CN201960562U - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN201960562U CN201960562U CN2011200456923U CN201120045692U CN201960562U CN 201960562 U CN201960562 U CN 201960562U CN 2011200456923 U CN2011200456923 U CN 2011200456923U CN 201120045692 U CN201120045692 U CN 201120045692U CN 201960562 U CN201960562 U CN 201960562U
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- CN
- China
- Prior art keywords
- arm
- motor
- joint
- swing
- connect
- 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 utility model provides a mechanical hand comprising a base, a first arm, a second arm, a connecting joint, a link mechanism, a third arm, a mechanical grip, a first motor, a second motor, a third motor, a fourth motor and a fifth motor, wherein one end of the first arm can be connected to the base by horizontal revolution relative to the base; one end of the second arm can be pivotally connected to the other end of the first arm by rotation around the horizontal axial line; the connecting joint can be pivotally connected at the other end of the second arm by rotation around the horizontal axial line; the link mechanism is connected between the other end of the second arm and the connecting joint; one end of the third arm is connected to the connecting joint; the mechanical grip which is pivotally connected to the other end of the third arm and can be opened and closed relatively; the first motor is arranged on the base and connected with the first arm for driving the first arm to revolute horizontally; the second motor is arranged on the first arm and connected with the second arm for driving the second arm to swing; the third motor is arranged on the first arm and connected with the connecting joint through the link mechanism for driving the connecting joint to swing; the fourth motor is arranged on the connecting joint and connected with the third arm for driving the third arm to rotate around the axial line of the third arm; and the fifth motor is arranged on the third arm and connected with the mechanical grip for driving the mechanical grip to swing. The mechanical hand has the advantages of simple structure, flexibility in actions and high precision.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
Manipulator do be a kind of can be for some dullness of oblige by doing, the frequent and long working that repeats, or the plant equipment of operation under dangerous, the adverse circumstances, it is used more and more widely.Along with the development of society, require manipulator to have higher transporting capacity, for transporting capacity, not only require flexible, the free amount of its action will be greatly, also high precision to be arranged, facts have proved that the existing machinery hand structurally has weak point, still need be improved.
Summary of the invention
The purpose of this utility model is at the deficiencies in the prior art, and a kind of simple in structure, flexible movements, manipulator that precision is high are provided.
The purpose of this utility model realizes by following technical solution:
A kind of manipulator is characterized in that: comprise pedestal, one end base level relatively is connected the first arm on the pedestal pivotally, one end can be articulated in second arm of the first arm other end rotationally around horizontal axis, can be articulated in the connection joint of the second arm other end around horizontal axis rotationally, be connected the second arm other end and the linkage that is connected between the joint, one end is connected the 3rd arm that connects on the joint, be articulated on the 3rd arm other end the mechanical handgrip of folding relatively, be arranged on and connect first motor that drives the first arm horizontal rotation on the pedestal, be arranged on and connect second motor that drives second arm swing on the first arm, be arranged on the first arm and connect the 3rd motor that drives the swing of connection joint by linkage, be arranged on to connect to connect on the joint and drive the 4th motor that the 3rd arm rotates around self axis, and the 5th motor that is arranged on connection driving device handgrip swing on the 3rd arm.
Further, described the first arm is from the pedestal extension that is inclined upwardly.
Further, described linkage comprises that an end is connected first bar on the first arm other end and is articulated in the first bar other end and second bar that is connected between the joint, and described the 3rd motor connects the swing of driving first bar.
The utlity model has following beneficial effect:
The utility model is realized the flexible motion of mechanical handgrip in the space by three arms, the swing that connects joint, linkage, corresponding driving motor and mechanical handgrip itself, compared with prior art has advantages such as simple in structure, flexible movements, precision height, transporting capacity are strong.
Description of drawings
Below in conjunction with accompanying drawing the utility model is described in further detail.
Fig. 1 is a structural representation of the present utility model.
The specific embodiment
With reference to shown in Figure 1, a kind of manipulator comprises pedestal 1, the first arm 2, second arm 3, the 3rd arm 5, connects joint 4, mechanical handgrip 6, first motor 11, second motor 21, the 3rd motor (not shown at second motor, 21 back sides), the 4th motor 41, the 5th motor 51.
One end of the first arm 2 is connected on the pedestal 1 relatively pedestal 1 horizontal rotation, one end of second arm 3 can be articulated in the other end of the first arm 2 rotationally around horizontal axis, connecting joint 4 can be articulated on the other end of second arm 3 rotationally around horizontal axis, the other end that linkage is connected second arm 3 be connected between the joint 4, one end of the 3rd arm 5 is connected and connects on the joint 4, machinery handgrip 6 is articulated on the other end of the 3rd arm 5 has the claw of folding relatively, first motor 11 is arranged on to connect on the pedestal 1 and drives the first arm 2 horizontal rotations, second motor 21 is arranged on to connect on the first arm 2 and drives 3 swings of second arm, the 3rd motor is arranged on the first arm 2 and connects 4 swings of driving connection joint by linkage, the 4th motor 41 is arranged on to connect to connect on the joint 4 and drives the 3rd arm 5 around self axis rotation, the 5th motor 51 is arranged on and connects 6 swings of driving device handgrip on the 3rd arm 5, wherein, the first arm 2 is from pedestal 1 extension that is inclined upwardly, linkage comprises that an end is connected first bar 71 on the first arm 2 other ends, and be articulated in first bar, 71 other ends and second bar 72 that is connected between the joint 4, the 3rd motor connects 71 swings of driving first bar, machinery handgrip 6 is a known prior art, and its detailed structure here no longer describes in detail.
The above, it only is the utility model preferred embodiment, so can not limit the scope that the utility model is implemented with this, i.e. the equivalence of doing according to the utility model claim and description changes and modifies, and all should still belong in the scope that the utility model patent contains.
Claims (3)
1. a manipulator is characterized in that: comprise pedestal, one end base level relatively is connected the first arm on the pedestal pivotally, one end can be articulated in second arm of the first arm other end rotationally around horizontal axis, can be articulated in the connection joint of the second arm other end around horizontal axis rotationally, be connected the second arm other end and the linkage that is connected between the joint, one end is connected the 3rd arm that connects on the joint, be articulated on the 3rd arm other end the mechanical handgrip of folding relatively, be arranged on and connect first motor that drives the first arm horizontal rotation on the pedestal, be arranged on and connect second motor that drives second arm swing on the first arm, be arranged on the first arm and connect the 3rd motor that drives the swing of connection joint by linkage, be arranged on to connect to connect on the joint and drive the 4th motor that the 3rd arm rotates around self axis, and the 5th motor that is arranged on connection driving device handgrip swing on the 3rd arm.
2. a kind of manipulator according to claim 1 is characterized in that: described the first arm is from the pedestal extension that is inclined upwardly.
3. a kind of manipulator according to claim 1, it is characterized in that: described linkage comprises that an end is connected first bar on the first arm other end and is articulated in the first bar other end and second bar that is connected between the joint, and described the 3rd motor connects the swing of driving first bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200456923U CN201960562U (en) | 2011-02-23 | 2011-02-23 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200456923U CN201960562U (en) | 2011-02-23 | 2011-02-23 | Mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201960562U true CN201960562U (en) | 2011-09-07 |
Family
ID=44523091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200456923U Expired - Fee Related CN201960562U (en) | 2011-02-23 | 2011-02-23 | Mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201960562U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669299A (en) * | 2014-01-16 | 2015-06-03 | 北京航空航天大学 | Force sense manipulator with mechanical arm |
| CN104908031A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Multi-joint industrial mechanical arm |
| CN114310976A (en) * | 2021-11-29 | 2022-04-12 | 共享智能装备有限公司 | Operating handle and manipulator |
-
2011
- 2011-02-23 CN CN2011200456923U patent/CN201960562U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669299A (en) * | 2014-01-16 | 2015-06-03 | 北京航空航天大学 | Force sense manipulator with mechanical arm |
| CN104669299B (en) * | 2014-01-16 | 2016-08-24 | 北京航空航天大学 | A kind of power feel operator with mechanical arm |
| CN104908031A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Multi-joint industrial mechanical arm |
| CN114310976A (en) * | 2021-11-29 | 2022-04-12 | 共享智能装备有限公司 | Operating handle and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: MICROPAK CNC TECHNOLOGY (QUANZHOU) CO., LTD. Free format text: FORMER OWNER: FUJIAN LIDONG PRECISION MACHINERY CO., LTD. Effective date: 20130517 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130517 Address after: Fengze District of Quanzhou City, Fujian province 362000 Xunmei industrial agglomeration area B-2 Patentee after: CNC Technology (Quanzhou) Co., Ltd. Address before: 362000 hardware and electrical machinery industrial park, Luojiang Economic Development Zone, Quanzhou, Fujian Patentee before: Fujian Lidong Precision Machinery Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110907 Termination date: 20170223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |