CN106826900A - A kind of adjustable mechanical hand - Google Patents
A kind of adjustable mechanical hand Download PDFInfo
- Publication number
- CN106826900A CN106826900A CN201710135741.4A CN201710135741A CN106826900A CN 106826900 A CN106826900 A CN 106826900A CN 201710135741 A CN201710135741 A CN 201710135741A CN 106826900 A CN106826900 A CN 106826900A
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- connecting plate
- plate
- supporting
- movable block
- rod
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- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 28
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 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
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable mechanical hand, including connecting seat and it is installed on the clamp assemblies of connecting seat bottom；Clamp assemblies include at least three holders, central axis circumference array of at least three holder around the connecting seat；And adjacent two holder can be moved around the central axis of the connecting seat towards direction that is close to each other or being located remotely from each other；Holder includes movable block, connecting rod and supporting rod, and one end of supporting rod forms bare terminal end, and the other end of supporting rod is hinged with one end of connecting rod by a jointed shaft, and the other end of connecting rod is articulated with connecting seat；The jointed shaft is fixed on movable block；Movable block can be moved along the short transverse of the connecting seat；At least three bare terminal end surrounds a grasping part jointly.Adjustable mechanical hand of the invention, can capture different shape object, it is not necessary to which it is the crawl for being capable of achieving object frequently to change clamping jaw.
Description
Technical field
The present invention relates to machining technology field, more particularly to a kind of adjustable mechanical hand.
Background technology
At present, the automation development of the industry such as logistics is rapid, and automation covering more comprehensively, but is related to parcel etc. unsetting
The crawl and dispensing of shape object are still that manpower occupies leading, and human cost is higher.And rare automation equipment is usually use
Mechanical grip is gripped automatically, and often grasping structures are complex, and mechanical grip model comparision is single, can only be directed to specific
The object of shape is captured, and different objects needs to change different mechanical grips, not only relatively costly, production efficiency compared with
It is low.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of adjustable mechanical hand, can capture
Different shape object, it is not necessary to which it is the crawl for being capable of achieving object frequently to change clamping jaw.
The purpose of the present invention is realized using following technical scheme：
A kind of adjustable mechanical hand, including connecting seat and it is installed on the clamp assemblies of connecting seat bottom；Clamp assemblies bag
At least three holders are included, central axis circumference array of at least three holder around the connecting seat；And adjacent two clamping
Part can be moved around the central axis of the connecting seat towards direction that is close to each other or being located remotely from each other；Holder includes activity
Block, connecting rod and supporting rod, one end of supporting rod form bare terminal end, and the other end of supporting rod passes through one with one end of connecting rod
Jointed shaft is hinged, and the other end of connecting rod is articulated with connecting seat；The jointed shaft is fixed on movable block；Movable block can be along institute
State the short transverse motion of connecting seat；At least three bare terminal end surrounds a grasping part jointly.
Preferably, connecting seat includes the first supporting plate, the first connecting plate, the second connecting plate and the 3rd connecting plate, first
The central axis circumference array of connecting plate, the second connecting plate and the 3rd connecting plate around first supporting plate；First connecting plate
It is fixedly connected with the first supporting plate；Second connecting plate and the 3rd connecting plate can around the central axis of first supporting plate towards
It is close to or away from the direction motion of the first connecting plate；It is equipped with first connecting plate, the second connecting plate and the 3rd connecting plate
The holder, and each movable block can respectively along the short transverse fortune of the first connecting plate, the second connecting plate and the 3rd connecting plate
It is dynamic；Each connecting rod is hingedly connected to the first connecting plate, the second connecting plate and the 3rd connecting plate；The center of first supporting plate
Axis forms the central axis of the connecting seat.
Preferably, also including the first drive mechanism, first drive mechanism is installed in the first supporting plate, and for driving
Second connecting plate and the 3rd connecting plate are moved towards the direction near or away from the first connecting plate.
Preferably, the first drive mechanism includes the first motor, crank, the first drive rod and the second drive rod, the song
The connection synchronous with the rotating shaft of first motor of the pivot of handle；The two ends of the crank form clutch end, and described the
One end of one drive rod is articulated with a wherein clutch end, and the other end of first drive rod is articulated with the second connection
On plate；One end of second drive rod is articulated with another clutch end, and the other end of second drive rod is hinged
In on the 3rd connecting plate.
Preferably, the edge in the first supporting plate is provided with two limiting sections, the two limiting sections interval setting and two limiting section
Between the second connecting plate and the 3rd connecting plate, and a wherein limiting section is used in the second connecting plate away from the first connection
Plate is abutted when moving with the second connecting plate；Another limiting section be used for when the 3rd connecting plate move away from the first connecting plate and
3rd connecting plate is abutted.
Preferably, connecting seat also includes one second supporting plate, and second supporting plate is located at the top of the first supporting plate, and the
Multiple support columns, the first connecting plate, the second connecting plate and the 3rd connecting plate are connected between two supporting plates and the first supporting plate
Top be all connected in the second supporting plate, between the first connecting plate and the second connecting plate, the second connecting plate and the 3rd connecting plate,
The support column is equipped between 3rd connecting plate and the first connecting plate；Branch between first connecting plate and the second connecting plate
Dagger is used to be abutted with the second connecting plate when second connecting plate is towards near first connecting plate motion；Described first
Support column between connecting plate and the 3rd connecting plate is used in the 3rd connecting plate towards near first connecting plate motion
The connecting plates of Shi Yu tri- are abutted.
Preferably, the top of the second connecting plate is pivotally connected with the second supporting plate by one first thrust bearing；3rd connecting plate
Top and the second supporting plate by the pivot joint of one second thrust bearing.
Preferably, also including the second drive mechanism, second drive mechanism is used to driving and described is installed on the first supporting plate
On, and for driving each movable block to be moved along the short transverse of the first connecting plate, the second connecting plate and the 3rd connecting plate respectively.
Preferably, the second drive mechanism includes the second motor, screw mandrel and feed screw nut, and the body of the second motor is arranged on
In first supporting plate, screw mandrel is by gear train connection synchronous with the rotating shaft of second motor, feed screw nut and wire rod thread
Matching, the movable block on the first connecting plate is fixedly connected with feed screw nut, movable block and the 3rd connecting plate on the second connecting plate
On movable block be articulated with feed screw nut.
Preferably, slide rail is equipped with the first connecting plate, the second connecting plate and the 3rd connecting plate, and each slide rail is distinguished
Short transverse along the first connecting plate, the second connecting plate and the 3rd connecting plate extends；Each movable block is corresponded with each slide rail
And be slidably matched.
Compared to existing technology, the beneficial effects of the present invention are：Adjacent two holder can be towards mutually leaning in clamp assemblies
Direction motion that is near or being located remotely from each other, i.e., holder spacing so far can be adjusted two-by-two, the bare terminal end of such each holder
Surface of different shapes can be put forth effort on；At the same time, the supporting rod of holder can the relative connection in movable block motion process
Bar is rotated, and realizes the opening and closing of bare terminal end, i.e., surround the big I of a grasping part jointly by the bare terminal end of at least three supporting rods
Adjust, clamp assemblies is clamped different size of clamping thing, for the indefinite shape in the parcel crawl of the industries such as logistics
Object, it is not necessary to frequently change clamping jaw, can the preferable control that must be realized to cost and the raising of production efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of manipulator of the invention；
Fig. 2 is the structural representation of robot drives part of the invention；
Fig. 3 is the partial structural diagram of manipulator of the invention.
In figure：10th, connecting seat；11st, the first supporting plate；111st, limiting section；12nd, the first connecting plate；13rd, the second connecting plate；
14th, the 3rd connecting plate；15th, the second supporting plate；16th, support column；17th, slide rail；18th, the 3rd supporting plate；19th, thrust bearing；20th, press from both sides
Hold component；21st, movable block；22nd, connecting rod；23rd, supporting rod；24th, grip block；30th, the first drive mechanism；31st, the first motor；
32nd, crank；33rd, the first drive rod；34th, the second drive rod；40th, the second drive mechanism；41st, the second motor；42nd, screw mandrel；43rd, silk
Stem nut；44th, gear train；45th, terminal pad.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
A kind of adjustable mechanical hand as shown in Figure 1, including connecting seat 10 and clamp assemblies 20, specific clamp assemblies 20
Installed in the bottom of connecting seat 10, for clamping exterior object.
Specific clamp assemblies 20 include at least three holders, and at least three holder is around the central shaft of connecting seat 10
Line circumference array, and adjacent two holder can be around the central axis of connecting seat 10 towards direction that is close to each other or being located remotely from each other
Motion, i other words the spacing between adjacent two holder can be adjusted.In addition, holder include movable block 21, connecting rod 22 with
And supporting rod 23, and one end of supporting rod 23 forms bare terminal end, while the other end of supporting rod 23 leads to one end of connecting rod 22
A jointed shaft is crossed to be hinged, and the other end of connecting rod 22 is articulated with connecting seat 10.Above-mentioned jointed shaft is set to be fixed in movable block 21
On, the movable block 21 can be moved along the short transverse of connecting seat 10, and at least three bare terminal ends can jointly surround a grasping part.
On the basis of said structure, during using manipulator of the invention, can first make adjacent two holder towards close to each other
Direction or the direction motion that is located remotely from each other, the distance between holder two-by-two is diminished or become big, do not advise clamping so
Can, using holder two-by-two as crawl point, be attached to the different faces of thing to be gripped during gripping thing then, realize the manipulator
Different space layouts, captures object of different shapes.Additionally, according to the size of thing to be gripped, movable block can be made to be transported about 21
Dynamic, because the jointed shaft being hinged between connecting rod 22 and supporting rod 23 is mounted on movable block 21, and connecting rod 22 is hinge
Be connected on connecting seat 10, thus movable block 21 move up and down during supporting rod 23 bare terminal end can towards near or away from
Connecting rod 22 direction motion, realize the opening and closing of grasping part, the manipulator is clamped the object of different size volume.
Clamping jaw so need not be frequently changed, just can the preferable control that must be realized to cost and the raising of production efficiency.
It should be noted that flexible clamping block 24 (such as rubber or silicon can be provided with the bare terminal end of above-mentioned supporting rod 23
The part of glue etc), and can be used to be contacted with body surface when object is gripped in the flexible clamping block 24, on the one hand increase rubs
Wipe, on the other hand protect the object being crawled.In addition, the settable dentation knot in face that flexible clamping block 24 is contacted with thing to be gripped
Structure, further increase friction, prevents the object during gripping from dropping.
Preferably, in the present embodiment, connecting seat 10 includes the first supporting plate 11, the first connecting plate 12, the second connecting plate
13 and the 3rd connecting plate 14, make the first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14 around the first supporting plate 11
Central axis circumference array.The first connecting plate 12 is set to be fixedly connected with the first supporting plate 11 simultaneously, and the He of the second connecting plate 13
3rd connecting plate 14 can be transported around the central axis of the first supporting plate 11 towards the direction near or away from the first connecting plate 12
It is dynamic.On this architecture basics, above-mentioned clamping can be respectively provided with the first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14
Part, and each movable block 21 can respectively along the short transverse fortune of the first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14
It is dynamic.And each connecting rod 22 is hingedly connected to the first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14；First supporting plate
11 central axis forms the central axis of connecting seat 10.
First, in the present embodiment, three holders, the clamp structure being thusly-formed are respectively mounted using three connecting plates
More stablize.In addition, on the basis of said structure, need to only make the second connecting plate 13 and the 3rd connecting plate 14 respectively close to or it is remote
Spacing between the i.e. adjustable holder two-by-two of the motion of the first connecting plate 12.At the same time, each movable block 21 is made along corresponding
Connecting plate short transverse motion, you can realize the rotation of each bare terminal end, realize the opening and closing of grasping part.
Certainly, it is necessary to explanation, in order to simplify structure and cost-effective, the present embodiment carries out work from three holders
Make.Specifically selected also dependent on actual conditions.
Preferably, referring to Fig. 2 and Fig. 3, the manipulator in the present embodiment also includes the first drive mechanism 30, first drive
Motivation structure 30 is installed in the first supporting plate 11, and for drive the second connecting plate 13 and the 3rd connecting plate 14 towards near or
Away from the direction motion of the first connecting plate 12, it is easy to Mechanical course, saves human cost.
Preferably, above-mentioned first drive mechanism 30 includes that the first motor 31, crank 32, the first drive rod 33 and second drive
Lever 34, make crank 32 pivot it is synchronous with the rotating shaft of first motor 31 connection, and the crank 32 two ends shape
Into clutch end, one end of first drive rod 33 is articulated with a wherein clutch end, first drive rod
33 other end is articulated with the second connecting plate 13；One end of second drive rod 34 is articulated with another power output
End, the other end of second drive rod 34 is articulated with the 3rd connecting plate 14.
On the basis of said structure, start the first motor 31, crank 32 just can be driven to rotate, in the mistake that crank 32 is rotated
Cheng Zhong, can drive the first drive rod 33 and the second drive rod 34 to do eccentric motion around the pivot of crank, and then drive second
The connecting plate 14 of connecting plate 13 and the 3rd is rotated.Certainly, above-mentioned first drive mechanism 30 also can select other driving rotary motions
Mechanism, such as cam mechanism, gear drive.Certainly, the second connecting plate 13 and the 3rd connecting plate 14 also can individually by
Gear drive is driven.
Preferably, the edge in the first supporting plate 11 is provided with two limiting sections 111, makes the interval setting of two limiting section 111,
And two limiting section 111 is located between the second connecting plate 13 and the 3rd connecting plate 14, wherein a limiting section 111 is in the second connecting plate
13 away from the first connecting plate 12 when moving, and can be abutted with the second connecting plate 13.Likewise, another limiting section 111 is the 3rd
When connecting plate 14 is moved away from the first connecting plate 12, can also be abutted with the 3rd connecting plate 14, complete the He of the second connecting plate 13
The rotary spacing of the 3rd connecting plate 14, it is to avoid the second connecting plate 13 and the 3rd connecting plate 14 collide in rotation process.
Preferably, connecting seat 10 may also include one second supporting plate 15, second supporting plate 15 is located at the first supporting plate
Multiple support columns 16 are connected between 11 top, and the second supporting plate 15 and the first supporting plate 11.On this architecture basics, on
The top for stating the first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14 can be all connected in the second supporting plate 15.Together
When between the first connecting plate 12 and the second connecting plate 13, the second connecting plate 13 and the 3rd connecting plate 14, the 3rd connecting plate 14 with
Support column 16 can be provided between first connecting plate 12.In this way, the support column between the first connecting plate 12 and the second connecting plate 13
16, when the second connecting plate 13 is towards near the motion of the first connecting plate 12, can abut with the second connecting plate 13.Likewise, first connects
Support column 16 between the connecting plate 14 of fishplate bar 12 and the 3rd, can when the 3rd connecting plate 14 is towards near the motion of the first connecting plate 12
Abutted with the 3rd connecting plate 14.I.e. under the limitation of support column 16, can prevent the second connecting plate 13 and the 3rd connecting plate 14 to
When the rotation of the first connecting plate 12, collided with the first connecting plate 12.
Preferably, the top of the second connecting plate 13 can be pivotally connected with the second supporting plate 15 by one first thrust bearing 19.Together
Sample, the top of the 3rd connecting plate 14 can be pivotally connected with the second supporting plate 15 by one second thrust bearing 19.Second can so be made
The rotation of the connecting plate 14 of connecting plate 13 and the 3rd is more smooth.
Certainly, in the present embodiment, connecting seat 10 may also include one the 3rd supporting plate 18, be that the 3rd supporting plate 18 is located at
The lower section of the first supporting plate 11, and make the bottom of the second connecting plate 13 and the 3rd supporting plate 18 can be by one the 3rd thrust bearing 19
Pivot joint.Likewise, the bottom of the 3rd connecting plate 14 can be pivotally connected with the 3rd supporting plate 18 by one the 4th thrust bearing 19.So may be used
The mounting structure and motion structure for stablizing whole first connecting plate 12, the second connecting plate 13 and the 3rd connecting plate 14 are more steady
It is fixed.In addition, may also set up two limiting sections 111 in the 3rd supporting plate 18, make above-mentioned first support of two limiting section 111 correspondence
Two limiting sections 111 on plate 11, equally can also play spacing effect.
Preferably, referring to Fig. 3, manipulator of the invention may also include the second drive mechanism 40, specific second driving machine
Structure 40 is installed on the first supporting plate 11 for drive, and for driving each movable block 21 respectively along the first connecting plate 12, second
The short transverse motion of the connecting plate 14 of connecting plate 13 and the 3rd, facilitates Mechanical course.
Preferably, the second drive mechanism 40 may include the second motor 41, screw mandrel 42 and feed screw nut 43, make the second motor
41 body is arranged in the first supporting plate 11, and screw mandrel 42 couples by the way that a gear train 44 is synchronous with the rotating shaft of the second motor 41,
Feed screw nut 43 matches with the screw thread of screw mandrel 42, and the movable block 21 on the first connecting plate 12 is fixedly connected with feed screw nut 43, and second
The movable block 21 on movable block and the 3rd connecting plate 14 on connecting plate 13 is then hinged with feed screw nut 43.In this architecture basics
On, by starting the second motor 41, screw mandrel 42 can be made to start to rotate, during screw mandrel 42 is rotated, feed screw nut 43 can be driven
Rotate, and because the movable block 21 on the first connecting plate 12 is fixedly connected with feed screw nut 43, therefore the rotation quilt of feed screw nut 43
Limitation, can realize moving up and down with the rotation of screw mandrel 42, during feed screw nut 43 moves up and down each can be driven to live
Motion block 21 moves up and down, and realizes the opening and closing of grasping part.And due to the connecting plate of movable block 21 and the 3rd on the second connecting plate 13
Movable block 21 on 14 is articulated with feed screw nut, therefore is rotated respectively motion in the second connecting plate 13 and the 3rd connecting plate 14
When, will not be limited by feed screw nut 43, can freely rotate.
It is specific in the present embodiment, on feed screw nut 43 can an affixed terminal pad 45, each movable block 21 is passed through a company
Connect block to be fixedly connected with the edge of terminal pad 45, be easily installed.And the up and down motion of movable block 21 also can be by other output straight lines
The mechanism of motion realizes, such as cylinder.
Preferably, for the ease of the up and down motion of movable block 21, can be in the first connecting plate 12, the second connecting plate 13 and
Slide rail 17, and each slide rail 17 are respectively provided with three connecting plates 14 respectively along the first connecting plate 12, the second connecting plate 13 and the 3rd
The short transverse of connecting plate 14 extends.Each movable block 21 is corresponded and is slidably matched with each slide rail 17 simultaneously.So in screw mandrel
Nut 43 can drive movable block 21 to be moved along the bearing of trend of slide rail 17 during rotating, and motion process is more smooth and steady
It is fixed.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of adjustable mechanical hand, it is characterised in that including connecting seat and be installed on the clamp assemblies of connecting seat bottom；Folder
Holding component includes at least three holders, central axis circumference array of at least three holder around the connecting seat；And phase
Adjacent two holders can be moved around the central axis of the connecting seat towards direction that is close to each other or being located remotely from each other；Holder bag
Movable block, connecting rod and supporting rod are included, one end of supporting rod forms bare terminal end, the other end of supporting rod and one end of connecting rod
It is hinged by a jointed shaft, the other end of connecting rod is articulated with connecting seat；The jointed shaft is fixed on movable block；Movable block
Can be moved along the short transverse of the connecting seat；At least three bare terminal end surrounds a grasping part jointly.
2. adjustable mechanical hand as claimed in claim 1, it is characterised in that connecting seat includes the first supporting plate, the first connection
Plate, the second connecting plate and the 3rd connecting plate, the first connecting plate, the second connecting plate and the 3rd connecting plate are around the described first support
The central axis circumference array of plate；First connecting plate is fixedly connected with the first supporting plate；Second connecting plate and the 3rd connecting plate are equal
Can be moved towards the direction near or away from the first connecting plate around the central axis of first supporting plate；First connecting plate,
The holder is equipped with second connecting plate and the 3rd connecting plate, and each movable block can respectively along the first connecting plate, second
The short transverse motion of connecting plate and the 3rd connecting plate；Each connecting rod be hingedly connected to the first connecting plate, the second connecting plate with
And the 3rd connecting plate；The central axis of first supporting plate forms the central axis of the connecting seat.
3. adjustable mechanical hand as claimed in claim 2, it is characterised in that also including the first drive mechanism, this first drives
Mechanism is installed in the first supporting plate, and for driving second connecting plate and the 3rd connecting plate towards near or away from the
The direction motion of one connecting plate.
4. adjustable mechanical hand as claimed in claim 3, it is characterised in that the first drive mechanism include the first motor, crank,
First drive rod and the second drive rod, the connection synchronous with the rotating shaft of first motor of the pivot of the crank；It is described
The two ends of crank form clutch end, and one end of first drive rod is articulated with a wherein clutch end, described
The other end of the first drive rod is articulated with the second connecting plate；It is defeated that one end of second drive rod is articulated with another power
Go out end, the other end of second drive rod is articulated with the 3rd connecting plate.
5. adjustable mechanical hand as claimed in claim 2, it is characterised in that it is spacing that the edge in the first supporting plate is provided with two
Portion, the two limiting sections interval setting and two limiting section are located between the second connecting plate and the 3rd connecting plate, and wherein one spacing
Portion is used to be abutted with the second connecting plate when the second connecting plate is moved away from the first connecting plate；Another limiting section is used for the
Abutted with the 3rd connecting plate when three connecting plates are moved away from the first connecting plate.
6. adjustable mechanical hand as claimed in claim 2, it is characterised in that connecting seat also includes one second supporting plate, this
Two supporting plates are located at the top of the first supporting plate, and multiple support columns are connected between the second supporting plate and the first supporting plate, the
The top of one connecting plate, the second connecting plate and the 3rd connecting plate is all connected in the second supporting plate, the first connecting plate and second
Between connecting plate, the second connecting plate and the 3rd connecting plate, between the 3rd connecting plate and the first connecting plate it is equipped with the support column；
Support column between first connecting plate and the second connecting plate is used to connect towards near described first in second connecting plate
Fishplate bar is abutted when moving with the second connecting plate；Support column between first connecting plate and the 3rd connecting plate is used for described the
Abutted with the 3rd connecting plate when three connecting plates are towards near first connecting plate motion.
7. adjustable mechanical hand as claimed in claim 2, it is characterised in that the top of the second connecting plate leads to the second supporting plate
Cross the pivot joint of one first thrust bearing；The top of the 3rd connecting plate is pivotally connected with the second supporting plate by one second thrust bearing.
8. adjustable mechanical hand as claimed in claim 2, it is characterised in that also including the second drive mechanism, this second drives
Mechanism be used to driving it is described be installed on the first supporting plate, and for driving each movable block to connect along the first connecting plate, second respectively
The short transverse motion of fishplate bar and the 3rd connecting plate.
9. adjustable mechanical hand as claimed in claim 8, it is characterised in that the second drive mechanism includes the second motor, screw mandrel
And feed screw nut, in the first supporting plate, screw mandrel passes through a gear train and second motor to the body of the second motor
Rotating shaft synchronously couple, feed screw nut matches with wire rod thread, and the movable block on the first connecting plate is fixedly connected with feed screw nut,
The movable block on movable block and the 3rd connecting plate on second connecting plate is articulated with feed screw nut.
10. adjustable mechanical hand as claimed in claim 9, it is characterised in that the first connecting plate, the second connecting plate and the 3rd
Slide rail, and each slide rail are equipped with connecting plate respectively along the height of the first connecting plate, the second connecting plate and the 3rd connecting plate
Direction extends；Each movable block is corresponded and is slidably matched with each slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135741.4A CN106826900B (en) | 2017-03-08 | 2017-03-08 | Adjustable manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135741.4A CN106826900B (en) | 2017-03-08 | 2017-03-08 | Adjustable manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN106826900A true CN106826900A (en) | 2017-06-13 |
| CN106826900B CN106826900B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710135741.4A Active CN106826900B (en) | 2017-03-08 | 2017-03-08 | Adjustable manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336255A (en) * | 2017-07-12 | 2017-11-10 | 天津职业技术师范大学 | A kind of multifunctional industrial robot hand |
| CN107838913A (en) * | 2017-10-17 | 2018-03-27 | 安徽工程大学 | A kind of automatic rotating and clamping device of industrial robot |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN110303374A (en) * | 2019-07-26 | 2019-10-08 | 哈尔滨理工大学 | One kind being based on mach automation workpiece holding shipping unit |
| CN110979839A (en) * | 2019-12-25 | 2020-04-10 | 胡珠珠 | Carousel of tail machine is sealed in filling convenient to dismouting |
| CN111993304A (en) * | 2020-08-05 | 2020-11-27 | 五邑大学 | Flexible three-finger clamp |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113894829A (en) * | 2021-11-09 | 2022-01-07 | 深圳市捷创自动化设备有限公司 | Multi-claw synchronous manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107336255B (en) * | 2017-07-12 | 2023-08-25 | 天津职业技术师范大学 | Multifunctional industrial robot paw |
| CN107336255A (en) * | 2017-07-12 | 2017-11-10 | 天津职业技术师范大学 | A kind of multifunctional industrial robot hand |
| CN107838913A (en) * | 2017-10-17 | 2018-03-27 | 安徽工程大学 | A kind of automatic rotating and clamping device of industrial robot |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN109397317B (en) * | 2018-11-26 | 2023-10-10 | 内蒙古工业大学 | Under-actuated manipulator and operation method thereof |
| CN110303374A (en) * | 2019-07-26 | 2019-10-08 | 哈尔滨理工大学 | One kind being based on mach automation workpiece holding shipping unit |
| CN110979839A (en) * | 2019-12-25 | 2020-04-10 | 胡珠珠 | Carousel of tail machine is sealed in filling convenient to dismouting |
| CN111993304A (en) * | 2020-08-05 | 2020-11-27 | 五邑大学 | Flexible three-finger clamp |
| CN112518634B (en) * | 2020-11-26 | 2022-05-27 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113894829A (en) * | 2021-11-09 | 2022-01-07 | 深圳市捷创自动化设备有限公司 | Multi-claw synchronous manipulator |
| CN113894829B (en) * | 2021-11-09 | 2024-03-29 | 深圳市捷创自动化设备有限公司 | Multi-claw synchronous manipulator |
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