CN206406076U - One kind three refers to manipulator - Google Patents
One kind three refers to manipulator Download PDFInfo
- Publication number
- CN206406076U CN206406076U CN201621285278.9U CN201621285278U CN206406076U CN 206406076 U CN206406076 U CN 206406076U CN 201621285278 U CN201621285278 U CN 201621285278U CN 206406076 U CN206406076 U CN 206406076U
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- Prior art keywords
- finger
- base
- manipulator
- refer
- motor
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- Expired - Fee Related
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- 238000005516 engineering process Methods 0.000 abstract description 3
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model is related to one kind three and refers to manipulator, belongs to robotic technology field.The utility model includes base, base cover, finger tip, refers to a rubber, refer to body, refer to body rubber, finger mount, finger tip motor, refer to body motor, base electrical machinery；Wherein finger tip, refer to body, finger mount and be sequentially connected, finger tip motor is respectively mounted in junction two-by-two and is installed in the base with referring to body motor, the rounded array of three base electrical machineries, 120 ° are separated by between each two electrical axis.Finger mount is connected with base electrical machinery by axle.Provided by the utility model three refer to manipulator, every finger has three degree of freedom, pass through the combination of these three finger different gestures, whole manipulator section such as shows to grab, holds, presss from both sides, lifting at the compound action, different size, a variety of goods of different shapes can be effectively captured, with higher flexibility.
Description
Technical field
The utility model is related to one kind three and refers to manipulator, belongs to robotic technology field.
Background technology
Automatic pilot of the manipulator object or operation instrument are captured, carried by fixed routine.Manipulator is most
The early industrial robot occurred, is also the modern machines people occurred earliest, and it can replace the heavy labor of people to realize production
Mechanization and automation, can operate to protect personal safety under hostile environment, thus be widely used in machine-building, metallurgy,
The fields such as electronics, light industry and atomic energy.
At present, the application of two finger manipulators is quite varied, and it can realize the action of " folder ", for portion profile rule
Object can be captured, and also have the five fingers manipulator for imitating human hand and manufacturing in addition, and it refers to manipulator function more relative to two
It is abundant, a greater variety of objects can be captured, but cost is also of a relatively high.Therefore, manipulator is referred to than two for a kind of function
More rich, the demand of the cost manipulator lower than the five fingers manipulator is also occurred as soon as.
Utility model content
The technical problems to be solved in the utility model is：There is provided a kind of function more more rich than two finger manipulators, cost compares five
Refer to the lower manipulator of manipulator to be used for being connected with mechanical arm, instead of the product that feature is low or economy is low.
Technical solutions of the utility model are：The utility model includes base 10, base cover 8, finger tip 3, refers to a rubber 2, refers to
Body 5, refer to body rubber 4, finger mount 7, finger tip motor 1, refer to body motor 6, base electrical machinery 9；Wherein finger tip 3, refer to body 5, finger
Head and the tail are connected fixture 7 successively, and finger tip motor 1 is respectively mounted in junction two-by-two with referring to body motor 6, three base electrical machineries 9 and is in
Circle column is arranged in base 10, and 120 ° are separated by between each two electrical axis.Finger mount 7 passes through with the motor of base 10
Axle is connected, and base cover 8 is covered on base 10, is fixed between base 10 and finger mount 7.Every finger can be around itself
120 ° of rotations, it can in addition contain do the bending with two frees degree.Realized with this and compound action such as grab, hold, pressing from both sides, lifting, can had
The crawl different size of effect, a variety of goods of different shapes, with higher flexibility.
The course of work of the present utility model is：
By the driving of three base electrical machineries, every finger can be around the 120 ° of rotations of base electrical machinery axis, additionally by finger tip
Motor and the driving for referring to body motor, finger tip and finger body can be rotated rotating around finger tip motor with the axis for referring to body motor, therefore
Each finger can also do the bending with two frees degree.Therefore three fingers can all carry out rotation and bend twice, three
Finger is rotated and bends to form different forms respectively, and the form families of three fingers gets up to form whole manipulator
Form, different bind lines are into different forms, and the Various Complex action such as these forms can behave as grabbing, hold, press from both sides, lift can have
The crawl different size of effect, a variety of goods of different shapes, with higher flexibility.
The beneficial effects of the utility model are：
1st, the manipulator, which can be realized, the Various Complex action such as grabs, holds, pressing from both sides, lifting, with higher flexibility.
2nd, the manipulator can replace two to refer to manipulator, solve this few problem of function.
3rd, the manipulator can replace the five fingers manipulator, solve the problem of cost of manufacture is high.
Brief description of the drawings
Figure one is structural representation of the present utility model；
Figure two is the schematic view of the mounting position of the utility model base electrical machinery；
Figure three is the utility model finger structure schematic diagram；
The utility model of figure four " grabs " appearance schematic diagram；
The utility model of figure five " holds " appearance schematic diagram；
The utility model of figure six " folder " appearance schematic diagram；
The utility model of figure seven " lift " appearance schematic diagram；
Each label in figure：1- finger tip motors, 2- refers to a rubber, 3- finger tips, and 4- refers to body rubber, and 5- refers to body, and 6- refers to body motor,
7- finger mounts, 8- base covers, 9- base electrical machineries, 10- bases.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment 1：As Figure 1-3, one kind three refers to manipulator, it is characterised in that：Including base 10, three manipulators
Finger, base cover 8, base electrical machinery 9, three mechanical fingers are fixed on base 10 by corresponding finger mount 7 respectively,
Mechanical finger can be rotated relative to finger mount 7, and finger mount 7 is fixed on the base electrical machinery 9 in base 10, base cover
8 cover on base 10, are fixed between base 10 and finger mount 7；The mechanical finger includes finger tip 3, refers to body 5, finger tip 3
Junction with referring to body 5 refers to body 5 with the junction of finger mount 7 provided with body motor 6 is referred to, finger tip 3 can provided with finger tip motor 1
Rotated relative to body 5 is referred to.
Embodiment 2：One kind three refers to manipulator, it is characterised in that：Including base 10, three mechanical fingers, base cover 8, bottoms
Seat motor 9, three mechanical fingers are fixed on base 10 by corresponding finger mount 7 respectively, and mechanical finger can phase
Rotated for finger mount 7, finger mount 7 is fixed on the base electrical machinery 9 in base 10, and base cover 8 is covered in base 10
On, it is fixed between base 10 and finger mount 7；The mechanical finger includes finger tip 3, refers to body 5, finger tip 3 and the company for referring to body 5
Connect and locate to be provided with finger tip motor 1, refer to body 5 with the junction of finger mount 7 provided with finger body motor 6, finger tip 3 can be relative to finger body 5
Rotation.
The base electrical machinery 9 has three, and rounded array is arranged in base 10, is separated by between each two electrical axis
120°.The finger tip 3 refers to body 5 provided with body rubber 4 is referred to, protection can be played to the article of gripping and is made provided with rubber 2 between referring to
With.
As shown in figs. 4-7, every finger can have the curved of two frees degree around itself 120 ° of rotation it can in addition contain do
It is bent.This three fingers manipulator can realize " grabbing ", " holding ", " folder ", " posture of lift.
Specific embodiment of the utility model is explained in detail above in conjunction with accompanying drawing, but the utility model is not limited
In above-described embodiment, in the knowledge that those of ordinary skill in the art possess, the utility model can also not departed from
Various changes can be made on the premise of objective.
Claims (3)
1. one kind three refers to manipulator, it is characterised in that：Including base (10), three mechanical fingers, base cover (8), base electrical machineries
(9), three mechanical fingers are fixed on base (10) by corresponding finger mount (7) respectively, and mechanical finger can phase
For finger mount (7) rotation, finger mount (7) is fixed on the base electrical machinery (9) in base (10), base cover (8)
Cover on base (10), be fixed between base (10) and finger mount (7)；The mechanical finger includes finger tip (3), refers to body
(5), finger tip (3) is provided with finger tip motor (1) with referring to the junction of body (5), and the junction for referring to body (5) and finger mount (7) is set
There is finger body motor (6), finger tip (3) can rotate relative to body (5) is referred to.
2. according to claim 1 three refer to manipulator, it is characterised in that：The base electrical machinery (9) has three, rounded battle array
Column is arranged in base (10), and 120 ° are separated by between each two electrical axis.
3. according to claim 1 three refer to manipulator, it is characterised in that：The finger tip (3) is provided with rubber (2) between finger,
Refer to body (5) provided with finger body rubber (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621285278.9U CN206406076U (en) | 2016-11-28 | 2016-11-28 | One kind three refers to manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621285278.9U CN206406076U (en) | 2016-11-28 | 2016-11-28 | One kind three refers to manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206406076U true CN206406076U (en) | 2017-08-15 |
Family
ID=59549483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621285278.9U Expired - Fee Related CN206406076U (en) | 2016-11-28 | 2016-11-28 | One kind three refers to manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206406076U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653839A (en) * | 2019-09-19 | 2020-01-07 | 常州工学院 | Robot tongs with position fine-tuning function |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
| CN114770587A (en) * | 2022-04-26 | 2022-07-22 | 黑龙江东方学院 | Three-jaw type space express box grabbing device and control method thereof |
-
2016
- 2016-11-28 CN CN201621285278.9U patent/CN206406076U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653839A (en) * | 2019-09-19 | 2020-01-07 | 常州工学院 | Robot tongs with position fine-tuning function |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
| CN114770587A (en) * | 2022-04-26 | 2022-07-22 | 黑龙江东方学院 | Three-jaw type space express box grabbing device and control method thereof |
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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: 20170815 Termination date: 20181128 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |