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Flexible multi-finger mechanical arm for logistics and method for grabbing materials with same

A manipulator and flexible technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of poor grasping, inability to reach, and inability to grasp, etc., and achieve compact structure, efficient and stable grasping, and strong applicability Effect

Pending Publication Date: 2017-12-15
武汉库柏特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for some materials with irregular shapes, limited working space and some disorderly stacked materials, due to the existence of protrusions, pits and overlaps on the surface, it is easy to cause poor grasping, Unable to grasp and other phenomena, failing to meet the requirements of the logistics industry
In addition, in various environments where robots work, it is desired that the manipulator has wide applicability and simple driving, but the existing manipulators often cannot meet the requirements.

Method used

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  • Flexible multi-finger mechanical arm for logistics and method for grabbing materials with same
  • Flexible multi-finger mechanical arm for logistics and method for grabbing materials with same
  • Flexible multi-finger mechanical arm for logistics and method for grabbing materials with same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Such as figure 2 As shown, when the material is grasped without space obstacles, a method of grasping the material with a flexible multi-fingered manipulator for logistics is carried out according to the following steps:

[0049] S1: Control the telescopic end of the main telescopic cylinder 11, extend the main suction cup 12, and suck the material through the main suction cup 12;

[0050] S2: firstly, the telescopic end of the finger-driven cylinder 6 is driven to shrink to make the connecting rod 5 rotate around the joint between the connecting rod 5 and the finger hinge flange, thereby driving the other end of the fingertip 23 away from the main suction cup 12, and realizing the opening of the movable finger 2; Then drive the main telescopic cylinder 11 to drive the material to move axially to the grasping position of the movable finger 2, and finally drive the telescopic end of the finger to drive the cylinder 6 to elongate so that the connecting rod 5 rotates arou...

Embodiment 2

[0053] Such as image 3 As shown, when the material is grasped with space obstacles, a method of grasping the material with a flexible multi-fingered manipulator for logistics is carried out according to the following steps:

[0054] S1: Control the telescopic end of the main telescopic cylinder 11, extend the main suction cup 12, and suck the material through the main suction cup 12;

[0055] S2: After transferring the sucked material to the position where the movable finger 2 can be grasped without space obstacles, the telescopic end of the finger-driven cylinder 6 shrinks to make the connecting rod 5 rotate around the connection between the connecting rod 5 and the finger hinged flange so that Drive the other end of the fingertip 23 away from the main suction cup 12 to realize the opening of the movable finger 2; then drive the main telescopic cylinder 11 to drive the material to move axially to the grasping position of the movable finger 2, and finally drive the telescopic...

Embodiment 3

[0058] Such as Figure 4 As shown, when grabbing small materials, a method of grabbing materials with a flexible multi-finger manipulator for logistics is carried out in the following steps:

[0059] S1: Control the telescopic end of the main telescopic cylinder 11 to shrink and drive the main suction cup 12, and drive the telescopic end of the finger-driven cylinder 6 to elongate so that the connecting rod 5 rotates around the joint between the connecting rod 5 and the finger hinge flange to drive the fingertip 23 The other end is close to the main suction cup 12 to close the movable fingers 2 but not to grab the material, so that the auxiliary telescopic cylinder 10 and the main telescopic cylinder 11 are arranged parallel to each other, and the telescopic end of the auxiliary telescopic cylinder 10 is driven to control the auxiliary small suction cup 9 to approach and absorb. To transfer the material, when the material is transferred to the designated position, by adjusting...

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Abstract

The invention relates to the technical field of robot suction devices, in particular to a flexible multi-finger mechanical arm for logistics. The flexible multi-finger mechanical arm for the logistics comprises a main suction cup mechanism and moveable fingers. A main suction cup is driven by a main telescopic air cylinder. The main telescopic air cylinder is externally and fixedly sleeved with a locking flange and a finger hinged flange. The movable fingers are movably arranged on the finger hinged flange through connection rods. Finger drive air cylinders are movably hinged to the locking flange. The finger drive air cylinders drive the connection rods so as to enable finger tips to be close to or far away from the main suction cup, and therefore gathering or stretching of the movable fingers is achieved. The finger drive air cylinders are arranged on the periphery of the main suction cup in a matched manner to drive the movable fingers to achieve accurate grabbing of irregular materials; and according to a method for grabbing the materials with the flexible multi-finger mechanical arm for the logistics, different grabbing actions and different grabbing steps can be selected according to the three-dimensional posture information of the materials and the surrounding information, and efficient and stable grabbing of materials of different sizes in various shapes in different grabbing environments is achieved.

Description

technical field [0001] The invention relates to the technical field of robot suction devices, in particular to a flexible multi-finger manipulator for logistics and a method for grabbing materials with it. Background technique [0002] In the field of automated production in the logistics industry, industrial robots are often required to complete operations such as grabbing and placing some materials. As an execution tool for industrial robots to grasp various complex materials in logistics, the manipulator's grasping accuracy, grasping force and stability have an important impact on the efficiency and safety of the operation process. At present, for materials with regular shapes in logistics, such as cubes and cylinders, it is very convenient to use existing suction cups to complete the grabbing and placing process. However, for some materials with irregular shapes, limited working space and some disorderly stacked materials, due to the existence of protrusions, pits and o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/12B25J15/00
CPCB25J15/0052B25J15/12
Inventor 李淼闫琳房小立孙绍文马天阳武帅明棚杨国培周新钊占俊
Owner 武汉库柏特科技有限公司
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