CN207240246U - A kind of anti-skidding link robot manipulator of pressure control - Google Patents
A kind of anti-skidding link robot manipulator of pressure control Download PDFInfo
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- CN207240246U CN207240246U CN201720292340.5U CN201720292340U CN207240246U CN 207240246 U CN207240246 U CN 207240246U CN 201720292340 U CN201720292340 U CN 201720292340U CN 207240246 U CN207240246 U CN 207240246U
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- 230000000694 effects Effects 0.000 abstract 1
- 230000001788 irregular Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
A kind of anti-skidding link robot manipulator of pressure control is the utility model is related to, belongs to manipulator technical field.The utility model includes manipulator seat, manipulator support, Pneumatic controller and mechanical paw；The pneumatic cylinder is installed on inside manipulator seat lower end, and manipulator support is securedly mounted on manipulator seat, and manipulator paw is connected by hinge with manipulator support and Pneumatic controller.The utility model is suitable for the crawl of the irregular spherical body of various shapes, applied widely；Pressure control can reach good crawl effect；The design of finger non-slipping block can increase manipulator finger and capture the frictional force between thing, reduce the chucking power of mechanical paw.
Description
Technical field
A kind of anti-skidding link robot manipulator of pressure control is the utility model is related to, belongs to manipulator technical field.
Background technology
To accelerate industrialization industry process, manipulator is reliable with its structure, and work efficiency is high, can replace manually carrying out cumbersome
Repetitive the advantages that be widely used in the field such as traditional manufacture and emerging Robot industry.Existing industrial machinery
Hand mainly directly to drive based on hydraulic mechanical hand, straight purging pressure type manipulator and Motor controlling machine tool hand, directly drives hydraulic mechanical
Hand and straight purging pressure type manipulator rely primarily on liquid（Gas）Pressure transmission carries out motion control to manipulator, its finger material is mostly light
Sliding rigid material realizes that object clamps, it is necessary to relatively capture chucking power by force, easily causes clamping body surface and destroys, and motor driving machine
For tool hand then since control accuracy is relatively low, structure is cumbersome, special scene using when be restricted.
The content of the invention
It is general to solve the technical problem to be solved by the present invention is to provide a kind of anti-skidding link robot manipulator of pressure control
The problem of non-skid property is general during logical manipulator crawl, and gripped object surface protective is poor.
The technical solution of the utility model is：A kind of anti-skidding link robot manipulator of pressure control, including manipulator seat, manipulator
Stent, mechanical paw and Pneumatic controller；
The Pneumatic controller is installed on inside manipulator seat lower end, and manipulator support is securedly mounted to manipulator seat
On, mechanical paw is connected through the hinge on manipulator support and Pneumatic controller.
The Pneumatic controller includes pneumatic cylinder, finger slide, air pressure cylinder rod and attachment screw；The pneumatic cylinder leads to
Cross attachment screw to be fastened on manipulator seat, air pressure cylinder rod and pneumatic cylinder are slidably matched uses, finger slide and pneumatic cylinder company
Bar lower end tight fit connection.
The mechanical paw includes manipulator finger I, manipulator finger II, manipulator finger III and manipulator finger IV；
The manipulator finger I is connected by hinge with manipulator support and finger slide, and manipulator finger II passes through hinge
Chain is connected with manipulator support and finger slide, and manipulator finger III is connected by hinge with manipulator support and finger slide,
Manipulator finger IV is connected by hinge with manipulator support and finger slide.
The manipulator finger I includes manipulator connecting rod I, manipulator connecting rod II, manipulator connecting rod III, manipulator connecting rod IV
With anti-skidding crawl block；
Described its both ends of manipulator connecting rod I are connected by hinge and manipulator support lower end and the middle part of manipulator connecting rod II respectively
Connect, manipulator connecting rod II is connected with finger slide and manipulator connecting rod IV respectively by its both ends of hinge, and manipulator connecting rod III is logical
Cross its both ends of hinge to be connected with finger slide and manipulator connecting rod IV respectively, manipulator connecting rod IV passes through hinge and manipulator connecting rod
II and manipulator connecting rod III connect, it is anti-skidding crawl block be installed on IV lower end of manipulator connecting rod.
The structure of the manipulator finger II, manipulator finger III and manipulator finger IV and I structure phase of manipulator finger
Together.
The operation principle of the utility model is：The utility model integrally can be installed on industrial machine by manipulator seat upper end
On the manipulator of people, molar behavior has been completed；Crawl position and crawl can be realized by control rotation by manipulator seat after installation
The change of angle；This machinery on hand, is controlled by Pneumatic controller so that and air pressure cylinder rod can move in pneumatic cylinder, from
And drive finger slide to realize and moved along air pressure cylinder rod direction, the linkage for being further driven to four fingers controls anti-skidding grab
Take block to complete folding, realize crawl function；Anti-skidding crawl block uses the anti-skidding design of soft quality, can increase when carrying out grasping movement
Frictional force, while reduce crawl chucking power, crawl object surface is protected.
The beneficial effects of the utility model are：
1st, the crawl of a variety of spherical shapes objects is suitable for, it is applied widely；
2nd, pressure control multi link manipulator, increase crawl accuracy, improves efficiency；
3rd, the use of elastic anti-slip block, increases and rubs between manipulator paw and crawl object, reduces crawl chucking power, protects
The clamped object surface texture of shield；
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structure diagram that pneumatic shuttle is installed in the utility model；
Fig. 3 is mechanical paw structure schematic diagram in the utility model；
Fig. 4 is mechanical finger structure schematic diagram in the utility model.
In figure：1- manipulator seats, 2- manipulator supports, 3- mechanical paws, 4- Pneumatic controllers, 5- pneumatic cylinders, 6- hands
Refer to sliding block, 7- air pressures cylinder rod, 8- trip bolts, 9- manipulator fingers I, 10- manipulator fingers II, 11- manipulator fingers III,
12- manipulator fingers IV, 13- manipulators connecting rod I, 14- manipulators connecting rod II, 15- manipulators connecting rod III, 16- manipulator connecting rods
IVth, the anti-skidding crawl blocks of 17-.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：As shown in Figs 1-4, the anti-skidding link robot manipulator of a kind of pressure control, including manipulator seat 1, manipulator branch
Frame 2, mechanical paw 3 and Pneumatic controller 4；Pneumatic controller 4 is installed on inside 1 lower end of manipulator seat, manipulator support 2
It is securedly mounted on manipulator seat 1, manipulator paw 3 is connected through the hinge installed in manipulator support 2 and Pneumatic controller 4
On.
Pneumatic controller 4 includes pneumatic cylinder 5, finger slide 6, air pressure cylinder rod 7 and attachment screw 8；Pneumatic cylinder 5 passes through
Attachment screw 8 is fastened on manipulator seat 1, and air pressure cylinder rod 7 and pneumatic cylinder 5 are slidably matched use, finger slide 6 and pneumatic cylinder
7 lower end tight fit connection of connecting rod.
Mechanical paw 3 includes manipulator finger I 9, manipulator finger II 10, manipulator finger III 11 and manipulator finger IV
12；
Manipulator finger I 9 is connected by hinge with manipulator support 2 and finger slide 6, and manipulator finger II 10 passes through hinge
Chain is connected with manipulator support 2 and finger slide 6, and manipulator finger III 11 passes through hinge and manipulator support 2 and finger slide 6
Connection, manipulator finger IV 12 are connected by hinge with manipulator support 2 and finger slide 6.
Manipulator finger I 9 includes manipulator connecting rod I 13, manipulator connecting rod II 14, manipulator connecting rod III 15, manipulator and connects
Bar IV 16 and anti-skidding crawl block 17；
Its both ends of manipulator connecting rod I 13 pass through hinge and 2 lower end of manipulator support and the middle part of manipulator connecting rod II 14 respectively
Connection, manipulator connecting rod II 14 are connected with finger slide 6 and manipulator connecting rod IV 16 respectively by its both ends of hinge, manipulator
Connecting rod III 15 is connected with finger slide 6 and manipulator connecting rod IV 16 respectively by its both ends of hinge, and manipulator connecting rod IV 16 passes through
Hinge is connected with manipulator connecting rod II 14 and manipulator connecting rod III 15, and anti-skidding crawl block 17 is installed under manipulator connecting rod IV 16
End.
I 9 structure of manipulator finger II 10, the structure of manipulator finger III 11 and manipulator finger IV 12 and manipulator finger
It is identical.
Specific embodiment of the present utility model is explained in detail above in association with attached drawing, but the utility model is not
It is limited to the above embodiment, within the knowledge of a person skilled in the art, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (5)
- A kind of 1. anti-skidding link robot manipulator of pressure control, it is characterised in that：Including manipulator seat（1）, manipulator support（2）, machine Tool paw（3）And Pneumatic controller（4）；The Pneumatic controller（4）Installed in manipulator seat（1）Inside lower end, manipulator support（2）It is securedly mounted to machinery Hand seat（1）On, mechanical paw（3）It is connected through the hinge and is installed on manipulator support（2）With Pneumatic controller（4）On.
- 2. the anti-skidding link robot manipulator of pressure control according to claim 1, it is characterised in that：The Pneumatic controller （4）Including pneumatic cylinder（5）, finger slide（6）, air pressure cylinder rod（7）And attachment screw（8）；The pneumatic cylinder（5）Pass through connection Screw（8）It is fastened on manipulator seat（1）On, air pressure cylinder rod（7）With pneumatic cylinder（5）Be slidably matched use, finger slide（6）With Air pressure cylinder rod（7）Lower end tight fit connection.
- 3. the anti-skidding link robot manipulator of pressure control according to claim 1, it is characterised in that：The mechanical paw（3）Bag Include manipulator finger I（9）, manipulator finger II（10）, manipulator finger III（11）With manipulator finger IV（12）；The manipulator finger I（9）Pass through hinge and manipulator support（2）And finger slide（6）Connection, manipulator finger II （10）Pass through hinge and manipulator support（2）And finger slide（6）Connection, manipulator finger III（11）Pass through hinge and manipulator Stent（2）And finger slide（6）Connection, manipulator finger IV（12）Pass through hinge and manipulator support（2）And finger slide（6） Connection.
- 4. the anti-skidding link robot manipulator of pressure control according to claim 3, it is characterised in that：The manipulator finger I（9） Including manipulator connecting rod I（13）, manipulator connecting rod II（14）, manipulator connecting rod III（15）, manipulator connecting rod IV（16）With it is anti-skidding Capture block（17）；The manipulator connecting rod I（13）Its both ends passes through hinge and manipulator support respectively（2）Lower end and manipulator connecting rod II （14）Middle part connects, manipulator connecting rod II（14）Both ends respectively with finger slide（6）With manipulator connecting rod IV（16）Connection, machine Tool hand connecting rod III（15）By its both ends of hinge respectively with finger slide（6）With manipulator connecting rod IV（16）Connection, manipulator connect Bar IV（16）Pass through hinge and manipulator connecting rod II（14）With manipulator connecting rod III（15）Connection, anti-skidding crawl block（17）It is installed on Manipulator connecting rod IV（16）Lower end.
- 5. the anti-skidding link robot manipulator of pressure control according to claim 3, it is characterised in that：The manipulator finger II （10）, manipulator finger III（11）With manipulator finger IV（12）Structure and manipulator finger I（9）Structure is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292340.5U CN207240246U (en) | 2017-03-24 | 2017-03-24 | A kind of anti-skidding link robot manipulator of pressure control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292340.5U CN207240246U (en) | 2017-03-24 | 2017-03-24 | A kind of anti-skidding link robot manipulator of pressure control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240246U true CN207240246U (en) | 2018-04-17 |
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ID=61875160
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292340.5U Expired - Fee Related CN207240246U (en) | 2017-03-24 | 2017-03-24 | A kind of anti-skidding link robot manipulator of pressure control |
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| Country | Link |
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| CN (1) | CN207240246U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN109222138A (en) * | 2018-10-23 | 2019-01-18 | 广西壮族自治区农业科学院农产品加工研究所 | A kind of efficient persimmon skinning machine |
| CN113601483A (en) * | 2021-07-26 | 2021-11-05 | 沧州师范学院 | A goods grabbing device for industrial robot |
| CN114575053A (en) * | 2022-02-24 | 2022-06-03 | 安徽红爱实业股份有限公司 | Bionic manipulator for clothing production and customization |
-
2017
- 2017-03-24 CN CN201720292340.5U patent/CN207240246U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN108656147B (en) * | 2018-07-24 | 2024-03-26 | 佛山科学技术学院 | Self-adaptive mechanical gripper |
| CN109222138A (en) * | 2018-10-23 | 2019-01-18 | 广西壮族自治区农业科学院农产品加工研究所 | A kind of efficient persimmon skinning machine |
| CN113601483A (en) * | 2021-07-26 | 2021-11-05 | 沧州师范学院 | A goods grabbing device for industrial robot |
| CN114575053A (en) * | 2022-02-24 | 2022-06-03 | 安徽红爱实业股份有限公司 | Bionic manipulator for clothing production and customization |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180417 Termination date: 20200324 |
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| CF01 | Termination of patent right due to non-payment of annual fee |