CN205415675U - Manipulator with actuating system - Google Patents
Manipulator with actuating system Download PDFInfo
- Publication number
- CN205415675U CN205415675U CN201620219227.XU CN201620219227U CN205415675U CN 205415675 U CN205415675 U CN 205415675U CN 201620219227 U CN201620219227 U CN 201620219227U CN 205415675 U CN205415675 U CN 205415675U
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- Prior art keywords
- connects
- gear
- finger
- drive system
- connecting rod
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- 239000007787 solid Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 9
- 244000060701 Kaempferia pandurata Species 0.000 claims description 6
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001020 rhythmical effect Effects 0.000 description 1
Abstract
Manipulator with actuating system. Its constitution of this product includes: base (1), the base connect raking strut A (2) and raking strut B (14), raking strut A with raking strut B all connect upper bracket (6), the upper bracket connect transfer line (3), the transfer line connect T shape screw rod (4), the upper bracket connect branch (7), branch connect palm (8), the transfer line connect finger (9), the base connect straight strut (10) and lock tooth (13), the transfer line connect motor (15), the finger connect drive gear (12), the transfer line connect the actuating system. The utility model is used for the manipulator.
Description
Technical field:
This utility model relates to a kind of mechanical hand with drive system.
Background technology:
Although mechanical hand is so flexible unlike staff when carrying out logistics operation, but it to have snatch strength compared with staff big, untiring, the feature being fearless of danger.Therefore the research of mechanical hand has very general sense to the development of logistic industry,
The eighties in last century, China payes attention to the development of science and technology, and domestic manipulator design starts rudiment occur；Passing through the development up to more than 30 years, China has gradually grasped robot hardware manufacturing technology and has manipulated ability with software design；And applied to the fields such as logistics handling, medical treatment.And for those external more advanced technology, the technology of China need nonetheless remain for long-term study, and in place of drawing their advanced person.Certainly, among these, the domestic mechanical hand making the world regard with special esteem that also have developed, i.e. " 863 " in the works can be in the mechanical hands of 6000 meters of underwater performances.And the one in its advanced machinery hands that to be China develop.
Along with the development of world today's robotics, one of the research of under-actuated finger popular research direction having become robot research field.
Summary of the invention:
The purpose of this utility model is to provide a kind of compact conformation, lightweight, controls to simplify, captures the mechanical hand reliably with drive system.
Above-mentioned purpose is realized by following technical scheme:
A kind of mechanical hand with drive system, its composition includes: base (1), described base connects inclined strut A(2) and inclined strut B(14), described inclined strut A and described inclined strut B is all connected with upper bracket (6), described upper bracket connects drive link (3), described drive link connects T-shaped screw rod (4), described upper bracket connects pole (7), described pole connects palm (8), described drive link connects finger (9), described base connects straight strut (10) and lock tooth (13), described drive link connects motor (15), described finger connects travelling gear (12), described drive link connects drive system.
The described mechanical hand with drive system, is fixed by screw (5) between described T-shaped screw rod and described upper bracket, is connected by side screw (11) is fixing between described drive link and described T-shaped screw rod.
The described mechanical hand with drive system, described finger includes driving crank (1-1), described driving crank connection refers to root (1-2) and lower link (1-5), described lower link connects rocking bar (1-6) under three holes, under three described holes, rocking bar connects upper connecting rod (1-9), described upper connecting rod connects finger tip (1-10), described finger root connects first knuckle (1-4), described first knuckle connects second knuckle (1-8), the described finger tip described in second knuckle connection, described driving crank connects side connecting rod (1-15).
The described mechanical hand with drive system, described finger root connects finger gag lever post (1-16), described side connecting rod connects rocking bar (1-14) on three holes, on three described holes, rocking bar connects connecting rod (1-13), described connecting rod connects rocking bar (1-11), described refers to that root is connected by pin (1-3) with described palm, being connected by spring location screw (1-12) between described connecting rod with rocking bar on three described holes, described finger gag lever post connects finger angle modulation screw (1-7).
nullThe described mechanical hand with drive system，Described drive system includes described base，Described base connects screw rod (2-9)、Gear (2-4)、Pillar (2-2)，Described gear connects power transmission shaft (2-7)，Described power transmission shaft connects train bearing (2-8)，Described train bearing connects lower sun gear (2-3)，Described power transmission shaft connects tie-rod (2-12)，Described tie-rod connects lower ring gear (2-11)，Described lower sun gear connects lower planetary gear (2-14)，Described lower planetary gear connects lower centring ring (2-15)，Described lower planetary gear connects upper planet wheel (2-17)，Described upper planet wheel connects upper ring gear (2-18)，Described upper ring gear connects upper sun gear (2-19)，Described upper sun gear connects solid shafting (2-16)，Described solid shafting connects hollow axle (2-23)，Described hollow axle branch sleeve (2-24)，Described hollow axle is sequentially connected with a gear wheel (2-6) and No. two gear wheels (2-5)，Described solid shafting connects No. three gear wheels (2-22)，No. two described gear wheels connect travelling gear (2-21).
The described mechanical hand with drive system, the described screw rod described in travelling gear connection, described screw rod connects locating ring (2-10), described screw rod connects upper bracket (6), described solid shafting connects centring ring (2-20), the top of described solid shafting connects upper bush (2-1), and described upper sun gear connects lower sleeve (2-13).
Beneficial effect:
Each finger the most of the present utility model Dou Youliangtao mechanism: have the self-reacting characteristic of goods shape captured, can complete accurately to capture the strength with complete envelope and capture.
2. the drive system that this utility model uses has lacked 5 motors with driving system structure compared with general multi-finger manipulator, saves energy, reduces cost, alleviates weight, enhances system flexibility.
3. this utility model goods captures flexible mechanical hand and has three fingers, improves the stability of crawl, the spherical goods of convenient crawl and column goods.
4. the automaticity during this utility model improves production process, improves working conditions；Avoid personal injury, it is possible to alleviate manpower expenditure, it is simple to rhythmical production；And improve work efficiency, decrease breaking damage of goods rate.
Accompanying drawing illustrates:
Accompanying drawing 1 is the structural representation of this product.
Accompanying drawing 2 is the top view of accompanying drawing 1.
Accompanying drawing 3 is the left view of accompanying drawing 1.
Accompanying drawing 4 is the structural representation of finger in accompanying drawing 1.
Accompanying drawing 5 is the left view of accompanying drawing 4.
Accompanying drawing 6 is the C-C direction view of accompanying drawing 4.
Accompanying drawing 7 is the driving system structure schematic diagram of accompanying drawing 1.
Accompanying drawing 8 is the left view of accompanying drawing 7.
Detailed description of the invention:
Embodiment 1:
A kind of mechanical hand with drive system, its composition includes: base 1, described base connects inclined strut A2 and inclined strut B14, described inclined strut A and described inclined strut B is all connected with upper bracket 6, described upper bracket connects drive link 3, described drive link connects T-shaped screw rod 4, described upper bracket connects pole 7, described pole connects palm 8, described drive link connects finger 9, and described base connects straight strut 10 and lock tooth 13, and described drive link connects motor 15, described finger connects travelling gear 12, and described drive link connects drive system.
Embodiment 2:
The mechanical hand with drive system described in embodiment 1, is fixed by screw 5 between described T-shaped screw rod and described upper bracket, is connected by side screw 11 is fixing between described drive link and described T-shaped screw rod.
Embodiment 3:
The mechanical hand with drive system described in embodiment 1, described finger includes driving crank 1-1, described driving crank connection refers to root 1-2 and lower link 1-5, described lower link connects rocking bar 1-6 under three holes, and under three described holes, rocking bar connects upper connecting rod 1-9, and described upper connecting rod connects finger tip 1-10, described finger root connects first knuckle 1-4, described first knuckle connects second knuckle 1-8, and the described finger tip described in second knuckle connection, described driving crank connects side connecting rod 1-15.
Embodiment 4:
The mechanical hand with drive system described in embodiment 3, described finger root connects finger gag lever post 1-16, described side connecting rod connects rocking bar 1-14 on three holes, on three described holes, rocking bar connects connecting rod 1-13, described connecting rod connects rocking bar 1-11, described refers to that root is connected by pin 1-3 with described palm, is connected by spring location screw 1-12 between described connecting rod with rocking bar on three described holes, and described finger gag lever post connects finger angle modulation screw 1-7.
Embodiment 5:
nullThe mechanical hand with drive system described in embodiment 1，Described drive system includes described base，Described base connects screw rod 2-9、Gear 2-4、Pillar 2-2，Described gear connects power transmission shaft 2-7，Described power transmission shaft connects train bearing 2-8，Described train bearing connects lower sun gear 2-3，Described power transmission shaft connects tie-rod 2-12，Described tie-rod connects lower ring gear 2-11，Described lower sun gear connects lower planetary gear 2-14，Described lower planetary gear connects lower centring ring 2-15，Described lower planetary gear connects upper planet wheel 2-17，Described upper planet wheel connects upper ring gear 2-18，Described upper ring gear connects upper sun gear 2-19，Described upper sun gear connects solid shafting 2-16，Described solid shafting connects hollow axle 2-23，Described hollow axle branch sleeve 2-24，Described hollow axle is sequentially connected with a gear wheel 2-6 and No. two gear wheel 2-5，Described solid shafting connects No. three gear wheel 2-22，No. two described gear wheels connect travelling gear 2-21.
Embodiment 6:
The mechanical hand with drive system described in embodiment 5, the described screw rod described in travelling gear connection, described screw rod connects locating ring 2-10, described screw rod connects upper bracket 6, described solid shafting connects centring ring 2-20, the top of described solid shafting connects upper bush 2-1, and described upper sun gear connects lower sleeve 2-13.
Claims (6)
1. with the mechanical hand of drive system, its composition includes: base (1), it is characterized in that: described base connects inclined strut A(2) and inclined strut B(14), described inclined strut A and described inclined strut B is all connected with upper bracket (6), described upper bracket connects drive link (3), described drive link connects T-shaped screw rod (4), described upper bracket connects pole (7), described pole connects palm (8), described drive link connects finger (9), described base connects straight strut (10) and lock tooth (13), described drive link connects motor (15), described finger connects travelling gear (12), described drive link connects drive system.
Mechanical hand with drive system the most according to claim 1, is characterized in that: fixed by screw (5) between described T-shaped screw rod and described upper bracket, is connected by side screw (11) is fixing between described drive link and described T-shaped screw rod.
Mechanical hand with drive system the most according to claim 1, it is characterized in that: described finger includes driving crank (1-1), described driving crank connection refers to root (1-2) and lower link (1-5), described lower link connects rocking bar (1-6) under three holes, under three described holes, rocking bar connects upper connecting rod (1-9), described upper connecting rod connects finger tip (1-10), described finger root connects first knuckle (1-4), described first knuckle connects second knuckle (1-8), the described finger tip described in second knuckle connection, described driving crank connects side connecting rod (1-15).
Mechanical hand with drive system the most according to claim 3, it is characterized in that: described finger root connects finger gag lever post (1-16), described side connecting rod connects rocking bar (1-14) on three holes, on three described holes, rocking bar connects connecting rod (1-13), described connecting rod connects rocking bar (1-11), described refers to that root is connected by pin (1-3) with described palm, being connected by spring location screw (1-12) between described connecting rod with rocking bar on three described holes, described finger gag lever post connects finger angle modulation screw (1-7).
nullMechanical hand with drive system the most according to claim 1，It is characterized in that: described drive system includes described base，Described base connects screw rod (2-9)、Gear (2-4)、Pillar (2-2)，Described gear connects power transmission shaft (2-7)，Described power transmission shaft connects train bearing (2-8)，Described train bearing connects lower sun gear (2-3)，Described power transmission shaft connects tie-rod (2-12)，Described tie-rod connects lower ring gear (2-11)，Described lower sun gear connects lower planetary gear (2-14)，Described lower planetary gear connects lower centring ring (2-15)，Described lower planetary gear connects upper planet wheel (2-17)，Described upper planet wheel connects upper ring gear (2-18)，Described upper ring gear connects upper sun gear (2-19)，Described upper sun gear connects solid shafting (2-16)，Described solid shafting connects hollow axle (2-23)，Described hollow axle branch sleeve (2-24)，Described hollow axle is sequentially connected with a gear wheel (2-6) and No. two gear wheels (2-5)，Described solid shafting connects No. three gear wheels (2-22)，No. two described gear wheels connect travelling gear (2-21).
Mechanical hand with drive system the most according to claim 5, it is characterized in that: the described screw rod described in travelling gear connection, described screw rod connects locating ring (2-10), described screw rod connects upper bracket (6), described solid shafting connects centring ring (2-20), the top of described solid shafting connects upper bush (2-1), and described upper sun gear connects lower sleeve (2-13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620219227.XU CN205415675U (en) | 2016-03-22 | 2016-03-22 | Manipulator with actuating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620219227.XU CN205415675U (en) | 2016-03-22 | 2016-03-22 | Manipulator with actuating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205415675U true CN205415675U (en) | 2016-08-03 |
Family
ID=56520799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620219227.XU Expired - Fee Related CN205415675U (en) | 2016-03-22 | 2016-03-22 | Manipulator with actuating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205415675U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538514A (en) * | 2017-04-06 | 2018-01-05 | 上海岭先机器人科技股份有限公司 | A kind of manipulator |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
| CN113681584A (en) * | 2021-09-07 | 2021-11-23 | 河北工业大学 | Mechanical arm |
-
2016
- 2016-03-22 CN CN201620219227.XU patent/CN205415675U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538514A (en) * | 2017-04-06 | 2018-01-05 | 上海岭先机器人科技股份有限公司 | A kind of manipulator |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
| CN113681584A (en) * | 2021-09-07 | 2021-11-23 | 河北工业大学 | Mechanical arm |
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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: 20160803 |
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| CF01 | Termination of patent right due to non-payment of annual fee |