A rotary manipulator for machining

Abstract

The present invention relates to the field of manipulators, in particular to a rotary manipulator for mechanical processing. The present invention does not use a pressure sensor to avoid the problem of damage to the pressure sensor at the grasping place due to greater friction, collision and extrusion. When the angle When the detection component detects a control cylinder action, when the rotation angle detected by the angle detection component is less than the set threshold, the controller controls the cylinder to stop the action or continue to fill the set gas into the cylinder body and then stop the action, and keep The required clamping force ensures that each jaw can contact and clamp the workpiece, effectively improving the grasping ability and grasping stability of the manipulator, and improving the precision of grasping; the control method of the present invention is simple and can ensure Each jaw grabs the workpiece with the same or similar force as possible to ensure that each jaw can contact and clamp the workpiece, improve the efficiency of workpiece grabbing, and ensure the uniformity of force on each jaw.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a rotary manipulator for machining. Background technique [0002] In mechanical processing, some large-volume parts need to be transported by multiple people to install, which is not only time-consuming and labor-intensive, but also has potential safety hazards. Therefore, manipulators are usually used to grab parts and play a supporting role. [0003] The current manipulators, such as three-jaw or four-jaw manipulators, when grasping the workpiece, it is difficult to ensure that each jaw can grasp the workpiece with roughly the same force at the same time, such as elliptical workpieces or irregular Workpieces, etc., even cylindrical workpieces such as figure 1 As shown, due to the machining error and the installation error of the jaws, it is difficult to ensure that each jaw is evenly clamped. In this regard, although it is possible to detect and control the gripping force of each ...

AI Technical Summary

Problems solved by technology

[0002] In mechanical processing, some large-volume parts need to be transported by multiple people to install, which is not only time-consuming and labor-intensive, but also has potential safety hazards. Therefore, manipulators are usually used to grab parts and play a supporting role.

[0003] The current manipulators, such as three-jaw or four-jaw manipulators, when grasping the workpiece, it is difficult to ensure that each jaw can grasp the workpiece with roughly the same force at the same time, such as elliptical workpieces or irregular Workpieces, etc., even cylindrical workpieces such as figure 1 As shown, due to the machining error and the installation error of the jaws, it is difficult to ensure that each jaw is evenly clamped

In this regard, although it is possible to detect and control the gripping force of each jaw by setting a pressure sensor, this structural form is subject to greater friction and extrusion force between the pressure sensor and the workpiece at all times, resulting in a longer service life of the pressure sensor. Very short, the pressure sensor needs to be replaced frequently, affecting life and cost control

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