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Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit

A gripping unit, robot technology, applied in mechanical equipment, manipulators, program-controlled manipulators, etc., can solve problems such as high torque, high robot cost, increased robot damage, etc., achieve fast and accurate control systems, simplify programmable logic , the effect of simplifying movement and positioning

Inactive Publication Date: 2014-03-19
ZENROBOTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of sorting work also requires the robot to work quickly, which further increases the probability of damage to the known robot in the event of a high probability of collision
Furthermore, the extreme precision of state-of-the-art robots actually makes them expensive, especially when such high precision is not required in activities such as waste sorting
In addition, robots are known to be too slow for effective waste sorting, and a possible speed increase (due to the conventional heavy construction) results in excessively high torques, which can be catastrophic especially in collision situations

Method used

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  • Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit
  • Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit
  • Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit

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Embodiment Construction

[0031] figure 1 The schematically shown arrangement according to the invention describes a sorting robot 1 for handling construction waste which is arranged to work in conjunction with a conveyor 2 for transporting construction waste.

[0032] The sorting robot 1 comprises a gripping unit 3 , a mechanical support arm 4 fastening the gripping unit to the supporting structure and four servo capstans 5 , 6 , 7 and 8 connected by means of cables 9 , 10 , 11 and 12 to gripping unit 3.

[0033] The mechanical fastening arm 4 of the gripping unit 3 has two elements, and each element of the fastening arm 4 is formed by two parallel bars or shafts 13 and 14, both articulated to a connection 15 via its own pivot joint . Therefore, when the gripping unit 3 is moved by means of the servo winches 5 , 6 and 7 and through the cables 10 , 11 and 12 in the XYZ plane, the gripping unit cannot perform a rotational movement relative to the mechanical fastening arm 4 . The mechanical fastening a...

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PUM

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Abstract

A method and apparatus for moving and positioning a gripping unit (3; 23; 43), in which method the gripping unit is moved and positioned by intermediation of cables (9, 10, 11, 12; 29, 30, 31; 48, 49, 50), so that at least one degree of freedom of the gripping unit is removed by fastening the gripping unit mechanically (4; 24; 44) to the support structure. The invention also relates to a robot (1; 21; 41) provided with this kind of apparatus.

Description

technical field [0001] The invention relates to a gripping unit for a motion and positioning robot. More precisely, the invention relates to the movement and positioning of a robotic gripping unit by means of cables. Background technique [0002] The use of various robots for different industrial tasks is known from the prior art. Robots are used, for example, in a variety of assembly tasks, often in tasks that must be repeated with great accuracy, such as the manufacture of circuit boards. In this case, the robot is usually provided with gripping elements which grip the parts to be assembled and place them exactly in the correct position of the product to be assembled. An important application for the use of robots is welding, in which the robot performs welding operations quickly and precisely, especially at difficult locations, according to a logic program programmed therein. The packaging industry also uses many different robots, such as palletizing robots for packagi...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J11/00B25J17/00B25J18/00B07C5/34B23Q7/12
CPCB25J9/0078Y10T74/20323B07C5/34B23Q7/12B25J9/10B25J11/00B25J17/00
Inventor T·卢卡
Owner ZENROBOTICS
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