Self-adaptive grabbing and stacking robot for various cup types in intelligent manufacturing equipment industry

Abstract

The invention provides a self-adaptive grabbing and stacking robot for various cup types in the intelligent manufacturing equipment industry, and relates to the technical field of intelligent manufacturing equipment, the robot comprises a robot body and an intelligent control system, 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 the intelligent control system is arranged on the clamping assembly; 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 and grabbing cup bodies from the inner side for stacking; according to the multi-degree-of-freedom multi-element driving arm, by arranging the multi-degree-of-freedom multi-element driving arm and combining the angle adjusting function of the universal joint, multi-direction and multi-angle flexible adjustment of the clamping assembly can be achieved, the problems that an existing driving arm is insufficient in degree of freedom and not flexible in adjustment are solved, and the multi-degree-of-freedom multi-element driving arm can adapt to cup bodies with different placing angles and different stacking heights; and the universality and adaptability of the equipment are greatly improved, the equipment replacement and debugging cost is reduced, the grabbing and stacking requirements of various cup types can be met without frequently replacing clamping components, and the production continuity is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to adaptive grasping and stacking robots for various cup shapes in the intelligent manufacturing equipment industry. Background Technology

[0002] In the intelligent manufacturing equipment industry, the gripping and stacking of cup-shaped products is a key link in the production process. Currently, most gripping and stacking robots on the market adopt a fixed clamping structure and a single drive method. They mainly control the movement of the drive arm through a preset program to achieve gripping and stacking operations for specific cup shapes. They are widely used in food processing, packaging, electronic component packaging and other fields. Their core structure usually includes a drive arm, a clamping device and a simple control system to complete basic gripping and stacking actions. Although some robots have tried to achieve multi-cup shape adaptation, they mostly adopt an external clamping method and have limited drive freedom, which makes it difficult to meet diverse production needs.

[0003] Existing gripping and stacking robots suffer from insufficient adaptability. Their gripping structures are mostly of fixed dimensions, unable to adapt to various cup shapes with different diameters, heights, and wall thicknesses, requiring frequent replacement of gripping components, resulting in low production efficiency and poor equipment versatility. Furthermore, their drive precision is limited; traditional drive arms are mostly single- or two-degree-of-freedom, unable to achieve flexible multi-directional and multi-angle adjustments, making them ill-suited for complex production layouts and stacking requirements. Finally, their intelligent control systems are incomplete, lacking precise sensing and feedback mechanisms, failing to detect cup position, posture, and gripping force in real time, easily leading to loose gripping and cup collapse. Problems such as breakage or stacking misalignment exist; gripping stability is poor, with most using external clamping methods, which easily scratches the cup surface and is ineffective for gripping thin-walled or easily deformable cups; system coordination is poor, with insufficient precision in the coordination between the drive arm movement and the clamping action, resulting in low stacking accuracy and inability to meet high-specification production requirements. Furthermore, there is a lack of comprehensive fault warning, diagnosis, and data traceability functions, leading to low fault diagnosis efficiency and high maintenance costs. Therefore, this invention proposes an adaptive gripping and stacking robot for various cup types in the intelligent manufacturing equipment industry to solve the problems existing in the prior art. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes an adaptive gripping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry. This robot, by incorporating a multi-degree-of-freedom, multi-element drive arm and a universal joint for angle adjustment, enables flexible multi-directional and multi-angle adjustment of the gripping components. This solves the problems of insufficient degrees of freedom and inflexible adjustment in existing drive arms, allowing it to adapt to cups with different placement angles and stacking heights. This significantly improves the versatility and adaptability of the equipment, reduces the cost of equipment replacement and debugging, and eliminates the need for frequent replacement of gripping components, thus meeting the gripping and stacking requirements for various cup shapes and improving production continuity.

[0005] To achieve the objectives of this invention, the invention is implemented through the following technical solution: an adaptive gripping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry, comprising a robot body and an intelligent control system, wherein the robot body comprises a multi-drive arm and a gripping component, the gripping component is disposed at the drive end of the multi-drive arm, and the multi-drive arm is used to adjust the position of the gripping component in multiple directions, and the gripping component is used to grip and stack cups from the inside.

[0006] The intelligent control system includes a perception and detection module, a central control module, a drive control module, a human-machine interaction module, and a data storage module. The perception and detection module is used to collect cup parameters, grasping posture, stacking position, and equipment operating status data. The central control module is used to analyze and process the collected data and generate control commands. The drive control module is used to receive commands from the central control module and drive the multi-drive arm and clamping components to complete grasping, moving, and stacking actions. The human-machine interaction module is used to realize parameter setting, status display, and fault alarm. The data storage module is used to store equipment operating parameters, cup shape parameters, and operating logs.

[0007] A further improvement is made in that: the multi-drive arm includes a base, a rotating base, and a first rotating arm. The rotating base is rotatably mounted above the base via a rotary bearing. The first rotating arm is rotatably mounted above the rotating base via a hinge shaft. A first cylinder is hinged to one side of the rotating base via the hinge shaft. The output end of the first cylinder is hinged to the first rotating arm via a hinge pin. A second rotating arm is hinged to the top of the first rotating arm via a hinge shaft. A connecting arm is fixedly provided at one end of the second rotating arm. The connecting arm and the clamping assembly are connected via a universal joint. The universal joint is used to adjust the clamping posture of the clamping assembly to adapt to cups with different placement angles.

[0008] A further improvement is made in that: the clamping assembly includes a support plate and a second cylinder. The second cylinder is located at the middle position above the support plate. A guide rail is provided below the support plate, and several sets of guide rails are provided at equal angles. A clamping arm is slidably provided below the guide rail via a slider, and a rubber sheet is provided below the outer side of the clamping arm. The output end of the second cylinder is connected to a top plate, and a linkage arm is hinged to the outer side of the top plate via a hinge pin. The outer side of the linkage arm is hinged to the clamping arm via a hinge pin. When the output end of the second cylinder extends or retracts, it drives the top plate to move up and down, thereby driving the clamping arm to slide along the guide rail through the linkage arm, realizing the opening and retraction of the clamping arm, and completing the gripping and releasing of the cup.

[0009] Further improvements include: the bottom of the clamping arm is provided with an arc-shaped groove, the rubber is fitted into the arc-shaped groove, and the surface of the rubber is provided with anti-slip texture. The rubber is made of food-grade silicone with a hardness of Shore 30-50, which is used to increase the friction between the clamping arm and the inner side of the cup, while avoiding scratching the cup, and adapting to the gripping needs of thin-walled and easily deformable cups; the linkage arm is made of aluminum alloy and the surface is anodized.

[0010] Further improvements include: the perception and detection module includes a vision sensor, a pressure sensor, and a displacement sensor. The vision sensor collects data on the cup's diameter, height, wall thickness, and placement position. The pressure sensor is mounted on the clamping arm of the clamping assembly to detect the clamping force. The displacement sensor is located at each joint of the multi-drive arm to detect the movement displacement of the drive arm. The central control module processes the data collected by the vision sensor using a cup-shaped parameter recognition algorithm to obtain the key parameters of the cup. The formula for the cup-shaped parameter recognition algorithm is:

[0011] ,

[0012] Where: D is the actual diameter of the cup (mm); S is the projected area of ​​the cup opening captured by the vision sensor (mm²). 2 ); π is the mathematical constant pi (value 3.1416); k is a correction coefficient, adjusted according to the installation height of the vision sensor, with a value range of 1.02-1.05, used to compensate for errors in the visual imaging process and ensure the accuracy of cup diameter recognition.

[0013] A further improvement lies in the following: the drive control module employs a PID control algorithm to precisely control the speed and position of the multi-element drive arm, ensuring smooth movement and accurate positioning of the drive arm, and preventing the cups from detaching or stacking skewed due to inertia. The PID control algorithm formula is as follows:

[0014] ,

[0015] Where: u(t) is the drive control output (V), used to adjust the operating parameters of the drive motor or cylinder; Kp is the proportional coefficient, ranging from 5 to 15, used to adjust the control response speed; e(t) is the deviation between the current position and the target position (mm); Ti is the integral time constant (s), ranging from 0.1 to 0.5 s, used to eliminate steady-state error; Td is the derivative time constant (s), ranging from 0.01 to 0.1 s, used to suppress overshoot; τ is the integral variable, and t is time (s).

[0016] A further improvement is made in that the clamping force of the clamping component is adjusted through a pressure closed-loop control algorithm to adapt to cups of different wall thicknesses, preventing cup breakage or loosening of the grip. The formula for the pressure closed-loop control algorithm is as follows:

[0017] ;

[0018] Where: F is the actual clamping force of the clamping arm (N); F0 is the basic clamping force (N), set according to the minimum wall thickness of the cup, with a value range of 5-10N; Kd is the proportional adjustment coefficient, with a value range of 2-5, used to adjust the response sensitivity of the clamping force; Fset is the preset clamping force (N), set according to the wall thickness of the cup, with a value range of 8-25N; Freal is the actual clamping force (N) detected by the pressure sensor, realizing real-time feedback and adjustment of the clamping force.

[0019] A further improvement is that the intelligent control system also includes a stacking accuracy optimization module. This module uses a stacking deviation correction algorithm to correct the stacking position in real time, ensuring that the cups are stacked neatly. The formula for the stacking deviation correction algorithm is:

[0020] ,

[0021] Where: Δx is the deviation correction amount in the x direction (mm); Δy is the deviation correction amount in the y direction (mm); Kx and Ky are deviation correction coefficients, with a value range of 0.8-1.2, used to adjust the correction amplitude; xtarget and ytarget are the target x and y coordinates (mm) of the cup stacking, respectively; xreal and yreal are the actual x and y coordinates (mm) of the cup stacking, respectively. By correcting the deviation in real time, the stacking accuracy is improved.

[0022] Further improvements include: the intelligent control system also includes a fault early warning and diagnosis system. This system communicates bidirectionally with the central control module and the sensing and detection module to monitor the operating status of each component of the equipment in real time, identify potential faults, and issue graded early warnings. The fault early warning and diagnosis system includes a fault acquisition unit, a diagnostic analysis unit, and an early warning execution unit. The fault acquisition unit collects operating parameters from the multi-drive arm, clamping assembly, and various modules of the intelligent control system, and transmits the collected data to the diagnostic analysis unit. The diagnostic analysis unit analyzes the collected operating parameters using a fault identification algorithm to determine whether the equipment has a fault, the type of fault, and the fault level. The fault identification algorithm is based on threshold comparison of operating parameters; when a certain operating parameter exceeds a preset threshold range, it is determined that the corresponding component has a fault. The early warning execution unit issues graded early warning signals through the human-machine interaction module based on the results of the diagnostic analysis unit, stores the fault information in the data storage module, and generates fault troubleshooting suggestions to assist maintenance personnel in quickly handling faults.

[0023] Further improvements include: the human-machine interaction module includes a touch screen and an emergency stop button. The touch screen displays the device's operating status, cup-shaped parameters, number of items to be grabbed and stacked, and fault information, while also providing parameter setting, program editing, and manual operation control functions. The emergency stop button immediately cuts off the device's power supply and stops all operations in case of device failure or emergency, ensuring the safety of the device and operators. The data storage module uses an SD card or solid-state drive to store parameter data for at least 100 cup shapes and at least 12 months of device operation logs for later maintenance and data analysis. The intelligent control system also includes a wireless communication module to enable wireless communication between the device and the host computer, as well as remote monitoring and parameter adjustment.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. This invention, by setting up a multi-degree-of-freedom multi-drive arm and combining it with the angle adjustment function of the universal joint, can realize flexible adjustment of the clamping component in multiple directions and angles. It solves the problems of insufficient degrees of freedom and inflexible adjustment of existing drive arms, and can adapt to cups with different placement angles and different stacking heights. It greatly improves the versatility and adaptability of the equipment, reduces the cost of equipment replacement and debugging, and can meet the gripping and stacking needs of various cup types without frequent replacement of clamping components, thereby improving production continuity.

[0026] 2. This invention employs a clamping assembly with a flexible clamping design using multiple sets of sliding clamping arms and rubber, combined with a pressure closed-loop control algorithm. This allows for flexible clamping from the inside of the cup, adapting to various cup shapes with different diameters and wall thicknesses while avoiding scratches on the cup surface. This solves the problems of poor adaptability and easy damage to the cup body in existing clamping structures, improving the stability and safety of gripping. It is especially suitable for gripping thin-walled and easily deformable cups, reducing the cup breakage rate.

[0027] 3. The intelligent control system of the present invention integrates multiple modules such as a perception and detection module and a central control module. Combined with various algorithms such as cup-shaped parameter recognition algorithm and PID control algorithm, it realizes automatic recognition of cup body parameters, precise control of grasping posture, and real-time correction of stacking accuracy. It solves the problems of imperfection, low control accuracy and poor coordination of existing intelligent control systems, greatly improves the efficiency and accuracy of grasping and stacking, reduces human intervention and reduces the labor intensity of operators.

[0028] 4. The clamping component of this invention can meet the gripping and stacking requirements of cups of different specifications and types, solving the problems of poor versatility and cumbersome replacement of existing equipment, and improving production efficiency. At the same time, the multi-drive arm adopts servo control and cylinder coordinated drive, which has higher positioning accuracy and smoother movement, further ensuring the stability of gripping and stacking.

[0029] 5. The intelligent control system of this invention is equipped with a complete human-machine interaction module, fault alarm mechanism, and data storage module. It adds a fault early warning and diagnosis system, which can monitor the equipment operating status in real time, identify potential faults and issue graded warnings, and supports wireless remote monitoring. It solves the problems of inconvenient operation, difficult maintenance, untraceable data, and low fault diagnosis efficiency of existing equipment, reduces the labor intensity of operators, improves the operation and maintenance efficiency of equipment, and can provide early warning of faults through operation logs and fault data, thereby reducing equipment downtime and lowering operation and maintenance costs. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the intelligent control system of the present invention;

[0031] Figure 2 This is a schematic diagram of the robot body of the present invention;

[0032] Figure 3 This is a schematic diagram of the clamping assembly of the present invention.

[0033] The components are: 1. base; 2. rotating base; 3. first rotating arm; 4. first cylinder; 5. second rotating arm; 6. connecting arm; 7. universal joint; 8. support plate; 9. second cylinder; 10. guide rail; 11. clamping arm; 12. rubber sheet; 13. top plate; 14. linkage arm. Detailed Implementation

[0034] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0035] Example 1

[0036] according to Figure 1 , 2As shown in Figure 3, this embodiment proposes a multi-cup-shaped adaptive grasping and stacking robot for the intelligent manufacturing equipment industry, including a robot body and an intelligent control system. The robot body includes a multi-degree-of-freedom multi-drive arm and a gripping assembly. The multi-drive arm includes a base 1, a rotating seat 2, a first rotating arm 3, a first cylinder 4, a second rotating arm 5, a connecting arm 6, and a universal joint 7. The base 1 is made of cast iron and has anchor bolts at the bottom for fixing it to the ground. The rotating seat 2 is rotatably mounted above the base 1 via an SKF6205 rotary bearing. The rotation angle of the rotating seat 2 is 0-360 degrees, and the speed is adjustable from 10-30 r / min. The first rotating arm 3 is rotatably mounted above the rotating seat 2 via a hinge shaft. The first rotating arm 3 is 800 mm long, 100 mm wide, and thick. The first cylinder 4, model SC63×200, is hinged to one side of the upper part of the rotating base 2 via a hinge seat. The output end of the first cylinder 4 is hinged to the middle of the first rotating arm 3 via a hinge pin, which is used to drive the first rotating arm 3 to rotate around the hinge axis. The rotation angle range is 0-90 degrees. The second rotating arm 5 is hinged above the first rotating arm 3 via a hinge axis. The second rotating arm 5 is 600mm long, 80mm wide, and 40mm thick. The free end of the second rotating arm 5 is fixed with a connecting arm 6 by bolts. The connecting arm 6 is 200mm long and 50mm in diameter. The connecting arm 6 and the clamping assembly are detachably connected via a universal joint 7, model WSD-20. The universal joint 7 can achieve an angle adjustment of 0-180 degrees to adapt to cups with different placement angles.

[0037] The clamping assembly includes a support plate 8, a second cylinder 9, guide rails 10, clamping arms 11, rubber pads 12, a top plate 13, and a linkage arm 14. The support plate 8 is circular with a diameter of 150mm and a thickness of 20mm. The second cylinder 9 is an SC40×100 cylinder, bolted to the center of the support plate 8. Below the support plate 8 are four sets of guide rails 10, each 100mm long. Clamping arms 11 slide on the guide rails 10 via sliders. Each clamping arm 11 is 120mm long, 30mm wide, and 20mm thick. An arc-shaped groove is located on the lower outer side of each clamping arm 11. The rubber pad 12 is made of food-grade silicone and is hard. The angle is 40 degrees Shore A, and it is fitted into the arc-shaped groove. The surface of the rubber 12 has fine anti-slip texture to increase the friction with the inside of the cup. The output end of the second cylinder 9 is connected to the top plate 13 by bolts. The top plate 13 has a circular structure with a diameter of 80 mm and a thickness of 10 mm. The outer side of the top plate 13 is hinged to four sets of linkage arms 14 by hinge pins. The length of the linkage arm 14 is 80 mm. The outer side of the linkage arm 14 is hinged to the clamping arm 11 by hinge pins. When the output end of the second cylinder 9 extends or retracts, it drives the top plate 13 to move up and down, and then drives the clamping arm 11 to slide along the guide rail 10 through the linkage arm 14, realizing the opening and closing of the clamping arm 11, and completing the gripping and releasing of the cup.

[0038] The intelligent control system includes a perception and detection module, a central control module, a drive control module, a human-machine interaction module, and a data storage module. The perception and detection module includes a MV-EM130M vision sensor, a PT124G-111 pressure sensor, and a KTM-200 displacement sensor. The vision sensor is installed on one side of the connecting arm 6 to collect data on the cup's diameter, height, wall thickness, and placement position. The pressure sensor is attached to the arc-shaped groove of the clamping arm 11 to detect the clamping force. The displacement sensors are installed at each hinge axis of the multi-drive arm to detect the movement displacement of the drive arm. The central control module uses an STM32F407 microcontroller to process the collected data. The system analyzes and processes data to generate control commands. The drive control module uses an L298N drive chip to receive commands from the central control module and drive the first cylinder 4, the second cylinder 9, and the rotary motor of the rotary table 2 to move, thereby driving the multi-drive arm and clamping components to complete the grasping, moving, and stacking actions. The human-machine interaction module includes a TFT1043 touch screen and an emergency stop button. The touch screen is installed on one side of the base 1 and is used to display the equipment operating status, cup type parameters, grasping and stacking quantity, and fault information. It can also be used for parameter setting, program editing, and manual operation control. The data storage module uses a 32GB SD card, which can store parameter data for at least 100 cup types and 12 months of equipment operation logs.

[0039] In this embodiment, the correction coefficient k of the cup-shaped parameter recognition algorithm is 1.03, the proportional coefficient Kp of the PID control algorithm is 10, the integral time constant Ti is 0.3s, the derivative time constant Td is 0.05s, the basic clamping force F0 of the pressure closed-loop control algorithm is 8N, the proportional adjustment coefficient Kd is 3, and the deviation correction coefficients Kx and Ky of the stacking deviation correction algorithm are both 1.0. The robot in this embodiment can adapt to cups with a diameter of 50-150mm, a height of 80-200mm, and a wall thickness of 0.5-2mm. Its grasping speed is 10-15 cups / minute, the stacking accuracy error is ≤±0.5mm, the cup breakage rate is ≤0.1%, and the continuous operating time is ≥72 hours.

[0040] Example 2

[0041] according to Figure 1 , 2As shown in Figure 3, this embodiment proposes a variety of cup-shaped adaptive grasping and stacking robots for the intelligent manufacturing equipment industry. The intelligent control system adds a fault early warning and diagnosis system. This system communicates bidirectionally with the central control module and the perception and detection module. The fault acquisition unit uses an AD8232 signal acquisition chip to collect the motor speed of the multi-drive arm, the working pressure of the first cylinder 4 and the second cylinder 9, the detection signals of each sensor, and the circuit voltage data. The acquisition frequency is 10 times / second, and the collected data is transmitted to the diagnostic analysis unit in real time. The diagnostic analysis unit is integrated into the central control module and analyzes the operating parameters through a fault identification algorithm. The preset motor speed threshold is 8-35 r / m. The cylinder working pressure threshold is 0.4-0.8MPa, and the circuit voltage threshold is 220±10V. When a parameter exceeds the threshold range, the fault type is quickly identified: motor fault, cylinder fault, sensor fault, circuit fault, and fault level: general fault, serious fault. The early warning execution unit includes an audible and visual alarm of model LTE-1101J, which is installed next to the human-machine interaction module. A yellow audible and visual alarm is issued for general faults, and a red audible and visual alarm is issued for serious faults, triggering an emergency stop mechanism. At the same time, the fault information, fault type, occurrence time, and operating parameters are stored in the data storage module, and corresponding fault troubleshooting suggestions are generated. For example, if the cylinder pressure is abnormal, it is recommended to check the air pipe sealing and cylinder sealing ring.

[0042] Meanwhile, the sensing and detection module also includes a temperature sensor, model DS18B20, used to detect the ambient temperature of the equipment. When the temperature exceeds 50℃, the central control module controls the equipment to automatically stop and issues a fault alarm through the human-machine interaction module to prevent the equipment from being damaged due to high temperature. The drive control module uses a TB6600 drive chip to improve drive capability and control accuracy, and can realize stepless adjustment of the drive arm movement speed.

[0043] In this embodiment, the correction coefficient k of the cup-shaped parameter recognition algorithm is 1.04, the proportional coefficient Kp of the PID control algorithm is 12, the integral time constant Ti is 0.2s, the derivative time constant Td is 0.08s, the basic clamping force F0 of the pressure closed-loop control algorithm is 7N, the proportional adjustment coefficient Kd is 4, and the deviation correction coefficients Kx and Ky of the stacking deviation correction algorithm are both 1.1. The robot in this embodiment can adapt to cups with a diameter of 50-180mm, a height of 80-300mm, and a wall thickness of 0.5-2.5mm. Its grasping speed is 8-12 cups / minute, the stacking accuracy error is ≤±0.4mm, the cup breakage rate is ≤0.08%, and the equipment failure rate is ≤0.3 times / month.

[0044] Example 3

[0045] according to Figure 1 , 2As shown in Figure 3, this embodiment proposes an adaptive gripping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry. The guide rails 10 of the gripping component are provided with 6 sets of equal angles. The length of the guide rails 10 can be adjusted according to the diameter of the cup body, with an adjustment range of 80-150mm. The radius of the arc-shaped groove at the bottom of the gripping arm 11 can be replaced according to the diameter of the cup body to adapt to the inner side of the cup body with different curvatures. The rubber 12 is made of food-grade silicone material with a Shore 35 degree and has anti-slip bumps on the surface to further increase friction and prevent the cup body from slipping. At the same time, the rubber 12 can be disassembled and replaced separately to reduce maintenance costs.

[0046] Meanwhile, the central control module of the intelligent control system uses an STM32F767 microcontroller, which has a faster processing speed and can process multiple sets of data simultaneously, improving control accuracy. The data storage module uses a 64GB solid-state drive, providing larger storage capacity and storing parameter data for 200 different cup types as well as 24 months of equipment operation logs. The human-machine interaction module adds voice control functionality, allowing operators to start, stop, and adjust parameters of the equipment via voice commands, further enhancing ease of operation.

[0047] In this embodiment, the correction coefficient k of the cup-shaped parameter recognition algorithm is 1.02, the proportional coefficient Kp of the PID control algorithm is 8, the integral time constant Ti is 0.4s, the derivative time constant Td is 0.03s, the basic clamping force F0 of the pressure closed-loop control algorithm is 6N, the proportional adjustment coefficient Kd is 2.5, and the deviation correction coefficients Kx and Ky of the stacking deviation correction algorithm are both 0.9. The robot in this embodiment can adapt to cups with a diameter of 40-160mm, a height of 60-220mm, and a wall thickness of 0.3-2mm. Its grasping speed is 12-16 cups / minute, the stacking accuracy error is ≤±0.3mm, the cup breakage rate is ≤0.05%, and the maintenance cycle is ≥6 months.

[0048] Example 4

[0049] according to Figure 1 , 2As shown in Figure 3, this embodiment proposes an adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry. The intelligent control system also includes a wireless communication module and a fault early warning and diagnosis system. The wireless communication module is model ESP8266, which enables wireless communication between the device and the host computer. Operators can remotely monitor the device's operating status, set parameters, and view operating logs and fault information through the host computer. At the same time, it can realize the collaborative control of multiple robots to improve production efficiency. The vision sensor of the perception and detection module adopts a binocular vision sensor, model ZED Mini, which can realize three-dimensional acquisition of cup body parameters, improve the accuracy and stability of cup body recognition, and is especially suitable for irregular cup shapes. The fault acquisition unit of the fault early warning and diagnosis system adds a vibration sensor, model ADXL345, to collect vibration data at the joints of the multi-drive arm, further improving the accuracy of fault identification. The diagnostic analysis unit can judge the joint wear based on the vibration data, issue maintenance warnings in advance, and extend the service life of the equipment.

[0050] Meanwhile, the rotary table 2 of the multi-drive arm is driven by a servo motor of model 130, improving the speed adjustment accuracy to 0.05 r / min and achieving higher positioning accuracy. The clamping arm 11 of the clamping component is made of high-strength stainless steel with anti-corrosion treatment, making it suitable for corrosive environments in industrial fields. The rubber sheet 12 is made of wear-resistant silicone, extending its service life to more than 12 months. In this embodiment, the correction coefficient k of the cup-shaped parameter recognition algorithm is 1.05, the proportional coefficient Kp of the PID control algorithm is 15, the integral time constant Ti is 0.1s, the derivative time constant Td is 0.1s, the basic clamping force F0 of the pressure closed-loop control algorithm is 10N, the proportional adjustment coefficient Kd is 5, and the deviation correction coefficients Kx and Ky of the stacking deviation correction algorithm are both 1.2. The robot in this embodiment can be adapted to cups with a diameter of 40-200mm, a height of 60-300mm, and a wall thickness of 0.3-3mm, including irregular cups. The grasping speed is 11-17 cups / minute, the stacking accuracy error is ≤±0.2mm, the cup breakage rate is ≤0.03%, the continuous operation time of the equipment is ≥120 hours, and the fault warning accuracy rate is ≥98%.

[0051] Example 5

[0052] according to Figure 1 , 2As shown in Figure 3, this embodiment proposes an adaptive gripping and stacking robot for various cup types in the intelligent manufacturing equipment industry. The gripping components and intelligent control system are specifically optimized. The support plate 8 and gripping arm 11 of the gripping components are made of food-grade 304 stainless steel with mirror polishing treatment, eliminating dead corners and facilitating cleaning and disinfection, which meets the hygiene standards of the food processing industry. The guide rail 10 adopts a sealed design to prevent residue and dust from entering and avoiding contamination of the cup, while extending the service life of the guide rail 10. The rubber 12 is made of food-grade high-temperature resistant silicone material, which can withstand high-temperature disinfection at 120℃, has a Shore hardness of 30, and is more flexible to avoid damaging the thin-walled food cup.

[0053] In terms of the intelligent control system, the sensing and detection module has added a foreign object detection sensor, model E3Z-LS63, to detect whether there are foreign objects inside the cup. If a foreign object is detected, the grasping action will stop immediately, and an alarm will be issued through the human-machine interaction module to prevent unqualified cups from entering the stacking process. The fault warning and diagnosis system has added a disinfection reminder function, which automatically reminds the operator to disinfect the equipment every 24 hours of operation, and records the disinfection time and method, storing them in the data storage module to achieve traceable hygiene control. The central control module integrates a quick recall function for cup type parameters, which can preset parameters for 50 commonly used food cup types. Operators can recall these parameters with one click through the touch screen, eliminating the need for repeated settings and improving operational efficiency.

[0054] In addition, a buffer mechanism is added to the multi-drive arm to achieve buffer deceleration at the end of the gripping and stacking actions, avoiding deformation or breakage of the cup due to impact. The connecting arm 6 is made of lightweight aluminum alloy, reducing the load on the drive arm and improving the motion response speed. In this embodiment, the correction coefficient k of the cup shape parameter recognition algorithm is 1.03, the proportional coefficient Kp of the PID control algorithm is 9, the integral time constant Ti is 0.35s, the derivative time constant Td is 0.04s, the basic clamping force F0 of the pressure closed-loop control algorithm is 7.5N, the proportional adjustment coefficient Kd is 3.5, and the deviation correction coefficients Kx and Ky of the stacking deviation correction algorithm are both 1.0. The robot in this embodiment can be adapted to food cups with a diameter of 50-160mm, a height of 80-220mm, and a wall thickness of 0.4-1.5mm. It has a grasping speed of 13-18 cups / minute, a stacking accuracy error of ≤±0.3mm, a cup breakage rate of ≤0.02%, and a hygiene compliance rate of 100%. It is suitable for the continuous operation requirements of food processing production lines.

[0055] Validation data:

[0056] The present invention has been tested and verified through five embodiments. In comparison with existing technologies, the core performance data is shown in the table below:

[0057]

[0058] As can be seen from the above data, the present invention has significantly improved the cup type adaptation range, grasping and stacking accuracy, cup breakage rate, continuous operation capability of equipment and fault early warning, adapting to the production needs of different fields, and can effectively improve production efficiency and reduce operation and maintenance costs.

[0059] This intelligent manufacturing equipment industry's adaptive gripping and stacking robot for various cup types, by setting up multi-degree-of-freedom multi-drive arms and combining the angle adjustment function of universal joint 7, can achieve flexible adjustment of the gripping components in multiple directions and angles. This solves the problems of insufficient degrees of freedom and inflexible adjustment of existing drive arms, enabling it to adapt to cups with different placement angles and stacking heights. This significantly improves the equipment's versatility and adaptability, reduces equipment replacement and debugging costs, and eliminates the need for frequent replacement of gripping components, meeting the gripping and stacking needs of various cup types and improving production continuity. The invention uses a gripping component with a flexible gripping design through multiple sets of sliding gripping arms 11 and rubber 12, combined with a pressure closed-loop control algorithm. This allows for flexible gripping from the inside of the cup, adapting to various cup types with different diameters and wall thicknesses while avoiding scratches on the cup surface. This solves the problems of poor adaptability and easy damage to the cup in existing gripping structures, improving gripping stability and safety, and is especially suitable for gripping thin-walled, easily deformable cups, reducing the cup breakage rate. This invention's intelligent control system integrates multiple modules, including a sensing and detection module and a central control module. Combining various algorithms such as cup-shaped parameter recognition and PID control, it achieves automatic identification of cup parameters, precise control of the gripping posture, and real-time correction of stacking accuracy. This solves the problems of imperfections, low control accuracy, and poor coordination in existing intelligent control systems, significantly improving the efficiency and accuracy of gripping and stacking, reducing human intervention, and lowering the workload of operators. The clamping component of this invention can meet the gripping and stacking needs of cups of different specifications and types, solving the problems of poor versatility and cumbersome replacement of clamping components in existing equipment, thus improving production efficiency. Simultaneously, the multi-drive arm adopts servo control and cylinder-assisted drive, resulting in higher positioning accuracy and smoother movement, further ensuring the stability of gripping and stacking. The intelligent control system of this invention is equipped with a complete human-machine interaction module, fault alarm mechanism, and data storage module. It adds a fault early warning and diagnosis system, which can monitor the equipment operating status in real time, identify potential faults and issue tiered warnings, and supports wireless remote monitoring. It solves the problems of inconvenient operation, difficult maintenance, untraceable data, and low fault diagnosis efficiency of existing equipment, reduces the labor intensity of operators, improves the operation and maintenance efficiency of equipment, and can provide early warnings of faults through operation logs and fault data, thereby reducing equipment downtime and lowering operation and maintenance costs.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-cup-shaped adaptive grasping and stacking robot for the intelligent manufacturing equipment industry, comprising the robot body and an intelligent control system, characterized in that: The robot body includes a multi-drive arm and a gripping assembly. The gripping assembly is located at the drive end of the multi-drive arm, and the multi-drive arm is used to adjust the position of the gripping assembly in multiple directions. The gripping assembly is used to grip and grab cups from the inside for stacking. The intelligent control system includes a perception and detection module, a central control module, a drive control module, a human-machine interaction module, and a data storage module. The perception and detection module is used to collect cup parameters, grasping posture, stacking position, and equipment operating status data. The central control module is used to analyze and process the collected data and generate control commands. The drive control module is used to receive commands from the central control module and drive the multi-drive arm and clamping components to complete grasping, moving, and stacking actions. The human-machine interaction module is used to realize parameter setting, status display, and fault alarm. The data storage module is used to store equipment operating parameters, cup shape parameters, and operating logs.

2. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 1, characterized in that: The multi-drive arm includes a base (1), a rotating seat (2) and a first rotating arm (3). The rotating seat (2) is rotatably mounted above the base (1) via a rotary bearing. The first rotating arm (3) is rotatably mounted above the rotating seat (2) via a hinge shaft. A first cylinder (4) is hinged to one side of the rotating seat (2) via a hinge seat. The output end of the first cylinder (4) is hinged to the first rotating arm (3) via a hinge pin. A second rotating arm (5) is hinged to the top of the first rotating arm (3) via a hinge shaft. A connecting arm (6) is fixedly provided at one end of the second rotating arm (5). The connecting arm (6) and the clamping assembly are connected via a universal joint (7). The universal joint (7) is used to adjust the clamping posture of the clamping assembly to adapt to cups with different placement angles.

3. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 2, characterized in that: The clamping assembly includes a support plate (8) and a second cylinder (9). The second cylinder (9) is located at the middle position above the support plate (8). A guide rail (10) is provided below the support plate (8), and several sets of guide rails (10) are provided at equal angles. A clamping arm (11) is provided below the guide rail (10) via a slider, and a rubber sheet (12) is provided below the outer side of the clamping arm (11). The output end of the second cylinder (9) is connected to a top plate (13), and a linkage arm (14) is hinged to the outer side of the top plate (13) via a hinge pin. The outer side of the linkage arm (14) is hinged to the clamping arm (11) via a hinge pin. When the output end of the second cylinder (9) extends or retracts, it drives the top plate (13) to move up and down, and then drives the clamping arm (11) to slide along the guide rail (10) via the linkage arm (14), thereby realizing the opening and closing of the clamping arm (11) and completing the gripping and releasing of the cup.

4. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 3, characterized in that: The bottom of the clamping arm (11) is provided with an arc-shaped groove, and the rubber (12) is fitted into the arc-shaped groove. The surface of the rubber (12) is provided with anti-slip texture. The rubber (12) is made of food-grade silicone material with a hardness of Shore 30-50 degrees. It is used to increase the friction between the clamping arm (11) and the inner side of the cup, while avoiding scratching the cup. It is suitable for gripping thin-walled and easily deformable cups. The linkage arm (14) is made of aluminum alloy and the surface is anodized.

5. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 2, characterized in that: The sensing and detection module includes a vision sensor, a pressure sensor, and a displacement sensor. The vision sensor is used to collect data on the cup's diameter, height, wall thickness, and placement position. The pressure sensor is installed on the clamping arm (11) of the clamping assembly to detect the clamping force. The displacement sensor is installed at each joint of the multi-drive arm to detect the movement displacement of the drive arm. The central control module processes the data collected by the vision sensor using a cup-shaped parameter recognition algorithm to obtain the key parameters of the cup. The formula for the cup-shaped parameter recognition algorithm is: ， Where: D is the actual diameter of the cup (mm); S is the projected area of ​​the cup opening captured by the vision sensor (mm²). 2 ); π is the mathematical constant pi (value 3.1416); k is a correction coefficient, adjusted according to the installation height of the vision sensor, with a value range of 1.02-1.05, used to compensate for errors in the visual imaging process and ensure the accuracy of cup diameter recognition.

6. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 1, characterized in that: The drive control module employs a PID control algorithm to precisely control the speed and position of the multi-element drive arm, ensuring smooth movement and accurate positioning, and preventing the cups from detaching or tilting due to inertia. The PID control algorithm formula is as follows: ， Where: u(t) is the drive control output (V), used to adjust the operating parameters of the drive motor or cylinder; Kp is the proportional coefficient, ranging from 5 to 15, used to adjust the control response speed; e(t) is the deviation between the current position and the target position (mm); Ti is the integral time constant (s), ranging from 0.1 to 0.5 s, used to eliminate steady-state error; Td is the derivative time constant (s), ranging from 0.01 to 0.1 s, used to suppress overshoot; τ is the integral variable, and t is time (s).

7. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 2, characterized in that: The clamping force of the clamping component is adjusted through a pressure closed-loop control algorithm to adapt to cups with different wall thicknesses, preventing cup breakage or loosening of the grip. The formula for the pressure closed-loop control algorithm is: ； Where: F is the actual clamping force (N) of the clamping arm (11); F0 is the basic clamping force (N), which is set according to the minimum wall thickness of the cup and has a value range of 5-10N; Kd is the proportional adjustment coefficient, which has a value range of 2-5 and is used to adjust the response sensitivity of the clamping force; Fset is the preset clamping force (N), which is set according to the wall thickness of the cup and has a value range of 8-25N; Freal is the actual clamping force (N) detected by the pressure sensor, which realizes real-time feedback and adjustment of the clamping force.

8. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 1, characterized in that: The intelligent control system also includes a stacking accuracy optimization module, which uses a stacking deviation correction algorithm to correct the stacking position in real time to ensure that the cups are stacked neatly. The formula for the stacking deviation correction algorithm is as follows: ， Where: Δx is the deviation correction amount in the x direction (mm); Δy is the deviation correction amount in the y direction (mm); Kx and Ky are deviation correction coefficients, with a value range of 0.8-1.2, used to adjust the correction amplitude; xtarget and ytarget are the target x and y coordinates (mm) of the cup stacking, respectively; xreal and yreal are the actual x and y coordinates (mm) of the cup stacking, respectively. By correcting the deviation in real time, the stacking accuracy is improved.

9. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 1, characterized in that: The intelligent control system also includes a fault early warning and diagnosis system. This system communicates bidirectionally with the central control module and the sensing and detection module to monitor the real-time operating status of each component, identify potential faults, and issue tiered early warnings. The fault early warning and diagnosis system includes a fault acquisition unit, a diagnostic analysis unit, and an early warning execution unit. The fault acquisition unit collects operating parameters from the multi-drive arm, clamping assembly, and various modules of the intelligent control system, and transmits the collected data to the diagnostic analysis unit. The diagnostic analysis unit analyzes the collected operating parameters using a fault identification algorithm to determine whether the equipment has a fault, its type, and its severity. The fault identification algorithm is based on threshold comparison of operating parameters; when a certain operating parameter exceeds a preset threshold range, it is determined that the corresponding component has a fault. The early warning execution unit, based on the results of the diagnostic analysis unit, issues tiered early warning signals through the human-machine interaction module, stores the fault information in the data storage module, and generates fault troubleshooting suggestions to assist maintenance personnel in quickly handling faults.

10. The adaptive grasping and stacking robot for various cup shapes in the intelligent manufacturing equipment industry according to claim 1, characterized in that: The human-machine interface module includes a touch screen and an emergency stop button. The touch screen displays the device's operating status, cup-shaped parameters, number of items to be grabbed and stacked, and fault information, while also providing parameter setting, program editing, and manual operation control functions. The emergency stop button immediately cuts off the device's power supply and stops all operations in case of malfunction or emergency, ensuring the safety of the device and operators. The data storage module uses an SD card or solid-state drive to store parameter data for at least 100 cup shapes and at least 12 months of device operation logs for later maintenance and data analysis. The intelligent control system also includes a wireless communication module to enable wireless communication between the device and the host computer, as well as remote monitoring and parameter adjustment.

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