CN200988224Y - Pneumatic flexible three finger hand claw - Google Patents
Pneumatic flexible three finger hand claw Download PDFInfo
- Publication number
- CN200988224Y CN200988224Y CN 200620141655 CN200620141655U CN200988224Y CN 200988224 Y CN200988224 Y CN 200988224Y CN 200620141655 CN200620141655 CN 200620141655 CN 200620141655 U CN200620141655 U CN 200620141655U CN 200988224 Y CN200988224 Y CN 200988224Y
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- CN
- China
- Prior art keywords
- pneumatic
- rotating disk
- pneumatic flexible
- flexible
- rotary table
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- Expired - Lifetime
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Abstract
Provided is a pneumatic flexible three-finger paw comprising a handle(1), a rotary table(5) and three pneumatic flexible fingers(8) which are evenly distrubited in angles of 120 degrees at the rotary table(5) side of the twist joint. The tube joint(6) of the pneumatic flexible fingers(8) is positioned on the rotary table(5). The pneumatic flexible fingers(8) is inlayed in one side of the restriction steel wire and face the rotary axis of the twist joint. The other side of the rotary table(5) is connected with the rotary axis(2) through the bearing. The rotary axis(2)is connected with the handle(1). Two pneumatic flexible drivers(7) is bendingly symmetric to each other forming a circular and lay on the rotary table(5) with one end fixing on the fixed table(3) and the other end pipe interface(4) fixing on the rotary table(5). The utility model has the advantages of a simple and reasonable structure, flexible movement, easy control and fine use effect thus having a relatively good implementation value.
Description
Technical field
The utility model relates to a kind of manipulator, particularly Pneumatic manipulator.
Background technology
The design philosophy of conventional robot pawl is based on pure frame for movement carries out, and its major defect is to add transmission and reducing gear, needs motor or hydraulic pressure as driving, and bulk is big, complex structure, control difficulty; In addition, the paw of pure frame for movement causes damage to target easily, influences implementation result.Chinese patent ZL200410017444.2 " Pneumatic power flexible bending joint " air pressure drives, can realize actions such as the grasping of paw, clamping by charging into, discharge Compressed Gas, adopt the flexible rubber pipe as main member, has sufficient compliance and adaptability, can initiatively adapt to the profile that grasps target, can not cause damage it.But this technical scheme still can not realize reversing of wrist, and function is comprehensive inadequately, and application is restricted.
Summary of the invention
The utility model will solve the shortcoming that the wrist of existing Pneumatic manipulator can not be reversed, and provides that a kind of wrist can be rotated, simple in structure, Pneumatic power flexible three-finger paw flexibly moves.
Pneumatic power flexible three-finger paw described in the utility model comprises handle 1, rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform sides that are installed in the rotating disk 5 of torsion knuckle, the pipe joint 6 that the Pneumatic flexible pawl refers to is positioned on the rotating disk 5, the Pneumatic flexible pawl refers to that 8 embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side that it is characterized in that rotating disk 5 is connected with rotating shaft 2 by bearing, rotating shaft 2 connects handle 1, two symmetrical accumbency of Pneumatic flexible actuator 7 rounded bendings are on rotating disk 5, one end is fixed on the price fixing 3, and other end interface tube 4 is fixed on the rotating disk 5.
Compared with prior art the utility model advantage is: wrist can be rotated, make the function of Pneumatic manipulator more comprehensive, true to nature, and it is simple and reasonable, adopt pneumatics, mainly constitute Pneumatic power flexible three-finger paw by five rubber tubes, motion is controlled simple flexibly, result of use is good, has bigger implementary value.
Description of drawings
Fig. 1 is the Pneumatic power flexible three-finger paw structural representation.
Fig. 2 is that the A-A of Fig. 1 is to cutaway view.
The specific embodiment
With reference to accompanying drawing: wherein: 1-handle, 2-rotating shaft, 3-price fixing, 4-elbow close interface, 5-rotating disk, 6-interface tube, 7-Pneumatic flexible actuator, 8-Pneumatic flexible pawl and refer to.
Pneumatic power flexible three-finger paw described in the utility model comprises handle 1, rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform sides that are installed in the rotating disk 5 of torsion knuckle, the pipe joint 6 that the Pneumatic flexible pawl refers to is positioned on the rotating disk 5, the Pneumatic flexible pawl refers to that 8 embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side of rotating disk 5 is connected with rotating shaft 2 by bearing, rotating shaft 2 connects handle 1, two symmetrical accumbency of Pneumatic flexible actuator 7 rounded bendings are on rotating disk 5, one end is fixed on the price fixing 3, and other end interface tube 4 is fixed on the rotating disk 5.Described Pneumatic flexible actuator (7) is the rubber tube that has the steel wire lining.
One end FPA end cap of two Pneumatic flexible actuators 7 passes through cross recessed countersunk head sscrew, symmetry is fixed on the price fixing 3, other end swan neck interface 4 in kind is fixed on the rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform opposite sides that are installed in the rotating disk 5 of torsion knuckle, and make each bending joint embed the rotation of a side of constraint steel wire, form pawl finger branch towards torsion knuckle.The Pneumatic flexible actuator 7 of torsion knuckle is accumbency, one end end cap is fixed on the price fixing 3, other end interface tube 4 is fixed on the rotating disk 5, feed air pressure by interface tube 4 to driver, can make driver elongation and contraction, because price fixing is motionless, so can only drive rotating disk 5 rotates. the pawl of bending joint part refers to that a side has a constraint steel wire, driver only can form curved jaws and refer to similar staff to the axial rotary bending in elongation process like this.
Operation principle of the present utility model is: the torsion knuckle of three-finger paw is similar to the wrist of staff, charges into the Compressed Gas of certain pressure to torsion knuckle, and the joint turns over certain angle, and drives the paw section rotation; Discharge the torsion knuckle internal compressed gas, paw section is returned to initial position.Three bending joints of three-finger paw refer to that as pawl when charging into Compressed Gas, three bending joints curve inwardly simultaneously, actions such as the grasping of realization paw, clamping.
Claims (2)
1, Pneumatic power flexible three-finger paw comprises handle (1), rotating disk (5), three Pneumatic flexible pawls refer to that (8) are by 120 ° of uniform sides that are installed in the rotating disk (5) of torsion knuckle, the Pneumatic flexible pawl refers to that the pipe joint (6) of (8) is positioned on the rotating disk (5), the Pneumatic flexible pawl refers to that (8) embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side that it is characterized in that rotating disk (5) is connected with rotating shaft (2) by bearing, rotating shaft (2) connects handle (1), the symmetrical accumbency of the rounded bending of two Pneumatic flexible actuators (7) is on rotating disk (5), one end is fixed on the price fixing (3), and other end interface tube (4) is fixed on the rotating disk (5).
2. Pneumatic power flexible three-finger paw as claimed in claim 1 is characterized in that described Pneumatic flexible actuator (7) is the rubber tube that has the steel wire lining.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620141655 CN200988224Y (en) | 2006-12-28 | 2006-12-28 | Pneumatic flexible three finger hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620141655 CN200988224Y (en) | 2006-12-28 | 2006-12-28 | Pneumatic flexible three finger hand claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200988224Y true CN200988224Y (en) | 2007-12-12 |
Family
ID=38939265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620141655 Expired - Lifetime CN200988224Y (en) | 2006-12-28 | 2006-12-28 | Pneumatic flexible three finger hand claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200988224Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100519102C (en) * | 2006-12-28 | 2009-07-29 | 浙江工业大学 | Pneumatic power flexible three-finger paw |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN101554730B (en) * | 2008-04-11 | 2013-08-28 | 江南大学 | Articulated flexible manipulator |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN105598995A (en) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | Flexible mechanical arm and control method thereof |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN109291072A (en) * | 2018-07-30 | 2019-02-01 | 上海大学 | A kind of intelligent flexible manipulator |
-
2006
- 2006-12-28 CN CN 200620141655 patent/CN200988224Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100519102C (en) * | 2006-12-28 | 2009-07-29 | 浙江工业大学 | Pneumatic power flexible three-finger paw |
| CN101554730B (en) * | 2008-04-11 | 2013-08-28 | 江南大学 | Articulated flexible manipulator |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN104959992B (en) * | 2015-06-30 | 2016-10-26 | 北京航空航天大学 | A kind of pneumatic software gripping device |
| CN105598995A (en) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | Flexible mechanical arm and control method thereof |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN109291072A (en) * | 2018-07-30 | 2019-02-01 | 上海大学 | A kind of intelligent flexible manipulator |
| CN109291072B (en) * | 2018-07-30 | 2022-02-08 | 上海大学 | Intelligent flexible manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20090729 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |