CN102717389A - Design of replaceable simple-joint robot flexible hand - Google Patents
Design of replaceable simple-joint robot flexible hand Download PDFInfo
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- CN102717389A CN102717389A CN2012102325189A CN201210232518A CN102717389A CN 102717389 A CN102717389 A CN 102717389A CN 2012102325189 A CN2012102325189 A CN 2012102325189A CN 201210232518 A CN201210232518 A CN 201210232518A CN 102717389 A CN102717389 A CN 102717389A
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Abstract
The invention belongs to the field of mechanical manufacturing and provides a design of adopting replaceable simple-joint finger to clamp a series of workpieces of different shapes aiming at the defects that the hands of a common robot palletizer and a transfer robot are single in finger structure and have less possibility of reliably clamping the workpieces of different shapes and different sizes at present. The mechanism adopts a hydraulic system for driving; by virtue of controlling the stroke of the piston rod of a hydraulic cylinder and controlling the folding and unfolding states of the finger according to the clamping force requirements of workpieces of different shapes, corresponding clamping forces can be provided for satisfying the workpiece clamping requirements; the strokes of the designed piston rod are consistent; the fingers of the robot hand are connected with a connecting rod through dovetail grooves; the size of each dovetail groove on the connecting rod is fixed, the fingers of different shapes and sizes can be conveniently replaced only if matched dovetail groove interfaces are arranged, so as to meet the clamping requirements of different workpieces. The mechanism can be used for saving materials, saving the replacement time, increasing the working efficiency, rapidly designing and manufacturing corresponding replaceable fingers according to the shape and size requirements of different workpieces and meeting the high-efficiency production requirement.
Description
One, technical field
The present invention relates to a kind of design of robot flexibility hand, belong to mechanical manufacturing field.
Two, background technology
Through observation and analysis, find that mostly existing robot hand is the special manipulator that designs to a certain concrete work, so mainly there is following problem in it to existing robot palletizer hand and transfer robot hand:
(1) design is comparatively single.After in a single day a general cover manipulator designed the operation of putting into production, its shape, structure, size were promptly fixing, and what that is to say that a cover manipulator can only be single repeats to operate a certain work.
(2) waste of material is serious.After the pairing a certain concrete work of manipulator was accomplished, manipulator also just had been in idle or discarded state, brings greater loss to enterprise production.
(3) scope of application is narrow.Because most robot hands all are to a certain or some concrete work and custom-designed,, lack versatility so its scope of application is narrow.
In sum, the present invention carries out structural improvement design to robot hand, to improve the utilization rate of manipulator, enhances productivity.
Three, summary of the invention
To the deficiency that existing machine in normal service people hand design aspect exists, the special architecture advances of considering existing machine in normal service people hand from following 3 aspects:
(1) the existing robot hand structural design of solution is single, can only accomplish a certain or some concrete work, designs several groups of robot fingers to satisfy the requirement of accomplishing more production tasks more.
(2) problem of solution robot hand waste of material becomes unified size model with robot hand driving arrangement, fixed support and link design, to increase the utilization rate of material.
(3) less to the existing machine in normal service people hand scope of application, the many groups robot finger who designs is connected through dovetail groove with robot hand driving arrangement, fixed support, connecting rod etc., be designed to the replaceable manipulator of a cover.
This replaceable robot flexibility hand mainly is made up of hydraulic cylinder, fixed support, connecting rod, finger, (replaceable) finger etc.Through pumping of hydraulic cylinder, drive finger and realize effective gripping object.When clamping different size, difform object, only can realize reliable gripping to these objects through changing the finger that is complementary with finger.
The invention has the beneficial effects as follows:
(1) can satisfy the clamping requirement of multiple shape workpiece
This has designed three kinds of robot hand clamping devices, changes the difformity finger and can satisfy the clamping requirement to the difformity workpiece.
(2) convenient installation, replacing
In design, fully take into account the problem of aspects such as economy, efficient; Robot hand hydraulic cylinder, fixed support, connecting rod adopt same device; Be connected through corresponding dovetail groove with finger, when clamping difformity workpiece, only need change corresponding finger and get final product, it is convenient to install, change; Save time, enhance productivity simultaneously.
(3) applicability is wide
Compare with the existing special manipulator of only producing to a certain or some work; Replaceable manipulator is when producing; Can produce the shape need of workpiece according to difference; In time design and produce corresponding finger and change (only need have identical dovetail groove connecting interface), to satisfy production requirement, range of application is more extensive.
Four, description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the schematic three dimensional views of replaceable simple joint robot flexibility hand and replaceable finger.
Below in conjunction with accompanying drawing and instance the present invention is further specified.
Five, the specific embodiment
In Fig. 1, this design is an example with the manipulator of clamping cylindrical object.This manipulator design is to adopt two fingers, and finger is the parts that directly contact with workpiece, and finger unclamps and clamping work pieces, is to realize through opening with closed of finger.When hydraulic cylinder 1 piston rod 7 on being installed in fixed support 2 moved upward, piston rod pulling straight pin 6 made finger 4 closures with connecting rod 3, thus clamping work pieces; When Driven by Hydraulic Cylinder moved downward piston rod, piston rod pulling straight pin 6 opened finger 4 with connecting rod 3, thus lax workpiece.Robot finger's replacing mainly connects through the dovetail groove 5 of junction; Therefore when the design finger, only be required to be it and design the conveniently replaced finger of corresponding dovetail groove interface; To satisfy clamping requirement to the difformity workpiece, also can save the replacing time, increase operating efficiency.Can in time design and produce corresponding finger and change, to satisfy production requirement according to the shape need of different workpieces simultaneously.
In Fig. 2; This design mainly is to satisfy the clamping requirement to different workpieces through the shape that changes the robot finger; Mainly designed three kinds of clamping schemes: first kind is the spheroid holding finger; What adopted is finger 2, can satisfy in the production process requirement to the clamping task of spheroid class workpiece; Second kind is the cube holding finger, and what adopted is finger 3, to accomplish the requirement to the clamping task of cube class workpiece; The third is the cylinder holding finger, and what adopted is finger 1, is used for accomplishing the requirement to the clamping task of cylinder class workpiece.
This time the power of design has been selected Driven by Hydraulic Cylinder; As long as stroke through the control hydraulic cylinder piston rod; Suitable piston rod stroke can be set according to the clamping force demand of difformity workpiece; And then the folding condition of control clamping device, so that being provided, different clamping power satisfies clamping requirement to workpiece.
Claims (3)
1. the design of replaceable simple joint robot flexibility hand.Adopt replaceable finger, it is characterized in that: the shape through quick change finger satisfies the clamping demand to the workpiece of difformity and different size.Adopt dovetail groove between finger and the connecting rod.Mainly designed three kinds of clamping schemes: first kind is the spheroid holding finger, can satisfy in the production process requirement to the clamping task of spheroid class workpiece; Second kind is the cube holding finger, to accomplish the requirement to the clamping task of cube class workpiece; The third is a cylinder class holding finger, is used for accomplishing the demand to the clamping task of cylinder class workpiece.
2. replaceable simple joint finger according to claim 1; It is characterized in that: adopt the dovetail groove connected mode in the robot hand between finger and the connecting rod; The size of dovetail groove is fixed on the connecting rod; Only need have the dovetail groove interface that is complementary during the finger of difformity and size and just can be convenient for changing, to satisfy clamping requirement different workpieces.This mechanism can save the replacing time, increases operating efficiency, also can design and produce corresponding replaceable finger fast according to the shape and size requirement of different workpieces, efficiently satisfies production requirement.
3. based on the described replaceable simple joint manipulator of claim 1; It is characterized in that: this time the power of design adopts hydraulic system to drive; As long as the stroke of control hydraulic cylinder piston rod; Just can control the folding condition of finger, and then provide different clamping power to satisfy clamping requirement workpiece based on the clamping force demand of difformity workpiece; This time the piston rod stroke of design is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012102325189A CN102717389A (en) | 2012-06-27 | 2012-06-27 | Design of replaceable simple-joint robot flexible hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012102325189A CN102717389A (en) | 2012-06-27 | 2012-06-27 | Design of replaceable simple-joint robot flexible hand |
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| CN102717389A true CN102717389A (en) | 2012-10-10 |
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| CN2012102325189A Pending CN102717389A (en) | 2012-06-27 | 2012-06-27 | Design of replaceable simple-joint robot flexible hand |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN105196301A (en) * | 2015-09-16 | 2015-12-30 | 山东华宝隆轻工机械有限公司 | Mechanical gripper for bottle blowing machine and filling machine |
| CN105856214A (en) * | 2016-06-08 | 2016-08-17 | 董超超 | Manipulator system with high controllability |
| CN106695698A (en) * | 2017-03-30 | 2017-05-24 | 国网河南禹州市供电公司 | Clamping device for electric tool |
| CN107009381A (en) * | 2017-05-24 | 2017-08-04 | 成都众智优学教育咨询有限公司 | A kind of rotary type connector of mechanical arm |
| CN107088769A (en) * | 2017-04-27 | 2017-08-25 | 马鞍山聚力科技有限公司 | A kind of Numeric control milling machine fixture |
| CN107160424A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | A kind of wrist part structure of manipulator |
| CN107340755A (en) * | 2016-05-03 | 2017-11-10 | Ykk株式会社 | The control method that the part grip device and its part of pull head grip |
| CN107953322A (en) * | 2017-12-28 | 2018-04-24 | 铜陵安博电路板有限公司 | A kind of clamping device |
| CN108044641A (en) * | 2018-01-04 | 2018-05-18 | 国网福建省电力有限公司泉州供电公司 | A kind of fixture |
| CN108406813A (en) * | 2018-03-05 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of Universal clamp for industrial robot clamping tubular workpiece |
| CN108818546A (en) * | 2018-06-13 | 2018-11-16 | 上海电机学院 | Emergency management and rescue robot |
| CN109552871A (en) * | 2018-12-10 | 2019-04-02 | 无锡城市职业技术学院 | A kind of bagged grain conveyance |
| CN111069797A (en) * | 2019-12-24 | 2020-04-28 | 江苏大学 | Automatic device and method for forming micropores of foil through laser high-speed impact |
| CN111874608A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change material taking manipulator |
| CN112008753A (en) * | 2020-08-19 | 2020-12-01 | 卢芒 | Pneumatic claw type manipulator |
| CN112456380A (en) * | 2020-12-01 | 2021-03-09 | 徐州东宏机械制造有限公司 | Clamping and lifting equipment for mechanical engineering |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN105196301A (en) * | 2015-09-16 | 2015-12-30 | 山东华宝隆轻工机械有限公司 | Mechanical gripper for bottle blowing machine and filling machine |
| CN107340755A (en) * | 2016-05-03 | 2017-11-10 | Ykk株式会社 | The control method that the part grip device and its part of pull head grip |
| CN105856214A (en) * | 2016-06-08 | 2016-08-17 | 董超超 | Manipulator system with high controllability |
| CN105856214B (en) * | 2016-06-08 | 2017-12-26 | 林守金 | A kind of arm-and-hand system with high controllability |
| CN106695698A (en) * | 2017-03-30 | 2017-05-24 | 国网河南禹州市供电公司 | Clamping device for electric tool |
| CN107088769A (en) * | 2017-04-27 | 2017-08-25 | 马鞍山聚力科技有限公司 | A kind of Numeric control milling machine fixture |
| CN107009381A (en) * | 2017-05-24 | 2017-08-04 | 成都众智优学教育咨询有限公司 | A kind of rotary type connector of mechanical arm |
| CN107160424A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | A kind of wrist part structure of manipulator |
| CN107953322A (en) * | 2017-12-28 | 2018-04-24 | 铜陵安博电路板有限公司 | A kind of clamping device |
| CN108044641A (en) * | 2018-01-04 | 2018-05-18 | 国网福建省电力有限公司泉州供电公司 | A kind of fixture |
| CN108406813A (en) * | 2018-03-05 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of Universal clamp for industrial robot clamping tubular workpiece |
| CN108818546A (en) * | 2018-06-13 | 2018-11-16 | 上海电机学院 | Emergency management and rescue robot |
| CN109552871A (en) * | 2018-12-10 | 2019-04-02 | 无锡城市职业技术学院 | A kind of bagged grain conveyance |
| CN111069797A (en) * | 2019-12-24 | 2020-04-28 | 江苏大学 | Automatic device and method for forming micropores of foil through laser high-speed impact |
| CN111069797B (en) * | 2019-12-24 | 2021-09-10 | 江苏大学 | Automatic device and method for forming micropores of foil through laser high-speed impact |
| CN111874608A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change material taking manipulator |
| CN112008753A (en) * | 2020-08-19 | 2020-12-01 | 卢芒 | Pneumatic claw type manipulator |
| CN112008753B (en) * | 2020-08-19 | 2021-12-21 | 西伯瀚(泰兴)传动技术有限公司 | Pneumatic claw type manipulator |
| CN112456380A (en) * | 2020-12-01 | 2021-03-09 | 徐州东宏机械制造有限公司 | Clamping and lifting equipment for mechanical engineering |
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Application publication date: 20121010 |