A software self-locking manipulator positioning method

A positioning method and manipulator technology, applied in the field of manipulators, can solve problems such as unstable grasping, poor adaptability of clay pots, and damage to clay pots

Active Publication Date: 2021-11-09
方冠(常州)数控科技有限公司
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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 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.

Method used

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  • A software self-locking manipulator positioning method
  • A software self-locking manipulator positioning method
  • A software self-locking manipulator positioning method

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0043] combine figure 1 As shown, a software self-locking manipulator disclosed in this embodiment includes: a manipulator joint 1, a joint accommodation bin 2, and a base 3. The base 3 is provided with several slideways, and several slideways are based on The center of the seat 3 is set as the center of the circle along the radially equally divided circle, and each of the slides 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 hinged head to tail in sequence The connection forms a joint chain; the base 3 is used as the connection between the support and the lifting structure, and the position of the joint chain is adjusted through the joint accommodation chamber 2 on the base 3 to adapt to pottery pots of different shapes and sizes. to crawl;

[0044] combine figure 2As shown, the manipulator joint includes: a joint body 1-1, a fitting device 1-2, a fill...

specific Embodiment approach 2

[0049] This embodiment is based on Embodiment 1. Specifically, the inner side of the cladding layer 1-4 is provided with a protruding end extending toward the hinge of the joint body 1-1. -4 when the filler 1-3 is squeezed, the protruding end pushes the filler 1-3 toward the pressure surfaces 1-1-2 on both sides.

specific Embodiment approach 3

[0050] This embodiment is based on the specific implementation mode 1 or 2. Specifically, the fillers 1-3 are several spherical fillers, and the spherical fillers are provided with through holes for ventilation. The cladding layer 1 The inner side of -4 is provided with a separation layer, the separation layer is a mesh structure, the spherical filling is arranged in the separation layer, and the separation layer covers the filling 1-3 without affecting the air flow. When the vacuum is drawn, the filler 1-3 is moved out of the cavity along with the cladding layer 1-4.

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Abstract

The invention belongs to the technical field of manipulators, and in particular relates to a positioning method for a software self-locking manipulator, comprising: a joint housing, a base, and a slider seat. The block seat is connected with the joint accommodation warehouse through the bearing, and several slide bar through holes are arranged on both sides of the slideway, and a slide bar is arranged in the slide bar through hole, and the lower end of the slide bar protrudes from the lower end of the slide bar through hole, and the joint accommodation warehouse There is a stop bar on the upper surface; among the sliding rods exposed on the lower surface of the base, the sliding rod corresponding to the mouth of the clay pot is pushed into the interior of the base by the pottery pot, and the upper end of the sliding rod is exposed from the upper surface of the base, and on the upper surface of the base Form a block column corresponding to the position of the mouth of the clay pot; the block bar contacts with the block post, the bar deflects, the inner ring of the bearing rotates, and the joint holding chamber is driven to rotate, and the indirect positioning method is adopted to avoid collision with fragile parts during the positioning process At the same time, the joints of the manipulator in the joint holding compartment are deflected to fit the side curve of the clay 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/12
CPCB25J15/12
Inventor 赵洪清
Owner 方冠(常州)数控科技有限公司
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