CN204525507U - Self adaptation Multifunctional apery mechanical finger - Google Patents
Self adaptation Multifunctional apery mechanical finger Download PDFInfo
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- CN204525507U CN204525507U CN201520162342.3U CN201520162342U CN204525507U CN 204525507 U CN204525507 U CN 204525507U CN 201520162342 U CN201520162342 U CN 201520162342U CN 204525507 U CN204525507 U CN 204525507U
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- finger
- self adaptation
- bar
- extensible member
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Abstract
The utility model discloses a kind of self adaptation Multifunctional apery mechanical finger device with functions, comprise finger base, be connected to described finger base multiple self adaptations finger and for driving the power set of described self adaptation finger motion; Described self adaptation finger comprises the outer bar that the inner is articulated with the interior bar of finger base, the inner is articulated with interior bar outer end intermediate bar and the inner are articulated with intermediate bar outer end, the utility model is applied on harbour mechanical arm, intelligence carrying is carried out to parts large complicated on harbour, and operating efficiency is not only increased to the stressed real-time monitoring carrying out Real-Time Monitoring and handling process that it is handled upside down in process, reduce the labour intensity of operating personnel, improve the security of freight handling.
Description
Technical field
The utility model relates to a kind of robot device, particularly relates to a kind of self adaptation Multifunctional apery mechanical finger device with functions.
Background technology
In order to improve the conevying efficiency of large-scale five metals device and complex parts, in engineering, normal employing is transported by freighter.But when it to be carried to from freighter on lorry on the bank or when being carried to freighter from lorry, harbour often adopts rope part or parts to be bundled, then hook and artificial cooperation is adopted to pick up it, carry, discharge.This mode of transport also exists great potential safety hazard, operating efficiency and also there is great room for promotion.
Therefore a kind of self adaptation Multifunctional apery mechanical finger is needed, mechanical finger can adjust its work layout according to the shape of article and size, ensure the stationarity being handled upside down article center of gravity, not only reduce larger potential safety hazard, also improve operating efficiency, embody the intellectuality of industry, automation simultaneously, and then expand the range of application of industrial robot.
Utility model content
In view of this, the utility model is a kind of self adaptation Multifunctional apery mechanical finger, be applied on harbour mechanical arm, intelligence carrying is carried out to parts large complicated on harbour, and operating efficiency is not only increased to the stressed real-time monitoring carrying out Real-Time Monitoring and handling process that it is handled upside down in process, reduce the labour intensity of operating personnel, improve the security of freight handling.
Self adaptation Multifunctional apery mechanical finger of the present utility model, comprising finger base, being connected to the multiple self adaptations of described finger base finger and for driving the power set of described self adaptation finger motion; Described self adaptation finger comprises the outer bar that the inner is articulated with the interior bar of finger base, the inner is articulated with interior bar outer end intermediate bar and the inner are articulated with intermediate bar outer end; Described power set comprise the first extensible member of being connected to hinge between described interior bar and intermediate bar and the second extensible member for driving described outer bar to rotate relative to intermediate bar; The driving-belt that described outer bar is fixed with regulating wheel and coordinates with this regulating wheel transmission, described second extensible member is connected to this driving-belt and rotates for pulling regulating wheel;
Self adaptation Multifunctional apery mechanical finger of the present utility model also comprises controller, and described first extensible member comprises the first artificial-muscle be connected with controller signals, and described second extensible member comprises the second artificial-muscle be connected with controller signals.
Further, described outer bar is provided with the pressure sensor for gathering pressure parameter between outer bar and crawled thing and this pressure sensor signal is connected to controller;
Self adaptation Multifunctional apery mechanical finger of the present utility model also comprises the barrel-shaped matrix for holding described finger base and described finger base is rotatably arranged in this matrix; Described finger base is connected with the motor for driving finger base to rotate;
Further, described matrix is fixed with control arm, described control arm outer end is fixed with the video camera be connected with controller signals;
Further, the first return spring that described first extensible member also comprises and the first artificial-muscle is coaxially arranged and described first return spring is connected on the hinge between described interior bar and intermediate bar; Described second extensible member also comprises the second return spring be connected with driving-belt;
Further, described self adaptation finger is provided with six and is uniformly distributed along finger base circumference.
The beneficial effects of the utility model are: self adaptation Multifunctional apery mechanical finger of the present utility model, by the stretching motion controlling the first extensible member can control self adaptation finger intermediate bar and interior bar relatively rotate, thus make self adaptation finger stretch out to capture goods, simultaneously by the contraction of control first extensible member can control self adaptation finger outer bar rotate relative to intermediate bar, outer bar cramp is made tightly to need crawled goods, mechanical finger of the present utility model can adjust its work layout according to the shape of article and size, be similar to the finger movement of people, ensure the stationarity being handled upside down article center of gravity, not only reduce larger potential safety hazard, also improve operating efficiency, embody the intellectuality of industry simultaneously, automation, and then expanded the range of application of industrial robot.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of self adaptation of the present utility model finger.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model, Fig. 2 is the structural representation of self adaptation of the present utility model finger, as shown in the figure, the self adaptation Multifunctional apery mechanical finger of the present embodiment, comprising finger base, being connected to the multiple self adaptations of described finger base finger and for driving the power set of described self adaptation finger motion, described self adaptation finger comprises the outer bar 4 that the inner is articulated with the interior bar 2 of finger base, the inner is articulated with interior bar 2 outer end intermediate bar 3 and the inner are articulated with intermediate bar 3 outer end, described power set comprise the first extensible member of being connected to hinge between described interior bar 2 and intermediate bar 3 and the second extensible member for driving described outer bar 4 to rotate relative to intermediate bar 3, the driving-belt that described outer bar 4 is fixed with regulating wheel and coordinates with this regulating wheel transmission, described second extensible member is connected to this driving-belt and rotates for pulling regulating wheel, by the stretching motion controlling the first extensible member can control self adaptation finger intermediate bar 3 and interior bar 2 relatively rotate, thus make self adaptation finger stretch out to capture goods, simultaneously by the contraction of control first extensible member can control self adaptation finger outer bar 4 rotate relative to intermediate bar 3, outer bar 4 is clamped and needs crawled goods, mechanical finger of the present utility model can adjust its work layout according to the shape of article and size, be similar to the finger movement of people, ensure the stationarity being handled upside down article center of gravity, not only reduce larger potential safety hazard, also improve operating efficiency, embody the intellectuality of industry simultaneously, automation, and then expanded the range of application of industrial robot.
The self adaptation Multifunctional apery mechanical finger of the present embodiment also comprises controller, described first extensible member comprises the first artificial-muscle 7 be connected with controller signals, described second extensible member comprises the second artificial-muscle 8 be connected with controller signals, Pneumatic artificial muscle is a kind of novel tension type pneumatic apparatus, when passing into compressed air, very strong convergent force can be produced like that by anthropoid muscle, so be called Pneumatic artificial muscle, Pneumatic artificial muscle breaches pneumatic apparatus work done with brand-new design concept must promote this traditional concept of piston by compressed air.Compared with traditional cylinder, eliminate all multiple components such as piston, piston rod, cylinder barrel, sealing ring, primarily of pipe, fiber knitted net overcoat and both ends connector composition in elastic caoutchouc.Pneumatic artificial muscle has structure is simple, High power output, mechanical moving component produce friction, the particularly feature such as safe, submissive, in the present embodiment, the contraction controlling the first artificial-muscle 7 and the second artificial-muscle 8 by controller can control self adaptation and point and stretch out and promptly goods reliably.
In the present embodiment, described outer bar 4 is provided with the pressure sensor for gathering pressure parameter between outer bar 4 and crawled thing and this pressure sensor signal is connected to controller, the upper setting pressure sensor of self adaptation finger, can regulate in real time the size of crawled object receiving force after controller accepts pressure signal, the real-time control that when ensureing to carry, article are stressed, avoids crawled object to come off.
The self adaptation Multifunctional apery mechanical finger of the present embodiment also comprises the barrel-shaped matrix 1 for holding described finger base and described finger base is rotatably arranged in this matrix 1; Described finger base is connected with the motor for driving finger base to rotate, controller controls motor-driven and finger base can be driven to rotate, the handled thing shape that finger base can detect according to checkout gear and weight are carried out rotation and are regulated, to ensure that object is handled upside down the stationarity in process.
In the present embodiment, described matrix 1 is fixed with control arm 5, described control arm 5 outer end is fixed with the video camera 6 be connected with controller signals, control arm 5 can adopt multi-connecting-rod mechanism, thus realizes the adjustment of video camera 6 position, and video camera 6 is for monitoring crawled object in real time, thus determine required self adaptation finger quantity, the work of self adaptation finger is distributed simultaneously, choose 3-4 finger and carry out work, the just simple auxiliary balance effect of residue finger.
In the present embodiment, described first extensible member also comprises coaxial the first return spring 9 of arranging with the first artificial-muscle 7 and described first return spring 9 is connected on the hinge between described interior bar 2 and intermediate bar 3; Described second extensible member also comprises the second return spring 10 be connected with driving-belt, when artificial-muscle loosens, realizes the crawled object of self adaptation grip finger by return spring.
In the present embodiment, described self adaptation finger is provided with six and is uniformly distributed along finger base circumference, and judges to determine required self adaptation finger by controller.
What finally illustrate is, above utility model is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (7)
1. a self adaptation Multifunctional apery mechanical finger, is characterized in that: comprising finger base, being connected to the multiple self adaptations of described finger base finger and for driving the power set of described self adaptation finger motion; Described self adaptation finger comprises the outer bar that the inner is articulated with the interior bar of finger base, the inner is articulated with interior bar outer end intermediate bar and the inner are articulated with intermediate bar outer end; Described power set comprise the first extensible member of being connected to hinge between described interior bar and intermediate bar and the second extensible member for driving described outer bar to rotate relative to intermediate bar; The driving-belt that described outer bar is fixed with regulating wheel and coordinates with this regulating wheel transmission, described second extensible member is connected to this driving-belt and rotates for pulling regulating wheel.
2. self adaptation Multifunctional apery mechanical finger according to claim 1, it is characterized in that: also comprise controller, described first extensible member comprises the first artificial-muscle be connected with controller signals, and described second extensible member comprises the second artificial-muscle be connected with controller signals.
3. self adaptation Multifunctional apery mechanical finger according to claim 2, is characterized in that: described outer bar is provided with the pressure sensor for gathering pressure parameter between outer bar and crawled thing and this pressure sensor signal is connected to controller.
4. self adaptation Multifunctional apery mechanical finger according to claim 1, is characterized in that: also comprise the barrel-shaped matrix for holding described finger base and described finger base is rotatably arranged in this matrix; Described finger base is connected with the motor for driving finger base to rotate.
5. self adaptation Multifunctional apery mechanical finger according to claim 4, is characterized in that: described matrix is fixed with control arm, and described control arm outer end is fixed with the video camera be connected with controller signals.
6. self adaptation Multifunctional apery mechanical finger according to claim 2, is characterized in that: the first return spring that described first extensible member also comprises and the first artificial-muscle is coaxially arranged and described first return spring is connected on the hinge between described interior bar and intermediate bar; Described second extensible member also comprises the second return spring be connected with driving-belt.
7. self adaptation Multifunctional apery mechanical finger according to claim 2, is characterized in that: described self adaptation finger is provided with six and is uniformly distributed along finger base circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520162342.3U CN204525507U (en) | 2015-03-20 | 2015-03-20 | Self adaptation Multifunctional apery mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520162342.3U CN204525507U (en) | 2015-03-20 | 2015-03-20 | Self adaptation Multifunctional apery mechanical finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204525507U true CN204525507U (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520162342.3U Expired - Fee Related CN204525507U (en) | 2015-03-20 | 2015-03-20 | Self adaptation Multifunctional apery mechanical finger |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
| CN108638098A (en) * | 2018-04-25 | 2018-10-12 | 清华大学 | Omnidirectional interlocks oscillating rod battle array adaptive robot arm device |
| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
-
2015
- 2015-03-20 CN CN201520162342.3U patent/CN204525507U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
| CN104890002B (en) * | 2015-03-20 | 2016-09-07 | 重庆交通大学 | Adaptive mechanical arm apparatus |
| CN108638098A (en) * | 2018-04-25 | 2018-10-12 | 清华大学 | Omnidirectional interlocks oscillating rod battle array adaptive robot arm device |
| CN108638098B (en) * | 2018-04-25 | 2020-09-25 | 清华大学 | Omnidirectional staggered swinging rod array self-adaptive robot hand device |
| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
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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 |
Granted publication date: 20150805 Termination date: 20160320 |
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| CF01 | Termination of patent right due to non-payment of annual fee |