气动可伸缩折叠旋转机械手设计

Design of Pneumatic Retractable Folding and Rotating Manipulator

针对机械手结构单一,更换机械手存在装夹、抓取误差,且多角度操作自由度不足、欠灵活等问题,设计一种气动可伸缩折叠旋转机械手,其主要包括三种功能:机械手伸缩、机械手折叠、主体旋转。机械手伸缩主要是夹钳式,可以夹持非平面零件,完成工作后可以缩回机械手主体内。折叠机械手主要是吸盘式,可以吸附平面结构的零件,完成工作后折叠在机械手主体上,机械手均不会占有空间。通过主体旋转功能不仅增加机械手自由度还可以避免与其它物体发生干涉。该设计结构简单,能完成多类型零件的抓取,降低生产成本;降低机械手抓取定位误差,提高加工、装配精度。

This article mainly aims at the single structure of the manipulator,the replacement of the manipulator has clamping and gripping errors,and the multi-angle operation has insufficient freedom and inflexibility.This paper designs a pneumatic retractable folding rotating manipulator,which mainly includes three functions:the manipulator Telescopic,manipulator folding,main body rotation.The manipulator telescopic is mainly a clamp type,which can clamp non-planar parts,and can be retracted into the main body of the manipulator after the work is completed.The folding manipulator is mainly a sucker type,which can absorb the parts of the planar structure.After the work is completed,it is folded on the main body of the manipulator,and the manipulator will not occupy space.The main body rotation function not only increases the freedom of the manipulator but also avoids interference with other objects.The design structure is simple,which can complete the grasping of multiple types of parts,reduce production costs,reduce the positioning error of the grasping of the robot,and improve the accuracy of processing or assembly.