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Height-adaptive material grabbing manipulator

A technology for grabbing manipulators and materials, which is applied in the field of manipulators and can solve problems such as constant changes in the height of materials

Inactive Publication Date: 2015-05-06
GUILIN UNIV OF AEROSPACE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the height of the manipulator needs to be adjusted due to the continuous change of the height of the material due to the conveying of the material in the process of automatic feeding, and to provide a method that can automatically adjust the lowering of the manipulator according to the height change of the grasping object. High material grabbing manipulator

Method used

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  • Height-adaptive material grabbing manipulator

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Embodiment Construction

[0016] refer to Figure 1-3 , a material grasping manipulator capable of self-adaptive height in the present invention, consisting of a Z-axis motion shaft 2 and a movable mechanical arm 4 that is movably connected with the Z-axis motion shaft 2 through an adjusting nut 5, and there are 3 movable mechanical arms 4, along the Z axis The shaft movement shaft 2 is evenly distributed in the circumferential direction. According to the maximum position of the grasped material, the position and angle of the mechanical arm 4 are adjusted through the adjustment nut 5. After the adjustment is completed, the nut is tightened to fix the position of the three mechanical arms; to achieve different sizes of materials. Grabbing, when the three mechanical arms 4 are close together, the size of the material to be grabbed is the smallest, and when they are evenly distributed, the size of the material to be grabbed is the largest. The Z-axis motion shaft 2 is connected to the control system to co...

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Abstract

The invention discloses a height-adaptive material grabbing manipulator. The height-adaptive material grabbing manipulator comprises a Z-axis motion shaft and movable mechanical arms which are movably connected with the Z-axis motion shaft, wherein the Z-axis motion shaft is connected with a control system; height limiting plates are arranged above the mechanical arms respectively, and are arranged opposite to a height position sensor arranged on the Z-axis motion shaft; a sucking disk fixing plate, a vacuum sucking disk, and a two-position three-way valve, a spherical sealing device, a spring and a pressure sensor arranged on the sucking disk fixing plate are arranged at the lower end respectively; the vacuum sucking disk is connected with the two-position three-way valve; one end of the spring is connected with the spherical sealing device, and the other end of the spring is connected with the pressure sensor. Movement of objects grabbed by the mechanical arms in a large range can be realized through adjustment, so that the requirement of grabbing materials of different sizes is met; under the situation that hydraulic pressure or air pressure does not need to be loaded externally, materials can be placed at an appropriate position through the mechanical arm along with the continuous lowering of the material height in a feeding process through an adaptive way.

Description

technical field [0001] The invention relates to a manipulator, in particular to a material grasping manipulator capable of self-adaptive height. Background technique [0002] At present, for the problem of material height change, manual feeding or friction feeding is generally used. The method of manual feeding is time-consuming, laborious, and slow; it can no longer meet the needs of automation; the method of friction feeding is generally used for the follow-up action and the movement of the feeding mechanism without a large distance, and the height cannot be changed. Feeding method; when there is a large height difference between the follow-up action and the feeding mechanism or a long discontinuous distance between the two, basically the friction feeding method cannot be used. Contents of the invention [0003] The purpose of the present invention is to solve the problem that the height of the manipulator needs to be adjusted due to the continuous change of the height ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 刘晓刚张栋梁叶东覃科杜春平许本胜杨正震
Owner GUILIN UNIV OF AEROSPACE TECH
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