Manipulator adaptive grabbing method

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a manipulator adaptive grabbing method. A plurality of manipulator joints are connected in a hinged mode to form a joint chain, and a tracking vehicle is arranged on the joint chain; the manipulator joints are provided with locking shafts and locking pieces, and locking piece driving parts are arranged on thelocking pieces and driven through rotating of a magnetic wheel; a second magnetic wheel is arranged in the tracking vehicle, the second magnetic wheel and the magnetic wheel are arranged correspondingly, and two attaching fans are arranged on the two sides of a vehicle body correspondingly; the tracking vehicle slides along the side wall of a terrine from top to bottom, thus the joint chain formsa curve attached to the outer side wall of the terrine to automatically adapt to a surface curve of the terrine, after a grabbing structure with the lower end collected is formed, extra pressure forthe terrine is avoided, the shape of the joint chain is locked, and thus the terrine is grabbed; and meanwhile, the joint chain has adaptation of a flexible manipulator and the strength of a rigid manipulator, and thus the terrine is grabbed.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a self-adaptive grasping method of 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 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, 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

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