MANIPULATION METHOD AND ROBOT INTENDED FOR THIS METHOD REALIZATION Russian patent published in 1999 - IPC

FIELD: mechanical engineering. SUBSTANCE: hand wrist of robot is positioned at preset distance above tray, brought to pile and placed as required. Then blank is gripped or released if it was gripped earlier. Hand wrist is brought to pile in two steps. At first step wrist is moved at high speed to position of brake starting. At second step wrist is moved to level of blank pile height at low speed. Value of height is stored in memory. Wrist is stopped at indicated height. Preliminarily blank search may be performed. To this end, hand wrist of robot is positioned at preset distance above pile tray. After wrist is brought to blank or tray value of blank pile height is entered into memory. This value is used when bringing the wrist to blank. Robot used for manipulation of blanks has wrist, hand links, mechanism of hand link lifting and lowering, facility for determination of hand link height, unit of adjustment of hand link height and hand lowering speed, and blank detection facility. EFFECT: reduced manipulation cycle. 8 cl, 10 dwg