CN218364809U - Robot gripping device - Google Patents
Robot gripping device Download PDFInfo
- Publication number
- CN218364809U CN218364809U CN202221324253.0U CN202221324253U CN218364809U CN 218364809 U CN218364809 U CN 218364809U CN 202221324253 U CN202221324253 U CN 202221324253U CN 218364809 U CN218364809 U CN 218364809U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- hinge point
- finger
- hinged
- bending section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot grabbing device, include: first finger, second finger, head rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod, linear actuator and connecting seat, the utility model discloses a head rod and second connecting rod constitute parallelogram linkage, and third connecting rod and fourth connecting rod constitute parallelogram linkage and can ensure the translation in opposite directions that first finger and second pointed, guarantee the stability of snatching, can obtain the great scope of snatching.
Description
Technical Field
The utility model relates to a robotechnology field relates to a robot gripping device particularly.
Background
With the development of technologies such as the internet of things, big data and artificial intelligence, the robot field is developed greatly under the industrial 4.0 and intelligent manufacturing 2025 planning background, the market potential is released continuously, and the industrial scale is developed greatly. The grabbing device is a key part of the robot for carrying out work and is mainly used for grabbing and placing the grabbed objects. The gripping device designed according to the action principle of human hands has the defect that most of the gripping devices cannot perfectly copy the structure and functions of human hands due to the exquisite structure and the complex mechanical design difficulty. Therefore, due to the simplification of the structure and the emphasis on the functions of different application occasions, a great number of different manipulator designs are derived, but most of the manipulators are driven by motors and gears, and the high precision and the light weight are required to be improved.
Simultaneously, among the prior art, the grabbing device of emulation people's hand is shown as attached figure 1, including 2 fingers A, pin joint B, driver C, connecting piece D and connecting rod E, and connecting piece D installs the drive end at driver C, and connecting piece D passes through the middle part that connecting rod E articulated finger A, and finger A rotates along pin joint B, and at the in-process of grabbing, there is certain contained angle between 2 fingers A for it is unstable to snatch.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical scheme not enough, the utility model aims to provide a robot gripping device.
The purpose of the utility model is realized by the following technical scheme.
A robotic grasping device, comprising: the device comprises a first finger, a second finger, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a linear driver and a connecting seat;
the tail end of the first finger is hinged to the connecting seat through a first connecting rod, the tail end of the first finger is provided with a first bending section which is bent outwards, the first bending section is hinged to the connecting seat through a second connecting rod, and the first bending section is hinged to the driving end of the linear driver through a fifth connecting rod;
the length of the first connecting rod is equal to that of the second connecting rod, the tail end of the first finger is hinged to one end of the first connecting rod through a rotating shaft to form a first hinge point, the other end of the first connecting rod is hinged to the connecting seat through the rotating shaft to form a second hinge point, the first bending section is hinged to one end of the second connecting rod through the rotating shaft to form a third hinge point, the other end of the second connecting rod is hinged to the connecting seat through the rotating shaft to form a fourth hinge point, the connecting line of the first hinge point and the third hinge point is parallel to and equal to the connecting line of the second hinge point and the fourth hinge point, and the head and the tail of the first hinge point, the second hinge point, the fourth hinge point and the third hinge point are sequentially connected to form a parallelogram;
the tail end of the second finger is hinged to the connecting seat through a third connecting rod, the tail end of the second finger is provided with a second bending section which is bent outwards, the second bending section is hinged to the connecting seat through a fourth connecting rod, and the second bending section is hinged to the driving end of the linear driver through a sixth connecting rod;
the third connecting rod and the fourth connecting rod are parallel and equal in length, the tail end of the second finger is hinged to one end of the third connecting rod through a rotating shaft to form a fifth hinge point, the other end of the third connecting rod is hinged to the connecting seat through the rotating shaft to form a sixth hinge point, the second bending section is hinged to one end of the fourth connecting rod through the rotating shaft to form a seventh hinge point, the other end of the fourth connecting rod is hinged to the connecting seat through the rotating shaft to form an eighth hinge point, the connecting line of the fifth hinge point and the seventh hinge point is parallel and equal to the connecting line of the sixth hinge point and the eighth hinge point, and the heads and the tails of the fifth hinge point, the sixth hinge point, the eighth hinge point and the seventh hinge point are sequentially connected to form a quadrilateral;
the first finger, the second finger, the first connecting rod, the third connecting rod, the second connecting rod and the fourth connecting rod are axially symmetrical along the linear driver;
the connecting seat is sleeved with the linear driver.
In the above technical scheme, a first groove is formed in the middle of the tail end of the first bending section, and a hinge point of the fifth connecting rod and the first bending section is located in the first groove; and a second groove is formed in the middle of the tail end of the second bending section, and a hinge point of the sixth connecting rod and the second bending section is positioned in the second groove.
In the technical scheme, 2 first connecting rods are arranged on two sides of the tail end of the first finger, and 2 second connecting rods are arranged on two sides of the tail end of the first bending section;
two sides of the tail end of the second finger are provided with 2 third connecting rods, and two sides of the tail end of the second bending section are provided with 2 fourth connecting rods.
In the above technical solution, the middle part of the first finger is bent outwards, and the middle part of the second finger is bent outwards.
In the above technical solution, a connecting member is installed at the driving end of the linear actuator, and the fifth connecting rod and the sixth connecting rod are hinged to the connecting member.
In the technical scheme, the linear actuator is a hydraulic cylinder, and a piston rod of the hydraulic cylinder is in threaded connection with the connecting piece and is fixed by a taper pin.
In the technical scheme, the connecting seat is sleeved on the cylinder body of the hydraulic cylinder.
In the above technical solution, the reinforcing ribs are installed on the outer sides of the first finger and the second finger.
In the above technical solution, the head end of the first finger has a first extension section, the head end of the second finger has a second extension section, and the first extension section and the second extension section are parallel.
In the above technical solution, the first bending section and the second bending section are symmetrically arranged.
The utility model has the advantages that:
the utility model discloses a head rod and second connecting rod constitute parallelogram linkage, and third connecting rod and fourth connecting rod constitute the translation in opposite directions that parallelogram linkage can ensure first finger and second finger, guarantee the stability of snatching, can obtain the great scope of snatching.
The utility model discloses the clamping force curve of ideal can be obtained to the articulated position that each position is reasonable, and the clamp force is little when snatching little object promptly, and the clamp force is big when snatching big object.
The utility model adopts hydraulic drive, can obtain large clamping force and can keep reliable clamping state;
the first finger and the second finger are arranged in a bending mode, so that objects with different sizes can be clamped, and the position state and the large clamping force of the objects can be kept.
The hydraulic cylinder piston rod is in threaded connection with the connecting piece, the structure is compact, the operation time can be shortened, the response speed is improved, and the tensile strength of grabbing operation can be improved due to the fact that the taper pin is used at the connecting position of the piston rod and the connecting piece.
The utility model discloses realize high flexibility ratio, high accuracy, lightweight and security in the at utmost.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the prior art in the background art;
fig. 2 is a schematic structural view of the fully opened state of the robot gripping device of the present invention;
fig. 3 is a schematic structural view of the open state of the robot gripping device of the present invention;
fig. 4 is a schematic structural view of the fully gripping state of the robot gripping device of the present invention;
fig. 5 is a schematic structural diagram of the fully gripping state of the robot gripping device of the present invention.
Wherein the content of the first and second substances,
1: first finger, 1-1: first bend, 1-2: first groove, 1-3: first extension, 2: second finger, 2-1: second bend section, 2-2: second groove, 2-3: second extension, 3: first connecting rod, 4: second connecting rod, 5: third connecting rod, 6: fourth connecting rod, 7: fifth connecting rod, 8: sixth connecting rod, 9: first hinge point, 10: second hinge point, 11: third hinge point, 12: fourth hinge point, 13: fifth hinge point, 14: sixth hinge point, 15: seventh hinge point, 16: eighth hinge point, 17: linear actuator, 18: connecting seat, 19: connector, 20: and (5) reinforcing ribs.
Detailed Description
The technical solution of the present invention will be further described with reference to the following specific embodiments.
Example 1
As shown in fig. 2-5, a robotic grasping device includes: the finger joint comprises a first finger 1, a second finger 2, a first connecting rod 3, a second connecting rod 4, a third connecting rod 5, a fourth connecting rod 6, a fifth connecting rod 7, a sixth connecting rod 8, a linear actuator 17 and a connecting seat 18.
The tail end of the first finger 1 is hinged to the connecting seat 18 through the first connecting rod 3, the tail end of the first finger 1 is provided with a first bending section 1-1 which bends outwards, the first bending section 1-1 is hinged to the connecting seat 18 through the second connecting rod 4, and the first bending section 1-1 is hinged to the driving end of the linear driver 17 through the fifth connecting rod 7.
Specifically, the first connecting rod 3 and the second connecting rod 4 are parallel and equal in length, the tail end of the first finger 1 is hinged to one end of the first connecting rod 3 through a rotating shaft to form a first hinge point 9, the other end of the first connecting rod 3 is hinged to the connecting seat 18 through a rotating shaft to form a second hinge point 10, the first bending section 1-1 is hinged to one end of the second connecting rod 4 through a rotating shaft to form a third hinge point 11, the other end of the second connecting rod 4 is hinged to the connecting seat 18 through a rotating shaft to form a fourth hinge point 12, the connecting line of the first hinge point 9 and the third hinge point 11 is parallel and equal to the connecting line of the second hinge point 10 and the fourth hinge point 12, and therefore the head and the tail of the first hinge point 9, the second hinge point 10, the fourth hinge point 12 and the third hinge point 11 are sequentially connected to form a parallelogram.
The tail end of the second finger 2 is hinged with the connecting seat 18 through the third connecting rod 5, the tail end of the second finger 2 is provided with a second bending section 2-1 which is bent outwards, the second bending section 2-1 is hinged with the connecting seat 18 through the fourth connecting rod 6, and the second bending section 2-1 is hinged with the driving end of the linear driver 17 through the sixth connecting rod 8.
Third connecting rod 5 and fourth connecting rod 6 are parallel and the length equals, the tail end of second finger 2 is articulated through the pivot with the one end of third connecting rod 5, form fifth pin joint 13, the other end of third connecting rod 5 is articulated through the pivot with connecting seat 18, form sixth pin joint 14, second bending segment 2-1 is articulated through the pivot with the one end of fourth connecting rod 6, form seventh pin joint 15, the other end of fourth connecting rod 6 is articulated through the pivot with connecting seat 18, form eighth pin joint 16, the line of fifth pin joint 13 and seventh pin joint 15 is parallel and equals the line of sixth pin joint 14 and eighth pin joint 16, fifth pin joint 13, sixth pin joint 14, the head and the tail of eighth pin joint 16 and seventh pin joint 15 are connected in proper order and are constituted parallelogram.
The first and second fingers 1, 2, the first and third connecting rods 3, 5, the second and fourth connecting rods 4, 6 are symmetrical in the axial direction of the linear actuator 17.
Connecting base 18 is sleeved with linear driver 17.
Specifically, the tail end of the first bending section 1-1 is hinged to the second connecting rod 4, and the tail end of the second bending section 2-1 is hinged to the third connecting rod 5.
A first groove 1-2 is formed in the middle of the tail end of the first bending section 1-1, and a hinge point of the fifth connecting rod 7 and the first bending section 1-1 is located in the first groove 1-2; a second groove 2-2 is formed in the middle of the tail end of the second bending section 2-1, and a hinge point of the sixth connecting rod 8 and the second bending section 2-1 is located in the second groove 2-2.
More specifically, two sides of the tail end of the first finger 1 are provided with 2 first connecting rods 3, and two sides of the tail end of the first bending section 1-1 are provided with 2 second connecting rods 4. Two sides of the tail end of the second finger 2 are provided with 2 third connecting rods 5, and two sides of the tail end of the second bending section 2-1 are provided with 2 fourth connecting rods 6.
The middle part of the first finger 1 is bent outwards, and the middle part of the second finger 2 is bent outwards, so that the object can be grabbed more stably.
The working process is as follows: as shown in fig. 2-3, when the driving end of the linear actuator 17 is extended, the fifth connecting rod 7 and the sixth connecting rod 8 drive the first finger 1 and the second finger 2 to open in a translation manner (i.e. the first finger 1 and the second finger 2 translate in opposite directions); as shown in fig. 4-5, when the driving end of the linear actuator 17 is retracted, the fifth connecting rod 7 and the sixth connecting rod 8 drive the first finger 1 and the second finger 2 to move in a translational way towards each other to grip objects with different sizes.
Example 2
As shown in fig. 2 to 5, on the basis of the embodiment 1, specifically, a connecting piece 19 is installed at the driving end of the linear actuator 17, and the fifth connecting rod 7 and the sixth connecting rod 8 are hinged on the connecting piece 19.
Example 3
As shown in fig. 2 to 5, in embodiment 1, specifically, the linear actuator 17 is a hydraulic cylinder, and a piston rod of the hydraulic cylinder is screwed to the connecting member 19 and fixed by a taper pin.
The connecting base 18 is sleeved on the cylinder body of the hydraulic cylinder.
Example 4
As shown in fig. 2 to 5, in example 1, a rib 20 is attached to the outer side of the first finger 1 and the second finger 2.
The head end of the first finger 1 is provided with a first extension section 1-3, the head end of the second finger 2 is provided with a second extension section 2-3, and the first extension section 1-3 and the second extension section 2-3 are parallel.
The first bending section 1-1 and the second bending section 2-1 are symmetrically arranged.
The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.
Claims (10)
1. A robotic grasping device, comprising: the device comprises a first finger (1), a second finger (2), a first connecting rod (3), a second connecting rod (4), a third connecting rod (5), a fourth connecting rod (6), a fifth connecting rod (7), a sixth connecting rod (8), a linear driver (17) and a connecting seat (18);
the tail end of the first finger (1) is hinged to a connecting seat (18) through a first connecting rod (3), the tail end of the first finger (1) is provided with a first bending section (1-1) which is bent outwards, the first bending section (1-1) is hinged to the connecting seat (18) through a second connecting rod (4), and the first bending section (1-1) is hinged to the driving end of a linear driver (17) through a fifth connecting rod (7);
the length of the first connecting rod (3) is equal to that of the second connecting rod (4), the tail end of the first finger (1) is hinged to one end of the first connecting rod (3) through a rotating shaft to form a first hinge point (9), the other end of the first connecting rod (3) is hinged to the connecting seat (18) through the rotating shaft to form a second hinge point (10), the first bending section (1-1) is hinged to one end of the second connecting rod (4) through the rotating shaft to form a third hinge point (11), the other end of the second connecting rod (4) is hinged to the connecting seat (18) through the rotating shaft to form a fourth hinge point (12), the connecting line of the first hinge point (9) and the third hinge point (11) is parallel to and equal to the connecting line of the second hinge point (10) and the fourth hinge point (12), and the head-to-tail connecting lines of the first hinge point (9), the second hinge point (10), the fourth hinge point (12) and the third hinge point (11) sequentially form a parallelogram;
the tail end of the second finger (2) is hinged with the connecting seat (18) through a third connecting rod (5), the tail end of the second finger (2) is provided with a second bending section (2-1) which is bent outwards, the second bending section (2-1) is hinged with the connecting seat (18) through a fourth connecting rod (6), and the second bending section (2-1) is hinged with the driving end of the linear driver (17) through a sixth connecting rod (8);
the third connecting rod (5) and the fourth connecting rod (6) are parallel and equal in length, the tail end of the second finger (2) is hinged to one end of the third connecting rod (5) through a rotating shaft to form a fifth hinge point (13), the other end of the third connecting rod (5) is hinged to the connecting seat (18) through the rotating shaft to form a sixth hinge point (14), the second bending section (2-1) is hinged to one end of the fourth connecting rod (6) through the rotating shaft to form a seventh hinge point (15), the other end of the fourth connecting rod (6) is hinged to the connecting seat (18) through the rotating shaft to form an eighth hinge point (16), the connecting line of the fifth hinge point (13) and the seventh hinge point (15) is parallel and equal to the connecting line of the sixth hinge point (14) and the eighth hinge point (16), and the heads and the tails of the fifth hinge point (13), the sixth hinge point (14), the eighth hinge point (16) and the seventh hinge point (15) are sequentially connected to form a quadrilateral;
the first finger (1), the second finger (2), the first connecting rod (3), the third connecting rod (5), the second connecting rod (4) and the fourth connecting rod (6) are axially symmetrical along the linear driver (17);
the connecting seat (18) is sleeved with the linear driver (17).
2. The robotic gripper device according to claim 1, wherein a first groove (1-2) is formed in the middle of the tail end of the first bending section (1-1), and the hinge point of the fifth connecting rod (7) and the first bending section (1-1) is located in the first groove (1-2); a second groove (2-2) is formed in the middle of the tail end of the second bending section (2-1), and a hinge point of the sixth connecting rod (8) and the second bending section (2-1) is located in the second groove (2-2).
3. The robotic grasping device according to claim 2, wherein 2 first connecting rods (3) are provided on both sides of the trailing end of the first finger (1), and 2 second connecting rods (4) are provided on both sides of the trailing end of the first bending section (1-1);
two sides of the tail end of the second finger (2) are provided with 2 third connecting rods (5), and two sides of the tail end of the second bending section (2-1) are provided with 2 fourth connecting rods (6).
4. Robot gripping device according to claim 3, characterised in that the middle part of the first finger (1) is bent outwards and the middle part of the second finger (2) is bent outwards.
5. Robot gripping device according to claim 4, characterized in that at the driving end of the linear drive (17) a connecting piece (19) is mounted, the fifth connecting bar (7) and the sixth connecting bar (8) being hinged on the connecting piece (19).
6. Robot gripping device according to claim 5, characterised in that the linear actuator (17) is a hydraulic cylinder, the piston rod of which is screwed to the connecting piece (19) and fixed with a conical pin.
7. Robot gripping device according to claim 6, characterised in that the connecting socket (18) is sleeved on the body of the hydraulic cylinder.
8. Robot gripping device according to claim 7, characterised in that stiffening ribs (20) are mounted on the outside of the first finger (1) and the second finger (2).
9. The robotic grasping device according to claim 8, wherein the head end of the first finger (1) has a first extension (1-3) and the head end of the second finger (2) has a second extension (2-3), the first extension (1-3) and the second extension (2-3) being parallel.
10. The robotic grasping device according to claim 9, characterized in that the first bending section (1-1) and the second bending section (2-1) are symmetrically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221324253.0U CN218364809U (en) | 2022-05-30 | 2022-05-30 | Robot gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221324253.0U CN218364809U (en) | 2022-05-30 | 2022-05-30 | Robot gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218364809U true CN218364809U (en) | 2023-01-24 |
Family
ID=84960331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221324253.0U Active CN218364809U (en) | 2022-05-30 | 2022-05-30 | Robot gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218364809U (en) |
-
2022
- 2022-05-30 CN CN202221324253.0U patent/CN218364809U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201357413Y (en) | Clamping manipulator | |
| CN104889998B (en) | Under-actuated robot finger device with enveloping and clamping functions | |
| CN105150231B (en) | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot finger device | |
| CN105150225A (en) | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CN108818577B (en) | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove | |
| CN209954679U (en) | Under-actuated humanoid dexterous hand driven and controlled by micro motor | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN107717978A (en) | A kind of industrial robot | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN218255196U (en) | Multi-mode driven variable-rigidity underactuated manipulator | |
| CN101628416A (en) | Biarticulate sliding block type directly driving robot finger device with variable holding force | |
| CN218364809U (en) | Robot gripping device | |
| CN111390953A (en) | Enveloping type under-actuated robot paw | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN101367209A (en) | Five-finger type human simulating manipulator mechanism | |
| CN210850328U (en) | Three-finger under-actuated dexterous hand | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN212825441U (en) | Rope-driven under-actuated five-finger manipulator | |
| CN219563126U (en) | Under-actuated dexterous hand structure | |
| CN210233032U (en) | Co-circular slide bar linear flat clamping indirect self-adaptive robot finger device | |
| CN111941394A (en) | Flexible dexterous manipulator based on parallel connection continuum mechanism | |
| CN107953353B (en) | Finger multi-joint any-angle instant synchronous locking device of under-actuated robot | |
| CN213616765U (en) | Pneumatic three-finger manipulator with multiple grabbing modes and driving modes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |