Polar-coordinate-type manipulator for gripping, storing and taking spherical products

Abstract

The invention discloses a polar-coordinate-type manipulator for gripping, storing and taking spherical products. The polar-coordinate-type manipulator comprises a polar-coordinate-type mechanical arm,and one end of the mechanical arm is connected with a mechanical gripper. The mechanical gripper comprises a mechanical gripper sphere storing body, a steering engine fixing support, a sphere liftingslicing steering engine, a lifting mechanism, a rotary sphere cutting piece steering engine, a rotary sphere cutting piece, a sphere lifting cylinder fixing plate, a sphere lifting cylinder and a sphere lifting piece, wherein the lower portion of the mechanical gripper sphere storing body is provided with a sphere inlet, the steering engine fixing support is arranged above the mechanical grippersphere storing body, the sphere lifting slicing steering engine is arranged under the steering engine fixing support, the upper end of the lifting mechanism is connected with the steering engine fixing support, the lower end of the lifting mechanism is arranged in a lifting mechanism supporting base, the rotary sphere cutting piece steering engine is fixed to one side of the lower portion of the mechanical gripper sphere storing body, the rotary sphere cutting piece is arranged under the rotary sphere cutting piece steering engine, the sphere lifting cylinder fixing plate is fixed under the mechanical gripper sphere storing body, the sphere lifting cylinder is fixed under the sphere lifting cylinder fixing plate and communicates with a sphere cutting space, and the sphere cutting piece isconnected with the sphere lifting slicing steering engine through a plain shaft. By means of the polar-coordinate-type manipulator, a plurality of spherical products can be gripped, stored and moved to a designated positon, and the speed and accuracy of carrying the spherical products are improved.

Description

technical field [0001] The invention relates to the technical field of a manipulator for grasping spherical products, in particular to a polar coordinate manipulator for grasping, storing and retrieving spherical products. Background technique [0002] In recent decades, industrial manipulators have developed into a high-tech automated production equipment and are an important branch of industrial robots. It is required to move to complete the operation requirements of a certain industrial production, the accuracy of the manipulator operation and the ability to complete the operation in various environments have broad development prospects in various fields of the national economy. [0003] At present, most industrial manipulators are finger manipulators, which can be flexibly used in various industrial productions, and perform various operations by simulating human fingers, so as to achieve corresponding production purposes. However, if it is necessary to grab multiple sph...

AI Technical Summary

Problems solved by technology

However, if it is necessary to grab multiple spherical products, store them, and move them to the designated place again, it is difficult for conventional finger-type manipulators to complete this task, and it is relatively clumsy, and the accuracy and speed are difficult to meet the requirements.

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