CN105479476A - Mechanical hand structure - Google Patents
Mechanical hand structure Download PDFInfo
- Publication number
- CN105479476A CN105479476A CN201511034347.9A CN201511034347A CN105479476A CN 105479476 A CN105479476 A CN 105479476A CN 201511034347 A CN201511034347 A CN 201511034347A CN 105479476 A CN105479476 A CN 105479476A
- Authority
- CN
- China
- Prior art keywords
- arc
- shaped plate
- connecting rod
- robot manipulator
- quarter butt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000875 corresponding Effects 0.000 claims abstract description 8
- 241000252254 Catostomidae Species 0.000 claims description 7
- 210000001847 Jaw Anatomy 0.000 abstract 3
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a mechanical hand structure which comprises a base, at least two mechanical jaws, connecting blocks, connecting rods and a driving device, wherein each mechanical jaw is connected with one end of the corresponding connecting rod through the corresponding connecting block; the other end of each connecting rod is connected with the base; each mechanical jaw comprises a first arc-shaped plate and a second arc-shaped plate; a third arc-shaped plate, a plurality of first short rods and a plurality of second short rods are arranged between each first arc-shaped plate and the corresponding second arc-shaped plate; one end of each first short rod and one end of each second short rod are arranged on the corresponding first arc-shaped plate or the corresponding second arc-shaped plate; the other end of each first short rod and the other end of each second short rod are hinged with each other; and hinge shafts are arranged on the third arc-shaped plates. According to the mechanical hand structure provided by the invention, the structure is simple and flexible, circular arc-shaped workpieces or workpieces with smooth surfaces can be stably grabbed, the grabbed workpieces are less liable to loose and fall off, and the requirement of practical application is met.
Description
Technical field
The present invention relates to the robot manipulator structure of a kind of technical field of automation application.
Background technology
Manipulator is some holding function imitating staff and arm, and the heavy labor of people can be replaced to realize mechanization and the automation of production, and in modern industry, manipulator has been used for replacing manual work widely, improves production efficiency significantly.In actual production, have various difform workpiece, for some smooth surfaces or the workpiece being similar to arc-shaped, use common manipulator to be difficult to stable crawl, therefore, in the urgent need to a kind of novel robot manipulator structure to meet the demand of special workpiece.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of robot manipulator structure, and the structure of this robot manipulator structure is simple, flexible, can meet the crawl of arc-shaped workpiece or smooth surface workpiece, and grasping stability, not easily loosen and come off, meeting the demand of practical application.
For solving the problems of the technologies described above, the technical solution used in the present invention is: provide a kind of robot manipulator structure, it comprises pedestal, at least two grippers, contiguous block, connecting rod and drive units, described gripper is connected by contiguous block one end with described connecting rod, and the other end of described connecting rod is connected with described pedestal; Described gripper is made up of the first arc and the second arc, the 3rd arc and multiple first quarter butt and the second quarter butt is provided with between described first arc and described second arc, one end of described first quarter butt and described second quarter butt is all arranged on corresponding first arc or the second arc, and the mutual hinge of the other end and articulated axle are all arranged on described 3rd arc.
In a preferred embodiment of the present invention, the inner side on described first arc is provided with skid resistant course.
In a preferred embodiment of the present invention, also comprise sucker, the tip of described gripper is located at by described sucker.
In a preferred embodiment of the present invention, described drive unit is that air cylinder driven or connecting rod drive.
In a preferred embodiment of the present invention, described pedestal also comprises drive motors.
The invention has the beneficial effects as follows: the structure of robot manipulator structure of the present invention is simple, flexible, can meet the crawl of arc-shaped workpiece or smooth surface workpiece, and grasping stability, not easily loosen and come off, meeting the demand of practical application.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of robot manipulator structure of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, pedestal, and 2, gripper, 3, contiguous block, 4, connecting rod, 5, drive unit, the 21, first arc, 22, the second arc, 23, the 3rd arc, the 24, first quarter butt, the 25, second quarter butt, 26, articulated axle, 6, skid resistant course, 7, sucker, 8, drive motors.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, the embodiment of the present invention comprises: a kind of robot manipulator structure, it comprises pedestal 1, at least two grippers 2, contiguous block 3, connecting rod 4 and drive units 5, and described gripper 2 is connected with one end of described connecting rod 4 by contiguous block 3, and the other end of described connecting rod 4 is connected with described pedestal 1; Described gripper 2 is made up of the first arc 21 and the second arc 22, the 3rd arc 23 and multiple first quarter butt 24 and the second quarter butt 25 is provided with between described first arc 21 and described second arc 22, one end of described first quarter butt 24 and described second quarter butt 25 is all arranged on corresponding first arc 21 or the second arc 22, and the mutual hinge of the other end and articulated axle 26 are all arranged on described 3rd arc 23.
Preferably, the inner side on described first arc 21 is provided with skid resistant course 6.
Preferably, also comprise sucker 7, the tip of described gripper 2 is located at by described sucker 7.
Preferably, described drive unit 5 is that air cylinder driven or connecting rod drive.
Preferably, described pedestal 1 also comprises drive motors 8.
The structure of robot manipulator structure of the present invention is simple, flexible, can meet the crawl of arc-shaped workpiece or smooth surface workpiece, and grasping stability, not easily loosen and come off, meeting the demand of practical application.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. a robot manipulator structure, is characterized in that, comprise pedestal, at least two grippers, contiguous block, connecting rod and drive units, described gripper is connected by contiguous block one end with described connecting rod, and the other end of described connecting rod is connected with described pedestal; Described gripper is made up of the first arc and the second arc, the 3rd arc and multiple first quarter butt and the second quarter butt is provided with between described first arc and described second arc, one end of described first quarter butt and described second quarter butt is all arranged on corresponding first arc or the second arc, and the mutual hinge of the other end and articulated axle are all arranged on described 3rd arc.
2. robot manipulator structure according to claim 1, is characterized in that, the inner side on described first arc is provided with skid resistant course.
3. robot manipulator structure according to claim 1, is characterized in that, also comprises sucker, and the tip of described gripper is located at by described sucker.
4. robot manipulator structure according to claim 1, is characterized in that, described drive unit is that air cylinder driven or connecting rod drive.
5. the robot manipulator structure according to any one of Claims 1-4, is characterized in that, described pedestal also comprises drive motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511034347.9A CN105479476A (en) | 2015-12-30 | 2015-12-30 | Mechanical hand structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511034347.9A CN105479476A (en) | 2015-12-30 | 2015-12-30 | Mechanical hand structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105479476A true CN105479476A (en) | 2016-04-13 |
Family
ID=55666926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511034347.9A Pending CN105479476A (en) | 2015-12-30 | 2015-12-30 | Mechanical hand structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479476A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1040999A2 (en) * | 1999-04-01 | 2000-10-04 | Leif Kniese | Load carrying element with flexible outer skin |
| US6260902B1 (en) * | 1998-03-20 | 2001-07-17 | Sune Synnelius | Gripper with segmented arms |
| US20040183348A1 (en) * | 2003-03-19 | 2004-09-23 | Leif Kniese | Seating element |
| DE102007026721A1 (en) * | 2006-06-09 | 2008-05-15 | Fachhochschule Münster | Tool i.e. medical gripping tool, for e.g. examining, body part of patient, has two branches provided, where one branch is deformable during movement and is formed of deformable framework and exhibiting flexible flanges |
| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| EP2735406A1 (en) * | 2012-11-27 | 2014-05-28 | FESTO AG & Co. KG | Gripper device for gripping objects |
| CN104858884A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping |
| CN204640239U (en) * | 2015-05-06 | 2015-09-16 | 西安蒜泥电子科技有限责任公司 | A kind of flexible adaptive manipulator |
-
2015
- 2015-12-30 CN CN201511034347.9A patent/CN105479476A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6260902B1 (en) * | 1998-03-20 | 2001-07-17 | Sune Synnelius | Gripper with segmented arms |
| EP1040999A2 (en) * | 1999-04-01 | 2000-10-04 | Leif Kniese | Load carrying element with flexible outer skin |
| US20040183348A1 (en) * | 2003-03-19 | 2004-09-23 | Leif Kniese | Seating element |
| DE102007026721A1 (en) * | 2006-06-09 | 2008-05-15 | Fachhochschule Münster | Tool i.e. medical gripping tool, for e.g. examining, body part of patient, has two branches provided, where one branch is deformable during movement and is formed of deformable framework and exhibiting flexible flanges |
| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| EP2735406A1 (en) * | 2012-11-27 | 2014-05-28 | FESTO AG & Co. KG | Gripper device for gripping objects |
| CN204640239U (en) * | 2015-05-06 | 2015-09-16 | 西安蒜泥电子科技有限责任公司 | A kind of flexible adaptive manipulator |
| CN104858884A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205552530U (en) | Wheel is grabbed by manipulator | |
| CN204339776U (en) | Mechanical arm | |
| CN105397447A (en) | Seal ring sleeving device with mechanical claw | |
| CN105082127A (en) | Robot palletizer with novel mechanical tongs | |
| CN108544517A (en) | A kind of robot manipulator structure carried for metal tube | |
| CN204354129U (en) | Swing arm manipulator | |
| CN105479476A (en) | Mechanical hand structure | |
| CN104626181A (en) | Tail end clamping device of hollow brick transfer robot | |
| CN207142053U (en) | A kind of steel pipe clamping device | |
| CN203997761U (en) | A kind of automatic charging machine | |
| CN103224137B (en) | Automatic multi-station transport device | |
| CN205838005U (en) | A kind of automatic material taking pay-off | |
| CN203210383U (en) | Synchronous clamping mechanical hand | |
| CN106584237B (en) | Automatic flash removed machine | |
| CN205740038U (en) | Piled bricks clamping fixture | |
| CN104044153A (en) | Tong mechanism of mechanical arm | |
| CN204893953U (en) | Take pile up neatly machine people of new models of machines tongs | |
| CN204872519U (en) | Valve body spraying material feeding unit | |
| CN105563511A (en) | Multi-claw mechanical arm | |
| CN205419069U (en) | Flat mechanism of snatching | |
| CN105151781A (en) | Movable clamping jig for packing case | |
| CN206899258U (en) | A kind of simple and mechanical handgrip | |
| CN211104075U (en) | Detachable robot arm | |
| CN203701623U (en) | Transferring clamp and clamping jaw and elastic clamping mechanism of transferring clamp | |
| CN205147940U (en) | Truss tongs device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160413 |