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Miniature manipulator applied to transfer of special-shaped and easily-deformed objects

An easy-to-deform and manipulator technology, applied in the direction of micro-manipulators, manipulators, manufacturing tools, etc., can solve the problems of clamping and deforming objects with special shapes and easy to drop, and achieve the effect of avoiding pressure deformation and increasing the contact area

Pending Publication Date: 2022-05-17
深圳市顺安土石方工程有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The technical problem to be solved by the present invention is: the existing manipulator is not suitable for the problem that it is easy to drop during the process of picking up special-shaped and easily deformed items and transferring them

Method used

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  • Miniature manipulator applied to transfer of special-shaped and easily-deformed objects
  • Miniature manipulator applied to transfer of special-shaped and easily-deformed objects
  • Miniature manipulator applied to transfer of special-shaped and easily-deformed objects

Examples

Experimental program
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Effect test

Embodiment 1

[0045] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 As shown, this embodiment proposes a micro-manipulator applied to the transfer of special-shaped and easily deformable objects, including a Y-axis electric slide 1, a Z-axis electric slide 4 is provided at the front end of the Y-axis electric slide 1, and a Y-axis electric slide The bottom of table 1 is equipped with X-axis moving structure 2, Y-axis electric sliding table 1 and X-axis moving structure 2 are connected by adaptive moving sliding table 3, and adaptive moving sliding table 3 cooperates with X-axis moving structure 2 to realize the goods During the moving process, the acceleration time is extended to reduce the acceleration, so that the objects are not easily deformed due to inertia. The bottom of the Z-axis electric slide table 4 is equipped with a clamping control structure 5, and the Y-axis elect...

Embodiment 2

[0050] The scheme in embodiment 1 is further introduced below in combination with specific working methods, see the following description for details:

[0051] Such as Figure 7 As shown, as a preferred embodiment, on the basis of the above method, further, several metal sheets 631 located at the top of the circular hole are connected in series through wires, and several metal sheets located at the bottom of the circular hole are 631 are also connected in series through wires.

[0052] Such as Figure 7 As shown, as a preferred embodiment, on the basis of the above method, further, one end of the rubber tube 632 close to the control assembly 64 is fixedly provided with a tapered rubber head 637, and the tapered rubber head 637 changes direction when the shape adaptive structure 63 Finally, it can be used as a suction cup to pick up items with smooth surfaces.

[0053] Such as Figure 6 , Figure 7 As shown, as a preferred embodiment, on the basis of the above method, furt...

Embodiment 3

[0061] The schemes in Embodiment 1 and Embodiment 2 are further introduced below in conjunction with specific working methods, see the following description for details:

[0062] Such as figure 1 As shown, as a preferred embodiment, on the basis of the above method, further, the X-axis moving structure 2 includes a limiting groove 21, the end of the limiting groove 21 is fixed with a driving motor 22, and the rotating shaft of the driving motor 22 passes through The limit groove 21 is fixed with a buffer screw 23, and the pitch of the screw thread at the end of the buffer screw 23 decreases from the middle to the two ends of the assembly, so as to realize the moving speed of the self-adaptive mobile slide 3 in the middle of the buffer screw 23 Faster, the moving speed of the leading screw 23 can be slowed down at the positions near the two ends of the self-adaptive moving slide table 3 .

[0063] Such as figure 1 , figure 2 As shown, as a preferred embodiment, on the basis...

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Abstract

According to the miniature mechanical arm applied to transferring of the special-shaped and easily-deformed objects, through cooperative use of the arranged shape self-adaption structures and the fixing assemblies, after the attaching structures make contact with the objects, the attaching structures are subjected to pressure of the objects to move till all the attaching structures make contact with the objects, and then the objects are transferred. Then the rubber pipe is fixed, and the attaching structures apply certain pressure to the article, so that the contact area of the manipulator and the article is increased, the pressure of each attaching structure to the article is almost equal, the article is prevented from being deformed due to pressurization, and a plurality of shape self-adaptive structures can adapt to the special-shaped structure of the article; the problems that in the prior art, when a mechanical arm clamps special-shaped and easily-deformed objects, the contact area between the mechanical arm and the objects is small, and when the mechanical arm which adapts to the shapes of the objects through springs is used for clamping the special-shaped objects, force on all parts of the objects is not uniform, and therefore the objects are deformed are solved.

Description

technical field [0001] The invention relates to a micro-manipulator used for transporting special-shaped and deformable objects, belonging to the field of micro-manipulators. Background technique [0002] A manipulator is a kind of automatic operation device that can imitate certain movement functions of human hands and arms. It is widely used in the intelligent manufacturing equipment industry to grab, carry objects or operate tools according to a fixed program; It is an expected operation, with the advantages of both human and robotic machines in structure and performance; micro-manipulators are smaller manipulators for gripping small items. [0003] During the actual use of micro-manipulators, they will encounter the situation of gripping special-shaped and easily deformable objects. The gripping of special-shaped and easily deformable objects has always been a difficult point in the industry. When ordinary manipulators grip special-shaped and easily deformable objects, t...

Claims

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Application Information

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IPC IPC(8): B25J7/00
CPCB25J7/00
Inventor 朱晓霞
Owner 深圳市顺安土石方工程有限公司
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