CN105479476A - Mechanical hand structure - Google Patents

Mechanical hand structure Download PDF

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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
Application number
CN201511034347.9A
Other languages
Chinese (zh)
Inventor
刘锡久
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Lin Xinyuan Automation Technology Co Ltd
Original Assignee
Suzhou Lin Xinyuan Automation Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Lin Xinyuan Automation Technology Co Ltd filed Critical Suzhou Lin Xinyuan Automation Technology Co Ltd
Priority to CN201511034347.9A priority Critical patent/CN105479476A/en
Publication of CN105479476A publication Critical patent/CN105479476A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping 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

A kind of robot manipulator structure
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.
CN201511034347.9A 2015-12-30 2015-12-30 Mechanical hand structure Pending CN105479476A (en)

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)

* Cited by examiner, † Cited by third party
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
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

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Application publication date: 20160413