CN106003130A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106003130A CN106003130A CN201610602463.4A CN201610602463A CN106003130A CN 106003130 A CN106003130 A CN 106003130A CN 201610602463 A CN201610602463 A CN 201610602463A CN 106003130 A CN106003130 A CN 106003130A
- Authority
- CN
- China
- Prior art keywords
- joint
- control module
- palm
- knuckle
- latter half
- 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
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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator. The manipulator comprises a hand part, a transmission mechanism used for driving the hand part to move, and a control module used for controlling the transmission mechanism to move. The manipulator is characterized in that the hand part comprises a palm, an upper knuckle and a lower knuckle, the transmission mechanism, the palm, the upper knuckle and the lower knuckle are sequentially connected, the upper half portion of the lower knuckle is embedded in a limiting sliding rail in the upper knuckle, and the upper half section of the lower knuckle is controlled by the control module to move in the limiting sliding rail; a linkage component is arranged between the lower half portion and upper half portion of the lower knuckle to enable the lower half portion of the lower knuckle to be bent inwards; an electromagnetic sucker is arranged on the palm and connected with the control module, and the control module controls on and off of the electromagnetic sucker. The manipulator has the advantages that articles in different sizes can be transferred more efficiently; the electromagnetic sucker under the palm of the manipulator provides suction force when heavy iron articles are transferred, and transportation can be achieved more safely and stably through clamping.
Description
Technical field
The present invention relates to a kind of mechanical hand, belong to field of mechanical technique.
Background technology
Mechanical hand is the most common a kind of instrument in nowadays society, and it is used not only in commercial production, also can see its figure at aspects such as medical treatment, education.Common mechanical hand is all that hand, finger have been fixed, during moving back and forth, it appears the longest the most burdensome, and easily meets other article, causes unnecessary loss；And, article size to be carried is uncertain, and the mechanical hand that length is fixed can not meet the characteristic of various article carrying；Current mechanical hand often can only clamp or adsorb the carrying carrying out article by single carrying out, it is possible that the situation that article drop.
Summary of the invention
The technical problem to be solved is the defect overcoming prior art, it is provided that a kind of mechanical hand, it is possible to the length saved by extension and contraction control mechanical finger, convenient transhipment and and clamping and electromagnetic adsorption is carried out simultaneously, the more iron article of the carrying of safety and stability.
For solving above-mentioned technical problem, the present invention provides a kind of mechanical hand, including hand with for driving the drive mechanism of described hand exercise, for controlling the control module of described drive mechanism motion, it is characterized in that, described hand includes that palm, upper finger joint and lower finger are saved, described drive mechanism, palm, upper finger joint and lower finger joint are sequentially connected with, described lower finger joint top half is embedded in the described upper spacing slide rail referred in saving, and described lower finger saves upper semisection and controlled its motion in spacing slide rail by described control module；Being provided with linkage part between described lower finger joint the latter half and top half and realize down referring to save bending inwards of the latter half, the described lower bending referring to joint the latter half is controlled by described control module；Described palm is provided with magnechuck, and this magnechuck connects described control module, control module control its break-make.
Further, described linkage part is connected with described drive mechanism.
Further, the described lower bending angle referring to joint the latter half is less than 45 degree.
Further, described upper refer to joint and lower refer to that joint is at least three right.
Further, the end of the described lower the latter half referring to joint is spade.
The beneficial effect that the present invention is reached:
The knuckle portion of the present invention can stretch, and can reduce volume when not in use, prevent unnecessary collision, it is also possible to refer to that joint promotes holding area when running into large article by elongation, therefore, it is possible to the different size of article of carrying more efficiently；There is provided suction when carrying heavier iron article by the magnechuck below mechanical hand palm, coordinate clamping, the more transport article of safety and stability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the collapsed state of the present invention；
Fig. 2 be the present invention elongation after the structural representation of clamp position；
Fig. 3 is the structural representation on the downside of the palm of the present invention.
In figure 1 is control module, and 2 is drive mechanism, and 3 is palm, and 4 is the upper joint that refers to, 5 is the lower joint top half that refers to, 6 is the lower joint the latter half that refers to, 7 refer to joint, and 8 is magnechuck.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
As shown in Figure 1,2 and 3, a kind of mechanical hand, including hand with for driving the drive mechanism 2 of described hand exercise, for controlling the control module 1 of described drive mechanism 2 motion, it is characterized in that, described hand includes palm 3, refers to save 7, described finger joint 7 includes referring to that joint 4 and lower finger are saved, described drive mechanism 2, palm 3, upper finger joint 4 and lower finger joint are sequentially connected with, described lower finger joint top half 5 is embedded in the spacing slide rail in described upper finger joint 4, and described lower finger saves upper semisection 5 and controlled its motion in spacing slide rail by described control module 1；Described lower referring to joint the latter half 6 and lower refer to that the joint first half 5/be provided with linkage part realizes down referring to save bending inwards of the latter half 6, the described lower bending referring to joint the latter half 6 is controlled by described control module 1；Described palm 3 is provided with magnechuck 8, and this magnechuck connects described control module, control module control its break-make.
In the present embodiment, described linkage part is connected with described drive mechanism 2.
In the present embodiment, the described lower bending angle referring to joint the latter half 6 is less than 45 degree.
In the present embodiment, described upper to refer to that joint and lower finger joint have three right.
In the present embodiment, the described lower end referring to joint the latter half 6 is spade.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, on the premise of without departing from the technology of the present invention principle; can also make some improvement and deformation, these improve and deformation also should be regarded as protection scope of the present invention.
Claims (5)
1. a mechanical hand, including hand with for driving the drive mechanism of described hand exercise, for controlling the control module of described drive mechanism motion, it is characterized in that, described hand includes that palm, upper finger joint and lower finger are saved, described drive mechanism, palm, upper finger joint and lower finger joint are sequentially connected with, described lower finger joint top half is embedded in the described upper spacing slide rail referred in saving, and described lower finger saves upper semisection and controlled its motion in spacing slide rail by described control module；Being provided with linkage part between described lower finger joint the latter half and top half and realize down referring to save bending inwards of the latter half, the described lower bending referring to joint the latter half is controlled by described control module；Described palm is provided with magnechuck, and this magnechuck connects described control module, control module control its break-make.
A kind of mechanical hand the most according to claim 1, is characterized in that, described linkage part is connected with described drive mechanism.
A kind of mechanical hand the most according to claim 1, is characterized in that, the described lower bending angle referring to joint the latter half is less than 45 degree.
A kind of mechanical hand the most according to claim 1, is characterized in that, described upper refer to joint and lower refers to that joint is at least three right.
A kind of mechanical hand the most according to claim 1, is characterized in that, the end of the described lower the latter half referring to joint is spade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602463.4A CN106003130A (en) | 2016-07-28 | 2016-07-28 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602463.4A CN106003130A (en) | 2016-07-28 | 2016-07-28 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106003130A true CN106003130A (en) | 2016-10-12 |
Family
ID=57113977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610602463.4A Pending CN106003130A (en) | 2016-07-28 | 2016-07-28 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106003130A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706333A (en) * | 2018-08-06 | 2018-10-26 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN111531762A (en) * | 2020-03-25 | 2020-08-14 | 德州玲珑轮胎有限公司 | Radial tire shaping vulcanizer exempts from to adjust tire grabbing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001287182A (en) * | 2000-04-04 | 2001-10-16 | Honda Motor Co Ltd | Controller for multi-fingered hand device |
| CN101797204A (en) * | 2010-03-26 | 2010-08-11 | 中国人民解放军第三军医大学第一附属医院 | Rehabilitative manipulator for hand burns and scalds |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| JP2013094946A (en) * | 2011-11-04 | 2013-05-20 | Honda Motor Co Ltd | Robot hand |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN206048240U (en) * | 2016-07-28 | 2017-03-29 | 苏州高通机械科技有限公司 | A kind of mechanical hand |
-
2016
- 2016-07-28 CN CN201610602463.4A patent/CN106003130A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001287182A (en) * | 2000-04-04 | 2001-10-16 | Honda Motor Co Ltd | Controller for multi-fingered hand device |
| CN101797204A (en) * | 2010-03-26 | 2010-08-11 | 中国人民解放军第三军医大学第一附属医院 | Rehabilitative manipulator for hand burns and scalds |
| JP2013094946A (en) * | 2011-11-04 | 2013-05-20 | Honda Motor Co Ltd | Robot hand |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN206048240U (en) * | 2016-07-28 | 2017-03-29 | 苏州高通机械科技有限公司 | A kind of mechanical hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706333A (en) * | 2018-08-06 | 2018-10-26 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN111531762A (en) * | 2020-03-25 | 2020-08-14 | 德州玲珑轮胎有限公司 | Radial tire shaping vulcanizer exempts from to adjust tire grabbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161012 |
|
| RJ01 | Rejection of invention patent application after publication |