CN207224000U - A kind of manipulator and robot - Google Patents
A kind of manipulator and robot Download PDFInfo
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- CN207224000U CN207224000U CN201721024932.5U CN201721024932U CN207224000U CN 207224000 U CN207224000 U CN 207224000U CN 201721024932 U CN201721024932 U CN 201721024932U CN 207224000 U CN207224000 U CN 207224000U
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- finger
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- manipulator
- linkage
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Abstract
It the utility model is related to robotic technology field, provide a kind of manipulator and robot, including transmission device and grabbing device, grabbing device includes at least two fingers, finger is connected with transmission device, transmission device drives finger to collapse or open, so as to be captured or release movement, elastic deformation can occur for the finger, body surface can be adaptively pressed against according to the shape of object, so that finger possesses the ability of adaptive crawl, suitable for shape, size, object of the position there are deviation, the envelope ability for treating crawl object is strong, so that grasp stability is high.Robot with above-mentioned manipulator further includes mechanical arm, and mechanical arm can drive robot movement to required position, and carries out self-adapting grasping and carrying to object.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of manipulator and robot.
Background technology
With science and technology high speed development, in many occasions using automatic machinery substitution manually carry out it is relevant activity and
Operation, such as manipulator, it is widely used in the fields such as industrial production, logistics, metallurgical medical treatment and 3C industries, to substitute people
Hand such as is captured and is carried at repeated, the mechanical sex work, can largely improve production；At the same time can also substitute human hand into
Some complicated, dangerous high work of row, largely ensure personal safety.But in the prior art, manipulator is using rigidity
Structure, and drive mechanism is complicated, function is single, and it be rigid object to be only applicable to surface, and requires multiple objects shape, greatly
Small and position immobilizes, and could be captured.Can not capture shape, size, position there are deviation object, it is and existing
Manipulator treats the envelope energy force difference of crawl object, and grasp stability is poor.For with yielding or destructible feature object,
Crawl is can not be successfully using existing robot, easily causes the damage of object.
Therefore, it is necessary to for above-mentioned problems of the prior art, there is provided a kind of technical solution is to solve the above problems.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of manipulator and machine for possessing self-adapting grasping function
Device people.
Technical solution is used by the utility model solves above-mentioned technical problem：
A kind of manipulator is provided, it includes transmission device and grabbing device, and the grabbing device includes at least two hands
Refer to, the transmission device drives the finger to collapse or open, so as to be captured or bullet can occur for release movement, the finger
Property deformation, the transmission device includes linkage, the quantity correspondent equal of the quantity of the linkage and the finger, institute
Finger is stated respectively with the linkage to be connected.
As the improvement of above-mentioned technical proposal, the transmission device further includes a fixation chuck, the linkage difference
Quadric chain is formed with the fixed chuck, the linkage includes sequentially connected first side link, connecting rod and second
Side link, first side link and second side link are hinged with the fixed chuck respectively, the both ends point of the connecting rod
It is not hinged with first side link and second side link.
Further as above-mentioned technical proposal is improved, and the transmission device further includes a worm screw, the linkage edge
The worm screw is circumferentially uniformly distributed, and first side link includes a toothed disc, and the toothed disc is mutually nibbled with the worm screw respectively
Close.
Further as above-mentioned technical proposal is improved, and the fixed chuck includes mounting disc and fixing bracket, the snail
Bar is described solid perpendicular to mounting disc center, the support bracket fastened quantity and the quantity correspondent equal of the linkage
Fixed rack is uniformly distributed centered on the worm screw along ring-type, and first side link is hinged with the fixing bracket, and described
Two side links are hinged with the mounting disc.
Further as above-mentioned technical proposal is improved, and erecting bed, the erecting bed are tiltedly installed with the mounting disc
It is corresponding with the support bracket fastened position, the first mounting portion for being connected with the finger is provided with the erecting bed.
Further as above-mentioned technical proposal is improved, and the finger includes drive division, fixed part and crawl section, the drive
Dynamic portion is used to drive the crawl section and the fixed part to be deformed, and the crawl section is used to capture object.
Further as above-mentioned technical proposal is improved, and the drive division, the fixed part and the crawl section are intersected in
Same intersection and the structure that Formation cross-section is y types, the lower part of corresponding y types is the crawl section, and the top of corresponding y types is respectively
The drive division and the fixed part.
Further as above-mentioned technical proposal is improved, and the second mounting portion, the drive are provided with second side link
Dynamic portion and second mounting portion are detachably connected, and the fixed part and the fixed chuck are detachably connected.
Further as above-mentioned technical proposal is improved, including three fingers.
A kind of robot is additionally provided, it includes above-mentioned manipulator, and the mechanical arm drives the manipulator to be transported
It is dynamic.
The beneficial effects of the utility model are：
A kind of manipulator of the utility model and robot, including transmission device and grabbing device, the grabbing device include
Finger, the finger are connected with the transmission device, and the transmission device drives the finger to collapse or open, so as to carry out
Elastic deformation can occur for crawl or release movement, the finger, and finger can adaptively be pressed against body surface according to the shape of object,
So that finger possesses the ability of adaptive crawl, suitable for shape, size, position there are the object of deviation, crawl thing is treated
The envelope ability of body is strong so that grasp stability is high.Robot with above-mentioned manipulator further includes mechanical arm, and mechanical arm can band
Dynamic robot movement carries out self-adapting grasping and carrying to required position, and to object.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used briefly describes：
Fig. 1 is the schematic perspective view of the utility model manipulator one embodiment releasing orientation；
Fig. 2 is the schematic diagram of embodiment illustrated in fig. 1 part；
Fig. 3 is the schematic perspective view of embodiment illustrated in fig. 1 seized condition；
Fig. 4 is the view in mono- direction of Fig. 3；
Fig. 5 is the top view of the utility model manipulator one embodiment；
Fig. 6 is the schematic perspective view that chuck is fixed in the utility model manipulator；
Fig. 7 is the schematic perspective view of linkage one embodiment in the utility model manipulator.
Embodiment
Carried out below with reference to the technique effect of the design of embodiment and attached drawing to the utility model, concrete structure and generation
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is the part of the embodiment of the utility model, rather than whole embodiments, the embodiment based on the utility model, the skill of this area
The other embodiment that art personnel are obtained without creative efforts, belongs to the model of the utility model protection
Enclose.In addition, all connection/connection relations arrived involved in patent, not singly refer to component and directly connect, and refer to can be according to specific
Performance, by adding or reducing couple auxiliary, to form more preferably draw bail.In the utility model it is involved it is upper,
Under, the orientation such as left and right description be only for the mutual alignment relation of each part of the utility model in attached drawing.
Each technical characteristic in the utility model, can be with combination of interactions on the premise of not conflicting conflict.
Fig. 1 is the schematic perspective view of the utility model manipulator one embodiment releasing orientation, and Fig. 2 is implementation shown in Fig. 1
The view in one direction of example, with reference to Fig. 1 and Fig. 2, the present embodiment manipulator includes transmission device 100 and grabbing device 200.
Grabbing device 200 includes three fingers 210, is connected respectively with transmission device 100, the quantity of corresponding finger 210, transmission device
100 include three linkages 110, and transmission device 100 drives three fingers 210 are synchronous to collapse by linkage 110, so that
Carry out grasping movement；Finger 210 has elastic deformation ability, and when capturing object, finger 210 can be adaptive according to the shape of object
Body surface should be pressed against so that finger 210 possesses the ability of adaptive crawl.Transmission device 100 passes through 110 band of linkage
Start refer to 210 synchronously open and eliminate deformation finger deformation, so as to carry out release movement.When it is implemented, the quantity of finger
At least 2, and along annular spread, in the present embodiment, grabbing device 200 includes 3 fingers, helps to fill body surface
Subpackage network.
In the present embodiment, finger 210 is made of flexible soft material, is a resiliently deformable, it include drive division 211,
Fixed part 212 and crawl section 213, the drive division 211, fixed part 212 and crawl section 213 are structure as a whole, and fixed part 212 and grab
Portion 213 is taken to form an envelope plane 214, and three is intersected in same intersection 215, its section is in y type structure (reference charts
2) lower part for, corresponding to y type structures is crawl section 213, top is respectively drive division 211 and fixed part 212, and the wherein left side is driving
Portion 211, the right are fixed part 212.
Drive division 211 includes the first connector 211a and drive section 211b, and the second connector 212a is provided with fixed part,
First connector 211a and the second connector 212a is used for detachably connected with transmission device 100.In the present embodiment, three hands
Refer to mutually to collapse and can capture object, three, which mutually opens, can discharge object, and three fingers, can be from three along annular uniformly arrangement
Crawl object is treated through being captured and envelope in a direction, suitable for shape, size, position there are the object of deviation, treats and grabs
Take the envelope ability of object strong so that grasp stability is high.
Fixed part 212 is in straight panel shape, including the second connector 212a and fixed section 212b, and envelope plane 214 is by fixed section
212b is collectively forming with crawl section 213, for directly being acted on object to be captured, utilizes rubbing between object and enveloping surface 214
Power is wiped, object is fixed between the fingers.215 thickness of intersection of three is larger, can increase intensity and toughness at this,
Crawl section 213 gradually increases from its end to 215 material thickness of intersection.
Transmission device 100 includes three linkages 110, one and fixes chuck 120 and a worm screw 130, linkage 110
Uniformly arrange along annular and hinged with fixed chuck 120, worm screw 130 can drive three positioned at the centre of three linkages 110
Linkage 110 moves at the same time, and three fingers 210 are removably secured with three linkages 110 are connected respectively.
Fixed chuck 120 includes a mounting disc 121 and three fixing brackets 122, and worm screw 130 is perpendicular to mounting disc 121
Center, fixing bracket 122 are uniformly distributed along ring-type centered on worm screw and are fixed in the mounting disc 121, three linkages
110 is hinged with three fixing brackets 122 respectively.
Be provided with mounting disc 121 three be used for step down side 1211, the position of the side 1211 and fixing bracket 122
Corresponding, the movement for three linkages provides resigning, avoids movement interference.Three peaces are tiltedly installed with mounting disc 121
Platform 123 is filled, the erecting bed 123 is corresponding with support bracket fastened position, is provided with the first peace for being connected with finger 110
Dress portion 1231 and three pairs are used to carry out hinged hinged seat 1232 with linkage 110.First mounting portion 1231 is specially to run through
The T-slot of the erecting bed, is conducive to uniformly exert a force to the adaptive finger in it, prevents adaptive finger from turning round
Song, the second connector 212a on the fixed part 212 of finger 210 is specially T connector, and second connector 212a can be caught in the first peace
So as to be fixedly connected in dress portion 1231, and can be dismantled as needed, meanwhile, to prevent from being fixed on oneself in the T-slot
Adapt to finger to slip, locking baffle can be set in connecting portion both ends of the surface, prevent adaptive finger from being slipped along T-slot length direction.
Three linkages 110 are formed three quadric chains to fix chuck 120 for rack respectively, specifically, connecting rod
Mechanism 110 includes the first side link 111, the second side link 112 and connecting rod 113, and the first side link 111 is with fixing on chuck 120
Fixing bracket 122 it is hinged, the second side link 112 is hinged with the hinged seat 1231 set on erecting bed 123, formation hinge four
Linkage, the first side link 111 and the second side link 112 can be relatively fixed chuck 120 and be swung respectively.First side link
111 include a toothed disc 111a, toothed disc 111a using the hinge joint on the first side link 111 with fixing bracket 122 as the center of circle,
Toothed disc 111a on three the first side links 111 is intermeshed with worm screw 130 respectively, and driving the worm screw 130 to rotate can drive
Three the first side links 111 rotate synchronously, so as to drive 113 and second side link 112 of connecting rod to move.
It is provided with the second mounting portion 112a on second side link 112, in the present embodiment, second mounting portion 112a is specially
T-slot, is conducive to uniformly exert a force to the adaptive finger in it, prevents adaptive finger to be distorted, finger 210
The first connector 211a on drive division 211 is specially T connector, first connector 211a can be caught in the second mounting portion 112a from
And be fixedly connected, and can be dismantled as needed, meanwhile, slipped to prevent from being fixed on the adaptive finger in the T-slot,
Locking baffle can be set in connecting portion both ends of the surface, prevent adaptive finger from being slipped along T-slot length direction.To ensure that clamping can
Lean on, the first connector 211a and the second connector 212a are preferably that rigid material is made, or are made of flexible soft material
And rigid material is provided with inside it, prevent the first connector and the second connector from deforming excessive and departing from the first mounting portion
The 1231 and second mounting portion 112a.Drive section 211b is in bending, is conducive to be oriented to its bending direction, prevents its stress
Drive section material is crimped to fixed part 212 during deformation so that drive section material is crimped to the direction away from fixed part 212, is ensured
Enough deformation spaces.
Fig. 3 is the schematic perspective view of embodiment illustrated in fig. 1 seized condition, and Fig. 4 is the view in mono- direction of Fig. 3, is joined at the same time
Fig. 3 and Fig. 4 are examined, in crawl, the worm screw 130 in driving device driving transmission device 100 rotates the present embodiment three claw robot,
The rotation direction is defined as forward direction, worm screw 130 drives three the first side links 111 engaged to rotate synchronously, the first frame linking
Bar 111 drives the second side link 112 to move by connecting rod 113 so that the second side link 112 drives finger 210 mutually to collapse simultaneously
Compressing drive division 211 makes its deformation, and since finger 210 is made of flexible soft material, therefore the deformation of the generation of drive division 211 is bullet
Property deformation, its elastic force promotes crawl section 213 and fixed part 212 to bend in opposite directions, and three fingers are collapsed, dynamic so as to fulfill crawl
Make.Above-mentioned flexible soft material can be the environmental-protecting materials such as natural rubber, silica gel, have that hardness is relatively low, degree of deformability is high
Feature.
During release, driving device drives worm screw 130 to rotate backward (with defined above to rotate forward direction opposite), drives
Three the first side links 111 engaged rotate synchronously, and the first side link 111 drives the second side link 112 by connecting rod 113
Movement so that the second side link 112 drives finger 210 to open, and eliminates the deformation of drive division 211 and crawl section 213, three
Mutually open, so as to fulfill release movement.
When it is implemented, can be directly fixed on power set on fixed chuck 220, power set can be electricity at this time
The modes such as dynamic, pneumatic or hydraulic-driven provide rotary power, and preferably motor, motor output end are connected with worm screw 130 herein
Connect and worm screw 130 can be driven to rotate.
Fig. 5 is the top view of the utility model three claw robot one embodiment, and with reference to figure 5, fixed chuck 120 includes one
A mounting disc 121 and three fixing brackets 122, worm screw 130 is perpendicular to the center of mounting disc 121, and fixing bracket 122 is with worm screw 130
Centered on be uniformly distributed along ring-type, the first side link 111 is hinged with fixing bracket 122, the gear on three the first side links 111
Disk 111a is engaged with worm screw 130.Three first sides 1211 and three second sides 1212 are provided with mounting disc 121, the
A side 1211 is corresponding with the position of fixing bracket 122, and second side 1212 is arranged at intervals with first side 1211.
Fig. 6 is the schematic perspective view that chuck is fixed in the utility model three claw robot, and with reference to figure 6, fixed chuck 120 wraps
Include mounting disc 121 and fixing bracket 122, be tiltedly installed with three erecting beds 123 in mounting disc 121, its position respectively with fixation
Stent is corresponding, is provided with and is used to cut with scissors with linkage for the first mounting portion 1231 being connected with finger and three pairs
The hinged seat 1232 connect.Erecting bed 123 is obliquely installed, when three claw robot in the raw when, be conducive to mounted thereto
Free state of the finger in no deformation, help to improve the service life of finger.First mounting portion 1231 is specially to run through
The T-slot of the erecting bed, is conducive to uniformly exert a force to the adaptive finger in it, prevents adaptive finger from turning round
Song, meanwhile, slipped to prevent from being fixed on the adaptive finger in the T-slot, locking baffle can be set in connecting portion both ends of the surface, prevent
Only adaptive finger is slipped along T-slot length direction.
Fig. 7 is the schematic perspective view of linkage one embodiment in the utility model three claw robot, with reference to figure 7, is connected
Linkage 110 includes the first side link 111, the second side link 112 and connecting rod 113.
First side link 111 includes a toothed disc 111a, and toothed disc 111a is with the first side link 111 and above-mentioned fixation
The hinge joint of stent is the center of circle, and toothed disc 111a and worm engaging on three the first side links, worm screw, which rotates, can drive three
First side link 111 rotates synchronously, so as to drive 113 and second side link 112 of connecting rod to be moved accordingly.
Second side link 112 includes two hinged seats 1121 being separated from each other and two pendulum for being symmetrical arranged and being separated from each other
Bar 1122, two swing rods are connected by connecting portion 1123, hinged seat 1121 be arranged on connecting portion 1123 and with two swing rods
Setting at an angle, the first mounting portion 112a is arranged on connecting portion 1123, it is a T-slot for running through connecting portion 1123,
Be conducive to uniformly exert a force to the adaptive finger in it, prevent adaptive finger to be distorted, meanwhile, to prevent from fixing
Adaptive finger in the T-slot slips, and can set locking baffle in connecting portion both ends of the surface, prevents adaptive finger along T-shaped
Slot length direction slips.
113 both ends of connecting rod are hinged with the first side link 111 and the second side link 112 respectively, and connecting rod 113 includes the first curved bar
1131 and second curved bar 1132, the first curved bar 1131 and the second curved bar 1132 respectively have a bending section so that the two is hinged
Axis pulls open corresponding distance, so that the first curved bar 1131 and articulated shaft and the second side link 112 on the second curved bar 1132
On hinged seat 1121 be engaged it is hinged so that stable transmission is reliable.
A kind of robot, including mechanical arm and above-mentioned three claw robot, mechanical arm drive the manipulator to be moved, from
And object is captured and is carried, the crawl to object possesses all functions of three claw robot, to substitute human hand to carry out
Repeated, the mechanical sex work such as crawl and carrying, can largely improve production；Also human hand can be substituted to carry out at the same time
Complicated, dangerous high work, largely ensures personal safety.
The preferred embodiment of the utility model is above are only, but the utility model is not restricted to the embodiment, is familiar with
Those skilled in the art can also make a variety of equivalent variations or replacement on the premise of without prejudice to the utility model spirit, this
Equivalent deformation or replacement are all contained in the application claim limited range a bit.
Claims (10)
- A kind of 1. manipulator, it is characterised in that：Including transmission device and grabbing device, the grabbing device includes at least two hands Refer to, the transmission device drives the finger to collapse or open, so as to be captured or bullet can occur for release movement, the finger Property deformation, the transmission device includes linkage, the quantity correspondent equal of the quantity of the linkage and the finger, institute Finger is stated respectively with the linkage to be connected.
- 2. manipulator according to claim 1, it is characterised in that：The transmission device further includes a fixation chuck, described Linkage forms quadric chain with the fixed chuck respectively, and the linkage includes sequentially connected first frame linking Bar, connecting rod and the second side link, first side link and second side link are hinged with the fixed chuck respectively, described The both ends of connecting rod are hinged with first side link and second side link respectively.
- 3. manipulator according to claim 2, it is characterised in that：The transmission device further includes a worm screw, the connecting rod Mechanism is circumferentially uniformly distributed along the worm screw, and first side link includes a toothed disc, the toothed disc respectively with the snail Bar is meshed.
- 4. manipulator according to claim 3, it is characterised in that：The fixed chuck includes mounting disc and fixing bracket, The worm screw is central perpendicular to the mounting disc, the support bracket fastened quantity and the quantity correspondent equal of the linkage, The fixing bracket is uniformly distributed centered on the worm screw along ring-type, and first side link is hinged with the fixing bracket, Second side link is hinged with the mounting disc.
- 5. manipulator according to claim 4, it is characterised in that：Erecting bed is tiltedly installed with the mounting disc, it is described Erecting bed is corresponding with the support bracket fastened position, and the first peace for being connected with the finger is provided with the erecting bed Dress portion.
- 6. the manipulator according to any one of claim 2~5, it is characterised in that：The finger includes drive division, consolidates Determine portion and crawl section, the drive division is used to drive the crawl section and the fixed part to be deformed, and the crawl section is used for Capture object.
- 7. manipulator according to claim 6, it is characterised in that：The drive division, the fixed part and the crawl section It is intersected in same intersection and Formation cross-section is the structure of y types, the lower part of corresponding y types is the crawl section, the top of corresponding y types Respectively described drive division and the fixed part.
- 8. manipulator according to claim 7, it is characterised in that：The second mounting portion is provided with second side link, The drive division and second mounting portion are detachably connected, and the fixed part and the fixed chuck are detachably connected.
- 9. manipulator according to claim 8, it is characterised in that：Including three fingers.
- A kind of 10. robot, it is characterised in that：Including mechanical arm and manipulator according to any one of claims 1 to 9, institute Stating mechanical arm drives the manipulator to be moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024932.5U CN207224000U (en) | 2017-08-16 | 2017-08-16 | A kind of manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024932.5U CN207224000U (en) | 2017-08-16 | 2017-08-16 | A kind of manipulator and robot |
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| Publication Number | Publication Date |
|---|---|
| CN207224000U true CN207224000U (en) | 2018-04-13 |
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ID=61857106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721024932.5U Active CN207224000U (en) | 2017-08-16 | 2017-08-16 | A kind of manipulator and robot |
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| CN (1) | CN207224000U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363857A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of manipulator and robot |
| CN111846938A (en) * | 2020-08-17 | 2020-10-30 | 天津中辰智能设备有限公司 | Self-positioning gripper of iron frame stacking machine |
-
2017
- 2017-08-16 CN CN201721024932.5U patent/CN207224000U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363857A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of manipulator and robot |
| CN111846938A (en) * | 2020-08-17 | 2020-10-30 | 天津中辰智能设备有限公司 | Self-positioning gripper of iron frame stacking machine |
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