Special robot for gripping ball thinwall brittle shell body

A manipulator and thin-walled technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of less freedom, failure to work normally, and inability to implement force control, etc., and achieve the effect of novel structure and low cost

Inactive Publication Date: 2003-03-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] There are many types and forms of existing mechanical grippers, but most of them have fewer degrees of freedom, generally only two degrees of freedom, and cannot implement force control. When the shape of the grasped object is relatively complex, it cannot work normally

Method used

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  • Special robot for gripping ball thinwall brittle shell body
  • Special robot for gripping ball thinwall brittle shell body
  • Special robot for gripping ball thinwall brittle shell body

Examples

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Embodiment Construction

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0015] like figure 1 , 2 , 3, the present invention is composed of a taper shank 1, a positioning and locking cylinder, a pressure sensor 3, and a vacuum suction cup 4, wherein: the clamping taper shank 1 is installed in the center of the support plate A5, and the vacuum suction cup 4 and the support plate B5' pass through The rotating pair is connected, and the axis of the vacuum suction cup 4 is adjusted according to different workpieces 6 before work, so that it is coaxial with the normal direction of the outer surface of the pre-contact workpiece 6, and the pressure sensor 3 is located between the support plates A5, B5', and coaxial , On the upper surface of the support plate A5, there are evenly distributed positioning and locking cylinders A2, and a support plate 9 is installed below it. On the periphery of the pressure sensor 3, the positioning and lo...

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PUM

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Abstract

The special robot for grabbing ball-shaped thin-wall brittle shell is formed from taper shank, positioning locking cylinders, pressure transducer and vacuum suction cup, in which the taper shank is mounted on the centre of supporting disk A, the vacuum suction cup is connected with supporting disk B, the pressure transducer is positioned between supporting disk A and supporting disk B, and they are coaxial, and the positioning locking cylinders are uniformly distributed on the surface of supporting disk A, under the supporting disk A and supporting plate is mounted, the positioning locking cylinders are mounted on the supporting plate, and uniformly distributed arround the pressure transducer. Said invention possesses feedback control function, and is suitable for grabbing ball-shaped thin-wall brittle shell body.

Description

technical field [0001] The invention relates to mechanical measuring equipment, in particular to a special manipulator suitable for grasping spherical thin-walled brittle shells. Background technique [0002] There are many types and forms of existing mechanical grippers, but most of them have few degrees of freedom, generally only two degrees of freedom, and cannot implement force control. When the shape of the grasped object is complex, it cannot work normally. However, when grasping spherical objects, multiple degrees of freedom manipulators are required, and force control is also required for objects with complex shapes, especially thin-walled and brittle objects. SUMMARY OF THE INVENTION [0003] In order to solve the above shortcomings of the mechanical gripper, the purpose of the present invention is to provide a special manipulator with feedback control function and suitable for gripping spherical thin-walled brittle shells. [0004] The purpose of the present inv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/06B25J19/06
Inventor 徐志刚王洪光房立金张波陈书宏曹永祥王世川李燕
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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