference will cause spacing difference between article and software finger, so that software finger be caused to apply
Add the difference of grasp force.And Item Weight difference is different to grasp force size requirement.Therefore the comprehensive type of goods of the method for the present invention,
Three kinds of factors of item sizes and Item Weight provide suitable grasping force for variety classes difference size different weight article to grab
Article is taken, article not only can have securely been grasped and article is avoided to fall from software finger, but also can prevent that grasping force is excessive and causes
There is deformation and fragmentation etc. and presss from both sides bad situation in article.The method of the present invention is particularly suitable for more easily-deformable or grabs compared with breakables, example
Such as moon cake, crisp short cakes with sesame, cake are also applied for other article crawls.
Preferably, it before software finger grip article, is adjusted also according to type of goods, item sizes and Item Weight
Software finger position.The method of the present invention adjusts software finger position according to type of goods, item sizes and Item Weight, adjustable
The distance between whole software finger and article, thus make crawl after between software finger and article there are suitable contact area with
Generate enough frictional force, be conducive to the grasping force for reducing software finger, and can avoid the pressure that is locally subject to of article it is excessive and
Cause to press from both sides bad.For more easily-deformable or more frangible article, software finger can be adjusted to smaller with the distance between article, with
The contact area after grasping between software finger and article is increased, further protects article bad from pressing from both sides.
Preferably, the acquisition type of goods, item sizes and Item Weight refer to: acquiring article figure using visual component
As obtaining Item Weight using gravity sensor to obtain type of goods and item sizes.
Preferably, described that visual component acquisition images of items is used to refer to obtain type of goods and item sizes: to use
Transport mechanism transporting articles are equipped with visual component on the transfer mechanism to obtain images of items to obtain type of goods and article
Size；Image is obtained into point and is used as tracking and positioning information initial position, the tracking and positioning that carries out mobile to article is later to obtain object
Product tracking and positioning information, to obtain the corresponding type of goods of each article in transport mechanism and item sizes.It is fixed using tracking
Position mode reduces equipment cost and improves equipment running to be conducive to simplified device structure to article progress tracking and positioning has been surveyed
Efficiency.
Preferably, the driving atmospheric pressure value that set according to type of goods, item sizes and Item Weight refers to: using and looks into
Table mode obtains type of goods, item sizes and the corresponding driving atmospheric pressure value of Item Weight in the database and is set.
A kind of device for realizing the soft touching grasping means of mentioned kind self-adapting type article, it is characterised in that: include:
Visual component, for acquiring images of items to obtain type of goods and item sizes；
Gravity sensitive module, for detecting Item Weight；
Baric systerm, for driving atmospheric pressure value, and root according to obtained type of goods, item sizes and Item Weight setting
It is inflated outward according to driving atmospheric pressure value；
Clip claw mechanism, for grabbing article；The hand that the clip claw mechanism includes mobile robot, is connect with mobile robot
Refer to that software finger on finger mounted frame is arranged in mounting rack and at least two；
And controller；
The controller is connect with visual component, gravity sensitive module and air pressure system signal respectively, to realize vision group
Obtained type of goods and item sizes are transferred to controller by part, and obtained Item Weight is transferred to control by gravity sensitive module
Device processed, controller obtain driving atmospheric pressure value according to type of goods, item sizes and Item Weight and are sent to baric systerm；Respectively
A software finger is connect with baric systerm respectively, to realize that baric systerm inflates software finger interior.
In apparatus of the present invention, detects resulting type of goods, item sizes and Item Weight and be transferred to controller, controller
Driving atmospheric pressure value is obtained according to type of goods, item sizes and Item Weight and is sent to baric systerm, and baric systerm is to soft
Body finger interior inflation drives software clinodactyly with to article provide grasping force, according to type of goods, item sizes and
Item Weight adjusts software finger interior air pressure, the grasping force that software finger can be made to provide while being adapted to type of goods, article
Size and Item Weight not only can securely grasp article and article avoided to fall from software finger, but also can prevent grasping force mistake
Cause article deformation and fragmentation etc. occur greatly and presss from both sides bad situation.Inventive device is particularly suitable for use in more easily-deformable or compared with breakables
Crawl, such as moon cake, crisp short cakes with sesame, cake etc. are also applied for other article crawls.
Preferably, each software finger passes through finger mounted head respectively and is arranged on finger mounted frame, and is pacified by finger
Dress head is connect with baric systerm；
The finger mounted head is using the setting of one of the following two kinds scheme:
One, each finger mounted head is respectively slidably arranged on finger mounted frame, and finger mounted head and finger are pacified
Fastening structure is equipped between shelving；
Two, each finger mounted head passes through sliding drive module setting on finger mounted frame respectively；Slide drive module
It is connect with controller signals, drives sliding driving mould according to type of goods, item sizes and Item Weight to realize controller
Block.
Apparatus of the present invention adjust software finger position according to type of goods, item sizes and Item Weight；Wherein, second
Kind scheme can be according to type of goods, item sizes and Item Weight adjust automatically software finger position to adjust software finger and object
The distance between product, so that there are suitable contacts area between article to generate enough frictions after making software digital flexion
Power is conducive to the grasping force for reducing software finger, and it is excessive and cause to press from both sides bad to can avoid the pressure that is locally subject to of article.
Preferably, further includes:
Transport mechanism, for article to be transmitted；Transport mechanism includes being equipped with image acquisition region and capture area
Conveyer belt, and the transmission drive module for driving conveyer belt mobile；Transmission drive module is connect with controller signals；
The visual component refer to for acquiring images of items with obtain type of goods and item sizes and obtain article with
The visual component of track location information initial position；The top of described image pickup area is arranged in the visual component；It is described heavy
Image acquisition region is arranged in conveyer belt in force snesor, and opposite with visual component position；
The clip claw mechanism refers to the clip claw mechanism for being positioned and being grabbed to article according to tracking and positioning information；
The top of the capture area is arranged in the clip claw mechanism.
Images of items is acquired when article passes through visual component, type of goods and item sizes are obtained by analysis processing,
It is transmitted in controller later；Gravity sensor obtains Item Weight and is transmitted to controller simultaneously；Transmit drive module and control
Article mobile message to be transferred in controller to obtain item tracking location information by device signal connection processed；Clip claw mechanism root
Article is positioned and is grabbed according to tracking and positioning information.Using tracking and positioning mode come to surveyed article track it is fixed
Position is conducive to simplify device structure, reduces equipment cost, further increase production efficiency.
Preferably, the mobile robot includes upper mounted plate and mobile holder assembly, and is arranged below upper mounted plate
Middle shaft assembly and three groups of rotate driving components；The Middle shaft assembly is connect with mobile holder assembly；Three groups of rotate driving components point
Not Tong Guo connecting rod connect with mobile holder assembly；The finger mounted frame is connect with mobile holder assembly.The mobile robot of the setting
Finger mounted frame can be moved, neatly so as to move software finger neatly to grab article.
Compared with prior art, the invention has the advantages that with the utility model has the advantages that
1, the method for the present invention adjusts software finger interior air pressure according to type of goods, item sizes and Item Weight, can
The grasping force of software finger offer is provided while being adapted to type of goods, item sizes and Item Weight, both can securely grasp article
It avoids article from falling from software finger, and can prevent that grasping force is excessive and cause article deformation and fragmentation etc. occur and press from both sides bad feelings
Condition；The method of the present invention is particularly suitable for more easily-deformable or grabs compared with breakables, such as moon cake, crisp short cakes with sesame, cake etc., is also applied for
Other article crawls；
2, the method for the present invention can adjust the distance between software finger and article, thus after making software digital flexion with article
Between there are suitable contacts area to generate enough frictional force, provide suitable grasping force for article, avoid article local
The pressure being subject to is excessive and causes to press from both sides bad；
3, the method for the present invention, to article progress tracking and positioning has been surveyed, is conducive to simplify equipment knot using tracking and positioning mode
Structure reduces equipment cost and improves equipment operating efficiency；
4, apparatus of the present invention can realize the grasping force for providing software finger to article flexible crawl while be adapted to article kind
Class, item sizes and Item Weight not only can securely grasp article and article avoided to fall from software finger, but also can prevent from grabbing
Holding force is excessive and causes article deformation and fragmentation etc. occur and presss from both sides bad situation；Inventive device is particularly suitable for use in more easily-deformable or be easier to
The product that mince crawl, such as moon cake, crisp short cakes with sesame, cake etc. are also applied for other article crawls；
5, apparatus of the present invention can adjust the distance between software finger and article to adjust between software finger and article
It is bad to avoid article folder can to provide suitable grasping force for article for contact area；
6, apparatus of the present invention can neatly grab article, high production efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention；
Fig. 2 is the scheme of installation of finger mounted frame and software finger in apparatus of the present invention；
Fig. 3 is the scheme of installation of mobile robot in apparatus of the present invention；
Fig. 4 is the system block diagram of one device of embodiment；
Wherein, 1 be visual component, 2 be transport mechanism, 3 be clip claw mechanism, 31 be software finger, 32 be finger mounted head,
33 it is sliding drive module, 34 be finger mounted frame, 35 be gas-tpe fitting, 36 be mobile robot, 361 is upper mounted plate, 362
It is rotate driving component for Middle shaft assembly, 363,364 be connecting rod, 365 be mobile holder assembly, 4 is article.
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing.
Embodiment one
The soft touching grasping means of the present embodiment type self-adapting type article, grabs object using at least two software fingers 31
Product；Before software finger 31 grabs article, type of goods, item sizes and Item Weight are first obtained, according to type of goods, object
Product size and Item Weight set driving atmospheric pressure value；During software finger 31 grabs article, baric systerm is according to driving
Atmospheric pressure value grabs article to drive software finger 31 to be bent to 31 inner inflatable of software finger, so that software finger 31 be made to provide
Grasping force be adapted to type of goods, item sizes and Item Weight simultaneously.
In the method for the present invention, baric systerm drives 31 bending deformation of software finger to object to 31 inner inflatable of software finger
Product provide grasping force, and 31 air pressure inside of software finger is adjusted according to type of goods, item sizes and Item Weight, can make software
The grasping force that finger 31 provides is adapted to type of goods, item sizes and Item Weight simultaneously.It is soft or hard due to variety classes article
Degree is different with frangible degree, and especially the soft or hard degree of article surface is different with frangible degree, and the demand to grasp force will
It is different.Item sizes difference will cause spacing difference between article and software finger, so that software finger be caused to apply grasp force
Difference.And Item Weight difference is different to grasp force size requirement.Therefore the method for the present invention comprehensive type of goods, item sizes
With three kinds of factors of Item Weight, suitable grasping force is provided for variety classes difference size different weight article to grab article,
Not only can securely grasp article avoids article from falling from software finger 31, but also can prevent that grasping force is excessive and article is caused to press from both sides
It is bad.
In the present embodiment, driving atmospheric pressure value is set according to type of goods, item sizes and Item Weight can be real in this way
It is existing: to obtain type of goods, item sizes and the corresponding driving atmospheric pressure value of Item Weight in the database using lookup table mode and go forward side by side
Row setting；It can also be realized using other existing algorithms.
It obtains type of goods and item sizes refers to: using 2 transporting articles of transport mechanism, view is equipped in transport mechanism 2
Component 1 is felt to obtain images of items to obtain type of goods and item sizes；Image is obtained into point and is used as tracking and positioning information
Initial position, the tracking and positioning that carries out mobile to article is later to obtain item tracking location information, to obtain in transport mechanism 2
The corresponding type of goods of each article and item sizes.In the present embodiment, using tracking and positioning mode come to surveyed article carry out
Tracking and positioning is conducive to simplify device structure, reduces equipment cost and improves equipment operating efficiency.It, can also be in practical application
Using other article positioning methods.
Item Weight is obtained to refer to using gravity sensor acquisition Item Weight.
Before software finger 31 grabs article, software is adjusted also according to type of goods, item sizes and Item Weight
31 position of finger.The method of the present invention adjusts 31 position of software finger according to type of goods, item sizes and Item Weight, adjustable
The distance between whole software finger 31 and article, so that there are suitable contact surfaces between software finger 31 and article after making crawl
Product is conducive to the grasping force for reducing software finger 31 to generate enough frictional force, and can avoid the pressure that article is locally subject to
It is excessive and cause to press from both sides bad.For more easily-deformable or more frangible article, software finger can be adjusted to the distance between with article
It is smaller, to increase the contact area after grasped between software finger and article, further protect article bad from pressing from both sides.
31 position of software finger is adjusted according to type of goods, item sizes and Item Weight this can be implemented so that use
Lookup table mode obtains type of goods, item sizes and the corresponding position setting value of Item Weight in the database, and by software hand
Refer to that 31 are moved to position setting value；It can also be realized using other existing algorithms.
For the device for realizing the soft touching grasping means of mentioned kind self-adapting type article, the present embodiment provides a kind of device,
Structure is as shown in Figures 1 to 4, comprising:
Transport mechanism 2, for article to be transmitted；Transport mechanism 2 includes being equipped with image acquisition region and capture area
Conveyer belt, and the transmission drive module for driving conveyer belt mobile；Transmission drive module is connect with controller signals；
Visual component 1 obtains type of goods and item sizes for acquiring images of items and obtains item tracking positioning
Information initial position；The top of image acquisition region is arranged in visual component 1；
Gravity sensitive module, for detecting Item Weight；Image acquisition region is arranged in conveyer belt in gravity sensor, and
It is opposite with 1 position of visual component；
Baric systerm, for driving atmospheric pressure value, and root according to obtained type of goods, item sizes and Item Weight setting
It is inflated outward according to driving atmospheric pressure value；
Clip claw mechanism 3, for being positioned and being grabbed to article according to tracking and positioning information；The setting of clip claw mechanism 3 exists
The top of capture area；Clip claw mechanism 3 includes mobile robot 36, the finger mounted frame 34 that connect with mobile robot 36 and extremely
Few two software fingers 31 being arranged on finger mounted frame 34；
And controller；
Controller is connect with visual component 1, gravity sensitive module and air pressure system signal respectively, to realize that visual component will
Obtained type of goods and item sizes is transferred to controller, and obtained Item Weight is transferred to control by gravity sensitive module
Device, controller obtain driving atmospheric pressure value according to type of goods, item sizes and Item Weight and are sent to baric systerm；It is each
Software finger 31 is connect with baric systerm respectively, to realize baric systerm to 31 inner inflatable of software finger.
The working principle of apparatus of the present invention is: article is sent to capture area from image acquisition region by transport mechanism；?
Article acquires images of items when passing through visual component 1, obtains type of goods and item sizes by analysis processing；Gravity sensor
On a moving belt, weight measurement can be realized by conveyer belt in article for setting；Transmission drive module connect with controller signals with
Article mobile message is transferred in controller to obtain item tracking location information；Clip claw mechanism 3 is believed according to tracking and positioning
Breath is to position article and be grabbed.Baric systerm to 31 inner inflatable of software finger drive 31 bending deformation of software finger with
Grasping force is provided to article, 31 air pressure inside of software finger is adjusted according to type of goods, item sizes and Item Weight, can be made
The grasping force that software finger 31 provides is adapted to type of goods, item sizes and Item Weight simultaneously, both can securely grasp article
It avoids article from falling from software finger 31, and can prevent that grasping force is excessive and cause article folder bad.
Controller can use existing controller, such as PLC controller or singlechip controller.Software hand in the present embodiment
Refer to be four；Software finger more than two in practical application.Visual component acquires images of items can to obtain item sizes
Using existing algorithm；The prior art can be used in baric systerm.Gravity sensor, which obtains Item Weight, can be used the prior art；Air pressure
The prior art can be used in system.Driving atmospheric pressure value is set according to type of goods, item sizes and Item Weight can be real in this way
It is existing: to obtain type of goods, item sizes and the corresponding driving atmospheric pressure value of Item Weight in the database using lookup table mode and go forward side by side
Row setting；It can also be realized using other existing algorithms.
In the present embodiment, to article progress tracking and positioning has been surveyed, be conducive to simplify equipment knot using tracking and positioning mode
Structure reduces equipment cost and improves equipment operating efficiency.Article can also be positioned using other way in practical application.
Each finger mounted head 32 is arranged on finger mounted frame 34 by sliding drive module 33 respectively；Sliding driving mould
Block 33 is connect with controller signals, drives sliding to drive according to type of goods, item sizes and Item Weight to realize controller
Dynamic model block 33.Apparatus of the present invention can according to type of goods, item sizes and 31 position of Item Weight adjust automatically software finger with
The distance between software finger 31 and article are adjusted, is suitably contacted to exist between article after being bent software finger 31
Area is conducive to the grasping force for reducing software finger 31 to generate enough frictional force, and can avoid the pressure that article is locally subject to
It is strong excessive and cause to press from both sides bad.
Mobile robot 36 includes upper mounted plate 361 and mobile holder assembly 365, and is arranged below upper mounted plate 361
Middle shaft assembly 362 and three groups of rotate driving components 363；Middle shaft assembly 362 is connect with mobile holder assembly 365；Three groups of rotations are driven
Dynamic component 363 is connect by connecting rod 364 with mobile holder assembly 365 respectively；Finger mounted frame 34 is connect with mobile holder assembly 365.
The mobile robot 36 of the setting can neatly move finger mounted frame 34, so as to move software finger 31 neatly to grab
Article.The prior art, such as rotating electric machine component can be used in rotate driving component；The prior art can be used in Middle shaft assembly, such as
Cylinder assembly.
Embodiment two
The self-adapting type article grasping means of the present embodiment type and the difference of embodiment one are: in the present embodiment, not
With good grounds type of goods, item sizes and Item Weight adjust software finger position；Obtain type of goods, item sizes and
After Item Weight, driving atmospheric pressure value is set according to type of goods, item sizes and Item Weight；Baric systerm is according to driving gas
Pressure value come to software finger interior inflate with drive software digital flexion grab article, thus make software finger provide grasping force
It is adapted to type of goods, item sizes and Item Weight simultaneously.
Correspondingly, in the device of the present embodiment, finger mounted frame is respectively slidably arranged in each finger mounted head
On, and fastening structure is equipped between finger mounted head and finger mounted frame.Remaining structure of the present embodiment is the same as example 1.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of soft touching grasping means of type self-adapting type article, it is characterised in that: grabbed using at least two software fingers
Article；Before software finger grip article, type of goods, item sizes and Item Weight are first obtained, according to type of goods, object
Product size and Item Weight set driving atmospheric pressure value；During software finger grip article, baric systerm is according to driving gas
Pressure value come to software finger interior inflate with drive software digital flexion grab article.
2. the soft touching grasping means of type self-adapting type article according to claim 1, it is characterised in that: grabbed in software finger
Before taking article, software finger position is adjusted also according to type of goods, item sizes and Item Weight.
3. the soft touching grasping means of type self-adapting type article according to claim 1, it is characterised in that: the acquisition article
Type, item sizes and Item Weight refer to: use visual component acquisition images of items to obtain type of goods and item sizes,
Item Weight is obtained using gravity sensor.
4. the soft touching grasping means of type self-adapting type article according to claim 3, it is characterised in that: described to use vision
Component acquisition images of items is referred to obtaining type of goods and item sizes: using transport mechanism transporting articles, in transport mechanism
Visual component is equipped with to obtain images of items to obtain type of goods and item sizes；It is fixed as tracking that image is obtained into point
Position information initial position, the tracking and positioning that carries out mobile to article is later to obtain item tracking location information, to obtain transmission
The corresponding type of goods of each article and item sizes in mechanism.
5. the soft touching grasping means of type self-adapting type article according to claim 1, it is characterised in that: described according to article
Type, item sizes and Item Weight refer to set driving atmospheric pressure value: obtaining article kind in the database using lookup table mode
Class, item sizes and the corresponding driving atmospheric pressure value of Item Weight are simultaneously set.
6. a kind of device for realizing the soft touching grasping means of type self-adapting type article described in claim 1, it is characterised in that: packet
It includes:
Visual component, for acquiring images of items to obtain type of goods and item sizes；
Gravity sensitive module, for detecting Item Weight；
Baric systerm, for driving atmospheric pressure value according to obtained type of goods, item sizes and Item Weight setting, and according to drive
Dynamic atmospheric pressure value is inflated outward；
Clip claw mechanism, for grabbing article；The clip claw mechanism includes mobile robot, the finger connecting with mobile robot peace
Shelve the software finger being arranged on finger mounted frame at least two；
And controller；
The controller is connect with visual component, gravity sensitive module and air pressure system signal respectively, to realize that visual component will
Obtained type of goods and item sizes is transferred to controller, and obtained Item Weight is transferred to control by gravity sensitive module
Device, controller obtain driving atmospheric pressure value according to type of goods, item sizes and Item Weight and are sent to baric systerm；It is each
Software finger is connect with baric systerm respectively, to realize that baric systerm inflates software finger interior.
7. device according to claim 6, it is characterised in that: each software finger passes through the setting of finger mounted head respectively and exists
On finger mounted frame, and it is connect by finger mounted head with baric systerm；
The finger mounted head is using the setting of one of the following two kinds scheme:
One, each finger mounted head is respectively slidably arranged on finger mounted frame, and finger mounted head and finger mounted frame
Between be equipped with fastening structure；
Two, each finger mounted head passes through sliding drive module setting on finger mounted frame respectively；Slide drive module and control
Device signal connection processed, drives sliding drive module according to type of goods, item sizes and Item Weight to realize controller.
8. device according to claim 6, it is characterised in that: further include:
Transport mechanism, for article to be transmitted；Transport mechanism includes the transmission equipped with image acquisition region and capture area
Band, and the transmission drive module for driving conveyer belt mobile；Transmission drive module is connect with controller signals；
The visual component refers to fixed to obtain type of goods and item sizes and obtain item tracking for acquiring images of items
The visual component of position information initial position；The top of described image pickup area is arranged in the visual component；The gravity passes
Image acquisition region is arranged in conveyer belt in sensor, and opposite with visual component position；
The clip claw mechanism refers to the clip claw mechanism for being positioned and being grabbed to article according to tracking and positioning information；It is described
The top of the capture area is arranged in clip claw mechanism.
9. the device according to any one of claim 6 to 8, it is characterised in that: the mobile robot includes upper fixation
Plate and mobile holder assembly, and the Middle shaft assembly below upper mounted plate and three groups of rotate driving components are set；The axis group
Part is connect with mobile holder assembly；Three groups of rotate driving components pass through connecting rod respectively and connect with mobile holder assembly；The finger mounted
Frame is connect with mobile holder assembly.
Priority Applications (1)
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