WO2018170644A1 - Robot hand with artificial intelligence - Google Patents
Robot hand with artificial intelligence Download PDFInfo
- Publication number
- WO2018170644A1 WO2018170644A1 PCT/CN2017/077194 CN2017077194W WO2018170644A1 WO 2018170644 A1 WO2018170644 A1 WO 2018170644A1 CN 2017077194 W CN2017077194 W CN 2017077194W WO 2018170644 A1 WO2018170644 A1 WO 2018170644A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- claw
- piece
- base
- hook
- hinged
- Prior art date
Links
Images
Definitions
- the invention relates to a robot hand with artificial intelligence.
- the robotic hand can mimic some of the motion functions of the human hand and the arm, and is used to grasp, transport, or operate the tool's automatic operating device in a fixed program.
- the robot is the earliest industrial robot, and it is also the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. With the development of network skills, the problem of networking operations of robots is also the direction of future development.
- Industrial robots are high-tech automated production equipment developed in recent decades. Industrial robots are an important branch of industrial robots.
- the robot is characterized by the ability to program a variety of expected tasks, both in terms of construction and performance, and the individual and machine advantages, especially the human intelligence and adaptability.
- the accuracy of robotic operations and the ability to complete operations in various environments have broad prospects for development in all areas of the national economy.
- the robot is a new type of device developed in the mechanized and automated production process. In the modern production process, the robot is widely used in the automatic production line.
- the development and production of the robot has become a new technology developed rapidly in the high-tech field. It has further promoted the development of the robot, enabling the robot to Better integration with mechanization and automation.
- the robot Although the robot is not as flexible as a human hand, it has the characteristics of being able to repeat work and labor, not knowing the fatigue, not afraid of danger, and the power of grasping heavy objects is greater than that of the human hand. Therefore, the robot has been valued by many departments, and more and more Widely used.
- China's plastic machinery has become one of the fastest growing industries in the machinery manufacturing industry, and the annual demand is constantly increasing.
- the rapid development of China's plastic machinery industry mainly has the following two major factors: First, the equipment upgrade and the elimination of old equipment brought about by the demand for high-tech equipment; Second, the rapid development of the domestic plastics processing industry, for plastic machinery Demand.
- a robot hand with artificial intelligence is provided.
- a robot hand with artificial intelligence the main structure thereof is: steel wire reel, power motor, triangle seat, claw base a, claw base b, claw base c , motor holder, claw piece a, claw piece b, claw piece c, claw base, lever piece, mast piece, hinge piece, hinge piece, pull piece, claw hook a, spacer a, claw hook b, pad a piece b, a claw hook c, a spacer c, wherein the top end of the triangle seat is respectively provided with a claw base a, a claw base b, and a claw base c; the claw base a is fixed with a claw piece a, and the claw base b is fixed There is a claw member b to which a claw member c is fixed.
- the bottom of the triangle seat is provided with a motor fixing frame, and the motor fixing frame has a power motor, and the rotating shaft end of the power motor is fixed to the inner core of the wire reel; the wire reel is located at the center of the triangle seat.
- the claw piece a, the claw piece b, and the claw piece c are all fixed by the intermediate position of the lever piece to the claw base through the shaft pin, the end piece of the lever piece is provided with a small hole, and the other end is hinged with the mast piece;
- One end of the hinge piece extends with a hinge piece, one end of the hinge piece is hinged with one end of the mast piece;
- the claw hook a is hinged at one end to the hinge piece, and the other end is hinged to the claw base; the other end of the hinge piece It is hinged with the pull tab, and the pull tab is hinged with a corner of the claw hook c; one end of the claw hook b is hinged with the hinge short piece, and the other end is hinged with the other corner of the claw
- the side of the claw hook a is provided with a serration, and the serration has a gasket a.
- the side of the claw hook b is provided with serrations, and the serrations are provided with a spacer b.
- the side of the claw hook c is provided with serrations, and the serrations are provided with a gasket c.
- the claws a, the claws b, and the claws of the claws c are provided with small wires at the ends of the lever pieces, and the three wires are wound around the wire reels.
- the power motor is a servo motor.
- a spring seat is arranged under the lever piece.
- the claw member b is fixed on the claw base a, the claw member b is fixed on the claw base b, and the claw member c is fixed on the claw base c, so that the three claw members can be assembled to form a mechanical forceps.
- FIG. 1 is an overall structural diagram of a robot hand with artificial intelligence according to the present invention.
- 2 is a structural diagram of a robot hand explosion with artificial intelligence according to the present invention.
- FIG. 3 is a structural diagram of a robot hand triangle with artificial intelligence according to the present invention.
- 4 is an overall structural view of a robotic claw member with artificial intelligence according to the present invention.
- FIG. 5 is an exploded structural view of a robotic hand piece with artificial intelligence according to the present invention.
- Embodiment A robot hand with artificial intelligence, which is mainly configured as: a wire reel 1, a power motor 2, a triangle 3, a claw base a31, a claw base b32, a claw base c33, a motor mount 34, and a claw member a4. , claw member b5, claw member c6, claw base 41, lever piece 42, mast piece 43, hinge piece 44, hinge piece 45, pull piece 46, claw hook a47, spacer a471, claw hook b48, spacer b481 a claw hook c49 and a spacer c491.
- the top end of the triangle seat 3 is respectively provided with a claw base a31, a claw base b32, and a claw base c33.
- the claw base a31 is fixed with a claw member a4, and the claw base b32 is fixed thereon.
- a claw member c6 is fixed to the claw member b5 and the claw base c33.
- the bottom of the triangle seat 3 is provided with a motor fixing frame 34, and the motor fixing frame 34 has a power motor 2, and the rotating shaft end of the power motor 2 is fixed to the inner core of the wire reel 1; the wire reel 1 is located in the triangle Block 3 center location.
- the claw piece a4, the claw piece b5, and the claw piece c6 are all fixed by the intermediate position of the lever piece 42 to the claw base 41 through the shaft pin, and the end of the lever piece 42 is provided with a small hole, and the other end and the mast piece 43 are provided.
- the hinge piece 44 has a hinge piece 45 extending at one end thereof, and one end of the hinge piece 44 is hinged with one end of the mast piece 43; the claw hook a47 is hinged at one end to the hinged piece 45 and the other end is hinged to the claw base.
- the corner is hinged.
- the side of the claw hook a47 is provided with serrations, and the serrations are provided with a spacer a471.
- the side of the claw hook b48 is provided with serrations, and the serrations are provided with a spacer b481.
- the side of the claw hook c49 is provided with serrations, and the serrations are provided with a gasket c491.
- the claws a4, the claw members b5, and the claws of the claw members c6 are provided with small wires at the ends thereof, and the three wires are wound around the wire reel 1.
- the power motor 2 is a servo motor.
- a spring seat is arranged under the lever piece 42. According to the principle of the invention, the lever piece 42 , the mast piece 43 , the hinge piece 44 , the hinge piece 45 , the pull piece 46 , the claw hook a47 , the claw hook b48 , and the claw hook c49 are hinged by the claw base 41 to form a linked claw piece.
- the spacer a471, the spacer b481, and the spacer c491 provided in the claw hook a47, the claw hook b48, and the claw hook c49 have two functions: 1. Easy to disassemble, and the gasket is easy to be used after each operation. Consumables. 2.
Abstract
A robot hand with artificial intelligence, comprising a triangle seat (3). The top ends of the triangle seat are respectively provided with a jaw base a (31), a jaw base b (32) and a jaw base c (33); a jaw piece a (4) is fixed on the jaw base a (31), a jaw piece b (5) is fixed on the jaw base b (32), and a jaw piece c (6) is fixed on the jaw base c (33); a motor fixing frame (34) is provided in the bottom of the triangle seat (3), a power motor (2) is caught in the motor fixing frame (34), and a rotating shaft end of the power motor (2) is fixed to an inner core of a steel wire reel (1); the steel wire reel (1) is located at the center of the triangle seat (3); a side of a jaw hook a (47) is provided with serrations which catch gaskets a (471); a side of a jaw hook b (48) is provided with serrations which catch gaskets b (481); and a side of a jaw hook c (49) is provided with serrations which catch gaskets c (491). The invention uses the technical means that the jaw piece a (4) is fixed on the jaw base a (31), the jaw piece b (5) is fixed on the jaw base b (32), and the jaw piece c (6) is fixed on the jaw base c (33) so as to realize the purpose of forming a mechanical clamp using three jaw members which are openable and closable.
Description
本发明涉及一种具有人工智能的机器人手。The invention relates to a robot hand with artificial intelligence.
机器人手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。随着网络技巧的发展，机械手的联网操作问题也是以后发展的方向。工业机器人是近几十年发展起来的一种高科技自动化生产设备。工业机械手的是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。机械手是在机械化，自动化生产过程中发展起来的一种新型装置。在现代生产过程中，机械手被广泛的运用于自动生产线中，机械人的研制和生产已成为高技术领域内，迅速发展起来的一门新兴的技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然还不如人手那样灵活，但它具有能不断重复工作和劳动，不知疲劳，不怕危险，抓举重物的力量比人手力大的特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用。我国塑料机械已成为机械制造业发展最快的行业之一，年需求量在不断的加大。我国塑料机械产业的高速发展主要有以下两个大因素：一是对高技术含量装备的需求所带来的设备更新及陈旧设备的淘汰；二是海内塑料加工产业的高速发展，对塑料机械的需求旺盛。The robotic hand can mimic some of the motion functions of the human hand and the arm, and is used to grasp, transport, or operate the tool's automatic operating device in a fixed program. The robot is the earliest industrial robot, and it is also the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. With the development of network skills, the problem of networking operations of robots is also the direction of future development. Industrial robots are high-tech automated production equipment developed in recent decades. Industrial robots are an important branch of industrial robots. It is characterized by the ability to program a variety of expected tasks, both in terms of construction and performance, and the individual and machine advantages, especially the human intelligence and adaptability. The accuracy of robotic operations and the ability to complete operations in various environments have broad prospects for development in all areas of the national economy. The robot is a new type of device developed in the mechanized and automated production process. In the modern production process, the robot is widely used in the automatic production line. The development and production of the robot has become a new technology developed rapidly in the high-tech field. It has further promoted the development of the robot, enabling the robot to Better integration with mechanization and automation. Although the robot is not as flexible as a human hand, it has the characteristics of being able to repeat work and labor, not knowing the fatigue, not afraid of danger, and the power of grasping heavy objects is greater than that of the human hand. Therefore, the robot has been valued by many departments, and more and more Widely used. China's plastic machinery has become one of the fastest growing industries in the machinery manufacturing industry, and the annual demand is constantly increasing. The rapid development of China's plastic machinery industry mainly has the following two major factors: First, the equipment upgrade and the elimination of old equipment brought about by the demand for high-tech equipment; Second, the rapid development of the domestic plastics processing industry, for plastic machinery Demand.
提供一种具有人工智能的机器人手。A robot hand with artificial intelligence is provided.
问题的解决方案
Problem solution
本发明解决其上述的技术问题所采用以下的技术方案：一种具有人工智能的机器人手，其主要构造有：钢丝卷盘、动力电机、三角座、爪基a、爪基b、爪基c、电机固定架、爪件a、爪件b、爪件c、爪基座、杠杆片、拽杆片、铰链片、铰链短片、拉片、爪钩a、垫片a、爪钩b、垫片b、爪钩c、垫片c，所述的三角座顶端分别设有爪基a、爪基b、爪基c；所述的爪基a上固定有爪件a，爪基b上固定有爪件b，爪基c上固定有爪件c。所述的三角座内底部设有电机固定架，电机固定架内卡有动力电机，动力电机的转轴端固定于钢丝卷盘内芯；所述的钢丝卷盘位于三角座中心位置。所述的爪件a、爪件b、爪件c均是由：杠杆片中间位置通过轴销固定于爪基座上，杠杆片一端设有小孔，另一端与拽杆片相铰接；所述的铰链片一端延伸有铰链短片，铰链片一端与拽杆片一端相铰接；所述的爪钩a一端铰接于铰链短片上，另一端铰接于爪基座上；所述的铰链片另一端与拉片相铰接，拉片与爪钩c一角相铰接；所述的爪钩b一端与铰链短片相铰接，另一端与爪钩c另一角相铰接所构成。所述的爪钩a侧面设有锯齿，锯齿上卡有垫片a。所述的爪钩b侧面设有锯齿，锯齿上卡有垫片b。所述的爪钩c侧面设有锯齿，锯齿上卡有垫片c。所述的爪件a、爪件b、爪件c的杠杆片末端设有的小孔均拉结有钢丝，所述的这三根钢丝均绕于钢丝卷盘上。进一步地，所述的动力电机为伺服电机。进一步地，所述的杠杆片下设有弹簧座。The present invention solves the above technical problems and adopts the following technical solutions: a robot hand with artificial intelligence, the main structure thereof is: steel wire reel, power motor, triangle seat, claw base a, claw base b, claw base c , motor holder, claw piece a, claw piece b, claw piece c, claw base, lever piece, mast piece, hinge piece, hinge piece, pull piece, claw hook a, spacer a, claw hook b, pad a piece b, a claw hook c, a spacer c, wherein the top end of the triangle seat is respectively provided with a claw base a, a claw base b, and a claw base c; the claw base a is fixed with a claw piece a, and the claw base b is fixed There is a claw member b to which a claw member c is fixed. The bottom of the triangle seat is provided with a motor fixing frame, and the motor fixing frame has a power motor, and the rotating shaft end of the power motor is fixed to the inner core of the wire reel; the wire reel is located at the center of the triangle seat. The claw piece a, the claw piece b, and the claw piece c are all fixed by the intermediate position of the lever piece to the claw base through the shaft pin, the end piece of the lever piece is provided with a small hole, and the other end is hinged with the mast piece; One end of the hinge piece extends with a hinge piece, one end of the hinge piece is hinged with one end of the mast piece; the claw hook a is hinged at one end to the hinge piece, and the other end is hinged to the claw base; the other end of the hinge piece It is hinged with the pull tab, and the pull tab is hinged with a corner of the claw hook c; one end of the claw hook b is hinged with the hinge short piece, and the other end is hinged with the other corner of the claw hook c. The side of the claw hook a is provided with a serration, and the serration has a gasket a. The side of the claw hook b is provided with serrations, and the serrations are provided with a spacer b. The side of the claw hook c is provided with serrations, and the serrations are provided with a gasket c. The claws a, the claws b, and the claws of the claws c are provided with small wires at the ends of the lever pieces, and the three wires are wound around the wire reels. Further, the power motor is a servo motor. Further, a spring seat is arranged under the lever piece.
发明的有益效果Advantageous effects of the invention
采用爪基a上固定有爪件a，爪基b上固定有爪件b，爪基c上固定有爪件c的技术手段，实现三者爪件张合即可形成一个机械钳的目的。The claw member b is fixed on the claw base a, the claw member b is fixed on the claw base b, and the claw member c is fixed on the claw base c, so that the three claw members can be assembled to form a mechanical forceps.
对附图的简要说明Brief description of the drawing
图1为本发明一种具有人工智能的机器人手整体结构图。图2为本发明一种具有人工智能的机器人手爆炸结构图。图3为本发明一种具有人工智能的机器人手三角座结构图。图4为本发明一种具有人工智能的机器人手爪件整体结构图。图5为本发明一种具有人工智能的机器人手爪件爆炸结构图。图中1-钢丝卷盘，2-
动力电机，3-三角座，31-爪基a，32-爪基b，33-爪基c，34-电机固定架，4-爪件a，5-爪件b，6-爪件c，41-爪基座，42-杠杆片，43-拽杆片，44-铰链片，45-铰链短片，46-拉片，47-爪钩a，471-垫片a，48-爪钩b，481-垫片b，49-爪钩c，491-垫片c。1 is an overall structural diagram of a robot hand with artificial intelligence according to the present invention. 2 is a structural diagram of a robot hand explosion with artificial intelligence according to the present invention. FIG. 3 is a structural diagram of a robot hand triangle with artificial intelligence according to the present invention. 4 is an overall structural view of a robotic claw member with artificial intelligence according to the present invention. FIG. 5 is an exploded structural view of a robotic hand piece with artificial intelligence according to the present invention. Figure 1-Wire reel, 2-
Power motor, 3-triangle, 31-claw base a, 32-claw base b, 33-claw base c, 34-motor mount, 4-claw a, 5-claw b, 6-claw c, 41-paw base, 42-lever piece, 43-mast piece, 44-hinged piece, 45-hinged piece, 46-pull piece, 47-claw hook a, 471-shield a, 48-claw hook b, 481 - spacer b, 49 - claw hook c, 491 - spacer c.
发明实施例Invention embodiment
下面结合附图1-5对本发明的具体实施方式做一个详细的说明。实施例：一种具有人工智能的机器人手，其主要构造有：钢丝卷盘1、动力电机2、三角座3、爪基a31、爪基b32、爪基c33、电机固定架34、爪件a4、爪件b5、爪件c6、爪基座41、杠杆片42、拽杆片43、铰链片44、铰链短片45、拉片46、爪钩a47、垫片a471、爪钩b48、垫片b481、爪钩c49、垫片c491，所述的三角座3顶端分别设有爪基a31、爪基b32、爪基c33；所述的爪基a31上固定有爪件a4，爪基b32上固定有爪件b5，爪基c33上固定有爪件c6。所述的三角座3内底部设有电机固定架34，电机固定架34内卡有动力电机2，动力电机2的转轴端固定于钢丝卷盘1内芯；所述的钢丝卷盘1位于三角座3中心位置。所述的爪件a4、爪件b5、爪件c6均是由：杠杆片42中间位置通过轴销固定于爪基座41上，杠杆片42一端设有小孔，另一端与拽杆片43相铰接；所述的铰链片44一端延伸有铰链短片45，铰链片44一端与拽杆片43一端相铰接；所述的爪钩a47一端铰接于铰链短片45上，另一端铰接于爪基座41上；所述的铰链片44另一端与拉片46相铰接，拉片46与爪钩c49一角相铰接；所述的爪钩b48一端与铰链短片45相铰接，另一端与爪钩c49另一角相铰接所构成。所述的爪钩a47侧面设有锯齿，锯齿上卡有垫片a471。所述的爪钩b48侧面设有锯齿，锯齿上卡有垫片b481。所述的爪钩c49侧面设有锯齿，锯齿上卡有垫片c491。所述的爪件a4、爪件b5、爪件c6的杠杆片42末端设有的小孔均拉结有钢丝，所述的这三根钢丝均绕于钢丝卷盘1上。所述的动力电机2为伺服电机。所述的杠杆片42下设有弹簧座。本发明构成原理：通过爪基座41依次铰接杠杆片42、拽杆片43、铰链片44、铰链短片45、拉片46、爪钩a47、爪钩b48、爪钩c49形成一个联动的爪件装置，其活动的过程中，当钢丝卷盘1卷动时，其钢丝将会拽拉杠杆片42的一端，通过联动作用，其爪钩a47、爪钩b48、爪钩c49会向内
侧钩起，形成一个合围，三个爪件就形成了整个的机械钳。在爪钩a47、爪钩b48、爪钩c49设有的垫片a471、垫片b481、垫片c491其作用有两点：1.容易拆卸，垫片的使用方便每场手术后更换其一次性消耗品。2.由于垫片内部是锯齿，当夹合时垫片联合内置的锯齿，其具有一定的防滑作用。以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。
A detailed description of the specific embodiments of the present invention will be made in conjunction with the accompanying drawings. Embodiment: A robot hand with artificial intelligence, which is mainly configured as: a wire reel 1, a power motor 2, a triangle 3, a claw base a31, a claw base b32, a claw base c33, a motor mount 34, and a claw member a4. , claw member b5, claw member c6, claw base 41, lever piece 42, mast piece 43, hinge piece 44, hinge piece 45, pull piece 46, claw hook a47, spacer a471, claw hook b48, spacer b481 a claw hook c49 and a spacer c491. The top end of the triangle seat 3 is respectively provided with a claw base a31, a claw base b32, and a claw base c33. The claw base a31 is fixed with a claw member a4, and the claw base b32 is fixed thereon. A claw member c6 is fixed to the claw member b5 and the claw base c33. The bottom of the triangle seat 3 is provided with a motor fixing frame 34, and the motor fixing frame 34 has a power motor 2, and the rotating shaft end of the power motor 2 is fixed to the inner core of the wire reel 1; the wire reel 1 is located in the triangle Block 3 center location. The claw piece a4, the claw piece b5, and the claw piece c6 are all fixed by the intermediate position of the lever piece 42 to the claw base 41 through the shaft pin, and the end of the lever piece 42 is provided with a small hole, and the other end and the mast piece 43 are provided. The hinge piece 44 has a hinge piece 45 extending at one end thereof, and one end of the hinge piece 44 is hinged with one end of the mast piece 43; the claw hook a47 is hinged at one end to the hinged piece 45 and the other end is hinged to the claw base. 41; the other end of the hinge piece 44 is hinged with the pull tab 46, the pull tab 46 is hinged with a corner of the claw hook c49; one end of the claw hook b48 is hinged with the hinge short piece 45, and the other end is connected with the claw hook c49 The corner is hinged. The side of the claw hook a47 is provided with serrations, and the serrations are provided with a spacer a471. The side of the claw hook b48 is provided with serrations, and the serrations are provided with a spacer b481. The side of the claw hook c49 is provided with serrations, and the serrations are provided with a gasket c491. The claws a4, the claw members b5, and the claws of the claw members c6 are provided with small wires at the ends thereof, and the three wires are wound around the wire reel 1. The power motor 2 is a servo motor. A spring seat is arranged under the lever piece 42. According to the principle of the invention, the lever piece 42 , the mast piece 43 , the hinge piece 44 , the hinge piece 45 , the pull piece 46 , the claw hook a47 , the claw hook b48 , and the claw hook c49 are hinged by the claw base 41 to form a linked claw piece. During the movement of the device, when the wire reel 1 is rolled, its wire will pull one end of the lever piece 42 through the joint action, and the claw hook a47, the claw hook b48, and the claw hook c49 will be inward.
The side hooks up to form a joint, and the three claw members form the entire mechanical jaw. The spacer a471, the spacer b481, and the spacer c491 provided in the claw hook a47, the claw hook b48, and the claw hook c49 have two functions: 1. Easy to disassemble, and the gasket is easy to be used after each operation. Consumables. 2. Since the inside of the gasket is serrated, the gasket cooperates with the built-in serration when it is clamped, which has a certain anti-slip effect. The basic principles, main features, and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing description and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.
Claims (3)
- 一种具有人工智能的机器人手，其主要构造有：钢丝卷盘(1)、动力电机(2)、三角座(3)、爪基a(31)、爪基b(32)、爪基c(33)、电机固定架(34)、爪件a(4)、爪件b(5)、爪件c(6)、爪基座(41)、杠杆片(42)、拽杆片(43)、铰链片(44)、铰链短片(45)、拉片(46)、爪钩a(47)、垫片a(471)、爪钩b(48)、垫片b(481)、爪钩c(49)、垫片c(491)，其特征在于：三角座(3)顶端分别设有爪基a(31)、爪基b(32)、爪基c(33)；所述的爪基a(31)上固定有爪件a(4)，爪基b(32)上固定有爪件b(5)，爪基c(33)上固定有爪件c(6)。所述的三角座(3)内底部设有电机固定架(34)，电机固定架(34)内卡有动力电机(2)，动力电机(2)的转轴端固定于钢丝卷盘(1)内芯；所述的钢丝卷盘(1)位于三角座(3)中心位置。所述的爪件a(4)、爪件b(5)、爪件c(6)均是由：杠杆片(42)中间位置通过轴销固定于爪基座(41)上，杠杆片(42)一端设有小孔，另一端与拽杆片(43)相铰接；所述的铰链片(44)一端延伸有铰链短片(45)，铰链片(44)一端与拽杆片(43)一端相铰接；所述的爪钩a(47)一端铰接于铰链短片(45)上，另一端铰接于爪基座(41)上；所述的铰链片(44)另一端与拉片(46)相铰接，拉片(46)与爪钩c(49)一角相铰接；所述的爪钩b(48)一端与铰链短片(45)相铰接，另一端与爪钩c(49)另一角相铰接所构成。所述的爪钩a(47)侧面设有锯齿，锯齿上卡有垫片a(471)。所述的爪钩b(48)侧面设有锯齿，锯齿上卡有垫片b(481)。所述的爪钩c(49)侧面设有锯齿，锯齿上卡有垫片c(491)。所述的爪件a(4)、爪件b(5)、爪件c(6)的杠杆片(42)末端设有的小孔均拉结有钢丝，所述的这三根钢丝均绕于钢丝卷盘(1)上。A robotic hand with artificial intelligence, the main structure of which is: steel reel (1), power motor (2), triangle (3), claw base a (31), claw base b (32), claw base c (33), motor holder (34), claw member a (4), claw member b (5), claw member c (6), claw base (41), lever piece (42), mast piece (43 ), hinge piece (44), hinged piece (45), pull piece (46), claw hook a (47), spacer a (471), claw hook b (48), spacer b (481), claw hook C (49), the spacer c (491), characterized in that: the top end of the triangle seat (3) is respectively provided with a claw base a (31), a claw base b (32), a claw base c (33); A claw member a (4) is fixed to the base a (31), a claw member b (5) is fixed to the claw base b (32), and a claw member c (6) is fixed to the claw base c (33). The bottom of the triangle seat (3) is provided with a motor fixing frame (34), the motor fixing frame (34) has a power motor (2), and the rotating shaft end of the power motor (2) is fixed to the steel wire reel (1) Inner core; the wire reel (1) is located at the center of the triangle (3). The claw piece a (4), the claw piece b (5), and the claw piece c (6) are all fixed by the intermediate position of the lever piece (42) through the shaft pin to the claw base (41), the lever piece ( 42) one end is provided with a small hole, and the other end is hinged with the mast piece (43); the hinge piece (44) has a hinged short piece (45) extending at one end thereof, and one end of the hinge piece piece (44) and the mast piece (43) One end is hinged; one end of the claw hook a (47) is hinged to the hinge short piece (45), and the other end is hinged to the claw base (41); the other end of the hinge piece (44) and the pull piece (46) The hinge is hinged, and the pull tab (46) is hinged with a corner of the claw hook c (49); one end of the claw hook b (48) is hinged with the hinge short piece (45), and the other end is opposite to the claw hook c (49). Constructed by hinges. The side of the claw hook a (47) is provided with serrations, and the serrations are provided with a spacer a (471). The side of the claw hook b (48) is provided with serrations, and the serrations are provided with a spacer b (481). The side of the claw hook c (49) is provided with serrations, and the serrations are provided with a gasket c (491). The claws a (4), the claw members b (5), and the small holes provided at the ends of the lever pieces (42) of the claw members c (6) are all connected with a steel wire, and the three steel wires are wound around On the wire reel (1).
- 根据权利要求1所述的一种具有人工智能的机器人手，其特征在于 所述的动力电机(2)为伺服电机。A robot hand with artificial intelligence according to claim 1, wherein The power motor (2) is a servo motor.
- 根据权利要求1所述的一种具有人工智能的机器人手，其特征在于所述的杠杆片(42)下设有弹簧座。 A robot hand with artificial intelligence according to claim 1, characterized in that the lever piece (42) is provided with a spring seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077194 WO2018170644A1 (en) | 2017-03-18 | 2017-03-18 | Robot hand with artificial intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077194 WO2018170644A1 (en) | 2017-03-18 | 2017-03-18 | Robot hand with artificial intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018170644A1 true WO2018170644A1 (en) | 2018-09-27 |
Family
ID=63584066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/077194 WO2018170644A1 (en) | 2017-03-18 | 2017-03-18 | Robot hand with artificial intelligence |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018170644A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN110977587A (en) * | 2019-12-10 | 2020-04-10 | 安庆师范大学 | Mechanical arm for numerical control machine tool |
| CN111204592A (en) * | 2020-02-27 | 2020-05-29 | 枣庄市三维技术有限公司 | Loading stacking manipulator |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN113091419A (en) * | 2021-06-07 | 2021-07-09 | 长沙杉达机械科技有限公司 | Medical instrument drying device |
| CN114192875A (en) * | 2021-12-27 | 2022-03-18 | 宝钢湛江钢铁有限公司 | High-speed circular saw material loading robot clamp |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5437490A (en) * | 1991-09-14 | 1995-08-01 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Finger module, finger module structure, and robot hand |
| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US20140132020A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
| CN105563513A (en) * | 2016-03-07 | 2016-05-11 | 戴毅 | Flexible self-adaption under-actuated robot hand |
-
2017
- 2017-03-18 WO PCT/CN2017/077194 patent/WO2018170644A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5437490A (en) * | 1991-09-14 | 1995-08-01 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Finger module, finger module structure, and robot hand |
| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US20140132020A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
| CN105563513A (en) * | 2016-03-07 | 2016-05-11 | 戴毅 | Flexible self-adaption under-actuated robot hand |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN109396639B (en) * | 2018-12-04 | 2021-09-21 | 大族激光科技产业集团股份有限公司 | Clamp, clamping system, welding system and welding method |
| CN110977587A (en) * | 2019-12-10 | 2020-04-10 | 安庆师范大学 | Mechanical arm for numerical control machine tool |
| CN110977587B (en) * | 2019-12-10 | 2021-08-20 | 安庆师范大学 | Mechanical arm for numerical control machine tool |
| CN111204592A (en) * | 2020-02-27 | 2020-05-29 | 枣庄市三维技术有限公司 | Loading stacking manipulator |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN113091419A (en) * | 2021-06-07 | 2021-07-09 | 长沙杉达机械科技有限公司 | Medical instrument drying device |
| CN114192875A (en) * | 2021-12-27 | 2022-03-18 | 宝钢湛江钢铁有限公司 | High-speed circular saw material loading robot clamp |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018170644A1 (en) | Robot hand with artificial intelligence | |
| CN205148344U (en) | Self -interacting mechanical gripper | |
| CN104772766B (en) | A kind of robot clamp handgrip | |
| CN206335591U (en) | Special-shaped structure piece gripper equipment | |
| CN104139396B (en) | A kind of under-driven adaptive manipulator | |
| CN210525138U (en) | Object taking and grabbing structure of robot | |
| TWI661899B (en) | Gripper mechanism | |
| JP2012246123A (en) | Suspension jig, and method of machining blade ring | |
| CN108381582A (en) | A kind of robotic gripping apparatus | |
| CN209615544U (en) | It is a kind of for grabbing the manipulator of cylindrical object | |
| CN109760087B (en) | Intelligent multifunctional two-finger bionic smart hand | |
| Wei et al. | Dexdeb–application of dextrous robotic hands for deboning operation | |
| CN206066482U (en) | Puma manipulator | |
| CN205438595U (en) | Manipulator is transported in commodity circulation | |
| CN106003124A (en) | Clamping jaw applied to mechanical arm | |
| CN205989338U (en) | A kind of arm end performs device | |
| CN206263980U (en) | Small-sized automatic transporting machine people | |
| JP4726880B2 (en) | Tray gripper | |
| CN207759917U (en) | A kind of main beating cap lifting tool | |
| JP2007083339A (en) | Automatically opening/closing structure for opening/closing tool | |
| KR20200012261A (en) | Droned robotic arm for high-risk work replacement | |
| CN207858863U (en) | A kind of clamping device | |
| CN205325697U (en) | A multi -functional atmospheric pressure machinery hand for diesel engine processing | |
| CN217020450U (en) | Industrial robot snatchs structure | |
| CN213106881U (en) | Panel transfer robot device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17901554 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 17901554 Country of ref document: EP Kind code of ref document: A1 |