Self-adapting intelligent grabbing mechanical arm

A grasping manipulator and adaptive technology, applied in the field of manipulators, can solve problems such as unstable grasping, easy deformation, and inability to complete

Active Publication Date: 2018-12-21
德源自动化科技(义乌)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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specific Embodiment approach 1

[0045] 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 divide the circle equally 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 joint chain is stored in the joint storage compartment 2, the other end of the joint 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 the overall support structure, and the base 3 Connect with the mobile structure...

specific Embodiment approach 2

[0049] 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

[0050] 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 mechanical arms, and particularly relates to a self-adapting intelligent grabbing mechanical arm. A plurality of mechanical arm joints are connected ina hinging mode to form a joint chain. The joint chain is provided with a tracking vehicle. Locking shafts and locking pieces are arranged on the mechanical arm joints. Locking piece driving pieces arearranged on the locking pieces and are rotatably driven by a magnetic wheel. A second magnetic wheel is arranged in the tracking vehicle and is arranged corresponding to the magnetic wheel. The two sides of a vehicle body are respectively provided with a bonding fan. The tracing vehicle slides from top to bottom along the side wall of a ceramic jar, so that a curve which is attached to the outerside wall of the ceramic jar is formed by the joint chain to automatically adapt to the surface curve of the ceramic jar, extra pressure on the ceramic jar is avoided after a grabbing structure with the lower end bunched is formed, and the shape of the joint chain is locked, so that the ceramic jar is grabbed. Meanwhile, due to the combination of the adaptability of a flexible mechanical arm and the strength of a rigid mechanical arm, grabbing of the ceramic jar is realized.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to an adaptive intelligent grasping manipulator. 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 make...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J5/00
CPCB25J5/007B25J15/0028
Inventor 赵静
Owner 德源自动化科技(义乌)有限公司
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