CN206855474U - Connecting rod humanoid robot gripping apparatus - Google Patents
Connecting rod humanoid robot gripping apparatus Download PDFInfo
- Publication number
- CN206855474U CN206855474U CN201720401096.1U CN201720401096U CN206855474U CN 206855474 U CN206855474 U CN 206855474U CN 201720401096 U CN201720401096 U CN 201720401096U CN 206855474 U CN206855474 U CN 206855474U
- Authority
- CN
- China
- Prior art keywords
- gripping apparatus
- rod
- handgrip
- support body
- synchronising
- Prior art date
- 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
Links
Abstract
The utility model discloses a kind of connecting rod humanoid robot gripping apparatus, including gripping apparatus support body, it is used at the top of gripping apparatus support body to connect the ring flange of the axle of robot six and the grasping mechanism located at gripping apparatus support body both sides；The grasping mechanism includes cylinder, contiguous block and rotating shaft, the cylinder is rotatably arranged on gripping apparatus support body, one end of the contiguous block and the rotatable connection of the piston rod head of cylinder, the other end of the contiguous block is fixedly connected with rotating shaft, the both ends of the rotating shaft and the rotatable connection of gripping apparatus support body, the both ends of the rotating shaft are fixedly connected with handgrip；One of handgrip of at least one grasping mechanism is provided with synchronising (connecting) rod in the grasping mechanism of the gripping apparatus support body both sides, one end of the synchronising (connecting) rod and the rotatable connection of the handgrip, the other end of the synchronising (connecting) rod and another grasping mechanism neutralize the corresponding rotatable connection of another handgrip of the handgrip, and two handgrips of synchronising (connecting) rod connection can do the rotation of opposite direction under the connection of synchronising (connecting) rod.
Description
Technical field
Robotic technology field is the utility model is related to, particularly a kind of connecting rod humanoid robot gripping apparatus.
Background technology
As shown in figure 1, being a kind of existing robot gripping apparatus, mainly pass through power source cylinder 10, contiguous block 11, rotating shaft 12
And handgrip 13 forms, when two cylinders 10 move back and forth, drive contiguous block 11 to operate, be connected by hinge with rotating shaft 12
Handgrip 13 will centered on hinge circular motion, realize crawl and the action put down.
Because above-mentioned existing robot gripping apparatus is using two cylinders, source of the gas control all the way, sometimes due to tracheae
In the other reasonses such as impurity be present, can cause power source cylinder action certain sequencing be present, cause cylinder to perform member
Part acts inconsistent phenomenon, so as to cause robot to have part or other anomalies when capturing material.
Utility model content
In order to solve the problems of the prior art, the purpose of this utility model is to provide a kind of structural improvement, can eliminate and grab
The nonsynchronous connecting rod humanoid robot gripping apparatus of hand.
To achieve the above object, the utility model uses following technical scheme：A kind of connecting rod humanoid robot gripping apparatus, including grab
Have support body, be used to connect the ring flange of the axle of robot six and the gripper located at gripping apparatus support body both sides located at gripping apparatus support body top
Structure；The grasping mechanism includes cylinder, contiguous block and rotating shaft, and the cylinder is rotatably arranged on gripping apparatus support body, the company
The rotatable connection of piston rod head of one end and cylinder of block is connect, the other end of the contiguous block is fixedly connected with rotating shaft, institute
Both ends and the rotatable connection of gripping apparatus support body of rotating shaft are stated, the both ends of the rotating shaft are fixedly connected with handgrip；The gripping apparatus support body
One of handgrip of at least one grasping mechanism is provided with synchronising (connecting) rod in the grasping mechanism of both sides, the synchronising (connecting) rod
One end and the rotatable connection of the handgrip, it is corresponding that the other end of the synchronising (connecting) rod with another grasping mechanism neutralizes the handgrip
The rotatable connection of another handgrip, and two handgrips of synchronising (connecting) rod connection can do opposite direction under the connection of synchronising (connecting) rod
Rotation.
On the outside of original structure, two handgrips are connected by synchronising (connecting) rod, after cylinder shrinks, pass through connection
Block, rotating shaft, handgrip can move in a circle around the center of rotating shaft, and at this moment handgrip moves out, and drive the synchronization for connecting the handgrip
Link motion, after synchronising (connecting) rod motion, other end will aid in the handgrip of another side to move, and thus this robot can be caused to grab
The handgrip on tool both sides is synchronized with the movement, and realizes that snatch is more stable.
Preferably, it is equipped with synchronising (connecting) rod on the handgrip of the grasping mechanism of the gripping apparatus support body both sides.
Preferably, the cylinder is hinged with gripping apparatus support body, and the piston rod head of the contiguous block and cylinder is hinged, described turn
Axle is hinged with gripping apparatus support body, and both ends and the handgrip of the synchronising (connecting) rod are hinged.
The beneficial effects of the utility model are：By increasing a synchronising (connecting) rod, two may be present nonsynchronous
Handgrip connects, so that the motion of two handgrips links together, avoids nonsynchronous situation.
Brief description of the drawings
Fig. 1 is the structural representation of existing robot gripping apparatus；
Fig. 2 is the structural representation of the utility model embodiment；
Reference：10- cylinders, 11- contiguous blocks, 12- rotating shafts, 13- handgrips, 20- gripping apparatus support bodys, 21- cylinders, 22- connect
Connect block, 23- rotating shafts, 24- handgrips, 25- synchronising (connecting) rods, 26- ring flanges.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings.
Embodiment
As shown in Fig. 2 a kind of connecting rod humanoid robot gripping apparatus, including gripping apparatus support body 20, it is used for located at the top of gripping apparatus support body 20
Connect the ring flange 26 of the axle of robot six and the grasping mechanism located at the both sides of gripping apparatus support body 20；The grasping mechanism includes cylinder
21st, contiguous block 22 and rotating shaft 23, the cylinder 21 are rotatably arranged on gripping apparatus support body 20, one end of the contiguous block 22 with
The rotatable connection of piston rod head of cylinder 21, the other end of the contiguous block 22 are fixedly connected with rotating shaft 23, the rotating shaft
23 both ends and the 20 rotatable connection of gripping apparatus support body, the both ends of the rotating shaft 23 are fixedly connected with handgrip 24；The gripping apparatus frame
One of handgrip 24 of at least one grasping mechanism is provided with synchronising (connecting) rod 25 in the grasping mechanism of the both sides of body 20, described same
Walk one end and 24 rotatable connection of handgrip of connecting rod 25, the other end of the synchronising (connecting) rod 25 with another grasping mechanism
Another corresponding 24 rotatable connection of handgrip with the handgrip 24, and two handgrips 24 that synchronising (connecting) rod 25 connects synchronously are connecting
The rotation of opposite direction can be done under the connection of bar 25, to make synchronising (connecting) rod 25 realize above-mentioned function, synchronising (connecting) rod 25 and wherein one
The connecting portion of individual handgrip 24 is located at below rotating shaft, and the connecting portion of synchronising (connecting) rod 25 and another handgrip is located at more than rotating shaft.
On the outside of original structure, two handgrips 24 are connected by synchronising (connecting) rod 25, after cylinder 21 shrinks, led to
Contiguous block 22, rotating shaft 23 are crossed, handgrip 24 can move in a circle around the center of rotating shaft 23, and at this moment handgrip 24 moves out, and drive
The synchronising (connecting) rod 25 for connecting the handgrip 24 moves, and after synchronising (connecting) rod 25 moves, other end will aid in the handgrip 24 of another side to transport
It is dynamic, it can thus cause the handgrip 24 on this robot gripping apparatus both sides to be synchronized with the movement, realize that snatch is more stable.
In one of the embodiments, it is equipped with the handgrip 24 of the grasping mechanism of the both sides of gripping apparatus support body 20 and synchronously connects
Bar 25.
In one of the embodiments, the cylinder 21 and gripping apparatus support body 20 are be hinged, the contiguous block 22 and cylinder 21
Piston rod head is hinged, and the rotating shaft 23 is be hinged with gripping apparatus support body 20, and the both ends of the synchronising (connecting) rod 25 and handgrip 24 are be hinged.
Embodiment described above only expresses specific embodiment of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.
Claims (3)
1. a kind of connecting rod humanoid robot gripping apparatus, it is characterised in that be used to connect machine including gripping apparatus support body, at the top of gripping apparatus support body
The ring flange and the grasping mechanism located at gripping apparatus support body both sides of the axle of device people six；The grasping mechanism includes cylinder, contiguous block and turned
Axle, the cylinder are rotatably arranged on gripping apparatus support body, and one end of the contiguous block and the piston rod head of cylinder are rotatable
Connection, the other end of the contiguous block is fixedly connected with rotating shaft, both ends and the rotatable connection of gripping apparatus support body of the rotating shaft,
The both ends of the rotating shaft are fixedly connected with handgrip；At least one grasping mechanism in the grasping mechanism of the gripping apparatus support body both sides
One of handgrip is provided with synchronising (connecting) rod, one end of the synchronising (connecting) rod and the rotatable connection of the handgrip, described synchronously to connect
The other end of bar and another grasping mechanism neutralize the corresponding rotatable connection of another handgrip of the handgrip, and synchronising (connecting) rod connects
Two handgrips connect can do the rotation of opposite direction under the connection of synchronising (connecting) rod.
2. connecting rod humanoid robot gripping apparatus according to claim 1, it is characterised in that the grasping mechanism of the gripping apparatus support body both sides
Handgrip on be equipped with synchronising (connecting) rod.
3. connecting rod humanoid robot gripping apparatus according to claim 1 or claim 2, it is characterised in that the cylinder is hinged with gripping apparatus support body,
The piston rod head of the contiguous block and cylinder is hinged, and the rotating shaft is hinged with gripping apparatus support body, the both ends of the synchronising (connecting) rod with
Handgrip is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720401096.1U CN206855474U (en) | 2017-04-17 | 2017-04-17 | Connecting rod humanoid robot gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720401096.1U CN206855474U (en) | 2017-04-17 | 2017-04-17 | Connecting rod humanoid robot gripping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206855474U true CN206855474U (en) | 2018-01-09 |
Family
ID=60817807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720401096.1U Expired - Fee Related CN206855474U (en) | 2017-04-17 | 2017-04-17 | Connecting rod humanoid robot gripping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206855474U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076819A (en) * | 2019-06-12 | 2019-08-02 | 湖北航嘉麦格纳座椅系统有限公司 | A kind of tetrad pawl mechanism and electronic clamping jaw |
| CN113003129A (en) * | 2021-04-12 | 2021-06-22 | 东方电气集团科学技术研究院有限公司 | Multistage slide rail cantilever extending structure of carriage |
-
2017
- 2017-04-17 CN CN201720401096.1U patent/CN206855474U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076819A (en) * | 2019-06-12 | 2019-08-02 | 湖北航嘉麦格纳座椅系统有限公司 | A kind of tetrad pawl mechanism and electronic clamping jaw |
| CN113003129A (en) * | 2021-04-12 | 2021-06-22 | 东方电气集团科学技术研究院有限公司 | Multistage slide rail cantilever extending structure of carriage |
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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: 20180109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |