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Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device

A technology of anti-slip devices and grippers, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of low intelligence, inability to automatically adapt to changes in object weight, etc., and achieve high reliability and stability.

Inactive Publication Date: 2017-01-11
FUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these two methods belong to semi-closed-loop control, the stability still needs to be improved, and they cannot automatically adapt to changes in the weight of objects, and the degree of intelligence is low.

Method used

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  • Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device
  • Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device
  • Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device

Examples

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Embodiment Construction

[0030] In the anti-slip device of the palletizing manipulator gripper of the present invention, the anti-slip device 1 is installed on the gripper 2 , and a contact photoelectric slip sensor 3 is installed in the anti-slip device 1 .

[0031] Further, in order to design reasonably, the above-mentioned contact photoelectric slip sensor is used to sense the contact information and slip speed information of the gripper relative to the object, and automatically adjust the required gripping force.

[0032] Further, for rational design, the contact plane of the anti-slip device is coplanar with the plane of the holder.

[0033] Further, the above-mentioned anti-slip device 1 is in contact with the object to be clamped during the clamping process.

[0034] Further, in order to design rationally, the above-mentioned anti-slip device 1 includes a main body 5 with a light receiving and sending window 4, and a light emitting diode 6, a lens 7 and a light receiving sensor 8 arranged in th...

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Abstract

The invention relates to a contact photoelectric slippage sensor based anti-slipping device of a stacking manipulator gripper and a working method of the anti-slipping device. The anti-slipping device of the stacking manipulator gripper is characterized in that the anti-slipping device is mounted on the gripper, and a contact photoelectric slippage sensor is mounted in the anti-slipping device. Compared with the prior art, the design has the characteristics of higher flexibility, higher reliability and higher stability; the device controls clamp force in a slipping detection mode and can automatically adapt to change of size and weight of an object without modifying parameters of a manipulator while a device adopting a conventional mode can adapt to the change of the object only by modifying the parameters; compared with a conventional semi-closed-loop control mode for force or moment detection, the anti-slipping device adopts a closed-loop control system based on a direct slipping detection mode and has higher reliability and stability.

Description

[0001] Technical field: [0002] The invention relates to control engineering and sensor technology, in particular to an anti-slip device for a palletizing manipulator gripper and a working method thereof. [0003] Background technique: [0004] As a handling equipment, palletizing manipulators have been widely used in logistics and other fields. In the process of moving objects, the control of clamping force has always been a difficult problem. This problem directly affects the reliability, stability and flexibility of the manipulator. [0005] In the early days, the traditional devices of proximity switch and travel switch were generally used to detect the state of the object clamped by the manipulator. The limit switch is a commonly used small current master electrical appliance. It uses the collision of moving parts to make its contacts move to realize the connection or disconnection of the control circuit to achieve a certain control purpose. Its working principle is s...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J13/08
CPCB25J15/08B25J13/083
Inventor 王向峰林炎章
Owner FUZHOU UNIV
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