CN106553200A - A kind of infant treatment type mechanical hand - Google Patents
A kind of infant treatment type mechanical hand Download PDFInfo
- Publication number
- CN106553200A CN106553200A CN201611082672.7A CN201611082672A CN106553200A CN 106553200 A CN106553200 A CN 106553200A CN 201611082672 A CN201611082672 A CN 201611082672A CN 106553200 A CN106553200 A CN 106553200A
- Authority
- CN
- China
- Prior art keywords
- armshaft
- actuator
- claw
- mechanical hand
- treatment type
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
A kind of infant treatment type mechanical hand of the present invention, including the rotary chassis, the first armshaft, the second armshaft and the rotary grasping handss that are sequentially connected；The rotary chassis includes base, first gear group, rotating circular disk and the first actuator being sequentially connected；First armshaft includes two blocks of first arm plates and two the second actuators just to setting；Second armshaft includes two blocks of second arm plates and the 3rd actuator between the second arm plate just to setting；The rotary grasping handss include fixed block, second gear group, fourth drive member, mechanical gripper and the 5th actuator；The mechanical gripper includes supporting plate, nine hole flanges, some drive links, some long connecting rods, some short connecting rods and claws.Present configuration is simple, can be effectively realized crawl infant article and play supervisory function bit to infant.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of infant treatment type mechanical hand.
Background technology
According to correlation predictive, with the opening of comprehensive two tire, national mother and baby's market scale is up to 200 big, but our states
Following intelligent robot industry development of family will be taken off with the speed that cannot be imagined.
Have benefited from the combination and development of artificial intelligence's electronic technology and computer technology, robot is enriched in function
Extension, and have certain progress on the hierarchy of skill, such as, mobile robot, robot vision and haptic technology etc..Machine
Device people intellectuality has very big development space in mother and baby market, and intelligent artifact on the market has mother and baby's mobile phone application and pregnant now
Woman's intelligent watch, intelligent photo frame are exactly typical representative, and are come this year, and the field of pediatric rehabilitation robotics development is
Activity and the participation level of handicapped child and its family members are improved in different Directional Extensions.
Now, intelligent robot can be divided into two classes, industrial robot and service robot.Industrial robot is intended to replace
Labour force more accurately completes work；Service robot is mainly to provide consulting and helps, and occurs in usual family, hotel big more
Hall or airport etc., commercial use is more, feature richness.As other countries, the ageing phenomenon of China is more and more brighter
Aobvious, the enforcement of family planning policy, modern youth man and wife are mostly only child, give birth to going deep into for good child-rearing theory less so that now
A pair of men and wives will look after a child, the father and mother also supported by both sides.They are working and are looking after inter-household badly battered, work
Make the accumulation of pressure, the consumption of energy causes the patient shortage in life of man and wife, attention to weaken, have no time to attend to child with it is old
The state of people.Therefore, the life that robot comes into people is inevitable, and people adapt to be brought just by service humanoid robot at last
Prompt life.
But current service humanoid robot often complex structure, spend in the crawl of mechanical hand too many R＆D intensity and
Crawl effect is not also fine.
The content of the invention
To solve, above-mentioned service type robot architecture is complicated, captures the bad technical problem of effect, the invention provides one
Plant the infant treatment type mechanical hand that simple structure, degree of freedom are high, crawl effect is good：
A kind of infant treatment type mechanical hand, grabs including rotary chassis, the first armshaft, the second armshaft and the rotation being sequentially connected
Take handss；During the rotary chassis includes base, first gear group, rotating circular disk and the first actuator being sequentially connected and control
The heart, first actuator are used to drive first gear group to work；First armshaft includes two pieces of first arms just to arranging
Plate and two the second actuators, second actuator drive the motion of the first arm plate；Second armshaft includes two pieces just to setting
The the second arm plate put and the 3rd actuator between the second arm plate, the 3rd actuator drive the motion of the second arm plate；Institute
Stating rotary grasping handss includes fixed block, second gear group, fourth drive member, mechanical gripper, minisize pick-up head and the 5th actuator,
The minisize pick-up head is located at the mechanical gripper end；The mechanical gripper includes supporting plate, nine hole flanges, some transmissions
Bar, some long connecting rods, some short connecting rods and claws；The long connecting rod is on the outside of the short connecting rod, described
Short connecting rod one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate；The long connecting rod includes fixed part and stretches
Long portion, described fixed part one end are fixedly connected with claw, and the other end is flexibly connected with supporting plate, the elongated portion end with transmission
Bar one end is flexibly connected, and the drive link other end is connected with nine hole flange；The fourth drive member drives second gear
Group work, the 5th actuator drive nine hole flange rotaries.
Used as further improving, the claw includes first claw and the second claw of symmetrical setting, first pawl
On the inside of portion and second claw, pawl face is set to arc shape and is fixed with sheet rubber.
Used as further improving, the quantity of the short connecting rod and long connecting rod is four, is uniformly and symmetrically distributed in support
The upper and lower of plate and claw.
Used as further improving, the length for defining the fixed part is the twice to three times of the elongated portion；Nine hole
Flange further promotes the elongated portion by rotarily driving the drive link, the drive link, realizes the opening and closing of the claw.
Used as further improving, described two second actuators are each passed through two avris wall of the rotating circular disk and pass through four
Hole flange is fixedly connected with two piece of first arm plate, realizes first armshaft on perpendicular with second actuator
Drive shaft for axle center swing.
As further improving, the groove being adapted with the 3rd actuator on described second armshaft one end, is provided with, the described 3rd
The line shaft of actuator is fixedly connected through groove with the first armshaft of both sides, is passed through between second armshaft and the 3rd actuator
Bolt is fixedly connected, and realizes pendulum of second armshaft with the drive shaft of the 3rd actuator as axle center on perpendicular
It is dynamic.
As further improving, the groove being adapted with fourth drive member on the second armshaft other end, is provided with, described
The line shaft of four actuators is fixedly connected through groove with the fixed block of both sides, is passed through between second armshaft and fourth drive member
Bolt is fixedly connected, and realizes pendulum of the rotary grasping handss on perpendicular with the drive shaft of the fourth drive member as axle center
It is dynamic.
Used as further improving, the first gear group and the second gear group all include drivewheel and driven pulley.Institute
State first gear group disk is rotated and realize the rotation on horizontal plane；The second gear group driving mechanical handgrip is in vertical plane
On rotation.
Used as further improving, the minisize pick-up head is located at the claw end on the second armshaft direction；Institute
Minisize pick-up head is stated for shooting photo or video and user mobile phone can be transferred data to for observing the real-time feelings of infant
Condition.
Used as further improving, arbitrary actuator is AC servo motor, and the control centre can control the rotation
Independently moving between rotatable chassis, first armshaft, second armshaft and the rotary grasping handss, it is also possible to realize which
The form motion of combination while is carried out.
Compared with prior art, the present invention has advantages below：
1st, a kind of whole mechanism of infant treatment type mechanical hand of the invention is made up of four major parts, and overall structure is simple and clear.
2nd, a kind of infant treatment type mechanical hand of the invention can realize the rotation on each degree of freedom, and can between each several part
Autonomous working also can cooperating.
3rd, a kind of mechanical gripper structure of infant treatment type mechanical hand of the invention adopts bar linkage structure, and function is easy and grabs
Take effect good, can effectively capture article needed for infant.
Description of the drawings
Accompanying drawing 1 is a kind of structural representation of infant treatment type mechanical hand of the invention.
Accompanying drawing 2 is a kind of enlarged drawing of the mechanical gripper of infant treatment type mechanical hand of the invention；
Accompanying drawing 3 is a kind of structural representation on the rotary chassis of infant treatment type mechanical hand of the invention.
Specific embodiment
In describing the invention, it should be noted that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as indicating or implies relative importance." being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected,
Can be detachably connected, or be integrally connected；Can be mechanically connected, or electrically connect；Can be joined directly together,
Can be indirectly connected to by intermediary, can be the connection of two element internals.For one of ordinary skill in the art
Speech, can understand above-mentioned term concrete meaning in the present invention with concrete condition.Additionally, in describing the invention, unless separately
It is described, " multiple " are meant that two or more.
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained on the premise of creative work is not made by member, belongs to the scope of protection of the invention.
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 to Fig. 3 is refer to, in embodiment, a kind of infant treatment type mechanical hand, including the rotary bottom being sequentially connected
Disk 10, the first armshaft 20, the second armshaft 30 and rotary grasping handss 40 and control centre；The rotary chassis 10 includes connecting successively
Base 11, first gear group 12, rotating circular disk 13 and the first actuator 14 for connecing, first actuator 14 are used to drive first
Gear train 12 works；First armshaft 20 includes two blocks of first arm plates 21 and two the second actuators 22 just to setting, institute
Stating the second actuator 22 drives the first arm plate 21 to move；Second armshaft 30 includes two pieces of 31 Hes of the second arm plate just to arranging
The 3rd actuator 32 between the second arm plate, the 3rd actuator 32 drive the second arm plate 31 to move；The rotation is grabbed
Taking handss 40 includes fixed block 41, second gear group 42, fourth drive member 43, mechanical gripper 44, the 5th actuator 45 and miniature takes the photograph
Picture 46, the minisize pick-up head 46 are located at 44 end of the mechanical gripper；The mechanical gripper 44 includes supporting plate 441, nine
Hole flange 442, some drive links 443, some long connecting rods 444, some short connecting rods 445 and claws 446；The length
On the outside of the short connecting rod 445, described 445 one end of short connecting rod is fixedly connected connecting rod 444 with claw 446, the other end
It is flexibly connected with supporting plate 441；The long connecting rod 444 includes fixed part 4441 and elongated portion 4442, the fixed part 4441
One end is fixedly connected with claw 446, and the other end is flexibly connected with supporting plate 441,4442 end of the elongated portion and drive link 443
One end is flexibly connected, and 443 other end of the drive link is connected with nine hole flange 442；The fourth drive member 43 drives the
Two gear trains 42 work, and the 5th actuator 45 drives nine hole flanges 442 to rotate.A kind of infant treatment type machinery of the present invention
The whole mechanism of handss is made up of four most of rotary chassis 10, the first armshaft 20, the second armshaft 30 and rotary grasping handss 40, overall
Simple structure understands, while the rotation on each degree of freedom can be realized, and can work independently between each several part also can cooperating,
And 44 structure of mechanical gripper adopts bar linkage structure, function is easy and crawl effect is good, effectively can be captured using such structure
Articles for use needed for infant, such as：Diaper, feeding bottle etc., can be used for the auxiliary helper of father and mother, convenient preferably to look after infant.
Fig. 1 to Fig. 2 is refer to, in embodiment, the claw 446 includes the first claw 4461 and second of symmetrical setting
Claw 4462, first claw 4461 and the second claw 4462 are laminated structure, the long connecting rod 444 and short connecting rod
445 are uniformly and symmetrically distributed the upper and lower in the supporting plate 441 and claw 446,4461 He of the first claw in " eight " font
Second claw, 4462 inner side pawl face is set to arc shape and is fixed with sheet rubber 4463, can make claw using such structure
446 effective laminating infant feeding bottles and other items, it is convenient to capture；The quantity of the short connecting rod 445 and long connecting rod 444 is respectively
Four, the short connecting rod is distributed in inner side for each two about 445, and the long connecting rod is distributed in short company for each two about 444
On the outside of extension bar 445.The length for defining the fixed part 4441 of the long connecting rod 444 is the twice of the elongated portion 4442 to three
Times, specifically, the length of the long connecting rod 444 is 6cm, and the length of the short connecting rod 445 is 4cm, the fixed part
4441 length is 4cm, and the length of the elongated portion 4442 is 2cm.Nine hole flange 442 is by rotarily driving the transmission
Bar 443, the drive link 443 are further driven to the elongated portion 4442, and the elongated portion 4442 drives whole long connecting rod 444
The opening and closing of the claw are finally realized in motion.The claw of the minisize pick-up head 46 on 31 direction of the second armshaft
446 ends；The minisize pick-up head 46 is used to shoot photo or video and can transfer data to user mobile phone for observing baby
The real-time condition of child, 446 end of the claw are additionally provided with temperature sensor, can be used to measure room temperature and be transmitted through the network to
User mobile phone end, user can carry out the monitoring of more objective and digitization according to room temperature to infant.Using such machine
44 mechanism of tool handgrip is simple, and the ratio of power arm and resistance arm is optimal, controls simple, the required Machinery Ministry of the difficulty of each side
Part also seldom, can not only meet the requirement of low cost, and it is also very excellent to capture effect.
Fig. 1 is refer to, in embodiment, described two second actuators 22 are each passed through 13 liang of avris walls of the rotating circular disk
And be fixedly connected with two piece of first arm plate 21 by four hole flanges 50, realize first armshaft 20 on perpendicular with
Swing of the drive shaft of second actuator 22 for axle center.In the same manner, it is provided with and the 3rd driving on described second armshaft, 30 one end
The groove that part 32 is adapted, the line shaft of the 3rd actuator 32 are fixedly connected through groove with the first armshaft 20 of both sides, described
It is fixedly connected by four hole flanges 50 between second armshaft 30 and the 3rd actuator 32, realizes that second armshaft 30 is vertically being put down
Swing on face with the drive shaft of the 3rd actuator 32 as axle center.In the same manner, be provided with 30 other end of the second armshaft with
The groove that fourth drive member 43 is adapted, the line shaft of the fourth drive member 43 are fixed through the fixed block 41 of groove and both sides and are connected
Connect, be fixedly connected by four hole flanges 50 between second armshaft 30 and fourth drive member 43, realize the rotary grasping handss
40 swings on perpendicular with the drive shaft of the fourth drive member 43 as axle center.
Fig. 3 is refer to, the first gear group 12 and the second gear group 42 all include drivewheel and driven pulley.It is described
First gear group 12 is rotated disk 13 and realizes the rotation on horizontal plane；42 driving mechanical handgrip 40 of the second gear group exists
Rotation on vertical plane.Rotation is realized using gear-driven mode, it is simple efficient.
Refer to Fig. 1 to Fig. 3, arbitrary actuator is AC servo motor, the control centre can control the rotation
Independently moving between rotatable chassis 10, first armshaft 20, second armshaft 30 and the rotary grasping handss 40, also may be used
In the form of realizing its combination move or while carry out.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements done etc. are should be included within the scope of protection of the invention.
Claims (10)
1. a kind of infant treatment type mechanical hand, it is characterised in that：Including the rotary chassis, the first armshaft being sequentially connected,
Two armshafts, rotary grasping handss and control centre；The rotary chassis includes the base being sequentially connected, first gear group, rotates
Disk and the first actuator, first actuator are used to drive first gear group to work；First armshaft is just including two pieces
The first arm plate and two the second actuators to setting, second actuator drive the motion of the first arm plate；Second armshaft
Including two pieces just to the second arm plates for arranging and the 3rd actuator between the second arm plate, the 3rd actuator drives the
Two arm plates are moved；The rotary grasping handss include fixed block, second gear group, fourth drive member, minisize pick-up head, mechanical gripper
With the 5th actuator, the minisize pick-up head is located at the mechanical gripper end；The mechanical gripper includes supporting plate, nine hole methods
Blue, some drive link, some long connecting rods, some short connecting rods and claws；The long connecting rod is located at the short company
On the outside of extension bar, described short connecting rod one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate；The long connecting rod bag
Fixed part and elongated portion are included, described fixed part one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate, the elongation
Portion end is flexibly connected with drive link one end, and the drive link other end is connected with nine hole flange；The fourth drive member
The work of second gear group, the 5th actuator is driven to drive nine hole flange rotaries.
2. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：The claw includes symmetrical
The first claw for arranging and the second claw, on the inside of first claw and second claw, pawl face is set to arc shape and is fixed with
Sheet rubber.
3. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：The short connecting rod and long company
The quantity of extension bar is four, is uniformly and symmetrically distributed the upper and lower in supporting plate and claw.
4. a kind of infant treatment type mechanical hand according to claim 3, it is characterised in that：Define the length of the fixed part
Spend the twice to three times for the elongated portion；Nine hole flange enters one by rotarily driving the drive link, the drive link
Step promotes the elongated portion, realizes the opening and closing of the claw.
5. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：Described two second actuators
It is each passed through two avris wall of the rotating circular disk and is fixedly connected with two piece of first arm plate by four hole flanges, realizes described
Swing of first armshaft on perpendicular with the drive shaft of second actuator as axle center.
6. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：On described second armshaft one end
The groove being adapted with the 3rd actuator is provided with, the line shaft of the 3rd actuator is fixed through the first armshaft of groove and both sides and connected
Connect, be bolted to connection between second armshaft and the 3rd actuator, realize second armshaft on perpendicular
Swing with the drive shaft of the 3rd actuator as axle center.
7. a kind of infant treatment type mechanical hand according to claim 6, it is characterised in that：The second armshaft other end
On be provided with the groove being adapted with fourth drive member, the line shaft of the fourth drive member is fixed through the fixed block of groove and both sides and is connected
Connect, be bolted to connection between second armshaft and fourth drive member, realize the rotary grasping handss in perpendicular
On swing with the drive shaft of the fourth drive member as axle center.
8. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：The first gear group and institute
Stating second gear group all includes drivewheel and driven pulley；The first gear group is rotated disk and realizes the rotation on horizontal plane
Turn；Rotation of the second gear group driving mechanical handgrip on vertical plane.
9. a kind of infant treatment type mechanical hand according to claim 1, it is characterised in that：The minisize pick-up head is located at
The claw end on the second armshaft direction；The minisize pick-up head is used to shoot photo or video and can transmit number
It is used to observe the real-time condition of infant according to user mobile phone.
10. any one infant treatment type mechanical hand according to claim 1 ~ 9, it is characterised in that：Arbitrary actuator
For AC servo motor, the control centre can control the rotary chassis, first armshaft, second armshaft and institute
State the independently moving between rotary grasping handss, it is also possible to realize the form motion of its combination or while carry out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082672.7A CN106553200A (en) | 2016-11-30 | 2016-11-30 | A kind of infant treatment type mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082672.7A CN106553200A (en) | 2016-11-30 | 2016-11-30 | A kind of infant treatment type mechanical hand |
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| Publication Number | Publication Date |
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| CN106553200A true CN106553200A (en) | 2017-04-05 |
Family
ID=58445797
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082672.7A Pending CN106553200A (en) | 2016-11-30 | 2016-11-30 | A kind of infant treatment type mechanical hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN107838570A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of Pseudobulbus Bletillae (Rhizoma Bletillae) automatic assembly line and production line control method |
| CN109044663A (en) * | 2018-07-04 | 2018-12-21 | 贺婷 | A kind of gynemetrics's lactation Mother and baby bed |
| CN110695957A (en) * | 2019-10-25 | 2020-01-17 | 郑州大学 | Household old-age-assisting robot and using method thereof |
| CN112388668A (en) * | 2020-11-06 | 2021-02-23 | 皖南医学院 | Simulation mechanical arm and control system thereof |
| CN112476238A (en) * | 2020-11-13 | 2021-03-12 | 昆明理工大学 | Sheet sample fixing jig of polishing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN107234610B (en) * | 2017-07-21 | 2020-08-07 | 阳西县精科塑业有限公司 | Novel five-degree-of-freedom manipulator |
| CN107838570A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of Pseudobulbus Bletillae (Rhizoma Bletillae) automatic assembly line and production line control method |
| CN109044663A (en) * | 2018-07-04 | 2018-12-21 | 贺婷 | A kind of gynemetrics's lactation Mother and baby bed |
| CN109044663B (en) * | 2018-07-04 | 2020-09-18 | 西安医学院第二附属医院 | Gynaecology and obstetrics's breast-feed mother and infant bed |
| CN110695957A (en) * | 2019-10-25 | 2020-01-17 | 郑州大学 | Household old-age-assisting robot and using method thereof |
| CN112388668A (en) * | 2020-11-06 | 2021-02-23 | 皖南医学院 | Simulation mechanical arm and control system thereof |
| CN112476238A (en) * | 2020-11-13 | 2021-03-12 | 昆明理工大学 | Sheet sample fixing jig of polishing robot |
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Application publication date: 20170405 |