CN209533389U - One kind being based on the adjustable robot hand of flexible parallel connection - Google Patents

One kind being based on the adjustable robot hand of flexible parallel connection Download PDF

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Publication number
CN209533389U
CN209533389U CN201822200486.XU CN201822200486U CN209533389U CN 209533389 U CN209533389 U CN 209533389U CN 201822200486 U CN201822200486 U CN 201822200486U CN 209533389 U CN209533389 U CN 209533389U
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platform
hydraulic cylinder
gripper
driven
connection
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CN201822200486.XU
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吕自贵
骆敏舟
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Institute of Intelligent Manufacturing Technology JITRI
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Institute of Intelligent Manufacturing Technology JITRI
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Abstract

The utility model belongs to robot hand technical field, more particularly to it is a kind of based on the adjustable robot hand of flexible parallel connection, including six degree of freedom platform and gripper component, the six degree of freedom platform includes sequentially connected platform fixed board, Driven by Hydraulic Cylinder group and platform movable plate, and the Driven by Hydraulic Cylinder group is for driving platform movable plate to move;The gripper component includes mutually matched left hand pawl and right hand pawl, the platform movable plate is fixedly installed gripper bracket far from one end of platform fixed board, the left hand pawl and right hand pawl are connect with gripper holder pivots, and the left hand pawl and right hand pawl are by its folding of gripper Driven by Hydraulic Cylinder;It is provided with the first displacement sensor in the Driven by Hydraulic Cylinder group, is provided with second displacement sensor on the gripper hydraulic cylinder.The utility model has the advantages that the utility model based on the adjustable robot hand of flexible parallel connection, the setting of platform hydraulic cylinder and gripper hydraulic cylinder, can effective slowing down vibration or it is firmly excessive caused by impact.

Description

One kind being based on the adjustable robot hand of flexible parallel connection
Technical field
The utility model belongs to robot hand technical field, more particularly to a kind of based on the adjustable machine of flexible parallel connection Manpower pawl.
Background technique
To meet the quick and various market demand, improve production efficiency, global industry field all trying to explore and Development of new robotic equipment.The robot components of similar human hand function may be implemented in robot hand, and robot hand is to use It holds the component of workpiece or tool, is important one of executing agency.Existing robot hand belongs to greatly rigid connection, meets To huge vibratory impulse will be caused to injure when greater impact to robot body, the robot service life is influenced;Existing robot Gripper grabs angle not to the problem of object is clamped not strongly, fallen off is likely to cause, and adjusts the crawl angle of robot hand, needs Robot body position, angle are adjusted to convert the posture of end gripper, is adjusted time-consuming and laborious;Existing robot hand is more Inconvenience is changed, one man operation is difficult to replace, the time-consuming and laborious higher cost of the repair and replacement of robot hand.
Utility model content
To solve to cause robot body when robot hand rigid connection of the existing technology encounters greater impact Shocking damage and the problem of robot hand crawl angular adjustment inconvenience, the utility model provide a kind of based on flexible parallel connection Adjustable robot hand.
In order to solve the above technical problems, technical solution used by the utility model is as follows, one kind can based on flexible parallel connection The robot hand of adjusting, including six degree of freedom platform and gripper component, the six degree of freedom platform include sequentially connected flat Platform fixed board, Driven by Hydraulic Cylinder group and platform movable plate, the Driven by Hydraulic Cylinder group is for driving platform movable plate to move;
The gripper component includes mutually matched left hand pawl and right hand pawl, the platform movable plate far from platform fixed board one End is fixedly installed gripper bracket, and the left hand pawl and right hand pawl are connect with gripper holder pivots, the left hand pawl and the right hand Pawl is by its folding of gripper Driven by Hydraulic Cylinder;
It is provided with the first displacement sensor in the Driven by Hydraulic Cylinder group, is provided with second displacement on the gripper hydraulic cylinder Sensor.
Preferably, the platform fixed board is connect by quick-release connector with robot end.As cigarette can be selected in quick-release connector The quick-release connector of the model HJ02-04-06-08-10 of Tai Hanjing mechanical equipment Co., Ltd production, quick-release connector and robot End connection, can quickly carry out the replacement of the robot hand, save accessory replacing construction, realize single replacement operation, drop Low human cost improves operating efficiency.
Preferably, the Driven by Hydraulic Cylinder group includes three groups of along the circumferential direction uniformly distributed Driven by Hydraulic Cylinder parts, wherein liquid Cylinder pressure actuator includes two platform hydraulic cylinders in intersection setting, and the push rod top of two platform hydraulic cylinders is in phase Friendship state is articulated with platform fixed board, the separated state in bottom end of two platform hydraulic cylinders hingedly with platform movable plate.By flat The flexibility of platform hydraulic cylinder adjusts the direction of gripper component, and gripper component has multiple degrees of freedom direction, realize to of different shapes Object is grabbed, and grabs object from different perspectives, overcomes crawl angle not to causing object to clamp not strongly or be detached from Defect;The flexible drive of platform hydraulic cylinder and gripper hydraulic cylinder, slows down greater impact, extends the robot hand and robot sheet The service life of body.
Preferably, the platform fixed board be evenly equipped with close to the face of platform movable plate it is identical as the Driven by Hydraulic Cylinder number of packages amount The first connection component, the push rod tops of two platform hydraulic cylinders in intersection be articulated with one group described in the first connection group Part;
The platform movable plate is evenly equipped with identical with the Driven by Hydraulic Cylinder number of packages amount second close to the face of platform fixed board and connects Connected components, and second connection component is arranged in a crossed manner with the first connection component, the bottom end of two platform hydraulic cylinders is in Discrete state is hingedly connected on two adjacent second connection components;And this two second connection components are symmetrically set It is placed in the two sides of the first connection component of the push rod top of this two platform hydraulic cylinders hingedly.
Further, first connection component includes the first connector of two rotation settings, hydraulic cylinder described in one group The push rod of two platform hydraulic cylinders in actuator be rotationally connected with one group respectively described in the first connection component two institutes It states on the first connector, and the rotary centerline of the rotary centerline of the platform hydraulic cylinder push rod and corresponding first connector Vertically;
Second connection component includes the second connector of two rotation settings, Driven by Hydraulic Cylinder described in adjacent two groups The bottom end of the adjacent platform hydraulic cylinder in part be rotationally connected with one group respectively described in described in two of the second connection component On second connector, and the rotary centerline at platform hydraulic cylinder bottom end hangs down with the rotary centerline of corresponding second connector Directly.
Further, it is rotatably connected to the gripper hydraulic cylinder on the left hand pawl and right hand pawl, the gripper is hydraulic The one end of cylinder far from gripper component is connect with gripper holder pivots.Two gripper hydraulic cylinders respectively drive left hand pawl and right hand pawl, Left hand pawl and right hand pawl close up clamping object, and left hand pawl and right hand pawl, which are opened, decontrols object, and two gripper hydraulic cylinders are used cooperatively, Improve the working efficiency and functional reliability of left hand pawl and right hand pawl;The setting of gripper bracket plays fixed support gripper component and hand The effect of pawl hydraulic cylinder improves the reliability and stability of the robot hand.
The utility model has the advantages that the utility model based on the adjustable robot hand of flexible parallel connection, platform hydraulic cylinder and gripper The setting of hydraulic cylinder, can effective slowing down vibration or it is firmly excessive caused by impact, and be provided on platform hydraulic cylinder First displacement sensor is provided with second displacement sensor on gripper hydraulic cylinder, can be accurately detected the suffered punching of gripper component Hit the size of power, once displacement is excessive, robot will control platform hydraulic cylinder movement prevent from causing brokenly the robot hand It is bad;The robot hand has multiple degrees of freedom direction, and realization grabs object of different shapes, and grabs from different perspectives Object is taken, overcomes crawl angle not to the defect for causing object to clamp not strongly or be detached from;The setting of quick-release connector makes the machine simultaneously Device manpower pawl has quick change function, can guarantee to carry out quick-replaceable accessory while one man operation.
Detailed description of the invention
Fig. 1 is schematic perspective view of the utility model based on the adjustable robot hand of flexible parallel connection;
Fig. 2 is the stereochemical structure of six degree of freedom platform of the utility model based on the adjustable robot hand of flexible parallel connection Schematic diagram;
Fig. 3 is the stereochemical structure signal of gripper component of the utility model based on the adjustable robot hand of flexible parallel connection Figure;
Fig. 4 is the perspective view of the explosion of gripper component of the utility model based on the adjustable robot hand of flexible parallel connection;
In figure: 1, six degree of freedom platform, 11, platform fixed board, 12, platform movable plate, the 13, first displacement sensor, 14, hydraulic Cylinder actuator, 141, platform hydraulic cylinder, the 15, first connection component, the 151, first connector, the 16, second connection component, 161, Two connectors, 2, gripper component, 21, left hand pawl, 22, right hand pawl, 23, gripper hydraulic cylinder, 24, second displacement sensor, 25, pin Nail, 3, gripper bracket, 4, quick-release connector.
Specific embodiment
Embodiment
As shown in figures 1-4, a kind of to be based on the adjustable robot hand of flexible parallel connection, including six degree of freedom platform 1 and hand Claw assembly 2, the six degree of freedom platform 1 include sequentially connected platform fixed board 11, Driven by Hydraulic Cylinder group and platform movable plate 12, institute Driven by Hydraulic Cylinder group is stated for driving platform movable plate 12 to move;The gripper component 2 includes mutually matched left hand pawl 21 and the right side Gripper 22, the platform movable plate 12 are fixedly installed gripper bracket 3, the left hand pawl 21 and the right side far from one end of platform fixed board 11 Gripper 22 is rotatablely connected with gripper bracket 3, and the left hand pawl 21 and right hand pawl 22 are by its folding of the driving of gripper hydraulic cylinder 23;Tool Body, is rotatably connected to the gripper hydraulic cylinder 23 on the left hand pawl 21 and right hand pawl 22, gripper hydraulic cylinder 23 Push rod top is rotatablely connected by pin 25 and left hand pawl 21, and the push rod top of another gripper hydraulic cylinder 23 is also by pin 25 It is rotatablely connected with right hand pawl 22, the bottom end of two gripper hydraulic cylinders 23 is rotatablely connected with gripper bracket 3;
As illustrated in fig. 1 and 2, the Driven by Hydraulic Cylinder group includes three groups of along the circumferential direction uniformly distributed Driven by Hydraulic Cylinder parts 14, Wherein Driven by Hydraulic Cylinder part 14 includes two platform hydraulic cylinders 141 in intersection setting, two platform hydraulic cylinders 141 Push rod top be articulated with platform fixed board 11 in intersection, the separated state hinge in the bottom end of two platform hydraulic cylinders 141 It connects and platform movable plate 12.The platform fixed board 11 is evenly equipped with and 14 quantity of Driven by Hydraulic Cylinder part close to the face of platform movable plate 12 The push rod top of identical first connection component 15, two platform hydraulic cylinders 141 is articulated with described in one group in intersection First connection component 15;The platform movable plate 12 is evenly equipped with and 14 quantity of Driven by Hydraulic Cylinder part close to the face of platform fixed board 11 Identical second connection component 16, and second connection component 16 is arranged in a crossed manner with the first connection component 15, described in two The separated state in the bottom end of platform hydraulic cylinder 141 is hingedly connected on two adjacent second connection components 16;And this two A second connection component 16 is symmetrically disposed on the first connection of the push rod top of this two platform hydraulic cylinders 141 hingedly The two sides of component 15.First connection component 15 includes the first connector 151 of two rotation settings, hydraulic cylinder described in one group The push rods of two platform hydraulic cylinders 141 in actuator 14 be rotationally connected with one group respectively described in the first connection component 15 On two first connectors 151, and the rotary centerline of 141 push rod of platform hydraulic cylinder and corresponding first connector 151 rotary centerline is vertical;Second connection component 16 includes the second connector 161 of two rotation settings, adjacent The bottom end of the adjacent platform hydraulic cylinder 141 in Driven by Hydraulic Cylinder part 14 described in two groups is rotationally connected with respectively described in one group On two of second connection component 16, second connector 161, and the rotary centerline of 141 bottom end of platform hydraulic cylinder with The rotary centerline of corresponding second connector 161 is vertical;
As shown in figures 1-4, the first displacement sensor 13, the first displacement sensor are provided on the platform hydraulic cylinder 141 13 by judge the impulse stroke of platform hydraulic cylinder 141 calculate gripper component 2 towards angle, once occur to fluctuate will for displacement Change torque by changing 141 pressure of platform hydraulic cylinder, achievees the purpose that work;Is provided on the gripper hydraulic cylinder 23 Two displacement sensors 24, second displacement sensor 24, which passes through, judges that the impulse stroke of gripper hydraulic cylinder 23 calculates gripper component 2 Opening and closing degree, when gripper component 2 clamps object and loosens, it will change gripper group by changing 23 pressure of gripper hydraulic cylinder The clamping force of part 2, achievees the purpose that work.
As illustrated in fig. 1 and 2, in order to realize that the quick-replaceable of the robot hand, the platform fixed board 11 pass through fast changing-over First 4 connect with robot end, and platform fixed board 11 is motionless, and platform hydraulic cylinder 141 drives platform movable plate 12 to work, platform fixed board 11 It plays a supportive role, wherein model HJ02-04-06- of the quick-release connector 4 as selected the production of Yantai Han Jing mechanical equipment Co., Ltd The quick-release connector 4 of 08-10, quick-release connector 4 realize the replacement for being rapidly performed by the robot hand, save accessory replacing construction, Improve operating efficiency;
Working principle is as follows:
The crawl direction that gripper component 2 is adjusted by six degree of freedom platform 1, during six degree of freedom platform 1 adjusts, the One displacement sensor 13, which passes through, judges that the impulse stroke computing platform movable plate 12 of platform hydraulic cylinder 141 drives the court of gripper component 2 To angle, once the push rod displacement of platform hydraulic cylinder 141 occur fluctuation will by change the pressure of each platform hydraulic cylinder 141 come Change the torque of each 141 push rod of platform hydraulic cylinder, such as the insufficient platform hydraulic cylinder 141 of torque is supplemented, so that driving is flat 12 precise motion of platform movable plate, platform movable plate 12 drive gripper component 2 accurately to stretch to object, and gripper hydraulic cylinder 23 drives gripper again Component 2, which closes up, clamps object, and in 2 clamping process of gripper component, second displacement sensor 24 is by judging gripper hydraulic cylinder 23 impulse stroke calculates the opening and closing degree of gripper component 2, when gripper component 2 clamps object and loosens, it will pass through change 23 pressure of gripper hydraulic cylinder changes the clamping force of gripper component 2, achievees the purpose that 2 reliably working of gripper component;
When needing replacing the robot hand, by the original robot hand of 4 rapid removal of quick-release connector, then pass through Quick-release connector 4 quickly replaces next robot gripper, saves accessory replacing construction, improves operating efficiency.

Claims (6)

1. one kind is based on the adjustable robot hand of flexible parallel connection, it is characterised in that: including six degree of freedom platform (1) and gripper Component (2), the six degree of freedom platform (1) include sequentially connected platform fixed board (11), Driven by Hydraulic Cylinder group and platform movable plate (12), the Driven by Hydraulic Cylinder group is for driving platform movable plate (12) to move;
The gripper component (2) includes mutually matched left hand pawl (21) and right hand pawl (22), and the platform movable plate (12) is separate One end of platform fixed board (11) is fixedly installed gripper bracket (3), the left hand pawl (21) and right hand pawl (22) with gripper branch Frame (3) rotation connection, the left hand pawl (21) and right hand pawl (22) drive its folding by gripper hydraulic cylinder (23);
It is provided in the Driven by Hydraulic Cylinder group the first displacement sensor (13), is provided with second on the gripper hydraulic cylinder (23) Displacement sensor (24).
2. according to claim 1 be based on the adjustable robot hand of flexible parallel connection, it is characterised in that: the platform is fixed Plate (11) is connect by quick-release connector (4) with robot end.
3. according to claim 1 be based on the adjustable robot hand of flexible parallel connection, it is characterised in that: the hydraulic cylinder Driving group includes three groups of along the circumferential direction uniformly distributed Driven by Hydraulic Cylinder parts (14), and wherein Driven by Hydraulic Cylinder part (14) is in including two The push rod top of the platform hydraulic cylinder (141) of intersection setting, two platform hydraulic cylinders (141) is hinged in intersection In platform fixed board (11), the separated state in bottom end of two platform hydraulic cylinders (141) hingedly with platform movable plate (12).
4. according to claim 3 be based on the adjustable robot hand of flexible parallel connection, it is characterised in that: the platform is fixed Plate (11) is evenly equipped with the first connection component identical with Driven by Hydraulic Cylinder part (14) quantity close to the face of platform movable plate (12) (15), the push rod top of two platform hydraulic cylinders (141) is in the first connection component described in intersection is articulated with one group (15);
The platform movable plate (12) is evenly equipped with identical as Driven by Hydraulic Cylinder part (14) quantity close to the face of platform fixed board (11) The second connection component (16), and second connection component (16) is arranged in a crossed manner with the first connection component (15), two institutes The separated state in bottom end for stating platform hydraulic cylinder (141) is hingedly connected on two adjacent second connection components (16); And the push rod top that this two second connection components (16) are symmetrically disposed on this two platform hydraulic cylinders (141) is hinged The first connection component (15) two sides.
5. according to claim 4 be based on the adjustable robot hand of flexible parallel connection, it is characterised in that: described first connects Connected components (15) include the first connector (151) of two rotation settings, and two in Driven by Hydraulic Cylinder part (14) described in one group The push rod of the platform hydraulic cylinder (141) be rotationally connected with one group respectively described in two described first of the first connection component (15) On connector (151), and the rotary centerline of the platform hydraulic cylinder (141) push rod and corresponding first connector (151) Rotary centerline is vertical;
Second connection component (16) includes the second connector (161) of two rotation settings, hydraulic described in adjacent two groups The bottom end of the adjacent platform hydraulic cylinder (141) in cylinder actuator (14) be rotationally connected with one group respectively described in second connection On second connector (161) of two of component (16), and the rotary centerline of the platform hydraulic cylinder (141) bottom end with it is right The rotary centerline for the second connector (161) answered is vertical.
6. according to claim 1 be based on the adjustable robot hand of flexible parallel connection, it is characterised in that: the left hand pawl (21) and on right hand pawl (22) it is rotatably connected to the gripper hydraulic cylinder (23), the gripper hydraulic cylinder (23) is far from gripper group One end and gripper bracket (3) of part (2) are rotatablely connected.
CN201822200486.XU 2018-12-26 2018-12-26 One kind being based on the adjustable robot hand of flexible parallel connection Active CN209533389U (en)

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Application Number Priority Date Filing Date Title
CN201822200486.XU CN209533389U (en) 2018-12-26 2018-12-26 One kind being based on the adjustable robot hand of flexible parallel connection

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Application Number Priority Date Filing Date Title
CN201822200486.XU CN209533389U (en) 2018-12-26 2018-12-26 One kind being based on the adjustable robot hand of flexible parallel connection

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113334416A (en) * 2021-05-11 2021-09-03 杭州视熵科技有限公司 Large-load high-flexibility gripper with dynamically adjustable clamping angle
CN113427473A (en) * 2021-05-11 2021-09-24 杭州视熵科技有限公司 Intelligent visual garbage sorting robot for construction garbage

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113334416A (en) * 2021-05-11 2021-09-03 杭州视熵科技有限公司 Large-load high-flexibility gripper with dynamically adjustable clamping angle
CN113427473A (en) * 2021-05-11 2021-09-24 杭州视熵科技有限公司 Intelligent visual garbage sorting robot for construction garbage

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