CN108818582A - A kind of robot is grabbed - Google Patents
A kind of robot is grabbed Download PDFInfo
- Publication number
- CN108818582A CN108818582A CN201810671023.3A CN201810671023A CN108818582A CN 108818582 A CN108818582 A CN 108818582A CN 201810671023 A CN201810671023 A CN 201810671023A CN 108818582 A CN108818582 A CN 108818582A
- Authority
- CN
- China
- Prior art keywords
- spreading
- threading
- grabbed
- strut
- finger section
- 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
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
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a kind of robots to grab, it includes palmar hand and several finger sections being rotatedly connected respectively with palmar hand, every finger section includes several cradle heads being rotatedly connected by rotating device, device for spreading and for driving the distracted driving device of device for spreading, device for spreading is set between two adjacent cradle heads, the both ends of device for spreading are connected with two adjacent cradle heads respectively, and device for spreading is corresponded and is oppositely arranged with rotating device.In this way before grasping movement, finger section is in straight configuration, and during grasping movement, driving device driving device for spreading is strutted, and cradle head can be driven to rotate during device for spreading is distracted around rotating device, finger section gradually forms bending state, to complete grasping movement.Accordingly, with respect to the prior art, structure of the invention is simple, is conducive to the stabilization of realization and the movement of function.
Description
Technical field
The present invention relates to industrial automations, and in particular to a kind of robot is grabbed.
Background technique
In well known technical field, manipulator grabs the direction that always industrial automation is made great efforts, and people need one kind
The flexible device as mankind's hand completes the work under some complicated or particular surroundings.In traditional manipulator,
It simulates human body hand to constitute and the articulated robot of motion mode, it is excellent to have that structure is simple, spatial volume is small, space is big etc.
Point is the most commonly used manipulator of research.Large-scale research and design have been carried out to such mechanical arm structure both at home and abroad.But
Robot in the prior art grabs design structure complexity, and running part part is excessive, is unfavorable for the realization and movement of function
Stablize.Therefore, it is necessary to propose the new technical solution of one kind to solve the problems, such as this.
Summary of the invention
The present invention proposes that a kind of robot is grabbed, and it is more complex and be unfavorable for function to solve structure existing in the prior art
The stable problem realized and acted.
To achieve the goals above, the technical proposal of the invention is realized in this way：A kind of robot is grabbed, including palm
Portion and several finger sections being rotatedly connected respectively with the palmar hand, the every finger section include that several pass through rotation
Cradle head that device is rotatedly connected, device for spreading and for driving the distracted driving device of the device for spreading, the support
Opening apparatus is set between two adjacent cradle heads, the both ends of the device for spreading respectively with two adjacent cradle head phases
Even, the device for spreading is corresponded and is oppositely arranged with the rotating device.
Preferably, the rear and front end of the cradle head is respectively equipped with two rotor plates disposed in parallel, the rotor plate
On offer rotational axis hole.
Preferably, the rotating device includes rotation axis, and described two rotor plates disposed in parallel pass through the rotation axis
It is connected.
Preferably, the rotating device further includes torsional spring, and the torsional spring is set in the periphery of the rotation axis.
Preferably, the device for spreading include the first strut, the second strut and shaft, one end of first strut with
Both ends of the one end of second strut respectively with the shaft are rotatedly connected, the other end of first strut and cradle head
It is rotatedly connected, the other end and another cradle head of second strut are rotatedly connected.
Preferably, the driving device includes threading via hole and threading, and the palmar hand is offered through the palm
The threading channel in portion, the cradle head offer the threading via hole, and it is logical that one end of the threading sequentially passes through the threading
Road and threading via hole are simultaneously connected with the cradle head far from the palmar hand, and the threading also bypasses rotation axis and shaft.
Preferably, the every finger section includes at least three cradle heads.
Preferably, the every finger section includes three cradle heads.
Compared with prior art, present invention tool has the advantage that：During robot proposed by the present invention is grabbed, the every hand
Finger portion includes several cradle heads being rotatedly connected by rotating device, device for spreading and for driving the device for spreading
Distracted driving device, before such grasping movement, finger section is in straight configuration, during grasping movement, driving device driving support
Opening apparatus struts, and cradle head can be driven to rotate during device for spreading is distracted around rotating device, finger section gradually forms curved
Curved state, to complete grasping movement.Accordingly, with respect to the prior art, structure of the invention is simple, be conducive to function realization and
The stabilization of movement.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural diagram of the present invention.
Figure label：1-palmar hand, 2-finger sections, 3-rotating devices, 11-threading channels, 21-cradle heads,
22-device for spreading, 23-threading, 24-threading via holes, 31-rotation axis, 32-torsional springs, 212-rotor plates, 213-rotations
Axis hole, the 221-the first strut, the 222-the second strut, 223-shafts.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of robot proposed by the present invention is grabbed, including palmar hand 1 and several respectively with palm
The finger section 2 that portion 1 is rotatedly connected, every finger section 2 include several cradle heads 21 being rotatedly connected by rotating device 3,
Device for spreading 22 and for driving the distracted driving device of device for spreading 22, device for spreading 22 is set to two adjacent rotations and closes
Between section 21, the both ends of device for spreading 22 are connected with two adjacent cradle heads 21 respectively, device for spreading 22 and rotating device 3 one
One corresponds to and is oppositely arranged.In the present embodiment, palmar hand 1 and close to palmar hand 1 cradle head 21 between also by turn
Dynamic device 3 is connected with device for spreading 22.In this way before grasping movement, finger section 2 is in straight configuration, during grasping movement, driving
Device driving device for spreading 22 struts, and cradle head 21 can be driven to rotate during device for spreading 22 is distracted around rotating device 3,
Finger section 21 gradually forms bending state, to complete grasping movement.
Fig. 1 is the structural diagram of the present invention, and device for spreading 22 does not strut, it can be seen that finger section 2 is in the shape stretched
State.
As shown in Figure 1, the rear and front end of cradle head 21 is respectively equipped with two rotor plates disposed in parallel in the present embodiment
212, rotational axis hole 213 is offered on rotor plate 212.Rotating device 3 includes rotation axis 31, two rotor plates disposed in parallel
212 are connected by rotation axis 31.
As shown in Figure 1, rotating device 3 further includes torsional spring 32 in the present embodiment, torsional spring 32 is set in the outer of rotation axis 31
Week.Torsional spring 32 plays the function of automatically reseting in the present embodiment, after finger section 2 is bent, needs to restore to stretch shape
When state, torsional spring 32 can promote finger section 2 to stretch.Torsional spring 32 can be after the completion of 2 grasping movement of finger section, and driving device is no longer
When driving, cradle head 21 restores to the original state faster, and finger section 2 is restored to be in straight configuration faster, this effectively strengthens this
The flexibility of embodiment.
As shown in Figure 1, device for spreading 22 includes the first strut 221, the second strut 222 and shaft in the present embodiment
223, both ends of the one end of one end of the first strut 221 and the second strut 222 respectively with shaft 223 are rotatedly connected, the first strut
221 other end is rotatedly connected with cradle head 21, and the other end of the second strut 222 is rotatedly connected with another cradle head 21.
As shown in Figure 1, driving device includes threading via hole 24 and threading 23, and palmar hand 1, which offers, to be passed through in the present embodiment
The threading channel 11 of palmar hand 1 is worn, cradle head 21 offers threading via hole 24, and the one end for threading 23 sequentially passes through threading channel
11 and threading via hole 24 and be connected with far from the cradle head 21 of palmar hand 1, threading 23 is also around rotation axis 31 and shaft 223.
I.e. several cradle heads 21 are connected into several finger sections 2 by threading 23, and palmar hand 1 and several finger sections 2 are connected to
Together.The external tension device of the other end of threading 23, when needing to grab some object, tension device starting, threading 23 is all
It tightens, threading 23 can drive shaft 223 to move to the direction close to rotation axis 31 during tightening, in this movement
In the process, the angle between the first strut 221 and the second strut 222 will increase, and to squeeze two adjacent cradle heads 21, make
It obtains two adjacent cradle heads 21 to rotate around rotating device 3, such finger section 2 can be gradually curved, to realize grasping movement.I.e.
In the present embodiment, threading 23 is there are two types of state, i.e. relaxed state and tensioned state, and under relaxed state, finger section 2 is in stretching shape
State, under tensioned state, finger section 2 is in bending state.
As shown in Figure 1, every finger section 2 includes at least three cradle heads 21.In the present embodiment, every finger section 2 is wrapped
Include three cradle heads 21.It can be improved the bending degree of the finger section 2 of the present embodiment in this way, so that the present embodiment is more flexible,
The range for the object that can be grabbed is bigger.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of robot is grabbed, it is characterised in that：Turn respectively with the palmar hand (1) including palmar hand (1) and several
Connected finger section (2) is moved, the every finger section (2) includes that several are closed by the rotation that rotating device (3) are rotatedly connected
Save (21), device for spreading (22) and for driving the device for spreading (22) distracted driving device, the device for spreading
(22) it is set between adjacent two cradle heads (21), the both ends of the device for spreading (22) are closed with two adjacent rotations respectively
It saves (21) to be connected, the device for spreading (22) corresponds and is oppositely arranged with the rotating device (3).
2. robot according to claim 1 is grabbed, it is characterised in that：Distinguish the rear and front end of the cradle head (21)
If offering rotational axis hole (213) on the rotor plate (212) there are two rotor plate disposed in parallel (212).
3. robot according to claim 2 is grabbed, it is characterised in that：The rotating device (3) includes rotation axis (31),
Described two rotor plates disposed in parallel (212) are connected by the rotation axis (31).
4. robot according to claim 3 is grabbed, it is characterised in that：The rotating device (3) further includes torsional spring (32),
The torsional spring (32) is set in the periphery of the rotation axis (31).
5. robot according to claim 4 is grabbed, it is characterised in that：The device for spreading (22) includes the first strut
(221), the second strut (222) and shaft (223), one end of first strut (221) and second strut (222)
Both ends of the one end respectively with the shaft (223) are rotatedly connected, the other end of first strut (221) and cradle head (21)
It is rotatedly connected, the other end and another cradle head (21) of second strut (222) are rotatedly connected.
6. robot according to claim 5 is grabbed, it is characterised in that：The driving device include threading via hole (24) with
And threading (23), the palmar hand (1) offer through the threading channel (11) of the palmar hand (1), the cradle head
(21) it offers the threading via hole (24), one end of the threading (23) sequentially passes through the threading channel (11) and threading is logical
Hole (24) is simultaneously connected with far from the cradle head (21) of the palmar hand (1), the threading (23) also bypass rotation axis (31) and
Shaft (223).
7. robot described in -6 any one is grabbed according to claim 1, it is characterised in that：Every finger section (2) packet
Include at least three cradle heads (21).
8. robot according to claim 7 is grabbed, it is characterised in that：The every finger section (2) includes three rotations
Joint (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671023.3A CN108818582A (en) | 2018-06-26 | 2018-06-26 | A kind of robot is grabbed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671023.3A CN108818582A (en) | 2018-06-26 | 2018-06-26 | A kind of robot is grabbed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818582A true CN108818582A (en) | 2018-11-16 |
Family
ID=64138800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671023.3A Pending CN108818582A (en) | 2018-06-26 | 2018-06-26 | A kind of robot is grabbed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818582A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603754A (en) * | 2020-12-01 | 2021-04-06 | 杭州市萧山区中医院 | Auxiliary restorer for finger fracture |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101049696A (en) * | 2007-05-18 | 2007-10-10 | 清华大学 | Under drive mechanical finger device of connecting rod |
| CN102554934A (en) * | 2012-03-01 | 2012-07-11 | 北京邮电大学 | Robot hand |
| US20150298319A1 (en) * | 2014-04-21 | 2015-10-22 | GM Global Technology Operations LLC | Lower robotic arm assembly having a plurality of tendon driven digits |
| CN105818158A (en) * | 2016-03-17 | 2016-08-03 | 清华大学 | Parallel clamping self-adaptive robot finger device with flexible piece and rod system |
| CN206123686U (en) * | 2016-10-27 | 2017-04-26 | 北京伊娃机器人科技有限公司 | Machine staff and have robot of this machine staff |
| CN107160419A (en) * | 2017-06-09 | 2017-09-15 | 东华大学 | A kind of robot movement mechanism of electromyographic signal control |
-
2018
- 2018-06-26 CN CN201810671023.3A patent/CN108818582A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101049696A (en) * | 2007-05-18 | 2007-10-10 | 清华大学 | Under drive mechanical finger device of connecting rod |
| CN102554934A (en) * | 2012-03-01 | 2012-07-11 | 北京邮电大学 | Robot hand |
| US20150298319A1 (en) * | 2014-04-21 | 2015-10-22 | GM Global Technology Operations LLC | Lower robotic arm assembly having a plurality of tendon driven digits |
| CN105818158A (en) * | 2016-03-17 | 2016-08-03 | 清华大学 | Parallel clamping self-adaptive robot finger device with flexible piece and rod system |
| CN206123686U (en) * | 2016-10-27 | 2017-04-26 | 北京伊娃机器人科技有限公司 | Machine staff and have robot of this machine staff |
| CN107160419A (en) * | 2017-06-09 | 2017-09-15 | 东华大学 | A kind of robot movement mechanism of electromyographic signal control |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603754A (en) * | 2020-12-01 | 2021-04-06 | 杭州市萧山区中医院 | Auxiliary restorer for finger fracture |
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Legal Events
| 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
|
| RJ01 | Rejection of invention patent application after publication |