CN206317080U - A kind of infant's treatment type manipulator - Google Patents
A kind of infant's treatment type manipulator Download PDFInfo
- Publication number
- CN206317080U CN206317080U CN201621301842.1U CN201621301842U CN206317080U CN 206317080 U CN206317080 U CN 206317080U CN 201621301842 U CN201621301842 U CN 201621301842U CN 206317080 U CN206317080 U CN 206317080U
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- CN
- China
- Prior art keywords
- armshaft
- actuator
- infant
- claw
- treatment type
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Abstract
A kind of infant's treatment type manipulator of the utility model, including rotary chassis, the first armshaft, the second armshaft and the rotary grasping hand being sequentially connected；The rotary chassis includes base, first gear group, rotating circular disk and the first actuator being sequentially connected；First armshaft includes the first arm plate and two the second actuators two pieces just to setting；Second armshaft includes the second arm plate and the 3rd actuator between the second arm plate two pieces just to setting；The rotary grasping hand includes fixed block, second gear group, fourth drive member, mechanical gripper and the 5th actuator；The mechanical gripper includes supporting plate, nine hole flanges, some drive links, some long connecting rods, some short connecting rods and claw.The utility model is simple in construction, can effectively realize crawl infant's article and play supervisory function bit to infant.
Description
Technical field
The utility model is related to intelligent robot technology field, more particularly to a kind of infant's treatment type manipulator.
Background technology
According to correlation predictive, with the opening of comprehensive two tire, national mother and baby's market scale is increasing, and we are national not
The intelligent robot industry development come will be taken off with the speed that can not be imagined.
Have benefited from the combination and development of artificial intelligence electronic technology and computer technology, robot is enriched in function
Extension, and have on the hierarchy of skill certain progress, such as, mobile robot, robot vision and haptic technology etc..Machine
Device people intellectuality has very big development space in mother and baby market, and intelligent artifact on the market has mother and baby's mobile phone to apply and pregnant now
Woman's intelligent watch, intelligent photo frame are exactly typical representative, and are come this year, and the field of pediatric rehabilitation robotics development is
Handicapped child and its activity of family members and participation level are improved in different Directional Extensions.
Now, intelligent robot can be divided into two classes, industrial robot and service robot.Industrial robot is intended to replace
Labour more accurately completes work；Service robot is mainly to provide consulting and helped, and appears in usual family, hotel big more
Hall or airport etc., commercial use is more, feature-rich.As other countries, Chinese ageing phenomenon is more and more brighter
It is aobvious, the implementation of family planning policy, modern youth man and wife is mostly only-child, going deep into for good child-rearing theory is given birth to less so that now
A pair of men and wives will look after a child, also support the father and mother of both sides.They are working and looked after inter-household badly battered, work
Make the accumulation of pressure, the consumption of energy causes man and wife's shortage patient in life, and notice weakens, and has no time to attend to child and old
The state of people.Therefore, the life that robot comes into people is inevitable, and people adapt to be brought just by service humanoid robot at last
Victory life.
But current service humanoid robot often complex structure, spent in the crawl of manipulator too many R＆D intensity and
It is not also fine to capture effect.
Utility model content
To solve, above-mentioned service type robot architecture is complicated, and the bad technical problem of crawl effect, the utility model is provided
The infant treatment type manipulator that a kind of simple in construction, free degree is high, crawl effect is good：
A kind of infant's treatment type manipulator, including rotary chassis, the first armshaft, the second armshaft and the rotation being sequentially connected
Turn crawl hand；The rotary chassis includes base, first gear group, rotating circular disk and the first actuator and the control being sequentially connected
Center processed, first actuator is used to drive first gear group to work；First armshaft includes two pieces of the just to setting
One arm plate and two the second actuators, second actuator drive the motion of the first arm plate；Second armshaft is including two pieces just
To the second arm plate and the 3rd actuator between the second arm plate of setting, the 3rd actuator drives the second arm plate fortune
It is dynamic；The rotary grasping hand includes fixed block, second gear group, fourth drive member, mechanical gripper, minisize pick-up head and the 5th and driven
Moving part, the minisize pick-up head is located at the mechanical gripper end；The mechanical gripper includes supporting plate, nine hole flanges, some
Root drive link, some long connecting rods, some short connecting rods and claw；The long connecting rod is outside the short connecting rod
Side, described short connecting rod one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate；The long connecting rod includes fixing
Portion and elongated portion, described fixed part one end are fixedly connected with claw, and the other end is flexibly connected with supporting plate, the elongated portion end
It is flexibly connected with drive link one end, the drive link other end is connected with nine hole flange；Fourth drive member driving the
Two gear trains work, and the 5th actuator drives nine hole flange rotaries.
As a further improvement, the claw includes the first claw and the second claw of symmetrical setting, first pawl
Pawl face is set to arc shape and is fixed with sheet rubber on the inside of portion and second claw.
As a further improvement, the quantity of the short connecting rod and long connecting rod is four, it is uniformly and symmetrically distributed in support
The upper and lower of plate and claw.
As a further improvement, the length for defining the fixed part is twice to three times of the elongated portion；Nine hole
Flange further promotes the elongated portion by rotarily driving the drive link, the drive link, realizes the opening and closing of the claw.
As a further improvement, described two second actuators are each passed through the avris wall of rotating circular disk two and by four
Hole flange is fixedly connected with two piece of first arm plate, realizes first armshaft on perpendicular with second actuator
Drive shaft be axle center swing.
As a further improvement, being provided with the groove being adapted with the 3rd actuator, the described 3rd on described second armshaft one end
The line shaft of actuator is fixedly connected through groove with the first armshaft of both sides, is passed through between second armshaft and the 3rd actuator
Bolt is fixedly connected, and realizes second armshaft on perpendicular using the drive shaft of the 3rd actuator as the pendulum in axle center
It is dynamic.
As a further improvement, the groove being adapted with fourth drive member is provided with the second armshaft other end, described
The line shaft of four actuators is fixedly connected through groove with the fixed block of both sides, is passed through between second armshaft and fourth drive member
Bolt is fixedly connected, and realizes the rotary grasping hand on perpendicular using the drive shaft of the fourth drive member as the pendulum in axle center
It is dynamic.
As a further improvement, the first gear group and the second gear group all include driving wheel and driven pulley.Institute
State first gear group disk is rotated and realize rotation on horizontal plane；The second gear group driving mechanical handgrip is in vertical plane
On rotation.
As a further improvement, the claw end of the minisize pick-up head on the second armshaft direction；Institute
Stating minisize pick-up head is used to shoot photo or video and can transfer data to the real-time feelings that user mobile phone is used to observe infant
Condition.
As a further improvement, any actuator is AC servo motor, the control centre can control the rotation
Independently moving between rotatable chassis, first armshaft, second armshaft and the rotary grasping hand, can also realize it
The form motion of combination is carried out simultaneously.
Compared with prior art, the utility model has advantages below：
1st, a kind of whole mechanism of infant's treatment type manipulator of the utility model is made up of four major parts, and overall structure is simple
Understand.
2nd, a kind of infant's treatment type manipulator of the utility model can realize the rotation in each free degree, and each several part it
Between can work independently also can cooperating.
3rd, a kind of mechanical gripper structure of infant's treatment type manipulator of the utility model uses bar linkage structure, and function is easy
And crawl effect is good, can effectively capture article needed for infant.
Brief description of the drawings
Accompanying drawing 1 is a kind of structural representation of infant's treatment type manipulator of the utility model.
Accompanying drawing 2 is a kind of enlarged drawing of the mechanical gripper of infant's treatment type manipulator of the utility model；
Accompanying drawing 3 is a kind of structural representation on the rotary chassis of infant's treatment type manipulator of the utility model.
Embodiment
, it is necessary to which explanation, term " first ", " second " are only used for describing purpose in description of the present utility model, and
It is not intended that indicating or implying relative importance." being connected ", " connection " should be interpreted broadly, for example, it may be fixed connect
Connect or be detachably connected, or be integrally connected；Can be mechanical connection or electrical connection；It can be direct phase
Even, it can also be indirectly connected to by intermediary, can be the connection of two element internals.For the ordinary skill people of this area
For member, concrete meaning of the above-mentioned term in the utility model can be understood with concrete condition.In addition, being retouched of the present utility model
In stating, unless otherwise indicated, " multiple " are meant that two or more.
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is a part of embodiment of the present utility model, rather than whole embodiments.Based on the reality in the utility model
Apply example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made, all
Belong to the scope of the utility model protection.The utility model is made with embodiment below in conjunction with the accompanying drawings further to retouch in detail
State.
It refer in Fig. 1 to Fig. 3, embodiment, a kind of infant's treatment type manipulator, including the rotary bottom being sequentially connected
Disk 10, the first armshaft 20, the second armshaft 30 and rotary grasping hand 40 and control centre；The rotary chassis 10 includes connecting successively
The base 11 that connects, first gear group 12, the actuator 14 of rotating circular disk 13 and first, first actuator 14 are used to drive first
Gear train 12 works；First armshaft 20 includes the first arm plate 21 and two the second actuators 22 two pieces just to setting, institute
Stating the second actuator 22 drives the first arm plate 21 to move；Second armshaft 30 includes the He of the second arm plate 31 two pieces just to setting
The 3rd actuator 32 between the second arm plate, the 3rd actuator 32 drives the second arm plate 31 to move；The rotation is grabbed
Taking hand 40 includes fixed block 41, second gear group 42, fourth drive member 43, mechanical gripper 44, the 5th actuator 45 and miniature takes the photograph
As first 46, the minisize pick-up head 46 is located at the end of mechanical gripper 44；The mechanical gripper 44 includes supporting plate 441, nine
Hole flange 442, some drive links 443, some long connecting rod 444, some short connecting rod 445 and claw 446；The length
Connecting rod 444 is fixedly connected located at the short outside of connecting rod 445, described short one end of connecting rod 445 with claw 446, the other end
It is flexibly connected with supporting plate 441；The long connecting rod 444 includes fixed part 4441 and elongated portion 4442, the fixed part 4441
One end is fixedly connected with claw 446, and the other end is flexibly connected with supporting plate 441, the end of elongated portion 4442 and drive link 443
One end is flexibly connected, and the other end of drive link 443 is connected with nine hole flange 442；The fourth drive member 43 driving the
Two gear trains 42 work, and the 5th actuator 45 drives nine hole flanges 442 to rotate.A kind of infant's treatment type of the utility model
The whole mechanism of manipulator is made up of four most of rotary chassis 10, the first armshaft 20, the second armshaft 30 and rotary grasping hands 40,
Overall structure is simple and clear, while the rotation in each free degree can be realized, and can work independently and can also coordinate between each several part
Work, and the structure of mechanical gripper 44 uses bar linkage structure, function is easy and crawl effect is good, can be effective using such structure
Articles for use needed for infant are captured, such as：Diaper, feeding bottle etc., it is convenient preferably to look after infant available for the auxiliary helper of father and mother.
It refer in Fig. 1 to Fig. 2, embodiment, the claw 446 includes the first claw 4461 and second of symmetrical setting
Claw 4462, the claw 4462 of the first claw 4461 and second is laminated structure, the long connecting rod 444 and short connecting rod
445 are uniformly and symmetrically distributed the upper and lower in the supporting plate 441 and claw 446, the He of the first claw 4461 in " eight " font
The inner side pawl face of second claw 4462 is set to arc shape and is fixed with sheet rubber 4463, can make claw using such structure
446 effective laminating infant feeding bottles and other items, convenient crawl；The quantity of the short connecting rod 445 and long connecting rod 444 is respectively
Four, the short connecting rod is distributed in inner side for each two about 445, and the long connecting rod is distributed in short company for each two about 444
The outside of extension bar 445.The length for defining the fixed part 4441 of the long connecting rod 444 is twice to the three of the elongated portion 4442
Times, specifically, the length of the long connecting rod 444 is 6cm, the length of the short connecting rod 445 is 4cm, the fixed part
4441 length is 4cm, and the length of the elongated portion 4442 is 2cm.Nine hole flange 442 is by rotarily driving the transmission
Bar 443, the drive link 443 is further driven to the elongated portion 4442, and the elongated portion 4442 drives whole long connecting rod 444
The opening and closing of the claw are finally realized in motion.The claw of the minisize pick-up head 46 on the direction of the second armshaft 31
446 ends；The minisize pick-up head 46 is used to shoot photo or video and can transfer data to user mobile phone to be used to observe baby
The real-time condition of child, the end of claw 446 is additionally provided with temperature sensor, room temperature and is transmitted through the network to available for measurement
User mobile phone end, user can carry out more objective and digitization monitoring according to room temperature to infant.Using such machine
The mechanism of tool handgrip 44 is simple, and the ratio of power arm and resistance arm is optimal, the Machinery Ministry for controlling the difficulty of each side simple, required
Part also seldom, can not only meet the requirement of low cost, and crawl effect is also very excellent.
It refer in Fig. 1, embodiment, described two second actuators 22 are each passed through described 13 liang of avris walls of rotating circular disk
And be fixedly connected by four hole flanges 50 with two piece of first arm plate 21, realize first armshaft 20 on perpendicular with
The drive shaft of second actuator 22 is the swing in axle center.Similarly, it is provided with and the 3rd driving on described one end of second armshaft 30
The groove that part 32 is adapted, the line shaft of the 3rd actuator 32 is fixedly connected through groove with the first armshaft 20 of both sides, described
It is fixedly connected between second armshaft 30 and the 3rd actuator 32 by four hole flanges 50, realizes that second armshaft 30 is being put down vertically
Using the drive shaft of the 3rd actuator 32 as the swing in axle center on face.Similarly, be provided with the other end of the second armshaft 30 with
The groove that fourth drive member 43 is adapted, the line shaft of the fourth drive member 43 is fixed through groove and the fixed block 41 of both sides to be connected
Connect, be fixedly connected between second armshaft 30 and fourth drive member 43 by four hole flanges 50, realize the rotary grasping hand
40 on perpendicular using the drive shaft of the fourth drive member 43 as the swing in axle center.
Fig. 3 is refer to, the first gear group 12 and the second gear group 42 all include driving wheel and driven pulley.It is described
First gear group 12 is rotated disk 13 and realizes rotation on horizontal plane；The driving mechanical handgrip 40 of second gear group 42 exists
Rotation on vertical plane.Rotation is realized using gear-driven mode, it is simple efficient.
Fig. 1 be refer to Fig. 3, any actuator is AC servo motor, the control centre can control the rotation
Independently moving between rotatable chassis 10, first armshaft 20, second armshaft 30 and the rotary grasping hand 40, also may be used
Move or while carry out in the form of realizing its combination.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modifications, equivalent substitutions and improvements done etc. should be included in the utility model
Within the scope of protection.
Claims (10)
1. a kind of infant's treatment type manipulator, it is characterised in that：Including the rotary chassis being sequentially connected, the first armshaft,
Two armshafts, rotary grasping hand and control centre；The rotary chassis includes the base being sequentially connected, first gear group, rotation
Disk and the first actuator, first actuator are used to drive first gear group to work；First armshaft is including two pieces just
To the first arm plate and two the second actuators of setting, second actuator drives the motion of the first arm plate；Second armshaft
Including the second arm plate and the 3rd actuator between the second arm plate two pieces just to setting, the 3rd actuator driving the
Two arm plates are moved；The rotary grasping hand includes fixed block, second gear group, fourth drive member, minisize pick-up head, mechanical gripper
With the 5th actuator, the minisize pick-up head is located at the mechanical gripper end；The mechanical gripper includes supporting plate, nine hole methods
Blue, some drive links, some long connecting rods, some short connecting rods and claw；The long connecting rod is located at the short company
On the outside of extension bar, described short connecting rod one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate；The long connecting rod bag
Fixed part and elongated portion are included, described fixed part one end is fixedly connected with claw, and the other end is flexibly connected with supporting plate, the elongation
Portion end is flexibly connected with drive link one end, and the drive link other end is connected with nine hole flange；The fourth drive member
The work of second gear group is driven, the 5th actuator drives nine hole flange rotaries.
2. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：The claw includes symmetrical
Pawl face is set to arc shape and is fixed with the inside of the first claw and the second claw set, first claw and second claw
Sheet rubber.
3. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：The short connecting rod and long company
The quantity of extension bar is four, is uniformly and symmetrically distributed the upper and lower in supporting plate and claw.
4. a kind of infant's treatment type manipulator according to claim 3, it is characterised in that：Define the length of the fixed part
Spend for twice to three times of the elongated portion；Nine hole flange enters one by rotarily driving the drive link, the drive link
Step promotes the elongated portion, realizes the opening and closing of the claw.
5. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：Described two second actuators
It is each passed through the avris wall of rotating circular disk two and is fixedly connected by four hole flanges with two piece of first arm plate, is realized described
First armshaft is on perpendicular using the drive shaft of second actuator as the swing in axle center.
6. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：On described second armshaft one end
The groove being adapted with the 3rd actuator is provided with, the line shaft of the 3rd actuator is fixed through groove and the first armshaft of both sides to be connected
Connect, be bolted to connection between second armshaft and the 3rd actuator, realize second armshaft on perpendicular
Using the drive shaft of the 3rd actuator as the swing in axle center.
7. a kind of infant's treatment type manipulator according to claim 6, it is characterised in that：The second armshaft other end
On be provided with the groove being adapted with fourth drive member, the line shaft of the fourth drive member is fixed through groove and the fixed block of both sides to be connected
Connect, be bolted to connection between second armshaft and fourth drive member, realize the rotary grasping hand in perpendicular
On using the drive shaft of the fourth drive member as the swing in axle center.
8. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：The first gear group and institute
Stating second gear group all includes driving wheel and driven pulley；The first gear group is rotated disk and realizes rotation on horizontal plane
Turn；Rotation of the second gear group driving mechanical handgrip on vertical plane.
9. a kind of infant's treatment type manipulator according to claim 1, it is characterised in that：The minisize pick-up head is located at
The claw end on the second armshaft direction；The minisize pick-up head is used to shoot photo or video and can transmit number
According to the real-time condition for being used to observe infant to user mobile phone.
10. a kind of infant's treatment type manipulator according to claim 1 to 9 any one, it is characterised in that：Described
One actuator is AC servo motor, and the control centre can control the rotary chassis, first armshaft, described second
Independently moving between armshaft and the rotary grasping hand, can also realize the form motion of its combination or while carry out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621301842.1U CN206317080U (en) | 2016-11-30 | 2016-11-30 | A kind of infant's treatment type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621301842.1U CN206317080U (en) | 2016-11-30 | 2016-11-30 | A kind of infant's treatment type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206317080U true CN206317080U (en) | 2017-07-11 |
Family
ID=59264722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621301842.1U Expired - Fee Related CN206317080U (en) | 2016-11-30 | 2016-11-30 | A kind of infant's treatment type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206317080U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553200A (en) * | 2016-11-30 | 2017-04-05 | 厦门理工学院 | A kind of infant treatment type mechanical hand |
| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN108214545A (en) * | 2017-12-29 | 2018-06-29 | 株洲因奈斯精密刀具有限公司 | Linear mechanical hand mechanical arm |
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
-
2016
- 2016-11-30 CN CN201621301842.1U patent/CN206317080U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553200A (en) * | 2016-11-30 | 2017-04-05 | 厦门理工学院 | A kind of infant treatment type mechanical hand |
| CN107234610A (en) * | 2017-07-21 | 2017-10-10 | 东莞市云飞扬工业机器人有限公司 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN107234610B (en) * | 2017-07-21 | 2020-08-07 | 阳西县精科塑业有限公司 | Novel five-degree-of-freedom manipulator |
| CN108214545A (en) * | 2017-12-29 | 2018-06-29 | 株洲因奈斯精密刀具有限公司 | Linear mechanical hand mechanical arm |
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
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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: 20170711 Termination date: 20201130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |