CN108858254A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN108858254A CN108858254A CN201810671071.2A CN201810671071A CN108858254A CN 108858254 A CN108858254 A CN 108858254A CN 201810671071 A CN201810671071 A CN 201810671071A CN 108858254 A CN108858254 A CN 108858254A
- Authority
- CN
- China
- Prior art keywords
- medium channel
- cradle head
- finger section
- plug
- push rod
- 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
- 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
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robots, it includes the internal palmar hand and several finger sections being rotatedly connected respectively with palmar hand with cavity, every finger section includes cradle head and several driving devices for driving cradle head to relatively rotate that several are rotatedly connected by the rotating device with runback bit function, driving device and rotating device are located at the two sides up and down of finger section, driving device includes medium channel and push rod, medium channel is located at the inside of palmar hand and cradle head, one end of push rod is equipped with plug, its other end stretches out medium channel and pushes against the side wall of cradle head, plug is located in medium channel, medium channel is connected to cavity respectively.Accordingly, with respect to the prior art, the present invention chooses the power source of gas or liquid as the present apparatus, improves flexibility of the invention, can effectively ensure that during crawl, will not damage product.
Description
Technical field
The present invention relates to industrial automations, and in particular to a kind of robot.
Background technique
In well known technical field, manipulator is always the direction that industrial automation is made great efforts, and people need a kind of picture
The equally flexible device of mankind's hand completes the work under some complicated or particular surroundings.In traditional manipulator, mould
Anthropomorphic body hand constitutes and the articulated robot of motion mode, and 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 is flexible insufficient, is primarily directed to grab hard object, crawl is as egg when frangible object
It is easy to damage product.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 a kind of robot, solves the problems, such as existing in the prior art flexible insufficient.
To achieve the goals above, the technical proposal of the invention is realized in this way：A kind of robot, including internal tool
There are the palmar hand and several finger sections being rotatedly connected respectively with the palmar hand of cavity, if the every finger section includes
Do the cradle head being rotatedly connected by the rotating device with runback bit function and several for driving the rotation pass
The driving device relatively rotated is saved, the driving device and the rotating device are located at the two sides up and down of the finger section,
The driving device includes medium channel and push rod, and the medium channel is located at the inside of the palmar hand and cradle head,
One end of the push rod is equipped with plug, and the other end stretches out the medium channel and pushes against the side wall of the cradle head, institute
It states plug to be located in the medium channel, the medium channel is connected to the cavity respectively.
Preferably, the cradle head includes the rotating junction of anti-delinking part and the downside positioned at the anti-delinking part, institute
The back end surface for stating anti-delinking part is arc surface.
Preferably, two rotor plates disposed in parallel, institute are respectively equipped on the rear and front end end face of the rotating junction
It states and offers rotational axis hole on rotor plate.
Preferably, the rotating device include rotation axis and be set in the rotation axis periphery torsional spring, described two
A rotor plate disposed in parallel is connected by the rotation axis.
Preferably, the cross section profile of a side end of the push rod far from the plug is in arc-shaped.
Preferably, the every finger section includes at least three cradle heads.
Compared with prior art, present invention tool has the advantage that：In robot proposed by the present invention, every finger section packet
Include cradle head that several are rotatedly connected by the rotating device with runback bit function and several for driving rotation to close
The driving device relatively rotated is saved, driving device and rotating device are located at the two sides up and down of finger section.It is grabbed in robot
Before taking movement, finger section is in straight configuration, and during grasping movement, driving device drives cradle head to rotate around rotating device,
Finger section gradually forms bending state, to complete grasping movement, after the completion of grasping movement, after driving device no longer drives, turns
Movable joint automatically resets under rotating device effect, and finger section is in straight configuration again；Driving device includes medium channel and pushes away
Bar, medium channel are located at the inside of palmar hand and cradle head, and one end of push rod is equipped with plug, and the other end stretches out medium
Channel and the side wall for pushing against cradle head, plug are located in medium channel, and medium channel is connected to cavity respectively.Cavity is external defeated
Medium apparatus is sent, when in use, selects gas or liquid as medium, pumped (conveying) medium device pumped (conveying) medium into cavity, cavity
Interior medium is then tapped off into each medium channel, and final medium pushes plug that push rod is driven to move out, and rotation is pushed to close
Section rotation is to form bending state.Accordingly, with respect to the prior art, the present invention chooses the power of gas or liquid as the present apparatus
Source improves flexibility of the invention, can effectively ensure that during crawl, will not damage product.
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；
Fig. 2 is the partial longitudinal section in the present invention between two cradle heads 21.
Figure label：1-palmar hand, 2-finger sections, 3-rotating devices, 11-cavitys, 21-cradle heads, 22-are situated between
Matter channel, 23-push rods, 24-plugs, 25-communicating pipes, 31-rotation axis, 32-torsional springs, 211-anti-delinking parts, 212-rotations
Interconnecting piece, 213- rotor plate, 214- rotational axis hole.
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 depicted in figs. 1 and 2, a kind of robot proposed by the present invention, including the internal palmar hand 1 with cavity 11 with
And several finger sections 2 being rotatedly connected respectively with palmar hand 1, every finger section 2 include that several pass through with Self-resetting function
The cradle head 21 and several driving dresses for driving cradle head 21 to relatively rotate that the rotating device 3 of energy is rotatedly connected
It sets, palmar hand 1 is also to be connected respectively by rotating device 3 with several finger sections 2.Driving device and rotating device 3 distinguish position
In the two sides up and down of finger section 2, two sides up and down herein are for the curved direction of finger section 2, and finger section 2 is curved
Direction is 2 downside of finger section, and is just the upside of finger section 2 away from the curved direction of finger section 2, in robot grasping movement
Before, finger section 2 is in straight configuration, and during grasping movement, driving device drives cradle head 21 to rotate around rotating device 3, hand
Finger portion 2 gradually forms bending state, to complete grasping movement, after the completion of grasping movement, and after driving device no longer drives, rotation
Joint 21 automatically resets under the effect of rotating device 3, and finger section 2 is in straight configuration again.
Driving device includes medium channel 22 and push rod 23, and medium channel 22 is located at palmar hand 1 and cradle head 21
Inside, one end of push rod 23 are equipped with plug 24, and the other end stretches out medium channel 22 and pushes against the side wall of cradle head 21, blocks up
First 24 are located in medium channel 22, and medium channel 22 is connected to cavity 11 respectively.In addition to the medium channel 22 being located in palmar hand 1
It is medium channel 22 except being directly connected to, in cradle head 21 with cavity 11 with cavity 11 is connected by communicating pipe 25
It is logical.Medium input hole is offered on palmar hand 1, cavity 11 is when in use, defeated by the external pumped (conveying) medium device of medium input hole
Medium apparatus pumped (conveying) medium into cavity 11 is sent, medium is then tapped off into each medium channel 22 in cavity 11, final to be situated between
Matter pushes plug 24 that push rod 23 is driven to move out, and pushes the rotation of cradle head 21 to form bending state.Medium can be liquid
Body or gas, the medium in the present embodiment are gas.
Fig. 1 is the structural diagram of the present invention, and driving device does not drive cradle head 21 to rotate, it can be seen that finger section 2
In the state stretched.
Fig. 2 is the partial longitudinal section in the present invention between two cradle heads 21, and medium is then tapped off logical into each medium
In road 22, medium pushes plug 24 that push rod 23 is driven to move out, and pushes the rotation of cradle head 21 to form bending state, finger
Portion 2 is in bending state.
As shown in Figure 1, cradle head 21 includes anti-delinking part 211 and the downside positioned at anti-delinking part 211 in the present embodiment
Rotating junction 212, anti-delinking part 211 for anti-throw-out lever 23 push cradle head 21 rotate during with cradle head 21
It is detached from and grasping movement is caused to fail.The back end surface of anti-delinking part 211 is arc surface.During cradle head 21 rotates in this way
The one end of push rod 23 far from plug 24 is moved along 211 sidewall surfaces of anti-delinking part of arc-shaped, is remained and is pushed against cradle head
21 side wall.
As shown in Figure 1, being respectively equipped with two in the present embodiment on the rear and front end end face of rotating junction 212 and setting in parallel
The rotor plate 213 set offers rotational axis hole 214 on rotor plate 213.Rotating device 3 include rotation axis 31 and be set in turn
The torsional spring 32 of the periphery of moving axis 31, two rotor plates 213 disposed in parallel are connected by rotation axis 31.
As shown in Figure 1, the cross section profile of a side end of the push rod 23 far from plug 24 is in arc-shaped in the present embodiment.This
A side end of the sample push rod 23 far from plug 24 and the front and rear sides end face contact area of anti-delinking part 211 are big, improve driving device
Cradle head 21 is driven to rotate the stability of This move.
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 (6)
1. a kind of robot, it is characterised in that：Including the internal palmar hand (1) with cavity (11) and several respectively with
The finger section (2) that the palmar hand (1) is rotatedly connected, the every finger section (2) includes that several pass through with Self-resetting function
Can the cradle head (21) that is rotatedly connected of rotating device (3) and several for driving the cradle head (21) to relatively rotate
Driving device, the driving device and the rotating device (3) are located at the two sides up and down of the finger section (2), described
Driving device includes medium channel (22) and push rod (23), and the medium channel (22) is located at the palmar hand (1) and rotation
One end of the inside in joint (21), the push rod (23) is equipped with plug (24), and the other end stretches out the medium channel (22)
And the side wall of the cradle head (21) is pushed against, the plug (24) is located in the medium channel (22), the medium channel
(22) it is connected to respectively with the cavity (11).
2. robot according to claim 1, it is characterised in that：The cradle head (21) includes anti-delinking part (211)
And it is located at the rotating junction (212) of the downside of the anti-delinking part (211), the back end surface of the anti-delinking part (211) is circle
Cambered surface.
3. robot according to claim 2, it is characterised in that：The rear and front end end of the rotating junction (212)
It is respectively equipped with two rotor plates (213) disposed in parallel on face, offers rotational axis hole (214) on the rotor plate (213).
4. robot according to claim 3, it is characterised in that：The rotating device (3) include rotation axis (31) with
And it is set in the torsional spring (32) of the periphery of the rotation axis (31), described two rotor plates (213) disposed in parallel pass through described
Rotation axis (31) is connected.
5. robot according to claim 4, it is characterised in that：The one of the push rod (23) separate the plug (24)
The cross section profile of side end is in arc-shaped.
6. robot described in -5 any one according to claim 1, it is characterised in that：The every finger section (2) includes
At least three cradle heads (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671071.2A CN108858254A (en) | 2018-06-26 | 2018-06-26 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671071.2A CN108858254A (en) | 2018-06-26 | 2018-06-26 | A kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858254A true CN108858254A (en) | 2018-11-23 |
Family
ID=64294933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671071.2A Pending CN108858254A (en) | 2018-06-26 | 2018-06-26 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858254A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732639A (en) * | 2019-02-20 | 2019-05-10 | 西安理工大学 | A kind of liquid equipressure under-actuated bionic robot gripper |
Citations (6)
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|---|---|---|---|---|
| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| CN1651200A (en) * | 2005-01-26 | 2005-08-10 | 浙江理工大学 | Robot pneumatic shillful hand |
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| CN205735003U (en) * | 2016-05-19 | 2016-11-30 | 巢湖学院 | A kind of artificial pneumatic elbow joint |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN108098830A (en) * | 2016-11-25 | 2018-06-01 | 刘冰飞 | A kind of Pneumatic safety flexible joint with torsional spring |
-
2018
- 2018-06-26 CN CN201810671071.2A patent/CN108858254A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| CN1651200A (en) * | 2005-01-26 | 2005-08-10 | 浙江理工大学 | Robot pneumatic shillful hand |
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| CN205735003U (en) * | 2016-05-19 | 2016-11-30 | 巢湖学院 | A kind of artificial pneumatic elbow joint |
| CN108098830A (en) * | 2016-11-25 | 2018-06-01 | 刘冰飞 | A kind of Pneumatic safety flexible joint with torsional spring |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732639A (en) * | 2019-02-20 | 2019-05-10 | 西安理工大学 | A kind of liquid equipressure under-actuated bionic robot gripper |
| CN109732639B (en) * | 2019-02-20 | 2020-12-18 | 西安理工大学 | Liquid isobaric underactuated bionic robot paw |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |