A software self-locking manipulator positioning method

Abstract

The invention belongs to the technical field of manipulators, and in particular relates to a positioning method for a software self-locking manipulator, comprising: a joint housing, a base, and a slider seat. The block seat is connected with the joint accommodation warehouse through the bearing, and several slide bar through holes are arranged on both sides of the slideway, and a slide bar is arranged in the slide bar through hole, and the lower end of the slide bar protrudes from the lower end of the slide bar through hole, and the joint accommodation warehouse There is a stop bar on the upper surface; among the sliding rods exposed on the lower surface of the base, the sliding rod corresponding to the mouth of the clay pot is pushed into the interior of the base by the pottery pot, and the upper end of the sliding rod is exposed from the upper surface of the base, and on the upper surface of the base Form a block column corresponding to the position of the mouth of the clay pot; the block bar contacts with the block post, the bar deflects, the inner ring of the bearing rotates, and the joint holding chamber is driven to rotate, and the indirect positioning method is adopted to avoid collision with fragile parts during the positioning process At the same time, the joints of the manipulator in the joint holding compartment are deflected to fit the side curve of the clay pot.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a positioning method for a software self-locking 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 ...

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 and the external curves of each pot are different, the manipulators in the prior art cannot complete the grasping of the pots in the production of pots, and provide a method for the production process of pots. Among them, for the manipulator to grab the clay pot, the existing positioning method mostly uses the contact between the manipulator and the workpiece to achieve positioning, which is easy to cause damage to the fragile pottery pot, and has poor adaptability to pottery pots of different sizes and shapes.

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