CN107186704A - A kind of folding three claw robot - Google Patents
A kind of folding three claw robot Download PDFInfo
- Publication number
- CN107186704A CN107186704A CN201710519527.9A CN201710519527A CN107186704A CN 107186704 A CN107186704 A CN 107186704A CN 201710519527 A CN201710519527 A CN 201710519527A CN 107186704 A CN107186704 A CN 107186704A
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- CN
- China
- Prior art keywords
- joint motor
- forearm
- motor
- wrist
- base
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- 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
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of folding three claw robot, including base, base electrical machinery, motor cabinet, large-arm joint motor, large arm, forearm joint motor, forearm, wrist joint motor, wrist, pawl joint motor, connecting seat, connecting plate and three handgrips.Pawl articulation mechanism of the present invention and large arm, forearm and the integrated design of wrist joint mechanism, it is overall foldable, compact conformation, occupy little space, pawl articulation mechanism can realize the grasping movement of three-jaw by a motor, and driving element is few, cost is low, whole manipulator mechanism is simple in construction, moves light and flexible, practical.
Description
Technical field
The invention belongs to transporting equipment, and in particular to a kind of folding three claw robot.
Background technology
In recent years, developing rapidly with the communication technology and Internet technology, unmanned production line and automatic production line are obtained
To fast development, various types of manipulators also arise at the historic moment, and each large enterprises include robot research institute and each colleges and universities are numerous and confused
Input research.
Conventional robot is generally Multi-freedom-degreemanipulator manipulator, applied to the grasping movement of production line, general bulky, accounts for
It is big with space.It is most of using the type of drive such as pneumatically or hydraulically, Pneumatic manipulator is generally by cylinder, air valve, gas tank and pneumatics
Machine is constituted, although source of the gas facilitates, is swift in motion, simple in construction, cost is relatively low, easy to maintenance.But it is difficult to speed control, gas
Pressure can not be too high, therefore snatch ability is relatively low.The manipulator that surges has larger snatch ability, up to thousands of newton, this kind of machinery
Hand compact conformation, stable drive is active in one's movements, but higher to seal request, and should not be worked under high temperature or low temperature environment.It is logical
Analyzed more than crossing, conventional robot folding difficulties, space-consuming is big, move underaction.
The content of the invention
It is an object of the invention to provide a kind of folding three claw robot, overcome existing conventional robot and occupy sky
Between it is big, the problems such as motion underaction.
The technical solution for realizing the object of the invention is：A kind of folding three claw robot, including the company of rotation successively
Base mechanism, large-arm joint mechanism, forearm articulation mechanism, wrist joint mechanism and the pawl articulation mechanism connect, the pawl articulation mechanism
Including pawl joint motor, connecting seat, connecting plate and three handgrips, the output shaft of pawl joint motor sequentially passes through connecting seat and connection
Plate, connecting seat includes articulations digitorum manus and connector, articulations digitorum manus and connection close to uniform three dovetail boss on the face of connecting plate, handgrip
Part rotates connection, and articulations digitorum manus is provided with dovetail groove provided with a through hole, connector, and the dovetail of the dovetail groove and connecting seat is convex
Platform coordinates, relative to slide, and connecting plate is that overhanging boss hole is distinguished on triangle, three drift angles, and the boss hole refers to pass with handgrip
Through hole on section rotates connection.
The connecting seat center is provided with screwed hole, and connecting plate center is provided with circular hole, and the output shaft outer ring of joint motor is carried
Screw thread, it, by bearing tight fit, screw thread engaged transmission is passed through with the centre bore of connecting seat with connecting plate centre bore.
The wrist joint motor mechanism includes wrist joint motor and wrist, and wrist joint motor is connected with forearm articulation mechanism, wrist
The output shaft of joint motor and one end of wrist are connected by flat key, and the other end of pawl joint motor and wrist is connected.
The forearm articulation mechanism includes forearm joint motor and forearm, and forearm joint motor is consolidated with large-arm joint mechanism
Even, the output shaft of forearm joint motor and one end of forearm connected by flat key, the output shaft of wrist joint motor and forearm it is another
One end is connected.
The large-arm joint mechanism includes large-arm joint motor and large arm, and large-arm joint motor is connected with base mechanism, greatly
The output shaft of shoulder joint motor and one end of large arm are connected by flat key, and the other end of forearm joint motor and large arm is connected.
The base mechanism includes base, base electrical machinery and motor cabinet, and base electrical machinery is arranged in base, solid with base
Even, the output shaft of base electrical machinery is connected with motor cabinet by flat key, and base is relatively rotated with motor cabinet, large-arm joint motor and electricity
Support is connected.
Compared with prior art, its remarkable advantage is the present invention：（1）Pawl articulation mechanism and large arm, forearm and wrist joint
Mechanism integrated design, overall foldable, compact conformation, occupies little space；（2）Pawl articulation mechanism can be realized by a motor
The grasping movement of three-jaw, driving element is few, and cost is low；（3）Whole manipulator mechanism is simple in construction, moves light and flexible, practical
Property is strong.
Brief description of the drawings
Fig. 1 is the stereogram of folding three claw robot of the present invention.
Fig. 2 is the sectional view of folding three claw robot base of the present invention.
Fig. 3 is the folded state diagram of folding three claw robot of the present invention.
Fig. 4 is the pawl articulation mechanism partial enlarged drawing of folding three claw robot of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 4, a kind of folding three claw robot, including base mechanism, large-arm joint mechanism, forearm are closed
Mechanism, wrist joint mechanism and pawl articulation mechanism are saved, the pawl articulation mechanism includes pawl joint motor 10, connecting seat 11, connecting plate
12 and three handgrips 13, the output shaft of pawl joint motor 10 sequentially passes through connecting seat 11 and connecting plate 12, and connecting seat 11 is close to even
Uniform three dovetail boss on the face of fishplate bar 12, handgrip 13 includes articulations digitorum manus and connector, and articulations digitorum manus and connector rotate connection,
Articulations digitorum manus is provided with a through hole, and connector is provided with dovetail groove, and the dovetail boss of the dovetail groove and connecting seat 11 coordinates, phase
To sliding, connecting plate 12 is that overhanging boss hole is distinguished on triangle, three drift angles, on the boss hole and the articulations digitorum manus of handgrip 13
Through hole rotates connection.
The center of connecting seat 11 is provided with screwed hole, and the center of connecting plate 12 is provided with outside circular hole, the output shaft of joint motor 10
Circle is threaded, and by bearing tight fit, biography is engaged with the centre bore of connecting seat 11 with the centre bore of connecting plate 12 by screw thread for it
It is dynamic.
The wrist joint motor mechanism includes wrist joint motor 8 and wrist 9, and wrist joint motor 8 is connected with forearm articulation mechanism,
The output shaft of wrist joint motor 8 is connected with one end of wrist 9 by flat key, and the other end of pawl joint motor 10 and wrist 9 is connected.
The forearm articulation mechanism includes forearm joint motor 6 and forearm 7, forearm joint motor 6 and large-arm joint mechanism
It is connected, the output shaft of forearm joint motor 6 is connected with one end of forearm 7 by flat key, the output shaft and forearm of wrist joint motor 8
7 other end is connected.
The large-arm joint mechanism includes large-arm joint motor 4 and large arm 5, and large-arm joint motor 4 is connected with base mechanism,
The output shaft of large-arm joint motor 4 is connected with one end of large arm 5 by flat key, and forearm joint motor 6 and the other end of large arm 5 are consolidated
Even.
The base mechanism includes base 1, base electrical machinery 2 and motor cabinet 3, and base electrical machinery 2 is arranged in base 1, the bottom of with
Seat 1 is connected, and the output shaft of base electrical machinery 2 is connected with motor cabinet 3 by flat key, and base 1 is relatively rotated with motor cabinet 3, and large arm is closed
Motor 4 is saved to be connected with motor cabinet 3.
The course of work is as follows：It can not enter when in work progress, running into narrow space or the conventional large-scale manipulator of narrow fissure
It is fashionable, by folding three claw robot of the present invention manipulator can be made first to pass through narrow space in folded state
Or progress crawl work is extended after narrow fissure again.Manipulator run into during traveling narrow space or narrow fissure without
Method by when, base electrical machinery 2, large-arm joint motor 4, forearm joint motor 6 and the Union Movement of wrist joint motor 8 make large arm 5, small
Arm 7 and wrist 9 are folded, after folding as shown in Figure 4.Deng manipulator by narrow space or narrow fissure after, base electrical machinery 2, large arm
Joint motor 4, forearm joint motor 6 and the Union Movement of wrist joint motor 8 make large arm 5, forearm 7 and wrist 9 trail, after expansion such as
Shown in Fig. 3.When capturing object, the screw mandrel of pawl joint motor 10 drives connecting seat 11 to move forward and backward, and realizes the crawl of object and puts down
Two actions.Unknown celestial body detecting and sample collection are mainly used in, solution cavity exploitation or ore extraction etc. is can also be applied to.
Embodiment 1
With reference to Fig. 1 to Fig. 4, a kind of folding three claw robot, including base mechanism, large-arm joint mechanism, small shoulder joint machine
Structure, wrist joint mechanism and pawl articulation mechanism, the pawl articulation mechanism include pawl joint motor 10, connecting seat 11, the and of connecting plate 12
Three handgrips 13, the output shaft of pawl joint motor 10 sequentially passes through connecting seat 11 and connecting plate 12, and connecting seat 11 is close to connecting plate
Uniform three dovetail boss on 12 face, handgrip 13 includes articulations digitorum manus and connector, and articulations digitorum manus and connector rotate connection, refer to pass
Section is provided with a through hole, and connector is provided with dovetail groove, and the dovetail boss of the dovetail groove and connecting seat 11 coordinates, slided relatively
Dynamic, connecting plate 12 is that overhanging boss hole is distinguished on triangle, three drift angles, the boss hole and the through hole on the articulations digitorum manus of handgrip 13
Rotated and connected by bearing pin.
The center of connecting seat 11 is provided with screwed hole, and the center of connecting plate 12 is provided with circular hole, the output shaft of pawl joint motor 10
Outer ring is threaded, and it, by bearing tight fit, is engaged with the centre bore of connecting plate 12 with the centre bore of connecting seat 11 by screw thread
Transmission.
The wrist joint motor mechanism includes wrist joint motor 8 and wrist 9, and wrist joint motor 8 passes through with forearm articulation mechanism
Bolt is connected, and the output shaft of wrist joint motor 8 is connected with one end of wrist 9 by flat key, motor cabinet and the wrist 9 of pawl joint motor 10
The other end by bolt be connected.
The forearm articulation mechanism includes forearm joint motor 6 and forearm 7, forearm joint motor 6 and large-arm joint mechanism
It is connected by bolt, the output shaft of forearm joint motor 6 is connected with one end of forearm 7 by flat key, the output of wrist joint motor 8
The other end of axle and forearm 7 is connected by flat key.
The large-arm joint mechanism includes large-arm joint motor 4 and large arm 5, and large-arm joint motor 4 passes through with base mechanism
Bolt is connected, and the output shaft of large-arm joint motor 4 is connected with one end of large arm 5 by flat key, forearm joint motor 6 and large arm 5
The other end by bolt be connected.
The base mechanism includes base 1, base electrical machinery 2 and motor cabinet 3, and base electrical machinery 2 is arranged in base 1, the bottom of with
Seat 1 is connected by bolt, and the output shaft of base electrical machinery 2 is connected with motor cabinet 3 by flat key, and base 1 is relative with motor cabinet 3 to be turned
Dynamic, large-arm joint motor 4 is connected with motor cabinet 3 by bolt.
Claims (6)
1. a kind of folding three claw robot, it is characterised in that：Base mechanism, large-arm joint machine including rotating connection successively
Structure, forearm articulation mechanism, wrist joint mechanism and pawl articulation mechanism, the pawl articulation mechanism include pawl joint motor（10）, connection
Seat（11）, connecting plate（12）With three handgrips（13）, pawl joint motor（10）Output shaft sequentially pass through connecting seat（11）And even
Fishplate bar（12）, connecting seat（11）Close to connecting plate（12）Face on uniform three dovetail boss, handgrip（13）Including articulations digitorum manus and
Connector, articulations digitorum manus and connector rotate connection, and articulations digitorum manus is provided with dovetail groove, the swallow provided with a through hole, connector
Stern notch and connecting seat（11）Dovetail boss coordinate, relative to slide, connecting plate（12）It is overhanging respectively on three drift angles for triangle
Boss hole, the boss hole and handgrip（13）Through hole on articulations digitorum manus rotates connection.
2. folding three claw robot according to claim 1, it is characterised in that：The connecting seat（11）Center is provided with
Screwed hole, connecting plate（12）Center is provided with circular hole, joint motor（10）Output shaft outer ring be threaded, itself and connecting plate（12）
Centre bore is by bearing tight fit, with connecting seat（11）Centre bore pass through screw thread engaged transmission.
3. folding three claw robot according to claim 1, it is characterised in that：The wrist joint motor mechanism includes
Wrist joint motor（8）And wrist（9）, wrist joint motor（8）It is connected with forearm articulation mechanism, wrist joint motor（8）Output shaft with
Wrist（9）One end connected by flat key, pawl joint motor（10）With wrist（9）The other end be connected.
4. folding three claw robot according to claim 3, it is characterised in that：The forearm articulation mechanism includes small
Shoulder joint motor（6）And forearm（7）, forearm joint motor（6）It is connected with large-arm joint mechanism, forearm joint motor（6）It is defeated
Shaft and forearm（7）One end connected by flat key, wrist joint motor（8）Output shaft and forearm（7）The other end be connected.
5. folding three claw robot according to claim 4, it is characterised in that：The large-arm joint mechanism includes big
Shoulder joint motor（4）And large arm（5）, large-arm joint motor（4）It is connected with base mechanism, large-arm joint motor（4）Output shaft
With large arm（5）One end connected by flat key, forearm joint motor（6）With large arm（5）The other end be connected.
6. folding three claw robot according to claim 1, it is characterised in that：The base mechanism includes base
（1）, base electrical machinery（2）And motor cabinet（3）, base electrical machinery（2）It is arranged on base（1）It is interior, with base（1）It is connected, base electrical machinery
（2）Output shaft and motor cabinet（3）Connected by flat key, base（1）With motor cabinet（3）Relatively rotate, large-arm joint motor（4）
With motor cabinet（3）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519527.9A CN107186704A (en) | 2017-06-30 | 2017-06-30 | A kind of folding three claw robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710519527.9A CN107186704A (en) | 2017-06-30 | 2017-06-30 | A kind of folding three claw robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186704A true CN107186704A (en) | 2017-09-22 |
Family
ID=59881625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710519527.9A Pending CN107186704A (en) | 2017-06-30 | 2017-06-30 | A kind of folding three claw robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186704A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571422A (en) * | 2017-09-28 | 2019-04-05 | 发那科株式会社 | Robot |
| CN110696662A (en) * | 2019-11-27 | 2020-01-17 | 衡阳市宇松科技有限公司 | Wall-hanging folding electric pile that fills |
| CN111111817A (en) * | 2020-01-05 | 2020-05-08 | 宋秀金 | Recovery equipment for old fire-fighting cap |
| CN112171716A (en) * | 2020-09-24 | 2021-01-05 | 北京卓誉科技有限公司 | Multi-shaft heavy-load long-arm unfolding mechanical arm capable of being folded in at limit and unfolded quickly |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
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| US4492400A (en) * | 1983-03-28 | 1985-01-08 | Yuda Lawrence F | Robotic gripper operator mechanism |
| CN103112515A (en) * | 2013-01-28 | 2013-05-22 | 大连海洋大学 | Wheel leg combined type robot |
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN205238035U (en) * | 2015-11-02 | 2016-05-18 | 浙江师范大学 | Thing robot is got to wheeled intelligence |
| CN105729497A (en) * | 2016-04-27 | 2016-07-06 | 周杰 | Underwater universal hydraulic bionic mechanical arm |
| CN106393050A (en) * | 2016-09-29 | 2017-02-15 | 国网重庆市电力公司电力科学研究院 | Robot suitable for long and narrow tunnel autonomous obstacle avoidance |
| CN206913147U (en) * | 2017-06-30 | 2018-01-23 | 南京理工大学 | A kind of folding three claw robot |
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- 2017-06-30 CN CN201710519527.9A patent/CN107186704A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4492400A (en) * | 1983-03-28 | 1985-01-08 | Yuda Lawrence F | Robotic gripper operator mechanism |
| CN103112515A (en) * | 2013-01-28 | 2013-05-22 | 大连海洋大学 | Wheel leg combined type robot |
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN205238035U (en) * | 2015-11-02 | 2016-05-18 | 浙江师范大学 | Thing robot is got to wheeled intelligence |
| CN105729497A (en) * | 2016-04-27 | 2016-07-06 | 周杰 | Underwater universal hydraulic bionic mechanical arm |
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| CN206913147U (en) * | 2017-06-30 | 2018-01-23 | 南京理工大学 | A kind of folding three claw robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571422A (en) * | 2017-09-28 | 2019-04-05 | 发那科株式会社 | Robot |
| CN110696662A (en) * | 2019-11-27 | 2020-01-17 | 衡阳市宇松科技有限公司 | Wall-hanging folding electric pile that fills |
| CN111111817A (en) * | 2020-01-05 | 2020-05-08 | 宋秀金 | Recovery equipment for old fire-fighting cap |
| CN111111817B (en) * | 2020-01-05 | 2021-04-16 | 宋秀金 | Recovery equipment for old fire-fighting cap |
| CN112171716A (en) * | 2020-09-24 | 2021-01-05 | 北京卓誉科技有限公司 | Multi-shaft heavy-load long-arm unfolding mechanical arm capable of being folded in at limit and unfolded quickly |
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
| CN114434434B (en) * | 2020-11-02 | 2024-02-09 | 北京配天技术有限公司 | Mechanical arm |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170922 |