Manipulator pottery pot grabbing method

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a manipulator pottery pot grabbing method. According to the method, hinged manipulator joints form a joint chain, the joint chain forms a plurality of inflection points, the joint chain is closely pressed on the surface of a pottery pot through a fitting device when sliding on the surface of the pottery pot from top to bottom, the inflection points of the joint chain adapt to a surface curve of the pottery pot, the hinged positions of the manipulator joints are locked when the joint chain slides to the bottom of the pottery pot, a grabbing structure with a contracted lower end is formed, so that the pottery pot is grabbed, extra pressure applied onto the pottery pot is avoided, a shape of the joint chain is locked, a manipulator has adaptability of a flexible manipulator and strength of a rigid manipulator, and the pottery pot is grabbed.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a method for grabbing clay pots by a 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 this type of manipulator only has one inflection point, and the curved curve cannot adapt to the su...

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 this type of manipulator only has one inflection point, and the curved curve cannot adapt to the surface curve of the clay pot. Point contact leads to unstable grasping; 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

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