CN112605978A - Grabbing method based on industrial software grabbing robot - Google Patents
Grabbing method based on industrial software grabbing robot Download PDFInfo
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- CN112605978A CN112605978A CN202011471935.XA CN202011471935A CN112605978A CN 112605978 A CN112605978 A CN 112605978A CN 202011471935 A CN202011471935 A CN 202011471935A CN 112605978 A CN112605978 A CN 112605978A
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- grabbing
- telescopic rod
- fixed
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- soft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a grabbing method based on an industrial soft grabbing robot, which comprises a base, wherein a lifting assembly used for adjusting grabbing height is arranged above the base, the bottom of the lifting assembly is connected with a steering assembly used for adjusting grabbing circumferential position, the output end of the lifting assembly is provided with a horizontal hydraulic cylinder used for realizing grabbing horizontal position movement, the output end of the horizontal hydraulic cylinder is provided with a horizontal telescopic rod, the end part of the horizontal telescopic rod is provided with a vertically arranged hanging rod, and the lower end of the hanging rod is connected with the soft grabbing assembly through a connecting frame.
Description
This patent is the divisional application, and the information of former application is as follows, the name: an industrial software grabbing robot and a grabbing method thereof, the application number is as follows: 2019106856047, filing date: 2019-07-27.
Technical Field
The invention relates to the field of software robots, in particular to a grabbing method based on an industrial software grabbing robot.
Background
Conventional rigid robots are widely used in industrial fields due to their high rigidity, strength, precision and speed, however, when many scientific and technical personnel make great efforts to expand the rigid robots from industrial production line applications to other fields (such as housekeeping, old and disabled assistance, agricultural automation, medical rehabilitation and the like), the rigid robots which depend heavily on a structured environment and an accurate mathematical model are found to be difficult to describe in the non-structured complex environment. When a complex and changeable object carries out interactive operation, the characteristics of high rigidity, high strength and high precision of the rigid robot become defects which cause the rigid robot to be insufficient for such tasks. In this situation, a soft robot research is gradually emerging.
For the grasping robot, it is difficult to design and manufacture fingers like a human, it is easy to malfunction, and it is complicated to control tens of joints of the mechanical fingers using the controller. People in the new age need more sophisticated imitation hands. The imitation hand can better perform human-computer interaction and can work in a complex environment more flexibly.
To present demand, a robot convenient to snatch different shape article is now provided.
Disclosure of Invention
The present invention is directed to a grabbing method based on an industrial software grabbing robot, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an industrial soft body grabbing robot comprises a base, wherein a lifting assembly used for adjusting grabbing height is arranged above the base, the bottom of the lifting assembly is connected with a steering assembly used for adjusting grabbing circumferential position, the output end of the lifting assembly is provided with a horizontal hydraulic cylinder used for realizing grabbing horizontal position movement, the output end of the horizontal hydraulic cylinder is provided with a horizontal telescopic rod, the end part of the horizontal telescopic rod is provided with a vertically arranged hanging rod, and the lower end of the hanging rod is connected with a soft body grabbing assembly through a connecting frame;
the soft grabbing component comprises a fixed box with a cylindrical structure, an installation ring plate is coaxially arranged on the inner wall of the fixed box, a plurality of telescopic holes facing the vertical axis of the fixed box are distributed on the inner side surface of the installation ring plate in an array manner, a driving sliding plate is slidably matched in each telescopic hole, the sliding end of the end part of each driving sliding plate is connected with the inner wall of each telescopic hole through a reset spring, and a driving mechanism for driving all the driving sliding plates to move towards the vertical axis of the fixed box is further arranged at the upper end of the fixed box;
the lower end face array of the fixed box is provided with a plurality of rectangular sliding grooves corresponding to the driving sliding plates, each rectangular sliding groove is provided with a plurality of fixed sleeves in a penetrating manner, two sides of each fixed sleeve are provided with sliding clamping plates which are matched with the rectangular sliding grooves to enable the fixed sleeves to slide on the lower end face of the fixed box, and the surface of the fixed sleeve where the sliding clamping plates are located is provided with a positioning spring which is used for connecting the inner wall of the rectangular sliding groove to enable the fixed sleeves to automatically reset at a later stage;
an upper telescopic rod matched with the transmission slotted hole of the lower end face of the driving sliding plate is slidably penetrated through the upper end of the fixed sleeve, and a lower telescopic rod used for clamping an object A is slidably penetrated through the lower end of the fixed sleeve;
the fixed sleeve is characterized in that the side rods are arranged on the surfaces of the upper telescopic rod and the lower telescopic rod which are positioned inside the fixed sleeve, a telescopic spring is arranged between the side rods and the inner wall of the fixed sleeve, the positions of the upper telescopic rod and the lower telescopic rod are fixed through the telescopic spring, a fixed pulley is arranged inside the fixed sleeve on the left lower side of the lower telescopic rod, a traction rope is tied to the upper end of the lower telescopic rod, and the traction rope is wound around the fixed pulley and connected with the lower end of the upper telescopic rod.
As a further scheme of the invention: the driving mechanism comprises a driving motor arranged on the axis of the top of the fixed box, the output end of the driving motor is provided with a rotating cover coaxially arranged with the mounting ring plate, a plurality of driving protrusions corresponding to the driving sliding plates are distributed on the inner wall array of the rotating cover, and each driving sliding plate is also provided with a guiding wheel matched with the driving protrusions.
As a further scheme of the invention: the sliding clamping plate is provided with a pulley for abutting against the wall of the fixed box, and the sliding friction is converted into rolling friction by the arrangement of the pulley, so that the later-stage resetting of the fixed sleeve is facilitated.
As a further scheme of the invention: every go up telescopic link top all is arc top.
As a further scheme of the invention: and an anti-skid layer is arranged on the surface of each lower telescopic rod.
As a further scheme of the invention: the lifting assembly comprises a supporting column connected with a steering shaft, a rectangular hole is formed in the upper end of the supporting column, a lifting column with a rectangular cross section is arranged in the rectangular hole in a sliding fit mode, a lifting screw rod is arranged in a transmission screw hole in the lower end of the lifting column in a matched mode, and the lower end of the lifting screw rod is connected with the output end of a lifting motor.
As a further scheme of the invention: the steering assembly comprises a steering shaft which is rotatably arranged on the upper end of the base through a fixed bearing, the upper end of the steering shaft is provided with a connector connected with the lifting assembly, the base at the lower end of the steering shaft is internally provided with a steering motor, and the output end of the steering motor is provided with an active steering gear which is meshed with a driven steering gear at the lower end of the steering shaft.
As a further scheme of the invention: the horizontal hydraulic cylinder, the steering assembly, the lifting assembly and the soft grabbing assembly are electrically connected with the control panel.
A grabbing method of an industrial soft grabbing robot comprises the following steps;
step 1: the grabbing position of the soft grabbing component is adjusted through the steering component, the lifting component and the horizontal hydraulic cylinder, so that the soft grabbing component is positioned above the object A;
step 2: the height of the soft grabbing component is reduced through the lifting component, so that the lower telescopic rod at the lower end of the soft grabbing component props against the surface of the object A, the lower telescopic rod which props against the surface of the object A can be retracted into the fixing sleeve under the action of pressure, then the corresponding upper telescopic rod can be separated from the transmission slotted hole on the driving sliding plate under the action of the traction rope, and further can be retracted into the fixing sleeve, and the lower telescopic rod which is not retracted into the fixing sleeve wraps the periphery of the object A;
and step 3: then drive the vertical axis motion of drive slide to fixed case through actuating mechanism, a plurality of lower telescopic link can produce a clamp force to object A all around this moment to the completion is fixed object A, and this kind of software snatchs the subassembly and can snatch the object of arbitrary shape.
Compared with the prior art, the invention has the beneficial effects that: the invention improves the existing requirements, designs the soft grabbing component capable of grabbing objects in different shapes, does not need to simulate the hand mechanism, greatly reduces the cost and has strong practicability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of a software grasping element according to the present invention.
FIG. 3 is a schematic view of the structure of the mounting ring plate and the driving slide plate according to the present invention.
Fig. 4 is a schematic structural view of the interior of the fixing sleeve of the present invention.
FIG. 5 is a schematic view of the lower end surface of the soft grasping element according to the present invention.
Fig. 6 is a schematic view of the structure of the driving slider in the present invention.
FIG. 7 is a schematic view of the object A grasped by the soft grasping element according to the present invention.
Wherein: the device comprises a base 1, a steering component 2, a steering motor 21, a driving steering gear 22, a driven steering gear 23, a steering shaft 24, a lifting component 3, a lifting motor 31, a lifting screw 32, a support column 33, a lifting column 34, a horizontal hydraulic cylinder 4, a horizontal telescopic rod 41, a suspension rod 42, a connecting frame 43, a soft body grabbing component 5, a fixed box 51, a fixed sleeve 52, a rectangular sliding groove 521, an upper telescopic rod 522, a lower telescopic rod 523, a contraction spring 524, a side rod 525, a sliding clamping plate 526, a positioning spring 527, a fixed pulley 528, a traction rope 529, a guide wheel 53, a driving sliding plate 54, a transmission 541 slotted hole, a driving protrusion 55, a rotating cover 56, a driving motor 57, a return spring 58, a sliding end 59 and a mounting ring plate 510.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-7, in the embodiment of the present invention, an industrial soft body grabbing robot includes a base 1, a lifting assembly 3 for adjusting a grabbing height is disposed above the base 1, a steering assembly 2 for adjusting a grabbing circumferential position is connected to the bottom of the lifting assembly 3, a horizontal hydraulic cylinder 4 for achieving horizontal grabbing position movement is disposed at an output end of the lifting assembly 3, a horizontal telescopic rod 41 is disposed at an output end of the horizontal hydraulic cylinder 4, a vertically disposed boom 42 is disposed at an end of the horizontal telescopic rod 41, and a lower end of the boom 42 is connected to a soft body grabbing assembly 5 through a connecting frame 43;
the soft grabbing component 5 comprises a fixed box 51 with a cylindrical structure, an installation ring plate 510 coaxially arranged with the fixed box 51 is arranged on the inner wall of the fixed box 51, a plurality of telescopic holes facing the vertical axis of the fixed box 51 are distributed on the inner side surface of the installation ring plate 510 in an array manner, a driving sliding plate 54 is slidably matched in each telescopic hole, a sliding end 59 at the end part of each driving sliding plate 54 is connected with the inner wall of each telescopic hole through a return spring 58, and a driving mechanism for driving all the driving sliding plates 54 to move towards the vertical axis of the fixed box is further arranged at the upper end of the fixed box 51;
a plurality of rectangular sliding grooves 521 corresponding to the driving sliding plates 54 are distributed in an array on the lower end face of the fixed box 51, a plurality of fixed sleeves 52 penetrate through each rectangular sliding groove 521, sliding clamping plates 526 matched with the rectangular sliding grooves 521 to enable the fixed sleeves 52 to slide on the lower end face of the fixed box 51 are arranged on two sides of each fixed sleeve 52, and positioning springs 527 used for being connected with the inner walls of the rectangular sliding grooves 521 to enable the fixed sleeves 52 to automatically reset at a later stage are arranged on the surfaces of the fixed sleeves 52 where the sliding clamping plates 526 are located;
the upper end of the fixed sleeve 52 is slidably penetrated with an upper telescopic rod 522 matched with the transmission slotted hole 541 on the lower end surface of the driving sliding plate 54, the lower end of the fixed sleeve 52 is slidably penetrated with a lower telescopic rod 523 used for clamping an object A, and the surface of each lower telescopic rod 523 is provided with an anti-skid layer;
the surfaces of an upper telescopic rod 522 and a lower telescopic rod 523 which are positioned in the fixing sleeve 52 are provided with side rods 525, a telescopic spring 524 is arranged between the side rods 525 and the inner wall of the fixing sleeve 52, the positions of the upper telescopic rod and the lower telescopic rod are fixed through the telescopic spring 524, a fixed pulley 528 is arranged in the fixing sleeve 52 at the left lower side of the lower telescopic rod 523, the upper end of the lower telescopic rod 523 is tied with a traction rope 529, and the traction rope 529 bypasses the fixed pulley 528 and is connected with the lower end of the upper telescopic rod 522;
initially, the top of each upper telescopic rod 522 is embedded into the transmission slot 541 at the lower end of the driving sliding plate 54, when the object a is clamped and fixed, the position of the soft grabbing component 5 is adjusted by the horizontal hydraulic cylinder 4 and the steering component so that the soft grabbing component is located above the object a, then the height of the soft grabbing component 5 is reduced by the lifting component 3 so that a plurality of lower telescopic rods 523 at the lower end thereof press the object a tightly, thus the lower telescopic rods 523 which press against the surface of the object a are retracted into the fixing sleeve 52 under the action of pressure, then under the action of the traction rope 529, the corresponding upper telescopic rods 522 are separated from the transmission slot 541 on the driving sliding plate 54 and are retracted into the fixing sleeve 52, at this time, the lower telescopic rods 523 which are not retracted into the fixing sleeve 52 wrap the periphery of the object a (as shown in fig. 7), and then the driving sliding plate 54 is driven by the driving mechanism to move towards the vertical, at the moment, the plurality of lower telescopic rods 523 can generate clamping force on the periphery of the object A, so that the object A is fixed, the soft grabbing component can grab objects in any shapes, and the practicability is high;
the driving mechanism comprises a driving motor 57 arranged on the top axis of the fixed box 51, the output end of the driving motor 57 is provided with a rotating cover 56 coaxially arranged with the mounting ring plate 510, a plurality of driving protrusions 55 corresponding to the driving sliding plates 54 are distributed on the inner wall array of the rotating cover 56, each driving sliding plate 54 is further provided with a guiding wheel 53 matched with the driving protrusions 55, the rotating cover 56 can drive the driving protrusions 55 to generate an acting force on the guiding wheels 53 under the driving of the driving motor 57, so as to drive the driving sliding plates 54 to slide along the telescopic holes, and when the action of the driving protrusions 55 is lost, the driving sliding plates 54 can complete automatic reset under the action of a reset spring 58.
Turn to subassembly 2 and include that it sets up the steering spindle 24 in base 1 upper end to rotate through fixing bearing, steering spindle 24 upper end is equipped with the connector of being connected with lifting unit 3, 1 internally mounted of base of steering spindle 24 lower extreme has steering motor 21, steering motor 21's output is equipped with the initiative steering gear 22 with the driven steering gear 23 intermeshing of steering spindle 24 lower extreme, through steering motor 21 cooperation gear drive, and then drives the rotation of steering spindle to make the software snatch the subassembly and rotate along base 1.
Example 2
The sliding clamping plate is provided with a pulley for abutting against the wall of the fixed box, and the sliding friction is converted into rolling friction by the arrangement of the pulley, so that the later-stage resetting of the fixed sleeve is facilitated.
Example 3
In order to reduce the friction loss between the upper telescopic rods 522 and the driving skids, the top of each upper telescopic rod is an arc-shaped top end, and the arc-shaped top ends facilitate the sliding of the upper telescopic rods on the lower end faces of the driving skids.
Example 4
In order to increase the friction force of the lower telescopic rod on the surface of an object and further improve the clamping effect, the surface of each lower telescopic rod is provided with an anti-skid layer, and the anti-skid layer is preferably a rubber layer.
A grabbing method of an industrial soft grabbing robot comprises the following steps:
step 1: the grabbing position of the soft grabbing component 5 is adjusted through the steering component 2, the lifting component 3 and the horizontal hydraulic cylinder 4, so that the soft grabbing component 5 is positioned above the object A;
step 2: the height of the soft grabbing component 5 is reduced through the lifting component 3, so that the lower telescopic rod at the lower end of the soft grabbing component 5 is abutted against the surface of the object A, the lower telescopic rod 523 abutted against the surface of the object A is retracted into the fixing sleeve 52 under the action of pressure, then the corresponding upper telescopic rod 522 is separated from the transmission slotted hole 541 on the driving sliding plate 54 and is retracted into the fixing sleeve 52 under the action of the traction rope 529, and at the moment, the lower telescopic rod 523 which is not retracted into the fixing sleeve 52 wraps the periphery of the object A;
and step 3: then drive slide 54 to the vertical axis motion of fixed case through actuating mechanism, a plurality of lower telescopic link 523 can produce a clamp force to object A all around this moment to accomplish the fixed to object A, this kind of software snatchs the subassembly and can snatch the object of arbitrary shape.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The grabbing method based on the industrial software grabbing robot comprises the following steps: the industrial soft body grabbing robot comprises a base (1), wherein a lifting assembly (3) used for adjusting grabbing height is arranged above the base (1), and the bottom of the lifting assembly (3) is connected with a steering assembly (2) used for adjusting grabbing circumferential position, and is characterized in that a horizontal hydraulic cylinder (4) used for realizing grabbing horizontal position movement is arranged at the output end of the lifting assembly (3), a horizontal telescopic rod (41) is arranged at the output end of the horizontal hydraulic cylinder (4), a vertically arranged hanging rod (42) is arranged at the end part of the horizontal telescopic rod (41), and the lower end of the hanging rod (42) is connected with a soft body grabbing assembly (5) through a connecting frame (43);
the soft grabbing component (5) comprises a fixed box (51) with a cylindrical structure, an installation ring plate (510) which is coaxial with the fixed box (51) is arranged on the inner wall of the fixed box (51), a plurality of telescopic holes facing the vertical axis of the fixed box (51) are distributed on the inner side surface of the installation ring plate (510) in an array mode, a driving sliding plate (54) is in sliding fit in each telescopic hole, a sliding end (59) at the end part of the driving sliding plate (54) is connected with the inner wall of each telescopic hole through a reset spring (58), and a driving mechanism for driving all the driving sliding plates (54) to move towards the vertical axis of the fixed box (51) is further arranged at the upper end of the fixed box (51);
a plurality of rectangular sliding grooves (521) corresponding to the driving sliding plates (54) are distributed on the lower end face of the fixed box (51) in an array mode, a plurality of fixed sleeves (52) penetrate through each rectangular sliding groove (521), sliding clamping plates (526) matched with the rectangular sliding grooves (52) to enable the fixed sleeves (52) to slide on the lower end face of the fixed box (51) are arranged on two sides of each fixed sleeve (52), and positioning springs (527) used for being connected with the inner walls of the rectangular sliding grooves (521) to enable the fixed sleeves (52) to automatically reset at a later stage are arranged on the surfaces of the fixed sleeves (52) where the sliding clamping plates (526) are located;
an upper telescopic rod (522) matched with a transmission slotted hole (541) on the lower end surface of the driving sliding plate (54) is slidably arranged at the upper end of the fixed sleeve (52) in a penetrating way, and a lower telescopic rod (523) used for clamping an object A is slidably arranged at the lower end of the fixed sleeve (52) in a penetrating way;
the surface of an upper telescopic rod (522) and a lower telescopic rod (523) which are positioned in a fixed sleeve (52) is provided with a side rod (525), a telescopic spring (524) is arranged between the side rod (525) and the inner wall of the fixed sleeve (52), the positions of the upper telescopic rod and the lower telescopic rod are fixed through the telescopic spring (524), a fixed pulley (528) is arranged in the fixed sleeve (52) on the left lower side of the lower telescopic rod (523), the upper end of the lower telescopic rod (523) is tied with a traction rope (529), and the traction rope (529) bypasses the fixed pulley (528) and is connected with the lower end of the upper telescopic rod (522);
the lower telescopic rod at the lower end of the soft grabbing component props against the surface of the object A, the lower telescopic rod which props against the surface of the object A can be collected into the fixed sleeve under the action of pressure, then the corresponding upper telescopic rod can be separated from the transmission slotted hole on the driving sliding plate under the action of the traction rope, and further can be collected into the fixed sleeve, and at the moment, the lower telescopic rod which is not collected into the fixed sleeve wraps the periphery of the object A;
the grabbing method based on the industrial software grabbing robot comprises the following steps:
step 1: the grabbing position of the soft grabbing component is adjusted through the steering component, the lifting component and the horizontal hydraulic cylinder, so that the grabbing component is positioned above the object A;
step 2: the height of the soft grabbing component is reduced through the lifting component, so that the lower telescopic rod at the lower end of the soft grabbing component props against the surface of the object A, the lower telescopic rod which props against the surface of the object A can be retracted into the fixing sleeve under the action of pressure, then the corresponding upper telescopic rod can be separated from the transmission slotted hole on the driving sliding plate under the action of the traction rope, and further can be retracted into the fixing sleeve, and the lower telescopic rod which is not retracted into the fixing sleeve wraps the periphery of the object A;
and step 3: then drive the drive slide through actuating mechanism and move to the axis, a plurality of lower telescopic link can produce a clamp force to object A all around this moment to the completion is fixed object A, and this kind of subassembly of snatching can snatch the object of arbitrary shape.
2. The grabbing method based on the industrial soft grabbing robot of claim 1, wherein the driving mechanism comprises a driving motor (57) disposed on the top axis of the fixed box (51), the output end of the driving motor (57) is provided with a rotating cover (56) coaxially disposed with the mounting ring plate (510), the inner wall of the rotating cover (56) is distributed with a plurality of driving protrusions (55) corresponding to the driving sliding plates (54), and each driving sliding plate (54) is further provided with a guiding wheel (53) matched with the driving protrusions (55).
3. The industrial soft gripping robot-based gripping method as claimed in claim 1, wherein the sliding clamping plate (526) is provided with a pulley for abutting against the wall of the fixed box (51) to facilitate the later restoration of the fixed sleeve (52).
4. The industrial soft gripping robot-based gripping method according to claim 1, wherein the top of each upper telescoping rod (522) is an arc-shaped top end.
5. The industrial soft gripping robot-based gripping method according to any one of claims 1 to 4, wherein each of the lower telescopic rods (523) has an anti-slip layer on its surface.
6. The grabbing method based on the industrial soft grabbing robot is characterized in that the steering assembly (2) comprises a steering shaft (24) rotatably arranged at the upper end of the base (1) through a fixed bearing, the upper end of the steering shaft (24) is provided with a connector connected with the lifting assembly (3), a steering motor (21) is arranged inside the base (1) at the lower end of the steering shaft (24), and the output end of the steering motor (21) is provided with a driving steering gear (22) meshed with a driven steering gear (23) at the lower end of the steering shaft (24).
7. The industrial soft gripping robot based gripping method according to claim 5, wherein the lifting assembly (3) comprises a supporting column (33) connected to the steering shaft (24), a rectangular hole is formed in the upper end of the supporting column (33), a lifting column (34) with a rectangular cross section is slidably fitted in the rectangular hole, a lifting screw (32) is fitted in a transmission screw hole in the lower end of the lifting column (34), and the lower end of the lifting screw (32) is connected to an output end of the lifting motor (31).
8. The industrial soft gripping robot-based gripping method according to claim 1, wherein the horizontal hydraulic cylinder (4), the steering assembly (2), the lifting assembly (3) and the soft gripping assembly (5) are electrically connected to a control panel.
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| CN202011471935.XA CN112605978B (en) | 2019-07-27 | 2019-07-27 | Grabbing method based on industrial software grabbing robot |
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| CN202011471935.XA CN112605978B (en) | 2019-07-27 | 2019-07-27 | Grabbing method based on industrial software grabbing robot |
| CN201910685604.7A CN110405732B (en) | 2019-07-27 | 2019-07-27 | Industrial software grabbing robot and grabbing method |
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| CN113680928A (en) * | 2021-08-11 | 2021-11-23 | 无锡市博精电子有限公司 | Manipulator feeding mechanism for tube seat lead flattening device |
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| CN111152211B (en) * | 2020-02-27 | 2021-09-14 | 太仓市恒奇机械设备有限公司 | Robot arm |
| CN112692815A (en) * | 2021-01-21 | 2021-04-23 | 张利琴 | Transfer manipulator for carrying advanced manufacturing materials |
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Also Published As
| Publication number | Publication date |
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| CN112605978B (en) | 2022-02-01 |
| CN110405732A (en) | 2019-11-05 |
| CN110405732B (en) | 2021-02-12 |
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