CN109264394A - A kind of terrine grasping means of manipulator - Google Patents
A kind of terrine grasping means of manipulator Download PDFInfo
- Publication number
- CN109264394A CN109264394A CN201811255857.2A CN201811255857A CN109264394A CN 109264394 A CN109264394 A CN 109264394A CN 201811255857 A CN201811255857 A CN 201811255857A CN 109264394 A CN109264394 A CN 109264394A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- terrine
- joint
- articulated chain
- storehouse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0252—Cans
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to manipulator technical fields, more particularly to a kind of terrine grasping means of manipulator, articulated chain is formed by hinged manipulator joint, articulated chain forms multiple inflection points, when articulated chain slides on terrine surface from the top down, articulated chain is pressed on terrine surface by laminating apparatus, multiple inflection points of articulated chain adapt to terrine surface curve, after articulated chain slides into terrine bottom, the hinged place of manipulator joint is locked, form the crawl structure that lower end collects, to which terrine be grabbed, it avoids generating terrine additional pressure, by the form-lock of articulated chain, there is the adaptability of flexible manipulator simultaneously, again with the intensity of Rigid Manipulators, realize the crawl of terrine.
Description
Technical field
The invention belongs to the terrine grasping means of manipulator technical field more particularly to a kind of manipulator.
Background technique
Existing flexible manipulator, which is typically employed in inside deformable material, is arranged air cavity, and multiple drivings are arranged in the side of air cavity
Chamber drives chamber expansion, stretches the side wall of the side of flexible manipulator after being passed through gas source, and manipulator is to another lateral bending
Song can be realized the crawl to soft, fragile object, but the type is mechanical due to being grabbed using flexible material
Hand has two: 1, buckling curve is fixed, such as a kind of " flexible manipulator with bow shape continuous bend inner cavity
CN108381534 ", after being passed through gas source, crawl is realized in manipulator bending, but the type manipulator only has an inflection point, curved
Bent curve can not be adapted to according to terrine surface curve, and formation point contact causes to grab unstable between terrine；2, originally
Body intensity is inadequate, and in order to complete to be bent, manipulator uses flexible material, is easily deformed when bearing external force, causes crawl unstable
It is fixed；
Since hand-made terrine itself is frangible, the outer curve of each tank body is all different, machine in the prior art
Tool hand is unable to complete the crawl in terrine production to terrine.
Summary of the invention
The present invention overcomes above-mentioned the deficiencies in the prior art, provide a kind of terrine grasping means of manipulator, for pair
Terrine in terrine production is grabbed, while the technical issues of solving includes:
1, the auto Deformation of the outer wall difference curve of different terrines is adapted in the process of grasping；
2, the shape fixation problem of manipulator after deformation；
3, to the control problem of fragile terrine clamping force；
4, the problem of deformed manipulator itself intensity deficiency；
Technical solution of the present invention:
A kind of self-adapting grasping manipulator, comprising: manipulator joint, joint accommodate storehouse and pedestal, are arranged on the pedestal
If there is dry slide, using the center of pedestal as the center of circle, radially circumference in equal parts is arranged several described slideways, in each slideway
It is provided with a joint and accommodates storehouse, joint accommodates in storehouse and is provided with several manipulator joints, several manipulator joints are first
Tail is successively articulated and connected and forms articulated chain；
The manipulator joint includes: joint body, laminating apparatus, hinged seat, hinge bar, valve body and tracheae, the joint
Body includes the bottom surface contacted with workpiece to be clamped, and the top surface opposite with bottom surface, the side between top surface and bottom surface, side includes two
A opposite connecting pin is respectively arranged with hinged seat and hinge bar on connecting pin described in two, also sets up on the joint body
There is laminating apparatus, the laminating apparatus has for generating the active force for being directed toward the joint body, the active force perpendicular to institute
The component of bottom surface is stated, the hinged seat is connect by pipeline with valve body, and the valve body is driven by the tracheae；
The hinged seat is internally provided with cavity, the cavity along the hinged seat the circumferentially non-closed setting of articulated shaft,
And articulated shaft described in a cavity lateral edge adjacent with the hinge bar is circumferentially provided with sliding opening, the hinge bar side
Axially disposed have a baffle, and the baffle is passed through after the sliding is open and is embedded in the cavity, and the baffle is by the cavity
It is divided into two chambers, for two chambers by a balance pipe connection, the cavity is interior to be filled with hydraulic oil；
The valve body is arranged on the balance pipe, comprising: hydraulic cavities, atmospheric pressure cavity, spool, the hydraulic cavities and the gas
Pressure chamber is disposed adjacent, and through-hole is provided on hydraulic cavities and the adjacent side wall of atmospheric pressure cavity, and the spool passes through the through-hole, spool
One end of the hydraulic cavities is provided with block, block is used to cut off the oil circuit of the balance pipe, the upper end of block with it is described
It is provided with spring between the inner wall of hydraulic cavities and forms normally opened position, one end that the spool is located at atmospheric pressure cavity is provided with piston, piston
It is provided with air inlet on the atmospheric pressure cavity side wall of lower section, air inlet is connect with the tracheae.
Further, the upper end that the joint accommodates storehouse is provided with reel, and reel is arranged by reel motor driven on reel
There is rope, the one ends wound of rope is on reel, and the manipulator joint (1) of the other end of rope and described articulated chain the top is even
It connects, is slided for pulling the manipulator joint to accommodate in storehouse in joint.
Further, the laminating apparatus is electromagnet, and electromagnet is powered using external cord.
Further, the laminating apparatus is fan, is provided with fan through-hole between the top and bottom of the joint body,
Fan is provided in fan through-hole, fan is powered using external cord.
Further, the axis of the fan through-hole and the bottom surface out of plumb have the laminating apparatus by institute
It states manipulator joint and accommodates the component that storehouse pulls from inside to outside from joint.
A kind of terrine grasping means of manipulator, comprising the following steps:
Step a: pedestal is moved to terrine overthe openings, adjustment joint accommodates position of the storehouse in pedestal radially, makes to close
Section accommodates storehouse lower ending opening and is moved to terrine open outer side；
Step b: the articulated chain being hinged to by several manipulator joints is accommodated in storehouse from joint and is skidded off, and laminating apparatus is to machine
Tool swivel of hand applies the active force being directed toward inside terrine, relatively rotates between adjacent manipulator joint and adapts to terrine surface song
Line；
Step c: hinge bar is rotated with manipulator joint, slides the baffle on hinge bar in the cavity, cavity is by baffle
The stereomutation for the two chambers being separated into, the chamber that wherein volume reduces are increased by balance pipe indentation volume by hydraulic oil
Chamber；
Step d: the articulated chain that several manipulator joints are formed is fitted in terrine surface, articulated chain bending fitting terrine side
Surface curve, several articulated chains form the crawl structure that lower end collects and are covered on terrine side, and articulated chain stops sliding；
Step e: to high pressure gas is intratracheally passed through, high pressure gas enters atmospheric pressure cavity, pushes piston, keeps spool mobile, liquid
It presses intracavitary block to block balance pipe oil circuit, fixes the relative angle rotated between adjacent machine swivel of hand.
Further, in the step b in articulated chain slide downward, articulated chain is lifted by reel, realizes articulated chain
The sliding in storehouse is accommodated in joint.
Further, in the step b laminating apparatus to the power that manipulator joint applies further include make manipulator joint from
Joint accommodates the component that storehouse pulls from inside to outside.
The invention has the benefit that
1, the articulated chain that there is manipulator of the invention the manipulator joint of articulated connection to be formed, on each manipulator joint
Be provided with laminating apparatus, thus structure, may be implemented, by articulated chain from top to bottom along terrine side walls when, fitting dress
It sets and every section manipulator joint is pressed on terrine side, the manipulator joint of adjacent articulated connection relatively rotates, and makes articulated chain
The curve being bonded with terrine lateral wall is formed, solving existing flexible manipulator can not be in the process of grasping to different terrine
The problem of auto Deformation of outer wall difference curve adapts to；
2, it is provided with cavity in the hinged seat of manipulator joint of the invention, baffle is provided on articulated shaft, when adjacent
When two manipulator joints relatively rotate, baffle changes the two chambers volume that cavity separates, the liquid in two chambers
Pressure oil is balanced by balance pipe, and by the way that valve body is arranged on balance pipe, balance pipe is cut off or opened by application valve body, can
It to realize that valve body is in normally open when manipulator joint relatively rotates, can be freely rotated, outside articulated chain fitting terrine
Valve body after lateral curvature line fixes the volume of two chambers, thus the relative angle of fixed two adjacent manipulator joints,
The shape of articulated chain is fixed, and is locked.
3, valve body of the invention includes hydraulic cavities, atmospheric pressure cavity and spool, and hydraulic cavities and atmospheric pressure cavity share a spool, hydraulic
Spool in chamber is in normally opened position, and the spool in atmospheric pressure cavity is connected with piston, and piston is driven by tracheae, and thus structure can be real
Existing, external air source enters atmospheric pressure cavity by tracheae, pushes piston mobile, spool closes the oil circuit in hydraulic cavities, to close
The oil circuit of balance pipe, articulated chain is locked, and since external air source is only used as the driving force of valve body switch, keeps the shape of articulated chain solid
Fixed, terrine is picked up in the part that collects by being embedded in terrine axial direction, increases between manipulator and terrine with gas source in the prior art
Pressure to the grasp mode for increasing stiction it is different, avoid crushing terrine.
4, the present invention forms articulated chain by hinged manipulator joint, and articulated chain has the deformable spy of flexible manipulator
Point, meanwhile, locking mechanism is set in the hinged place of manipulator joint, when required by locking mechanism, by adjacent manipulator
The relative angle in joint locks, and articulated chain is made to become rigid manipulator, relative to existing flexible manipulator, the pass that is locked
Pitch chain has the intensity of Rigid Manipulators.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of self-adapting grasping manipulator；
Fig. 2 is the structural schematic diagram of the manipulator joint in Fig. 1；
Fig. 3 is the structural schematic diagram of the hinged seat in Fig. 2；
Fig. 4 is the structural schematic diagram of the hinge bar in Fig. 2；
Fig. 5 is the structural schematic diagram of the valve body in Fig. 2；
Fig. 6 is that manipulator joint locks schematic illustration；
Fig. 7 is the structural schematic diagram of the specific embodiment of the invention six；
Fig. 8 is the structural schematic diagram of the specific embodiment of the invention seven；
Fig. 9 is the structural schematic diagram of the specific embodiment of the invention eight；
In figure: 1 manipulator joint；2 joints accommodate storehouse；3 pedestals；1-1 joint body；1-2 laminating apparatus；1-3 hinged seat；1-
4 hinge bars；1-5 valve body；1-6 tracheae；1-3-1 cavity；1-3-2 balance pipe；1-4-1 baffle；1-5-1 hydraulic cavities；1-5-2 air pressure
Chamber；1-5-3 spool.
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail:
Specific embodiment one
As shown in connection with fig. 1, a kind of self-adapting grasping manipulator disclosed in the present embodiment, comprising: manipulator joint 1, joint
Storehouse 2 and pedestal 3 are accommodated, if being provided with dry slide on the pedestal 3, several described slideways are using the center of pedestal 3 as center of circle edge
Radial circumference in equal parts is arranged, and a joint is provided in each slideway and accommodates storehouse 2, is provided in storehouse 2 if joint accommodates
Dry manipulator joint 1, successively articulated connection forms articulated chain to several 1 head and the tail of manipulator joint；It is accommodated by linear joint
Storehouse 2 adjusts the position of articulated chain, and articulated chain is accommodated in storehouse 2 from joint and skidded off, from top to bottom along the side walls of terrine, passes through
The curve being bonded with terrine is formed after so that articulated chain is bonded terrine side wall, then the shape of articulated chain is fixed, and is realized to terrine
Crawl；Solve existing flexible manipulator can not the outer wall difference curve to different terrines in the process of grasping auto Deformation
The problem of adaptation；
As shown in connection with fig. 2, the manipulator joint 1 include: joint body 1-1, it is laminating apparatus 1-2, hinged seat 1-3, hinged
Bar 1-4, valve body 1-5 and tracheae 1-6, the joint body 1-1 include the bottom surface contacted with workpiece to be clamped, the top opposite with bottom surface
Face, the side between top surface and bottom surface, side include two opposite connecting pins, are respectively arranged on connecting pin described in two
It is additionally provided with laminating apparatus 1-2 on hinged seat 1-3 and hinge bar 1-4, the joint body 1-1, the laminating apparatus 1-2 is for producing
The raw active force for being directed toward the joint body 1-1, the active force have the component perpendicular to the bottom surface, the hinged seat 1-3
It is connect by pipeline with valve body 1-5, the valve body 1-5 is driven by the tracheae 1-6；By laminating apparatus 1-2 by manipulator
Joint 1 is pressed on terrine surface, and then articulated chain is made to form the curve that is bonded with terrine, by external air source valve body 1-5,
Hinge bar 1-4 and the turned position of hinged seat 1-3 are fixed, realizes the locking of articulated chain curve；
In conjunction with shown in Fig. 3 and Fig. 4, the hinged seat 1-3 is internally provided with cavity 1-3-1, and the cavity 1-3-1 is along described
The circumferentially non-closed setting of the articulated shaft of hinged seat 1-3, and the lateral edge institute that the cavity 1-3-1 is adjacent with the hinge bar 1-4
It states articulated shaft and is circumferentially provided with sliding opening, the side the hinge bar 1-4 is axially disposed baffle 1-4-1, the baffle 1-
4-1 is embedded in the cavity 1-3-1 after passing through sliding opening, and the cavity 1-3-1 is divided into two by the baffle 1-4-1
A chamber, for two chambers by a balance pipe 1-3-2 connection, the cavity 1-3-1 is interior to be filled with hydraulic oil；Hinge bar
1-4 and hinged seat 1-3 are stationarily connected on joint body 1-1, when two adjacent manipulator joints 1 relatively rotate, gear
Plate 1-4-1 is slided in cavity 1-3-1, two chamber volume variations separated, and the indoor hydraulic oil of chamber that volume reduces is logical
Overbalance pipe 1-3-2 is flowed into the increased chamber of volume, and two manipulator joints 1 can be freely rotated；In manipulator joint phase
When to rotation, valve body is in normally open, can be freely rotated, and the valve body after curve on the outside of articulated chain fitting terrine makes
The volume of two chambers is fixed, so that the relative angle of fixed two adjacent manipulator joints, fixes the shape of articulated chain,
And it locks；
Since external air source is only used as the driving force of valve body switch, fix the shape of articulated chain, by being embedded in terrine axis
To the part that collects terrine is picked up, increase the pressure between manipulator and terrine gas source in the prior art to increase quiet rub
The grasp mode for wiping power is different, avoids crushing terrine；
As shown in connection with fig. 5, the valve body 1-5 is arranged on the balance pipe 1-3-2, comprising: hydraulic cavities 1-5-1, air pressure
Chamber 1-5-2, spool 1-5-3, the hydraulic cavities 1-5-1 is disposed adjacent with the atmospheric pressure cavity 1-5-2, and hydraulic cavities 1-5-1 is gentle
Through-hole is provided on pressure chamber 1-5-2 adjacent side wall, the spool 1-5-3 passes through the through-hole, and spool 1-5-3 is located at the liquid
One end of pressure chamber 1-5-1 is provided with block, and block is used to cut off the oil circuit of the balance pipe 1-3-2, the upper end of block with it is described
It is provided with spring between the inner wall of hydraulic cavities 1-5-1 and forms normally opened position, the spool 1-5-3 is located at one end of atmospheric pressure cavity 1-5-2
It is provided with piston, is provided with air inlet on the atmospheric pressure cavity 1-5-2 side wall below piston, air inlet is connect with the tracheae 1-6；
When tracheae 1-6 is not passed through high pressure gas, normally opened position, the oil of block and balance pipe 1-3-2 are pushed to by 1-5-3 is issued by spring
Road is staggered, and when tracheae 1-6 is passed through high pressure gas, piston pushes spool 1-5-3 mobile to spring side, and block is by balance pipe 1-
The oil circuit of 3-2 blocks；
As shown in connection with fig. 6, when two manipulator joints 1 relatively rotate, joint body 1-1 drives hinge bar 1-4 rotation, gear
Plate 1-4-1 is slided in cavity 1-3-1, and the two chambers volume change being divided into, the hydraulic oil squeezed out passes through balance pipe
1-3-2 is in two chambers inner equilibrium, and valve body 1-5 is in normally open at this time, when needs are to the relative angle of two manipulator joints 1
When degree is locked, external air source enters atmospheric pressure cavity 1-5-2 by tracheae 1-6, and piston driving spool 1-5-3 is pushed to compress bullet
Spring blocks the block in hydraulic cavities 1-5-1 by the oil circuit of balance pipe 1-3-2, so that the volume change of two chambers is limited, it will
The relative angle locking of two manipulator joints 1；
Articulated chain is formed by hinged manipulator joint, articulated chain has the characteristics that flexible manipulator is deformable, meanwhile,
Locking mechanism is set in the hinged place of manipulator joint, when required by locking mechanism, by the phase of adjacent manipulator joint
To angle locking, articulated chain is made to become rigid manipulator, relative to existing flexible manipulator, the articulated chain being locked has
The intensity of Rigid Manipulators.
Specific embodiment two
The present embodiment is on the basis of specific embodiment one, and specifically, the upper end that the joint accommodates storehouse 2 is provided with
Reel, reel are provided with rope on reel, the one ends wound of rope is on reel, the other end of rope by reel motor driven
It connect with the manipulator joint 1 of described articulated chain the top, is slided for pulling the manipulator joint 1 to accommodate in storehouse 2 in joint
Dynamic, by controlling the revolving speed of reel motor, the speed that control articulated chain glides slides into joint in articulated chain and accommodates storehouse 2 most
Behind bottom end, the opening that uppermost section manipulator joint 1 is stuck in joint receiving storehouse 2 is drawn after crawl by reel
Movable joint chain is recovered to joint and accommodates in storehouse 2.
Specific embodiment three
The present embodiment is on the basis of specific embodiment one, and specifically, the laminating apparatus 1-2 is electromagnet, electricity
Magnet is powered using external cord, when grabbing iron tank body, is generated the attraction with tank body by electromagnet, is closed manipulator
Section 1 is tightly attached to tank surface.
Specific embodiment four
The present embodiment be on the basis of specific embodiment one, specifically, as shown in connection with fig. 2, the laminating apparatus 1-2
For fan, it is provided with fan through-hole between the top and bottom of the joint body 1-1, fan, fan are provided in fan through-hole
It is powered using external cord, is rotated by fan, form negative pressure between manipulator joint and terrine, it will be mechanical by atmospheric pressure
Swivel of hand 1 is pressed on terrine surface.
Specific embodiment five
The present embodiment is on the basis of specific embodiment four, and axis and the bottom surface of the fan through-hole are not hung down
Directly, there is the laminating apparatus 1-2, the manipulator joint 1 is accommodated into the component that storehouse 2 pulls from inside to outside from joint, fan is logical
There is the axis in hole certain inclination angle to pull downward on manipulator joint while making manipulator joint 1 be pressed on terrine surface
1, keep articulated chain more smooth in sliding.
Specific embodiment six
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 7, on the joint body 1-1
It is additionally provided with slide roller 1-1-1, the slide roller 1-1-1 described in several is arranged in parallel on the bottom surface, and the slide roller
The axis of 1-1-1 and the axis of the hinge bar 1-4 are arranged in parallel, and the surface of the slide roller 1-1-1 is covered with rubber layer, rubber
Glue-line is different along slide roller 1-1-1 axis direction thickness, along the rubber of one group of sliding tube 1-1-1 of hinge bar 1-4 axis direction
The contact surface of layer group camber.
Specific embodiment seven
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 8, in the joint body 1-1
Portion is provided with cavity, and cavity inside is provided with elastic balloon 1-1-2, and the elastic balloon 1-1-2 is connect with the tracheae 1-6,
Several through-holes are provided on the bottom surface of the joint body 1-1, the through-hole is connected in the cavity in joint body 1-1, in bullet
Property air bag 1-1-2 when being passed through high pressure gas, elastic balloon 1-1-2 expansion is full of the cavity, and elastic balloon 1-1-2 is described
Through hole forms bulge-structure, and bottom surface of the bulge-structure for joint body 1-1 is anti-skidding.
Specific embodiment eight
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 9, on the joint body 1-1
It is provided with anti-slip roller 1-1-3 and anti-skidding air bag 1-1-4, several anti-slip roller 1-1-3 are arranged in parallel on the bottom surface, and described
The axis of anti-slip roller 1-1-3 and the axis of the hinge bar 1-4 are arranged in parallel, and the joint body 1-1 is internally provided with air bag appearance
Receive slot, one end of the anti-skidding air bag 1-1-4 is fixed on the bottom of the air bag holding tank, anti-skidding air bag 1-1-4 and the gas
Pipe 1-6 connection contacts after the anti-skidding air bag 1-1-4 expansion with the Anti-skidding pipe 1-1-3.
Specific embodiment nine
A kind of terrine grasping means of manipulator disclosed in this implementation, the method apply specific embodiment one, two,
Three, described in four, five or six on a kind of self-adapting grasping manipulator, specifically, in conjunction with shown in Fig. 1-Fig. 6, comprising the following steps:
Step a: pedestal 3 is moved to terrine overthe openings, adjustment joint accommodates position of the storehouse 2 in pedestal 3 radially, makes
Joint accommodates 2 lower ending opening of storehouse and is moved to terrine open outer side；
Step b: the articulated chain being hinged to by several manipulator joints 1 is accommodated in storehouse 2 from joint and is skidded off, laminating apparatus 1-
2 pairs of manipulator joints 1 apply the active force being directed toward inside terrine, relatively rotate between adjacent manipulator joint 1 and adapt to terrine
Surface curve；
Step c: hinge bar 1-4 rotates with manipulator joint 1, makes the baffle 1-4-1 on hinge bar 1-4 in cavity 1-3-1
Interior sliding, cavity 1-3-1 is by the stereomutation of the baffle 1-4-1 two chambers being separated into, and chamber that wherein volume reduces is by liquid
Pressure oil is pressed into the increased chamber of volume by balance pipe 1-3-2；
Step d: the articulated chain that several manipulator joints 1 are formed is fitted in terrine surface, articulated chain bending fitting terrine
Side curve, several articulated chains form the crawl structure that lower end collects and are covered on terrine side, and articulated chain stops sliding；
Step e: being passed through high pressure gas into tracheae 1-6, and high pressure gas enters atmospheric pressure cavity 1-5-2, pushes piston, makes spool
1-5-3 is mobile, and the block in hydraulic cavities 1-5-1 blocks balance pipe 1-3-2 oil circuit, makes to rotate between adjacent machine swivel of hand 1
Relative angle fix；
Articulated chain is formed by hinged manipulator joint, articulated chain has the characteristics that flexible manipulator is deformable, meanwhile,
Locking mechanism is set in the hinged place of manipulator joint, when required by locking mechanism, by the phase of adjacent manipulator joint
To angle locking, articulated chain is made to become rigid manipulator, relative to existing flexible manipulator, the articulated chain being locked has
The intensity of Rigid Manipulators realizes the crawl to terrine in conjunction with the advantages of flexible manipulator and Rigid Manipulators.
Specific embodiment ten
The present embodiment is on the basis of specific embodiment nine, specifically, in articulated chain slide downward in the step b
When, articulated chain is lifted by reel, realizes that articulated chain accommodates the sliding in storehouse 2 in joint.
Specific embodiment 11
The present embodiment is on the basis of specific embodiment nine, and specifically, laminating apparatus 1-2 is to machine in the step b
The power that tool swivel of hand 1 applies further includes that manipulator joint 1 is made to accommodate the component that storehouse 2 pulls from inside to outside from joint.
Specific embodiment 12
The present embodiment is on the basis of specific embodiment nine, and specifically, as shown in connection with fig. 7, articulated chain is in terrine table
When face is slided, the slide roller 1-1-1 on 1 bottom surface of manipulator joint is contacted with terrine surface, and rubber is arranged in the surface of sliding tube 1-1-1
Glue-line makes one group of slide roller along hinge bar 1-4 axis direction by the way that the thickness of rubber layer on different slide roller 1-1-1 is arranged
1-1-1 forms arc contact surface, and when manipulator joint 1 slides, arc contact surface is bonded with terrine surface curve；
Specific embodiment 13
The present embodiment is specifically, as shown in connection with fig. 8, to be passed through height in tracheae 1-6 on the basis of specific embodiment nine
It calms the anger after body, high pressure gas enters elastic balloon 1-1-2, elastic balloon 1-1-2 expansion, and the elastic balloon 1-1-2 of expansion is passed through
Through-hole on the bottom surface joint body 1-1 forms several protrusions, protrusion and terrine surface on the contact surface of joint body 1-1 and terrine
Contact provides frictional force.
Specific embodiment 14
The present embodiment is on the basis of specific embodiment nine, and specifically, as shown in connection with fig. 9, articulated chain is in terrine table
When face is slided, the anti-skidding air bag 1-1-4 inside joint body 1-1 is in contraction state, the lower end of anti-skidding air bag 1-1-4 and anti-slip roller
1-1-3 separation, the ground roll 1-1-3 rotation of the bottom surface joint body 1-1, reduces the frictional force of manipulator joint 1 and terrine surface,
After being passed through high pressure gas in tracheae 1-6, anti-skidding air bag 1-1-4 expansion, lower end and the anti-slip roller 1-1-3 of anti-skidding air bag 1-1-4 is connect
Touching, anti-slip roller 1-1-3 stop operating, and increase the frictional force of manipulator joint 1 and terrine surface.
Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (5)
1. a kind of casing grasping means of manipulator, which comprises the following steps:
Step a: being moved to terrine overthe openings for pedestal (3), and adjustment joint accommodates the position of storehouse (2) in pedestal (3) radially,
So that joint is accommodated storehouse (2) lower ending opening and is moved to terrine open outer side；
Step b: the articulated chain being hinged to by several manipulator joints (1) is accommodated in storehouse (2) from joint and is skidded off, laminating apparatus
(1-2) applies the active force being directed toward inside terrine to manipulator joint (1), and adjacent manipulator joint relatively rotates between (1)
Adapt to terrine surface curve；
Step c: hinge bar (1-4) is rotated with manipulator joint (1), makes the baffle (1-4-1) on hinge bar (1-4) in cavity
Sliding in (1-3-1), the stereomutation for the two chambers that cavity (1-3-1) is separated by baffle (1-4-1), wherein volume reduces
Chamber by hydraulic oil by balance pipe (1-3-2) be pressed into the increased chamber of volume；
Step d: the articulated chain that several manipulator joints (1) are formed is fitted in terrine surface, articulated chain bending fitting terrine side
Surface curve, several articulated chains form the crawl structure that lower end collects and are covered on terrine side, and articulated chain stops sliding；
Step e: being passed through high pressure gas into tracheae (1-6), and high pressure gas enters atmospheric pressure cavity (1-5-2), pushes piston, makes spool
(1-5-3) is mobile, and the block in hydraulic cavities (1-5-1) blocks balance pipe (1-3-2) oil circuit, makes adjacent machine swivel of hand (1)
Between the relative angle that rotates fix.
2. a kind of terrine grasping means of manipulator according to claim 2, which is characterized in that closed in the step b
When pitch chain slide downward, articulated chain is lifted by reel, realizes that articulated chain accommodates the sliding in storehouse (2) in joint.
3. a kind of terrine grasping means of manipulator according to claim 1, which is characterized in that be bonded in the step b
Device (1-2) further includes making manipulator joint (1) accommodate storehouse (2) from joint to draw from inside to outside to the power that manipulator joint (1) applies
Dynamic component.
4. a kind of terrine grasping means of manipulator according to claim 1,2 or 3, which is characterized in that the method is answered
With on a kind of self-adapting grasping manipulator.
5. a kind of terrine grasping means of manipulator according to claim 4, which is characterized in that described one kind is adaptively grabbed
Taking manipulator includes: manipulator joint (1), joint receiving storehouse (2) and pedestal (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255857.2A CN109264394A (en) | 2018-10-25 | 2018-10-25 | A kind of terrine grasping means of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255857.2A CN109264394A (en) | 2018-10-25 | 2018-10-25 | A kind of terrine grasping means of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109264394A true CN109264394A (en) | 2019-01-25 |
Family
ID=65193638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811255857.2A Pending CN109264394A (en) | 2018-10-25 | 2018-10-25 | A kind of terrine grasping means of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109264394A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906605A (en) * | 2022-04-25 | 2022-08-16 | 重庆安都陶瓷有限公司 | Manipulator for grabbing semi-finished pottery pots |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4400495A1 (en) * | 1994-01-11 | 1995-07-13 | Behn & Bates Maschf Gmbh | Appliance for picking up, transporting and palletising objects, especially filled sacks |
| CN1799784A (en) * | 2004-12-31 | 2006-07-12 | 中国科学技术大学 | Clamping holder with rigidity changeable flexible surface |
| CN203199070U (en) * | 2013-03-29 | 2013-09-18 | 华中科技大学 | Negative-pressure-suction climbing type robot for detecting bridge crack |
| CN105583838A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Fluid type contact grabbing linkage self-adaptive robot finger device |
| CN206011127U (en) * | 2016-06-17 | 2017-03-15 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN106625734A (en) * | 2016-09-28 | 2017-05-10 | 东北农业大学 | Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws |
| CN106639267A (en) * | 2015-10-28 | 2017-05-10 | 苏州宝时得电动工具有限公司 | Wall surface processing robot |
| CN107986020A (en) * | 2018-01-11 | 2018-05-04 | 中子星电子科技（苏州）有限公司 | A kind of film adsorbent equipment |
-
2018
- 2018-10-25 CN CN201811255857.2A patent/CN109264394A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4400495A1 (en) * | 1994-01-11 | 1995-07-13 | Behn & Bates Maschf Gmbh | Appliance for picking up, transporting and palletising objects, especially filled sacks |
| CN1799784A (en) * | 2004-12-31 | 2006-07-12 | 中国科学技术大学 | Clamping holder with rigidity changeable flexible surface |
| CN203199070U (en) * | 2013-03-29 | 2013-09-18 | 华中科技大学 | Negative-pressure-suction climbing type robot for detecting bridge crack |
| CN106639267A (en) * | 2015-10-28 | 2017-05-10 | 苏州宝时得电动工具有限公司 | Wall surface processing robot |
| CN105583838A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Fluid type contact grabbing linkage self-adaptive robot finger device |
| CN206011127U (en) * | 2016-06-17 | 2017-03-15 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN106625734A (en) * | 2016-09-28 | 2017-05-10 | 东北农业大学 | Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws |
| CN107986020A (en) * | 2018-01-11 | 2018-05-04 | 中子星电子科技（苏州）有限公司 | A kind of film adsorbent equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906605A (en) * | 2022-04-25 | 2022-08-16 | 重庆安都陶瓷有限公司 | Manipulator for grabbing semi-finished pottery pots |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109048969A (en) | A kind of self-adapting grasping manipulator | |
| CN105798896A (en) | Variable-stiffness continuous type mechanism based on air pressure locking principle | |
| US20200156237A1 (en) | Climbing soft robotics | |
| CN104015197A (en) | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system | |
| CN105027831B (en) | A kind of drive lacking fruits picking mechanical hand pawl of hard and soft mixed structure | |
| US20210039250A1 (en) | Pressurizing housing for a soft robotic actuator | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| WO2020232802A1 (en) | Flexible gripper having surface microstructure | |
| CN110509267B (en) | Soft manipulator based on swallowing effect | |
| CN103659825A (en) | Bending self-locking pneumatic under-actuated robot finger device | |
| CN109264394A (en) | A kind of terrine grasping means of manipulator | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN102756376A (en) | Finger device for underactuated robot adapting along with shapes automatically | |
| CN214733026U (en) | Pneumatic type safety coiling chuck device | |
| CN107244605B (en) | A kind of new-energy automobile special (purpose) rubber tire impurity elimination hoisting mechanism | |
| CN111923082B (en) | Flexible grabbing device of pseudo-elephant nose structure | |
| CN109397278A (en) | Imitative hedgehog magnetic drives bar ball adaptive robot arm device | |
| CN105508166A (en) | Movable shell type air spring radial plunger pump | |
| CN109333577A (en) | A kind of manipulator self-adapting grasping method | |
| CN109048967B (en) | Manipulator joint | |
| CN209084065U (en) | Pinch valve | |
| CN205766141U (en) | A kind of variation rigidity of based on air pressure locking principle continuous mechanism | |
| CN109048984A (en) | A kind of software self-locking manipulator | |
| CN215920524U (en) | Rigid-flexible coupling motion grabbing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190125 |