Search

CN-121990361-A - Multi-cup type self-adaptive grabbing and stacking robot for intelligent manufacturing equipment industry

CN121990361ACN 121990361 ACN121990361 ACN 121990361ACN-121990361-A

Abstract

The invention provides a multi-cup type self-adaptive grabbing and stacking robot in an intelligent manufacturing equipment industry, which relates to the technical field of intelligent manufacturing equipment and comprises a robot body and an intelligent control system, wherein the robot body comprises a multi-element driving arm and a clamping assembly, the clamping assembly is arranged at the driving end of the multi-element driving arm and is used for adjusting the position of the clamping assembly in multiple directions, and the clamping assembly is used for clamping grabbing cups from the inner side for stacking; according to the invention, the multi-degree-of-freedom multi-element driving arm is arranged, and the angle adjusting function of the universal joint is combined, so that the flexible adjustment of the clamping assembly in multiple directions and multiple angles can be realized, the problems of insufficient degree of freedom and inflexible adjustment of the conventional driving arm are solved, the cup bodies with different placement angles and different stacking heights can be adapted, the universality and the adaptability of the equipment are greatly improved, the equipment replacement and debugging cost is reduced, the clamping part is not required to be frequently replaced, the grabbing stacking requirements of multiple cup bodies can be met, and the production continuity is improved.

Inventors

  • CHENG LING

Assignees

  • 湖北亚奇包装材料有限公司

Dates

Publication Date
20260508
Application Date
20260317

Claims (10)

  1. 1. The multi-cup type self-adaptive grabbing and stacking robot for the intelligent manufacturing equipment industry comprises a robot body and an intelligent control system and is characterized in that the robot body comprises a multi-element driving arm and a clamping assembly, the clamping assembly is arranged at the driving end of the multi-element driving arm, the multi-element driving arm is used for adjusting the position of the clamping assembly in multiple directions, and the clamping assembly is used for clamping grabbing cup bodies from the inner side for stacking; The intelligent control system comprises a perception detection module, a central control module, a driving control module, a man-machine interaction module and a data storage module, wherein the perception detection module is used for acquiring cup parameters, grabbing gestures, stacking positions and equipment operation state data, the central control module is used for analyzing and processing the acquired data and generating control instructions, the driving control module is used for receiving the instructions of the central control module and driving the multi-element driving arm and the clamping assembly to complete grabbing, moving and stacking actions, the man-machine interaction module is used for achieving parameter setting, state displaying and fault alarming, and the data storage module is used for storing equipment operation parameters, cup-shaped parameters and operation logs.
  2. 2. The intelligent manufacturing equipment industry's multiple cup-shaped self-adaptation snatchs and piles up robot according to claim 1, wherein the multiple driving arm includes base (1), swivel mount (2) and first arm of rotation (3), swivel mount (2) are through the top of swivel mount (1) setting, first arm of rotation (3) are through articulated shaft rotation setting in the top of swivel mount (2), and one side of swivel mount (2) top has first cylinder (4) through articulated seat articulated, the output of first cylinder (4) is articulated with first arm of rotation (3) through the hinge pin, the top of first arm of rotation (3) is articulated with second arm of rotation (5) through the articulated shaft, and the one end of second arm of rotation (5) is fixed and is equipped with linking arm (6), be connected through universal joint (7) between linking arm (6) and the clamping assembly, universal joint (7) are used for adjusting the clamping gesture of clamping assembly, adapt to the cup of different angles.
  3. 3. The self-adaptive grabbing and stacking robot for various cups of the intelligent manufacturing equipment industry according to claim 2, wherein the clamping assembly comprises a support disc (8) and a second air cylinder (9), the second air cylinder (9) is arranged at the middle position above the support disc (8), a guide rail (10) is arranged below the support disc (8), a plurality of groups of included angles such as the guide rail (10) are arranged, a clamping arm (11) is arranged below the guide rail (10) in a sliding mode through a sliding block, a rubber (12) is arranged below the outer side of the clamping arm (11), a top plate (13) is connected to the output end of the second air cylinder (9), a linkage arm (14) is hinged to the outer side of the top plate (13) through a hinge pin, and when the output end of the second air cylinder (9) stretches, the top plate (13) is driven to move up and down, the clamping arm (11) is driven to slide along the guide rail (10) through the linkage arm (14), and the clamping arm (11) is contracted and the cups are grabbed and released.
  4. 4. The self-adaptive grabbing and stacking robot for the multiple cups of the intelligent manufacturing equipment industry according to claim 3 is characterized in that arc grooves are formed in the bottoms of the clamping arms (11), rubber sheets (12) are arranged in the arc grooves in a fitting mode, anti-slip lines are formed in the surfaces of the rubber sheets (12), the rubber sheets (12) are made of food-grade silica gel materials, the hardness is 30-50 degrees on Shore, friction force between the clamping arms (11) and the inner sides of the cups is increased, meanwhile, the cups are prevented from being scratched, grabbing requirements of thin-wall and deformable cups are met, and the linkage arms (14) are made of aluminum alloy materials and are anodized on the surfaces.
  5. 5. The multi-cup-shaped self-adaptive grabbing and stacking robot for the intelligent manufacturing equipment industry according to claim 2, wherein the perception detection module comprises a visual sensor, a pressure sensor and a displacement sensor, wherein the visual sensor is used for collecting caliber, height, wall thickness and placement position data of a cup body, the pressure sensor is arranged on a clamping arm (11) of a clamping assembly and used for detecting clamping force, the displacement sensor is arranged at each joint of a multi-element driving arm and used for detecting movement displacement of the driving arm, the central control module processes the data collected by the visual sensor through a cup-shaped parameter identification algorithm to obtain key parameters of the cup body, and the cup-shaped parameter identification algorithm formula is as follows: , The cup aperture identification method comprises the steps of setting D as an actual aperture (mm) of a cup body, setting S as a projection area (mm 2 ) of an opening of the cup body, which is acquired by a vision sensor, setting pi as a circumference rate (value 3.1416), setting k as a correction coefficient, adjusting the value range according to the installation height of the vision sensor to be 1.02-1.05, and compensating errors in the vision imaging process to ensure the cup body aperture identification precision.
  6. 6. The intelligent manufacturing equipment industry multiple cup-type self-adaptive grabbing and stacking robot according to claim 1, wherein the driving control module precisely controls the movement speed and the position of the multi-element driving arm by using a PID control algorithm, ensures stable movement and precise positioning of the driving arm, and avoids cup falling or stacking deflection caused by movement inertia, and the PID control algorithm formula is as follows: , The method comprises the steps of u (t) is a driving control output quantity (V) and used for adjusting operation parameters of a driving motor or an air cylinder, kp is a proportionality coefficient, a value range is 5-15 and used for adjusting control response speed, e (t) is a deviation (mm) between a current position and a target position, ti is an integral time constant(s), a value range is 0.1-0.5s and used for eliminating steady-state errors, td is a differential time constant(s) and used for restraining overshoot, tau is an integral variable, and t is time(s).
  7. 7. The intelligent manufacturing equipment industry multiple cup type self-adaptive grabbing and stacking robot according to claim 2, wherein the clamping force of the clamping assembly is adjusted through a pressure closed-loop control algorithm, the clamping force is adapted to cups with different wall thicknesses, breakage or grabbing loosening of the cups is avoided, and the pressure closed-loop control algorithm formula is as follows: ; The clamping force feedback device comprises a clamping arm (11), a base clamping force (N), a value range of 5-10N, a ratio adjusting coefficient of Kd, a response sensitivity adjusting range of 2-5, a preset clamping force (N), a value range of 8-25N and a free, wherein F is the actual clamping force (N) of the clamping arm (11), F 0 is the base clamping force (N), the value range is 5-10N according to the minimum wall thickness of the cup body, the Kd is the ratio adjusting coefficient, the response sensitivity adjusting the clamping force is Fset, the preset clamping force (N) is set according to the wall thickness of the cup body, and the free is the actual clamping force (N) detected by a pressure sensor, so that the real-time feedback and adjustment of the clamping force are realized.
  8. 8. The multi-cup type self-adaptive grabbing and stacking robot of the intelligent manufacturing equipment industry according to claim 1, wherein the intelligent control system further comprises a stacking precision optimizing module, the stacking precision optimizing module corrects the stacking position in real time through a stacking deviation correcting algorithm to ensure that the cups are orderly stacked, and the stacking deviation correcting algorithm formula is as follows: , The method comprises the steps of enabling Deltax to be the deviation correction quantity (mm) in the x direction, enabling Deltay to be the deviation correction quantity (mm) in the y direction, enabling Kx and Ky to be the deviation correction coefficients, enabling the value range to be 0.8-1.2, adjusting correction amplitude, enabling xtarget, ytarget to be the target x coordinate (mm) and the target y coordinate (mm) of the cup stacking, enabling xreal and yreal to be the x coordinate (mm) and the y coordinate (mm) of the cup stacking actually, and improving stacking accuracy through real-time deviation correction.
  9. 9. The multi-cup-shaped self-adaptive grabbing and stacking robot for the intelligent manufacturing equipment industry according to claim 1, wherein the intelligent control system further comprises a fault early warning and diagnosing system, the fault early warning and diagnosing system is in bidirectional communication with the central control module and the perception detection module and is used for monitoring the operation states of all parts of equipment in real time, identifying fault hidden dangers and carrying out grading early warning, the fault early warning and diagnosing system comprises a fault collecting unit, a diagnosis analysis unit and an early warning executing unit, the fault collecting unit is used for collecting operation parameters of all modules of a multi-element driving arm, a clamping assembly and the intelligent control system and transmitting collected data to the diagnosis analysis unit, the diagnosis analysis unit analyzes the collected operation parameters through a fault identifying algorithm to judge whether the equipment has faults, fault types and fault grades, the fault identifying algorithm is realized based on comparison of operation parameter threshold values, when a certain operation parameter exceeds a preset threshold value range, the fault corresponding part is judged to have faults, and the early warning executing unit is used for sending fault early warning signals through a man-machine interaction module according to the result of the diagnosis analysis unit, meanwhile storing fault information to the data storage module and generating grading early warning suggestions for quickly handling fault inspection operation maintenance personnel.
  10. 10. The multi-cup-shaped self-adaptive grabbing and stacking robot for the intelligent manufacturing equipment industry according to claim 1, wherein the man-machine interaction module comprises a touch display screen and an scram button, the touch display screen is used for displaying equipment running states, cup-shaped parameters, grabbing stacking quantity and fault information and simultaneously providing parameter setting, program editing and manual operation control functions, the scram button is used for immediately cutting off equipment power supply, stopping all actions and guaranteeing safety of equipment and operators when equipment breaks down or is in emergency, the data storage module adopts an SD card or a solid state disk and stores at least 100 cup-shaped parameter data and equipment running logs for at least 12 months for later maintenance and data analysis, and the intelligent control system further comprises a wireless communication module for realizing wireless communication between the equipment and an upper computer and remote monitoring and parameter adjustment.

Description

Multi-cup type self-adaptive grabbing and stacking robot for intelligent manufacturing equipment industry Technical Field The invention relates to the technical field of intelligent manufacturing equipment, in particular to a multi-cup type self-adaptive grabbing and stacking robot in the intelligent manufacturing equipment industry. Background In the intelligent manufacturing equipment industry, grabbing and stacking of cup-shaped products are key links in a production flow, grabbing and stacking robots in the market at present mostly adopt a fixed clamping structure and a single driving mode, the movement of a driving arm is controlled mainly through a preset program, the grabbing and stacking operation of specific cups is realized, the intelligent manufacturing equipment is widely applied to the fields of food processing, packaging, electronic element packaging and the like, the core structure of the intelligent manufacturing equipment is generally composed of the driving arm, a clamping device and a simple control system, the intelligent manufacturing equipment is used for completing basic grabbing and stacking actions, while part of robots try to realize multi-cup-shaped adaptation, the outer clamping mode is mostly adopted, the driving freedom degree is limited, and diversified production requirements are difficult to meet; The existing grabbing stacking robot is insufficient in self-adaptation capability, the clamping structure is mostly of a fixed size, multiple cup types with different calibers, different heights and different wall thicknesses cannot be adapted, clamping components are required to be replaced frequently, production efficiency is low, equipment universality is poor, driving precision is limited, a traditional driving arm is mostly driven by single degree of freedom or two degrees of freedom, flexible adjustment in multiple directions and multiple angles cannot be achieved, complex production layout and stacking requirements are difficult to adapt, an intelligent control system is imperfect, accurate sensing and feedback mechanisms are lacked, positions, postures and grabbing forces of the cup bodies cannot be detected in real time, the problems of loosening grabbing, breakage of the cup bodies or stacking deflection are easy to occur, grabbing stability is poor, an outer clamping mode is adopted, scratches are easy to be caused on the surface of the cup bodies, grabbing effect on thin-wall and deformable cup bodies is poor, matching of the system is poor, matching of driving arm movement and clamping action is not accurate, stacking precision is low, high-specification production requirements cannot be met, and meanwhile, fault early warning, diagnosis and data tracing functions are lacked, fault checking efficiency is low, and operation and maintenance cost is high. Disclosure of Invention According to the invention, the multi-cup type self-adaptive grabbing and stacking robot for the intelligent manufacturing equipment industry is provided, and the multi-freedom multi-element driving arm is arranged, so that the angle adjusting function of the universal joint is combined, the multi-direction and multi-angle flexible adjustment of the clamping assembly can be realized, the problems of insufficient degree of freedom and inflexibility in adjustment of the conventional driving arm are solved, the cups with different placement angles and different stacking heights can be adapted, the universality and the suitability of equipment are greatly improved, the equipment replacement and debugging cost is reduced, the grabbing and stacking requirements of the various cups can be met without frequently replacing the clamping parts, and the production continuity is improved. The invention aims at realizing the technical scheme that the intelligent manufacturing equipment industry is realized by a plurality of cup-shaped self-adaptive grabbing and stacking robots, which comprise a robot body and an intelligent control system, wherein the robot body comprises a plurality of driving arms and a clamping assembly, the clamping assembly is arranged at the driving ends of the plurality of driving arms, the plurality of driving arms are used for adjusting the positions of the clamping assemblies in multiple directions, and the clamping assembly is used for clamping grabbing cup bodies from the inner side for stacking; The intelligent control system comprises a perception detection module, a central control module, a driving control module, a man-machine interaction module and a data storage module, wherein the perception detection module is used for acquiring cup parameters, grabbing gestures, stacking positions and equipment operation state data, the central control module is used for analyzing and processing the acquired data and generating control instructions, the driving control module is used for receiving the instructions of the central control module and driving the multi-element driving arm and