CN108068133A - A kind of crucible special machine machinery claw with three fingers - Google Patents
A kind of crucible special machine machinery claw with three fingers Download PDFInfo
- Publication number
- CN108068133A CN108068133A CN201711295691.2A CN201711295691A CN108068133A CN 108068133 A CN108068133 A CN 108068133A CN 201711295691 A CN201711295691 A CN 201711295691A CN 108068133 A CN108068133 A CN 108068133A
- Authority
- CN
- China
- Prior art keywords
- moving lever
- mechanical arm
- connector
- balancing spring
- special machine
- 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
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
Abstract
The invention discloses a kind of crucible special machine machinery claws with three fingers, belong to robot field.It includes mechanical arm, is installed in the rope driver that traction rope can be wound or discharged on mechanical arm, three groups of gripper bodies；Gripper body includes the first moving lever being installed in by hinge on mechanical arm, the second moving lever that one end is hinged with the first moving lever other end, both ends connect the first balancing spring of mechanical arm and the first moving lever respectively, both ends connect the second balancing spring and levelling gear of the first moving lever and the second moving lever respectively；The middle part of the second moving lever is fixed in traction rope one end, and sequentially passes through the center of the second balancing spring, the first balancing spring center and mechanical arm, the other end and be connected with rope driver.The present invention is a kind of crucible special machine machinery claw of three fingers with height grasp stability.
Description
Technical field
The invention mainly relates to robot fields, refer in particular to a kind of crucible special machine machinery claw with three fingers.
Background technology
To in the research of intelligent robot, tidemark of the anthropomorphic robot as robot research, by designing finger
Structure realizes the dexterous manipulation of class people.In existing gripper design, machinery by retarder or is directly driven using motor
The bending of pawl, each degree of freedom that bends lack flexibility for a motor, and when gripper captures crucible.Therefore, one is designed
The gripper crawl crucible that kind is applied to have skillful finger, flexibility enough in coal industry has great importance.
The content of the invention
The technical issues of present invention need to solve be：For technical problem existing in the prior art, the present invention provides a kind of tool
There are three fingers to move simultaneously, single traction rope drives multiple degree of freedom to move simultaneously, three fingers with height grasp stability
Crucible special machine machinery claw.
To solve the above-mentioned problems, solution proposed by the present invention is：A kind of crucible special-purpose machinery with three fingers
Pawl, it includes mechanical arm, is installed in the rope driver that traction rope can be wound or discharged on the mechanical arm, three groups of knots
Structure is identical, axial symmetry is installed in gripper body on the mechanical arm.
The gripper body includes being installed in the first moving lever on the mechanical arm by hinge, one end with it is described
The second moving lever that the first moving lever other end is hinged, both ends connect the mechanical arm and first moving lever respectively
First balancing spring, both ends connect the second balancing spring and the leveling of first moving lever and second moving lever respectively
Mechanism；The middle part of second moving lever is fixed in described traction rope one end, and sequentially passes through in second balancing spring
The heart, the first balancing spring center and the mechanical arm, the other end are connected with the rope driver.
The end of second moving lever is equiped with the pawl end for remaining horizontal, and the pawl end includes remaining
Horizontal connector and the cushion for being installed in the connector end；The levelling gear be installed in second moving lever with
The hinged place of the connector, effect are that the driving connector remains horizontal.
A kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：Described first
During balancing spring zero elongation state, first moving lever is less than 60 degree with angle folded by the mechanical arm；Described second is flat
During the spring zero elongation state that weighs, second moving lever is less than 90 degree with angle folded by first moving lever.
A kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The traction
It restricts the 304 stainless steel steel wire ropes of 5 a diameter of 1mm.
A kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The leveling
Mechanism includes horizontal inductive pick-up and rotary electric machine, when connector because the movement of the first moving lever and the second moving lever causes to incline
When oblique, horizontal inductive pick-up can detect angle of inclination, and start rotary electric machine so that connector is around second moving lever
End rotate up to holding again level.
A kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The elasticity
It pads that the nonmetallic disk significantly deformed can occur, the disk is vertically fixed at the other end of the connector.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
(1) a kind of crucible special machine machinery claw with three fingers of the invention is equipped with the first moving lever and the second moving lever,
With multiple freedom of motion, the first moving lever is obtained using traction rope simultaneously and the second moving lever rotates, in levelling gear
Effect is lower to cause three pawl ends always in same level.It follows that the present invention gripper when capturing crucible, three
Significant elastic compression deformation occurs for a cushion, so as to crawl crucible high stability.
Description of the drawings
Fig. 1 is a kind of principle schematic diagram of crucible special machine machinery claw with three fingers of the present invention.
Fig. 2 is the position schematic diagram of three pawl ends of the present invention in the horizontal plane.
In figure, 1-wire drive；2-mechanical arm；31-the first moving lever；32-the second moving lever；33-the
One balancing spring；34-the second balancing spring；35-levelling gear；4-pawl end；40-connector；41-cushion；5—
Traction rope.
Specific embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
Ginseng is seen figure 1 and figure 2, a kind of crucible special machine machinery claw with three fingers of the invention, including mechanical arm
2, the rope driver 1 that traction rope 5 can be wound or discharged on mechanical arm 2 is installed in, three groups of structures are identical, axial symmetry
The gripper body being installed on mechanical arm 2.
Ginseng is seen figure 1 and figure 2, and gripper body includes the first moving lever being installed in by hinge on mechanical arm 2
31, the second moving lever 32 that one end is hinged with 31 other end of the first moving lever, both ends connect the fortune of mechanical arm 2 and first respectively
First balancing spring 33 of lever 31, both ends connect the second balancing spring of the first moving lever 31 and the second moving lever 32 respectively
34 and levelling gear (35)；The middle part of the second moving lever 32 is fixed in 5 one end of traction rope, and sequentially passes through the second balancing spring
34 center, 33 center of the first balancing spring and mechanical arm 2, the other end are connected with rope driver 1.
Ginseng is seen figure 1 and figure 2, and the end of the second moving lever 32 is equiped with the pawl end 4 for remaining horizontal, pawl end
4 include the cushion 41 for remaining horizontal connector 40 and being installed in 40 end of connector；Levelling gear 35 is installed in
The hinged place of two moving levers 32 and connector 40, effect are that drive connection part 40 remains horizontal.
Ginseng is seen figure 1 and figure 2, during 33 zero elongation state of the first balancing spring, the first moving lever 31 and 2 institute of mechanical arm
Angle degree is less than 60 degree；During 34 zero elongation state of the second balancing spring, angle folded by the second moving lever 32 and the first moving lever 31
Less than 90 degree.
Ginseng is seen figure 1 and figure 2, and traction rope 5 selects the 304 stainless steel steel wire ropes of a diameter of 1mm.
Ginseng is seen figure 1 and figure 2, levelling gear 35 include horizontal inductive pick-up and rotary electric machine, when connector 40 because
When the movement of first moving lever 31 and the second moving lever 32 causes to tilt, horizontal inductive pick-up can detect angle of inclination, and
Start rotary electric machine so that connector 40 rotates up to the level of holding again around the end of the second moving lever 32.
Ginseng is seen figure 1 and figure 2, and for the nonmetallic disk significantly deformed can occur, disk is vertically fixed to be filled cushion 41
Arranged on the other end of connector 40.
Operation principle：When the winding traction of wire drive 1 examines 5, traction rope 5, which is shunk, drives the second moving lever 32 and first
Moving lever 31 rotates synchronously, and the first balancing spring 33 is compressed with the second balancing spring 34；Levelling gear 35 is by checking connector
40 obliquity goes to horizontal level from new drive connection part 40；When three cushions 41 touch crucible outer surface, and
Compressive deformation gradually occurs, until compressing crucible；Wire drive 1 stops winding traction rope 5；When wire drive 1 is released
When putting traction rope 5, the first moving lever 31 and the second moving lever 32 are respectively in the first balancing spring 33 and the second balancing spring 34
It is rotated backward under the action of elastic force, until returning to initial position.
Claims (5)
1. a kind of crucible special machine machinery claw with three fingers, including mechanical arm (2), is installed on the mechanical arm (2)
The rope driver (1) of traction rope (5) can be wound or discharge, three groups of structures are identical, axial symmetry is installed in the machinery
Gripper body on arm (2), it is characterised in that：
The gripper body includes being installed in the first moving lever (31) on the mechanical arm (2) by hinge, one end and
The second moving lever (32) that first moving lever (31) other end is hinged, both ends connect respectively the mechanical arm (2) with
The first balancing spring (33) of first moving lever (31), both ends connect first moving lever (31) and described second respectively
The second balancing spring (34) of moving lever (32) and levelling gear (35)；Second fortune is fixed in described traction rope (5) one end
The middle part of lever (32), and sequentially pass through the center of second balancing spring (34), first balancing spring (33) center
With the mechanical arm (2), the other end is connected with the rope driver (1)；
The end of second moving lever (32) is equiped with the pawl end (4) for remaining horizontal, and the pawl end (4) includes beginning
The connector (40) of level is kept eventually and is installed in the cushion (41) of the connector (40) end；The levelling gear (35)
The hinged place of second moving lever (32) and the connector (40) is installed in, effect is that the driving connector (40) is begun
It keeps eventually horizontal.
2. a kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：Described first is flat
During spring (33) the zero elongation state of weighing, first moving lever (31) is less than 60 degree with angle folded by the mechanical arm (2)；Institute
When stating the second balancing spring (34) zero elongation state, second moving lever (32) and angle folded by first moving lever (31)
Less than 90 degree.
3. a kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The traction rope
(5) the 304 stainless steel steel wire ropes of a diameter of 1mm are selected.
4. a kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The leveling machine
Structure (35) includes horizontal inductive pick-up and rotary electric machine, when connector (40) is because of the first moving lever (31) and the second moving lever
(32) when movement causes to tilt, horizontal inductive pick-up can detect angle of inclination, and start rotary electric machine so that connector
(40) level of holding again is rotated up to around the end of second moving lever (32).
5. a kind of crucible special machine machinery claw with three fingers according to claim 1, it is characterised in that：The cushion
(41) for the nonmetallic disk significantly deformed can occur, the disk is vertically fixed at the another of the connector (40)
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295691.2A CN108068133A (en) | 2017-12-08 | 2017-12-08 | A kind of crucible special machine machinery claw with three fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295691.2A CN108068133A (en) | 2017-12-08 | 2017-12-08 | A kind of crucible special machine machinery claw with three fingers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108068133A true CN108068133A (en) | 2018-05-25 |
Family
ID=62157613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711295691.2A Pending CN108068133A (en) | 2017-12-08 | 2017-12-08 | A kind of crucible special machine machinery claw with three fingers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108068133A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
| CN109730001A (en) * | 2019-01-09 | 2019-05-10 | 天津大学 | A kind of clipping batterylaying dead individuals remove end effector and its method |
| CN110614644A (en) * | 2019-09-11 | 2019-12-27 | 常州大学 | Multistable structure centre gripping manipulator |
| CN111941441A (en) * | 2020-09-08 | 2020-11-17 | 辽宁生态工程职业学院 | Trunk climbing robot |
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| US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN203993901U (en) * | 2014-07-22 | 2014-12-10 | 杨秋杰 | The manipulator that a kind of hot-working is used |
| CN205438607U (en) * | 2016-03-31 | 2016-08-10 | 广西师范大学 | Manipulator clamping device |
| CN206263934U (en) * | 2016-10-24 | 2017-06-20 | 湘潭宏远电子科技有限公司 | A kind of manipulator for pipe-dredging |
| CN107199573A (en) * | 2017-07-08 | 2017-09-26 | 佛山市正略信息科技有限公司 | A kind of production line clamping workpiece manipulator |
| CN206568180U (en) * | 2017-03-14 | 2017-10-20 | 芜湖市第二人民医院 | The anti-useless packaging bag grabber of acupuncture doctor |
| CN206798594U (en) * | 2017-03-21 | 2017-12-26 | 榆林学院 | A kind of full-automatic mechanical arm |
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2017
- 2017-12-08 CN CN201711295691.2A patent/CN108068133A/en active Pending
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| US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN203993901U (en) * | 2014-07-22 | 2014-12-10 | 杨秋杰 | The manipulator that a kind of hot-working is used |
| CN205438607U (en) * | 2016-03-31 | 2016-08-10 | 广西师范大学 | Manipulator clamping device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
| CN109591042B (en) * | 2019-01-02 | 2024-04-16 | 广州大学 | Mechanical claw |
| CN109730001A (en) * | 2019-01-09 | 2019-05-10 | 天津大学 | A kind of clipping batterylaying dead individuals remove end effector and its method |
| CN109730001B (en) * | 2019-01-09 | 2023-08-22 | 天津大学 | Clamping type end effector for clearing dead individual caged layer and method thereof |
| CN110614644A (en) * | 2019-09-11 | 2019-12-27 | 常州大学 | Multistable structure centre gripping manipulator |
| CN110614644B (en) * | 2019-09-11 | 2022-06-17 | 常州大学 | Multistable structure centre gripping manipulator |
| CN111941441A (en) * | 2020-09-08 | 2020-11-17 | 辽宁生态工程职业学院 | Trunk climbing robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20180525 |