CN215202042U - Four-finger manipulator suitable for workpieces of different sizes - Google Patents
Four-finger manipulator suitable for workpieces of different sizes Download PDFInfo
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- CN215202042U CN215202042U CN202120517562.9U CN202120517562U CN215202042U CN 215202042 U CN215202042 U CN 215202042U CN 202120517562 U CN202120517562 U CN 202120517562U CN 215202042 U CN215202042 U CN 215202042U
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Abstract
The utility model discloses a four-finger manipulator suitable for workpieces with different sizes, which comprises a finger part, a wrist part and a power part; wherein the finger portion is connected with the wrist portion; the power part comprises a motor, a connecting rod, a square bracket and a screw; the power part is used for providing power through the motor, drives the screw rod to rotate through the motor, drives the square support to move up and down through the rotation of the screw rod, and drives the finger part to be opened and closed through the connecting rod connected with the square support. The utility model discloses a set up the wrist part, both be convenient for install the motor to the trouble problem of convenient inspection motor, the screw rod in the power part of being convenient for again passes from it, thereby makes motor and screw rod can cooperate, finally realizes carrying out the shrink and the diastole of different degrees with the finger part that the wrist part is connected, realizes the motion that opens and shuts.
Description
Technical Field
The utility model relates to a four indicate manipulators suitable for not equidimension work piece belongs to robot hand technical field.
Background
With the development of science and technology, the life is more and more intelligent, and various science and technology products bring convenience, so that the purposes of improving the labor efficiency and saving time and labor are achieved. In this era today, the generation of manipulators brings convenience to the aspects of life, and especially has wider application in industry and agriculture, such as picking of agricultural products, grabbing of industrial materials, and especially has more obvious effect in high-risk operation. Therefore, the invention of the manipulator is indispensable, and nowadays, manipulators capable of realizing various purposes are invented at home and abroad. However, there are many problems in the invention process of the manipulator:
1. when a smoother object is grabbed, the object is easy to fall off;
2. some mechanical hands have limitations and can only grab objects with fixed sizes, so that objects with smaller and larger sizes cannot be stably grabbed.
Disclosure of Invention
The utility model provides a four indicate manipulators suitable for not equidimension work pieces drives the grabbing that finger part opened and shut in order to be applicable to not equidimension work piece through setting up power part.
The technical scheme of the utility model is that: a four-finger manipulator suitable for workpieces of different sizes comprises a finger part, a wrist part and a power part; wherein the finger portion is connected with the wrist portion;
the power part comprises a motor 5, a connecting rod 8, a square bracket 9 and a screw 10; the power part is used for providing power through the motor 5, the screw rod 10 is driven to rotate through the motor 5, the square support 9 is driven to move up and down through the rotation of the screw rod 10, and the connecting rod 8 connected with the square support 9 drives the finger part to be opened and closed.
The finger part consists of a first finger joint 1 and a second finger joint 2, wherein one end of the second finger joint 2 is connected with a support 3 in the wrist part through a bolt, the other end of the second finger joint 2 is connected with one end of the first finger joint 1 through a bolt, and the other end of the first finger joint 1 is used as a free end.
A groove 14 is arranged between two sections of sawteeth 13 at the clamping side of the first finger joint 1.
The second finger joint 2 is composed of four short plates.
The wrist part comprises a bracket 3, a chassis 4, a support 6 and a chuck 7; wherein the one end and the chassis 4 of pillar 6 are connected, and the other end and the chuck 7 of pillar 6 are connected, and draw-in groove I18 on the support 3 is connected through the riveting with draw-in groove II 20 on the chuck 7.
The motor 5 is installed on a support 6 in the wrist part, the motor 5 drives a screw rod 10 with one end penetrating out of a chuck 7 in the wrist part to rotate, the other end of the screw rod 10 is connected with a threaded hole 16 in a square support 9 through threads, a through hole 15 formed in the square support 9 is respectively connected with one end of a connecting rod 8 through a bolt, and the other end of the connecting rod 8 is connected with the middle of a second finger joint 2 in the finger part through a bolt.
The utility model has the advantages that: the utility model discloses a set up the wrist part, both be convenient for install the motor to the trouble problem of convenient inspection motor, the screw rod in the power part of being convenient for again passes from it, thereby makes motor and screw rod can cooperate, finally realizes carrying out the shrink and the diastole of different degrees with the finger part that the wrist part is connected, realizes the motion that opens and shuts.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic structural view of a first finger joint of the present invention;
fig. 3 is a schematic structural view of the square bracket of the present invention;
fig. 4 is a schematic structural view of the bracket of the present invention;
FIG. 5 is a schematic structural view of the chuck of the present invention;
FIG. 6 is a schematic view of the structure of the bolt of the present invention;
the reference numbers in the figures are: 1-a first finger joint, 2-a second finger joint, 3-a support, 4-a chassis, 5-a motor, 6-a support, 7-a chuck, 8-a connecting rod, 9-a square support, 10-a screw, 11-a through hole I, 12-a through hole II, 13-a sawtooth, 14-a groove, 15-a square support through hole, 16-a threaded hole, 17-a bolt, 18-a clamping groove I, 19-a support through hole, 20-a clamping groove II and 21-a chuck through hole.
Detailed Description
Example 1: as shown in fig. 1-6, a four-finger manipulator suitable for workpieces with different sizes comprises a finger part, a wrist part and a power part; wherein the finger portion is connected with the wrist portion; the power part comprises a motor 5, a connecting rod 8, a square bracket 9 and a screw 10; the power part is used for providing power through the motor 5, the screw rod 10 is driven to rotate through the motor 5, the square support 9 is driven to move up and down through the rotation of the screw rod 10, and the connecting rod 8 connected with the square support 9 drives the finger part to contract and relax.
Further, the finger part can be composed of a first finger joint 1 and a second finger joint 2, wherein one end of the second finger joint 2 is connected with the support 3 in the wrist part through a bolt 17, the other end of the second finger joint 2 is connected with a through hole I11 and a through hole II 12 on one end of the first finger joint 1 through bolts 17, and the other end of the first finger joint 1 serves as a free end.
Further, a groove 14 can be formed between the two sections of sawteeth 13 on the clamping side of the first finger joint 1, so that an object can be stably grabbed and prevented from falling off.
Further, the second finger joint may be formed by four short plates, and all four fingers are the same.
Further, the wrist portion may be provided to include a bracket 3, a chassis 4, a strut 6, a chuck 7; wherein the one end and the chassis 4 of four spinal branch posts 6 are connected through the welding mode, and the other end and the chuck 7 of spinal branch post 6 are connected through the welding mode, and draw-in groove I18 on the support 3 is connected through the riveting with draw-in groove II 20 on the chuck 7, makes it fixed, all so in all other 3 directions.
Further, the motor 5 can be arranged on the support 6 in the wrist part, an output shaft of the motor 5 can be welded with one end of the screw rod 10, the motor 5 drives the screw rod 10 with one end penetrating out of the chuck through hole 21 in the wrist part to rotate, the other end of the screw rod 10 is in threaded connection with the threaded hole 16 in the square support 9, the through hole 15 formed in the square support 9 is respectively connected with one end of a connecting rod 8 through a bolt 17, and the other end of the connecting rod 8 is connected with the middle of the second finger joint 2 in the finger part through the bolt 17.
The utility model discloses a theory of operation is: the PLC circuit controls the motor 5 to rotate forward and backward to drive the screw rod 10 to rotate, so as to drive the square bracket 9 connected with the screw rod 10 through threads to move up and down; simultaneously, the connecting rod 8 that links with square support 9 through the bolt just can drive four mechanical fingers and contract and the diastole: for example, when the screw 10 rotates counterclockwise, the square bracket 9 rises to drive the connecting rod 8 to relax the four-finger manipulator; when the screw 10 rotates clockwise, the square support 9 descends to drive the connecting rod 8 to enable the four-finger manipulator to contract. When an object is gripped, when the object is large, the range of the manipulator which is opened by the driving screw 10 becomes large, and when the object is small, the range of the manipulator which is contracted by the driving screw 10 becomes small.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (6)
1. The utility model provides a four indicate manipulators suitable for not equidimension work piece which characterized in that: comprises a finger part, a wrist part and a power part; wherein the finger portion is connected with the wrist portion;
the power part comprises a motor (5), a connecting rod (8), a square bracket (9) and a screw (10); the power part is used for providing power through the motor (5), the motor (5) drives the screw rod (10) to rotate, the screw rod (10) rotates to drive the square support (9) to move up and down, and the connecting rod (8) connected with the square support (9) drives the finger part to open and close.
2. The four-finger manipulator suitable for workpieces of different sizes as claimed in claim 1, wherein: the finger part consists of a first finger joint (1) and a second finger joint (2), wherein one end of the second finger joint (2) is connected with the middle support (3) of the wrist part through a bolt, the other end of the second finger joint (2) is connected with one end of the first finger joint (1) through a bolt, and the other end of the first finger joint (1) serves as a free end.
3. The four-finger robot hand suitable for workpieces of different sizes according to claim 2, wherein: a groove (14) is arranged between the two sections of sawteeth (13) on the clamping side of the first finger joint (1).
4. The four-finger robot hand suitable for workpieces of different sizes according to claim 2, wherein: the second finger joint (2) is composed of four short plates.
5. The four-finger manipulator suitable for workpieces of different sizes as claimed in claim 1, wherein: the wrist part comprises a bracket (3), a chassis (4), a support column (6) and a chuck (7); wherein one end of the pillar (6) is connected with the chassis (4), the other end of the pillar (6) is connected with the chuck (7), and the clamping groove I (18) on the bracket (3) is connected with the clamping groove II (20) on the chuck (7) in a riveting mode.
6. The four-finger manipulator suitable for workpieces of different sizes as claimed in claim 1, wherein: the wrist part is provided with a support (6), the motor (5) is arranged on the support (6) in the wrist part, the motor (5) drives a screw rod (10) with one end penetrating out of the chuck (7) in the wrist part to rotate, the other end of the screw rod (10) is in threaded connection with a threaded hole (16) in the square support (9), a through hole (15) formed in the square support (9) is respectively in bolted connection with one end of a connecting rod (8), and the other end of the connecting rod (8) is in bolted connection with the middle of a second finger joint (2) in the finger part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120517562.9U CN215202042U (en) | 2021-03-11 | 2021-03-11 | Four-finger manipulator suitable for workpieces of different sizes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120517562.9U CN215202042U (en) | 2021-03-11 | 2021-03-11 | Four-finger manipulator suitable for workpieces of different sizes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215202042U true CN215202042U (en) | 2021-12-17 |
Family
ID=79442665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120517562.9U Active CN215202042U (en) | 2021-03-11 | 2021-03-11 | Four-finger manipulator suitable for workpieces of different sizes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215202042U (en) |
-
2021
- 2021-03-11 CN CN202120517562.9U patent/CN215202042U/en active Active
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