Grab depth adaptive manipulator

A self-adaptive, manipulator technology, applied in the field of manipulators, can solve the problems of inaccurate positioning of manipulators, failure of grasping, falling off of workpieces, etc., to achieve the effect of high practicability, easy replacement, and prevention of falling off of workpieces

Active Publication Date: 2022-07-19
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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  • Grab depth adaptive manipulator
  • Grab depth adaptive manipulator
  • Grab depth 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 , Image 6 , Figure 7 , Figure 8 and Figure 9 As shown, it includes a connecting plate 1, an adjusting spring 2, a sliding guide pair 3, a connecting body 4, a contact block 5, a claw guide 6, a claw cylinder 7, a claw body 8, a main material cylinder 9 and a material switch 10. The lower part of the connecting plate 1 is fixed with four adjusting springs 2 in a rectangular distribution. The compression amount of the adjusting springs 2 can be adaptively changed according to the height of the workpiece. The lower part of the connecting plate 1 is fixed in a rectangular distribution with four Sliding guide pair 3, a connecting body 4 is jointly slidably connected between the four sliding guide pairs 3, a pair of contact blocks 5 are connected by bolts under the connecting body 4, and the contact blocks 5 are used to contact the top of the workpiece. There is a claw...

Embodiment 2

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

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

Embodiment 3

[0047] On the basis of Example 2, as Image 6 , Figure 10 and Figure 11 As shown, the auxiliary gripping part 12 is also included. The auxiliary gripping part 12 is arranged on the closed hydraulic cylinder 43. The auxiliary gripping part 12 is used to make the workpiece more firmly grasped. The pressing rod 121, the piston connecting rod 122, the auxiliary splint 123, the return spring 124, the supporting spring 125, the pressing piston plate 126 and the slotted push bar 127, the upper part of the claw body 8 is connected with the inclined plane pressing rod 121 by bolts, and the hydraulic pressure is closed. A pair of piston connecting rods 122 are slidably 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. A return spring 124 is connected, a support spring 125 is fixed to the outside of the closed hydraulic cylinder 43 , and a lower...

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Abstract

The invention relates to the technical field of manipulators, in particular to a gripping depth adaptive manipulator, which includes a connecting plate, an adjusting spring, a sliding guide pair, a connecting body, etc.; The lower part is fixedly connected with four sliding guide pairs in a rectangular distribution manner, and a connecting body is jointly slidably connected between the four sliding guide pairs. By adjusting the cooperation of the spring and its upper device, when the workpiece carrier is thermally expanded or deformed due to the influence of temperature and long-term wear and tear, the height of the workpiece will deviate from the standard position, and the adjustment spring can be adjusted adaptively. The amount of compression enables the jaw body to automatically adapt to the height of the workpiece and accurately grasp the workpiece, thereby making the device more practical.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a gripping depth adaptive manipulator. Background technique [0002] With the needs of production, manipulators have broad prospects for development in various fields of the national economy. The characteristics of manipulators are that they can complete various expected operations through programming. In terms of structure and performance, they have the advantages of both humans and machines. Heavy labor is used to realize mechanization and automation of production, and it can operate in harmful environment to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. [0003] The manipulator of the existing mechanical equipment mainly adopts a rigid structure, and the grasping position must be accurate, and the requirements for the positioning of the workpiece and the positioning of the carrier for c...

Claims

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Application Information

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Patent Type & AuthorityPatents(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