Rigid-flexible hybrid manipulator, robot and method with vibration excitation function

Abstract

The invention relates to a rigid-flexible mechanical arm having a vibration excitation function, a robot and a method. The mechanical arm part mainly comprises a mechanical arm cantilever; the two ends of the mechanical arm cantilever respectively comprise a connecting part and an assembling part; the connecting part is fixedly connected with one end of a steel chain; the other end of the steel chain is fixedly connected with a material taking mechanism; the connecting part is also fixedly connected with a vibration excitation mechanism; the vibration excitation mechanism, independent of the material taking mechanism, is capable of performing vibration excitation on a material so that the material can be conveniently taken by the material taking mechanism. By designing a totally new structure, the mechanical arm disclosed by the invention has the characteristics of both rigidity and flexibility, and has the advantages of preventing stress concentration and rigid impulse of a rigid structure, also reducing shake generated during a picking process and also realizing material separation by performing vibration excitation.

Description

technical field [0001] The invention relates to the technical field related to mechanical engineering, in particular to a rigid-flexible hybrid manipulator, robot and method with vibration excitation function. Background technique [0002] At present, my country's economic development has entered a new normal, and the development of traditional machinery manufacturing industry is facing new challenges. It is urgent to transform and upgrade the manufacturing industry, and improve the automation and intelligence level of production and processing. At present, methods such as flame cutting, plasma cutting and laser cutting have been widely used in the blanking workshops of machinery enterprises. Most of the blanking workshops of domestic mechanical processing enterprises adopt the method of manual retrieving of materials after cutting plates, which is extremely inefficient and serious. limit the production efficiency of the enterprise. [0003] When retrieving materials by tra...

AI Technical Summary

Problems solved by technology

At present, methods such as flame cutting, plasma cutting and laser cutting have been widely used in the blanking workshops of machinery enterprises. Most of the blanking workshops of domestic mechanical processing enterprises adopt the method of manual retrieving of materials after cutting plates, which is extremely inefficient and serious. limit the production efficiency of the enterprise

[0003] When retrieving materials by traditional manual operation, the retrieving device is a purely flexible device, which uses a steel chain to connect the electromagnet, and manually controls the power on and off of the electromagnet to reclaim the material. During the reclaiming process, the device shakes a lot and is difficult to control. The material process is easy to collide with other equipment in the workshop, which is easy to cause personal injury to the on-site operators, and has a great potential safety hazard

[0004] The automatic reclaiming manipulator adopted by some enterprises, the terminal reclaiming device adopts a rigid design, which is prone to stress concentration and rigid impact when retrieving materials. In addition, after flame cutting, the plates are melted and bonded, which may easily cause difficulty in retrieving materials by the manipulator.

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