CN206732997U - Organ removing manipulator, arm - Google Patents
Organ removing manipulator, arm Download PDFInfo
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- CN206732997U CN206732997U CN201720413629.8U CN201720413629U CN206732997U CN 206732997 U CN206732997 U CN 206732997U CN 201720413629 U CN201720413629 U CN 201720413629U CN 206732997 U CN206732997 U CN 206732997U
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Abstract
Organ removing manipulator, arm, the stepper drive motors output shaft of organ removing manipulator are connected by shaft coupling with screw rod, are screw rod transmission between screw rod and sliding block, are connected between sliding block and mechanical finger by connecting rod, pressure resistance type thin film sensor is provided with the inside of mechanical finger.Organ removing mechanical arm, each mechanical arm include slide unit, screw mandrel, and slide unit assembles with screw mandrel, and screw mandrel connects stepper motor, the rotation of driving stepper motor screw mandrel, so as to drive slide unit to move forwards or backwards by shaft coupling.Organ removing manipulator is arranged on the slide unit of X axis mechanical arm.The utility model using the sensor on the arm end come sensed pressure size, so as to control the pressure of crawl, to reduce its breakage rate；The can that only needs to advance, lift and stretch simultaneously using driving stepper motor manipulator under rectangular coordinate system in space, during motion reaches the purpose of organ removing, cost-effective.
Description
Technical field
Poultry automatic internal organ taking technical field is the utility model is related to, specifically a kind of organ removing manipulator, arm.
Background technology
Manipulator be one kind can the operation of apish hand, by repeatable programming, to realize that it is complete in three dimensions
Into various tasks and the automation equipment of operation, the auxiliary tool of production being generally used among industrial production, can greatly reduce
The labour of people, improve production efficiency.Manipulator is typically by manipulator basic machine, control core, servo drive, sensing
The piths such as device form.The mode classification of manipulator has a lot, typically can be by the geometry of manipulator, manipulator
Control mode, the purposes of the information input mode and manipulator of manipulator in different field are divided.Most common of which is classified
Method be according to the geometry of manipulator come point, the mounting means between the mechanical part of manipulator have it is a variety of, based on configuration
Form difference, most common form expressed by its coordinate characteristic.
According to the structure type of manipulator, manipulator can be divided into articulated robot and non-articulated robot, closed
Nodal pattern manipulator is usually to be carried out various forms of combinations by prismatic pair and revolute pair and formed, and different combinations just determines
The coordinate form of robot movement and manipulator can be generally divided into cartesian co-ordinate type, circular cylindrical coordinate in the scope of spatial movement
Type, spherical coordinates type, open chain link-type joint type.The manipulator of most common of which is exactly cartesian co-ordinate type and open chain link-type joint
Type.
(1), cartesian co-ordinate type manipulator：
The motion of mechanical arm under three dimensions rectangular coordinate system is the linear motion composition on tri- directions of Z by X, Y
, each arm advances, lifted and stretching motion, the range of movement one in space respectively along being done on change in coordinate axis direction where itself
As be cuboid, because the forms of motion of mechanical arm is relatively simple, so relatively easy in terms of program is write, and
Equipment cost is relatively low.
(2), open chain link-type articulated robot：
Open chain link-type articulated robot is called Serial manipulator, and the apish arm structure of the manipulator and form are come
Motion is realized, each mechanical part is connected by revolute pair head and the tail, is typically made up of three rotary freedoms, and arm can be with
It is divided into large arm and forearm, the revolute pair between forearm and large arm is referred to as elbow joint, and the revolute pair between large arm and base is referred to as shoulder
Joint, the motion of arm are to be determined by the rotation between arm and base in the rotation of horizontal plane, the manipulator motion
Flexibility is bigger, develops difficult more of mechanical arm under the algorithm opposing right angles coordinate system of complete set, and equipment is relatively held high
It is expensive.
Currently, during artificial net thorax or the net thorax of external manipulator, the drawbacks of internal organ cracky and easily residual be present.Such as
What effectively solves internal organ while take out, reduces damage to internal organ；And the motion of mechanical arm only needs to advance, lift and stretch
Contracting can reaches the purpose, cost-effective of organ removing, is current urgent problem to be solved.
The content of the invention
The utility model provides a kind of organ removing manipulator, arm, and pressure is perceived using the sensor on arm end
Power size, so as to control the pressure of crawl, to reduce its breakage rate；Simultaneously using driving stepper motor under rectangular coordinate system in space
Manipulator, the can that only needs during motion to advance, lift and stretch reaches the purpose of organ removing, cost-effective.
The technical scheme that the utility model is taken is：
Organ removing manipulator, including stepper drive motors, screw rod, sliding block, mechanical finger, stepper drive motors output shaft and spiral shell
Bar is connected, and is screw rod transmission between screw rod and sliding block, is connected between sliding block and mechanical finger by connecting rod, the inner side of mechanical finger
Pressure resistance type thin film sensor is installed.
The organ removing manipulator is symmetrical structure, including multiple mechanical fingers, and each mechanical finger connects a company
Bar, sliding block promote multiple connecting rods simultaneously.
The mechanical finger is the part directly contacted with poultry viscera, and multiple identical mechanical fingers form certain bag
Network space, with poultry abdominal cavity profile Curve Matching.
The screw rod is the screw rod that pitch is 1mm, i.e. screw rod rotation is turned around, and sliding block just moves 1mm.
The screw rod, mechanical finger are assemblied on base, and base is connected to install stepper drive motors by pole
Fixed mount.
The pressure resistance type thin film sensor is used for experiencing internal organ pressure, and pressure resistance type thin film sensor is turned by pressure/voltage
Circuit connection one-chip computer module is changed, the one-chip computer module connects stepper motor driver.
Organ removing mechanical arm, including X axis mechanical arm, Y-axis mechanical arm, Z axis include to mechanical arm, each mechanical arm
Stepper motor, slide unit, stepper motor are fixed in fixed plate, and stepper motor output shaft passes through fixed plate, stepper motor output shaft
It is connected with screw mandrel one end, screw rod transmission is used between slide unit and screw mandrel, the other end of screw mandrel is fixed with corresponding bearing,
Bearing is arranged on bearing block, and it is movable that screw mandrel rotation makes slide unit be realized on line slideway.
X axis mechanical arm is arranged on the slide unit of Y-axis mechanical arm, and Y-axis mechanical arm is arranged on cunning of the Z axis to mechanical arm
On platform, organ removing manipulator is arranged on the slide unit of X axis mechanical arm.
In X, Y, Z axis, in organ removing manipulator on the extreme position of the end of mechanical arm mechanical part, organ removing manipulator
The safe distance of 20-30 millimeters is all left with extreme position.
A kind of poultry organ removing method, organ removing manipulator is since initial position O points, first, the step on X axis mechanical arm A
Stepper motor rotates, and organ removing manipulator is moved along a straight line to close to the direction of X-axis stepper motor, i.e. the negative direction of X-axis, moves to and set
Fixed distance.
After reaching A points, the then stepper motor rotation in Y direction, make organ removing manipulator to close to y-axis stepper motor
Direction moves along a straight line, i.e. the negative direction of Y-axis, moves to the distance of setting, that is, after reaching B points；
Finally, the stepper motor rotation in Z-direction, makes organ removing manipulator to the direction straight line away from Z axis stepper motor
Motion, the i.e. positive direction of Z axis, the distance of setting is moved to, that is, after reaching C points；
Start to close in C point organ removing manipulators, internal organ pressure size is experienced by pressure resistance type thin film sensor, by organ removing machine
Tool hand determines a suitable crawl dynamics, and this dynamics had both been not reaching to the pressure limit of internal organ, is also unlikely to promptly not interior
It is dirty and come off, after completing the action of this organ removing, organ removing manipulator backtracking to initial position O points, now organ removing manipulator open
Open, internal organ drop under gravity.
A kind of organ removing manipulator of the utility model, arm, have the beneficial effect that：
1：In order to imitate the requirement that human hand reaches accurate crawl object, in general manipulator design is all the knot according to human hand
Structure and operation principle are designed, similar with human hand, mechanical finger are also designed into more finger joints, with multiple power to corresponding
Finger joint joint is driven, and the flexibility of the manipulator so designed is at a relatively high, but for still further aspect, this imitation people
Undoubtedly mechanical structure is relative complex for the manipulator of hand design, and part processing and assembling are all more complicated, and cost is relatively expensive, and
And it is difficult to realize and it is accurately controlled.Based on only needing to realize the action of accurately opening and closing in the utility model,
Mechanical paw is designed to the robot manipulator structure of symmetrical expression, it is only necessary to a power source is provided, controls the rotating of stepper motor
It is dynamic, it is possible to realize the crawl and release to mechanical paw, organ removing requirement can be reached well, such symmetrical structure is set
Meter so that the organ removing mechanical paw structure is simply and compact, and processing cost is low, it is easy to accomplish control of which.
2:The finger-type bending size design of mechanical finger is according to poultry contour curve parameter designing, is so mainly designed to
In order to ensure that mechanical paw four mechanical fingers when capturing poultry viscera coincide with poultry inner chamber profile, internal organ are so can guarantee that
With mechanical finger bump contact, so as to avoid on poultry viscera some position single-point stress from causing internal organ damaged.
3:During capturing internal organ when mechanical paw, when pressure reaches setting value, control machinery paw stepping
Motor reversal, allow mechanical paw four fingers and meanwhile open certain angle, paw expansion after, subsequently internal organ are being pulled out
During, we should ensure that pressure is less than setting value, also ensure internal organ without departing from mechanical paw, so, certain
In the range of it is necessary to design smaller the pitch of screw rod as far as possible, the opening and closing of such paw are just more accurate.
4:Core content of the present utility model is exactly to be mounted with that pressure resistance type is thin on the inside of four fingers of organ removing mechanical paw
Film sensors, the pressure by the real-time collection machinery finger of the sensor to poultry viscera, so as to reach control crawl dynamics, subtract
The problem of internal organ breakage when less or avoiding organ removing.
5:In organ removing manipulator on the extreme position of the end of mechanical arm mechanical part, organ removing manipulator and limit position
The distance for all leaving 20-30 millimeters is put, this distance is ensured by the limit switch on each one-way shaft mechanical arm
, limit switch will be triggered when mechanical paw moves to this setting position, causes the stepping electricity of the one-way shaft mechanical arm
Machine disables, and just as pressing emergency stop switch, organ removing motion stops, and this is mainly in view of the safety of robot arm device
Property.
6:The problem of determination, actually trajectory planning of the utility model organ removing method, primarily to meeting organ removing
While action request, as far as possible coordinate the motion between each one-way shaft mechanical arm simple, be also beneficial to STM32 single-chip microcomputers
Program is write, it is easy to accomplish control of which.
Brief description of the drawings
Fig. 1 is organ removing robot manipulator structure schematic diagram of the present utility model.
Fig. 2 is the manipulator finger structural representation of the utility model organ removing manipulator.
Fig. 3 is the bar linkage structure schematic diagram of the utility model organ removing manipulator.
Fig. 4 is the understructure schematic diagram of the utility model organ removing manipulator.
Fig. 5 is the utility model driver common-anode wiring diagram.
Fig. 6 is the corresponding relation curve map of resistance-load of the utility model sensor.
Fig. 7 is partial pressure type pressure acquisition circuit diagram.
Fig. 8 is organ removing mechanical arm structural representation of the present utility model.
Fig. 9 is organ removing mechanical arm scheme of installation of the present utility model.
Figure 10 is the movement locus figure of mechanical paw of the present utility model.
Embodiment
The utility model organ removing manipulator, arm, it is fragile for internal organ during artificial net thorax or the net thorax of external manipulator
The characteristics of damage and easily residual, with common poultry (such as duck, chicken) for research object, on the basis of original manipulator, there is provided
A kind of organ removing manipulator, reach its damaged degree less purpose while internal organ are taken out.To solve internal organ damaging problem, this
Utility model using the sensor on the end come sensed pressure size, it is damaged to reduce its so as to control the pressure of crawl
Rate.
Meanwhile among the process of the utility model organ removing mechanical arm organ removing, the motion of mechanical arm only needs to advance, lift and
Flexible can reaches the purpose of organ removing.To be cost-effective, the organ removing manipulator under rectangular coordinate system in space is have selected to complete.
Embodiment 1：
As shown in Figure 1：Organ removing manipulator, including stepper drive motors 1, screw rod 2, sliding block 3, mechanical finger 4, elastic shaft coupling
Device 5, connecting rod 6, fixed mount 7, pole 8, base 9.The output shaft of stepper drive motors 1 is connected by yielding coupling 5 with screw rod 2,
It is screw rod transmission between screw rod 2 and sliding block 3, is connected between sliding block 3 and mechanical finger 4 by connecting rod 6, the inner side of mechanical finger 4
Pressure resistance type thin film sensor is installed.
The structure explanation of organ removing mechanical paw：
Width be 16mm four root architectures and size all same mechanical finger 4 one end, being placed on the width of base 9 is
In the corresponding neck of four of 17mm, by bolt through neck side opening and the side opening of mechanical finger one end, mechanical finger 4 is consolidated
It is scheduled on base 9, and ensures that mechanical finger 4 can rotate around bolt, forms a revolute pair.The other end of four mechanical fingers
It is placed in four corresponding necks of connecting rod 6 that width is 17mm, fixation, same shape is done in the same fashion also by bolt
Into a revolute pair.The other end width of four identical connecting rods 6 is 5mm, and the end of four connecting rods 6 is placed on into sliding block is
In the corresponding neck of four of 6mm, fixation is done in the same fashion also by bolt, is similarly formed a revolute pair, sliding block
It is screw rod transmission mode between screw rod, one end of screw rod is interference fitted with the deep groove ball bearing that two internal diameters are 10mm,
The two bearings are separately fixed on base 9 in an interference fit respectively, and with the end of the end face of two bearings and base 9
Face is concordant, and the least significant end of one end that screw rod 2 is fixed with bearing is fastened by collar, prevents screw rod axial play, screw rod
Other end is connected by yielding coupling 5 with stepper drive motors 1, so as to which the power of stepper drive motors 1 is transferred into spiral shell
Realize that sliding block moves up and down on bar 2, so as to which drivening rod moves, finally realize the closure and opening of mechanical finger, i.e. manipulator
The crawl and release of pawl.In addition, stepper drive motors 1 are fixed by screws on fixed mount 7, finally, will by four poles 8
Fixed mount 7 is connected with base 9, and one end of four poles is threadedly secured on fixed mount 7 respectively, and four poles are in addition
One end is fixed on base 9 by through hole and nut, the assembling between structure and part more than, is formed organ removing machine
Tool hand overall structure.
One：The operation principle of organ removing manipulator：
Organ removing manipulator generally symmetrical structure, mechanical finger 4 is designed according to poultry abdominal cavity contour curve, so as to machine
Tool finger 4 during organ removing with poultry abdominal cavity to adaptation, be advantageous to organ removing operation.Stepper drive motors 1 are fixed by motor
Frame is fixed, and the output shaft of stepper drive motors 1 is connected by yielding coupling 5 with screw rod 2, and when output shaft rotates, screw rod 2 can be with
The same speed rotation of motor, screw rod 2 can then promote the sliding block 3 above it to move, and be screw rod transmission between screw rod 2 and sliding block 3,
Convert rotational motion can be linear motion by this kind of drive, realize the linear motion of sliding block 3, while sliding block 3 and manipulator
Connected between referring to 4 by connecting rod 6, so as to which the thrust of sliding block 3 is delivered on mechanical finger 4, realize the motion of mechanical finger 4,
The rotating of stepper drive motors 1 is controlled, just the opening and closing of energy control machinery finger 4；Control the rotation of stepper drive motors 1
Rotary speed, it is possible to the speed of the opening and closing of control machinery finger 4.In addition, using the screw rod 2 that pitch is 1mm, i.e. spiral shell
The rotation of bar 2 is turned around, and sliding block 3 is with regard to mobile 1mm, so that manipulator is integrally accurately controlled.
2nd, the type selecting of stepper drive motors 1 of organ removing manipulator：
It is also contemplated that the type of stepper motor and it is respective the characteristics of, as organ removing mechanical arm, select hybrid two-phase to walk
Driving power of the stepper motor as mechanical paw, based on organ removing manipulator generally symmetrical structure, sliding block 3 promotes four simultaneously
Connecting rod 6, so the stepper motor torque of selection is slightly larger, the final model J-5718HB3401 for determining stepper motor, specifically
Parameter is as shown in table 1 below：
The mechanical paw stepper motor parameter of table 1
3rd, organ removing manipulator key dimension designs：
3.1st, mechanical finger 4：
Mechanical finger 4 is the part directly contacted with poultry viscera, takes the mode of clamping type, passes through four identical machines
Tool finger 4 forms certain enveloping space, and after internal organ are stepped up, mechanical arm retreats, and directly takes internal organ out of, the figure of mechanical finger 4
As shown in Figure 2.
3.2nd, connecting rod：Connecting rod 6 is used to the power on sliding block 3 being delivered to mechanical finger 4, and the structural representation of connecting rod 6 is such as
Shown in Fig. 3.
3.3rd, mechanical paw base：Base 7 depends on part as one, for installing screw rod 2, mechanical finger 4, base 7
Structural representation it is as shown in Figure 4.
4th, organ removing manipulator control system：
4.1st, stepper motor driver feature：Based on using 57 two phase mixing stepper motor conducts on organ removing manipulator
Power, the utility model are worked using the driver of TB6600 models come Driving Stepping Motor, and this is that a professional two-phase is mixed
Box-like stepper motor driver, rotating control can be achieved, by 3 toggle switch select 7 grades of micro-stepping controls (1,2/A, 2/B,
4,8,16,32) 8 grades of current controls (0.5A, 1A, 1.5A, 2A, 2.5A, 2.8A, 3A, 3.5A), are selected by 3 toggle switch,
The features such as interface is isolated using high speed photo coupling, and anti-High-frequency Interference ability is strong.
4.1st, stepper motor driver electric parameter, TB6600 model stepper motor drivers electric parameter such as table 2 below institute
Show：
The TB6600 driver electric parameters of table 2
| Input voltage | DC9-40V |
| Input current | Recommend Switching Power Supply power 5A |
| Output current | 0.5-4.0A |
| Maximum power dissipation | 160W |
| Subdivision | 1,2/A, 2/B, 4,8,16,32 |
| Weight | 0.2 kilogram |
4.3rd, driver input end wiring explanation：Input signal shares three tunnels on driver, is stepper motor pulse respectively
Signal PUL+, PUL-, direction level signal DIR+, DIR-, off line signal EN+, EN-.Input signal has two kinds of connections, is respectively
Common cathode and common-anode.
Common-anode：PUL+, DIR+, EN+ are connected on the power supply of control system respectively, power supply is that+5V then can be with
It is directly accessed, if power supply is more than+5V, necessary external current-limiting resistance, ensures to provide 8-15mA's to internal drive optocoupler
Driving current.Pulse input signal is accessed by PUL-, and direction signal is accessed by DIR-, and enable signal is accessed by EN-.
Commoncathode：PUL-, DIR-, EN- are connected to the ground terminal of control system respectively, pulse input signal passes through
PUL+ is accessed, and direction signal is accessed by DIR+, and enable signal is accessed by EN+.If needing current limliting, its connection and common-anode
Unanimously.
System wiring：Below by taking common-anode as an example, it is assumed that the power supply of control system is 5V, then does not need external current limliting
Resistance, the wiring of driver and controller, stepper motor, power supply are as shown in Figure 5.
5th, pressure acquisition system：
5.1st, pressure resistance type thin film sensor：Using serial 601 models of RFP-6 in the utility model pressure acquisition system
Thin film sensor, the sensor can carry out sensing test to the pressure between object, contact force, haptic force, can be used for more
Kind application environment and scene, the sensor are piezoresistive transducer, when the power size of sensing changes, the resistance of sensor
Also change therewith, when pressure change is big, resistance value diminishes；When pressure change is small, resistance value can become big, the electricity of the sensor
The corresponding relation curve of resistance-load as shown in fig. 6, the relation curve be in laboratory as obtained by the pressure calibration test of standard
Arrive.The pressure resistance type thin film sensor has the characteristics that the ultra-thin of uniqueness, ultra-soft, ultralight, super low-power consumption, and the sensor is close to
The inner side of mechanical finger 4, adapts to the situation of bending, and the main performance of the sensor is as shown in table 3 below.
The RFP-6 of table 3 601 model diaphragm pressure sensor major parameters of series：
5.2nd, pressure acquisition circuit design：
It can be seen from the principle of the serial 601 model thin film sensors of RFP-6, substantially equivalent to one difference of the sensor
Change the slide rheostat of resistance value under pressure, be electric signal because single-chip microcomputer is receptible, it is impossible to directly gather the sensor
Resistance, therefore need design Acquisition Circuit, the resistance of the sensor is converted into corresponding voltage signal, is then fed into monolithic
Machine, the Acquisition Circuit are in series by sensor and Rg=10k Ω fixed value resistances, another termination+5V of sensor Vcc, fixed
It is worth another termination GND ground terminals of resistance, pressure acquisition circuit design is as shown in Figure 7.So pressure has fixed relation with resistance,
Resistance is determined by Acquisition Circuit again with the relation of voltage, it is possible to obtains pressure and the relation of voltage indirectly.It is located at range model
Enclose under interior certain pressure, the resistance value of sensor is Rs, and the resistance of fixed value resistance is Rg, and the voltage of single-chip microcomputer collection is
Vout, according to series resistance voltage divider principle, then there is relation Rs=(Vcc/Vout-1) Rg, sensor can be obtained by the relational expression
Resistance value Rs under certain pressure, then, by the functional relation y=16.15x of resistance-load of 601 model sensors-0.693
Pressure F=16.15Rs can be obtained-0.693。
Embodiment 2：
Organ removing mechanical arm, including X axis mechanical arm, Y-axis mechanical arm, Z axis are to mechanical arm.Each mechanical arm includes
Stepper motor 10, fixed plate 11, bottom plate 12, shaft coupling 13, screw mandrel 14, slide unit 15, line slideway 16, guide rail backing plate 17, fixation
Frame 18, floor 19, baffle plate 20, dust cap 21.
Slide unit 15 assembles with screw mandrel 14, and screw mandrel 14 connects stepper motor 10 by shaft coupling 13, and stepper motor 10 drives silk
The rotation of bar 14, so as to drive slide unit 15 to move forwards or backwards.
Organ removing mechanical arm is made up of X axis mechanical arm, Y-axis mechanical arm, Z axis to mechanical arm three parts, this three axial machine
The composition all fours of tool arm, for no other reason than that stroke design is different, and cause the same parts of each axial mechanical arm in length
On have change slightly, therefore here only by taking the X axis mechanical arm in three axial mechanical arms as an example, to the knot of mechanical arm uniaxially
Structure illustrates.
Stepper motor 10 is fixed by screws in fixed plate 11, and the output shaft of stepper motor 10 passes through the circle in fixed plate 11
Hole, fixed plate 11 are fixed by screws on bottom plate 12, and the output shaft of stepper motor 10 of stretching passes through shaft coupling 13 and screw mandrel 14
One end is connected, and screw rod transmission is used between slide unit 15 and screw mandrel 14, and the other end of screw mandrel 14 is fixed with corresponding bearing,
Bearing is arranged on bearing block, and bearing block is fixed on bottom plate 12, and the rotation of screw mandrel 14 makes slide unit 15 be realized on line slideway 16
Movable, line slideway 16 is fixed on guide rail backing plate 17, and guide rail backing plate 17 is fixed on bottom plate 12 again, in order to prevent screw mandrel
14 are driven the use of the interference effect part by introduced contaminants, another in fixed plate 11 and one side of slide unit and slide unit 15
Between side and baffle plate 20 specially be mounted with dust cap 21, in order to avoid it is interfered, influence use and the life-span of mechanical arm.
It is Z axis to mechanical arm to put one-way shaft mechanical arm on the table, and the one-way shaft mechanical arm of vertical direction is Y-axis
Mechanical arm, Y-axis mechanical arm are connected by the fixed mount of L-type with Z axis to mechanical arm, and the underrun screw of L-type fixed mount is consolidated
Z axis is scheduled on on the slide unit of mechanical arm, the bottom plate of Y-axis mechanical arm is fixed by screws in the side of L-type fixed plate, in order to anti-
Only L-type fixed plate stress is excessive, and causes to fix Board position deformation, and lastblock rib is welded by being welded in the centre of L-type fixed plate
Its bottom plate is fixed on the slide unit of Y-axis mechanical arm by plate, X axis mechanical arm with horizontal direction by screw, and so, one complete
Organ removing mechanical arm under whole rectangular coordinate system is just formed.
The structure explanation of organ removing manipulator:Stepper motor fixed mount in foregoing whole mechanical paw part is led to
Cross on the slide unit for the X axis mechanical arm that screw is fixed in the above in described whole organ removing machinery arm section, just constitute the whole series
Complete organ removing manipulator, the overall structure diagram of the organ removing manipulator are as shown in Figure 9.
(1), the stroke design of organ removing mechanical arm：
For convenience of description, the utility model provides on a vertical plane, the side of organ removing mechanical arm mechanical part sidewards
To the X-direction for rectangular coordinate system in space, endways direction be rectangular coordinate system in space Y-direction, the water vertical with vertical plane
Mechanical part in plane is Z-direction.During organ removing, the motion on X and Y-axis both direction on vertical plane is simply
Determination poultry position, therefore the stroke of slide unit motion can with more relatively short, the Z-direction on horizontal plane, before being accomplished that
Enter and setback, the structural representation of organ removing mechanical arm are as shown in Figure 8.Due to internal organ being pulled straight out, therefore effective row
Journey wants more relatively long, it is contemplated that organ removing manipulator as shown in Figure 1 carries out actual job situation during organ removing, in organ removing mechanical arm chi
Design specification on very little is as shown in table 4：
Effective travel on the direction of principal axis of 4 mechanical arm of table three
(2), the kind of drive of organ removing mechanical arm：
It is driven in the utility model using stepper motor, the slide unit 15 on each mechanical part of mechanical arm is straight line
Motion, this is just needed the linear motion that the convert rotational motion of stepper motor is slide unit 15, the structure type based on mechanical arm,
It is the most convenient suitable to be driven using screw mandrel 14.The rotation of screw mandrel 14 drives slide unit 15 to move forwards or backwards, 14 turns of screw mandrel
The number of turns and the distance that slide unit 15 moves are proportional, in addition, the gearratio of screw mandrel 14 is relevant with the pitch of screw mandrel 14, pitch is got over
It is small, then gearratio is higher, can be joined directly together, can reached very by shaft coupling with stepper motor in case of a low load
Good slowing effect, the transmission of screw mandrel 14 have that frictional resistance is small, positioning precision is high and the characteristics of stable movements, in the utility model
The pitch of the screw mandrel 14 used in organ removing mechanical arm is 5mm.
(3), the realization of manipulator organ removing process：
3.1st, the regulation principle of the axle positive direction of mechanical arm three：
Above when introducing the design of organ removing mechanical arm stroke, it is specified that mechanical arm X, the direction of the axle of Y, Z tri-, in order to more preferable
Description mechanical arm and mechanical paw motion, i.e., the motion of a whole set of organ removing mechanical arm organ removing, the utility model needs to advise again
Determine the positive direction of the axle of mechanical arm X, Y, Z tri-, the regulation principle of each axle positive direction is：Slide unit on each shaft mechanical part is away from stepping
The direction of motor, for the positive direction on the direction of principal axis.
3.2nd, the determination of organ removing manipulator initial position：
In the organ removing mechanical arm used in the utility model, organ removing manipulator is the cunning for being vertically mounted on X axis mechanical arm
On platform.Before manipulator carries out organ removing task, it should the initial position of mechanical paw is determined, it is convenient subsequently to realize that organ removing acts
Program development.It is by the initial position setting of mechanical paw in the utility model：In the X-axis direction away from X-axis stepper motor,
In the Y direction away from y-axis stepper motor, set in the Z-axis direction close to Z axis stepper motor, the i.e. initial position of mechanical paw
, it is necessary to illustrate at O points as shown in Figure 10, on each axle in manipulator on the position of the end of mechanical part, machine
Tool hand and extreme position all leave certain safe distance, and this safe distance is about set as between 20-30 millimeters.
3.3rd, organ removing mechanical paw Motion trajectory：
Organ removing manipulator is since initial position O points, first, the stepper motor rotation on X axis mechanical arm, makes organ removing machine
Tool hand moves along a straight line to close to the direction of X-axis stepper motor, i.e. the negative direction of X-axis, moves to the distance of setting；
After reaching A points, the then stepper motor rotation in Y direction, make organ removing manipulator to close to y-axis stepper motor
Direction moves along a straight line, i.e. the negative direction of Y-axis, moves to the distance of setting, that is, after reaching B points；
Finally, the stepper motor rotation in Z-direction, makes organ removing manipulator to the direction straight line away from Z axis stepper motor
Motion, the i.e. positive direction of Z axis, the distance of setting is moved to, that is, after reaching C points；
Start to close in C point organ removing manipulators, internal organ pressure size is experienced by pressure resistance type thin film sensor, by organ removing machine
Tool hand determines a suitable crawl dynamics, and this dynamics had both been not reaching to the pressure limit of internal organ, is also unlikely to promptly not interior
It is dirty and come off, after completing the action of this organ removing, organ removing manipulator backtracking to initial position O points, now organ removing manipulator open
Open, internal organ are dropped in the container specified under gravity, and the whole movement locus of mechanical paw is as shown in Figure 10.
(4), mechanical arm driving device：
The type selecting of stepper motor：According to the operation principle of stepper motor, stepper motor can be divided into excitation type, reaction equation,
Magneto and hybrid.Wherein composite stepper motor includes two kinds of forms of reaction equation and magneto, has and responds fast, torque
Greatly, the advantages of step angle is small, overload capacity is strong, and the frequency of operation is higher, composite stepper motor can be divided into two-phase by the number of phases
Stepper motor, three-phase stepper motor, four phase step motor etc..Therefore made in the utility model using hybrid two-phase stepper motor
For the drive device of organ removing manipulator, the model 57BYGH056 of the stepper motor, step angle is 1.8 °, phase current 3A, is protected
Holding force square is 0.9N.m.
(5), the realization of organ removing manipulator control process：The control system is mainly by the A/D acquisition modules of single-chip microcomputer, calculation
Data comparison module, single-chip microcomputer produce pwm signal control machinery hand module composition in method.Experienced using pressure resistance type thin film sensor
Internal organ pressure, pressure is changed into by voltage signal by the change-over circuit of pressure and voltage and is sent into single-chip microcomputer.By single-chip microcomputer collection
Voltage signal and the pressure value com-parison and analysis set in algorithm, timer produce interruption, perform and interrupt service function, single-chip microcomputer production
The drive signal of raw corresponding organ removing manipulator reversion.To the end of organ removing manipulator reverse signal, interruption service function is jumped out, after
It is continuous to perform principal function, the drive signal of organ removing mechanical arm all directions motion is produced, drives stepper motor operating in X, Y, Z axis,
Complete corresponding action.
Claims (8)
1. organ removing manipulator, including stepper drive motors（1）, screw rod（2）, sliding block（3）, mechanical finger（4）, it is characterised in that：
Stepper drive motors（1）Output shaft and screw rod（2）It is connected, screw rod（2）And sliding block（3）Between be screw rod transmission, sliding block（3）With machine
Tool finger（4）Between pass through connecting rod（6）Connection, mechanical finger（4）Inner side pressure resistance type thin film sensor is installed.
2. organ removing manipulator according to claim 1, it is characterised in that：The organ removing manipulator is symmetrical structure, bag
Include multiple mechanical fingers（4）, each mechanical finger（4）Connect a connecting rod（6）, sliding block（3）Promote multiple connecting rods simultaneously
（6）.
3. organ removing manipulator according to claim 1, it is characterised in that：The mechanical finger（4）To be straight with poultry viscera
The part of contact, multiple identical mechanical fingers（4）Certain enveloping space is formed, with poultry abdominal cavity profile Curve Matching.
4. organ removing manipulator according to claim 1, it is characterised in that：The screw rod（2）The screw rod for being 1mm for pitch,
That is screw rod（2）Rotation is turned around, sliding block（3）With regard to mobile 1mm.
5. organ removing manipulator according to claim 1, it is characterised in that：The screw rod（2）, mechanical finger（4）It is assemblied in
Base（9）On, base（9）Pass through pole（8）It is connected to that stepper drive motors are installed（1）Fixed mount（7）.
6. organ removing manipulator according to claim 1, it is characterised in that：The pressure resistance type thin film sensor is used for experiencing interior
Dirty pressure, pressure resistance type thin film sensor connect one-chip computer module, the one-chip computer module connection by pressure/voltage conversion circuit
Stepper motor driver.
7. organ removing mechanical arm, including X axis mechanical arm, Y-axis mechanical arm, Z axis are to mechanical arm, it is characterised in that：Each machine
Tool arm includes stepper motor（10）, slide unit（15）, stepper motor（10）It is fixed on fixed plate（11）On, stepper motor（10）It is defeated
Shaft passes through fixed plate（11）, stepper motor（10）Output shaft and screw mandrel（14）One end connects, slide unit（15）With screw mandrel（14）It
Between use screw rod transmission, screw mandrel（14）Other end be fixed with corresponding bearing, bearing be arranged on bearing block on, screw mandrel
（14）Rotation makes slide unit（15）In line slideway（16）Upper realize moves forward and backward；X axis mechanical arm is arranged on Y-axis mechanical arm
On slide unit, Y-axis mechanical arm is arranged on Z axis on the slide unit of mechanical arm, and organ removing manipulator is arranged on the slide unit of X axis mechanical arm
On.
8. organ removing mechanical arm according to claim 7, it is characterised in that：In X, Y, Z axis, in organ removing manipulator close to machinery
On the extreme position of the end of arm mechanical part, organ removing manipulator and extreme position all leave the safe distance of 20-30 millimeters.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720413629.8U CN206732997U (en) | 2017-04-19 | 2017-04-19 | Organ removing manipulator, arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720413629.8U CN206732997U (en) | 2017-04-19 | 2017-04-19 | Organ removing manipulator, arm |
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| CN206732997U true CN206732997U (en) | 2017-12-12 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN108492706A (en) * | 2018-04-03 | 2018-09-04 | 长江师范学院 | Automobile engine classroom instruction methods of exhibiting |
| CN108492707A (en) * | 2018-04-03 | 2018-09-04 | 长江师范学院 | A kind of engine teaching demonstration device |
| CN108673506A (en) * | 2018-05-31 | 2018-10-19 | 西安理工大学 | A kind of reconfigurable flexible manipulator |
| CN108741199A (en) * | 2018-07-18 | 2018-11-06 | 乔百智 | A kind of automatic food quantifies stuffing separating machine |
| CN108806118A (en) * | 2018-07-11 | 2018-11-13 | 北海和思科技有限公司 | It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper |
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| CN111844106A (en) * | 2020-09-14 | 2020-10-30 | 嘉兴考普诺机械科技有限公司 | Adjustable mechanical arm |
| CN112374147A (en) * | 2020-12-02 | 2021-02-19 | 江苏财经职业技术学院 | Intelligent manipulator for producing automobile stamping parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN108492706A (en) * | 2018-04-03 | 2018-09-04 | 长江师范学院 | Automobile engine classroom instruction methods of exhibiting |
| CN108492707A (en) * | 2018-04-03 | 2018-09-04 | 长江师范学院 | A kind of engine teaching demonstration device |
| CN108673506A (en) * | 2018-05-31 | 2018-10-19 | 西安理工大学 | A kind of reconfigurable flexible manipulator |
| CN108806118A (en) * | 2018-07-11 | 2018-11-13 | 北海和思科技有限公司 | It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper |
| CN108741199A (en) * | 2018-07-18 | 2018-11-06 | 乔百智 | A kind of automatic food quantifies stuffing separating machine |
| CN109108980A (en) * | 2018-09-26 | 2019-01-01 | 广州市渡维科技有限公司 | A kind of intelligent article folds up device and application method automatically |
| CN109848978A (en) * | 2019-04-03 | 2019-06-07 | 郎露枫 | A kind of revolution gripping manipulator based on automation module control |
| CN111844106A (en) * | 2020-09-14 | 2020-10-30 | 嘉兴考普诺机械科技有限公司 | Adjustable mechanical arm |
| CN111844106B (en) * | 2020-09-14 | 2021-12-07 | 东莞市艾尔发自动化科技有限公司 | Adjustable mechanical arm |
| CN112374147A (en) * | 2020-12-02 | 2021-02-19 | 江苏财经职业技术学院 | Intelligent manipulator for producing automobile stamping parts |
| CN113084859A (en) * | 2021-03-15 | 2021-07-09 | 湖北天珊数控焊割设备有限责任公司 | Clamping head structure for industrial robot |
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