Size-adaptive article grabbing method and device adopting same

Abstract

The invention provides a size-adaptive article grabbing method. The article grabbing method is characterized in that at least two soft fingers are used for grabbing articles; the sizes of the articlesare acquired before the articles are grabbed by the soft fingers, and a driving air pressure value is set according to the sizes of the articles; in the process of grabbing the articles by the soft fingers, the air pressure system is used for inflating the interior of the soft fingers according to the driving air pressure value so as to drive the soft fingers to bend and grasp the articles, so that the grabbing force provided by the soft fingers is adapted to the size of the articles. According to the method, articles can be firmly grasped and can be prevented from falling off from the soft fingers, and the article can be prevented from being destroyed by too large clamping force. The invention further provides a device adopting the article grabbing method. The device has advantages thatarticles flexible grabbing can be realized, the article can be firmly grasped and can be prevented from falling from the soft fingers, the article can be prevented from being destroyed by the too large clamping force.

Description

technical field [0001] The invention relates to the technical field of object grasping, and more specifically, to a size-adaptive object grasping method and a device for realizing the method. Background technique [0002] During the process of article processing and packaging, it is necessary to grab and move the article to transfer the article to another station or move the article to another supporting position. Traditionally, the items are directly grasped manually or grasped with tools such as clips. However, the traditional manual grabbing method, on the one hand, requires a large number of workers for manual operation, and the labor intensity of the workers is high, which is not conducive to saving human resources and improving production efficiency; When in contact with food, human bacteria will contaminate the food and the number of bacteria in the food will exceed the standard, resulting in the food not meeting the hygienic and safety requirements. At the same time...

AI Technical Summary

Problems solved by technology

However, at present, soft fingers are only suitable for grasping hard objects; soft fingers are still not suitable for soft, deformable or fragile objects.

For example, for foods that are easily deformed or fragile, the food size error requirements are not high, so there will be size errors between foods of the same type and the same size; The distance between the soft finger and the food is different, and the soft finger may exert different gripping forces on a single food; some foods are more deformable or fragile, such as moon cakes, shortbread, cakes, etc., are very sensitive to the gripping force ; If the existing soft finger technology is directly applied to food grasping, the food will fall or the food will be damaged due to improper grasping force

Especially for the grasping of food of different sizes, the existing soft finger technology is not feasible

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