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State transition device for manipulator and manipulator including same

A state conversion and manipulator technology, applied in the field of manipulators, can solve the problems of flexible human hands, single rigid state of manipulators, inability to complete high-precision parts grabbing and assembly, etc., to achieve the effect of flexible switching

Active Publication Date: 2017-03-01
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the traditional manipulator is generally in a single rigid state, the state transition of the manipulator is not as flexible as that of the human hand, and it cannot complete the grasping and assembly operations of some high-precision parts

Method used

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  • State transition device for manipulator and manipulator including same
  • State transition device for manipulator and manipulator including same
  • State transition device for manipulator and manipulator including same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] This embodiment provides a state switching device for a manipulator, which is suitable for changing the working state of the manipulator, such as figure 1 As shown, the state switching device includes a first fixing part 1 provided with two through holes, a first cylinder 2 installed on the first fixing part 1, a second cylinder 3 and a limiter installed under the first fixing part 1. Positioning device 4, and the second fixing member 5.1; wherein, the limiting device 4 is located between the first cylinder 2 and the second cylinder 3 and at the same time between the first fixing member 1 and the second fixing member 5.1; the second fixing member 5.1 is provided with a first fixed rod 6 and a second fixed rod 7, the first fixed rod 6 and the first piston rod 8 of the first cylinder 2 passing through one of the through holes are connected by at least one ball joint, the second Use at least one ball hinge connection between the fixed rod 7 and the second piston rod 9 of t...

Embodiment 2

[0042] This embodiment provides a kind of manipulator, such as Figure 5-7 As shown, it includes the state conversion device as described in Embodiment 1, and also includes a third cylinder 12 installed on the second fixing member 5.2 and a fixing plate 13 installed below the second fixing member 5.2, and the third cylinder 12 The movable end of the third piston rod 14 is connected to the guide rail frame 15 with rail groove 15.1, and the mechanical claw 16; wherein, the mechanical claw 16 includes the first claw body 16.1 and the second claw body 16.2 located on the left and right sides of the rail frame 15 The middle parts of the first claw body 16.1 and the second claw body 16.2 are hingedly fixed on the fixed plate 13, and one end of the first claw body 16.1 and one end of the second claw body 16.2 can be slidably installed in the rail groove 15.1.

[0043] In this embodiment, the structure and working principle of the state conversion device are detailed in Embodiment 1, ...

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Abstract

The invention discloses a state conversion device used for a manipulator and the manipulator comprising the state conversion device, and belongs to the technical field of industrial automation. The state conversion device comprises a first fixing part with two through holes, a first air cylinder, a second air cylinder, a limiting device and a second fixing part, wherein the first air cylinder, the second air cylinder and the limiting device are installed on the first fixing part; the limiting device is located between the first air cylinder and the second air cylinder; a first fixing rod and a first piston rod of the first air cylinder penetrating through one through hole are connected through at least one spherical hinge; a second fixing rod and a second piston rod of the second air cylinder penetrating through the other through hole are connected through at least one spherical hinge. When the first piston rod and the second piston rod stretch out, the limiting device and the second fixing part keep an interval, and the state conversion state is in a flexible state. When the first piston rod and the second piston rod retract, the limiting device abuts against the second fixing part, and the state conversion device is converted to be in a rigid state. Flexible conversion between the flexible state and the rigid state of the whole device is finally achieved by controlling stretching and retracting of the two piston rods.

Description

technical field [0001] The invention relates to the technical field of industrial automation, in particular to a state conversion device for a manipulator and a manipulator including the device. Background technique [0002] With the development of science and technology, the aging of my country's population is coming ahead of schedule. Recently, there has been a serious shortage of labor in the southeast coast. This urgently requires us to increase labor productivity, reduce labor intensity of workers, and improve the level of industrial automation. [0003] There are some manipulators in the prior art, which are mainly used in industrial automation production lines, which can reduce a lot of repetitive work of workers and improve productivity at the same time. [0004] However, the traditional manipulator is generally in a single rigid state, and the state transition of the manipulator is not as flexible as that of the human hand, and it cannot complete the grasping and as...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/14B23P19/00
Inventor 张钊
Owner NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG