Split type flexible grasping robot for fragile objects and working method

A split-type technology for fragile items, applied in the direction of lifting devices, etc., can solve the problems of large handling of fragile items, irregular shape of fragile items that cannot be grasped and transported, and achieve the effect of efficient grasping

Active Publication Date: 2021-11-19
青岛中德智能技术研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]At present, in the logistics industry, there are more and more types of items that need to be transported, such as fragile items such as glass products, and fragile items with irregular shapes. The industry has brought great challenges. The fragility and irregular shape of these items make it impossible for existing logistics robots to grab and transport them conveniently and efficiently, resulting in the handling of fragile items in the existing logistics industry. There is a big problem

Method used

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  • Split type flexible grasping robot for fragile objects and working method
  • Split type flexible grasping robot for fragile objects and working method
  • Split type flexible grasping robot for fragile objects and working method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0086] Such as figure 1 As shown, a split-type flexible grabbing robot for fragile items includes a base 3, a split-type flexible grabbing module 1, and a lifting and moving module;

[0087] The bottom of the base 3 is provided with mobile wheels 3-10, which is convenient for the robot to move and carry the fragile items 2; specifically, as Figure 7 As shown, the base 3 includes a chassis body 3-8 in a U-shaped structure, and the inside of the two parallel sides of the chassis body 3-8 are respectively equipped with driving servo motors 3-9 for driving the moving wheels 3-10 at 4 corners. The top of the chassis body 3-8 is fixedly connected with the chassis end cover 3-7;

[0088] The lifting and moving module is located on the upper part of the base 3 and is fixedly connected with the base 3;

[0089] The split-type flexible grab module 1 is located on the top of the base 3 and is connected to the lifting and moving module, and the lifting and moving module controls the up...

Embodiment 2

[0108] Such as Figure 10 As shown, the item grabbing method based on the split type flexible grabbing robot of fragile items in embodiment 1 includes the following steps:

[0109] Step 11: The lifting servo motor 3-1 is started, so that the split-type flexible grabbing module 1 is lowered to the position where the fragile item 2 is to be grabbed; that is, the diamond-shaped gripping hole passes through the fragile item to be grabbed from top to bottom;

[0110] Step 12: The air compressor 4-1 pours high-pressure gas into the air tank 4-3 and reaches the preset pressure;

[0111] Step 13: The computer issues grabbing and handling instructions to the controller;

[0112] Step 14: The controllers in each pneumatic control unit set the limit pressures of the servo relief valves 4-6; usually, the set limit pressures of the servo relief valves 4-6 are the same;

[0113] Step 15: The controller in each pneumatic unit controls the coil P1 at the left end of the corresponding three-...

Embodiment 3

[0126] Such as Figure 11 As shown, the method for judging the shape of an item based on a split-type flexible grabbing robot for fragile items in Embodiment 1 includes the following steps:

[0127] Step 21: Start the lifting servo motor 3-1 to lower the split flexible grab module 1 to the position where the fragile item 2 is to be grabbed; that is, the diamond-shaped gripping hole passes through the fragile item to be grabbed from top to bottom;

[0128] Step 22: The air compressor 4-1 pours high-pressure gas into the air tank 4-3 and reaches the preset pressure;

[0129] Step 23: The computer issues a shape determination instruction to the controller;

[0130] Step 24: the controller in each pneumatic control unit sets the limit pressure of the servo overflow valve 4-6;

[0131] Step 25: The controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way solenoid valve 4-5 to be energized, and the coil P2 at the r...

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Abstract

The invention discloses a split type flexible grasping robot for fragile objects. The split type flexible grasping robot comprises a base, a split type flexible grasping module and a lifting and lowering moving module, wherein moving wheels are arranged at the bottom of the base; the split type flexible grasping module is positioned at the upper part of the base and connected to the lifting and lowering moving module; a rhombic clamping hole is formed between the upper end surface and the lower end surface of the split type flexible grasping module; flexible telescopic modules are arranged at the four end surfaces of the rhombic clamping hole; each of the flexible telescopic modules comprises a telescopic cavity; each of the telescopic cavities is internally provided with a telescopic block; each of the telescopic blocks comprises a plurality of flexible telescopic units stacked up and down; and all of the flexible telescopic units are connected to a pressure control system. According to the split type flexible grasping robot for the fragile objects, each of the flexible telescopic units can individually extend and retract so as to adapt to the outer wall shapes of the fragile objects, so that the fragile objects with different outer wall shapes can be grasped. Meanwhile, through the arrangement of servo overflow valves, the clamping force requirement of the fragile objects can be met, and safe and efficient grasping of the fragile objects is achieved.

Description

technical field [0001] The invention belongs to the technical field of logistics, and in particular relates to a split-type flexible grasping robot for fragile items and a working method. Background technique [0002] Logistics is the process of organically combining functions such as transportation, storage, loading and unloading, packaging, circulation processing, distribution, and information processing according to actual needs during the physical flow of goods from the supply point to the receiving point to achieve user requirements. With the development of factory intelligence and logistics intelligence, more and more robots and related intelligent technologies are applied to logistics. [0003] At present, in the logistics industry, there are more and more types of items that need to be transported. For example, the transportation of fragile items such as glass products and irregularly shaped fragile items has brought great challenges to the logistics industry. The fr...

Claims

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Application Information

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IPC IPC(8): B66F9/18B66F9/22B66F9/24B66F9/075
CPCB66F9/183B66F9/22B66F9/24B66F9/075
Inventor 房殿军罗尔夫·施密特蒋红琰张维杰叶剑
Owner 青岛中德智能技术研究院
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