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Rigid-flexible hybrid manipulator, robot and method with vibration excitation function

A manipulator and hybrid technology, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of large shaking amplitude, limit the production efficiency of enterprises, and difficult to control, and achieve the requirements of reducing motion accuracy, easy to control shaking amplitude, and reduce production. cost effect

Inactive Publication Date: 2018-03-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, methods such as flame cutting, plasma cutting and laser cutting have been widely used in the blanking workshops of machinery enterprises. Most of the blanking workshops of domestic mechanical processing enterprises adopt the method of manual retrieving of materials after cutting plates, which is extremely inefficient and serious. limit the production efficiency of the enterprise
[0003] When retrieving materials by traditional manual operation, the retrieving device is a purely flexible device, which uses a steel chain to connect the electromagnet, and manually controls the power on and off of the electromagnet to reclaim the material. During the reclaiming process, the device shakes a lot and is difficult to control. The material process is easy to collide with other equipment in the workshop, which is easy to cause personal injury to the on-site operators, and has a great potential safety hazard
[0004] The automatic reclaiming manipulator adopted by some enterprises, the terminal reclaiming device adopts a rigid design, which is prone to stress concentration and rigid impact when retrieving materials. In addition, after flame cutting, the plates are melted and bonded, which may easily cause difficulty in retrieving materials by the manipulator.

Method used

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  • Rigid-flexible hybrid manipulator, robot and method with vibration excitation function

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Experimental program
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Effect test

Embodiment 1

[0035] Embodiment 1: A kind of rigid-flexible hybrid manipulator with exciting function, its structure is as follows figure 1 shown, including:

[0036] The manipulator cantilever 1 made of metal, the upper end of the manipulator cantilever 1 is an assembly part 8 with a plurality of threaded holes; the lower end of the assembly part 8 is a connecting part 7 .

[0037] One end of the steel chain 2 is fixedly connected to the connecting portion 7 , and the other end of the steel chain 2 is fixedly connected to the reclaiming mechanism 4 . The steel chain 2 can be selected as an ordinary flexible steel chain. The single length of the steel chain 2 is about 200mm. While meeting the strength requirements, it avoids stress concentration and rigid impact, and controls the shaking amplitude during rapid movement.

[0038] At the same time, the connecting portion 7 is also fixedly connected to a plurality of return springs 5 ​​, and the other end of the return springs 5 ​​is fixedly...

Embodiment 2

[0047] Embodiment 2: A robot with a three-axis linkage function, and the rigid-flexible hybrid manipulator in Embodiment 1 is installed on the robot.

[0048] In the robot of the present invention, the retrieving method is:

[0049] The robot based on the three-coordinate servo control system, when the X, Y, and Z coordinates are linked, controls the manipulator to 100mm above the center of gravity of the plate to be picked (the specific value can also be set according to the actual situation), through the Siemens PLC S7-300 program, Control the energization time and frequency of the excitation electromagnet on and off, and use the adsorption force between the excitation electromagnet and the plate to achieve the purpose of knocking and vibration, so that the target plate is separated from other plates.

[0050] After the excitation is completed, control the Z-axis motor of the picking robot to move down 105mm (debug and set the specific value according to the actual situation...

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Abstract

The invention relates to a rigid-flexible mechanical arm having a vibration excitation function, a robot and a method. The mechanical arm part mainly comprises a mechanical arm cantilever; the two ends of the mechanical arm cantilever respectively comprise a connecting part and an assembling part; the connecting part is fixedly connected with one end of a steel chain; the other end of the steel chain is fixedly connected with a material taking mechanism; the connecting part is also fixedly connected with a vibration excitation mechanism; the vibration excitation mechanism, independent of the material taking mechanism, is capable of performing vibration excitation on a material so that the material can be conveniently taken by the material taking mechanism. By designing a totally new structure, the mechanical arm disclosed by the invention has the characteristics of both rigidity and flexibility, and has the advantages of preventing stress concentration and rigid impulse of a rigid structure, also reducing shake generated during a picking process and also realizing material separation by performing vibration excitation.

Description

technical field [0001] The invention relates to the technical field related to mechanical engineering, in particular to a rigid-flexible hybrid manipulator, robot and method with vibration excitation function. Background technique [0002] At present, my country's economic development has entered a new normal, and the development of traditional machinery manufacturing industry is facing new challenges. It is urgent to transform and upgrade the manufacturing industry, and improve the automation and intelligence level of production and processing. At present, methods such as flame cutting, plasma cutting and laser cutting have been widely used in the blanking workshops of machinery enterprises. Most of the blanking workshops of domestic mechanical processing enterprises adopt the method of manual retrieving of materials after cutting plates, which is extremely inefficient and serious. limit the production efficiency of the enterprise. [0003] When retrieving materials by tra...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/06
CPCB25J15/0608
Inventor 王从宏万熠张冰梁西昌
Owner SHANDONG UNIV
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