Friable article clamping manipulator and clamping method thereof

Abstract

The invention provides a fragile article clamping manipulator and a clamping method thereof. The fragile article clamping manipulator is characterized by comprising a closing page, opening and closingpages hinged to the two sides of the closing page and a rotation driving device; the rotation driving device is connected with the opening and closing pages on the two sides respectively to realize the rotation of the opening and closing pages on the two sides, so that the opening and closing pages on the two sides are closed and form a closed clamping cylinder for surrounding an article togetherwith the closing page or the opening and closing pages on the two sides are opened to form an article inlet and outlet opening; air bag clamping jaws are arranged on the inner sides of the closing hinge and the opening and closing hinges on the two sides; each air bag clamping jaw is connected with an external inflation and deflation device through an air pipe. The manipulator can keep good softcontact with fragile articles, has good rigidity, and can improve the positioning stability of the articles. The clamping method is used for the fragile article clamping manipulator, can make the fragile article clamping manipulator keep good soft contact with the fragile articles, have good rigidity and can improve the positioning stability degree of the articles.

Description

technical field [0001] The invention relates to the technical field of manipulators, and more specifically, to a manipulator for clamping fragile objects and a clamping method thereof. Background technique [0002] With the development of technology, more and more fields are using robots to replace manual industrial production in order to save labor costs and reduce labor intensity of workers, and improve production efficiency and product quality. In automated production, manipulators are one of the commonly used parts of production equipment, which can be used to clamp items for positioning or clamp items for movement. [0003] At this stage, metal products can be rigidly clamped by manipulators, but if fragile objects are rigidly clamped, the operation must be very careful to prevent the target from being crushed, which will greatly increase the clamping operation time and clamping time. cost of control. For this reason, in recent years, a new kind of flexible finger has...

AI Technical Summary

Problems solved by technology

[0003] At this stage, metal products can be rigidly clamped by manipulators, but if fragile objects are rigidly clamped, the operation must be very careful to prevent the target from being crushed, which will greatly increase the clamping operation time and clamping time. cost of control

For this reason, in recent years, a new kind of flexible finger has emerged to grip fragile objects; however, due to the lack of rigid fixation after the flexible finger grips the object, the gripping stability is not very ideal, especially when the flexible finger grips the object When moving, if the moving speed is fast, the object is easy to fall. At present, the only way to solve this problem is to reduce the moving speed

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