CN206242087U - Drive lacking form adaptive manipulator - Google Patents
Drive lacking form adaptive manipulator Download PDFInfo
- Publication number
- CN206242087U CN206242087U CN201621317400.6U CN201621317400U CN206242087U CN 206242087 U CN206242087 U CN 206242087U CN 201621317400 U CN201621317400 U CN 201621317400U CN 206242087 U CN206242087 U CN 206242087U
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- China
- Prior art keywords
- joint
- bearing pin
- tripod
- fixedly connected
- built
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model provides a kind of drive lacking form adaptive manipulator, including three manipulator fingers and transmission device；Manipulator finger includes base joint, base joint upper end is articulated and connected by the first bearing pin with the first joint lower end, first joint upper end is articulated and connected by the second bearing pin with second joint lower end, the first special-shaped torque spring is provided between base joint and the first joint, the second special-shaped torque spring is provided between the first joint and second joint；Base joint lower end is fixedly connected on installation cylinder lateral wall top；Transmission device includes being fixedly installed in the motor installed in cylinder, and motor output end is fixedly connected with leading screw, and leading screw surface is set with nut, and nut is fixedly connected with built-in tripod, and three vertex positions of built-in tripod are respectively provided with a roller；Pull rope one end connects built-in tripod, the other end connection the first bearing pin and the second bearing pin；The utility model can have form adaptive to captured object, and auto-lock function is capable of achieving after crawl object.
Description
Technical field
The utility model is related to a kind of manipulator, in particular to a kind of drive lacking form adaptive manipulator.
Background technology
At present, the size shape of manipulator crawl object is excessively single, and during crawl, grasp force can not be fine
Be distributed on each finger, easily cause localized injury to being crawled thing, and some manipulators do not possess auto-lock function, because
This urgently design it is a kind of after there is form adaptive, grasp force to be uniformly distributed and capture captured object can self-locking machinery
Hand.
The content of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, there is provided a kind of drive lacking form adaptive manipulator, can be right
Captured object has form adaptive, and grasp force is distributed on 3 fingers than more uniform, and grasp force is sufficiently large,
Ensure the stability during crawl, auto-lock function is capable of achieving after crawl object.
The utility model is in order to solve the above technical problems, the technical scheme for being used is：A kind of drive lacking form adaptive
Manipulator, including three manipulator fingers and transmission device；
The manipulator finger includes base joint, and base joint upper end is hinged by the first bearing pin with the first joint lower end
Connection, first joint upper end is articulated and connected by the second bearing pin with second joint lower end, the base joint and the first joint
Between be provided with the first special-shaped torque spring, the second special-shaped torque spring is provided between first joint and second joint；It is described
Base joint lower end is fixedly connected on installation cylinder lateral wall top；
The transmission device includes being fixedly installed in the motor installed in cylinder, and the motor output end is fixed with leading screw and connected
Connect, the leading screw surface is set with nut, the nut is fixedly connected with built-in tripod, three summits of the built-in tripod
Position is respectively provided with a roller, and the roller can be slided up and down along three vertically arranged chutes of cylinder madial wall are installed；
Pull rope one end connects built-in tripod, the other end connection the first bearing pin and the second bearing pin.
Preferably, the first bearing pin middle part is fixedly connected with first pulley, and the second bearing pin middle part is fixedly connected with
Second pulley；Uniform on the built-in tripod to be fixedly connected with three the 3rd pulleys, pull rope bypasses the 3rd pulley and difference
It is fixedly connected with first pulley and second pulley.
Preferably, the built-in tripod generally triangle-section cylinder frame structure, three rollers are respectively arranged on built-in triangle
On three angles of top of the trellis, three the 3rd pulleys are respectively arranged on the three articles of middle parts on side in built-in tripod top.
The beneficial effects of the utility model：The utility model is driven by using leading screw, drives nut to move up and down, and can be made
Obtain transmission process more laborsaving and steady, after leading screw stops operating, nut transfixion realizes the function of self-locking after crawl；Together
When, the use of special-shaped torque spring is capable of achieving the self adaptation to captured body form, and grasp force is uniformly distributed；Other roller
Slided up and down along three vertically arranged chutes of cylinder madial wall are installed, frictional resistance is small, so that it was moved up and down
Cheng Gengjia is steady and laborsaving.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of drive lacking form adaptive manipulator；
Fig. 2 is the overlooking the structure diagram of Fig. 1；
Fig. 3 is the mplifying structure schematic diagram of a-quadrant in Fig. 2；
Fig. 4 is the dimensional structure diagram of the built-in tripod of the transmission device of Fig. 1；
Fig. 5 is a kind of transmission process schematic diagram of drive lacking form adaptive manipulator；
In figure, manipulator finger 1, base joint 1.1, the first bearing pin 1.2, first pulley 1.2.1, the first joint 1.3, second
The special-shaped torque spring 1.7 of the special-shaped torque spring 1.6, second of bearing pin 1.4, second pulley 1.4.1, second joint 1.5, first, biography
Dynamic device 2, motor 2.1, leading screw 2.2, nut 2.3, built-in tripod 2.4, roller 2.5, pull rope 2.6, installation cylinder 3.
Specific embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 4, a kind of drive lacking form adaptive manipulator, including three manipulator fingers 1 and transmission are filled
Put 2；
The manipulator finger 1 includes base joint 1.1, and the upper end of base joint 1.1 is closed by the first bearing pin 1.2 and first
Save 1.3 lower ends to be articulated and connected, the upper end of the first joint 1.3 is hinged company by the second bearing pin 1.4 with the lower end of second joint 1.5
Connect, be provided with the first special-shaped torque spring 1.6 between the joint 1.3 of the base joint 1.1 and first, first joint 1.3 and the
The second special-shaped torque spring 1.7 is provided between two joints 1.5；The lower end of base joint 1.1 is fixedly connected on the outside of installation cylinder 3
Wall top；
The transmission device 2 includes being fixedly installed in the motor 2.1 installed in cylinder 3, the output end of the motor 2.1 and silk
Thick stick 2.2 is fixedly connected, and the surface of the leading screw 2.2 is set with nut 2.3, and the nut 2.3 is fixed with built-in tripod 2.4 and connected
Connect, 2.4 3 vertex positions of the built-in tripod are respectively provided with a roller 2.5, the roller 2.5 can be along installation cylinder
Three vertically arranged chutes of 3 madial walls are slided up and down；The one end of pull rope 2.6 connects built-in tripod 2.4, other end connection the
One bearing pin 1.2 and the second bearing pin 1.4.
Preferably, the middle part of first bearing pin 1.2 is fixedly connected with first pulley 1.2.1, the middle part of second bearing pin 1.4
It is fixedly connected with second pulley 1.4.1；Three the 3rd pulleys 2.7 uniformly are fixedly connected with the built-in tripod 2.4, are drawn
Rope 2.6 bypasses the 3rd pulley 2.7 and is fixedly connected with first pulley 1.2.1 and second pulley 1.4.1 respectively.The use of pulley is right
Pull rope 2.6 has more preferable guiding function so that pull rope 2.6 does not deviate by direction during moving up and down.
Preferably, the built-in tripod 2.4 generally triangle-section cylinder frame structure, in three rollers 2.5 are respectively arranged on
Put on three angles at the top of tripod 2.4, three the 3rd pulleys 2.7 are respectively arranged in the three articles of sides in the top of built-in tripod 2.4
Portion.This design causes that whole device is more symmetrical, steady, and operation is more stablized.
The present embodiment operation principle is as follows：When needing crawl object, leading screw 2.2 is driven to rotate by the output shaft of motor 2.1,
Nut 2.3 is driven to move down, so that the slide downward in installation cylinder 3 of built-in tripod 2.4, and then pull down traction
Rope 2.6 drives the first joint 1.3 and second joint 1.5 to draw in and capture object；At this moment leading screw 2.2 stops operating, and nut 2.3 is quiet
It is only motionless, realize the function of self-locking after crawl；When needing to unclamp object, can be inverted by motor 2.1, drive leading screw 2.2 anti-
To rotation so that nut 2.3 is moved up, the restoring force of special-shaped torque spring causes the first joint 1.3 and second joint 1.5 times
Return original position.
Claims (3)
1. a kind of drive lacking form adaptive manipulator, including three manipulator fingers（1）And transmission device（2）, its feature exists
In：
The manipulator finger（1）Including base joint（1.1）, the base joint（1.1）Upper end passes through the first bearing pin（1.2）With
One joint（1.3）Lower end is articulated and connected, first joint（1.3）Upper end passes through the second bearing pin（1.4）With second joint（1.5）
Lower end is articulated and connected, the base joint（1.1）With the first joint（1.3）Between be provided with the first special-shaped torque spring（1.6）, it is described
First joint（1.3）With second joint（1.5）Between be provided with the second special-shaped torque spring（1.7）；The base joint（1.1）Lower end
It is fixedly connected on installation cylinder（3）Lateral wall top；
The transmission device（2）Including being fixedly installed in installation cylinder（3）Interior motor（2.1）, the motor（2.1）Output end
With leading screw（2.2）It is fixedly connected, the leading screw（2.2）Surface is set with nut（2.3）, the nut（2.3）With built-in triangle
Frame（2.4）It is fixedly connected, the built-in tripod（2.4）Three vertex positions are respectively provided with a roller（2.5）, the roller
（2.5）Can be along installation cylinder（3）Three vertically arranged chutes of madial wall are slided up and down；Pull rope（2.6）In the connection of one end
Put tripod（2.4）, the other end the first bearing pin of connection（1.2）With the second bearing pin（1.4）.
2. drive lacking form adaptive manipulator according to claim 1, it is characterised in that：First bearing pin（1.2）
Middle part is fixedly connected with first pulley（1.2.1）, second bearing pin（1.4）Middle part is fixedly connected with second pulley（1.4.1）；
The built-in tripod（2.4）On be uniformly fixedly connected with three the 3rd pulleys（2.7）, pull rope（2.6）Bypass the 3rd pulley
（2.7）And respectively with first pulley（1.2.1）And second pulley（1.4.1）It is fixedly connected.
3. drive lacking form adaptive manipulator according to claim 1, it is characterised in that：The built-in tripod
（2.4）Generally triangle-section cylinder frame structure, three rollers（2.5）It is respectively arranged on built-in tripod（2.4）Three angles at top
On, three the 3rd pulleys（2.7）It is respectively arranged on built-in tripod（2.4）Three, the top middle part on side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621317400.6U CN206242087U (en) | 2016-12-03 | 2016-12-03 | Drive lacking form adaptive manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621317400.6U CN206242087U (en) | 2016-12-03 | 2016-12-03 | Drive lacking form adaptive manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242087U true CN206242087U (en) | 2017-06-13 |
Family
ID=59003369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621317400.6U Expired - Fee Related CN206242087U (en) | 2016-12-03 | 2016-12-03 | Drive lacking form adaptive manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206242087U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297754A (en) * | 2017-08-25 | 2017-10-27 | 王泽宇 | A kind of variation rigidity filler burden device and the grasping device being made of this burden device |
| CN108453778A (en) * | 2018-02-05 | 2018-08-28 | 中国科学技术大学 | A kind of drive lacking vacuum cup paw with a variety of grasp modes |
| CN109822602A (en) * | 2019-01-18 | 2019-05-31 | 湖南大学 | Coordinated drive mechanism between a kind of finger |
| CN111015720A (en) * | 2019-11-29 | 2020-04-17 | 中国空间技术研究院 | Super-large flexible capturing device for capturing and clearing space debris |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN113291790A (en) * | 2021-05-25 | 2021-08-24 | 武汉理工大学 | Self-adaptive grabbing mechanism |
-
2016
- 2016-12-03 CN CN201621317400.6U patent/CN206242087U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297754A (en) * | 2017-08-25 | 2017-10-27 | 王泽宇 | A kind of variation rigidity filler burden device and the grasping device being made of this burden device |
| CN108453778A (en) * | 2018-02-05 | 2018-08-28 | 中国科学技术大学 | A kind of drive lacking vacuum cup paw with a variety of grasp modes |
| CN109822602A (en) * | 2019-01-18 | 2019-05-31 | 湖南大学 | Coordinated drive mechanism between a kind of finger |
| CN109822602B (en) * | 2019-01-18 | 2021-11-26 | 湖南大学 | Finger cooperative driving mechanism |
| CN111015720A (en) * | 2019-11-29 | 2020-04-17 | 中国空间技术研究院 | Super-large flexible capturing device for capturing and clearing space debris |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN113291790A (en) * | 2021-05-25 | 2021-08-24 | 武汉理工大学 | Self-adaptive grabbing mechanism |
| CN113291790B (en) * | 2021-05-25 | 2022-08-30 | 武汉理工大学 | Self-adaptive grabbing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20171203 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |