CN1317111C - Artificial grip - Google Patents
Artificial grip Download PDFInfo
- Publication number
- CN1317111C CN1317111C CNB021451109A CN02145110A CN1317111C CN 1317111 C CN1317111 C CN 1317111C CN B021451109 A CNB021451109 A CN B021451109A CN 02145110 A CN02145110 A CN 02145110A CN 1317111 C CN1317111 C CN 1317111C
- Authority
- CN
- China
- Prior art keywords
- paw
- grip
- fixed
- bearing
- support seat
- 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.)
- Expired - Fee Related
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Abstract
The present invention relates to an artificial grip which belongs to the mechanical field, and mainly comprises a movable grip, a fixed grip, a plate spring, a top pin, a spring, a cylinder, a support seat and a screw pin. The artificial grip has the connection mode as follows: the movable grip and the fixed grip are connected by pins; the fixed grip is connected with the support seat via the screw pin; the plate spring is fixed on the fixed grip; the cylinder is arranged in the support seat; one end of the spring is fixed in the support seat, and the other end contacts the top pin which contacts the fixed grip. The grip capable of rotating around the support seat is designed by simulating the action characteristics of hand assembly by slantways pressing and embedding, and is designed independent of a robot. The artificial grip capable of doing complex grab action like a hand can be moved to other robots or assembly machines, be easy to implement in production practice and be suitable for general assembling work by slantways pressing and embedding.
Description
Technical field
What the present invention relates to is a kind of paw, and particularly a kind of Artificial grip belongs to mechanical engineering field.
Background technology
Aspect paw, form is of all kinds, the multi-finger clever hand from simply parallel, V-type paw to complexity, and many people have carried out big quantity research to it.Parallel, V-type paw is applicable to the clamping of gabarit rule part; Though multi-finger clever hand can also can carry out multiple complex operations by the complex-curved arbitrarily workpiece of clamping, achievement in research requires to also have very big distance apart from practicability.Find by literature search; people such as Li Fan are " mechanical engineer "; the 9th phase of calendar year 2001; P13-14; write articles " a kind of extracting special surface object paw mechanism design "; this article has been introduced a kind of extracting special surface object robot hand mechanism; the absorption of paw to object has been described; pose is proofreaied and correct; the design of mechanisms such as anti-fall protection and the realization of function thereof; this paw is mainly by support body and absorption; pose is proofreaied and correct; compress the location; anti-fall four part bodies are formed; draw frame machine carries out vacsorb to the object smooth surface; adopt the air pressure type of drive, by the attitude that two cylinder push-rods are proofreaied and correct object with the angle of inclination that changes the adjustment plate, during the placement object; cylinder push-rod is descending; briquetting compresses object, and the horizontal rectilinear motion of cylinder push-rod carries out rest to object, so that object is being grasped; carry out safeguard protection in the handling process.Because this paw only is fit to draw object, carry out horizontal motion, can not finish the assembling action of pressing spatial complexes such as embedding.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, a kind of Artificial grip is provided, make it can grasp object, can finish the space again and press complicated assembling actions such as embedding.Technical scheme of the present invention is to realize like this, mainly comprise: movable paw, fixing paw, leaf spring, ejector pin, spring, cylinder, bearing, spiral pin, its connected mode is: bearing is cemented in the entire machine robot end, cylinder is housed in the bearing, the movable paw circular cavity that is symmetrically distributed, movable paw and fixedly paw connect by pin, movable paw can be around fixedly paw opening and closing, fixedly paw and bearing are connect by spiral pin, fixedly paw can rotate around bearing, and leaf spring is fixed on fixedly on the paw, and spring one end is cemented in the bearing, the other end contacts with ejector pin, and ejector pin contacts with fixing paw.
The present invention is directed to spatial complex and press setting-in to join action, designed this Artificial grip, and in robot distortion assembling, obtain fine application, finished the original complexity that just can finish by staff and pressed setting-in to join, improved product quality and efficient.During work, movable paw leans on the size of object external diameter that movable paw is opened facing to object, clamping object, chucking power be from the pressure of leaf spring, movable paw clip object and fixedly paw rotate around bearing, design has cylinder in the cavity of bearing, be used for increasing the motive force to gripping object, fixedly paw presses down, and rotates around bearing, ejector pin heads on spring, spring compression gives fixedly that paw provides pressure, can finish the complexity of similar staff and press embedding to move.The present invention makes movable paw opening and closing by the size of clamping object external diameter, and relies on leaf spring that chucking power is provided, and the fixedly paw of design is used for finishing the pressing action of pressing setting-in to join, and designed whole Artificial grip mechanism is succinct, light-duty.
The present invention has substantive distinguishing features and marked improvement, the present invention is the paw that can rotate around bearing of the motion characteristic design of joining by simulation staff oblique pressure setting-in, the machine-independent people's design of this Artificial grip, the complexity that can finish similar staff grasps, presses setting-in to join action, can move and install on other robot or the assembly machine, be easy in production practices, realize, be applicable to that general oblique pressure setting-in joins task.
Description of drawings
Fig. 1 general structure schematic diagram of the present invention
The specific embodiment
As shown in Figure 1, the present invention mainly comprises: movable paw 1, fixedly paw 2, leaf spring 3, ejector pin 4, spring 5, cylinder 6, bearing 7, spiral pin 8, its connected mode is: movable paw 1 is connect by pin with fixing paw 2, fixedly paw 2 is connect by spiral pin 8 with bearing 7, leaf spring 3 is fixed on fixedly on the paw 2, is provided with cylinder 6 in the bearing 7, and spring 5 one ends are cemented in the bearing 7, the other end contacts with ejector pin 4, and ejector pin 4 contacts with fixing paw 2.
The circular cavity of movable paw 1 symmetrical distribution, movable paw 1 is around fixedly paw 2 opening and closing.Fixedly paw 2 rotates around bearing 7, and bearing 7 is cemented in the entire machine robot end.
Claims (3)
1, a kind of Artificial grip, comprise: fixing paw (2), leaf spring (3), ejector pin (4), spring (5), cylinder (6), bearing (7), spiral pin (8), it is characterized in that, also comprise: movable paw (1), its connected mode is: movable paw (1) is connect by pin with fixing paw (2), fixedly paw (2) is connect by spiral pin (8) with bearing (7), leaf spring (3) is fixed on fixedly on the paw (2), be provided with cylinder (6) in the bearing (7), spring (5) one ends are cemented in the bearing (7), the other end contacts with ejector pin (4), and ejector pin (4) contacts with fixing paw (2).
2, Artificial grip according to claim 1 is characterized in that, movable paw (1) the circular cavity that is symmetrically distributed, and movable paw (1) is around fixedly paw (2) opening and closing.
3, Artificial grip according to claim 1 is characterized in that, fixedly paw (2) rotates around bearing (7), and bearing (7) is cemented in the entire machine robot end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021451109A CN1317111C (en) | 2002-11-07 | 2002-11-07 | Artificial grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021451109A CN1317111C (en) | 2002-11-07 | 2002-11-07 | Artificial grip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1404966A CN1404966A (en) | 2003-03-26 |
| CN1317111C true CN1317111C (en) | 2007-05-23 |
Family
ID=4750772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021451109A Expired - Fee Related CN1317111C (en) | 2002-11-07 | 2002-11-07 | Artificial grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1317111C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5383847B2 (en) * | 2012-03-28 | 2014-01-08 | ファナック株式会社 | Work removal method using a robot with gripping claws |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2066798U (en) * | 1990-03-14 | 1990-12-05 | 中国船舶工业总公司第七研究院第七○四研究所 | Multi-funciton parallel finger member for underwater manipulators |
| CN1290591A (en) * | 2000-10-24 | 2001-04-11 | 中国科学院合肥智能机械研究所 | Multiple sensor robot claw and method |
| CN1291537A (en) * | 1999-10-12 | 2001-04-18 | 速睦喜股份有限公司 | Electromechanical hand possessing buffer function |
| CN1293090A (en) * | 1999-10-15 | 2001-05-02 | 速睦喜股份有限公司 | Power operated manipulator |
| CN2516324Y (en) * | 2001-11-07 | 2002-10-16 | 舒良 | Manipulator |
-
2002
- 2002-11-07 CN CNB021451109A patent/CN1317111C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2066798U (en) * | 1990-03-14 | 1990-12-05 | 中国船舶工业总公司第七研究院第七○四研究所 | Multi-funciton parallel finger member for underwater manipulators |
| CN1291537A (en) * | 1999-10-12 | 2001-04-18 | 速睦喜股份有限公司 | Electromechanical hand possessing buffer function |
| CN1293090A (en) * | 1999-10-15 | 2001-05-02 | 速睦喜股份有限公司 | Power operated manipulator |
| CN1290591A (en) * | 2000-10-24 | 2001-04-11 | 中国科学院合肥智能机械研究所 | Multiple sensor robot claw and method |
| CN2516324Y (en) * | 2001-11-07 | 2002-10-16 | 舒良 | Manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型仿生手爪的设计及应用 冯光涛，王建平，赵锡芳，蔡宗耀，机械设计与制造，第5期 2000 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1404966A (en) | 2003-03-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070523 Termination date: 20091207 |