CN201998167U - Simple manipulator with movable joint and two fingers - Google Patents
Simple manipulator with movable joint and two fingers Download PDFInfo
- Publication number
- CN201998167U CN201998167U CN2011200030441U CN201120003044U CN201998167U CN 201998167 U CN201998167 U CN 201998167U CN 2011200030441 U CN2011200030441 U CN 2011200030441U CN 201120003044 U CN201120003044 U CN 201120003044U CN 201998167 U CN201998167 U CN 201998167U
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- CN
- China
- Prior art keywords
- manipulator
- arm
- movable joint
- forearm
- postbrachium
- 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 relates to a manipulator, in particular to a simple manipulator with a movable joint and two fingers. The manipulator solves the problem that the existing manipulator has a complex structure, high cost, large volume and heavy weight and is difficult to popularize. The manipulator comprises a main arm, a movable arm, mechanical fingers, connecting rods and a compression spring; wherein the main arm comprises a front arm, a rear arm and the movable joint; the front arm is connected with the rear arm by the movable joint; the movable arm is articulated with the front end of the front arm; and both the number of the mechanical fingers and the number of the connecting rods are two. The manipulator effectively solves the problem that the existing manipulator has a complex structure, high cost, large volume and heavy weight and is difficult to popularize, and the simple manipulator is suitable for the gripping in various environments.
Description
Technical field
The utility model relates to manipulator, specifically is that the two pawls of a kind of movable joint refer to simple and easy manipulator.
Background technology
Manipulator is widely used in fields such as machine-building, metallurgy, electronics, light industry and atomic energy; The existing machinery hand is because self structure restriction, and ubiquity complex structure, cost height, volume is big, weight is big, the problem that is difficult to popularize; Be necessary to invent for this reason a kind of simple in structure, cost is low, volume is little, weight is little and the new mechanical arm that is easy to popularize.
Summary of the invention
The utility model for solve existing machinery hand complex structure, cost height, volume is big, weight is big and the problem that is difficult to popularize, provides the two pawls of a kind of movable joint to refer to simple and easy manipulator.
The utility model is to adopt following technical scheme to realize: the two pawls of movable joint refer to simple and easy manipulator, comprise that principal arm, lever arm, gripper refer to, connecting rod and compression spring; Principal arm comprises forearm, postbrachium and movable joint; Be connected by movable joint between forearm and the postbrachium; Lever arm and forearm front end are hinged; Gripper refers to be two with the number of connecting rod, and the rear end that each gripper refers to is all fixed with the forearm front end, and the two ends of each connecting rod refer to anterior hinged with lever arm and gripper respectively; The compression both ends of the spring is fixed with forearm and lever arm respectively; Be fixed with sliver on the forearm, be fixed with arc-shaped guide rail on the postbrachium, the sliver end is embedded in the arc-shaped guide rail; The postbrachium rear portion is fixed with handle, is connected with backguy between handle and the lever arm; The postbrachium afterbody is fixed with the collar.
During use, the collar is enclosed within on the arm, holds mechanical arm, with increase activity arm strength; The pulling handle makes lever arm rotation, lever arm drive gripper by connecting rod by backguy and carries out grasping movement; By regulating the relative position between sliver and the arc-shaped guide rail, can be different angles between forearm and the postbrachium, grasp flexibly at bending channel or different angles orientation thereby adapt to; Two grippers are set refers to make the extracting article strong more and firm; Refer to compare with the existing machinery pawl, the two pawls of movable joint described in the utility model refer to that simple and easy manipulator is suitable for grasping article flexibly at bending channel or different angles orientation, it grasps article and has stability and fastness, popularizes easily and applies to operation under the particular surroundings such as hot environment or corrosivity.
The utility model is simple in structure, reasonable in design, efficiently solves existing machinery hand complex structure, cost height, volume is big, weight is big and the problem that is difficult to popularize, is applicable under various environment and grasps operation.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Among the figure: 1-lever arm, 2-gripper refer to, the 3-connecting rod, and 4-compresses spring, 5-forearm, 6-postbrachium, 7-movable joint, 8-sliver, 9-arc-shaped guide rail, 10-handle, 11-backguy, the 12-collar.
The specific embodiment
The two pawls of movable joint refer to simple and easy manipulator, comprise that principal arm, lever arm 1, gripper refer to 2, connecting rod 3 and compression spring 4; Principal arm comprises forearm 5, postbrachium 6 and movable joint 7; Be connected by movable joint 7 between forearm 5 and the postbrachium 6; Lever arm 1 is hinged with forearm 5 front ends; Gripper refer to 2 and the number of connecting rod 3 be two, each gripper refers to that 2 rear end all fixes with forearm 5 front ends, the two ends of each connecting rod 3 refer to that with lever arm 1 and gripper 2 is anterior hinged respectively; Compression spring 4 two ends are fixing with forearm 5 and lever arm 1 respectively; Be fixed with sliver 8 on the forearm 5, be fixed with arc-shaped guide rail 9 on the postbrachium 6, sliver 8 ends are embedded in the arc-shaped guide rail 9; Postbrachium 6 rear portions are fixed with handle 10, are connected with backguy 11 between handle 10 and the lever arm 1; Postbrachium 6 afterbodys are fixed with the collar 12.
Claims (1)
1. the two pawls of movable joint refer to simple and easy manipulator, comprise that principal arm, lever arm (1), gripper refer to (2), connecting rod (3) and compression spring (4); It is characterized in that: principal arm comprises forearm (5), postbrachium (6) and movable joint (7); Be connected by movable joint (7) between forearm (5) and the postbrachium (6); Lever arm (1) is hinged with forearm (5) front end; Gripper refers to that the number of (2) and connecting rod (3) is two, and each gripper refers to that the rear end of (2) all fixes with forearm (5) front end, and the two ends of each connecting rod (3) refer to that with lever arm (1) and gripper (2) are anterior hinged respectively; Compression spring (4) two ends are fixing with forearm (5) and lever arm (1) respectively; Be fixed with sliver (8) on the forearm (5), be fixed with arc-shaped guide rail (9) on the postbrachium (6), sliver (8) end is embedded in the arc-shaped guide rail (9); Postbrachium (6) rear portion is fixed with handle (10), is connected with backguy (11) between handle (10) and the lever arm (1); Postbrachium (6) afterbody is fixed with the collar (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200030441U CN201998167U (en) | 2011-01-07 | 2011-01-07 | Simple manipulator with movable joint and two fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200030441U CN201998167U (en) | 2011-01-07 | 2011-01-07 | Simple manipulator with movable joint and two fingers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201998167U true CN201998167U (en) | 2011-10-05 |
Family
ID=44700939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200030441U Expired - Fee Related CN201998167U (en) | 2011-01-07 | 2011-01-07 | Simple manipulator with movable joint and two fingers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201998167U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883601A (en) * | 2014-04-15 | 2014-06-25 | 王光树 | Nail clasp |
| CN105835077A (en) * | 2016-05-19 | 2016-08-10 | 清华大学 | Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod |
| CN106718416A (en) * | 2016-12-16 | 2017-05-31 | 青岛海之源智能技术有限公司 | One kind is hand-held to turn to fruit bagging device |
| CN107150733A (en) * | 2017-06-07 | 2017-09-12 | 邓晗 | The robot of energy crossing over blockage |
-
2011
- 2011-01-07 CN CN2011200030441U patent/CN201998167U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883601A (en) * | 2014-04-15 | 2014-06-25 | 王光树 | Nail clasp |
| CN105835077A (en) * | 2016-05-19 | 2016-08-10 | 清华大学 | Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod |
| CN105835077B (en) * | 2016-05-19 | 2018-02-02 | 清华大学 | The flat folder adaptive robot finger apparatus of closed loop flexible piece guide rod |
| CN106718416A (en) * | 2016-12-16 | 2017-05-31 | 青岛海之源智能技术有限公司 | One kind is hand-held to turn to fruit bagging device |
| CN106718416B (en) * | 2016-12-16 | 2020-05-08 | 温州陆华科技有限公司 | Handheld steerable fruit bagging device |
| CN107150733A (en) * | 2017-06-07 | 2017-09-12 | 邓晗 | The robot of energy crossing over blockage |
| CN107150733B (en) * | 2017-06-07 | 2023-08-11 | 南京南华航空产业有限公司 | Robot capable of crossing obstacle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20130107 |