CN1448251A - Three-finger adsorption mechanical gripper - Google Patents
Three-finger adsorption mechanical gripper Download PDFInfo
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- CN1448251A CN1448251A CN 03116580 CN03116580A CN1448251A CN 1448251 A CN1448251 A CN 1448251A CN 03116580 CN03116580 CN 03116580 CN 03116580 A CN03116580 A CN 03116580A CN 1448251 A CN1448251 A CN 1448251A
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Abstract
The three-finger adsorbing robot manipulator is for chess robot to pick up chessman. It has main bracket installed to the arm of robot and connected to cylinder, cylinder piston rod with spring and connected to the slide block, auxiliary bracket with Y-shaped upper end connected to the lower end of the main bracket, three claws 120 deg distributed hinged to the upper end of the auxiliary bracket and with middle parts hinged separately to three link rods, slide block with Y-shaped bottom hinged to the other ends of the three link rods, rubber tube inserted inside the auxiliary bracket via tight fit and sucker disc in the lower end of the rubber tube. By means of the corporation of the three claws and the rubber tube with sucker disc, the present invention can pick up and locate chessman accurately.
Description
Technical field:
The present invention relates to a kind of three and refer to the absorption type gripper, be mainly used in the robot of playing chess, be used for the gripping chess piece.
Background technology:
The robot of playing chess is a kind of the integrate education and teaching robot of amusement, and it can realize man-machine interaction, can with people's match of playing chess.Though the manipulator that is used in this robot has been arranged now, but following shortcoming is arranged in these manipulators: some adopts electromagnet merely, and pasting magnetic materials such as iron plate on the chess piece, realize drawing, decontroling chess piece by connecing the outage source, increased the complexity of chess piece structure like this, the chess piece that makes more or less loses the sense of reality, and the electromagnet volume is bigger, make the volume of gripper can't be very little, weight can't be very light, thereby increased the burden of robot; If there is error the position that chess piece is placed at the beginning, then this site error will exist always, not have error correcting capability; Add because the underside shape of electromagnet must be fixed, thus its lower surface or plane, or curved surface, can't adapt to the needs that adsorb pieces of chess and go chess piece simultaneously; If electromagnet breaks down in the gripper moving process in addition, chess piece has just fallen down, so stability is not fine.Some manipulators imitation staff, this class manipulator difficulty relatively when the such chess piece of clamping such as go chess piece, and volume can't be very little.
Summary of the invention:
The objective of the invention is to problem, provide three of a kind of new structure to refer to the absorption type grippers, be applicable to the robot of playing chess, absorption chess piece that can be accurately firm at the existence of existing mechanical hand.
For realizing such purpose, three finger absorption type grippers of the present invention's design partly are made up of cylinder, spring, main support, slide block, rubber tube, connecting rod, assistant support, claw, sucker etc.Main support is installed on the arm of robot, cylinder is being welded in the upper end of main support, cylinder piston rod is with spring and links to each other with slide block, the lower end of main support links to each other with the upper end of assistant support, and the assistant support upper end is a Y shape, articulated three claws that are 120 degree symmetrical distributions, the middle part of three claws is hinged by three connecting rods and slide block respectively, rubber tube is inserted in the assistant support and assistant support is an interference fit, and the lower end of rubber tube is pasted with sucker.
During work, gripper moves to the chess piece top, sucker is pressed close to chess piece, air pump is to cylinder charge, and Compressed Gas promotes piston drive slide block and moves downward, and drives claw by connecting rod, three claws are shunk, at this moment air pump extracts the air in the rubber tube, and the air pressure in the rubber tube is reduced, and makes chess piece being attracted on the sucker tightly.Gripper moves to the target location then, and then air pump is inflated to rubber tube, and chess piece is separated with sucker, opens the valve of cylinder then, and at this moment slide block moves up under the effect of spring, and drivening rod moves upward, and then claw is opened.Chess piece is placed on the target location accurately.
The present invention by being that 120 degree are symmetrically distributed three claws and the rubber tube acting in conjunction of band sucker, guaranteed the accurate extracting and the location of chess piece, efficiently solve more existing be used for the problem of the clamping chess piece that grippers of mobile chess piece can not be very firm.And the chess piece that design of the present invention can allow originally to put departs from accurate position a little.Owing to adopt pneumatic means as driving, so frame for movement is fairly simple, greatly reduces the weight of gripper like this, also reduced burden to system, and because simple in structure, portable and smart, reduce fault rate to a great extent, increased the accuracy that its action realizes.
Description of drawings:
Fig. 1 is the front view of structure of the present invention.
Fig. 2 is the side view of structure of the present invention.
Fig. 3 is the vertical view of structure of the present invention
Among Fig. 1 Fig. 2 Fig. 3, cylinder 1, spring 2, main support 3, slide block 4, rubber tube 5, connecting rod 6, assistant support 7, claw 8, sucker 9, chess piece 10.
The specific embodiment:
Structure of the present invention as shown in Figure 1, main support 3 is installed on the arm of robot, cylinder 1 is being welded in the upper end of main support 3, cylinder piston rod is with spring 2 and links to each other with slide block 4, the lower end of main support 3 links to each other with the upper end of assistant support 7, and assistant support 7 upper ends are Y shape, articulated three claws 8 that are 120 degree symmetrical distributions, the middle part of three claws 8 is hinged with three connecting rods 6 respectively, and the other end of three connecting rods 6 then is hinged on the bottom and is on the slide block 4 of Y.Rubber tube 5 is inserted in the assistant support 7, and with assistant support 7 interference fit, sucker 9 fastens with glue in the lower end of rubber tube 5.
Be clearer embodiment architectural feature of the present invention, provided the structure side view of Fig. 2 and the structure vertical view of Fig. 3.As shown in Figure 2, cylinder 1 is being welded in the upper end of main support 3, cylinder piston rod links to each other with slide block 4, the lower end of main support 3 links to each other with the upper end of assistant support 7, assistant support 7 upper ends are Y shapes, the articulated middle part that is 8, three claws 8 of three claws that 120 degree are symmetrically distributed is hinged with three connecting rods 6 respectively, and the other end of three connecting rods 6 then is hinged on the Y-shaped slide block in bottom 4.Rubber tube 5 is inserted in the assistant support 7, and with assistant support 7 interference fit, the sucker 9 of inhaling chess piece 10 is posted in the lower end of rubber tube 5.As seen, three claws 8 are 120 degree and are symmetrically distributed, and link to each other with slide block 4 by connecting rod 6 among Fig. 3.
Operation principle: gripper moves to the chess piece top, move down then, sucker 9 is pressed close to chess piece, at this moment air pump is to cylinder 1 inflation, Compressed Gas promotes piston drive slide block 4 and moves downward, drive claw 8 by connecting rod 6, three claws 8 are shunk, because three claws 8 are 120 degree and are symmetrically distributed, so even the initial position of chess piece is not very well, under the effect of claw 8, also can be moved to accurately sucker 9 under, at this moment air pump extracts the air in the rubber tube 5, and the air pressure in the rubber tube 5 are reduced, and makes chess piece being attracted on the sucker 9 tightly.Gripper moves to the target location then, and then air pump makes chess piece 10 separate with sucker 9 to rubber tube 5 inflations, opens the valve of cylinder 1 then, and at this moment slide block 4 moves up under the effect of spring 2, and drivening rod 6 moves upward, and then claw 8 is opened.Chess piece is placed on the target location accurately.
The present invention has guaranteed the accurate extracting and the location of chess piece by three claws 8 that are 120 degree symmetrical distributions and rubber tube 5 actings in conjunction of being with sucker 9.
Claims (1)
1, a kind of three refer to the absorption type gripper, cylinder (1) is being welded in main support (3) upper end that it is characterized in that being installed on the robot arm, cylinder piston rod is with spring (2) and links to each other with slide block (4), the lower end of main support (3) is welded on the upper end of assistant support (7), assistant support (7) upper end is a Y shape, articulated three claws (8) that are 120 degree symmetrical distributions, the middle part of three claws (8) is hinged with three connecting rods (6) respectively, the other end of three connecting rods (6) is hinged on the Y-shaped slide block in bottom (4), rubber tube (5) is inserted in the assistant support (7), and with assistant support (7) interference fit, there is sucker (8) lower end of rubber tube (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03116580 CN1208170C (en) | 2003-04-24 | 2003-04-24 | Three-finger adsorption mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03116580 CN1208170C (en) | 2003-04-24 | 2003-04-24 | Three-finger adsorption mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1448251A true CN1448251A (en) | 2003-10-15 |
| CN1208170C CN1208170C (en) | 2005-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03116580 Expired - Fee Related CN1208170C (en) | 2003-04-24 | 2003-04-24 | Three-finger adsorption mechanical gripper |
Country Status (1)
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| CN (1) | CN1208170C (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166748A (en) * | 2010-12-30 | 2011-08-31 | 中国科学院光电技术研究所 | Automatic mechanical hand film feeding/fetching device |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN102424269A (en) * | 2011-08-22 | 2012-04-25 | 楚天科技股份有限公司 | Bottle sorting device |
| CN102642718A (en) * | 2011-11-01 | 2012-08-22 | 浙江豪情汽车制造有限公司 | Track sucking disk type gripping device |
| CN102698429A (en) * | 2012-05-31 | 2012-10-03 | 东北大学 | Chess playing robot |
| CN103341756A (en) * | 2013-06-27 | 2013-10-09 | 苏州菱欧自动化设备有限公司 | Cam absorbing clamping and positioning mechanism |
| CN103405909A (en) * | 2013-08-05 | 2013-11-27 | 昆山塔米机器人有限公司 | Unattended chess-playing robot system |
| CN103538066A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm achieving automatic matching |
| CN103538071A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm wide in application scope |
| CN103538052A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Fine adjustment mechanical arm |
| CN103802124A (en) * | 2014-03-07 | 2014-05-21 | 苏州博众精工科技有限公司 | Automatic gasket sucking machine |
| CN103802111A (en) * | 2013-12-23 | 2014-05-21 | 北京晨鑫意科技有限公司 | Chess playing robot |
| CN104261320A (en) * | 2014-09-18 | 2015-01-07 | 苏州美罗升降机械有限公司 | High-altitude lifting operation platform with hoisting device |
| CN105479473A (en) * | 2016-01-25 | 2016-04-13 | 浙江瑞丰机械设备有限公司 | Claw type manipulator structure with self-locking function |
| CN105666507A (en) * | 2014-11-21 | 2016-06-15 | Abb技术有限公司 | Clamping device |
| CN105798941A (en) * | 2016-05-27 | 2016-07-27 | 华中农业大学 | Manipulator suitable for bird egg grabbing |
| CN106143668A (en) * | 2016-08-12 | 2016-11-23 | 香港中文大学（深圳） | Omnidirectional of a kind of robot pawl |
| CN107263512A (en) * | 2017-08-14 | 2017-10-20 | 乔斌 | Automatic clamping mechanism for intelligent robot |
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN108501027A (en) * | 2018-04-11 | 2018-09-07 | 余云丰 | A kind of flat push type pressure linkage manipulator |
| CN108908151A (en) * | 2018-07-03 | 2018-11-30 | 芜湖恒跃智能装备有限公司 | A kind of fixture convenient for handling |
| CN109571490A (en) * | 2018-11-09 | 2019-04-05 | 深圳蓝胖子机器人有限公司 | A kind of chess playing robot system and its visual identity control method |
| CN112276988A (en) * | 2020-10-19 | 2021-01-29 | 武汉理工大学 | Pneumatic clamping mechanism of industrial robot for vehicle engineering |
| CN114193497A (en) * | 2021-12-30 | 2022-03-18 | 大连理工大学 | Novel manipulator grabbing device for human-computer game scene |
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| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
-
2003
- 2003-04-24 CN CN 03116580 patent/CN1208170C/en not_active Expired - Fee Related
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166748A (en) * | 2010-12-30 | 2011-08-31 | 中国科学院光电技术研究所 | Automatic mechanical hand film feeding/fetching device |
| CN102424269A (en) * | 2011-08-22 | 2012-04-25 | 楚天科技股份有限公司 | Bottle sorting device |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN102642718A (en) * | 2011-11-01 | 2012-08-22 | 浙江豪情汽车制造有限公司 | Track sucking disk type gripping device |
| CN102642718B (en) * | 2011-11-01 | 2015-05-13 | 浙江豪情汽车制造有限公司 | Track sucking disk type gripping device |
| CN102698429B (en) * | 2012-05-31 | 2014-04-30 | 东北大学 | Chess playing robot |
| CN102698429A (en) * | 2012-05-31 | 2012-10-03 | 东北大学 | Chess playing robot |
| CN103341756A (en) * | 2013-06-27 | 2013-10-09 | 苏州菱欧自动化设备有限公司 | Cam absorbing clamping and positioning mechanism |
| CN103405909A (en) * | 2013-08-05 | 2013-11-27 | 昆山塔米机器人有限公司 | Unattended chess-playing robot system |
| CN103538071B (en) * | 2013-09-29 | 2016-05-25 | 昆山中士设备工业有限公司 | Manipulator applied widely |
| CN103538066A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm achieving automatic matching |
| CN103538052A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Fine adjustment mechanical arm |
| CN103538066B (en) * | 2013-09-29 | 2016-03-02 | 昆山中士设备工业有限公司 | The manipulator of automatic adaptation |
| CN103538052B (en) * | 2013-09-29 | 2016-08-17 | 昆山中士设备工业有限公司 | Fine setting mechanical hand |
| CN103538071A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm wide in application scope |
| CN103802111A (en) * | 2013-12-23 | 2014-05-21 | 北京晨鑫意科技有限公司 | Chess playing robot |
| CN103802124A (en) * | 2014-03-07 | 2014-05-21 | 苏州博众精工科技有限公司 | Automatic gasket sucking machine |
| CN104261320A (en) * | 2014-09-18 | 2015-01-07 | 苏州美罗升降机械有限公司 | High-altitude lifting operation platform with hoisting device |
| CN104261320B (en) * | 2014-09-18 | 2016-07-13 | 苏州美罗升降机械有限公司 | A kind of high-altitude lift work platform with handling apparatus |
| CN105666507A (en) * | 2014-11-21 | 2016-06-15 | Abb技术有限公司 | Clamping device |
| CN105666507B (en) * | 2014-11-21 | 2020-06-19 | Abb瑞士股份有限公司 | Clamping device |
| CN105479473A (en) * | 2016-01-25 | 2016-04-13 | 浙江瑞丰机械设备有限公司 | Claw type manipulator structure with self-locking function |
| CN105798941A (en) * | 2016-05-27 | 2016-07-27 | 华中农业大学 | Manipulator suitable for bird egg grabbing |
| CN106143668A (en) * | 2016-08-12 | 2016-11-23 | 香港中文大学（深圳） | Omnidirectional of a kind of robot pawl |
| CN106143668B (en) * | 2016-08-12 | 2018-11-02 | 香港中文大学（深圳） | A kind of omnidirectional of robot pawl |
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN107263512A (en) * | 2017-08-14 | 2017-10-20 | 乔斌 | Automatic clamping mechanism for intelligent robot |
| CN108501027A (en) * | 2018-04-11 | 2018-09-07 | 余云丰 | A kind of flat push type pressure linkage manipulator |
| CN108908151A (en) * | 2018-07-03 | 2018-11-30 | 芜湖恒跃智能装备有限公司 | A kind of fixture convenient for handling |
| CN109571490A (en) * | 2018-11-09 | 2019-04-05 | 深圳蓝胖子机器人有限公司 | A kind of chess playing robot system and its visual identity control method |
| CN112276988A (en) * | 2020-10-19 | 2021-01-29 | 武汉理工大学 | Pneumatic clamping mechanism of industrial robot for vehicle engineering |
| CN114193497A (en) * | 2021-12-30 | 2022-03-18 | 大连理工大学 | Novel manipulator grabbing device for human-computer game scene |
| CN114193497B (en) * | 2021-12-30 | 2023-09-12 | 大连理工大学 | Novel manipulator grabbing device to scene of playing chess with human-computer |
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| Publication number | Publication date |
|---|---|
| CN1208170C (en) | 2005-06-29 |
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