CN106625745A - Multi-claw manipulator - Google Patents
Multi-claw manipulator Download PDFInfo
- Publication number
- CN106625745A CN106625745A CN201611260939.7A CN201611260939A CN106625745A CN 106625745 A CN106625745 A CN 106625745A CN 201611260939 A CN201611260939 A CN 201611260939A CN 106625745 A CN106625745 A CN 106625745A
- Authority
- CN
- China
- Prior art keywords
- tooth bar
- drive
- housing
- multijaw
- screw mandrel
- 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
- 238000009434 installation Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 abstract 4
- 210000004247 hand Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000000338 in vitro 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
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
Abstract
Provided is a multi-claw manipulator. The multi-claw manipulator comprises a shell and a plurality of claws installed on the shell, and further comprises a reciprocating mechanism. The output end of the reciprocating mechanism is provided with a plurality of drive racks. Each claw is provided with a driven rack. Each drive rack and the corresponding driven rack form a rack assembly. In each rack assembly, the drive rack and the driven rack are perpendicular to each other, a drive gear is arranged between the drive rack and the driven rack, and the drive gear is engaged with the drive rack and the driven rack. The drive racks and the drive gears are arranged in the shell. The multiple claws form a circle and can be arranged on the shell radially in a sliding mode. Each drive rack drives the corresponding driven rack to make reciprocating motion through the corresponding drive gear, so that the claws expand outwards or retract inwards in a sliding mode. According to the multi-claw manipulator, the structure is simpler, so that the manufacturing cost is effectively reduced, and the manipulator is not prone to failure.
Description
Technical field
The present invention relates to a kind of multijaw mechanical hand.
Background technology
Multijaw mechanical hand has multiple paws, so as to more consolidate in grabbing workpiece.In the prior art, multijaw machinery
The structure of handss is all extremely complex.
The content of the invention
In order to overcome the above-mentioned deficiency of existing multijaw mechanical hand, the present invention to provide a kind of structure simpler multijaw machinery
Handss.
The present invention solves the technical scheme of its technical problem：A kind of multijaw mechanical hand, including housing, installed in the shell
Multiple paws on body, also including a reciprocator, the outfan of the reciprocator is provided with some driving tooth bars, each paw
A driven tooth bar is provided with, one drives tooth bar corresponding so as to constitute one group of tooth bar group, each tooth bar with a driven tooth bar
Driving tooth bar in group is perpendicular with driven tooth bar；
Be provided with drive gear between driving tooth bar and driven tooth bar in each tooth bar group, described drive gear respectively with driving
Tooth bar, the engagement of driven tooth bar；
Described drives tooth bar, drive gear in described housing, and multiple paws form a circle, and described paw can be radially
It is described to drive tooth bar to move back and forth by the driven tooth bar described in driving gear drives slidably on described housing, from
And make described paw slide and be flared out or inside purse up.
Further, described reciprocator includes motor, screw mandrel, the output shaft of the motor and the screw mandrel
Screw rod connection, on the nut of the screw mandrel described in described driving rack-shaped Cheng Yu；Described motor is located at described shell
In vitro, described screw mandrel is located in described housing.
Further, screw mandrel bearing is provided with described housing, the Screw rod bearingses of the screw mandrel are on described screw mandrel bearing.
Further, support shaft is provided with described housing, bearing, described sliding tooth wheel case is cased with described support shaft
On described bearing.
Further, described paw includes corpus unguis, connector, on the connector described in described driven rack-shaped Cheng Yu,
Described corpus unguis is located at outside described housing, and described connector is radially inserted in described housing.
Further, slide rail is provided with described housing, described connector is on described slide rail.
When in use, the outfan of reciprocator is moved back and forth the present invention, so that driving tooth bar to move back and forth, is driven
The reciprocating motion of tooth bar drives drive gear to rotate, and drives driven tooth bar to radially reciprocate so as to pass through drive gear, from
And paw is flared out or is inwardly drawn in during reciprocatingly sliding.
The beneficial effects of the present invention is：Present configuration is simpler, therefore can effectively reduce manufacturing cost, and mechanism is not
Easily failure.
Description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the cut-away view of the present invention.
Fig. 3 is the driving schematic diagram for driving tooth bar.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
With reference to Fig. 1, Fig. 2, Fig. 3, a kind of multijaw mechanical hand, including housing 1, the multiple paws on the housing 1
2, also including a reciprocator, the outfan of the reciprocator is provided with some driving tooth bars 3, and each paw 2 is provided with one
Driven tooth bar 4, one drives the drive so as to constitute one group of tooth bar group, in each tooth bar group corresponding with driven tooth bar 4 of tooth bar 3
Carry-over bar 3 is perpendicular with driven tooth bar 4.In the present embodiment, there are 4 paws, therefore there are four to drive tooth bar, 4 driven tooth bars.
Drive gear 5,5 points of described drive gear are provided between driving tooth bar 3 and driven tooth bar 4 in each tooth bar group
Do not engage with tooth bar 3, driven tooth bar 4 is driven.In the present embodiment, in described housing 1 support shaft 6, described support shaft 6 are provided with
On be cased with bearing 7, described drive gear 5 is placed on described bearing 7, and the operation of drive gear 5 is sufficiently stable.
Described drives tooth bar 3, drive gear 5 in described housing 1, and 4 paws 2 form a circle, and uniform point
Cloth.Described paw 2 can radially slide on described housing 1（So-called radial direction, refers to the circle surrounded with paw
It is reference, the radial direction of the circle is the radial direction of paw slip）, the driving tooth bar 3 is driven described by drive gear 5
Driven tooth bar 4 move back and forth so that described paw 2 slides being flared out or inside purse up.
When in use, the outfan of reciprocator is moved back and forth, so that driving tooth bar 3 to move back and forth, drives tooth bar 3
Reciprocating motion drive drive gear 5 rotate, drive driven tooth bar 4 to radially reciprocate so as to pass through drive gear 5（It is so-called
Radial direction, refer to the circle surrounded with paw as reference, the radial direction of the circle is the radial direction of paw slip）, so as to
So that paw 2 is flared out or inwardly draws in during reciprocatingly sliding.When paw 2 radially outward slides, paw 2 opens,
Crawl space between paw and paw becomes big；When paw 2 radially-inwardly slides, paw 2 draws in, between paw and paw
Crawl space diminishes.
In the present embodiment, described reciprocator includes motor 8, screw mandrel, the output shaft of the motor 8 and institute
The screw rod 9 for stating screw mandrel connects, and the described tooth bar 3 that drives is formed on the nut 10 of described screw mandrel；Described motor 8
Outside described housing 1, described screw mandrel is located in described housing 1.Motor 8 is rotated, and the screw rod 9 for driving screw mandrel is rotated forward
Or reversion, you can the nut 10 of drive screw is moved back and forth.
In this enforcement, screw mandrel bearing 11 is provided with described housing, the screw rod 9 of the screw mandrel is bearing in described screw axis
Hold on 11.
In the present embodiment, described paw includes corpus unguis 12, connector 13, and described corpus unguis 12 is located at described housing 1
Outward, described connector 13 is radially inserted in described housing 1, and described driven tooth bar 4 is formed at described connector 13
On, corpus unguis 12 is used for grabbing workpiece, and connector 13 is used to install and connect.Slide rail is provided with housing 1 described in the present embodiment,
Described connector 13 is on described slide rail.
Claims (6)
1. a kind of multijaw mechanical hand, including housing, installation multiple paws on the housing, it is characterised in that：Also include one
Reciprocator, the outfan of the reciprocator is provided with some driving tooth bars, and each paw is provided with a driven tooth bar, one
Drive tooth bar corresponding so as to constitute one group of tooth bar group with a driven tooth bar, the driving tooth bar in each tooth bar group and driven tooth bar
It is perpendicular；
Be provided with drive gear between driving tooth bar and driven tooth bar in each tooth bar group, described drive gear respectively with driving
Tooth bar, the engagement of driven tooth bar；
Described drives tooth bar, drive gear in described housing, and multiple paws form a circle, and described paw can be radially
It is described to drive tooth bar to move back and forth by the driven tooth bar described in driving gear drives slidably on described housing, from
And make described paw slide and be flared out or inside purse up.
2. multijaw mechanical hand as claimed in claim 1, it is characterised in that：Described reciprocator includes motor, screw mandrel,
The output shaft of the motor is connected with the screw rod of the screw mandrel, the nut of the screw mandrel described in described driving rack-shaped Cheng Yu
On；
Described motor is located at outside described housing, and described screw mandrel is located in described housing.
3. multijaw mechanical hand as claimed in claim 2, it is characterised in that：Screw mandrel bearing, the silk are provided with described housing
The Screw rod bearingses of bar are on described screw mandrel bearing.
4. the multijaw mechanical hand as described in one of claim 1 ~ 3, it is characterised in that：Support shaft, institute are provided with described housing
Bearing is cased with the support shaft stated, described drive gear is placed on described bearing.
5. the multijaw mechanical hand as described in one of claim 1 ~ 3, it is characterised in that：Described paw includes corpus unguis, connector,
Described corpus unguis is located at outside described housing, and described connector is radially inserted in described housing, described driven tooth bar
It is formed on described connector.
6. multijaw mechanical hand as claimed in claim 5, it is characterised in that：Slide rail, described connection are provided with described housing
Body is on described slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260939.7A CN106625745A (en) | 2016-12-30 | 2016-12-30 | Multi-claw manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260939.7A CN106625745A (en) | 2016-12-30 | 2016-12-30 | Multi-claw manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625745A true CN106625745A (en) | 2017-05-10 |
Family
ID=58837469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611260939.7A Pending CN106625745A (en) | 2016-12-30 | 2016-12-30 | Multi-claw manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625745A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322623A (en) * | 2017-08-15 | 2017-11-07 | 中国地质大学（北京） | A kind of three finger self-centering motor machine paws for accurately capturing |
| CN107901069A (en) * | 2017-12-07 | 2018-04-13 | 王心成 | A kind of piston type multijaw end effector of robot |
| CN109773819A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture of manipulator based on magnetorheological fluid |
| CN110921301A (en) * | 2019-12-03 | 2020-03-27 | 江苏天艾美自动化科技有限公司 | Automatic robot capable of carrying objects |
| CN111846938A (en) * | 2020-08-17 | 2020-10-30 | 天津中辰智能设备有限公司 | Self-positioning gripper of iron frame stacking machine |
| WO2021036342A1 (en) * | 2019-08-28 | 2021-03-04 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drug |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1324846A1 (en) * | 1985-11-04 | 1987-07-23 | Предприятие П/Я Р-6707 | Industrial robot grip |
| CN103624770A (en) * | 2013-11-08 | 2014-03-12 | 重庆风过旗扬科技发展有限公司 | Simple manipulator for gear transmission |
| CN204108998U (en) * | 2014-09-09 | 2015-01-21 | 青岛金立磁性材料有限公司 | A kind of manipulator of automatic sampling |
| CN204278018U (en) * | 2014-11-26 | 2015-04-22 | 嘉善县汾湖铸钢厂 | A kind of manipulator |
| CN105082164A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Clamping type manipulator device |
| CN206455686U (en) * | 2016-12-30 | 2017-09-01 | 宁波市奥特曼自动化设备有限公司 | A kind of multijaw manipulator |
-
2016
- 2016-12-30 CN CN201611260939.7A patent/CN106625745A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1324846A1 (en) * | 1985-11-04 | 1987-07-23 | Предприятие П/Я Р-6707 | Industrial robot grip |
| CN103624770A (en) * | 2013-11-08 | 2014-03-12 | 重庆风过旗扬科技发展有限公司 | Simple manipulator for gear transmission |
| CN204108998U (en) * | 2014-09-09 | 2015-01-21 | 青岛金立磁性材料有限公司 | A kind of manipulator of automatic sampling |
| CN204278018U (en) * | 2014-11-26 | 2015-04-22 | 嘉善县汾湖铸钢厂 | A kind of manipulator |
| CN105082164A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Clamping type manipulator device |
| CN206455686U (en) * | 2016-12-30 | 2017-09-01 | 宁波市奥特曼自动化设备有限公司 | A kind of multijaw manipulator |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322623A (en) * | 2017-08-15 | 2017-11-07 | 中国地质大学（北京） | A kind of three finger self-centering motor machine paws for accurately capturing |
| CN107901069A (en) * | 2017-12-07 | 2018-04-13 | 王心成 | A kind of piston type multijaw end effector of robot |
| CN109773819A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture of manipulator based on magnetorheological fluid |
| WO2021036342A1 (en) * | 2019-08-28 | 2021-03-04 | 南京驭逡通信科技有限公司 | Micro-nano robot for grabbing targeted drug |
| CN110921301A (en) * | 2019-12-03 | 2020-03-27 | 江苏天艾美自动化科技有限公司 | Automatic robot capable of carrying objects |
| CN110921301B (en) * | 2019-12-03 | 2021-09-10 | 江苏天艾美自动化科技有限公司 | Automatic robot capable of carrying objects |
| CN111846938A (en) * | 2020-08-17 | 2020-10-30 | 天津中辰智能设备有限公司 | Self-positioning gripper of iron frame stacking machine |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |
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| WD01 | Invention patent application deemed withdrawn after publication |