Self-adapting intelligent grabbing mechanical arm

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...

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

Images