CN213562636U

CN213562636U - Three-finger mechanical paw

Info

Publication number: CN213562636U
Application number: CN202022722719.XU
Authority: CN
Inventors: 刘升栋
Original assignee: Qingdao Pengchenghao Electronics Co ltd
Current assignee: Qingdao Pengchenghao Electronics Co ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-06-29
Anticipated expiration: 2030-11-23

Abstract

The utility model belongs to the technical field of the robot, especially, indicate gripper, the on-line screen storage device comprises a base, the top fixedly connected with pillar of base, the top of pillar is rotated and is connected with first bearing, the top of first bearing is rotated and is connected with first axis of rotation, the fixed surface of first axis of rotation is connected with first spliced pole, the top of first spliced pole is rotated and is connected with the second spliced pole, one side of second spliced pole is rotated and is connected with the second bearing, the top fixedly connected with fixed plate of second bearing. The utility model discloses a set up first bearing and first axis of rotation, can realize that the gripper is towards the rotation of all directions, can follow the direction of difference and snatch article, through second bearing, second axis of rotation and three knuckles of group, can change the radian of knuckle, snatch different shapes, the article of size has greatly improved the flexibility of gripper, can adapt to different work needs.

Description

Three-finger mechanical paw

Technical Field

The utility model relates to the technical field of robots, specifically a three indicate mechanical gripper.

Background

An automatic operating device capable of simulating certain motion functions of human hands and arms for grasping, carrying objects or operating tools according to a fixed program. The manipulator is an industrial robot which appears earliest, is a modern robot which appears earliest, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. Although the manipulator is not as flexible as a human hand, it has the characteristics of repeated work and labor, no fatigue, danger resistance, and larger force for grabbing heavy objects than the human hand, so that the manipulator has been valued by many departments and is more and more widely applied, and the robot has been widely applied to intelligent electromechanical device systems controlled by computers in various fields. While great development has been achieved in robots, the robot gripper, one of the key components of the robot, has also achieved significant progress.

There are the following problems:

1. the prior mechanical paw can not rotate greatly when in use, has larger limitation on the working range, simultaneously has fixed radian and can not be changed, and has larger limitation and poorer flexibility when grabbing articles with different shapes and sizes.

SUMMERY OF THE UTILITY MODEL

The utility model provides a three indicate mechanical gripper to prior art not enough, the utility model provides a relatively poor problem of mechanical gripper flexibility has been solved.

In order to achieve the above object, the utility model provides a following technical scheme: a three-finger mechanical paw comprises a base, wherein the top of the base is fixedly connected with a support column, the top of the support column is rotatably connected with a first bearing, the top of the first bearing is rotatably connected with a first rotating shaft, the surface of the first rotating shaft is fixedly connected with a first connecting column, the top of the first connecting column is rotatably connected with a second connecting column, one side of the second connecting column is rotatably connected with a second bearing, the top of the second bearing is fixedly connected with a fixed plate, the surface of the fixed plate is fixedly connected with a manipulator base, the surface of the manipulator base is fixedly connected with a connecting plate, the surface of the connecting plate is rotatably connected with a second rotating shaft, the top fixedly connected with first knuckle of second axis of rotation, the top fixedly connected with second knuckle of first knuckle, the top fixedly connected with third knuckle of second knuckle.

As a preferred technical scheme of the utility model, first axis of rotation has two sets ofly, and two sets of first axis of rotation are the straight line and distribute.

As a preferred technical scheme of the utility model, the manipulator base has three groups, and three manipulator bases of group are angular ring such as to be arranged, the connecting plate has three groups, and three connecting plates of group are angular ring such as to be arranged.

As a preferred technical scheme of the utility model, the second axis of rotation has three groups, and three groups of second axis of rotation are located a side edge of first dactylus, second dactylus and third dactylus respectively.

As an optimized technical scheme of the utility model, first knuckle, second knuckle and third knuckle have three groups respectively, and first knuckle, second knuckle and the third knuckle of three groups are the angular ring form and arrange such as.

As an optimal technical scheme of the utility model, the fixedly connected with extension board of first dactylus, the extension board has five groups, and five groups extension boards are located the both sides of first dactylus and second dactylus and one side of third dactylus respectively, the surface of extension board runs through and has seted up the through-hole.

As a preferred technical scheme of the utility model, the external diameter size of second axis of rotation and the external diameter size phase-match of through-hole.

Compared with the prior art, the utility model provides a three indicate mechanical gripper possesses following beneficial effect:

1. this three indicate gripper through setting up first bearing and first axis of rotation, can realize gripper towards the rotation of all directions, can follow the direction of difference and snatch article, through second bearing, second axis of rotation and three finger joints of group, can change the radian of finger joint, snatch different shapes, the article of size, greatly improved gripper's flexibility, can adapt to different work needs.

Drawings

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a schematic structural view of the mechanical gripper of the present invention;

fig. 3 is a schematic view of the connection structure of the paw of the present invention.

In the figure: 1. a base; 2. a pillar; 3. a first bearing; 4. a first rotating shaft; 5. a first connecting column; 6. a second connecting column; 7. a second bearing; 8. a fixing plate; 9. a manipulator base; 10. a connecting plate; 11. a second rotating shaft; 12. a first knuckle; 13. a second knuckle; 14. a third knuckle; 15. an extension plate; 16. and a through hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, in this embodiment: the utility model provides a three indicate mechanical gripper, the on-line screen storage device comprises a base 1, base 1's top fixedly connected with pillar 2, the top of pillar 2 is rotated and is connected with first bearing 3, the top of first bearing 3 is rotated and is connected with first axis of rotation 4, the first spliced pole 5 of fixed surface of first axis of rotation 4, the top of first spliced pole 5 is rotated and is connected with second spliced pole 6, one side of second spliced pole 6 is rotated and is connected with second bearing 7, the top fixedly connected with fixed plate 8 of second bearing 7, the fixed surface of fixed plate 8 is connected with manipulator base 9, the fixed surface of manipulator base 9 is connected with connecting plate 10, the surface of connecting plate 10 is rotated and is connected with second axis of rotation 11, the first knuckle 12 of top fixedly connected with of second axis of rotation 11, the top fixedly connected with second knuckle 13 of first knuckle 12, the top fixedly connected with third knuckle 14 of second knuckle 13.

In this embodiment, there are two groups of first rotating shafts 4, and the two groups of first rotating shafts 4 are linearly distributed, which is helpful for changing the direction of the manipulator through the first rotating shafts 4, so as to facilitate grabbing articles in different directions; three groups of manipulator bases 9 are arranged in an equiangular annular manner, three groups of connecting plates 10 are arranged in an equiangular annular manner, and the three groups of connecting plates 10 are arranged in an equiangular annular manner, so that the three groups of manipulator claws are fixed on the fixing plate 8; three groups of second rotating shafts 11 are arranged, and the three groups of second rotating shafts 11 are respectively positioned at the corners of one side of the first knuckle 12, the second knuckle 13 and the third knuckle 14, so that the radian and the direction of each knuckle can be changed, and articles with different sizes and shapes can be grabbed; the first knuckle 12, the second knuckle 13 and the third knuckle 14 are respectively provided with three groups, the three groups of the first knuckle 12, the second knuckle 13 and the third knuckle 14 are annularly arranged at equal angles, and the three groups of the knuckles are beneficial to more stably grabbing articles and ensure the balance of the articles; the extension plates 15 are fixedly connected to the first knuckle 12, five groups of the extension plates 15 are arranged on the extension plates 15, the five groups of the extension plates 15 are respectively positioned on two sides of the first knuckle 12 and the second knuckle 13 and one side of the third knuckle 14, a through hole 16 is formed in the surface of the extension plate 15 in a penetrating mode, connection with the second rotating shaft 11 through the through hole 16 is facilitated, and flexibility of the mechanical gripper is improved; the outer diameter of the second rotating shaft 11 matches with the outer diameter of the through hole 16, which helps to ensure the connection between the second rotating shaft and the through hole and ensures the stability of rotation.

The utility model discloses a theory of operation and use flow: when using, through first axis of rotation 4 and spliced pole, can make robotic arm rotate towards the direction of difference, help snatching the article of different positions, last knuckle through the finger is connected with second axis of rotation 11, can make three knuckles of group carry out the rotation of different angles, can adjust the shape of finger according to the overall dimension of article, when guaranteeing to snatch article, can agree with the profile of article, stable snatchs, the surface of knuckle is provided with one deck rubber sleeve, can increase frictional force, article drop when preventing to snatch, flexibility and stability when having improved the gripper and snatching article.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a three indicate mechanical gripper, includes base (1), its characterized in that: the top of the base (1) is fixedly connected with a pillar (2), the top of the pillar (2) is rotatably connected with a first bearing (3), the top of the first bearing (3) is rotatably connected with a first rotating shaft (4), the surface of the first rotating shaft (4) is fixedly connected with a first connecting column (5), the top of the first connecting column (5) is rotatably connected with a second connecting column (6), one side of the second connecting column (6) is rotatably connected with a second bearing (7), the top of the second bearing (7) is fixedly connected with a fixing plate (8), the surface of the fixing plate (8) is fixedly connected with a manipulator base (9), the surface of the manipulator base (9) is fixedly connected with a connecting plate (10), the surface of the connecting plate (10) is rotatably connected with a second rotating shaft (11), the top of the second rotating shaft (11) is fixedly connected with a first knuckle (12), the top of the first knuckle (12) is fixedly connected with a second knuckle (13), and the top of the second knuckle (13) is fixedly connected with a third knuckle (14).

2. The three-finger gripper according to claim 1, wherein: two groups of first rotating shafts (4) are arranged, and the two groups of first rotating shafts (4) are distributed in a straight line.

3. The three-finger gripper according to claim 1, wherein: the manipulator bases (9) are divided into three groups, the three groups of manipulator bases (9) are arranged in an equal-angle annular mode, the three groups of connecting plates (10) are arranged in an equal-angle annular mode, and the three groups of connecting plates (10) are arranged in an equal-angle annular mode.

4. The three-finger gripper according to claim 1, wherein: the second rotating shafts (11) are provided with three groups, and the three groups of second rotating shafts (11) are respectively positioned at the corners of one side of the first knuckle (12), the second knuckle (13) and the third knuckle (14).

5. The three-finger gripper according to claim 1, wherein: the first knuckle (12), the second knuckle (13) and the third knuckle (14) are respectively provided with three groups, and the three groups of the first knuckle (12), the second knuckle (13) and the third knuckle (14) are annularly arranged at equal angles.

6. The three-finger gripper according to claim 1, wherein: fixedly connected with of first knuckle (12) extends board (15), it has five groups to extend board (15), and five groups extend board (15) and are located the both sides of first knuckle (12) and second knuckle (13) and one side of third knuckle (14) respectively, through-hole (16) have been seted up in the surface run-through of extending board (15).

7. The three-finger gripper according to claim 1, wherein: the outer diameter of the second rotating shaft (11) is matched with the outer diameter of the through hole (16).