CN205255027U - Pick underactuated on a large scale adapts to mechanical hand more - Google Patents
Pick underactuated on a large scale adapts to mechanical hand more Download PDFInfo
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- CN205255027U CN205255027U CN201521029152.0U CN201521029152U CN205255027U CN 205255027 U CN205255027 U CN 205255027U CN 201521029152 U CN201521029152 U CN 201521029152U CN 205255027 U CN205255027 U CN 205255027U
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- connecting rod
- dactylus
- joint
- large scale
- rotating shaft
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Abstract
The utility model discloses a pick underactuated on a large scale adapts to mechanical hand more, it indicates the mechanism including support frame and one hand, the one hand indicates that the mechanism including cylinder block, cylinder, preceding dactylus, well dactylus, last dactylus, first connecting rod, second connecting rod, V -arrangement connecting rod and third connecting rod, works as when move along in cylinder drive promotion joint, order about the V -arrangement connecting rod by the second connecting rod and overturn forward to through the third connecting rod forward the dactylus impose thrust, close up the state in order to make the one hand indicate that the mechanism is, when the cylinder drives when promoting the joint rearward movement, orders about the V -arrangement connecting rod by the second connecting rod and overturns backward to through the third connecting rod forward the dactylus impose the pulling force, indicate in order to make the one hand that the mechanism is the state of opening. The utility model discloses can realize snatching on a large scale to have simple structure, good reliability, maintenance and beneficial effect such as change easily use widely, are convenient for.
Description
Technical field
The utility model relates to Robotics field, relates in particular to one and captures on a large scale and owe to drive adapt to moreManipulator.
Background technology
Manipulator is some holding function that can imitate staff and arm, and in order to press, fixed routine captures, loadThe automatic pilot of part or operation tool. About the technology of manipulator, Canadian MDROBOTICS public affairsDepartment with Laval university cooperation research and development non-anthropomorphic hand is general owes to drive paw SARAH, and as a kind of fromAdapt to the auxiliary space instrument that swaps out, the folding of its finger, commutation task are by powerful and controlled torque motor controlSystem, can be used for carrying out multiple space and capture task, and this paw is totally 10 frees degree, and 3 fingers are everyIndividual finger has 3 joints, additional 1 rotational freedom in addition, and whole paw only drives with two motors,A motor is responsible for the folding of paw, and another is responsible for turning to of finger, adopts flat sided straight differential gear mode,Form a road and input three tunnels outputs, remove respectively to drive three fingers opening-closings, and by Geneva mechanism to three handsTwo in finger are carried out position adjustment, turn to, to be applicable to the crawl of difformity object. But thisThere is following defect in manipulator:
1, existing various flexible manipulator and underactuated manipulator, although the free degree and strong adaptability,Structure is too complicated, and structure optimization needs very professional means and knowledge;
2,3 joints in existing link-type underactuated manipulator are all rotatable, generally realize envelope and capture movingDo, need to increase a parallelogram connection-rod auxiliary body and pinch to get, be guarantee reliability in the time of operation,Need to add multiple springs, multiple mechanisms such as spacing ensure reliability service, complex structure, and manufacturing cost is high;
3, existing link-type underactuated manipulator, because sensor is many, drives structure complexity, causes and controls systemSystem is complicated, and cost costliness.
Utility model content
The technical problems to be solved in the utility model is, for the deficiencies in the prior art, provides a kind of energy realNow capture on a large scale, simple in structure, good reliability, be easy to promote the use of, be convenient to maintenance and owing of changing drivenMoving multi-adaptation mechanical hand.
For solving the problems of the technologies described above, the utility model adopts following technical scheme.
One captures on a large scale owes to drive multi-adaptation mechanical hand, and it includes bracing frame, on support frame as described above, establishesHave at least two relative single finger mechanisms, wherein: described single finger mechanism include cylinder block, cylinder,Front dactylus, middle finger joint, last dactylus, first connecting rod, second connecting rod, V-arrangement connecting rod and third connecting rod, described inCylinder block and last dactylus are all fixed on bracing frame, the end of described cylinder and cylinder block chain connection, described inThe front end of cylinder is used for driving a promotion joint to move forward and backward, and described promotion joint is successively through first connecting rodOne end of one end and second connecting rod, and described first connecting rod and second connecting rod be all rotationally connected with promoting joint,The other end of described first connecting rod and last dactylus chain connection, the other end of described second connecting rod and V-arrangement connecting rodPars intermedia chain connection, the front end of described last dactylus is provided with the first rotating shaft, one end of described V-arrangement connecting rod andThe rear end of middle finger joint is all rotationally connected with this first rotating shaft, and the end of described front dactylus is provided with the second rotating shaft andThree rotating shafts, the second rotating shaft top is located in described the 3rd rotating shaft, and the front end of described middle finger joint and the second rotating shaft are rotatedConnect, the rear end chain connection of the other end of described V-arrangement connecting rod and third connecting rod, before described third connecting rodEnd is rotationally connected with the 3rd rotating shaft; In the time that described cylinder drives promotion joint to move forward, by second connecting rodOrder about V-arrangement connecting rod and overturn forward, and by third connecting rod forward dactylus impose thrust, to make front dactylus aroundTwo pivoted downward, middle finger joint are around the first pivoted downward, and described single finger mechanism is and closes up state;In the time that described cylinder drives promotion joint to move backward, order about V-arrangement connecting rod by second connecting rod and turn over,And by third connecting rod forward dactylus impose pulling force, with make front dactylus around the second rotating shaft upwards rotate, middle finger jointUpwards rotate the open-shaped state of described single finger mechanism around the first rotating shaft.
Preferably, be fixed with the first limited block on support frame as described above, the front end of described the first limited block is formed withProjection, the below of described projection offers recess, and the end of described middle finger joint is formed with end face, described one handWhile referring to the open-shaped state of mechanism, the end face of described middle finger joint is connected to projection, and between described recess and end faceThere is space.
Preferably, the bottom of described end face is formed with arcwall face.
Preferably, be fixed with the second limited block on described support, described the second limited block is located at the upper of front dactylusSide, when the open-shaped state of described single finger mechanism, described front dactylus is connected to the second limited block.
Preferably, the sidepiece of described support is provided with inductive switch, and described inductive switch includes sensing chip, instituteState sensing chip and extend to bracing frame below, and in the time that described sensing chip senses workpiece, described cylinder drives and pushes awayMovable joint moves forward, to make single finger mechanism close up.
Preferably, on described front dactylus, be fixed with tooth profile slice, the teeth of described tooth profile slice down.
Preferably, support frame as described above is provided with four single finger mechanisms, and four one hands refer to that branch construction is in supportThe both sides of frame.
Preferably, the middle of support frame as described above is fixed with arm, and described arm by the top of bracing frame upwardsExtend.
The utility model is disclosed owes to drive multi-adaptation mechanical hand, its beneficial effect compared to existing technologiesBe: first, the utility model has been realized shape variation large, the workpiece grabbing that change in size is large, andUnder complex environment, realize and capturing, meanwhile, in the face of commercial Application, can lower as far as possible various unreliable factors,Reduce fault rate, make its stable operation, there is the cost advantage of replicability and commercial applications, secondly,This manipulator has reaction flexibly, can realize the maximization of production efficiency, and in addition, the utility model alsoThere is processing, assemble feature simple, easy to maintenance, by the modularization setting of finger parts, therebyObtain the scope of application widely.
Brief description of the drawings
Fig. 1 is the stereogram that the utility model owes to drive multi-adaptation mechanical hand.
Fig. 2 is the side view of single finger mechanism.
Fig. 3 is the enlarged drawing of A part in Fig. 1.
Fig. 4 is the enlarged drawing of B part in Fig. 2.
Fig. 5 is the stereogram of single finger mechanism.
Fig. 6 is the stereogram of the utility model while owing to drive multi-adaptation mechanical hand grabbing workpiece.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in more detail.
The utility model discloses one and capture on a large scale and owe to drive multi-adaptation mechanical hand, in conjunction with Fig. 1 to Fig. 6Shown in, it includes bracing frame 1, and support frame as described above 1 is provided with at least two relative single finger mechanisms 2,Wherein:
Described single finger mechanism 2 includes cylinder block 20, cylinder 21, front dactylus 22, middle finger joint 23, endDactylus 24, first connecting rod 25, second connecting rod 26, V-arrangement connecting rod 27 and third connecting rod 28, described cylinder block20 and last dactylus 24 be all fixed on bracing frame 1, the end of described cylinder 21 and cylinder block 20 chain connections,The front end of described cylinder 21 is used for driving a promotion joint 210 to move forward and backward, and described promotion joint 210 successivelyThrough one end of first connecting rod 25 and one end of second connecting rod 26, and described first connecting rod 25 and second connecting rod26 are all rotationally connected with promoting joint 210, and the other end of described first connecting rod 25 and last dactylus 24 hinges connectConnect the pars intermedia chain connection of the other end of described second connecting rod 26 and V-arrangement connecting rod 27, described last dactylus24 front end is provided with the first rotating shaft 240, the rear end of one end of described V-arrangement connecting rod 27 and middle finger joint 23 all withThis first rotating shaft 240 is rotationally connected, and the end of described front dactylus 22 is provided with the second rotating shaft 220 and the 3rd rotating shaft221, the second rotating shaft 220 tops, the front end of described middle finger joint 23 and second are located in described the 3rd rotating shaft 221Rotating shaft 220 is rotationally connected, the rear end chain connection of the other end of described V-arrangement connecting rod 27 and third connecting rod 28,The front end of described third connecting rod 28 and the 3rd rotating shaft 221 are rotationally connected;
In the time that described cylinder 21 drives promotion joint 210 to move forward, order about V-arrangement by second connecting rod 26Connecting rod 27 overturns forward, and by third connecting rod 28 forward dactylus 22 impose thrust, to make front dactylus 22Around the second rotating shaft 220 rotate, middle finger joint 23 rotates around the first rotating shaft 240, described one hand refers to machineStructure 2 is and closes up state;
In the time that described cylinder 21 drives promotion joint 210 to move backward, order about V-arrangement by second connecting rod 26Connecting rod 27 is turned over, and by third connecting rod 28 forward dactylus 22 impose pulling force, to make front dactylus 22Around the second rotating shaft 220 upwards rotate, middle finger joint 23 upwards rotates around the first rotating shaft 240, described one hand refers to machineThe open-shaped state of structure 2.
Due to end and cylinder block 20 chain connections of cylinder 21, so promote joint 210 when cylinder 21 drivesWhile moving forward and backward, the angle between this cylinder 21 and bracing frame 1 changes thereupon, to meet being subject to force directionSuitably adjust. About the computational process of the free degree, there is following formula:
dof＝3m-2PL-PH；
Wherein, m is moving link quantity, and PL is low secondary motion sum, and PH is high secondary motion sum; AndFront dactylus and middle finger joint are all movement parts, i.e. m=2 has two revolute pairs, i.e. PL=2, does not have higher pair,Be PH=0, bring above formula into, have: dof=3*2-2*2-0=2; Therefore, each single finger mechanism has two certainlyBy spending.
Above-mentionedly owe to drive multi-adaptation mechanical hand, in the time that cylinder 21 promotes forward, single finger mechanism 2 is to closing up shapeState transforms, and captures or pinches and get after clamping until envelope stablized by workpiece by middle finger joint and front dactylus, just stops movingDo, and then reach the effect of stablizing gripping. First, the utility model has been realized shape variation large, sizeChange large workpiece grabbing, and realize and capturing under complex environment, meanwhile, in the face of commercial Application, can be to the greatest extentAmount lowers various unreliable factors, reduces fault rate, makes its stable operation, has replicability and commercializationThe cost advantage of application, secondly, this manipulator has reaction flexibly, can realize the maximum of production efficiencyChange, in addition, the utility model also has processing, assembles feature simple, easy to maintenance, by pointing zeroThe modularization setting of parts, thus the scope of application widely obtained.
As a kind of optimal way, on support frame as described above 1, be fixed with the first limited block 3, described the first limited block3 front end is formed with projection 30, and the below of described projection 30 offers recess 31, described middle finger joint 23End is formed with end face 230, when described single finger mechanism 2 open-shaped state, and the end face of described middle finger joint 23230 are connected to projection 30, and have space between described recess 31 and end face 230. Described end face 230Bottom is formed with arcwall face 231.
Further, be fixed with the second limited block 4 on described support 1, described the second limited block 4 is located at front fingerThe top of joint 22, when described single finger mechanism 2 open-shaped state, described front dactylus 22 is connected to the second limitPosition piece 4. Support frame as described above 1 is provided with 2, four single finger mechanisms 2 of four single finger mechanisms and is divided into supportThe both sides of frame 1.
Wherein, the sidepiece of described support 1 is provided with inductive switch 5, and described inductive switch 5 includes sensing chip50, described sensing chip 50 extends to bracing frame 1 below, and senses workpiece 100 when described sensing chip 50Time, described cylinder 21 drives promotion joint 210 to move forward, to make single finger mechanism 2 close up.
Wherein, the utility model adopts 4 single finger mechanism 2 interoperations, but does not limit in practical applicationIn the combination of 4 mechanical fingers, in the time that manipulator does not need gripping, cylinder 21 shrinks, single finger mechanism 2 byGradually open, due to the effect of two limited blocks, each middle finger joint, front dactylus be in fixing open mode,In the time that sensing chip is touched and backed down by workpiece, due to the change of sense state, induced signal is transported to controls systemSystem, the action of control system control cylinder. Each single finger mechanism is driven separately by a cylinder, when cylinder toWhen front motion, due to the difference of workpiece and gripping position, single finger mechanism has following two kinds of situations to occur:
The first, if middle finger joint point first touches workpiece, cylinder still travels forward, current dactylusA bit or when another point of middle finger joint touches workpiece again, manipulator is by completely spacing, cylinder be subject to resistance andStop promoting, and power is delivered to bite, thereby realize gripping;
The second, if front dactylus point first touches workpiece, cylinder moves forward, and works as middle finger jointA bit or when another point of front dactylus touches workpiece again, manipulator is by completely spacing, cylinder is subject to resistanceAnd stop promoting, and power is delivered to bite, thus realize gripping;
That is to say, 2 of current dactylus or whole contact workpiece are to pinch gets clamping, and front dactylusAny and middle finger joint a bit contact respectively workpiece and are envelope crawl.
For holding workpiece 100 better, on described front dactylus 22, be fixed with tooth profile slice 222, described profile of toothThe teeth of sheet 222 down.
In practical application, the middle of support frame as described above 1 is fixed with arm 6, and described arm 6 is by bracing frame 1Top upwards extend. Therefore, can manipulator be fixed on by this arm 6 to the predeterminated position of equipment.
The utility model is disclosed to be captured and owes to drive multi-adaptation mechanical hand on a large scale, and its simple structure, is beingSystem optimization is upper, and without doing too much optimization detail work, meanwhile, the utility model control is simple, only needs oneThe induced signal of individual feedback, just can realize and controlling this manipulator, and in addition, gripping power of the present utility model moreEasy to control, by the pressure-regulating valve of configuration, can regulate bleed pressure, thereby reach suitableGripping power, again, the utility model is with low cost, practicality good, is adapted at industrial technology field and extensively shouldWith, and contribute to promote industrial 4.0 implementations.
The above is the utility model preferred embodiment, is not limited to the utility model, allThe amendment made in technical scope of the present utility model, be equal to and replace or improvement etc., all should be included in this realityIn novel protected scope.
Claims (8)
1. capture and owe to drive a multi-adaptation mechanical hand on a large scale, it is characterized in that, include bracing frame, instituteState bracing frame and be provided with at least two relative single finger mechanisms, wherein:
Described single finger mechanism includes cylinder block, cylinder, front dactylus, middle finger joint, last dactylus, first evenBar, second connecting rod, V-arrangement connecting rod and third connecting rod, described cylinder block and last dactylus are all fixed on bracing frame,The end of described cylinder and cylinder block chain connection, the front end of described cylinder is used for driving before and after a promotion jointMobile, described promotion joint is passed one end of first connecting rod and one end of second connecting rod successively, and described firstConnecting rod and second connecting rod are all rotationally connected with promoting joint, the other end of described first connecting rod and last dactylus hingeConnect, the pars intermedia chain connection of the other end of described second connecting rod and V-arrangement connecting rod, before described last dactylusEnd is provided with the first rotating shaft, and one end of described V-arrangement connecting rod and the rear end of middle finger joint are all rotated and connected with this first rotating shaftConnect, the end of described front dactylus is provided with the second rotating shaft and the 3rd rotating shaft, and the second rotating shaft is located in described the 3rd rotating shaftTop, the front end of described middle finger joint and the second rotating shaft are rotationally connected, the other end of described V-arrangement connecting rod and the 3rdThe rear end chain connection of connecting rod, the front end of described third connecting rod and the 3rd rotating shaft are rotationally connected;
In the time that described cylinder drives promotion joint to move forward, order about V-arrangement connecting rod by second connecting rod and turn over forwardTurn, and by third connecting rod forward dactylus impose thrust, with make front dactylus around the second pivoted downward, inDactylus is around the first pivoted downward, and described single finger mechanism is and closes up state;
In the time that described cylinder drives promotion joint to move backward, order about V-arrangement connecting rod by second connecting rod and turn over backwardTurn, and by third connecting rod forward dactylus impose pulling force, with make front dactylus around the second rotating shaft upwards rotate, inDactylus upwards rotates around the first rotating shaft, the open-shaped state of described single finger mechanism.
2. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteState on bracing frame and be fixed with the first limited block, the front end of described the first limited block is formed with projection, described projectionBelow offer recess, the end of described middle finger joint is formed with end face, described single finger mechanism is open-shapedWhen state, the end face of described middle finger joint is connected to projection, and has space between described recess and end face.
3. crawl on a large scale as claimed in claim 2 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteThe bottom of stating end face is formed with arcwall face.
4. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteState on support and be fixed with the second limited block, described the second limited block is located at the top of front dactylus, and described one hand refers toWhen mechanism open-shaped state, described front dactylus is connected to the second limited block.
5. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteThe sidepiece of stating support is provided with inductive switch, and described inductive switch includes sensing chip, and described sensing chip is to supportExtend frame below, and in the time that described sensing chip senses workpiece, described cylinder drives promotion joint to move forward,To make single finger mechanism close up.
6. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteState on front dactylus and be fixed with tooth profile slice, the teeth of described tooth profile slice down.
7. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteState bracing frame and be provided with four single finger mechanisms, four one hands refer to that branch construction is in the both sides of bracing frame.
8. crawl on a large scale as claimed in claim 1 owes to drive multi-adaptation mechanical hand, it is characterized in that instituteThe middle of stating bracing frame is fixed with arm, and described arm is upwards extended by the top of bracing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521029152.0U CN205255027U (en) | 2015-12-10 | 2015-12-10 | Pick underactuated on a large scale adapts to mechanical hand more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521029152.0U CN205255027U (en) | 2015-12-10 | 2015-12-10 | Pick underactuated on a large scale adapts to mechanical hand more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205255027U true CN205255027U (en) | 2016-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521029152.0U Expired - Fee Related CN205255027U (en) | 2015-12-10 | 2015-12-10 | Pick underactuated on a large scale adapts to mechanical hand more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205255027U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN108652910A (en) * | 2018-02-09 | 2018-10-16 | 湖北工业大学 | A kind of joint of robot device of cylinder driving |
-
2015
- 2015-12-10 CN CN201521029152.0U patent/CN205255027U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN108652910A (en) * | 2018-02-09 | 2018-10-16 | 湖北工业大学 | A kind of joint of robot device of cylinder driving |
| CN108652910B (en) * | 2018-02-09 | 2019-12-27 | 湖北工业大学 | Recovered robot joint device of cylinder driven |
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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: 20160525 Termination date: 20191210 |