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Grabbing depth self-adaptive manipulator

An adaptive, manipulator technology, applied in the field of manipulators, can solve problems such as inaccurate manipulator positioning, workpiece adhesion, and workpiece deviation, and achieve the effects of high practicability, preventing workpieces from falling off, and preventing empty clamping

Active Publication Date: 2022-05-10
新沂中大节能科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the carrier of the workpiece is affected by temperature and long-term wear, and the positioning will gradually deviate. The rigid structure manipulator cannot adapt to these changes, which will inevitably lead to grasping failure.
And in some special cases, the workpieces may stick. If the workpieces are not separated, the workpieces that are not firmly adhered will fall off during the grabbing process, causing losses.
[0004] How to design a grasping depth-adaptive manipulator that can automatically adapt to the height of the workpiece, accurately position the workpiece, and automatically separate the adhered workpieces has become a problem to be solved in the prior art. The workpiece is easily affected by the carrier. The positioning of the manipulator is not accurate, and the workpiece may be stuck

Method used

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  • Grabbing depth self-adaptive manipulator
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  • Grabbing depth self-adaptive manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Grab depth adaptive manipulator, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, it includes connecting plate 1, adjusting spring 2, sliding guide pair 3, connecting body 4, contact block 5, jaw guide rail 6, jaw cylinder 7, jaw body 8, main feeding cylinder 9 and material presence or absence switch 10. Four adjustment springs 2 are fixedly connected to the lower part of the connection plate 1 in a rectangular distribution manner. The compression amount of the adjustment spring 2 can be adaptively changed according to the height of the workpiece. Four adjustment springs 2 are fixed to the lower part of the connection plate 1 in a rectangular distribution. Sliding guide pairs 3, four sliding guide pairs 3 are jointly slidably connected with a connecting body 4, and a pair of contact blocks 5 are connected under the connecting body 4 through bolts, and the contact block 5 is used to contact...

Embodiment 2

[0044] On the basis of Example 1, such as Figure 9 As shown, it also includes an auxiliary beating cylinder 11. A pair of auxiliary beating cylinders 11 are arranged on the curved connecting rod 103. The auxiliary beating cylinder 11 is used to assist the main beating cylinder 9 to separate the workpiece. The auxiliary beating cylinder 11 is located on the metal on both sides of the sensor 104.

[0045] While the slotted swinging plate 102 and its upper device are swinging, the auxiliary beating cylinder 11 will operate. When adjacent workpieces are stuck, the auxiliary beating cylinder 11 can assist the main beating cylinder 9 to separate the workpieces, further effectively avoiding the During the grabbing process, the adhered workpieces fall off, so that the loss caused by the falling off of the workpieces can be avoided.

Embodiment 3

[0047] On the basis of Example 2, such as Figure 6 , Figure 10 and Figure 11 As shown, it also includes an auxiliary gripping part 12, the auxiliary gripping part 12 is arranged on the airtight hydraulic cylinder 43, the auxiliary gripping part 12 is used to make the workpiece be grasped more firmly, the auxiliary gripping part 12 includes an inclined surface Press rod 121, piston connecting rod 122, auxiliary splint 123, return spring 124, support spring 125, press down piston plate 126 and slotted push bar 127, the upper part of the jaw body 8 is connected with inclined-plane press bar 121 by bolts, sealed hydraulic pressure A pair of piston connecting rods 122 are slidingly connected inside the oil cylinder 43. An auxiliary splint 123 is connected to the piston connecting rod 122 by welding. The auxiliary splint 123 is used to assist in clamping the workpiece. Between the piston connecting rod 122 and the closed hydraulic cylinder 43 A return spring 124 is connected, a...

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Abstract

The invention relates to the technical field of mechanical arms, in particular to a grabbing depth self-adaptive mechanical arm which comprises a connecting plate, an adjusting spring, a sliding guide pair, a connecting body and the like. The lower portion of the connecting plate is fixedly connected with four adjusting springs in a rectangular distribution mode, the lower portion of the connecting plate is fixedly connected with four sliding guide pairs in a rectangular distribution mode, and the four sliding guide pairs are jointly connected with a connecting body in a sliding mode. Through cooperation of the adjusting spring and the devices on the adjusting spring, when a carrier of a workpiece is heated to expand or deform due to temperature influence and abrasion influence caused by long-time use, the height of the workpiece can deviate from a standard position, and the adjusting spring can adjust the compression amount in a self-adaptive mode. And the clamping jaw body can automatically adapt to the height of the workpiece and accurately grab the workpiece, so that the practicability of the equipment is higher.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a grasping depth adaptive manipulator. Background technique [0002] With the needs of production, the manipulator has broad development prospects in various fields of the national economy. The characteristic of the manipulator is that it can complete various expected operations through programming. It has the advantages of both humans and machines in terms of structure and performance. It can replace human Heavy labor is used to realize the mechanization and automation of production, and it can be operated in a harmful environment to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. [0003] The manipulator of the existing mechanical equipment mainly adopts a rigid structure, which requires an accurate grasping position, and has relatively high requirements for the posit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/08
Inventor 杨永远段世飞李阳李万朋高畅李岩李博孔奕人葛壮尹嘉琦张忠涛
Owner 新沂中大节能科技有限公司