A feeding device for massager production and processing

Abstract

The application relates to the technical field of industrial automation, and discloses a feeding device for massage device production and processing, which comprises a belt conveyor, a mechanical arm and a vacuum chuck, and further comprises a vacuum-chuck suction-force self-adaptive adjustment system, the system comprising a static adsorption reference evaluation module, a dynamic disturbance quantification module, a posture-load coupling robustness evaluation module, a vacuum supply capacity evaluation module and a self-adaptive negative pressure decision and execution module. According to multi-source information such as product weight, motion acceleration, grabbing inclination angle and air source pressure, each module calculates a basic pressure coefficient, a dynamic load coefficient, a posture-load coupling robustness and a system efficiency coefficient; and the self-adaptive negative pressure decision and execution module dynamically adjusts the negative pressure value of the vacuum chuck according to the robustness and the efficiency coefficient. The application can self-adaptively adjust the adsorption force, improve the grabbing reliability and production efficiency, and reduce product damage.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation technology, and in particular relates to a feeding device for the production and processing of massagers. Background Technology

[0002] In automated production lines for massagers, the feeding process, as a core step connecting material supply and subsequent processing, directly impacts overall production efficiency and the quality stability of the final product. Massagers consist of highly heterogeneous components, including lightweight and surface-sensitive plastic shells, highly elastic but difficult-to-adhere rubber massage heads, and heavy and dense metal motor assemblies. These components exhibit significant differences in physical properties: plastic shells are prone to permanent indentations or micro-cracks due to concentrated local pressure; rubber components suffer from unstable adsorption contact areas due to complex surface textures; and metal components, due to their greater weight, require higher negative pressure strength. Current mainstream feeding devices generally employ vacuum suction cup technology to grasp and transfer components, but their control strategies are limited to preset fixed negative pressure values ​​or basic on / off logic, lacking adaptability to changes in operating conditions.

[0003] Traditional methods like these have several drawbacks in practical applications. First, in multi-product co-production models, a fixed negative pressure cannot dynamically match the characteristics of different components. For lightweight plastic parts or high-gloss surfaces, excessive negative pressure can easily cause irreversible surface damage, such as indentations, deformation, or even coating peeling. Conversely, when dealing with heavy motor components, insufficient negative pressure can lead to adsorption failure, causing parts to accidentally detach during robotic arm movement. This not only disrupts production but may also damage equipment or create safety hazards due to falling impacts. Second, dynamic disturbances in the production environment continuously threaten adsorption reliability. The instantaneous inertial forces generated when the robotic arm performs acceleration and deceleration add extra load. The slight vibrations of the worktable caused by equipment operation are transmitted to the suction cup interface through the structure. Simultaneously, material positioning deviations often cause tilting or center-of-gravity shifts between the suction cup and the component contact surface. These variables collectively weaken the sealing and load-bearing capacity of the adsorption interface. Traditional systems cannot quantify the impact of such disturbances in real time and can only maintain a conservatively high negative pressure setting for extended periods, resulting in excessive consumption of compressed air resources and significantly increasing the risk of product damage. Furthermore, the vacuum system itself exhibits time-varying characteristics: the gas supply pressure fluctuates due to pipeline network fluctuations, and the suction cup seals wear and leak over extended usage periods. Historical data indicates that this degradation gradually reduces the adsorption success rate. Existing technologies lack a comprehensive evaluation mechanism for system performance, making it difficult to accurately optimize negative pressure parameters under dynamic operating conditions, severely restricting the flexibility and reliability of massager production.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] The purpose of this invention is to provide a feeding device for the production and processing of massagers, in order to solve the above-mentioned problems.

[0006] This invention is implemented as follows: a feeding device for the production and processing of massagers includes a belt conveyor and a robotic arm on the belt conveyor. A vacuum suction cup is installed at the end of the robotic arm. The device further includes a vacuum suction cup suction force adaptive adjustment system, which comprises: a static adsorption benchmark evaluation module, which generates a base pressure coefficient based on the acquired product weight and effective adsorption area; a dynamic disturbance quantification module, which determines a dynamic load coefficient based on the vacuum suction cup's motion acceleration and the worktable's vibration amplitude; a posture-load coupling robustness evaluation module, which incorporates the gripping tilt angle and product center of gravity offset, and combines the base pressure coefficient and dynamic load coefficient to comprehensively evaluate the posture-load coupling robustness; a vacuum supply capacity evaluation module, which collects the air source supply pressure, leakage rate, and historical success rate of the same product to calculate the system efficiency coefficient; and an adaptive negative pressure decision and execution module, which calculates the target vacuum suction cup negative pressure value based on the posture-load coupling robustness and the system efficiency coefficient, and adjusts the current vacuum suction cup negative pressure value to the target value.

[0007] A further technical solution involves the following process for calculating the basic pressure coefficient: determining the static load requirement based on the product weight and effective adsorption area, and calculating the ratio of the static load requirement to the maximum negative pressure of the system based on the maximum negative pressure of the system; and limiting the ratio of the static load requirement to the maximum negative pressure of the system to a range not exceeding 1 to obtain the basic pressure coefficient, which is used to characterize the relative weight of the static load.

[0008] A further technical solution involves the following calculation process for the dynamic load coefficient: The absolute value of the vacuum suction cup's motion acceleration is compared with the maximum allowable acceleration to obtain the motion acceleration index; the vibration amplitude of the worktable is compared with the maximum allowable vibration amplitude to obtain the worktable vibration amplitude index; and the motion acceleration index and vibration amplitude index are weighted and combined to obtain the dynamic load coefficient. The dynamic load coefficient is used to characterize the additional impact of dynamic disturbances on adsorption.

[0009] A further technical solution involves calculating the attitude-load coupling robustness as follows: Normalizing the gripping tilt angle and product center of gravity offset to obtain the gripping tilt angle index and product center of gravity offset index; then substituting these into the formula... Obtain attitude-load coupling robustness , , Used to measure the degree of matching between the grasping posture and the ideal state. The closer it is to 1, the more ideal the posture is, and the smaller the required negative pressure can be; The smaller the value, the more severe the tilt and offset, requiring greater negative pressure compensation. To capture the tilt angle index, This refers to the product's center of gravity offset index. Based on the base pressure coefficient, For dynamic load factor, The tilt angle weight has a value range of 0-1.

[0010] A further technical solution is to normalize the gripping tilt angle and the product center of gravity offset by: comparing the absolute value of the gripping tilt angle and the absolute value of the product center of gravity offset with the maximum allowable tilt angle and the maximum allowable offset, respectively, to obtain the gripping tilt angle index and the product center of gravity offset index.

[0011] A further technical solution involves the following process for calculating the system efficiency coefficient: The gas supply pressure, leakage rate, and historical success rate of the same product are compared with the rated supply pressure, maximum allowable leakage rate, and maximum success rate, respectively. After limiting the ratio to an upper limit of 1, the gas supply pressure index, leakage rate index, and historical success rate index of the same product are obtained. The complements of the supply pressure index and leakage rate index, along with the historical success rate index, are multiplied to obtain the system efficiency coefficient. This system efficiency coefficient is used to characterize the actual working efficiency of the vacuum system.

[0012] A further technical solution involves the following calculation process for the target vacuum suction cup negative pressure value: obtaining the attitude-load coupling robustness and system efficiency coefficient; determining a target negative pressure value between the minimum safe negative pressure and the system maximum capacity based on the product of the attitude-load coupling robustness and the system efficiency coefficient; such that when the product is larger, the target negative pressure value is closer to the minimum safe negative pressure, and vice versa.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a feeding device for the production and processing of massagers. By dynamically evaluating static load, dynamic disturbance, posture matching and system efficiency, it adaptively adjusts the negative pressure of the vacuum suction cup, which solves the problem of adsorption failure and product damage caused by fixed negative pressure. It has the advantages of being able to dynamically adjust the negative pressure according to product characteristics and working conditions, thereby improving adsorption reliability and production efficiency and reducing product damage. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a feeding device for the production and processing of massagers provided by the present invention; Figure 2 A flowchart of the vacuum suction cup suction force adaptive adjustment system provided by the present invention.

[0015] In the attached diagram: 1. Belt conveyor; 2. Robotic arm; 3. Vacuum suction cup. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] In traditional automated production processes for massagers, the vacuum suction cup control method in the feeding stage lacks comprehensive perception capabilities for multi-source information. Existing technologies employ fixed negative pressure values ​​or simple on / off control strategies, which cannot adapt to the suction requirements of parts with different materials and shapes. Specifically, differences in product weight, surface characteristics, and structural rigidity lead to significant variations in static load; inertial forces generated by the acceleration and deceleration of the robotic arm, vibrations transmitted from the worktable, and suction cup tilting or center of gravity shifts caused by material positioning deviations introduce dynamic disturbances; and vacuum system conditions such as air source pressure fluctuations and leakage caused by suction cup wear further increase the uncertainty of the suction process. Consequently, the reliability of the suction process is significantly affected, increasing the risk of product damage and the probability of production interruptions, while energy consumption is exacerbated by conservative high negative pressure settings.

[0018] For example, on an automated production line that manufactures multiple massager products, when handling lightweight plastic shells, a fixed high negative pressure setting can easily cause indentations or deformation on the product surface. Conversely, during the transfer of heavier metal motor assemblies, the inertial force generated by the robotic arm's acceleration and deceleration, combined with the vibration of the worktable, can lead to insufficient fixed negative pressure, resulting in suction failure, product drops, and potential equipment damage. Furthermore, the suction cups wear down over time, increasing the leakage rate, but the control strategy remains unchanged, causing a decrease in suction stability and affecting production continuity.

[0019] If the above problems are not addressed, the adsorption reliability will be insufficient to meet the demands of multi-variety co-production, leading to reduced product qualification rates and decreased production efficiency. Energy consumption will continue to increase due to the conservative high negative pressure settings, while the risk of product damage and the probability of equipment failure will rise, potentially resulting in increased maintenance costs and deterioration of production system stability. Consequently, the flexibility of the overall production system and the ability to ensure product quality will be constrained.

[0020] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0021] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a feeding device for the production and processing of massagers, including a belt conveyor 1 and a robotic arm 2 on the belt conveyor. A vacuum suction cup 3 is installed at the end of the robotic arm. The belt conveyor 1 is a mechanical device for continuously conveying materials. It drives the cyclical movement of the belt to transport massager components to be processed from one workstation to another, providing materials for subsequent gripping operations. The robotic arm 2 is a programmable, multi-degree-of-freedom automated mechanical device, typically mounted above the belt conveyor 1, used to perform precise gripping, placement, and other operations. The robotic arm 2 can grip and transfer massager components from the belt conveyor 1 to a designated position according to a preset program or real-time instructions. The vacuum suction cup 3 is an actuating component installed at the end of the robotic arm 2. It achieves adsorption of the massager components by generating negative pressure. When the internal air pressure of the suction cup is lower than the external atmospheric pressure, a pressure difference is formed between the suction cup and the surface of the component, thereby generating an adsorption force, allowing the component to be stably gripped.

[0022] It also includes: a vacuum suction cup force adaptive adjustment system, which includes: The Static Adsorption Benchmark Assessment Module generates a baseline pressure coefficient based on the acquired product weight and effective adsorption area. This module is used to assess the baseline negative pressure level required for the suction cup to adsorb the product under static conditions. It determines an initial negative pressure requirement baseline by analyzing the product's inherent properties, such as product weight and the effective adsorption area of ​​the suction cup in contact with the product.

[0023] The dynamic disturbance quantification module determines the dynamic load coefficient based on the acceleration of the vacuum suction cup and the vibration amplitude of the worktable. This module quantifies the impact of dynamic factors that may occur during the gripping and transfer process on the adsorption stability. These dynamic factors include the acceleration generated by the robotic arm 2 during its movement and the vibration that may exist on the worktable. This module aims to convert these disturbances into measurable coefficients.

[0024] The attitude-load coupling robustness assessment module incorporates the gripping tilt angle and product center of gravity offset, and combines these with the aforementioned base pressure coefficient and dynamic load coefficient to comprehensively evaluate the attitude-load coupling robustness. This module is used to comprehensively assess the degree of matching between the gripping attitude and the product load characteristics. It considers the tilt angle and product center of gravity offset that may occur during gripping, and, in conjunction with the effects of static load and dynamic disturbances, calculates an index reflecting adsorption robustness.

[0025] The vacuum supply capacity assessment module collects data on the gas source supply pressure, leakage rate, and historical success rate of similar products to calculate the system efficiency coefficient. This module evaluates the actual working efficiency of the entire vacuum adsorption system. It considers factors such as the gas source supply pressure, potential leakage rates in the suction cups or pipelines, and historical grasping success rates to determine the system's ability to stably provide the required negative pressure. The adaptive negative pressure decision and execution module calculates the target vacuum suction cup negative pressure value based on the attitude-load coupling robustness and system efficiency coefficient, and adjusts the current vacuum suction cup negative pressure value to this target value. This module is the core control unit of the entire device. Based on the coefficients and robustness provided by the assessment module, it calculates an optimal target vacuum suction cup negative pressure value. Subsequently, the module issues a command to adjust the current negative pressure value of vacuum suction cup 3 to reach the calculated target negative pressure value, thereby achieving stable and efficient grasping of the massager components.

[0026] In traditional feeding schemes, the negative pressure value of the vacuum suction cup 3 is usually set to a fixed value or simply controlled on and off. For example, when gripping lightweight plastic shells, using a fixed high negative pressure can easily damage the product surface; while when gripping heavy metal motor components, insufficient negative pressure may lead to gripping failure. In contrast, this application achieves a comprehensive, multi-dimensional, real-time evaluation of the adsorption process by introducing a static adsorption benchmark evaluation module, a dynamic disturbance quantification module, an attitude-load coupling robustness evaluation module, and a vacuum supply capability evaluation module.

[0027] Specifically, when gripping lightweight plastic casings, this device can identify their low static load characteristics and, combined with minimal dynamic disturbance, a favorable gripping posture, and an efficient vacuum system, calculate and execute an appropriate lower negative pressure value via an adaptive negative pressure decision and execution module. This contrasts sharply with existing technologies that may cause product indentation or deformation due to fixed high negative pressure, significantly improving product protection capabilities.

[0028] When dealing with heavy metal motor components, potentially accompanied by significant dynamic disturbances, suboptimal gripping postures, and fluctuations in vacuum system performance, this device comprehensively considers all adverse factors. The adaptive negative pressure decision and execution module calculates and executes a higher negative pressure value sufficient to ensure reliable gripping. This effectively solves the risk of gripping failure, dropping, or even equipment damage due to insufficient negative pressure in existing technologies, greatly improving production continuity and safety.

[0029] Therefore, this embodiment achieves adaptive adjustment of the negative pressure value of the vacuum suction cup by comprehensively sensing and intelligently making decisions based on multi-source information such as product weight, effective adsorption area, motion acceleration, workbench vibration, gripping tilt angle, product center of gravity shift, air supply pressure, leakage rate, and historical success rate. This refined and intelligent negative pressure control mechanism overcomes the limitations of the fixed negative pressure mode in existing technologies, significantly improves the flexibility, reliability, and product quality of the massager production and processing, while avoiding unnecessary energy waste, demonstrating the innovation and progress of this technical solution.

[0030] This application further proposes the following calculation process for the basic pressure coefficient: The product weight and effective adsorption area are obtained. The product weight refers to the actual mass of the massager product to be grasped, which can be measured in real time by integrating a weighing sensor on the belt conveyor 1, or obtained by querying a pre-established product database. The effective adsorption area refers to the area where the vacuum suction cup 3 contacts the product and forms an effective seal. This can be determined in real time by scanning and analyzing the product surface using a visual recognition system, or pre-calculated and stored based on the geometry of the vacuum suction cup 3 and the product design drawings.

[0031] The static load requirement is determined based on the product weight and effective adsorption area. Then, based on the system's maximum negative pressure, the ratio of the static load requirement to the system's maximum negative pressure is calculated and limited to a value not exceeding 1 to obtain the basic pressure coefficient. This basic pressure coefficient characterizes the relative weight of the static load. The specific calculation method is as follows: substituting into the formula... Obtain the basic pressure coefficient , The calculation result of this formula Limited to between 0 and 1, its function is to quantify the degree of static load. Reflects the weight of the static load. The closer the value is to 1, the heavier the static load and the closer the required negative pressure is to the upper limit; conversely, the closer the value is to 1, the heavier the static load and the closer the required negative pressure is to the upper limit. The smaller the value, the lighter the static load, and the relatively smaller the required negative pressure. This calculation process is typically performed by a dedicated computing unit, such as an embedded controller or industrial PC, which receives sensor data and preset parameters and performs the corresponding mathematical operations. For product weight, It is the acceleration due to gravity. For effective adsorption area, The maximum negative pressure of the system refers to the maximum negative pressure value that the vacuum system connected to the vacuum chuck 3 can provide. This value is usually the rated parameter of the vacuum pump or vacuum generator, which can be configured during system initialization or monitored in real time by a pressure sensor.

[0032] The solution presented in this application, through the aforementioned process, enables the static adsorption benchmark assessment module to provide a precise and quantifiable baseline pressure coefficient. This process first obtains the product weight. Effective adsorption area and the system's maximum negative pressure Product weight and effective adsorption area It is a physical quantity that directly affects the force required for adsorption, while the maximum negative pressure of the system... This represents the maximum adsorption capacity that the vacuum system can provide. By substituting these parameters into the formula... The system can calculate a basic pressure coefficient between 0 and 1. The numerator of this formula The denominator represents the static load of the product under gravity. This represents the maximum theoretical suction force that vacuum chuck 3 can provide under maximum negative pressure. By comparing these two values ​​and performing normalization, It can accurately reflect the severity of static load. When The closer the value is to 1, the closer the static load is to the maximum adsorption capacity of the vacuum suction cup 3, and therefore the closer the required negative pressure is to the upper limit; conversely, when... The smaller the value, the lighter the static load, and the lower the required negative pressure can be. This quantitative calculation method allows the static adsorption benchmark evaluation module to provide an accurate and reliable benchmark, providing precise input for the adaptive negative pressure decision and execution module, thereby ensuring that the vacuum suction cup 3 can maintain the stability of adsorption during static adsorption while avoiding unnecessary energy waste.

[0033] The following is a specific example to illustrate this. As a concrete implementation method, the calculation and acquisition process of the basic pressure coefficient can be implemented as follows: First, a high-precision weighing sensor can be integrated at a specific location on the belt conveyor 1 to measure the weight of the massager product to be grasped in real time. Meanwhile, an industrial camera can be deployed above the gripping area of ​​the robotic arm 2, working with image processing algorithms to identify the effective adsorption area of ​​the vacuum suction cup 3 in contact with the product. Maximum negative pressure of the system This value can be pre-stored in the controller's parameter table, derived from the vacuum pump's rated parameters. When robotic arm 2 is ready to grasp a product, the control system obtains the product's weight from the weighing sensor. The effective adsorption area is obtained from the image processing module. And read the system's maximum negative pressure from the parameter table. Subsequently, an embedded microcontroller, such as an ARM-based processor, executes a pre-defined calculation program, substituting the acquired parameters into the formula. Calculations are performed, including gravitational acceleration. It can be set to the standard value of 9.8. The calculated basic pressure coefficient It will be passed to the adaptive negative pressure decision and execution module as an important basis for determining the negative pressure value of the target vacuum suction cup.

[0034] Through the above technical solution, this application provides a method for accurately quantifying the impact of static load on the adsorption negative pressure requirement. By obtaining the product weight, effective adsorption area, and maximum system negative pressure, and substituting them into a specific formula to calculate the basic pressure coefficient, the severity of the static load can be accurately assessed. This avoids the uncertainty caused by adsorption based on experience or fixed negative pressure values ​​in traditional methods, and effectively solves the problem of adsorption failure or over-adsorption caused by inaccurate assessment of static load. When the static load is heavy, the system can promptly identify and indicate the need for a higher negative pressure to ensure stable gripping; when the static load is light, the negative pressure can be appropriately reduced, thereby saving energy consumption and improving the operating efficiency and reliability of the feeding device.

[0035] This application further proposes the following process for calculating and obtaining the dynamic load factor: The acceleration of the vacuum suction cup and the vibration amplitude of the worktable are obtained. The acceleration of the vacuum suction cup refers to the rate of change of its motion state when performing actions such as grasping and handling. This acceleration can be obtained in real time by installing an acceleration sensor on the robotic arm 2 or the vacuum suction cup 3, or by obtaining the planned motion trajectory and speed information from the motion controller of the robotic arm 2, and then calculating it. The vibration amplitude of the worktable refers to the magnitude of the mechanical vibration generated by the production worktable carrying the product during the production process. This vibration amplitude can be monitored and obtained in real time by installing a vibration sensor or displacement sensor on the worktable.

[0036] The absolute value of the vacuum suction cup's motion acceleration is compared with the maximum permissible acceleration to obtain the motion acceleration index. The maximum permissible acceleration refers to the maximum motion acceleration that the vacuum suction cup 3 can withstand while ensuring stable adsorption. This value is usually preset based on the physical characteristics of the suction cup 3, product characteristics, and safety margins, or determined experimentally.

[0037] The vibration amplitude of the workbench is calculated by comparing it with the maximum permissible vibration amplitude to obtain the workbench vibration amplitude index. The maximum permissible vibration amplitude refers to the maximum vibration amplitude that the workbench can withstand while ensuring adsorption stability. This value is also preset or experimentally calibrated based on the production environment, product characteristics, and safety requirements.

[0038] The calculation of the motion acceleration index and the table vibration amplitude index aims to normalize the actually measured dynamic parameters, transforming them into dimensionless exponents. By comparing these exponents with their respective maximum permissible values, the degree of current dynamic disturbance relative to the system's tolerance can be intuitively reflected. For example, when the absolute value of the motion acceleration is close to the maximum permissible acceleration, the motion acceleration index will approach 1, indicating a relatively large dynamic disturbance.

[0039] The dynamic load coefficient is obtained by weighting the motion acceleration index and the vibration amplitude index. This dynamic load coefficient is used to characterize the additional effect of dynamic disturbance on adsorption. Specifically, the calculation method involves substituting the motion acceleration index and the table vibration amplitude index into the formula. Obtain dynamic load factor , , This reflects the additional effects of dynamic factors (acceleration and vibration) on adsorption. The larger the value, the more severe the dynamic disturbance, and the greater the required negative pressure should be. The acceleration index is the velocity index. The vibration amplitude index of the workbench. The acceleration weight, ranging from 0 to 1, is used to balance the relative importance of motion acceleration and table vibration amplitude in the calculation of dynamic load coefficients. This weight can be adjusted based on actual production experience, product sensitivity, or through optimization algorithms. For example, when the product is more sensitive to changes in acceleration, the acceleration weight can be appropriately increased.

[0040] The proposed solution first acquires real-time dynamic parameters such as the vacuum suction cup's motion acceleration and the table's vibration amplitude. These raw dynamic parameters are then compared with preset maximum allowable acceleration and maximum allowable vibration amplitude to obtain motion acceleration exponents and table vibration amplitude exponents. This normalization process provides a standardized metric for assessing the severity of current dynamic conditions relative to safe operating limits. Next, these normalized exponents are combined using a weighted summation, where acceleration weights are used to adjust the relative importance of motion acceleration and table vibration amplitude in the calculation, ultimately calculating the dynamic load coefficient. This coefficient comprehensively reflects the combined impact of the robot arm's movement and the table's vibration on adsorption stability. This is achieved by introducing a dynamic load coefficient. The solution proposed in this application can overcome the shortcomings of relying solely on static load assessments (such as the foundation pressure coefficient). When dynamic disturbances (such as high acceleration or severe vibration) occur, The value will increase accordingly, indicating that the system needs higher adsorption force to overcome these dynamic effects. This dynamic load factor can then be used for subsequent negative pressure decisions to ensure stable product gripping even in dynamic environments.

[0041] For example, as a specific implementation, in the feeding device for massaging device manufacturing, a three-axis MEMS accelerometer can be installed at the end of the robotic arm 2, near the vacuum suction cup 3, to acquire the real-time acceleration of the vacuum suction cup. Simultaneously, a laser displacement sensor is installed on the worktable surface to monitor the vibration amplitude of the worktable. During system initialization, the maximum allowable acceleration is set to 5 m / s², and the maximum allowable vibration amplitude to be 0.5 mm, based on experimentation or experience. Acceleration weighting. The sensitivity of the product to acceleration and vibration can be set, for example, to 0.6. In actual operation, when the sensor detects an absolute value of 3 m / s² for the vacuum suction cup's motion acceleration and a table vibration amplitude of 0.2 mm, the system first calculates the motion acceleration index. The vibration amplitude index of the workbench is 0.6. The value is 0.4. Then, these exponents are substituted into the formula. The calculated value is 0.52, thus obtaining the dynamic load factor. It is 0.52.

[0042] Through the above technical solution, this application can effectively quantify the dynamic disturbances caused by the movement of the vacuum suction cup 3 and the vibration of the worktable. By acquiring the acceleration of the vacuum suction cup and the amplitude of the worktable vibration and converting them into dynamic load coefficients, the system can comprehensively assess the dynamic risks in the adsorption process. This allows for the consideration of not only static loads but also the impact of dynamic factors on adsorption stability in subsequent negative pressure decisions, thereby enabling more precise adjustment of the negative pressure value of the vacuum suction cup 3. This effectively avoids product detachment caused by the rapid movement of the robotic arm 2 or the vibration of the worktable, significantly improving the gripping success rate and operational stability of the massager production and processing feeding device.

[0043] This application further proposes the following process for calculating and obtaining the attitude-load coupling robustness: The system acquires the gripping tilt angle and product center of gravity offset, as well as the basic pressure coefficient and dynamic load coefficient. The gripping tilt angle refers to the angular deviation between the suction surface of the vacuum suction cup 3 and the product surface when the vacuum suction cup 3 grips the product. This angle directly affects the contact area and sealing performance between the vacuum suction cup 3 and the product surface. This angle can be acquired in real time by installing an angle sensor, such as a gyroscope or vision system, at the end of the robotic arm 2 or near the vacuum suction cup 3. The product center of gravity offset refers to the horizontal distance deviation between the actual center of gravity of the product and the suction center of the vacuum suction cup 3 when the product is suctioned by the vacuum suction cup 3. Center of gravity offset will cause an imbalance in the suction torque, increasing the risk of detachment. This offset can be calculated by pre-establishing a product center of gravity model and combining it with the vision system to identify the product position. The basic pressure coefficient and dynamic load coefficient are provided by the above calculation module.

[0044] The absolute values ​​of the gripping tilt angle and the absolute value of the product center of gravity offset are compared with the maximum permissible tilt angle and the maximum permissible offset, respectively, to obtain the gripping tilt angle index and the product center of gravity offset index. This ratioing process involves dividing the actual measured value by the corresponding maximum permissible value to obtain a dimensionless index, facilitating subsequent standardized calculations. The maximum permissible tilt angle and the maximum permissible offset are preset thresholds used to normalize the actual measured values; these values ​​are typically determined through experimental testing or empirical data.

[0045] Substitute into the formula Obtain attitude-load coupling robustness This formula comprehensively considers the above factors and quantifies the adsorption robustness of the vacuum chuck 3 under the current posture and load conditions. This calculation is typically performed by a computing unit, such as a microcontroller or industrial PC. , Used to measure the degree of matching between the grasping posture and the ideal state. The closer it is to 1, the more ideal the posture is, and the smaller the required negative pressure can be; The smaller the value, the more severe the tilt and offset, requiring greater negative pressure compensation. To capture the tilt angle index, This refers to the product's center of gravity offset index. Based on the base pressure coefficient, For dynamic load factor, The tilt angle weight has a value range of 0-1. The tilt angle weight is used to adjust the relative influence of the gripping tilt angle and the product center of gravity offset on the attitude-load coupling robustness calculation results. Its value can be set according to product characteristics and production experience.

[0046] This application's solution uses an attitude-load coupling robustness assessment module to quantitatively evaluate attitude deviations and uneven load distribution during the gripping process. This module first acquires the gripping tilt angle and product center of gravity offset of the current gripping operation. These parameters directly reflect the actual contact between the vacuum suction cup 3 and the product, as well as the distribution of the product load. To quantify these physical quantities uniformly, the system ratios the absolute value of the gripping tilt angle to a preset maximum allowable tilt angle, obtaining a gripping tilt angle index; simultaneously, it ratios the absolute value of the product center of gravity offset to a preset maximum allowable offset, obtaining a product center of gravity offset index. These two indices represent the degree of tilt and offset, respectively. Subsequently, these indices, along with the previously calculated basic pressure coefficient and dynamic load coefficient, are substituted into a specific mathematical formula for calculation. This formula uses tilt angle weights... To balance the impact of the gripping tilt angle index and the product center of gravity offset index on robustness, and further combine the basic pressure coefficient. and dynamic load factor This study comprehensively evaluated the coupling effect of grasping attitude on adsorption robustness under current static load and dynamic disturbance conditions. The final calculated attitude-load coupling robustness was then determined. It is a value between 0 and 1, which intuitively reflects the degree of matching between the current grasping posture and the ideal state. When The closer the value is to 1, the more ideal the grasping posture and the higher the adhesion robustness; conversely, when... The smaller the value, the more severe the tilt or center of gravity shift, and the worse the adsorption robustness. In this way, this application can comprehensively evaluate the gripping robustness of the vacuum suction cup 3, providing a more accurate basis for subsequent adaptive negative pressure decisions, thereby effectively avoiding gripping failures caused by poor posture or uneven load.

[0047] The following is a concrete example. On a massager production line, when robotic arm 2 prepares to grasp a massager casing, it first acquires the real-time posture information of the casing using a vision sensor mounted at the end of robotic arm 2. Combined with the kinematic data of robotic arm 2, the grasping tilt angle of the vacuum suction cup 3 is calculated. Simultaneously, using a pre-established 3D model and center of gravity data of the massager casing, and combined with the precise position of the casing on the worktable identified by the vision system, the offset of the product's center of gravity relative to the adsorption center of the vacuum suction cup 3 is calculated. Assuming the preset maximum allowable tilt angle is 5 degrees and the maximum allowable offset is 10 millimeters, if the current grasping tilt angle is 2 degrees and the product's center of gravity offset is 3 millimeters, the grasping tilt angle index and the product's center of gravity offset index are calculated respectively. Subsequently, these indices, along with the baseline pressure coefficient (e.g., 0.6) calculated by the static adsorption benchmark evaluation module and the dynamic load coefficient (e.g., 0.2) calculated by the dynamic disturbance quantification module, are input into the attitude-load coupling robustness evaluation module. In this module, the tilt angle weight is set. The value is 0.7. The system substitutes these parameters into the formula. The calculation is performed. For example, if the calculation result is 0.85, it indicates that the current grasping posture is relatively ideal and the adsorption robustness is high. This calculation result is then passed to the adaptive negative pressure decision and execution module to comprehensively determine the final target vacuum suction cup negative pressure value.

[0048] Through the above technical solution, this application can accurately quantify the adsorption robustness risk caused by poor product posture or center of gravity shift during the gripping process. Considering only static load and dynamic disturbance may not adequately address minor deviations in product posture or uneven center of gravity distribution in actual production, leading to insufficient or unstable adsorption force. This application, by introducing the gripping tilt angle and product center of gravity shift, and coupling them with the base pressure coefficient and dynamic load coefficient for calculation, can more comprehensively and precisely evaluate the actual gripping capability of the vacuum suction cup 3. This allows the adaptive negative pressure decision and execution module to dynamically adjust the negative pressure value of the vacuum suction cup 3 based on more accurate robustness assessment results, thereby effectively avoiding gripping failures, product drops, or damage caused by posture or load distribution issues, significantly improving the stability and reliability of the massager manufacturing and feeding process.

[0049] This application further proposes the following process for calculating and obtaining the system performance coefficient: The system acquires the air supply pressure, leakage rate, and historical success rate for similar products. The air supply pressure reflects the vacuum source's supply capacity and can be obtained in real-time through a pressure sensor or from a system preset value. The leakage rate represents the pressure loss caused by poor sealing or other reasons during the maintenance of negative pressure in the vacuum system. It can be calculated by monitoring the rate of pressure decrease inside the vacuum suction cup 3 over a specific time period or evaluated through a system self-test program. The historical success rate for similar products records the ratio of the number of successful attempts to the total number of attempts when the vacuum suction cup 3 grasps similar products. This data is typically stored in the system's database and can be dynamically updated based on actual operational conditions.

[0050] The gas supply pressure, leakage rate, and historical success rate of the same product are compared with the rated supply pressure, maximum allowable leakage rate, and maximum success rate, respectively. After limiting the ratio to a maximum of 1, the gas supply pressure index, leakage rate index, and historical success rate index of the same product are obtained. This step aims to transform raw data with different dimensions and ranges into unified, dimensionless indices to facilitate subsequent comprehensive calculations. Ratio processing standardizes various parameters, quantifying them between 0 and 1. For example, the gas supply pressure index can be obtained by dividing the real-time supply pressure by the rated supply pressure, reflecting the percentage of current supply capacity relative to the ideal state. The leakage rate index is obtained by dividing the actual leakage rate by the maximum allowable leakage rate, and subtracting this ratio from 1, reflecting the negative impact of leakage on system performance. The historical success rate index of the same product directly reflects the reliability of the system in actual operation. Limiting the ratio to a maximum of 1 ensures that the index values ​​do not exceed a reasonable range, avoiding abnormally high values ​​from unduly affecting the overall assessment. Rated gas supply pressure, maximum permissible leakage rate, and maximum success rate are preset benchmark values ​​used to standardize real-time or historical data. These benchmark values ​​can be determined based on the design specifications of the vacuum system, industry standards, or through experimental testing.

[0051] The system efficiency coefficient is obtained by multiplying the gas supply pressure index, the complement of the leakage rate index, and the historical success rate index. This system efficiency coefficient is used to characterize the actual working efficiency of the vacuum system. Specifically, the calculation method is as follows: substitute the gas supply pressure index, the leakage rate index, and the historical success rate index of the same product into the formula. Obtain the system efficiency coefficient This formula is a mathematical model for comprehensively evaluating the performance of a vacuum system. , Reflects the actual working efficiency of the vacuum system. The larger the value, the more abundant the gas supply, the less leakage, the higher the historical success rate, and the more effectively the system can provide the required negative pressure. The gas supply pressure index directly reflects the supply capacity of the vacuum source. The leakage rate index is converted into a positive performance factor by subtracting the leakage rate index from 1; that is, the smaller the leakage, the larger the factor. The historical success rate index for the same product directly reflects the system's reliability in actual operation. By multiplying these three key indices, the vacuum system's gas supply capacity, sealing performance, and historical performance can be comprehensively considered to obtain a system efficiency coefficient that fully reflects the system's actual working effectiveness. The value of this coefficient ranges from 0 to 1. The larger the value, the higher the actual working efficiency of the vacuum system.

[0052] This application's solution refines the calculation process of the vacuum supply capacity assessment module, achieving precise quantification of the actual working efficiency of the vacuum system. First, the system comprehensively acquires key parameters affecting the gripping performance of the vacuum suction cup 3, including real-time gas supply pressure, the current system leakage rate, and the historical success rate of the vacuum suction cup 3 when gripping similar products. Simultaneously, it acquires preset rated supply pressure, maximum allowable leakage rate, and maximum success rate as benchmarks. Subsequently, these raw data undergo standardization processing, namely, the ratio of real-time parameters to their corresponding benchmark values, and the result is capped at 1, resulting in dimensionless gas supply pressure index, leakage rate index, and historical success rate index for similar products. This standardization process eliminates dimensional differences between different parameters, allowing them to be compared and calculated within a unified framework. Finally, these standardized indices are substituted into preset mathematical formulas. By comprehensively considering gas supply capacity, sealing performance, and historical reliability through product operations, the system efficiency coefficient is finally calculated. This coefficient intuitively reflects the actual working efficiency of the vacuum system under the current operating conditions, providing a reliable basis for the subsequent adaptive negative pressure decision and execution module to accurately adjust the negative pressure value of the vacuum suction cup 3. This detailed calculation process enables the vacuum supply capacity assessment module to provide a more accurate and comprehensive system performance assessment, thereby significantly improving the robustness and success rate of the entire feeding device in gripping operations under complex and variable operating conditions.

[0053] As a specific implementation method, the calculation and acquisition process of the system efficiency coefficient can be implemented as follows: First, the air supply pressure is acquired in real time by a pressure sensor installed on the air supply pipeline. For example, the pressure sensor can be a piezoresistive sensor, and its output signal is sent to the controller after analog-to-digital conversion. The leakage rate can be estimated by monitoring the rate of pressure drop in the vacuum chamber after the vacuum pump stops working when the vacuum suction cup 3 adsorbs a non-product surface, or by periodically performing airtightness tests on the vacuum pipeline and suction cup 3. The historical success rate of the same product can be provided by the production management system or MES system, which records the results of each grasping attempt and can update the success rate data in real time. The benchmark values ​​such as rated air supply pressure, maximum allowable leakage rate, and maximum success rate can be pre-stored in the controller's non-volatile memory. After acquiring these parameters, the controller divides the real-time air supply pressure by the rated air supply pressure to obtain the air supply pressure index, divides the real-time leakage rate by the maximum allowable leakage rate to obtain the leakage rate index, and directly uses the historical success rate of the same product as the historical success rate index of the same product. After calculation, if any index exceeds 1, it is limited to 1. Finally, the controller substitutes these exponents into the formula. Calculations are performed to obtain the final system efficiency coefficient. .

[0054] Through the above technical solution, this application provides a detailed and quantitative process for calculating and obtaining the system performance coefficient. This process comprehensively considers multiple key factors such as gas supply pressure, leakage rate, and historical success rate of similar products, standardizing them into dimensionless exponents, and then substituting them into a scientific mathematical model for calculation, thereby accurately evaluating the actual working performance of the vacuum system. This solves the problem of inaccurate system performance evaluation by the vacuum supply capacity assessment module when a specific quantitative method is lacking. Because the system performance coefficient... It can more accurately reflect the current state of the vacuum system. When combined with attitude-load coupling robustness, the adaptive negative pressure decision and execution module can calculate a more accurate target vacuum suction cup negative pressure value based on more reliable data. This not only ensures that the system can adjust the negative pressure in a timely manner to maintain gripping reliability under adverse conditions such as insufficient air supply, increased leakage, or decreased historical success rate, but also avoids excessive application of negative pressure when the system is performing well, thereby reducing energy consumption, extending equipment life, and significantly improving the overall operating efficiency and gripping success rate of the massager production and processing feeding device.

[0055] This application further proposes the following process for calculating and obtaining the negative pressure value of the target vacuum suction cup: The system acquires attitude-load coupling robustness and system efficiency coefficient. Attitude-load coupling robustness is a comprehensive indicator that reflects the degree of matching between the grasping attitude and the ideal state, as well as the impact of product center of gravity offset on adsorption stability. This robustness can be calculated by real-time measurement of the grasping tilt angle and product center of gravity offset using sensors, combined with preset maximum allowable values; or estimated using a pre-established model based on product type and grasping strategy. The system efficiency coefficient reflects the actual working efficiency of the vacuum system, comprehensively considering gas supply pressure, leakage rate, and historical success rate. This coefficient can be obtained by real-time monitoring of gas supply pressure using pressure sensors, estimating the leakage rate using flow sensors or pressure drop analysis, and statistically analyzing the success rate using historical data; or its accuracy can be ensured through regular calibration and maintenance.

[0056] Based on the product of attitude-load coupling robustness and system efficiency coefficient, a target negative pressure value is determined between the minimum safe negative pressure and the system's maximum capacity. This is achieved such that the larger the product, the closer the target negative pressure value is to the minimum safe negative pressure, and vice versa. The specific calculation method is as follows: substituting the values ​​into the formula... Obtain the negative pressure value of the target vacuum suction cup. This formula aims to minimize safe negative pressure. and system maximum capacity Between, based on attitude-load coupling robustness and system efficiency coefficient To dynamically adjust the target negative pressure. When and When both are close to 1 (indicating ideal grasping conditions and efficient system performance), the target negative pressure Approaching To achieve energy conservation; when and When the pressure is relatively low (indicating non-ideal grasping conditions or limited system performance), the target negative pressure... Approaching To provide stronger suction and ensure reliable gripping, the current vacuum suction cup negative pressure value is adjusted to the target vacuum suction cup negative pressure value. This is the decision-making process, which involves controlling the vacuum generating device (such as a vacuum pump, solenoid valve, etc.) to change the negative pressure inside the vacuum suction cup 3, so that it reaches the calculated target negative pressure value. This can be achieved through a proportional-integral-derivative (PID) controller, which performs closed-loop control based on the target negative pressure and real-time negative pressure feedback; or through a lookup table or fuzzy control, which outputs a corresponding control signal based on the target negative pressure value.

[0057] in, Minimum safe negative pressure refers to the lowest vacuum negative pressure value that must be maintained under any circumstances to ensure that the product does not fall off. This value can be obtained through experimental testing, empirical data, or theoretical calculation. For example, it can be determined by conducting minimum adsorption force tests on different products; or it can be theoretically calculated based on the product weight and suction cup area, combined with a safety factor. The maximum system capacity refers to the maximum vacuum negative pressure value that the vacuum system can provide. This value is usually determined by the performance parameters of the vacuum pump and is determined during the system design, for example, by consulting the technical specification manual of the vacuum pump; or by measuring the maximum negative pressure capacity of the system through actual operation tests. For match / compatibility / synergy, This represents the system efficiency coefficient.

[0058] The solution proposed in this application utilizes attitude-load coupling robustness. and system efficiency coefficient This method quantifies the physical grasping conditions (attitude, load distribution) and the actual performance of the vacuum system. By multiplying these two coefficients, a comprehensive "robustness-efficiency" factor is obtained. A higher factor indicates more ideal grasping conditions and stronger system capabilities, thus allowing the target negative pressure to approach the minimum safe negative pressure. Conversely, the lower the factor, the more unsatisfactory the conditions or the limitations of the system, requiring a higher target negative pressure to approach the system's maximum capacity. This adaptive calculation method ensures that the vacuum suction cup 3 always operates with sufficient but not excessive negative pressure, thus balancing safety and energy efficiency. The current negative pressure is then adjusted to the calculated target value, ensuring the practical implementation of this adaptive strategy. This method enables the loading device to dynamically respond to changing product characteristics, environmental conditions, and system performance, thereby significantly improving the reliability and efficiency of the loading process.

[0059] The following is a concrete example to illustrate this. Assume the system is set to a minimum safe negative pressure. The maximum system capacity is -30 kPa. The value is -80 kPa. During a single grasping operation, the attitude-load coupling robustness assessment module calculated the attitude-load coupling robustness. The value is 0.85, indicating a relatively good grasping posture, but with a slight product center of gravity shift. Meanwhile, the vacuum supply capacity assessment module calculates the system efficiency coefficient. A value of 0.90 indicates that the vacuum system is functioning well, with sufficient gas supply pressure and minimal leakage. These parameters are then sent to the adaptive negative pressure decision and execution module. Target vacuum suction cup negative pressure value. It will be calculated using the following formula: Substituting the specific values, we get -41.75 kPa. Once the target negative pressure value of -41.75 kPa is calculated, the system will adjust the negative pressure of the current vacuum suction cup 3 to reach this target value by controlling the vacuum pump or proportional valve. For example, a proportional pressure regulator connected to the vacuum line can receive this target value as input and adjust the vacuum level accordingly. The pressure sensor provides real-time feedback to the controller (e.g., a programmable logic controller or microcontroller), which then adjusts the regulator's output until the measured negative pressure matches the target value.

[0060] Through the above technical solution, this application can integrate various factors such as complex grasping posture, product load characteristics, and the actual operating performance of the vacuum system through posture-load coupling robustness. and system efficiency coefficient Quantitative and comprehensive considerations were conducted. Based on these quantitative indicators, combined with the minimum safe negative pressure... and system maximum capacity The target vacuum suction cup negative pressure value required by vacuum suction cup 3 under the current working conditions is accurately calculated. Subsequently, by adjusting the current negative pressure value of the vacuum suction cup to the target value, the suction force of the vacuum suction cup 3 can be dynamically adjusted according to actual needs. This ensures the reliability of gripping under adverse working conditions and avoids unnecessary excessive negative pressure under ideal working conditions, thereby effectively reducing energy consumption, reducing the risk of product damage, and significantly improving the stability and efficiency of the massager production and processing feeding process.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A feeding device for the production and processing of massagers, comprising a belt conveyor and a robotic arm on the belt conveyor, wherein a vacuum suction cup is installed at the end of the robotic arm, characterized in that, Also includes: The vacuum suction cup force adaptive adjustment system includes: The static adsorption benchmark evaluation module generates a baseline pressure coefficient based on the obtained product weight and effective adsorption area. The dynamic disturbance quantification module determines the dynamic load coefficient based on the acceleration of the vacuum chuck and the vibration amplitude of the worktable. The attitude-load coupling robustness assessment module incorporates the gripping tilt angle and product center of gravity offset, and combines them with the basic pressure coefficient and dynamic load coefficient to comprehensively evaluate the attitude-load coupling robustness. The vacuum supply capacity assessment module collects gas source supply pressure, leakage rate, and historical success rate of the same product to calculate the system efficiency coefficient. The adaptive negative pressure decision and execution module calculates the target vacuum suction cup negative pressure value based on the attitude-load coupling robustness and system efficiency coefficient, and adjusts the current vacuum suction cup negative pressure value to the target value.

2. The feeding device for massaging device manufacturing according to claim 1, characterized in that, The calculation process for the basic pressure coefficient is as follows: The static load requirement is determined based on the product weight and effective adsorption area, and the ratio of the static load requirement to the maximum negative pressure of the system is calculated based on the maximum negative pressure of the system. The ratio of static load demand to the maximum negative pressure of the system is limited to no more than 1 to obtain the basic pressure coefficient, which is used to characterize the relative weight of the static load.

3. The feeding device for massaging device manufacturing according to claim 2, characterized in that, The calculation process for the dynamic load coefficient is as follows: The absolute value of the vacuum suction cup's motion acceleration is compared with the maximum allowable acceleration to obtain the motion acceleration index; The vibration amplitude of the worktable is calculated by comparing it with the maximum permissible vibration amplitude to obtain the vibration amplitude index of the worktable. The dynamic load coefficient is obtained by weighting the motion acceleration index and the vibration amplitude index. The dynamic load coefficient is used to characterize the additional effect of dynamic disturbance on adsorption.

4. The feeding device for manufacturing massagers according to claim 3, characterized in that, The calculation and acquisition process for the attitude-load coupling robustness is as follows: Normalize the gripping tilt angle and product center of gravity offset to obtain the gripping tilt angle index and product center of gravity offset index. Substitute into the formula Obtain attitude-load coupling robustness , , Used to measure the degree of matching between the grasping posture and the ideal state. The closer it is to 1, the more ideal the posture is, and the smaller the required negative pressure can be; The smaller the value, the more severe the tilt and offset, requiring greater negative pressure compensation. To capture the tilt angle index, This refers to the product's center of gravity offset index. Based on the base pressure coefficient, For dynamic load factor, The tilt angle weight has a value range of 0-1.

5. The feeding device for massaging device manufacturing according to claim 1, characterized in that, The normalization method for the gripping tilt angle and product center of gravity offset is as follows: The absolute values ​​of the gripping tilt angle and the absolute value of the product center of gravity offset are compared with the maximum allowable tilt angle and the maximum allowable offset, respectively, to obtain the gripping tilt angle index and the product center of gravity offset index.

6. The feeding device for manufacturing massagers according to claim 1, characterized in that, The process for calculating and obtaining the system performance coefficient is as follows: The gas source supply pressure, leakage rate, and historical success rate of the same product are compared with the rated gas supply pressure, maximum allowable leakage rate, and maximum success rate, respectively. After limiting the upper limit of the ratio to 1, the gas source supply pressure index, leakage rate index, and historical success rate index of the same product are obtained. The system efficiency coefficient is obtained by multiplying the gas supply pressure index, the complement of the leakage rate index, and the historical success rate index. The system efficiency coefficient is used to characterize the actual working efficiency of the vacuum system.

7. The feeding device for manufacturing massagers according to claim 1, characterized in that, The process for calculating and obtaining the negative pressure value of the target vacuum suction cup is as follows: Obtain attitude-load coupling robustness and system performance coefficient; Based on the product of attitude-load coupling robustness and system efficiency coefficient, a target negative pressure value between the minimum safe negative pressure and the system's maximum capacity is determined; This ensures that the larger the product, the closer the target negative pressure value is to the minimum safe negative pressure, and vice versa.

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