Mechanical hand capable of working on any 3D curve and action process for mechanical hand

Abstract

The invention discloses a mechanical hand capable of working on any 3D curve and an action process for the mechanical hand, and belongs to the technical field of automatic equipment. The mechanical hand capable of working on any 3D curve is characterized by comprising a rack (1), a travelling mechanism, a w-axis rotating mechanism (6) and a grabbing mechanism (7), wherein the travelling mechanism is mounted on the rack (1), and can separately move along the x axis, the y axis and the z axis; the w-axis rotating mechanism (6) is mounted on the travelling mechanism; the grabbing mechanism (7) is mounted on the w-axis rotating mechanism (6); and the grabbing mechanism (7) comprises a gabbing mechanism main body (45) as well as a pallet grabbing mechanism and a ceramic tile grabbing mechanism which are mounted on the grabbing mechanism main body. The grabbing mechanism of the mechanical hand is more flexible, and the ceramic tile grabbing mechanism and the pallet grabbing mechanism can separately grab ceramic tiles and pallets. The action process of the mechanical hand capable of working on any 3D curve can be matched with a ceramic tile production line better.

Description

technical field [0001] The invention relates to a manipulator capable of working in arbitrary 3D curves and its action process, belonging to the technical field of automation equipment. Background technique [0002] A manipulator refers to an automatic operating device that can imitate certain functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the first modern robot. The manipulator replaces the heavy labor of people to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Manipulators are widely used in machinery manufacturing, metallurgy, Departments of electronics, light work and atomic energy. [0003] In the ceramic tile production industry, the main function of the manipulator is the transfer of tiles and the stacking of tiles. The existing manipulators can usually complete the movement of the ...

AI Technical Summary

Problems solved by technology

[0004] 1. It is impossible to change the posture of the tiles, and it can only be transported according to the original posture of the tiles. Therefore, when the tiles are stacked after transshipment, the tiles can only be stacked in the same way, which is less flexible. The environment has high requirements and is inconvenient to use;

[0005] 2. The movement of the manipulator along the x-axis, y-axis and z-axis can only run at a constant speed. In order to ensure that the captured tiles will not be damaged during the transfer process, the manipulator needs to run at a low speed, which seriously affects the manipulator. work efficiency;

[0006] 3. When the manipulator moves along the z-axis, the z-axis column will drive the grabbed tiles up and down. Since the number of tiles grabbed each time is different, there will be differences in the weight of the z-axis column when it is lifted each time. The manipulator may vibrate when it is working, and there may be collisions due to the inability to accurately control the moving speed;

[0007] 4. The power device of the existing manipulator is usually a motor, and the motor is usually fixed on the frame. When the manipulator travels too far, especially when it is far away from the motor, the problem of insufficient power will occur due to the excessive transmission distance. And the running speed is also very unstable;

Since the manipulator needs to cooperate with the tile production line, the manipulator cannot be stopped during the daily production process, which requires workers to place pallets during the work of the manipulator, which poses a safety hazard

Moreover, the existing manipulator has relatively high requirements on the position of the pallet. When placing the pallet, it is necessary to place the pallet precisely according to the working position of the manipulator, which is very inconvenient to use.

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