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Manipulator joint

A technology of manipulators and grasping manipulators, which is applied in the field of manipulators, and can solve the problems of fragile pots, easy deformation, and different external curves of pots, etc.

Active Publication Date: 2018-12-21
常州今研精密机械有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; 2. The strength itself is not enough. In order to complete the bending, the manipulator uses flexible materials, which are easily deformed when subjected to external forces, resulting in unstable grasping;
[0003] Since the handmade clay pots are fragile, the external curves of each pot are different, and the manipulators in the prior art cannot complete the grasping of the pots in the production of pots

Method used

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Examples

Experimental program
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specific Embodiment approach 1

[0040] An adaptive intelligent grasping manipulator disclosed in this embodiment, combined with figure 1 As shown, specifically, it includes: a manipulator joint 1, a joint accommodation bin 2, a base 3 and a tracking vehicle 5, the base 3 is provided with several slideways, and several slideways are centered on the base 3 The center of the circle is arranged to equally divide the circumference in the radial direction, and each slideway is provided with a joint accommodation bin 2, and a plurality of manipulator joints 1 are arranged in the joint accommodation bin 2, and several manipulator joints 1 are hingedly connected from head to tail to form a joint chain , one end of the articulated chain is accommodated in the joint storage compartment 2, the other end of the articulated chain is fixed at the opening of the joint storage compartment 2, and the joint chain is provided with a tracking vehicle 5; the base 3 is used as a whole support structure, and the base 3 Connect with...

specific Embodiment approach 2

[0044] This embodiment is based on the specific implementation mode 1, specifically, in combination with Figure 6 As shown, the outside of the articulated chain is covered with a rubber layer 6 .

specific Embodiment approach 3

[0045] This embodiment is based on the second specific implementation mode, specifically, in combination with Figure 6 As shown, two groups of fixed block groups are arranged in parallel on one side of the rubber layer 6, and each group of fixed block groups includes several fixed blocks 6-1 arranged at intervals, and a fixed shaft body 6-2 is arranged on the upper end of the fixed block, The side of the car body 5-1 is provided with a shaft body chute 6-3, and the shaft body chute 6-3 goes around two wheels 5-2 shafts from the upper side of one end of the car body 5-1 and returns to The lower side of the starting end forms a U-shaped chute, the fixed shaft body 6-2 is embedded in the shaft body chute 6-3; the fixed shaft body 6-2 on the fixed block 6-1 is embedded in the shaft body chute 6-3 is used for the positioning of the articulated chain and the car body, while making the sliding of the tracking car 5 stable.

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Abstract

The invention belongs to the technical field of manipulators, in particular to a manipulator joint. A plurality of manipulator joints are hingedly connected to form a joint chain; a tracking vehicle is arranged on the joint chain; a locking shaft and a locking piece are arranged on the manipulator joint; the locking piece is provided with a locking piece driving member; the locking piece driving member is rotationally driven by a magnetic wheel; a second magnetic wheel is disposed inside the tracking vehicle; the second magnetic wheel is disposed corresponding to the magnetic wheel; a fittingfan is arranged on each side of the vehicle body; the tracking vehicle slides from the top to the bottom along a side wall of a clay pot, so that the joint chains form a curve which fits the outer wall of the clay pot and automatically adapts to the curve of the surface of the clay pot; and a gripping structure with a tightening lower end is formed to avoid additional pressure on the clay pot andto lock the shape of the joint chain, thereby gripping the clay pot. The manipulator joint has the flexibility of a flexible manipulator and the strength of a rigid manipulator to achieve the grip ofthe clay pot.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a manipulator joint. Background technique [0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/02
CPCB25J15/0028B25J15/0033B25J17/0258
Inventor 赵静
Owner 常州今研精密机械有限公司
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