CN107813333A - A kind of food grasping mechanism for high speed parallel robot - Google Patents
A kind of food grasping mechanism for high speed parallel robot Download PDFInfo
- Publication number
- CN107813333A CN107813333A CN201710795922.XA CN201710795922A CN107813333A CN 107813333 A CN107813333 A CN 107813333A CN 201710795922 A CN201710795922 A CN 201710795922A CN 107813333 A CN107813333 A CN 107813333A
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- CN
- China
- Prior art keywords
- high speed
- grasping mechanism
- food
- stainless steel
- parallel robot
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of food grasping mechanism for high speed parallel robot, including handgrip contiguous block, it is fixed on the linear module of handgrip contiguous block bottom, the servomotor being connected with linear module, the sliding shoe being connected on linear module, optical axis is connected with sliding shoe, the left end of optical axis is connected with No.1 stainless steel holding frame, one end is set with optical axis and supports the spring that conjunction is on sliding shoe and the other end is to conjunction on No.1 stainless steel holding frame, the lower-left end of handgrip contiguous block is connected with stress-strain sensor, the bottom of stress-strain sensor is connected with fixed block, No. two stainless steel holding frames are connected with fixed block.The food grasping mechanism of the present invention mainly uses the control mode of servomotor, realizes the crawl of high-accuracy high-efficiency rate；Can Real-time Feedback grab during grasp force, prevent grasping mechanism from causing to damage to food；Take flexibility to design, the improvement of Grasp Modes and grasp force can be carried out according to the food material of different size different materials.
Description
Technical field
The present invention relates to technical field of food machinery, specifically a kind of food for high speed parallel robot captures
Mechanism.
Background technology
With the rapid development of robot technology, a big branch of the parallel robot as industrial robot field, have
The efficient feature of high-speed, high precision, have begun at present on more and more production lines for appearing in factory, be mainly used in system
Medicine, electronics, military project, and the field such as food.When being specifically designed field of food, parallel robot needs to replace mankind's completion high-precision
Spend the repetitive operation of high intensity, such as crawl, sorting, packaging etc..Meanwhile robot will keep good when performing and moving
Good work uniformity, this, which does not require nothing more than robot, has good executive capability, and also needs to ensure end effector tool
There is good Grasping skill.But existing grabbing device, mainly using the direct Grasp Modes of rigidity, this Grasp Modes are not due to having
Take safeguard measure easily to crush product and cause foods, and because grasping mechanism does not have force feedback mechanism easily to make
Into crawl is unstable food is come off, reduce production efficiency.
Therefore, it is necessary to a kind of new food grasping mechanism is proposed, can not only be with high speed parallel robot flexibility knot
Close, and can efficiently be rapidly completed food crawl task, avoid causing foods, improve the production efficiency of enterprise.
The content of the invention
In order to avoid proposing a kind of food for high speed parallel robot with solution above-mentioned technical problem, the present invention and grabbing
Take mechanism.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of food grasping mechanism for high speed parallel robot, including grabbed with what high speed parallel robot end was connected
Hand contiguous block, the linear module for being fixed on handgrip contiguous block bottom, the servomotor being connected with linear module, it is connected to linear mould
The sliding shoe of group right-hand member, the left end of the sliding shoe slidably connect optical axis, and the left end of the optical axis is connected with No.1 stainless steel
Holding frame, one end is set with the optical axis supports and close on sliding shoe and the other end supports the bullet closed on No.1 stainless steel holding frame
Spring, the lower-left end of the handgrip contiguous block are connected with stress-strain sensor, and the bottom of the stress-strain sensor is connected with fixation
Block, No. two stainless steel holding frames are connected with the fixed block.
Setting data collecting system in high speed parallel robot, it is anti-that data collecting system makes real time data to grasp force
Feedback, high speed parallel robot makes motion control to the present apparatus, so as to prevent from destroying food, high speed parallel machine during crawl
Device people realizes the transmission of the information between the present apparatus using Ethercat communication modes by Ethernet.
As a further improvement on the present invention, the upper end of the fixed block and the bottom of handgrip contiguous block are equipped with answers with power
Become the fixed groove that sensor coordinates.
As a further improvement on the present invention, the medial surface of the No.1 stainless steel holding frame and No. two stainless steel holding frames
On be equipped with free of contamination cushion pad.
As a further improvement on the present invention, the sliding shoe and fixed block are set each parallel to handgrip contiguous block.
As a further improvement on the present invention, the grasp force during the stress-strain sensor Real-time Feedback crawl, leads to
Feedback data is crossed to adjust servomotor in real time.
As a further improvement on the present invention, the sliding shoe makees 0-10cm linear motion by linear module.
As a further improvement on the present invention, the handgrip contiguous block upper end is designed with several and high speed parallel robot
The screwed hole of end connection.
The beneficial effects of the invention are as follows：
1. the food grasping mechanism of the present invention mainly uses the control mode of servomotor, can be controlled in real time by sliding shoe
The position of stainless steel holding frame processed, realizes the crawl of high-accuracy high-efficiency rate.
2. the food grasping mechanism of the present invention has force feedback function, during being grabbed by stress-strain sensor Real-time Feedback
The grasp force of two stainless steel holding frames, prevents grasping mechanism from causing to damage to food.
3. the food grasping mechanism of the present invention takes flexibility to design, can be according to the food material of different size different materials
Material carries out the improvement of Grasp Modes and grasp force.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the front view of the present invention；
Fig. 2 is the blast disassembly diagram after partial enlargement at Fig. 1 I；
Fig. 3 is the left view of the present invention；
Fig. 4 is the top view of the present invention；
Fig. 5 is the stereogram of the present invention；
Fig. 6 is the present invention and the structure chart after the installation of high speed parallel robot；
Fig. 7 is the feedback procedure schematic diagram of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 7, a kind of food grasping mechanism for high speed parallel robot, including with high speed parallel machine
The connected handgrip contiguous block 4 in the end of device people 15, it is fixed on the linear module 5 of the bottom of handgrip contiguous block 4, is connected with linear module 5
Servomotor 6, be connected to the sliding shoe 7 of the linear right-hand member of module 5, the left end of the sliding shoe 7 slidably connects optical axis 8, institute
The left end for stating optical axis 8 is connected with No.1 stainless steel holding frame 10, be set with the optical axis 8 one end support close on sliding shoe 7 and
The other end supports the spring 9 closed on No.1 stainless steel holding frame 10, and the lower-left end of the handgrip contiguous block 4 is connected with stress-strain biography
Sensor 3, the bottom of the stress-strain sensor 3 are connected with fixed block 2, and No. two stainless steel clampings are connected with the fixed block 2
Frame 1.
By above-mentioned this mode, by setting spring 9 between sliding shoe 7 and No.1 stainless steel holding frame 10, realize
Flexibility design during gripping, stress-strain sensor 3 are delivered to grasp force in high speed parallel robot 15 during crawl
Data collecting system, data collecting system makes real time data feedback, and high speed parallel robot 15 makes motion to the present apparatus
Control, so as to prevent that food 13 is destroyed during crawl.High speed parallel robot 15 is passed through using Ethercat communication modes
Ethernet realizes the transmission of the information between the present apparatus.
The upper end of the fixed block 2 and the bottom of handgrip contiguous block 4 are equipped with the anchor coordinated with stress-strain sensor 3
Groove 11.Fixed groove 11 can not only play positioning action, while increase contact force, improve the output numerical value of stress-strain sensor 3
Accuracy.
Free of contamination buffering is equipped with the medial surface of the No.1 stainless steel holding frame 10 and No. two stainless steel holding frames 1
Pad 12.
The sliding shoe 7 and fixed block 2 are set each parallel to handgrip contiguous block 4.Ensure sliding shoe 7 and fixed block 2 to grabbing
The higher depth of parallelism of hand contiguous block 4.
Grasp force during the Real-time Feedback of stress-strain sensor 3 crawl, is entered by feedback data to servomotor 6
Row regulation in real time.In this way, the protection to product is realized.
The sliding shoe 7 makees 0-10cm linear motion by linear module 5.Linear module 5 is controlled by servomotor 6
Motion, ensures the required precision of mechanism kinematic, allows the robot to the crawl food 13 of accurate high speed.
The upper end of handgrip contiguous block 4 is designed with several screwed holes 16 being connected with the end of high speed parallel robot 15.
The application method of the present invention is further elaborated below：
During work, the end connection present invention of high speed parallel robot 15, according to the position of food 13 on conveyer belt, make machine
Device people end movement is to the top position of food 13.
According to the size of food 13, servomotor 6 makes the sliding shoe 7 of grasping mechanism produce motion in linear module 5, makes one
The distance between number stainless steel holding frame 10 and No. two stainless steel holding frames 1 are exactly equal to the size of food 13, while are eaten
Product capture.
After food 13 is transferred to assigned position by high speed parallel robot 15, the system of robot in high speed parallel robot 15
System gives grasping mechanism one control command, and food 13 is gently placed in the food box 14 of assigned position.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of food grasping mechanism for high speed parallel robot, including the handgrip being connected with high speed parallel robot end
Contiguous block (4), the linear module (5) for being fixed on handgrip contiguous block (4) bottom, the servomotor being connected with linear module (5)
(6), it is connected to the sliding shoe (7) of linear module (5) right-hand member, it is characterised in that：The left end of the sliding shoe (7) slidably connects
Optical axis (8), the left end of the optical axis (8) are connected with No.1 stainless steel holding frame (10), and being set with one end on the optical axis (8) supports
Close on sliding shoe (7) and the other end supports the spring (9) closed on No.1 stainless steel holding frame (10), the handgrip contiguous block
(4) lower-left end is connected with stress-strain sensor (3), and the bottom of the stress-strain sensor (3) is connected with fixed block (2), institute
State and No. two stainless steel holding frames (1) are connected with fixed block (2).
A kind of 2. food grasping mechanism for high speed parallel robot according to claim 1, it is characterised in that：It is described
The upper end of fixed block (2) and the bottom of handgrip contiguous block (4) are equipped with the fixed groove coordinated with stress-strain sensor (3)
(11)。
A kind of 3. food grasping mechanism for high speed parallel robot according to claim 1, it is characterised in that：It is described
Cushion pad (12) is equipped with No.1 stainless steel holding frame (10) and the medial surface of No. two stainless steel holding frames (1).
A kind of 4. food grasping mechanism for high speed parallel robot according to claim 1, it is characterised in that：It is described
Sliding shoe (7) and fixed block (2) are set each parallel to handgrip contiguous block (4).
A kind of 5. food grasping mechanism for high speed parallel robot according to claim 1, it is characterised in that：It is described
Grasp force during the crawl of stress-strain sensor (3) Real-time Feedback, is adjusted in real time by feedback data to servomotor (6)
Section.
A kind of 6. food grasping mechanism for high speed parallel robot according to claim 1, it is characterised in that：It is described
Sliding shoe (7) makees 0-10cm linear motion by linear module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795922.XA CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795922.XA CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107813333A true CN107813333A (en) | 2018-03-20 |
| CN107813333B CN107813333B (en) | 2021-04-27 |
Family
ID=61600862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710795922.XA Active CN107813333B (en) | 2017-09-05 | 2017-09-05 | Food grabbing mechanism for high-speed parallel robot |
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| Country | Link |
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| CN (1) | CN107813333B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978023A (en) * | 2019-12-24 | 2020-04-10 | 宁波奥克斯电气股份有限公司 | Clamping jaw device and manipulator |
| GB2581848A (en) * | 2019-03-01 | 2020-09-02 | Millitec Food Systems Ltd | End effector carriage for delta robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100615281B1 (en) * | 2004-12-04 | 2006-08-25 | 주식회사 파이컴 | Cantilever panel carrier |
| JP2012152860A (en) * | 2011-01-26 | 2012-08-16 | Toyota Motor Corp | Gripping device and method for controlling the same |
| CN103386690B (en) * | 2013-07-22 | 2015-06-03 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| JP2015168039A (en) * | 2014-03-07 | 2015-09-28 | ファナック株式会社 | Robot hand holding object, robot, robot system, and method holding object |
| KR101682949B1 (en) * | 2014-05-12 | 2016-12-07 | 울산과학기술원 | A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module |
| CN204414127U (en) * | 2015-01-20 | 2015-06-24 | 江苏久祥汽车电器集团有限公司 | A kind of assembly robot dynamics monitoring gripper |
-
2017
- 2017-09-05 CN CN201710795922.XA patent/CN107813333B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2581848A (en) * | 2019-03-01 | 2020-09-02 | Millitec Food Systems Ltd | End effector carriage for delta robot |
| GB2581848B (en) * | 2019-03-01 | 2021-09-22 | Millitec Food Systems Ltd | End effector carriage for delta robot |
| CN110978023A (en) * | 2019-12-24 | 2020-04-10 | 宁波奥克斯电气股份有限公司 | Clamping jaw device and manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107813333B (en) | 2021-04-27 |
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