CN203765640U - Self-adaptive mechanical arm used for grabbing cylindrical object - Google Patents
Self-adaptive mechanical arm used for grabbing cylindrical object Download PDFInfo
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- CN203765640U CN203765640U CN201420168114.2U CN201420168114U CN203765640U CN 203765640 U CN203765640 U CN 203765640U CN 201420168114 U CN201420168114 U CN 201420168114U CN 203765640 U CN203765640 U CN 203765640U
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Abstract
The utility model discloses a self-adaptive mechanical arm used for grabbing a cylindrical object. A self-adaptive mechanism is arranged at the lower end of each gripper (7). According to the specific structure of each self-adaptive mechanism, the lower middle portion of the corresponding gripper is in an inward-concave [ shape, the middle portion of each vertical self-adaptive rod (8a) is hinged to an end of a lower transverse rod of the corresponding gripper (7) through a pin (8b), bearings (8d) are fixed to the upper end of each self-adaptive rod (8a) and the lower end of the self-adaptive rod (8a) respectively, balls (8c) are arranged at the upper end of each self-adaptive rod (8a) and the lower end of the self-adaptive rod (8a) through the corresponding bearings respectively, and the upper portion and the lower portion of each self-adaptive rod (8a) are connected with a vertical rod on the lower portion of the corresponding gripper (7) through springs (8e). The mechanical arm and the cylindrical object are automatically centered in a mechanical self-adaptive mode, the object can be stably and rapidly grabbed, and the grabbing efficiency is high.
Description
Technical field
The utility model relates to a kind of adaptive manipulator.
Background technology
Full-fledged along with Robotics, application machine hand gripping object gradually in industrial production, on arena, often require mechanical hand to complete various grasping movement. existing manipulator conventionally by two hands, is grabbed or clamp arm is clamped object, and realizes the crawl to object.To cylinder object; arm does not have special concentric mechanism; capture thing can not with the center automatic centering of manipulator, often there will be situation about dropping after crawl, cause secondary to capture; greatly lower operating efficiency; and after the first crawl of cylinder object, changed its modes of emplacement, the difficulty that allows on the contrary secondary capture is larger, in various sports occasions and actual industrial production; aim at for a long time and drop and cause great time waste, in industrial production, greatly having improved production cost.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of adaptive manipulator, and this kind of manipulator adopts mechanical adaptive mode and the automatic centering of cylinder object, captures object stable and rapid, captures efficiency high.
The utility model solves its technical problem, the technical scheme adopting is: a kind of for capturing the adaptive manipulator of cylinder object, comprise the cylinder being connected with robot body, cylinder is fixed on the top of the support of " protruding " font, the cylinder boom end that cylinder stretches out is downwards hinged by the inner of hinge and horizontal two connecting rods, and the outer end of two connecting rods is fixedly connected with the middle part of rocking lever longitudinally; The end of rocking lever is fixedly connected with the upper end that vertical hand is grabbed; The middle and upper part that hand is grabbed and the side end of support are hinged by side hinge; It is characterized in that: adaptive mechanism is equipped with in the lower end that described hand is grabbed, the concrete structure of adaptive mechanism is:
The middle and lower part that hand is grabbed is indent " [" font, the middle part of vertical self adaptation bar is hinged on by pin the end that hand is grabbed lower crosspiece, the upper and lower of self adaptation bar is fixed with respectively bearing, upper end and the bottom of self adaptation bar are provided with ball by bearing, and the montant that bottom is also grabbed by spring and hand in the upper and lower of self adaptation bar is connected.
The course of work of the present utility model and principle are:
While capturing cylindrical object, robot body move near object and make cylinder be substantially positioned at crawled object directly over; Control cylinder makes cylinder bar stretch out two connecting rod the inners of downward drive to move downward, the upper end that the outer end of connecting rod and four hands are grabbed is inwardly flexible, the lower end that hand is grabbed outwards opens, and robot controls frame and moves downward and make lower end that four hands grab in crawled cylindrical periphery.Subsequently, cylinder shrinks, 4 hands are grabbed and are closed up, the little ball of one end that one of them hand is grabbed touches cylindrical periphery at first, self adaptation bar rotates around pin immediately, make that little ball and bearing that this hand is grabbed are all pressed close to, the periphery of extruded cylinder, extruding force is pointed to cylindrical center, and cylinder is moved to manipulator center; Ball and bearing are close to cylindrical periphery and are rolled, until heavy little the closing simultaneously in the center of cylinder and manipulator support, little ball and bearing that four hands are grabbed push against cylinder, no longer roll, and complete self adaptation gripping and move.
Compared with prior art, the beneficial effects of the utility model are:
The self adaptation bar that hand is grabbed end longitudinally pin rotates freely, thereby two bearings of two balls on self adaptation bar all can apply extruding force from multiple spot to ball by the cylindrical periphery of automatic paste tightening, under the effect of extruding force, cylinder moves to manipulator center, until the center superposition of cylinder and manipulator support, automatically accurate centering while realizing gripping circular object.What between grabbing with hand when in the process of centering, object moves, occur is relative rolling, and frictional force is little, and object moves freely, can realize fast to the heart and not damage object.After while centering completes, each hand has been grabbed two points, two lines, and whole manipulator has being adjacent to of eight points and eight lines and crawled body self-adaptation, and it captures also solid and reliable, difficult drop-off.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is the perspective view of the utility model embodiment.
In Fig. 1, label 13 is crawled cylinder object.
The specific embodiment
Embodiment
Fig. 1 illustrates, a kind of specific implementation of the present utility model is, a kind of for capturing the adaptive manipulator of cylinder object, comprise the cylinder 2 being connected with robot body, cylinder 2 is fixed on the top 1a of the support 1 of " protruding " font, the cylinder bar 2a end that cylinder 2 stretches out is downwards hinged with the inner of horizontal two connecting rods 4 by hinge 3, and the outer end of two connecting rods 4 is fixedly connected with the middle part of rocking lever 5 longitudinally; The end of rocking lever 5 and vertical hand are grabbed 7 upper end and are fixedly connected with; It is hinged by side hinge 6 that hand is grabbed the side end of 7 middle and upper part and support 1.Wherein said hand is grabbed 7 lower end adaptive mechanism is housed, and the concrete structure of adaptive mechanism is:
Hand is grabbed " [" font that 7 middle and lower part is indent, the middle part of vertical self adaptation bar 8a is hinged on by pin 8b the end that hand is grabbed 7 lower crosspiece, the upper and lower of self adaptation bar 8a is fixed with respectively bearing 8d, upper end and the bottom of self adaptation bar 8a are provided with ball 8c by bearing, and the montant that the upper and lower of self adaptation bar 8a is also grabbed 7 bottoms by spring 8e with hand is connected.
Claims (1)
1. one kind for capturing the adaptive manipulator of cylinder object, comprise the cylinder (2) being connected with robot body, cylinder (2) is fixed on the top (1a) of the support (1) of " protruding " font, cylinder bar (2a) end that cylinder (2) stretches out is downwards hinged with the inner of horizontal two connecting rods (4) by hinge (3), and the outer end of two connecting rods (4) is fixedly connected with the middle part of rocking lever (5) longitudinally; The upper end that (7) are grabbed with vertical hand in the end of rocking lever (5) is fixedly connected with; Hand grabs the middle and upper part of (7) and the side end of support (1) is hinged by side hinge (6); It is characterized in that: adaptive mechanism is equipped with in the lower end that described hand is grabbed (7), and the concrete structure of adaptive mechanism is:
The middle and lower part that hand is grabbed (7) is " [" font of indent, the middle part of vertical self adaptation bar (8a) is hinged on by pin (8b) end that hand is grabbed (7) lower crosspiece, the upper and lower of self adaptation bar (8a) is fixed with respectively bearing (8d), the upper end of self adaptation bar (8a) and bottom are provided with ball (8c) by bearing, and (7) bottom is also grabbed by spring (8e) in the upper and lower of self adaptation bar (8a) montant with hand is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420168114.2U CN203765640U (en) | 2014-04-09 | 2014-04-09 | Self-adaptive mechanical arm used for grabbing cylindrical object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420168114.2U CN203765640U (en) | 2014-04-09 | 2014-04-09 | Self-adaptive mechanical arm used for grabbing cylindrical object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203765640U true CN203765640U (en) | 2014-08-13 |
Family
ID=51282882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420168114.2U Expired - Fee Related CN203765640U (en) | 2014-04-09 | 2014-04-09 | Self-adaptive mechanical arm used for grabbing cylindrical object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203765640U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934828A (en) * | 2014-04-09 | 2014-07-23 | 西南交通大学 | Self-adaptation mechanical arm for grabbing cylindrical objects |
| CN105710890A (en) * | 2016-05-04 | 2016-06-29 | 天津中安华典数据安全科技有限公司 | Stable type robot arm structure for product tracing |
-
2014
- 2014-04-09 CN CN201420168114.2U patent/CN203765640U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934828A (en) * | 2014-04-09 | 2014-07-23 | 西南交通大学 | Self-adaptation mechanical arm for grabbing cylindrical objects |
| CN105710890A (en) * | 2016-05-04 | 2016-06-29 | 天津中安华典数据安全科技有限公司 | Stable type robot arm structure for product tracing |
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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: 20140813 Termination date: 20170409 |