Six-degree-of-freedom material transportation robot with adjustable clamping force
A technology of degrees of freedom and clamping force, which is applied in the field of robots, can solve the problems of different clamping forces at clamping points, irregular objects clamped badly, and different elastic forces, so as to achieve fast and accurate control of the rotation angle and expand the scope of application. , the effect of increasing the contact area
Pending Publication Date: 2018-11-23
SHANDONG BUSINESS INST
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Problems solved by technology
[0008] Although the above-mentioned invention can clamp irregular items, when clamping irregular items, each spring has a different expansion and contraction amount, resulting in different elastic forces of each spring, resulting in the unevenness of each clamping point on the irregular item. The clamping force is different, and it is also easy to clamp irregular items; in addition, the clamping force of the clamping parts cannot be adjusted according to different clamped items, which narrows the scope of use
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[0044] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0045] Such as Figure 1 to Figure 4 As shown, a six-degree-of-freedom material handling robot with adjustable clamping force of the present invention includes a body structure and a manipulator 2. The manipulator 2 is used to clamp irregular metal objects. The manipulator 2 can be a two-claw structure, a three-claw structure structure or other structures with different numbers of jaws. In this embodiment, a two-jaw structure is taken as an example; the body structure has six degrees of freedom, which are used to control the manipulator 2 to reach different positions to achieve the purpose of transporting objects.
[0046] Wherein the body structure includes a base 11, and a power mechanism is installed in the base 11, and the power mechanis...
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The invention discloses a six-degree-of-freedom material transportation robot with an adjustable clamping force and belongs to the technical field of robots. The six-degree-of-freedom material transportation robot comprises a body structure and a mechanical arm, wherein the mechanical arm also comprises a shell body; the shell body is internally provided with two clamping claws; a groove is formedin the front end of each clamping claw and a liquid bag is arranged in each groove; each liquid bag is connected with a hydraulic main pipe; the rear end of each hydraulic main pipe is connected witha third piston; the rear end of a third piston rod is connected with a knob; each groove is internally connected with a metal clamping block in a sliding manner; an annular liquid bag is connected with the front end of each clamping claw; each annular liquid bag is internally filled with a mixed solution of dielectric micro-particles and insulation liquid; each annular liquid bag is internally provided with an electrode plate; each annular liquid bag is connected with a forward and backward rotation water pump through a first liquid pipe. When the six-degree-of-freedom material transportationrobot is used for clamping irregular metal objects, the clamping claws are clung to the metal objects relatively well, so that a condition that the irregular metal objects are broken in a clamping process is avoided; a clamping force of the clamping claws can be adjusted according to different clamped objects and an applicable range of the robot is enlarged.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a six-degree-of-freedom material-transporting robot with adjustable clamping force. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The feature is that various expected operations can be completed through programming, and the structure and performance have both the advantages of man and robot. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. [0003] In today's life, with the rapi...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J15/00B25J19/00B25J9/10B25J9/12
CPCB25J9/102B25J9/12B25J15/00B25J19/00
Inventor 段彩云朱耀明
Owner SHANDONG BUSINESS INST