CN114523463A - Distributed polar coordinate positioning and grabbing system - Google Patents
Distributed polar coordinate positioning and grabbing system Download PDFInfo
- Publication number
- CN114523463A CN114523463A CN202210146424.3A CN202210146424A CN114523463A CN 114523463 A CN114523463 A CN 114523463A CN 202210146424 A CN202210146424 A CN 202210146424A CN 114523463 A CN114523463 A CN 114523463A
- Authority
- CN
- China
- Prior art keywords
- grabbing
- driving
- clamping mechanism
- module
- modules
- 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.)
- Granted
Links
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention provides a distributed polar coordinate positioning and grabbing system, which comprises: the grabbing modules are distributed on the top of the supporting base in an array manner; the grabbing module is provided with a clamping mechanism capable of being opened, closed and clamped, and the clamping mechanism is suitable for rotating around the axis of the clamping mechanism; the grabbing module is provided with a fixed shaft which is kept static relative to the supporting base, a fixed interval is formed between the clamping mechanism and the fixed shaft, and the clamping mechanism is suitable for revolving around the fixed shaft in the circumferential direction; and the control modules are in one-to-one correspondence with the grabbing modules and are used for controlling the clamping mechanisms to open, close, rotate and revolve. According to the invention, multiple modules in the grabbing modules distributed in an array are selected to realize multi-point positioning of the same rod piece so as to keep a specific form; a plurality of grabbing modules distributed in an array are divided into a plurality of groups, so that a plurality of rod pieces can be positioned at the same time. The multi-point control positioning grabbing is performed instead of manual work, and a positioning grabbing platform is provided for the weaving structure and the machining process needing multi-point intervention control.
Description
Technical Field
The invention relates to the technical field of grabbing robots, in particular to a distributed polar coordinate positioning grabbing system.
Background
The weaving pattern is a design form of interesting patterns, is not only often used for the design of daily necessities, handicrafts and the like, but also has increasingly wide application in the design of the skin of the modern steel structure building.
The weaving pattern is formed by crossing and laminating a plurality of rod pieces, and each rod piece needs to keep a certain bending shape in the weaving process according to the design requirement; most of the existing mechanical arm grabbing robots only have 1-2 tool target points, and a plurality of rod pieces cannot be simultaneously kept in a certain bending form; therefore, the rod member needs to be positioned by a great deal of labor.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the grabbing robot in the prior art cannot cooperatively grab and position a large number of rod pieces, so that a distributed polar coordinate positioning grabbing system is provided.
In order to solve the above technical problem, the present invention provides a distributed polar coordinate positioning and grabbing system, including:
a support base;
the grabbing modules are provided with a plurality of grabbing modules and distributed on the top of the supporting base in an array manner;
the grabbing module is provided with a clamping mechanism capable of being opened, closed and clamped, and the clamping mechanism is suitable for rotating around the axis of the clamping mechanism; the grabbing module is provided with a fixed shaft which is kept static relative to the supporting base, a fixed interval is formed between the clamping mechanism and the fixed shaft, and the clamping mechanism is suitable for revolving around the fixed shaft in the circumferential direction;
and the control modules are in one-to-one correspondence with the grabbing modules and are used for controlling the clamping mechanisms to open and close, rotate and revolve.
Further, the clamping mechanism can be vertically arranged on the grabbing module in a lifting mode, and the clamping mechanism has a first state of being lifted to a preset position and a second state of being lowered to an initial position.
Further, the grabbing module further comprises:
the supporting frame is connected to the top of the supporting base;
the rotating disc is rotatably connected to the supporting frame;
the first driving piece is rotatably connected to the rotating disc and provided with a driving rod capable of extending and retracting vertically, and the clamping mechanism is connected to the driving rod of the first driving piece;
the second driving piece is arranged on the supporting frame and used for driving the rotating disc to rotate;
and the third driving piece is arranged on the rotating disc and used for driving the first driving piece to rotate.
Further, be equipped with drive mechanism on the rotary disk, drive mechanism includes:
the driving gear is sleeved on a driving end of the third driving piece, and the third driving piece is used for driving the driving gear to rotate;
the driven gear is connected to the first driving piece and meshed with the driving gear, and the driven gear is used for driving the first driving piece to rotate.
Furthermore, the clamping mechanism is located on the top surface of the rotating disc, the rotating shaft of the rotating disc is a fixed shaft, and the top surface of the rotating disc is provided with arc-shaped scales arranged around the fixed shaft.
Further, still include:
the first sensor is arranged on the grabbing module and is in signal connection with the control module, and the first sensor is used for detecting and transmitting the revolution angle of the clamping mechanism;
and the second sensor is arranged on the grabbing module and is in signal connection with the control module, and the second sensor is used for detecting and transmitting the self-rotation angle of the clamping mechanism.
Further, the top surface of the supporting base is of a grid structure, and the grabbing modules are connected to the cross nodes of the grid structure.
Furthermore, the top surface of the supporting base is circumferentially provided with vertically arranged guardrails, and the guardrails and the top surface of the supporting base jointly enclose an accommodating space for accommodating the grabbing module.
The technical scheme of the invention has the following advantages:
1. according to the distributed polar coordinate positioning and grabbing system provided by the invention, one grabbing module is equivalent to one tool target point, and multiple modules in the grabbing modules distributed in an array are selected to realize multi-point positioning of the same rod piece so as to keep a specific form; a plurality of grabbing modules distributed in an array are divided into a plurality of groups, so that a plurality of rod pieces can be positioned at the same time. The clamping mechanism revolves around the circumference of the fixed shaft, a point on the fixed shaft is equivalent to a pole, a fixed interval between the clamping mechanism and the fixed shaft is a pole shaft, the pole shaft can rotate at any angle, and the clamping mechanism reaches any position of a revolution track through a polar coordinate positioning principle; the clamping mechanism rotates around the axis of the clamping mechanism so as to adapt to the arbitrary adjustment of the opening and closing direction; therefore, the clamping mechanism can be adapted to grab the rod piece at any angle through revolution and rotation of the clamping mechanism, so that the polymorphic positioning of the rod piece is met. The system can replace manual work to carry out multipoint control positioning and grabbing, and provides a positioning and grabbing platform for the weaving structure and the processing process needing multipoint intervention and control.
2. According to the distributed polar coordinate positioning and grabbing system provided by the invention, the clamping mechanism can vertically lift so as to realize grabbing and positioning of a plurality of rods in sequence, namely, the modules for grabbing work are lifted to the first state and have a certain height difference with the non-working modules, so that mutual interference caused by simultaneous positioning and grabbing of the plurality of rods is avoided.
3. According to the distributed polar coordinate positioning and grabbing system provided by the invention, the angle signals of the clamping mechanism are detected and transmitted through the first sensor and the second sensor, and the control module controls the clamping mechanism to return to zero or reset according to the angle signals, so that the control difficulty of a plurality of grabbing modules is reduced, and the grabbing precision is ensured.
4. According to the distributed polar coordinate positioning and grabbing system provided by the invention, the arc scales are marked on the rotating disk, and before grabbing and positioning, whether the clamping mechanism is in an initial state or not can be conveniently detected by observing the angle position of the clamping mechanism on the rotating disk.
5. The distributed polar coordinate positioning and grabbing system provided by the invention has higher supporting strength at the cross node of the top surface of the supporting base than other parts, so that all grabbing modules are connected at the cross node.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a distributed polar coordinate positioning and grabbing system provided in the present invention.
Fig. 2 is a schematic structural diagram of the grasping module.
Fig. 3 is a right side view of the grasping module shown in fig. 2.
Description of reference numerals:
1. a grabbing module; 2. a clamping mechanism; 3. a support frame; 4. rotating the disc; 5. a first driving member; 6. a second driving member; 7. a third driving member; 8. a driving gear; 9. a driven gear; 10. a supporting seat; 11. a second sensor; 12. a first carrier; 13. a second carrier; 14. a guardrail; 15. and a control module.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The distributed polar coordinate positioning and grabbing system provided by the embodiment comprises: a support base, a gripping module 1 and a control module 15 corresponding to the gripping module 1.
As shown in fig. 1, a plurality of grabbing modules 1 are distributed on the top of the supporting base in an array manner, and a plurality of grabbing modules 1 are used to realize multi-point positioning of the rod member so as to keep the rod member in a specific shape. The grabbing module 1 is provided with a clamping mechanism 2 capable of being opened, closed and clamped, and the clamping mechanism 2 is suitable for rotating around the axis of the clamping mechanism 2; the gripping module 1 has a fixed axis that remains stationary with respect to the support base, with a fixed spacing between the gripping mechanism 2 and the fixed axis, around which the gripping mechanism 2 is adapted to revolve circumferentially. Each grabbing module 1 corresponds to a respective control module 15, and the control module 15 is used for controlling the clamping mechanism 2 to open, close, rotate and revolve.
In this embodiment, one grasping module 1 is equivalent to one tool target point, and multiple modules in the grasping modules 1 distributed in an array are selected to realize multi-point positioning of the same rod piece so as to keep a specific shape; a plurality of grabbing modules 1 distributed in an array are divided into a plurality of groups so as to realize the simultaneous positioning of a plurality of rod pieces. The clamping mechanism 2 revolves around the circumference of the fixed shaft, a point on the fixed shaft is equivalent to a pole, a fixed interval between the clamping mechanism 2 and the fixed shaft is used as a polar shaft, the polar shaft can rotate at any angle, and the clamping mechanism 2 reaches any position of a revolution track through a polar coordinate positioning principle; the clamping mechanism 2 rotates around the axis of the clamping mechanism to adapt to any adjustment of the opening and closing direction; therefore, the clamping mechanism 2 can be adapted to grab the rod piece at any angle through revolution and rotation, so as to meet the polymorphic positioning of the rod piece. The system can replace manual work to carry out multipoint control positioning and grabbing, and provides a positioning and grabbing platform for the weaving structure and the processing process needing multipoint intervention and control.
In this embodiment, the clamping mechanism 2 is vertically and elevatably disposed on the grabbing module 1, and the clamping mechanism 2 has a first state of being elevated to a preset position and a second state of being lowered to an initial position. The vertical lifting device of the clamping mechanism 2 aims to successively grab and position a plurality of rod pieces and avoid mutual interference caused by simultaneous positioning and grabbing of the rod pieces. Namely, different rod pieces correspond to different grabbing modules 1, and the grabbing modules 1 are divided into a plurality of grabbing groups according to the number and form requirements of the rod pieces; when one of the grabbing groups carries out grabbing action, the control module 15 controls the clamping mechanisms 2 of the group to synchronously ascend to a first state, and the clamping mechanisms 2 of the group and the clamping mechanisms 2 of other groups have certain height difference; the gripper mechanism 2 of the set is lowered to a second state, i.e. the initial height, after the gripping has been completed.
As shown in fig. 2 and 3, the grasping module 1 includes: the device comprises a clamping mechanism 2, a supporting frame 3, a rotating disc 4, a first driving piece 5, a second driving piece 6, a third driving piece 7 and a transmission mechanism; wherein, the transmission mechanism comprises a driving gear 8 and a driven gear 9 which are meshed with each other. The support frame 3 is used for being connected with a support base, and the support frame 3 can be any structure capable of supporting the rotating disc 4; in the embodiment, the supporting frame 3 is a rectangular frame structure formed by processing a plate, and the frame structure is provided with lightening holes. The second driving piece 6 adopts a driving motor, the second driving piece 6 is installed at the top end of the supporting frame 3, and a driving shaft of the second driving piece 6 vertically extends out of the top surface of the supporting frame 3; the center of the rotating disc 4 is connected with a driving shaft of the second driving piece 6 through a flange, and the second driving piece 6 is used for driving the rotating disc 4 to rotate; wherein the axis of the drive shaft of the second drive 6 acts as a fixed shaft which remains stationary relative to the support base. The first driving piece 5 adopts a micro push rod cylinder, a supporting seat 10 is fixedly connected to the bottom surface of the rotating disk 4, and the first driving piece 5 is rotatably connected to the supporting seat 10; part of the cylinder body of the first driving part 5 and a driving rod thereof vertically penetrate through the top surface of the rotating disc 4, the driving rod of the first driving part 5 is connected with the center position of the bottom surface of the clamping mechanism 2, and the first driving part 5 is used for driving the clamping mechanism 2 to lift up and down. The third driving piece 7 adopts a driving motor, the third driving piece 7 is connected to the rotating disc 4, and a driving shaft of the third driving piece 7 vertically extends out of the top end of the rotating disc 4; the driving gear 8 is sleeved on a driving shaft of the third driving part 7, the driven gear 9 is sleeved on a cylinder body of the first driving part 5, the driven gear 9 is meshed with the driving gear 8 and connected, and the third driving part 7 is used for driving the first driving part 5 to rotate and realize rotation of the clamping mechanism 2. In this embodiment, the clamping mechanism 2 is a pneumatic clamping finger, and the clamping mechanism 2 is vertically arranged on the top surface of the rotating disk 4.
As shown in fig. 2, the axis of the driving shaft of the second driving member 6 is a fixed shaft, which is also the rotating shaft of the rotating disc 4, and the top surface of the rotating disc 4 has an arc-shaped scale arranged around the fixed shaft. Before the grasping positioning is performed, it is possible to detect whether the gripping mechanism 2 is in the initial state by observing the angular position of the gripping mechanism 2 on the rotating disk 4.
As shown in fig. 2 and 3, the first sensor is mounted on the support frame 3 of the grasping module 1, and the rotating disc 4 is mounted with a first detecting member matching with the first sensor; when the rotating disc 4 rotates, the rotation angle of the first detection piece is consistent with the revolution angle of the clamping mechanism 2, and the first sensor senses the angle position of the first detection piece to obtain the revolution angle of the clamping mechanism 2. The second sensor 11 is arranged on the rotating disc 4, and a second detection piece matched with the second sensor 11 is arranged on the clamping mechanism 2; when the clamping mechanism 2 rotates, the rotation angle of the second detection piece is consistent with the rotation angle of the clamping mechanism 2, and the second sensor 11 senses the angle position of the second detection piece to obtain the rotation angle of the clamping mechanism 2. The first sensor and the second sensor 11 are in signal connection with the control module 15, and the control module 15 controls the clamping mechanism 2 to return to zero or reset according to received revolution angle and rotation angle signals before grabbing, so that the control difficulty of the plurality of grabbing modules 1 is reduced, and grabbing precision is guaranteed.
As shown in fig. 1, the supporting base is a frame structure, and includes a first bearing frame 12 for connecting with the gripping module 1 and a second bearing frame 13 for supporting on the ground, the first bearing frame 12 and the second bearing frame 13 are arranged at an interval from top to bottom, and are connected by a bearing rod; the first bearing frame 12 and the second bearing frame 13 are of grid structures formed by splicing square pipes, and the grabbing modules 1 are respectively connected to the intersection nodes of the first bearing frame 12. The top end of the first bearing frame 12 is circumferentially provided with vertically arranged guardrails 14, the guardrails 14 and the top surface of the support base jointly enclose a containing space for containing the grabbing modules 1, and the guardrails 14 protect the grabbing modules 1 from collision with other equipment.
The working principle is as follows:
the control module 15 receives the following four positioning signals: an angle signal of the rotating disk 4 (revolution angle signal of the clamping mechanism 2), an opening and closing signal of the clamping mechanism 2, an angle signal of the first driving piece 5 (rotation angle signal of the clamping mechanism 2) and a lifting signal of the clamping mechanism 2; and the control module 15 sends an operation instruction to the second driving piece 6 for driving the rotating disc 4 to rotate, the third driving piece 7 for driving the clamping mechanism 2 to rotate, the first driving piece 5 for driving the clamping mechanism 2 to lift and the electromagnetic valve for driving the clamping mechanism 2 to open and close according to the received signal.
Because a plurality of rod pieces need to be successively grabbed and positioned, only part of the grabbing modules 1 can receive an instruction to complete corresponding actions each time, namely the rotating disc 4 rotates by a certain angle, the clamping mechanism 2 rises to a preset height, and the clamping mechanism 2 carries out closed clamping on the rod pieces;
the grabbing module 1 after the clamping action is finished descends to the initial height;
waiting for the next grabbing instruction, wherein the grabbing process is consistent with the grabbing process;
after the positioning of all the rods is completed, the rotating disc 4 and the first driving member 5 are angularly zeroed after the rods are removed.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (8)
1. A distributed polar coordinate positioning and grabbing system, comprising:
a support base;
the grabbing modules (1) are arranged on the top of the supporting base in an array manner;
the grabbing module (1) is provided with a clamping mechanism (2) capable of being opened, closed and clamped, and the clamping mechanism (2) is suitable for rotating around the axis of the clamping mechanism; the gripping module (1) has a fixed shaft that remains stationary with respect to the support base, with a fixed spacing between the gripping mechanism (2) and the fixed shaft, around which the gripping mechanism (2) is adapted to perform a circumferential revolution;
the control module (15) is provided with a plurality of grabbing modules (1) in one-to-one correspondence, and the control module (15) is used for controlling the clamping mechanism (2) to open, close, rotate and revolve.
2. The distributed polar positioning gripping system according to claim 1, wherein the gripping mechanism (2) is vertically elevatably provided on the gripping module (1), the gripping mechanism (2) having a first state of being elevated to a preset position and a second state of being lowered to an initial position.
3. The distributed polar position grabbing system according to claim 2, wherein the grabbing module (1) further comprises:
the supporting frame (3) is connected to the top of the supporting base;
the rotating disc (4) is rotatably connected to the supporting frame (3);
the first driving part (5) is rotatably connected to the rotating disc (4), the first driving part (5) is provided with a driving rod capable of extending and retracting vertically, and the clamping mechanism (2) is connected to the driving rod of the first driving part (5);
the second driving piece (6) is arranged on the supporting frame (3) and used for driving the rotating disc (4) to rotate;
and the third driving piece (7) is arranged on the rotating disc (4) and is used for driving the first driving piece (5) to rotate.
4. The distributed polar coordinate positioning and gripping system according to claim 3, wherein the rotating disc (4) is provided with a transmission mechanism, and the transmission mechanism comprises:
the driving gear (8) is sleeved on the driving end of the third driving piece (7), and the third driving piece (7) is used for driving the driving gear (8) to rotate;
driven gear (9) is connected on first driving piece (5), driven gear (9) with driving gear (8) meshing is connected, driven gear (9) are used for driving first driving piece (5) are rotatory.
5. The distributed polar coordinate positioning and grabbing system of claim 3, characterized in that the clamping mechanism (2) is located on the top surface of the rotating disc (4), the rotating shaft of the rotating disc (4) is a fixed shaft, and the top surface of the rotating disc (4) has an arc-shaped scale arranged around the fixed shaft.
6. The distributed polar position capture system of claim 1, further comprising:
the first sensor is arranged on the grabbing module (1) and is in signal connection with the control module (15), and the first sensor is used for detecting and transmitting the revolution angle of the clamping mechanism (2);
the second sensor (11) is installed on the grabbing module (1) and is in signal connection with the control module (15), and the second sensor (11) is used for detecting and transmitting the rotation angle of the clamping mechanism (2).
7. The distributed polar position grabbing system according to claim 1, wherein the top surface of the supporting base is a grid structure, and the grabbing modules (1) are connected at the intersection nodes of the grid structure.
8. The distributed polar position grabbing system according to claim 7, wherein the top surface of said supporting base has a vertically arranged fence (14) on the periphery, and the fence (14) and the top surface of said supporting base together enclose a receiving space for receiving said grabbing module (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210146424.3A CN114523463B (en) | 2022-02-17 | 2022-02-17 | Distributed polar coordinate positioning grabbing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210146424.3A CN114523463B (en) | 2022-02-17 | 2022-02-17 | Distributed polar coordinate positioning grabbing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114523463A true CN114523463A (en) | 2022-05-24 |
| CN114523463B CN114523463B (en) | 2023-08-25 |
Family
ID=81623037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210146424.3A Active CN114523463B (en) | 2022-02-17 | 2022-02-17 | Distributed polar coordinate positioning grabbing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114523463B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002254380A (en) * | 2001-03-01 | 2002-09-10 | Hitachi Ltd | Manipulator loaded with vacuum chuck and part assembly method |
| JP2003034422A (en) * | 2001-07-17 | 2003-02-07 | Ushio U-Tech Inc | Article direction control device and processing device |
| JP2004066369A (en) * | 2002-08-05 | 2004-03-04 | Sony Corp | Rotational movement device for processing object, manufacturing device and manufacturing method therefor |
| JP2005107854A (en) * | 2003-09-30 | 2005-04-21 | Komatsu Electronic Metals Co Ltd | System and program for simulation of lapping machine |
| CN101158178A (en) * | 2007-10-30 | 2008-04-09 | 东南大学 | Node-span long-stem braiding type reticulated shell structure |
| JP2011156621A (en) * | 2010-02-01 | 2011-08-18 | Fdk Engineering:Kk | Transfer device |
| US20160067866A1 (en) * | 2014-09-09 | 2016-03-10 | Casabots Inc. | Automated cooking machine using a cartesian bot |
| CN108284077A (en) * | 2018-04-04 | 2018-07-17 | 德玛克（长兴）自动化系统有限公司 | A kind of double-station intelligence light candling system and method |
| CN111074424A (en) * | 2020-01-18 | 2020-04-28 | 徐州恒辉编织机械有限公司 | Ram type ribbon weaving machine with automatic fusing function |
| CN112294327A (en) * | 2020-09-09 | 2021-02-02 | 四川九八村信息科技有限公司 | Automatic shaking mechanism, intelligent blood sampling instrument and automatic shaking control method |
| CN113646470A (en) * | 2019-04-08 | 2021-11-12 | Ａｇｃ株式会社 | Gallium oxide substrate and method for manufacturing gallium oxide substrate |
| CN113816126A (en) * | 2020-06-19 | 2021-12-21 | 广东天机工业智能系统有限公司 | Annular multi-station gripping device |
-
2022
- 2022-02-17 CN CN202210146424.3A patent/CN114523463B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002254380A (en) * | 2001-03-01 | 2002-09-10 | Hitachi Ltd | Manipulator loaded with vacuum chuck and part assembly method |
| JP2003034422A (en) * | 2001-07-17 | 2003-02-07 | Ushio U-Tech Inc | Article direction control device and processing device |
| JP2004066369A (en) * | 2002-08-05 | 2004-03-04 | Sony Corp | Rotational movement device for processing object, manufacturing device and manufacturing method therefor |
| JP2005107854A (en) * | 2003-09-30 | 2005-04-21 | Komatsu Electronic Metals Co Ltd | System and program for simulation of lapping machine |
| CN101158178A (en) * | 2007-10-30 | 2008-04-09 | 东南大学 | Node-span long-stem braiding type reticulated shell structure |
| JP2011156621A (en) * | 2010-02-01 | 2011-08-18 | Fdk Engineering:Kk | Transfer device |
| US20160067866A1 (en) * | 2014-09-09 | 2016-03-10 | Casabots Inc. | Automated cooking machine using a cartesian bot |
| CN108284077A (en) * | 2018-04-04 | 2018-07-17 | 德玛克（长兴）自动化系统有限公司 | A kind of double-station intelligence light candling system and method |
| CN113646470A (en) * | 2019-04-08 | 2021-11-12 | Ａｇｃ株式会社 | Gallium oxide substrate and method for manufacturing gallium oxide substrate |
| CN111074424A (en) * | 2020-01-18 | 2020-04-28 | 徐州恒辉编织机械有限公司 | Ram type ribbon weaving machine with automatic fusing function |
| CN113816126A (en) * | 2020-06-19 | 2021-12-21 | 广东天机工业智能系统有限公司 | Annular multi-station gripping device |
| CN112294327A (en) * | 2020-09-09 | 2021-02-02 | 四川九八村信息科技有限公司 | Automatic shaking mechanism, intelligent blood sampling instrument and automatic shaking control method |
Non-Patent Citations (1)
| Title |
|---|
| 王慰军;杨桂林;张驰;陈庆盈;: "用于防撞梁抓取翻转的机械手设计", 煤矿机械 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114523463B (en) | 2023-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105328697B (en) | A kind of Modularized 6 freedom degree manipulator and its control method | |
| CN110993547B (en) | Wafer basket changing device | |
| CN108527423A (en) | Structure adaptive manipulator grasping mechanism | |
| CN210704907U (en) | Industrial robot end position detection device | |
| CN114523463A (en) | Distributed polar coordinate positioning and grabbing system | |
| CN111015685B (en) | System for dismantling and retrieving maintenance platform in underground nuclear environment and control method thereof | |
| CN114850946A (en) | Automatic material loading and unloading machine of material turning numerical control equipment | |
| CN207996820U (en) | Automatic loading and unloading system | |
| CN218452731U (en) | Overturning and positioning device for large-scale sheet product | |
| CN207939370U (en) | A kind of motor stator rotor automatic assembling machine | |
| CN111403984B (en) | Automatic production line and process for connector terminals | |
| CN113814702B (en) | Double-layer large-diameter O-shaped ring assembling device and system for new energy motor | |
| CN214568470U (en) | Double-turntable mechanism | |
| CN215471136U (en) | Visual grabbing workstation without positioning robot | |
| CN115255848A (en) | Storage platform with protection function and multifunctional assembly system | |
| CN114799997A (en) | Multi-process-surface automatic overturning, positioning-surface rotating and clamping-jaw grabbing mechanism and combination method thereof | |
| CN209407260U (en) | A kind of automation locating platform | |
| CN209746930U (en) | Actuating mechanism of intelligent manufacturing training system | |
| CN211388802U (en) | Collaborative robot comprehensive practical training workstation | |
| CN113043255A (en) | Carrying manipulator | |
| TWM606600U (en) | Auto-mounting self-propelled vehicle | |
| CN216803442U (en) | Manipulator device | |
| CN215940713U (en) | Rotating device of part detection system and part detection system | |
| CN218859736U (en) | Automatic detect unloading assembly line and system of processing of going up | |
| CN110434381A (en) | A kind of CNC milling machine self-feeding mechanical arm |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |