Object-oriented Design Of Industrial Machinery Gripper

With the rapid development of industrial automation,robot applications in the industry has become increasingly common.As the actuator and the final link between industrial robots and the environment,the design of industrial machinery gripper directly determines the operating performance of industrial robots.Because of the big difference of objects,the operating environment and working conditions,objectoriented design of industrial machinery gripper is very important.In this paper,we designed the two industrial machinery gripper for two specific objects and specific applications.For unloading gripper,based on the analysis of the specific workpieces and the working conditions,we designed a structure combining electromagnetic and vacuum suction cups.We also carried out a grabbing scheme,and selected the appropriate the grab points.Then according to the modular design principle,the structure of the mechanical gripper was divided into five modules including the grab unit module,the frame module,the adjusting module,the feedback module and the vacuum module.We also analyzed the grabbing force of the gripper.Finally,we verified the feasibility and reliability of the gripper through gripper grabbing experiment and robot automatic unloading experiment.For unstacking gripper,this paper analyzed the problem encountered in the specific unstacking tasks,and found out the cause of it.We carried out a scheme for the design of the unstacking gripper,namely,realizing the flipping and contracting motion of the gripper by link structure.Then according to the design,the unstacking gripper was divided into six modules including the frame module,the paw module,the driver module,the transmission module,the synchronization module and the sucker module.Finally,this paper analyzed the equivalent stress and strain of the gripper in the case of loaded by ANSYS finite element simulation,to verify the rationality of the design of unstacking gripper.