CN103522295A - Grasping mechanical hand capable of changing according to shape of object - Google Patents
Grasping mechanical hand capable of changing according to shape of object Download PDFInfo
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- CN103522295A CN103522295A CN201310151755.7A CN201310151755A CN103522295A CN 103522295 A CN103522295 A CN 103522295A CN 201310151755 A CN201310151755 A CN 201310151755A CN 103522295 A CN103522295 A CN 103522295A
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- hydraulic cylinder
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- rotating mechanism
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Abstract
In order to resolve the problem that an existing mechanical hand can not change according to the shape of an object, thereby damaging the object, the invention provides a grasping mechanical hand capable of changing according to the shape of the object. The grasping mechanical hand capable of changing according to the shape of the object is characterized by utilizing hydraulic pressure as the power and being of a bilateral symmetry structure. According to the structure of a signal side, one end of a fixing frame is hinged to a tightening pushing rod and a transmission tightening rod at the same time, the transmission tightening rod is hinged to a 1# hydraulic cylinder, the 1# hydraulic cylinder is provided with a pressure sensor and a balancing winding rod, the transmission tightening rod is sequentially hinged to a pushing force rotation mechanism, the 1# hydraulic cylinder and the pushing force rotation mechanism, the hinging positions of the transmission tightening rod and the pushing force rotation mechanism are both connected with a 2# hydraulic cylinder, and the other end of the 1# hydraulic cylinder and the other end of the pushing force rotation mechanism are both hinged to a flexible friction belt and are fixed. The grasping mechanical hand does not damage the object, and is flexible, high in adaptability and strong in function.
Description
Technical field
The present invention relates to mechanical field, especially a kind of can change with body form hold manipulator tightly.
Background technology
Manipulator is a kind of very important mechanical execution unit, it is widely used in clamping and plucks and to hold tightly etc., its development makes machine work parts more rich and varied, make mechanical system more flexible, also make to control and be more prone to there have been various robot devices for different occasions now, and clamping mechanical hand also having various forms ofly, but is mostly contact with object line or can not become with body form, this can cause object part to be subject to very large clamping force, also can have damage to object.
Summary of the invention
In order to solve existing manipulator, can not become the situation that object is damaged with body form, the invention provides a kind of can change with body form hold manipulator tightly, it can change and change with body form, object for convex outer curve shape, capital contacts with object plane to the full extent, thereby make object each several part uniform stressed, and produce larger frictional force.
Described a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: this equipment is for utilizing hydraulic pressure as power, it is symmetrical structure simultaneously, its one-sided mechanism is: one end of fixed mount is articulated and connected simultaneously and steps up push rod and transmission steps up bar, in transmission, step up hinged 1# hydraulic cylinder on bar, meanwhile, pressure sensor and balance are set around bar on 1# hydraulic cylinder; Transmission steps up on bar hinged thrust rotating mechanism, 1# hydraulic cylinder and thrust rotating mechanism successively; In transmission, step up bar and be all connected 2# hydraulic cylinder with the hinged place of thrust rotating mechanism; Other one end of 1# hydraulic cylinder, thrust select other one end of mounting mechanism to be all hinged on flexible friction band, are fixed.
Described a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: thrust rotating mechanism is comprised of 3# hydraulic cylinder, sleeve pipe and axle, wherein: axle sleeve is at cover tube hub, and 3# hydraulic cylinder is arranged on the below of axle.
Described a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: 2# hydraulic cylinder is all vertically fixing, and it is subject to force direction all to hold 90 ° of angles with horizontal plane.
Described a kind of can composition around bar, thrust rotating mechanism and flexible friction band by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance with the manipulator of holding tightly of body form variation, it is characterized in that: described flexible friction band can be quality of rubber materials.
The invention has the beneficial effects as follows: not only do not damage object, and also flexible and changeable, strong adaptability, powerful.
Accompanying drawing explanation
The schematic diagram of holding manipulator of Fig. 1 for changing with body form; Fig. 2 is the enlarged drawing of thrust rotating mechanism.
Wherein, 1. fixed mount; 2. step up push rod; 3. transmission steps up bar; 4.1# hydraulic cylinder; 5. pressure sensor; 6. balance is around bar; 7.2# hydraulic cylinder; 8. thrust rotating mechanism; 9.3# hydraulic cylinder; 10. flexible friction band; 11. sleeves; 12. axles.
The specific embodiment
As Fig. 1 ~ 2, a kind of can change with body form hold manipulator tightly, this equipment is symmetrical structure, its one-sided structure is: one end of fixed mount 1 is articulated and connected simultaneously and steps up push rod 2 and transmission steps up bar 3, in transmission, step up hinged 1# hydraulic cylinder 4 on bar 3, meanwhile, pressure sensor 5 and balance are set around bar 6 on 1# hydraulic cylinder 4; Transmission steps up on bar 3 hinged thrust rotating mechanism 8,1# hydraulic cylinder 4 and thrust rotating mechanism 8 successively; In transmission, step up bar 3 and be all connected 2# hydraulic cylinder 7 with the hinged place of thrust rotating mechanism 8; Other one end of 1# hydraulic cylinder 4, thrust select other one end of mounting mechanism 8 to be all hinged on flexible friction band 10, are fixed.
Operation principle: when clamping push rod 2 is subject to thrust, it can open to both sides, and the transmission clamping bar 3 of both sides is rotatablely moved around fixed mount 1.Utilize hydraulic pressure that pressure oil is entered in 1# hydraulic cylinder 4,1# hydraulic cylinder 4 is extended, and then be with dynamicthrust rotating mechanism 8 to rotate around bar 6 around balance, and make the end of flexible friction band 10 produce pressure, flexible friction band 10 has all produced and has contacted and active force with object at each position; When flexible friction band 10 and object contact, 2# hydraulic cylinder 7 is compressed and first liquid is wherein passed to 2# hydraulic cylinder, acceptable solution force feed and extending, and then band dynamicthrust rotating mechanism 8 is extracted out and extends, flexible friction band 10 is fully stretched around object, produce pretension.Increase pressure, in 2# hydraulic cylinder 7, pressure rises, and while arriving setting value, sensor feedback stops increasing and remaining unchanged to controller signals, and now manipulator has been embraced object tightly.
Claims (4)
- One kind can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: this equipment is for utilizing hydraulic pressure as power, it is symmetrical structure simultaneously, its one-sided mechanism is: one end of fixed mount is articulated and connected simultaneously and steps up push rod and transmission steps up bar, in transmission, step up hinged 1# hydraulic cylinder on bar, meanwhile, pressure sensor and balance are set around bar on 1# hydraulic cylinder; Transmission steps up on bar hinged thrust rotating mechanism, 1# hydraulic cylinder and thrust rotating mechanism successively; In transmission, step up bar and be all connected 2# hydraulic cylinder with the hinged place of thrust rotating mechanism; Other one end of 1# hydraulic cylinder, 2 thrusts select other one end of mounting mechanism to be all hinged on flexible friction band, are fixed.
- According to claim 1 a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: thrust rotating mechanism is comprised of 3# hydraulic cylinder, sleeve pipe and axle, wherein: axle sleeve is at cover tube hub, and 3# hydraulic cylinder is arranged on the below of axle.
- According to claim 1 a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: 2# hydraulic cylinder is all vertically fixing, and it is subject to force direction all to hold 90 ° of angles with horizontal plane.
- According to claim 1 a kind of can change with body form hold manipulator tightly, by fixed mount, clamping push rod, transmission clamping bar, hydraulic cylinder, balance, around bar, thrust rotating mechanism and flexible friction band, formed, it is characterized in that: described flexible friction band can be quality of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310151755.7A CN103522295A (en) | 2013-04-27 | 2013-04-27 | Grasping mechanical hand capable of changing according to shape of object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310151755.7A CN103522295A (en) | 2013-04-27 | 2013-04-27 | Grasping mechanical hand capable of changing according to shape of object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103522295A true CN103522295A (en) | 2014-01-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310151755.7A Pending CN103522295A (en) | 2013-04-27 | 2013-04-27 | Grasping mechanical hand capable of changing according to shape of object |
Country Status (1)
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| CN (1) | CN103522295A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105123120A (en) * | 2015-10-27 | 2015-12-09 | 吉林大学 | Nut picking manipulator |
| CN108051058A (en) * | 2017-11-28 | 2018-05-18 | 中山市榄商置业发展有限公司 | Scale with hydraulic device |
| CN112476470A (en) * | 2020-11-09 | 2021-03-12 | 梁弘 | Self-adaptive-appearance clamping manipulator for hot forging |
| WO2022003727A1 (en) * | 2020-07-01 | 2022-01-06 | INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT Madras) | A compliant mechanism based variable stiffness robotic grasper |
| US11686574B2 (en) | 2021-07-20 | 2023-06-27 | Toyota Research Institute, Inc | Deformable sensors and methods for modifying run-time membrane stiffness |
-
2013
- 2013-04-27 CN CN201310151755.7A patent/CN103522295A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105123120A (en) * | 2015-10-27 | 2015-12-09 | 吉林大学 | Nut picking manipulator |
| CN108051058A (en) * | 2017-11-28 | 2018-05-18 | 中山市榄商置业发展有限公司 | Scale with hydraulic device |
| WO2022003727A1 (en) * | 2020-07-01 | 2022-01-06 | INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT Madras) | A compliant mechanism based variable stiffness robotic grasper |
| CN112476470A (en) * | 2020-11-09 | 2021-03-12 | 梁弘 | Self-adaptive-appearance clamping manipulator for hot forging |
| US11686574B2 (en) | 2021-07-20 | 2023-06-27 | Toyota Research Institute, Inc | Deformable sensors and methods for modifying run-time membrane stiffness |
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Legal Events
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| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140122 |