Pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces and control method of manipulator

Abstract

The invention discloses a pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces and a control method of the manipulator, and belongs to the field of manipulators. According to the pneumatic-electromagnetic hybrid control manipulator for grabbing the cylindrical workpieces, a guiding rail is arranged at the bottom of a pneumatic sliding groove base, two pneumaticsliding blocks are arranged on the guiding rail, pneumatic-electromagnetic connecting plates are arranged on the pneumatic sliding blocks respectively, and electromagnets are arranged at the bottoms of the pneumatic-electromagnetic connecting plates; air openings connected with inflation and deflation devices are formed in the end surface of the pneumatic sliding groove base, and electromagnetic valves for controlling connection and disconnection of air channels are arranged on the air channels of the air openings; the guiding rail provides the motion strokes for the pneumatic sliding blocks;circular arches are formed in the bottoms of the electromagnets, the axes of the circular arches are parallel with the motion strokes for the pneumatic sliding blocks, the circle center angles of thecircular arches are 60 degrees, and the radiuses of the circular arches are equal to the radius of the largest to-be-grabbed workpiece. By the aid of the manipulator, the workpieces in the radius range of (R / 2, R] can be attracted singly.

Description

technical field [0001] The invention belongs to the field of manipulators, in particular to a pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece and a control method thereof. Background technique [0002] Large-scale bolt fasteners are widely used in wind power, nuclear power, petrochemical and equipment, and are used to fasten and connect various connectors. Although fasteners only account for a small part of the entire product structure, they are called "industrial rice" and play a very important role in the entire manufacturing industry. There are many kinds of fasteners, and the quality requirements of non-standard fasteners are relatively high. From a technological point of view, the manufacturing process of bolt fasteners mainly includes five steps: wire drawing, cold forming, screw threading, heat treatment, and surface treatment. [0003] At present, the preprocessing, handling and loading and unloading of the original parts b...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the disadvantage that the existing manipulator cannot accurately grasp the target workpiece and only grasp one, and provide a pneumatic-electromagnetic hybrid control manipulator and its control method for grasping cylindrical workpieces

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