Flexible self-locking manipulator locating method

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a flexible self-locking manipulator locating method. A self-locking manipulator comprises joint accommodatingcompartments, a base and slider bases, and the base is provided with a plurality of slide ways; the slider bases are embedded into the slide ways, and connected to the joint accommodating compartmentsthrough bearings; the both sides of each slide way are provided with a plurality of slide bar through holes which are internally provided with slide bars, and the lower ends of the slide bars extendout of the lower ends of the slide bar through holes; each joint accommodating compartment is provided with a barrier strip; the slide bars, corresponding to a port of a pottery pot, among the slide bars exposed out of the lower surface of the base are pushed into the base through the pottery pot, and the upper ends of the slide bars are exposed out of the upper surface of the base; stop columns corresponding to the port position of the pottery pot are formed on the upper surface of the base; the barrier strips are in contact with the stop columns; and when the barrier strips are deflected, inner rings of the bearings are rotated, so that the joint accommodating compartments are driven to rotate. By adopting an indirect locating mode, a fragile pottery pot body is prevented from being collided in the locating process; and meanwhile the deflection of manipulator joints in the joint accommodating compartments is fit with the side curve of the pottery pot.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a positioning method for a software self-locking 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 ...

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 and the external curves of each pot are different, the manipulators in the prior art cannot complete the grasping of the pots in the production of pots, and provide a method for the production process of pots. Among them, for the manipulator to grab the clay pot, the existing positioning method mostly uses the contact between the manipulator and the workpiece to achieve positioning, which is easy to cause damage to the fragile pottery pot, and has poor adaptability to pottery pots of different sizes and shapes.

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