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Manipulator pottery pot grabbing method

A technology for manipulators and pottery pots, applied in the field of manipulators, can solve the problems of unstable grasping, easy deformation, and inability to complete the grasping of pottery pots.

Inactive Publication Date: 2019-01-25
董翰泽
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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 this type of manipulator only has one inflection point, and the curved curve cannot adapt to the surface curve of the clay pot. Point contact leads to unstable grasping; 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

Method used

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  • Manipulator pottery pot grabbing method
  • Manipulator pottery pot grabbing method
  • Manipulator pottery pot grabbing method

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0042] combine figure 1As shown, an adaptive grasping 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 used to The center of the base 3 is set as the center of the circle along the radially equally divided circle, 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 arranged in sequence from end to end The hinged connection forms a joint chain; the position of the joint chain is adjusted by moving the joint storage compartment 2, the joint chain slides out from the joint storage compartment 2, and slides along the side wall of the clay pot from top to bottom, and the joint chain fits the clay pot After the side wall forms a curve that fits the clay pot, and then fixes the shape of the joint chain to realiz...

specific Embodiment approach 2

[0049] This embodiment is based on Embodiment 1. Specifically, the upper end of the joint storage bin 2 is provided with a reel, which is driven by a reel motor, and a rope is arranged on the reel, and one end of the rope is wound on the reel On the drum, the other end of the rope is connected to the uppermost manipulator joint 1 of the joint chain, and is used to pull the manipulator joint 1 to slide in the joint accommodation bin 2. By controlling the speed of the reel motor, the speed of the joint chain sliding down is controlled. After the joint chain slides to the bottom end of the joint storage compartment 2, the uppermost joint 1 of the manipulator is stuck at the opening of the joint storage compartment 2. After the grabbing is completed, the joint chain is pulled by the reel and returned to the joint storage compartment. 2 within.

specific Embodiment approach 3

[0050] This embodiment is based on the specific implementation mode 1. Specifically, the laminating device 1-2 is an electromagnet, and the electromagnet is powered by an external wire. The attractive force of the body makes the joint 1 of the manipulator close to the surface of the tank.

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Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a manipulator pottery pot grabbing method. According to the method, hinged manipulator joints form a joint chain, the joint chain forms a plurality of inflection points, the joint chain is closely pressed on the surface of a pottery pot through a fitting device when sliding on the surface of the pottery pot from top to bottom, the inflection points of the joint chain adapt to a surface curve of the pottery pot, the hinged positions of the manipulator joints are locked when the joint chain slides to the bottom of the pottery pot, a grabbing structure with a contracted lower end is formed, so that the pottery pot is grabbed, extra pressure applied onto the pottery pot is avoided, a shape of the joint chain is locked, a manipulator has adaptability of a flexible manipulator and strength of a rigid manipulator, and the pottery pot is grabbed.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a method for grabbing clay pots by a 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 this type of manipulator only has one inflection point, and the curved curve cannot adapt to the su...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G47/91
CPCB65G47/912B65G2201/0252
Inventor 董翰泽
Owner 董翰泽
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