An Adaptive Intelligent Grabbing Manipulator

Abstract

The invention belongs to the technical field of manipulators, and in particular relates to an adaptive intelligent grasping manipulator. Several manipulator joints are hingedly connected to form a joint chain. A tracking vehicle is arranged on the joint chain, and a locking shaft and a locking piece are arranged on the joints of the manipulator. The locking piece is provided with a locking piece driving part, and the locking piece driving part is driven by the rotation of the magnetic wheel. A second magnetic wheel is arranged inside the tracking vehicle, and the second magnetic wheel is set correspondingly to the magnetic wheel. There is a fitting fan; the tracking car slides along the side wall of the clay pot from top to bottom, so that the joint chain forms a curve that fits the outer wall of the pot, automatically adapts to the surface curve of the pot, and forms a grasping structure that converges at the lower end Finally, to avoid extra pressure on the pot, the shape of the joint chain is locked, so that the pot can be grasped. At the same time, it has the adaptability of a flexible manipulator and the strength of a rigid manipulator to realize the grasping of the pot.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to an adaptive intelligent grasping manipulator. Background technique [0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot make...

AI Technical Summary

Problems solved by technology

[0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; 2. The strength itself is not enough. In order to complete the bending, the manipulator uses flexible materials, which are easily deformed when subjected to external forces, resulting in unstable grasping;

[0003] Since the handmade clay pots are fragile, the external curves of each pot are different, and the manipulators in the prior art cannot complete the grasping of the pots in the production of pots

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