CN205766168U - A kind of size that captures mixes the mechanical hand of pipe - Google Patents
A kind of size that captures mixes the mechanical hand of pipe Download PDFInfo
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- CN205766168U CN205766168U CN201620681293.9U CN201620681293U CN205766168U CN 205766168 U CN205766168 U CN 205766168U CN 201620681293 U CN201620681293 U CN 201620681293U CN 205766168 U CN205766168 U CN 205766168U
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Abstract
A kind of size that captures mixes the mechanical hand of pipe, including robot base, one group of mechanical finger and the one group of main joint being arranged in robot base, one group of mechanical finger is connected with one group of main joint respectively, one group of main joint circular array shape is arranged in robot base, and robot base is provided with main joint driving means, controls device, induction installation and position detecting device；Mechanical finger includes the mechanical joint of first knuckle, second knuckle and connection, mechanical joint is driven by independent mechanical joint driving means, first knuckle is connected with main joint, and second knuckle end cross is provided with jaw, and jaw is connected by elastic component with second knuckle；Mechanical joint driving means, main joint driving means, induction installation and position detecting device are all connected with control device.This design simple in construction, can two-way capture, it is adaptable to the pipe of various sizes and the object with hollow round hole, and can automatically capture the pipe that size mixes.
Description
Technical field
This utility model relates to the technical field of mechanical hand, mixes the mechanical hand of pipe particularly to a kind of size that captures.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, be modal in current industrial circle
One of form of industrial robot, is suitable for the machine automatization equalization of many industrial circles.For articulated robot, joint
It it is its important component part, it is achieved that the relative motion of mechanical arm.
The function that a mechanical arm can realize is the most single, if wanting to realize several functions, then and structure and control system
System will become complicated, and at present, great majority capture the mechanical hand of pipe and single realization can only capture from outside or capture from inside, from
Outside crawl cannot tackle the pipe of external diameter super large, captures from inside and cannot tackle the pipe that internal diameter is extra small, and its scope of application has
Limit, uses inconvenience.
Utility model content
The purpose of utility model: this utility model discloses a kind of size that captures and mixes the mechanical hand of pipe, its simple in construction,
Low cost, it is possible to achieve two-way crawl, i.e. all can realize from the internal crawl of pipe or outside crawl, it is adaptable to the circle of various sizes
Pipe and the object with hollow round hole；And can automatically detect and grabbed body form, formulate Grasp Modes；Can automatically capture big
The little pipe mixed.
Technical scheme: in order to realize object above, the utility model discloses a kind of size that captures and mixes the machinery of pipe
Hands, including robot base, one group of mechanical finger and the one group of main joint being arranged in robot base, one of which mechanical hand
Referring to be connected with one group of main joint respectively, one group of main joint circular array shape is arranged in robot base, in robot base
It is provided with main joint driving means, controls device, induction installation and position detecting device；Described mechanical finger include first knuckle,
Second knuckle and both mechanical joints of connection, mechanical joint is driven by independent mechanical joint driving means, and wherein first refers to
Joint is connected with main joint, and second knuckle end cross is provided with jaw, and jaw is connected by elastic component with second knuckle；Described machinery
Articulated driving equipment, main joint driving means, induction installation and position detecting device are all connected with control device.This design knot
Structure is simple, low cost, it is possible to achieve two-way crawl, i.e. all can realize from the internal crawl of pipe or outside crawl, it is adaptable to various
The pipe of size and the object with hollow round hole；When grasp force is excessive, elastic component deforms, prevent jaw from excessively advancing,
Press from both sides bad object；And can automatically detect grabbed body form by induction installation, formulate Grasp Modes；Can automatically capture size to mix
Miscellaneous pipe.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and described jaw is in the strip of bending.This set
Meter more laminating pipe wall or circular hole wall, make crawl more reliable.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, described elastic component one end and second knuckle end
Portion is fixing to be connected, and the other end is fixing with in the middle part of jaw to be connected.This design flexibility part is toward the equal deformable of both direction, double to meet
To the requirement captured.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and the cross section of jaw is square.This design
It is adjacent to pipe by square one side, to increase contact area, improves frictional force, it is ensured that the reliability of crawl.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and described jaw is provided with rubber sleeve, and rubber
Set surface is provided with anti-slip veins.This design had both protected jaw, also protects and is grabbed object, prevented touching between jaw and object
Wound；The design of anti-slip veins improves the frictional force between jaw and object, reduces the possibility of object landing, makes crawl object more may be used
Lean on.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and described jaw inside and outside wall is equipped with friction plate.
This design improves frictional force during crawl, and it is to tackle crawl pipe and capturing circular hole that inside and outside wall is equipped with friction plate
Two kinds of situations of wall.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and the quantity of described one group of mechanical finger is 2 ~ 5
Individual.Mechanical finger quantity is many, and the jaw of distribution is many, pipe of more fitting,
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and described jaw inside and outside wall is equipped with installation and rubs
The groove of pad.Fixing, the effect of protection friction plate is played in this design, the deformation of friction plate and de-during preventing from using
Fall.
Further, above-mentioned a kind of size that captures mixes the mechanical hand of pipe, and described elastic component is flat spring or rubber bullet
Gonosome.
Technique scheme is it can be seen that this utility model has the advantages that one described in the utility model
Capturing size and mix the mechanical hand of pipe, its simple in construction, low cost, it is possible to achieve two-way crawl, i.e. from the internal crawl of pipe
Or outside crawl all can realize, it is adaptable to the pipe of various sizes and the object with hollow round hole；Improve and capture contact surface
Frictional force, it is ensured that the reliability of crawl；When grasp force is excessive, elastic component deforms, and prevents jaw from excessively advancing, presss from both sides bad thing
Body；And can automatically detect grabbed body form by induction installation, formulate Grasp Modes；Can automatically capture the circle that size mixes
Pipe.
Accompanying drawing explanation
Fig. 1 is described in the utility model a kind of to capture the structural representation that size mixes the mechanical hand of pipe；
Fig. 2 is that a kind of size that captures described in the utility model mixes the jaw of mechanical hand and the structure of friction plate of pipe
Schematic diagram；
Fig. 3 is that a kind of size that captures described in the utility model mixes the jaw of mechanical hand and the structure of rubber sleeve of pipe
Schematic diagram；
Fig. 4 be described in the utility model a kind of capture size mix pipe mechanical hand capture pipe time schematic diagram；
In figure: 1-robot base, 2-mechanical finger, 21-first knuckle, 22-second knuckle, 3-main joint, 4-machinery
Joint, 5-jaw, 6-elastic component, 7-rubber sleeve, 8-friction plate.
Detailed description of the invention
Below in conjunction with the accompanying drawings, this utility model detailed description of the invention is described in detail.
Embodiment
A kind of size that captures of the present utility model mixes the mechanical hand of pipe, as shown in Figures 1 to 4, including mechanical hand base
1, one group of mechanical finger 2 of seat and the one group of main joint 3 being arranged in robot base 1, one of which mechanical finger 2 is respectively with one
Group main joint 3 connects, and one group of main joint 3 is uniformly arranged in robot base 1 and the setting of circular array shape, robot base
1 is provided with main joint driving means, control device, induction installation and position detecting device；Described mechanical finger 2 includes the first finger
Joint 21, second knuckle 22 and connect both mechanical joint 4, mechanical joint 4 is driven by independent mechanical joint driving means, its
Middle first knuckle 21 is connected with main joint 3, and second knuckle 22 end cross is provided with jaw 5, and jaw 5 and second knuckle 22 pass through bullet
Property part 6 connect, elastic component 6 one end and second knuckle 22 end are fixing to be connected, and the other end is connected with fixing in the middle part of jaw 5；Jaw 5
Strip and cross section in bending are square；Jaw 5 is provided with rubber sleeve 7, and rubber sleeve 7 surface is provided with anti-slip veins, or folder
Pawl 5 inside and outside wall is equipped with friction plate 8, is used for replacing rubber sleeve 7；Jaw 5 inside and outside wall is equipped with the groove installing friction plate 8；
The quantity of one group of mechanical finger 2 is 2 ~ 5.
Mechanical joint driving means, main joint driving means, induction installation and position detecting device are all with control device even
Connect.
Its operation principle is as follows: is first rotated together with mechanical joint 4 by main joint 3 and tentatively captures, then is closed by machinery
Joint 4 individually rotates and accurately captures (the most last clamping, fixing)；Due to structure and control error, crawl can be caused the tightest
Or capture excessively, capture the tightest phenomenon for eliminating, directly allow it excessively grab a certain degree when setting, then rely on bullet
Property part 6 relax excessive grasp force: elastic component 6 deforms, prevent jaw excessively before so that press from both sides bad object；It addition, jaw 5 is to thing
The rigid contact of body is converted into the elastic force after the elastic component 6 flexible contact to object, i.e. grasp force become elastic component 6 deformation.
The above is only preferred implementation of the present utility model, it should be noted that for the ordinary skill of the art
For personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvement, these improve and also should be regarded as this
The protection domain of utility model.
Claims (9)
1. one kind captures size and mixes the mechanical hand of pipe, it is characterised in that: include robot base (1), one group of mechanical finger
(2) and one group of main joint (3) being arranged in robot base (1), one of which mechanical finger (2) respectively with one group of main joint
(3) connecting, one group of main joint (3) circular array shape is arranged in robot base (1), and robot base (1) is provided with master
Articulated driving equipment, control device, induction installation and position detecting device；
Described mechanical finger (2) includes first knuckle (21), second knuckle (22) and connects both mechanical joints (4), machinery
Joint (4) is driven by independent mechanical joint driving means, and first knuckle (21) is connected with main joint (3), second knuckle (22)
End cross is provided with jaw (5), and jaw (5) is connected by elastic component (6) with second knuckle (22)；
Described mechanical joint driving means, main joint driving means, induction installation and position detecting device are all with control device even
Connect.
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described jaw (5)
Strip in bending.
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described elastic component
(6) one end is fixing with second knuckle (22) end is connected, and the other end is fixing with jaw (5) middle part to be connected.
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described jaw (5)
Cross section be square.
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described jaw (5)
It is provided with rubber sleeve (7), and rubber sleeve (7) surface is provided with anti-slip veins.
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described jaw (5)
Inside and outside wall is equipped with friction plate (8).
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described one group of machinery
The quantity of finger (2) is 2 ~ 5.
A kind of size that captures the most according to claim 6 mixes the mechanical hand of pipe, it is characterised in that: described jaw (5)
Inside and outside wall is equipped with the groove installing friction plate (8).
A kind of size that captures the most according to claim 1 mixes the mechanical hand of pipe, it is characterised in that: described elastic component
(6) it is flat spring or rubber elastomer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681293.9U CN205766168U (en) | 2016-07-01 | 2016-07-01 | A kind of size that captures mixes the mechanical hand of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681293.9U CN205766168U (en) | 2016-07-01 | 2016-07-01 | A kind of size that captures mixes the mechanical hand of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766168U true CN205766168U (en) | 2016-12-07 |
Family
ID=58125776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620681293.9U Active CN205766168U (en) | 2016-07-01 | 2016-07-01 | A kind of size that captures mixes the mechanical hand of pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN205766168U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041942A (en) * | 2016-07-01 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Mechanical hand for grabbing round pipes of different sizes and work method of mechanical hand |
| CN108962807A (en) * | 2018-09-07 | 2018-12-07 | 先进光电器材（深圳）有限公司 | Automatic catching mechanism |
-
2016
- 2016-07-01 CN CN201620681293.9U patent/CN205766168U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041942A (en) * | 2016-07-01 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Mechanical hand for grabbing round pipes of different sizes and work method of mechanical hand |
| CN108962807A (en) * | 2018-09-07 | 2018-12-07 | 先进光电器材（深圳）有限公司 | Automatic catching mechanism |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |