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Feeding mechanical arm and feeding method thereof

The technology of a robotic arm and a robotic arm, which is applied to the feeding robotic arm and its feeding field, can solve the problems of food waste, difficulty in control, and restriction, and achieve the effects of a wide range of applications, low cost and high success rate.

Active Publication Date: 2019-01-15
上海秘塔网络科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example: Almost all robotic arms can only use a single spoon to scoop food, which is difficult to achieve smooth scooping, and cannot scoop up all the food on the plate, resulting in food waste; such robotic arms are bulky and difficult to control. The arm is set with a separate joystick, which is controlled by the diner to select food through the chin, but it is not ideal; most of this type of feeding robot arm needs to use a matching integrated plate, so that the three-dimensional coordinates of the food can be grasped It is completely controllable, but this also brings serious restrictions. The number of grids on the plate determines the number of dishes; the volume of the plate limits the total amount of food, etc.

Method used

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  • Feeding mechanical arm and feeding method thereof
  • Feeding mechanical arm and feeding method thereof
  • Feeding mechanical arm and feeding method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0062] Such as figure 1 , figure 2 As shown, this embodiment discloses a feeding robot arm, including a base, a robot arm body and a feeding device 7, the bottom end of the robot arm body is rotatably connected to the base, and the feeding device is arranged at the top of the robot arm body. Specifically, the base is provided with a control panel and a bottom steering gear 8, the bottom steering gear is used to drive the mechanical arm to rotate horizontally; After the arm steering gear is driven, it rotates relatively in the vertical direction, the bottom steering gear and the arm steering gear are electrically connected to the control board, and a current sensor is connected between each steering gear and the control board; the feeding device includes mutual The buckled lower spoon body 702 and the upper spoon body 701, the lower spoon body is fixedly connected to the mechanical arm, and the upper spoon body is driven by the feeding servo to rotate in the vertical directio...

Embodiment 2

[0077] This embodiment discloses a specific feeding method and control of a feeding robot arm, which aims to sense the current change of the steering gear through the current sensor, so as to realize the free control of the steering gear and make it easier and more direct to issue various feeding commands.

[0078] Such as Figure 9 As shown, the feeding method of the feeding robot arm disclosed in this embodiment specifically includes the following steps:

[0079] S01: Take the output shaft of the bottom servo as the origin, set the horizontal plane of the feeding device to capture the coordinate point field according to the position of the plate, and calibrate it as (x k ,y k ), k∈N and k≠0; set feeding coordinate point (a, b, c) simultaneously, and abc is constant, and described control panel is provided with memory module, the coordinate information of setting is stored;

[0080] S02: Send a clamping coordinate point signal to the feeding robot arm, the control board con...

Embodiment 3

[0105] This embodiment discloses a specific feeding method and control of a feeding robot arm, which aims to sense the current change of the steering gear through the current sensor, so as to realize the free control of the steering gear and make it easier and more direct to issue various feeding commands.

[0106] In this embodiment, a technical solution different from that in Embodiment 2 is adopted, and the specific differences are:

[0107] In this embodiment, the output axis of the bottom steering gear is not used as the origin, but an arbitrary point is used as the origin, and the output axis coordinates of the bottom steering gear are (x 0 ,y 0 ), in this case, the gripping coordinate signal received by the robotic arm needs to be corrected so that the gripping coordinate point received is (x k ,y k ), k∈N and k≠0 as an example, the specific clamping coordinate point after correction is (x k -x 0 ,y k -y 0 );

[0108] Other processes in this embodiment are the sa...

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Abstract

The invention relates to the technical field of collaborative mechanical arms and provides a feeding mechanical arm and feeding method thereof. The feeding mechanism arm comprises a base, a mechanicalarm body and a feeding device. The bottom end of the mechanical arm body is rotatably connected to the base; the feeding device arranged at the top end of the mechanical arm body. During use, the mechanical arm can fetch food from a position with specified clamping coordinates and send the food to the position with specified feeding coordinates for eating of users. A current sensor detects the current change in a steering engine, so that a food fetching process is controlled; when collision accident occurs, the feeding device can be controlled to stop timely, so that the automation degree ishigh and the mechanical arm can be used in combination with multiple kinds of tableware. When a user applies force to the feeding device, the intent of the user can be identified automatically, re-food fetching can be realized, so that the operability is improved, the mechanical arm is more intelligent and the control difficulty is reduced for users. The feeding mechanical arm is suitable for promotion and use.

Description

technical field [0001] The invention belongs to the technical field of collaborative manipulators, and in particular relates to a feeding manipulator and a feeding method thereof. Background technique [0002] The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields; with the in-depth research and development of the mechanical arm, its structure and precision have been greatly improved, not only in the current field of application, but also It has expanded to many technical fields that directly assist people in operations, and can even partially replace human work. In the field of health maintenance, feeding robotic arms have been put into use to assist feeding for partially or completely incapacitated people. Reducing the labor intensity of nursing staff can also increase the work...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J19/00B25J9/16
CPCB25J9/16B25J9/1679B25J11/009B25J19/00
Inventor 唐悦
Owner 上海秘塔网络科技有限公司
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