CN109623788A - The manipulator grabbing device and method of fruit automated packaging equipment - Google Patents
The manipulator grabbing device and method of fruit automated packaging equipment Download PDFInfo
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- CN109623788A CN109623788A CN201811634946.8A CN201811634946A CN109623788A CN 109623788 A CN109623788 A CN 109623788A CN 201811634946 A CN201811634946 A CN 201811634946A CN 109623788 A CN109623788 A CN 109623788A
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- fruit
- cylinder
- catching robot
- clamping jaw
- grabbing device
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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
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Packaging Of Special Articles (AREA)
Abstract
The present invention discloses the manipulator grabbing device and method of a kind of fruit automated packaging equipment, its device includes mounting base, at least one catching robot, lifting cylinder and harmonic speed reducer, harmonic speed reducer is installed below mounting base, connect at the top of lifting cylinder with harmonic speed reducer bottom, and lifting cylinder bottom is connect with catching robot；Lifting cylinder drives catching robot to move up and down, and harmonic speed reducer drives catching robot to be rotated.Its method is the angle using harmonic speed reducer adjustment catching robot, catching robot is driven to rise or fall using lifting cylinder, catching robot is driven to be moved forward and backward using dislocation cylinder, it drives catching robot to be moved left and right using displacement cylinder, is finally adapted the wrapping position on fruit ordered state and packing box.The flexible clamping of primary more fruits, the variation of energy adaptive fruit shape and outer diameter size, it should which range is wider can be achieved in the present invention.
Description
Technical field
The present invention relates to fruit packaging technical field, in particular to the manipulator of a kind of fruit automated packaging equipment grabs
Device and method.
Background technique
In fruit automatic packaging production line, applicable industry robot technology is increasingly extensive, but is presently mainly for wrapping
The work such as the Palletised carry after dress, it is fewer for entering box-packed case process in packaging process.Especially for some fine work packets
Dress, if fruit plastic-sucking tray is packed, basic at present still using the method manually loaded one by one, common manipulator is difficult to fit
It answers.
Fruit is different from industrial products, variant its outer dimension after through classification, according to common clamping
The crawl of formula manipulator, then needs frequently to adjust clamping dynamics during the work time, to cause low efficiency to avoid crushing fruit
Under.Therefore, most of manipulators for fruit are all made of vacuum aspiration type at present, directly adsorb fruit table by vacuum cups
Displacement is extracted in face.But this vacuum aspiration type manipulator is only used for smooth surface and tough and tensile fruit, has for epidermis
The fruit of villus or pleat line is then difficult to adapt to, and especially for the soft tender fruit of epidermis, also easily causes to draw position table
The bruise of skin, application have significant limitation.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of manipulators of fruit automated packaging equipment
Grabbing device, the grabbing device can realize the flexible clamping of primary more fruits, can adaptive fruit shape and outer diameter size variation,
Should range it is wider.
Another object of the present invention is to provide a kind of machines of fruit automated packaging equipment realized by above-mentioned apparatus
Tool hand grasping means.
The technical solution of the present invention is as follows: a kind of manipulator grabbing device of fruit automated packaging equipment, including mounting base,
At least one catching robot, lifting cylinder and harmonic speed reducer, harmonic speed reducer are installed on mounting base lower section, lifting cylinder top
Portion is connect with harmonic speed reducer bottom, and lifting cylinder bottom is connect with catching robot；Lifting cylinder drive catching robot into
Row moves up and down, and harmonic speed reducer drives catching robot to be rotated.Wherein, mounting base is as entire manipulator grabbing device
Main base, the external robot arm in top, bottom is used to install each component for forming manipulator grabbing device.
The manipulator grabbing device is additionally provided with external CCD camera.It is automatic that CCD camera can be directly mounted at fruit
On packaging facilities upper spider, it is located above fruit transfer passage.Lifting cylinder, harmonic speed reducer and CCD camera are jointly external
The control system of fruit automated packaging equipment, after shooting placement status of the fruit on fruit conveyor by CCD camera, by
Control system analysis calculates catching robot and the angle rotated and fruit is needed to be run from CCD camera to catching robot
After the time that place needs, then instruction is issued to harmonic speed reducer and lifting cylinder respectively, control catching robot is completed a series of
Movement.
The catching robot has multiple, one lifting cylinder of configuration and a harmonic reduction on each catching robot
Device；
Mounting base bottom is equipped with guide rail, and each harmonic speed reducer is equipped with a upper rail chair and a lower rail chair, each upper rail
The top of seat is matched with guide rail respectively, and the lower part of each upper rail chair is matched with a lower rail chair；
The bottom of each lower rail chair is respectively equipped with the first pin shaft and dislocation cylinder, the piston-rod end for the cylinder that misplaces and the first pin
Axis one end is fixedly connected, and the other end of the first pin shaft is fixedly connected with lower rail chair；Wherein, dislocation cylinder can be solid by erection support
Dingan County is loaded on upper rail chair bottom, the first pin shaft and the lower perpendicular setting of rail chair, when the piston action for the cylinder that misplaces, passes through the first pin
Axis pushes or pull on lower rail chair and is slided relative to upper rail chair, to control the front-rear position of each catching robot, can make
Wrapping position in front-rear position and packing box locating for fruit is adapted；
In the upper rail chair of adjacent two, it is equipped with displacement cylinder at the top of previous upper rail chair, is equipped at the top of rail chair in the latter
Second pin shaft, the piston-rod end for shifting cylinder is equipped with driving lever, and driving lever is connected with the second pin shaft；When catching robot has N
When a, corresponding upper rail chair top part is not equipped with displacement cylinder on first catching robot to the N-1 catching robot, the
Corresponding upper rail chair top part is not equipped with the second pin shaft on two catching robots to n-th catching robot, respectively shifts cylinder
Piston-rod end connected one to one by driving lever and the second pin shaft, when shifting cylinder movement, driving lever and second can be passed through
Pin shaft pushes upper rail chair to be slided along guide rail, to adjust the distance between two neighboring catching robot, makes two neighboring
The distance between fruit is adapted with the wrapping position on packing box.
In the upper rail chair, guide rail is matched with the upper outside of upper rail chair, and upper sliding slot is formed at cooperation；Lower rail chair with
The lower inside of upper rail chair matches, and lower slider slot is formed at cooperation；The section of upper sliding slot and lower slider slot is in dovetail shaped
Or T-type shape.The phenomenon that dovetail shaped or T-type shape structure can effectively prevent rail chair disengaging guide rail or lower rail chair to be detached from upper rail chair hair
It is raw, guarantee the stability and reliability of equipment operation.
The catching robot includes flexible clamping jaw, rigid jaw and opening and closing driving mechanism, at the top of opening and closing driving mechanism with
Lifting cylinder connection, flexible clamping jaw and rigid jaw are connect with opening and closing driving mechanism respectively, between flexible clamping jaw and rigid jaw
Form fruit grasping part；Flexible clamping jaw includes crowfoot and elastic force string, and the side of crowfoot towards rigid jaw is distributed with several
Elastic force string.Wherein, integral structure can be used in the crowfoot in flexible clamping jaw, and integral structure can also be used in rigid jaw.The knot
In the catching robot of structure, flexible clamping and adaptive fruit shape using the elastic force effect realization of elastic force string to fruit, one
Aspect is suitable for the size variation of different fruit, the rapidly and efficiently movement of manipulator on the other hand can be achieved, in the range of setting
It is interior woth no need to adjust clamping force in real time, fruit surface will not be crushed.
In the flexibility clamping jaw, the top of crowfoot is the first fanning strip with the first pin hole, and the lower part of crowfoot is arch
Structure, each elastic force string is in longitudinally mounted on bow-shaped structural.
It at least two, the elastic force string, is manufactured using round rubber item, elastic force string both ends are respectively fixed with cylindrical metal
Collet；
It is equipped with cross tube and sheer pole in bow-shaped structural, few two fixed spacings are respectively machined in cross tube and sheer pole
Cylinder ladder hole, each cylinder ladder hole have further extended outward side fluting, and the cylindrical metal collet on elastic force string corresponds to inlay card
In cylinder ladder hole.Wherein, in cross tube and sheer pole, one end ratio of the cylinder ladder hole in the middle part of elastic force string is separate
One end internal diameter in the middle part of elastic force string is small, so as to fasten elastic force string.
When assembling elastic force string, elastic force string is elongated first, is caught in round rubber item from side fluting, it is logical to enter cylinder ladder
Loosen elastic force string when hole, the cylindrical metal collet at elastic force string both ends is made to be respectively embedded into the cylinder ladder hole of cross tube and sheer pole
It is interior, elastic force string can be fastened, elastic force string is operated by root and assembled.
The top of the rigid jaw is the second fanning strip with the second pin hole, and the lower part of rigid jaw is arc shape
Bending claws；Bending claws at least there are two, the parallel setting of each bending claws.
The opening and closing driving mechanism includes pedestal, flexible clamping jaw cylinder, flexible clamping jaw support, rigid jaw cylinder and rigidity
Clamping jaw support, flexible clamping jaw cylinder and rigid jaw cylinder are respectively arranged in the two sides of pedestal, and base bottom is equipped with flexible clamping jaw
Support and rigid jaw support, the piston-rod end of flexible clamping jaw cylinder and flexible clamping jaw support lower end respectively with flexible clamping jaw
Top is hinged, and the piston-rod end of rigid jaw cylinder and rigid jaw support lower end are hinged with the top of rigid jaw respectively.
Wherein, two sides of base is respectively equipped with the first cylinder seat and the second cylinder seat, and flexible clamping jaw cylinder is fixedly installed in base by the first cylinder seat
On seat, rigid jaw cylinder is fixedly installed on pedestal by the second cylinder seat；The piston-rod end of flexible clamping jaw cylinder is equipped with the
One it is hinged and by first it is hinged connect with flexible clamping jaw, the piston-rod end of rigid jaw cylinder is hinged and pass through equipped with second
Second hinged connect with rigid jaw.
The overall structure of catching robot is symmetrical, and flexible clamping jaw and rigid jaw are left and right symmetrically arranged, and passes through flexible clamping jaw
Cylinder and rigid jaw cylinder respectively drive flexible clamping jaw and rigid jaw, and flexible clamping jaw cylinder and rigid jaw cylinder are stretched simultaneously
Contracting piston rod realizes the opening and gathering of flexible clamping jaw and rigid jaw.Flexible clamping jaw cylinder and rigid jaw cylinder are outer respectively
The control system of water receiving fruit automated packaging equipment, by control system controller action, to carry out fruit crawl, movement, relieving
Deng movement.
In catching robot, in flexible clamping jaw, set on first fanning strip on crowfoot top there are two the first pin hole, it is flexible
The piston-rod end of clamping jaw cylinder by first it is hinged connect with one of them first pin hole, flexible clamping jaw support with another the
The connection of one pin hole；In rigid jaw, second fanning strip of upper part is equipped with the second pin hole, the piston rod end of rigid jaw cylinder
End by second it is hinged connect with one of them second pin hole, rigid jaw support is connect with another second pin hole.
A kind of manipulator grasping means of fruit automated packaging equipment can be realized by above-mentioned manipulator grabbing device, wrapped
Include following steps:
(1) when fruit is sent to below catching robot, using the angle of harmonic speed reducer adjustment catching robot, make
The clamping direction of catching robot and fruit are adapted；
(2) catching robot is driven to rise or fall using lifting cylinder, catching robot grabs fruit；
(3) it drives catching robot to be moved forward and backward using dislocation cylinder, makes locating for each catching robot and fruit
Position is corresponding with the wrapping position on packing box；
(4) using displacement cylinder drive catching robot moved left and right, make two catching robots of arbitrary neighborhood it
Between distance it is corresponding with the distance between wrapping position on packing box；
(5) manipulator grabbing device is moved integrally, fruit clamped on each catching robot is put into phase in packing box
The position answered.
Wherein, the method that catching robot grabs fruit in step (2) are as follows: after fruit is located at below catching robot, open
Closing driving mechanism drives flexible clamping jaw and rigid jaw to open to two sides, after fruit enters fruit grasping part, opens and closes driving machine
Structure drives flexible clamping jaw and rigid jaw to collapse, and utilizes the elastic force flexible clamping fruit of flexible clamping jaw upper elasticity string.Its specific mistake
Journey are as follows:
(2-1) flexibility clamping jaw cylinder and the piston rod of rigid jaw cylinder are shunk, the to be connected with flexible clamping jaw cylinder
The one of the one hinged flexible clamping jaw of drive is laterally moved, and entire flexibility clamping jaw is with the connection of flexible clamping jaw support and the first fanning strip
Place is that the center of circle rotates；Meanwhile the one of the second hinged drive rigid jaw being connected with rigid jaw cylinder is laterally moved, entirely
Rigid jaw is rotated by the center of circle of the junction of rigid jaw support and the second fanning strip；Flexible clamping jaw and rigid jaw are to two sides
It opens；
(2-2) catching robot is moved down by lifting cylinder driving, until fruit to be captured enters flexible clamping jaw and rigidity
Fruit grasping part between clamping jaw；
The piston rod of (2-3) flexibility clamping jaw cylinder and rigid jaw cylinder stretches out, and pushes flexible clamping jaw and rigid jaw
Close up reset to centre, rigid jaw is pressed together on fruit on the elastic force string of flexible clamping jaw, is pressed from both sides by the deformation of elastic force string
Clamp force, fruit are clamped on catching robot.
The present invention compared with the existing technology, has the advantages that
This manipulator grabbing device and method are designed for fruit automated packaging equipment, by the way that lifting air is arranged
The clamping direction of catching robot is adjusted in the mechanisms such as cylinder, harmonic speed reducer, make its with fruit (especially fruit shape not at
In circular situation) placement status on fruit conveyor is corresponding, realizes the accurate crawl of fruit, and it improves fruit and wraps automatically
Standby the degree of automation is installed, production efficiency is effectively improved.
In this manipulator grabbing device, the quantity of catching robot can be selected according to fruit arrangement number in packing box
Determine, when catching robot has it is multiple when, by setting dislocation cylinder and displacement cylinder etc. mechanisms, can adjust multiple manipulators it
Between relative position, be adapted fruit present position clamped by it and the wrapping position on packing box.
In this manipulator grabbing device, the flexible clamping jaw and rigid jaw that catching robot is used in combination by setting,
It is fitted in fruit surface using the elastic deformation tensioning of flexible clamping jaw upper elasticity string, fruit can be clamped securely, while will not
Damaged fruit surface adapts to the variation of fruit size in a certain range, and flexible crawl can be realized without adjusting aid power,
Production efficiency can be effectively improved.The structure of the catching robot is simple, is driven using flexible clamping jaw cylinder and rigid jaw cylinder
Dynamic, the piston rod simultaneous retractable of flexible clamping jaw cylinder and rigid jaw cylinder can control accurately, and the clamping force for clamping fruit is steady
It is fixed, it is practical, there is preferable market promotion prospect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of this manipulator grabbing device.
Fig. 2 is the direction the A partial cross sectional views of Fig. 1.
Fig. 3 is that the direction the B view after panel seat is removed in Fig. 1.
Fig. 4 is the structural schematic diagram of catching robot.
Fig. 5 is the structural schematic diagram of flexible clamping jaw.
Fig. 6 is the direction the C view of Fig. 5.
Fig. 7 is the structural schematic diagram of single elastic force string.
Fig. 8 is the structural schematic diagram of crowfoot.
Fig. 9 is the direction the D view of Fig. 8.
Figure 10 is the direction the E-E view of Fig. 9.
Figure 11 is the structural schematic diagram of rigid jaw.
Figure 12 is the direction the F view of Figure 11.
Figure 13 is that this manipulator grabbing device grabs fruit and is sent into the schematic illustration of packing box.
Figure 14 is the schematic illustration that this manipulator grabbing device grabs fruit.
Figure 15 is the direction the G view of Figure 14.
Figure 16 is the schematic illustration that catching robot grabs fruit from fruit conveyor.
Figure 17 is to carry out the wrapping position phase that arrangement makes fruit ordered state with packing box after catching robot grabs fruit
The schematic illustration of adaptation.
Figure 18 is structural schematic diagram when this manipulator grabbing device is applied to fruit automated packaging equipment.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail, and embodiments of the present invention are not limited thereto.
Embodiment 1
A kind of manipulator grabbing device of the present embodiment and method are applied to fruit automated packaging equipment, manipulator crawl dress
It is equipped with five sets of catching robots in setting, can once grab five fruit simultaneously, the present embodiment is by taking Chinese grooseberry is packed as an example, manipulator
The specific structure and working principle of grabbing device are as follows:
1, the overall structure of manipulator grabbing device:
It is as shown in Figs. 1-3 the overall structure of manipulator grabbing device.Package unit combined by five sets of catching robots and
At (structure of every set catching robot is as shown in Figure 4), five fruit can be grabbed simultaneously.
As shown in Fig. 2, the identical catching robot of five nested structures is assemblied on mounting base 1-22, it is vertically downward, mutually flat
Row.Mounting base 1-22 is tower structure, and the panel seat 1-23 on top couples with industrial machine human wrist.
Manipulator grabbing device is mainly by pedestal 1-1, the first cylinder seat 1-2, flexible clamping jaw cylinder 1-3, flexible clamping jaw support
1-4, the first hinged 1-5, flexible clamping jaw 1-6, the second cylinder seat 1-7, rigid jaw cylinder 1-8, rigid jaw support 1-9, second
Hinged 1-10, rigid jaw 1-11, lifting cylinder 1-12, harmonic speed reducer 1-13, lower rail chair 1-14, upper rail chair 1-15, guide rail
The components groups such as 1-16, dislocation cylinder 1-17, the first pin shaft 1-18, displacement cylinder 1-19, the second pin shaft 1-20, driving lever 1-21
At, and all components are assembled based on mounting base 1-22.
(1) gripper structure:
The paw portion of catching robot is mainly made of flexible clamping jaw and rigid jaw.
The structure of flexible clamping jaw is as shown in Figure 5 or Figure 6, is mainly made of crowfoot 1-6-1 and several elastic force string 1-6-2
(elastic force string is the six roots of sensation in the present embodiment, and according to the actual needs of fruit, quantity can be adjusted).Wherein, elastic force string uses
Round rubber 1-6-3 manufacture, (as shown in Figure 7) is fixed with metal cylinder collet 1-6-4 in both ends.Crowfoot shape such as Fig. 8 or Fig. 9
Shown, the long plectane in top is machined with two pin holes in left and right, and its underpart is bow-shaped structural.In bowed cross tube 1-6-5 and lower cross
Bar 1-6-6 corresponding position is machined with the cylindrical hole 1-6-7 and side fluting 1-6-8 of several (being six in the present embodiment) fixed spacings
The cylinder collet of (as shown in Figure 10), cylindrical hole and elastic force string cooperates.When assembling elastic force string, elongation elastic force string first allows circle
Shape rubber strip is caught in from side fluting, is then loosened, is respectively embedded into upper and lower cylinder collet in the cylindrical hole of cross tube and sheer pole,
An elastic force string can be fastened.
As seen in figures 11 or 12, the long plectane of upper part is machined with two pin holes in left and right, its underpart to the structure of rigid jaw
It is processed as two parallel bending claws.
(2) folding of gripper
As shown in Figure 1, flexible clamping jaw and rigid jaw are mounted on pedestal lower part, bilateral symmetry.
The right pin hole of flexible clamping jaw by pin shaft with flexibility clamping jaw support couple, left pin hole then pass through first it is hinged with it is flexible
The piston rod of clamping jaw cylinder couples.Flexible clamping jaw cylinder is mounted in the first cylinder seat by pin shaft.
The left pin hole of rigid jaw is coupled with rigid jaw support by pin shaft, right pin hole then pass through second it is hinged with it is rigid
The piston rod of clamping jaw cylinder couples.Rigid jaw cylinder is mounted in the second cylinder seat by pin shaft.
Flexible clamping jaw support and rigid jaw support are fixedly mounted on the bottom plate lower part of pedestal, the first cylinder seat and the second cylinder seat
It is respectively and fixedly installed to outside the both side plate of pedestal.
It, can be by the flexible clamping jaw of the first hinged driving, with flexible clamping jaw branch when the piston rod of flexible clamping jaw cylinder is flexible
The pin shaft of seat swings for the center of circle.When the piston rod of rigid jaw cylinder is flexible, can rigidly be pressed from both sides by the second hinged driving
Pawl is swung using the pin shaft of rigid jaw support as the center of circle.
(3) lifting of catching robot
Pedestal is U-shaped plank frame, and the top of bottom plate couples with the piston rod end plate of lifting cylinder 1-12.Work as lifting air
When the piston rod of cylinder is flexible, gripper can be driven to decline and rise by its end plate band moving base.
(4) indexing of catching robot
The cylinder body upper end of lifting cylinder couples harmonic speed reducer 1-13, and the top of harmonic speed reducer is fixedly mounted on lower rail
The lower section of seat 1-14.The control system of the external servo motor of harmonic speed reducer and fruit automatic conveying equipment, is driven by servo motor
It is dynamic, lifting cylinder any rotation can be driven.
(5) dislocation of catching robot
From Figure 2 it can be seen that being coupled between lower rail chair 1-14 and upper rail chair 1-15 by T-shaped slide rail.As seen from Figure 1, wrong
Position cylinder 1-17 is assemblied in the side of upper rail chair by its corresponding support, the piston rod end of the dislocation cylinder be fixed on down
The first pin shaft 1-18 connection on rail chair.When the piston rod for the cylinder that misplaces is flexible, lower rail chair can be pushed and pulled and be moved forward and backward, from
And each component below lower rail chair is driven to be moved forward and backward.
As shown in Figure 1, upper rail chair is coupled with the left and right rail 1-16 above it, guide rail is fixed below mounting base.
From Figure 2 it can be seen that guide rail is installed along the length direction of mounting base, five sets of catching robots are embedded on guide rail by upper rail chair respectively,
And fixed spacing is installed.
(6) displacement of catching robot
As shown in figure 3, being equipped with displacement cylinder 1-19 in the upper surface of upper rail chair.Five sets of catching robots from left to right,
Wherein first to fourth set of upper rail chair is separately installed with displacement cylinder, and second to the 5th set of upper rail chair is separately installed with second
Pin shaft 1-20.Each displacement cylinder passes through corresponding support and is fixed on rail chair, and piston rod end passes through driving lever 1-21
With the second pin shaft joint of next upper rail chair.
Since the upper rail chair of first set catching robot is fixedly mounted, the upper rail chair of remaining four sets of manipulator can be sliding along guide rail
It is dynamic, therefore when four piston rod simultaneous retractables for shifting cylinder, remaining the four sets machinery in addition to first set manipulator can be driven
Hand is mobile, makes and mutually closing up or separated shift motion.
2, the working principle of manipulator grabbing device:
The wrist entirely through panel seat 1-23 and industrial robot at the top of mounting base 1-22 of manipulator grabbing device joins
It connects, by robotically-driven work.
(1) the gripper action process of catching robot
As shown in Figure 13 or Figure 18, manipulator grabbing device 1 is awaited orders above fruit conveyor 6；Include plastic-sucking tray and
The carton operation of film enters box body conveyer 11, by the fixed position of box body positioning mechanism 15.Box body positioning mechanism is by right side gas
Cylinder rushing board mechanism and left side fixed board composition are pressed together between cylinder push plate and fixed board after box body is run in place.
As shown in (1) step in Figure 13, when fruit is run to manipulator grabbing device, lifting cylinder 1-12 band
Dynamic catching robot decline；The piston rod of flexible clamping jaw cylinder 1-3 and rigid jaw cylinder 1-8 are shunk, and pull flexible folder respectively
Pawl and rigid jaw are opened to two sides.
As shown in (2) step in Figure 13, the piston rod of flexible clamping jaw cylinder 1-3 and rigid jaw cylinder 1-8 stretch out, respectively
Flexible clamping jaw and rigid jaw is pushed to close up to centre, rigid jaw is pressed together on fruit on elastic force string, passes through the change of elastic force string
The tight fruit of clevis.Then, lifting cylinder 1-12 drives gripper clamping fruit to rise.
As shown in (3) step in Figure 13, the translation of industrial robot driving manipulator is displaced on the position of packing box 16
Side, lifting cylinder 1-12 drive catching robot decline, make the fruit of clamping close to plastic-sucking tray die hole, flexible clamping jaw cylinder
Piston rod is shunk, and flexible clamping jaw is pulled to open outward, and release fruit falls into pallet die hole.
Due to the flexible deformation of elastic force string, the shape of fruit can be voluntarily adapted to, tensioning is fitted in fruit surface, cooperation rigidity
Clamping jaw reliably firmly grasps fruit, without adjusting clamping force in the range of setting.
(2) manipulator circulation grabs fruit mounted box principle
As shown in Figure 14 and Figure 15, manipulator grabbing device is awaited orders above fruit conveyor.Fruit is continuously introduced into, in water
Fruit conveyer middle line forms uniline and lines up to run.It is separated by a distance between fruit but not necessarily equal.
Above fruit conveyor, position into before manipulator range is equipped with a CCD camera 17.CCD takes the photograph
Camera is respectively La, Lb, Lc, Ld, Le at a distance from five sets of catching robots a, b, c, d, e, which immobilizes.
By taking ellipticity fruit (the present embodiment is Chinese grooseberry) as an example, when work, fruit passes through CCD camera one by one, is clapped
Take the photograph imaging.By taking fruit a1 as an example, detailed process is as shown in figure 16:
Picture is shot when fruit a1 passes through, in the control system of fruit automated packaging equipment, vision signal is through image pick-up card
Digital signal is converted to, into computer for analysis, computer measures fruit major diameter central point, determines that fruit the base of a fruit direction is in the angle α, together
When calculate fruit range ability La needed for the time (running from camera position to the time of the position of catching robot a)；
Then, computer issues instruction, controls catching robot a by PLC and makes action；
Catching robot a is connected to operating instruction, and servo motor drives harmonic speed reducer 1-13 rotation, drives catching robot
By 0 ° of the initial bit indexing angle α clockwise；
It runs to fruit a1 to catching robot a, lifting cylinder 1-12 drives catching robot decline, flexibility folder
Pawl and rigid jaw first open to be closed up afterwards, clamps fruit a1；Then, lifting cylinder drives catching robot clamping fruit to rise；
Servo motor drives harmonic speed reducer to rotate again, drives the indexing angle α counterclockwise catching robot a, returns back to just
0 ° of position of beginning position.
It is fruit b1, c1, d1, e1 after following fruit a1 closely, is successively shot and be imaged by CCD camera, as fruit a1
Computer for analysis is undergone, is crawled manipulator b, c, d, e clamping respectively.
Thereafter, the movement of each catching robot is as shown in figure 17:
The above process is undergone, catching robot a, b, c, d, e clamp fruit a1, b1, c1, d1, e1 respectively；
Dislocation cylinder 1-17 movement on catching robot b, d, pulls respective lower rail chair, clamps catching robot
Fruit b1, d1 move half of fruit position；
Displacement cylinder 1-19 simultaneously operation on catching robot a, b, c, d, pulls the upper rail of manipulator b, c, d, e respectively
Seat 1-15 closes up the fruit of each catching robot clamping, forms state corresponding with wrapping position each on packing box；
The die hole arrangement on closed configuration and plastic-sucking tray after each catching robot clamping fruit is consistent, catching robot
It is displaced to above pallet, multiple fruit of clamping is disposably packed into corresponding die hole.
After undergoing above-mentioned movement, manipulator grabbing device is reset to above fruit conveyor, and completion one is grabbed fruit filling and followed
Ring.Thereafter, fruit continues to input, and what manipulator was recycled grabs fruit packed action, until filling a pallet, is input into again another
One packing box.
Embodiment 2
A kind of manipulator grabbing device of the present embodiment and method, compared with Example 1 compared with, the difference is that: it is mechanical
It is provided only with a set of catching robot in hand grabbing device, once only grabs a fruit.
Manipulator grabbing device includes mounting base, a catching robot, lifting cylinder and harmonic speed reducer, harmonic reduction
Device is installed below mounting base, connect at the top of lifting cylinder with harmonic speed reducer bottom, lifting cylinder bottom and catching robot
Connection；Lifting cylinder drives catching robot to move up and down, and harmonic speed reducer drives catching robot to be rotated.Its
In, main base of the mounting base as entire manipulator grabbing device, the external robot arm in top, bottom is for installing
Form each component of manipulator grabbing device.
Manipulator grabbing device is additionally provided with external CCD camera.The wherein specific structure of catching robot and embodiment 1
It is identical.
I.e. above structure compared with Example 1 compared with, the manipulator grabbing device of the present embodiment save guide rail, upper rail chair, under
Rail chair, dislocation cylinder, displacement cylinder and its mate-assist component, during fruit crawl, without between progress fruit
Displacement and dislocation processing.The manipulator grabbing device structure of the structure is more simple, is applicable to a small amount of packaging or single of fruit
A packaging.
As described above, the present invention can be better realized, above-described embodiment is only presently preferred embodiments of the present invention, is not used
To limit practical range of the invention；It is i.e. all according to equivalent changes and modifications made by the content of present invention, all wanted for right of the present invention
Range claimed is asked to be covered.
Claims (10)
1. the manipulator grabbing device of fruit automated packaging equipment, which is characterized in that including mounting base, at least one gripper
Tool hand, lifting cylinder and harmonic speed reducer, harmonic speed reducer are installed on mounting base lower section, lifting cylinder top and harmonic speed reducer
Bottom connection, lifting cylinder bottom is connect with catching robot；Lifting cylinder drives catching robot to move up and down, harmonic wave
Retarder drives catching robot to be rotated.
2. the manipulator grabbing device of fruit automated packaging equipment according to claim 1, which is characterized in that the machinery
Hand grabbing device is additionally provided with external CCD camera.
3. the manipulator grabbing device of fruit automated packaging equipment according to claim 1, which is characterized in that the crawl
Manipulator has multiple, one lifting cylinder of configuration and a harmonic speed reducer on each catching robot；
Mounting base bottom is equipped with guide rail, and each harmonic speed reducer is equipped with a upper rail chair and a lower rail chair, each upper rail chair
Top is matched with guide rail respectively, and the lower part of each upper rail chair is matched with a lower rail chair；
The bottom of each lower rail chair is respectively equipped with the first pin shaft and dislocation cylinder, the piston-rod end for the cylinder that misplaces and the first pin shaft one
End is fixedly connected, and the other end of the first pin shaft is fixedly connected with lower rail chair；
In the upper rail chair of adjacent two, it is equipped with displacement cylinder at the top of previous upper rail chair, is equipped with second at the top of rail chair in the latter
Pin shaft, the piston-rod end for shifting cylinder is equipped with driving lever, and driving lever is connected with the second pin shaft.
4. the manipulator grabbing device of fruit automated packaging equipment according to claim 3, which is characterized in that the upper rail
In seat, guide rail is matched with the upper outside of upper rail chair, and upper sliding slot is formed at cooperation；The lower inside of lower rail chair and upper rail chair
It matches, forms lower slider slot at cooperation；The section of upper sliding slot and lower slider slot is in dovetail shaped or T-type shape.
5. the manipulator grabbing device of fruit automated packaging equipment according to claim 1, which is characterized in that the crawl
Manipulator includes flexible clamping jaw, rigid jaw and opening and closing driving mechanism, is connect at the top of opening and closing driving mechanism with lifting cylinder, flexible
Clamping jaw and rigid jaw are connect with opening and closing driving mechanism respectively, and fruit grasping part is formed between flexible clamping jaw and rigid jaw；
Flexible clamping jaw includes crowfoot and elastic force string, and several elastic force strings are distributed in the side of crowfoot towards rigid jaw.
6. the manipulator grabbing device of fruit automated packaging equipment according to claim 5, which is characterized in that the flexibility
In clamping jaw, the top of crowfoot is the first fanning strip with the first pin hole, and the lower part of crowfoot is bow-shaped structural, and each elastic force string is in vertical
To being installed on bow-shaped structural.
7. the manipulator grabbing device of fruit automated packaging equipment according to claim 6, which is characterized in that the elastic force
It at least two, string, is manufactured using round rubber item, elastic force string both ends are respectively fixed with cylindrical metal collet；
It is equipped with cross tube and sheer pole in bow-shaped structural, the cylinder of few two fixed spacings is respectively machined in cross tube and sheer pole
Ladder hole, each cylinder ladder hole have further extended outward side fluting, and the cylindrical metal collet on elastic force string corresponds to inlay card in circle
In column ladder hole.
8. the manipulator grabbing device of fruit automated packaging equipment according to claim 5, which is characterized in that the rigidity
The top of clamping jaw is the second fanning strip with the second pin hole, and the lower part of rigid jaw is the bending claws of arc shape；Bending claws are at least
Two, the parallel setting of each bending claws.
9. the manipulator grabbing device of fruit automated packaging equipment according to claim 5, which is characterized in that the folding
Driving mechanism includes pedestal, flexible clamping jaw cylinder, flexible clamping jaw support, rigid jaw cylinder and rigid jaw support, flexibility folder
Pawl cylinder and rigid jaw cylinder are respectively arranged in the two sides of pedestal, and base bottom is equipped with flexible clamping jaw support and rigid jaw branch
Seat, the piston-rod end of flexible clamping jaw cylinder and flexible clamping jaw support lower end are hinged with the top of flexible clamping jaw respectively, and rigidity is pressed from both sides
The piston-rod end of pawl cylinder and rigid jaw support lower end are hinged with the top of rigid jaw respectively.
10. the manipulator grasping means of fruit automated packaging equipment, which comprises the following steps:
(1) when fruit is sent to below catching robot, using the angle of harmonic speed reducer adjustment catching robot, make to grab
The clamping direction of manipulator and fruit are adapted；
(2) catching robot is driven to rise or fall using lifting cylinder, catching robot grabs fruit；
(3) it drives catching robot to be moved forward and backward using dislocation cylinder, makes the location of each catching robot and fruit
It is corresponding with the wrapping position on packing box；
(4) it drives catching robot to be moved left and right using displacement cylinder, makes between two catching robots of arbitrary neighborhood
Distance is corresponding with the distance between wrapping position on packing box；
(5) manipulator grabbing device is moved integrally, fruit clamped on each catching robot is put into packing box accordingly
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634946.8A CN109623788A (en) | 2018-12-29 | 2018-12-29 | The manipulator grabbing device and method of fruit automated packaging equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634946.8A CN109623788A (en) | 2018-12-29 | 2018-12-29 | The manipulator grabbing device and method of fruit automated packaging equipment |
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| CN109623788A true CN109623788A (en) | 2019-04-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811634946.8A Withdrawn CN109623788A (en) | 2018-12-29 | 2018-12-29 | The manipulator grabbing device and method of fruit automated packaging equipment |
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| Country | Link |
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| CN (1) | CN109623788A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
| CN110253609A (en) * | 2019-08-01 | 2019-09-20 | 青岛岩康塑料机械有限公司 | It is a kind of for clamping the manipulator of large plastic barrel |
| CN112026193A (en) * | 2020-08-21 | 2020-12-04 | 王茹新 | Medical instrument assembling device |
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| CN114056654A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Device and method for directionally arranging and grabbing elliptic fruits |
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| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
| CN110238869B (en) * | 2019-06-19 | 2024-03-19 | 南京航空航天大学 | Flexible magnetic net type mechanical grabbing device |
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| CN112026193A (en) * | 2020-08-21 | 2020-12-04 | 王茹新 | Medical instrument assembling device |
| CN112248040A (en) * | 2020-09-27 | 2021-01-22 | 柳州融安金园食品有限公司 | Kumquat tea slicing processing device and processing technology |
| CN112248040B (en) * | 2020-09-27 | 2022-03-11 | 柳州融安金园食品有限公司 | Kumquat tea slicing processing device and processing technology |
| CN113996548A (en) * | 2021-10-22 | 2022-02-01 | 天地（常州）自动化股份有限公司 | Adjustable multi-tooth opening-closing type mechanical pusher dog for automatic sorting of coal gangue and shifting method |
| CN113996548B (en) * | 2021-10-22 | 2023-10-24 | 天地（常州）自动化股份有限公司 | Adjustable multi-tooth open-close mechanical pusher dog for automatic sorting of coal gangue and poking method |
| CN114056654A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Device and method for directionally arranging and grabbing elliptic fruits |
| CN114056654B (en) * | 2021-11-16 | 2023-08-04 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Oval fruit directional arrangement grabbing device and method |
| CN117162115A (en) * | 2023-11-01 | 2023-12-05 | 中电科风华信息装备股份有限公司 | Silica gel strip assembling and pressing manipulator |
| CN117162115B (en) * | 2023-11-01 | 2024-01-23 | 中电科风华信息装备股份有限公司 | Silica gel strip assembling and pressing manipulator |
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