CN107214715A - Flexible ultrahigh speed manipulator - Google Patents
Flexible ultrahigh speed manipulator Download PDFInfo
- Publication number
- CN107214715A CN107214715A CN201710424589.1A CN201710424589A CN107214715A CN 107214715 A CN107214715 A CN 107214715A CN 201710424589 A CN201710424589 A CN 201710424589A CN 107214715 A CN107214715 A CN 107214715A
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- China
- Prior art keywords
- connecting rod
- types
- neck
- spring
- finger
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is divisional application.The application number of original bill is：201610126285.2.The present invention relates to a kind of paw, more particularly to a kind of flexible ultrahigh speed manipulator.Flexible ultrahigh speed manipulator, including finger and wrist；The wrist includes：Skeleton, direct current generator, potentiometer, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is fixed on the potentiometer mounting surface of the skeleton through motor output shaft, and the capstan winch is fixed on the end of motor output shaft；The finger quantity is 3, and the finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body.The end that flexibility ultrahigh speed manipulator of the invention is assemblied in industrial robot is used to assist Automatic manual transmission or machine-building process, automation loading and unloading for completing workpiece, finger can the flexible geometric shape for adapting to product, adjust automatically realized according to the geometry of workpiece, so as to realize stable crawl.
Description
Technical field
Present patent application is divisional application.The application number of original bill is：201610126285.2, the applying date is：2016
On March 7, in.The present invention relates to a kind of paw, more particularly to a kind of flexible ultrahigh speed manipulator.
Background technology
Paw is as one of robot key components and parts, and it is final tache and the execution of machine man-environment interaction
Part, the quality of its performance largely determines the service behaviour of whole robot.
The design of the mechanical part of industrial robot is the pith of industrial robot design, although industrial robot is not
Special equipment is same as, it has stronger flexibility, and still, it is unpractical for designing and manufacture universal robots.Difference should
It is much bigger with the difference in the other systems design of the diversity ratio industrial robot of Industrial robots Mechanical's system design in field.
End-effector is commonly referred to as with the hand of robot industrially, it is that robot is directly used in crawl and held with a firm grip（Absorption）
Specific purpose tool（Such as spray gun, spanner, soldering set, shower nozzle）The part operated, it has the function of imitating human hand action, and pacifies
Front end loaded on robot arm.In paw application, the hand of robot is typically made up of the palm in direction and the finger of nodular.
Finger is the part directly contacted with workpiece.Receipts are not unclamped and step up workpiece, are exactly realized by the opening and closing of finger
's.The hand structure form of robot is often dependant on the shape and characteristic of clamped workpiece.
In order to preferably capture object, it is necessary to paw capture object when with certain adaptivity, under-actuated robot
People's paw device can preferably realize the control difficulty for mitigating robot hand, while taking into account with crawl different shape, chi
The adaptivity of very little object.Although various paws have been widely applied in each field simultaneously, enterprise has to face
One problem, is how make it that the structure of paw is more simple, cost is lower.Therefore, the adaptive drive lacking of design robot
Robot hand has very important realistic meaning.
The content of the invention
Object of the present invention is to provide a kind of flexible ultrahigh speed manipulator, the present invention is applied to machine-building process
In, realize the carrying transmission of material；The end that flexibility ultrahigh speed manipulator of the invention is assemblied in industrial robot is used for friendly machine
Tool is assembled or machine-building process, the automation loading and unloading for completing workpiece, and finger can the flexible geometry for adapting to product
Profile, adjust automatically realized according to the geometry of workpiece, so as to realize stable crawl.
A kind of flexible ultrahigh speed manipulator, including finger and wrist；The wrist includes：Skeleton, direct current generator, current potential
Device, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is connected through motor output shaft
In on the potentiometer mounting surface of the skeleton, the capstan winch is fixed on the end of motor output shaft；The finger quantity is 3,
The finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body；The quantity of the multidigit neck is
Two, the quantity of the neck is one, and the sum of the neck or multidigit neck is three and its central point constitutes equilateral triangle
Layout；The multidigit neck includes：Central Symmetry position, 30 ° of positions, 60 ° of positions, 30 ° of positions and 60 ° of positional symmetries
It is arranged in Central Symmetry position both sides.
The finger mainly includes：Upper spring, lower spring, middle spring, JC2 types connecting rod, K-type connecting rod, L-type connecting rod, A1 types
Connecting rod, rotary body, B1 types connecting rod, C1A2 types connecting rod, B2 types connecting rod, steel wire rope；Activity connects respectively for the end of the JC2 types connecting rod
The K-type connecting rod and B2 type connecting rods are connected to, the B2 types connecting rod is movably connected on the C1A2 types connecting rod, the upper both ends of the spring
It is respectively fixedly connected in clamp button of the spring, K-type connecting rod and C1A2 the types connecting rod is movably connected on the L-type connecting rod, the middle spring
Two ends are respectively fixedly connected in clamp button of the spring, and the other end of the L-type connecting rod is movably connected on the middle-end of the A1 types connecting rod, the B1
Type connecting rod two ends are movably connected with middle-end and the A1 types connecting rod in the C1A2 types connecting rod, and the rotary body is flexibly connected
In the middle-end of the A1 types connecting rod, the lower spring two ends are respectively fixedly connected in clamp button of the spring；
The steel wire rope is inserted by intake, outlet is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction groove, described
The exit of steel wire rope is fixed on steel wire rope bayonet socket, and axis hole is fixed on motor output shaft.
More specifically, the end face of the JC types connecting rod, the K-type connecting rod and the L-type connecting rod is bonded with pad respectively.
More specifically, the direct current generator is the DC speed-reducing for being integrated with decelerator.
Compared with conventional art, present invention flexibility ultrahigh speed manipulator has following positive role and beneficial effect：
Flexibility ultrahigh speed manipulator of the invention, when Clamp blocks, the direct current generator is rotated clockwise, by described
Motor output shaft passes motion to the capstan winch, and the capstan winch turns clockwise so that the steel wire rope is by tensile force, band
Move the A types connecting rod to rotate in an anti-clockwise direction, the A types connecting rod drives the Type B connecting rod to rotate counterclockwise, while the lower bullet
Spring is stretched, and the Type B connecting rod drives the CA types connecting rod to rotate counterclockwise, and the CA types connecting rod drives the Type B connecting rod inverse time
Pin is rotated, while the upper spring elongation, the Type B connecting rod drives the JC types connecting rod to rotate counterclockwise, the JC types connecting rod
The K-type connecting rod is driven to rotate counterclockwise, the K-type connecting rod drives the L-type connecting rod to rotate clockwise, while the middle spring
Compression.Now three fingers are simultaneously to contract, so as to realize that part is clamped.
When unclamping part, the direct current generator is rotated counterclockwise, will be moved and passed by the motor output shaft
The capstan winch is passed, the capstan winch rotates counterclockwise such that the steel wire rope looseness, the upper spring, the elastic potential energy of lower spring
Release, initial equilibrium conditionses are returned to by extended state, and the elastic potential energy release of the middle spring is returned to just by compressive state
Beginning poised state so that the A types connecting rod is rotated clockwise, the A types connecting rod drives the Type B connecting rod to rotate clockwise, institute
Stating Type B connecting rod drives the CA types connecting rod to rotate clockwise, and the CA types connecting rod drives the Type B connecting rod to rotate clockwise, institute
Stating Type B connecting rod drives the JC types connecting rod to rotate clockwise, and the JC types connecting rod drives the K-type connecting rod to rotate clockwise, institute
Stating K-type connecting rod drives the L-type connecting rod to rotate counterclockwise.Now three fingers are flared out simultaneously, so as to realize part
Unclamp.
Flexibility ultrahigh speed manipulator of the invention uses the single DC motor Driver, utilizes the rope traction and bullet
Spring realizes that part is firmly grasped and discharged to paw, and the real-time angular of the direct current generator is detected using the potentiometer, so that indirectly
Obtain the open configuration of the finger, it is ensured that while kinematic accuracy, delicate structure is flexible movements, reliable.In addition, described
Direct current generator is that brushed DC motor drives planetary reducer drive mechanism, and compact conformation, moment of torsion is big, it is ensured that high capacity
Under crawl work.In addition the JC types connecting rod, the K-type connecting rod and the L-type connecting rod end face be bonded respectively pad,
With so that scratch is not produced to piece surface in Clamp blocks, while the frictional force of finger end is also increased, so as to more preferable
Stronger crawl part.
Brief description of the drawings
Fig. 1 is the structural representation of flexible ultrahigh speed manipulator of the invention；
Fig. 2 is structural representation of the wrist of flexible ultrahigh speed manipulator of the invention under dismounting state；
Fig. 3 is structural representation of the finger of flexible ultrahigh speed manipulator of the invention under dismounting state；
Fig. 4 and Fig. 5 are structural representation of the skeleton under different visual angles.
Fig. 6 is the structural representation of the rotary body of flexible ultrahigh speed manipulator of the invention；
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch of flexible ultrahigh speed manipulator of the invention；
Fig. 8 is the schematic diagram that flexible ultrahigh speed manipulator of the invention captures column part；
Fig. 9 is the schematic diagram that flexible ultrahigh speed manipulator of the invention captures sphere part；
Figure 10 is the schematic diagram that flexible ultrahigh speed manipulator of the invention captures polyhedron parts；
Figure 11 is the kinematic sketch of the grip finger part process of flexible ultrahigh speed manipulator of the invention.
In figure：
It is finger 1, wrist 2, clamp button of the spring 3, upper spring 4, clamp button of the spring 5, lower spring 6, steel wire rope 7, middle spring 8, skeleton 9, straight
Flow motor 10, potentiometer 11, capstan winch 12, motor output shaft 13, motor mounting surface 14, neck 15, multidigit neck 16,30 ° of positions
17th, Central Symmetry position 18,60 ° of positions 19, potentiometer mounting surface 20, JC2 types connecting rod 21, K-type connecting rod 22, L-type connecting rod 23, A1
Type connecting rod 24, rotary body 25, B1 types connecting rod 26, C1A2 types connecting rod 27, B2 types connecting rod 28, pad 29-30, clamp button of the spring 31, lining
Pad 32, clamp button of the spring 33, steel wire rope bayonet socket 34, clamp button of the spring 35-36, protruding block 37, steel wire traction groove 38, intake 39, draw
Outlet 40, axis hole 41.
Embodiment
Below in conjunction with accompanying drawing to being described in further detail, but do not constitute to any limitation, it is similar in accompanying drawing
Element numbers represent similar element.As above there is provided a kind of flexible ultrahigh speed manipulator, can as industrial robot etc. end
Actuator is held, part of different shapes is captured for stable.
Structure composition described in detail below.
Fig. 1 is the structural representation of flexible ultrahigh speed manipulator of the invention, and Fig. 2 is that structure of the wrist under dismounting state is shown
It is intended to, Fig. 4 and Fig. 5 are structural representation of the skeleton under different visual angles, and Fig. 6 is the structural representation of rotary body.It is a kind of flexible
Ultrahigh speed manipulator, including finger 1 and wrist 2；The wrist 2 includes：Skeleton 9, direct current generator 10, potentiometer 11, capstan winch 12,
The direct current generator 10 is fixed on the motor mounting surface 14 of the skeleton 9, and the potentiometer 11 is solid through motor output shaft 13
On the potentiometer mounting surface 20 for being connected in the skeleton 9, the capstan winch 12 is fixed on the end of motor output shaft 13；The finger 1
Quantity is 3, and the finger 1 is embedded in the neck 15 or multidigit neck 16 of the skeleton 9 by the protruding block 37 of rotary body 25；
The quantity of the multidigit neck 16 is two, and the quantity of the neck 15 is one, and the sum of the neck 15 or multidigit neck 16 is
Three and its central point constitute equilateral triangle 42 layout；The multidigit neck 16 includes：Central Symmetry position 18,60 ° of positions
19th, 30 ° of positions 17,60 ° of positions 19 and 30 ° of positions 17 are symmetrically arranged at the both sides of Central Symmetry position 18.
Fig. 3 is structural representation of the finger under dismounting state.The finger 1 mainly includes：Upper spring 4, lower spring 6,
Middle spring 8, JC2 types connecting rod 21, K-type connecting rod 22, L-type connecting rod 23, A1 types connecting rod 24, rotary body 25, B1 types connecting rod 26, C1A2 types
Connecting rod 27, B2 types connecting rod 28；The end of the JC2 types connecting rod 21 is movably connected with the K-type connecting rod 22 and B2 type connecting rods
28, the B2 types connecting rod 28 is movably connected on the C1A2 types connecting rod 27, and the upper two ends of spring 4 are respectively fixedly connected in clamp button of the spring
3 and 5, K-type connecting rod 22 and C1A2 the types connecting rod 27 is movably connected on the L-type connecting rod 23, the middle two ends of spring 8 difference
Clamp button of the spring 31 and 33 is fixed on, the other end of the L-type connecting rod 23 is movably connected on the middle-end of the A1 types connecting rod 24, described
The two ends of B1 types connecting rod 26 are movably connected with middle-end and the A1 types connecting rod 24 in the C1A2 types connecting rod 27, the rotary body
25 are movably connected on the middle-end of the A1 types connecting rod 24, and the two ends of lower spring 6 are respectively fixedly connected in clamp button of the spring 35 and 36.
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch 12.Steel wire rope 7 is inserted by intake 39, outlet 40 draws
Go out, and be adhesively fixed by epoxide-resin glue in steel wire traction groove 38, the exit of steel wire rope 7 is fixed on steel wire rope bayonet socket 34, axle
Hole 41 is fixed on motor output shaft 13.
More specifically, the end face of the JC2 types connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod 23 is bonded with respectively
Pad 29,30 and 32.
More specifically, the direct current generator 10 is the DC speed-reducing for being integrated with decelerator.
Fig. 8 is the schematic diagram that flexible ultrahigh speed manipulator of the invention captures column part, and Fig. 9 is flexible superelevation of the invention
Fast manipulator captures the schematic diagram of sphere part, and Figure 10 is the principle that flexible ultrahigh speed manipulator of the invention captures polyhedron parts
Figure, Figure 11 is the kinematic sketch of grip finger part process.Fig. 1 to 11 is seen, next, the flexible superelevation of the present invention is described in detail
The course of work and operation principle of fast manipulator：
Flexibility ultrahigh speed manipulator of the invention, in the course of the work, the institute that one of them described finger 1 passes through the rotary body 25
State protruding block 37 and be embedded in constant in the neck 15 of the skeleton 9, and two other described finger 1 is in the multidigit neck
Position in 16 is according to crawl part shape adjustment：When the part shape of crawl is spheroid such as ball, respectively by the two
The protruding block 37 of the finger 1 is transposed to the Central Symmetry position 18 in the multidigit neck 16 so that three
The finger 1 is clamped to part on substantially symmetrical about its central axis simultaneously；When the part shape of crawl is column such as ring flange
When, the protruding block 37 of the two fingers 1 is transposed to 60 ° of positions in the multidigit neck 16 respectively
19, now three fingers 1 are in parallel position state, and it is same that two fingers 1 in 60 ° of positions 19 are located at part
Side, simultaneously clamps on part edge, and the finger 1 in the neck 15 is located at part opposite side, and Central of the parts is pressed from both sides
Tightly；When the part shape of crawl is polyhedron such as hex nut, respectively by the protruding block 37 of the two fingers 1
30 ° of positions 17 in the multidigit neck 16 are transposed to, two fingers 1 of 30 ° of positions 17 are now in
Part is clamped, and the not Clamp blocks of the finger 1 in the neck 15.Flexibility ultrahigh speed manipulator of the invention
The skeleton 15 using the generation of rapid shaping printer, supported using three legs, and supporting ring structure ensure that frame strength,
The multidigit neck 16 is used simultaneously, the position of finger 1 can be conveniently adjusted, and realizes the crawl of different shape part.
Flexibility ultrahigh speed manipulator of the invention, when Clamp blocks, the direct current generator 10 is rotated clockwise, is led to
Cross the motor output shaft 13 and pass motion to the capstan winch 12, the capstan winch 12 turns clockwise so that the steel wire rope 7
By tensile force, the A1 types connecting rod 24 is driven to rotate in an anti-clockwise direction, the A1 types connecting rod 24 drives the B1 types connecting rod 26
Rotate counterclockwise, while the lower spring 6 is stretched, the B1 types connecting rod 26 drives the C1A2 types connecting rod 27 to rotate counterclockwise,
The C1A2 types connecting rod 27 drives the B2 types connecting rod 28 to rotate counterclockwise, while the upper spring 4 is stretched, the B2 types connecting rod
28 drive the JC2 types connecting rod 21 to rotate counterclockwise, and the JC2 types connecting rod 21 drives the K-type connecting rod 22 to rotate counterclockwise, institute
Stating K-type connecting rod 22 drives the L-type connecting rod 23 to rotate clockwise, while the middle spring 8 compresses.Now three fingers 1
Simultaneously to contract, so as to realize that part is clamped.
When unclamping part, the direct current generator 10 is rotated counterclockwise, will be transported by the motor output shaft 13
Dynamic to pass to the capstan winch 12, the capstan winch 12 rotates counterclockwise such that the steel wire rope 7 relaxes, the upper spring 4, lower spring
6 elastic potential energy release, initial equilibrium conditionses, the elastic potential energy release of the middle spring 8, by compressing are returned to by extended state
State returns to initial equilibrium conditionses so that the A1 types connecting rod 24 is rotated clockwise, and the A1 types connecting rod 24 drives the B1
Type connecting rod 26 is rotated clockwise, and the B1 types connecting rod 26 drives the C1A2 types connecting rod 27 to rotate clockwise, and the C1A2 types connect
Bar 27 drives the B2 types connecting rod 28 to rotate clockwise, and the B2 types connecting rod 28 drives the JC2 types connecting rod 21 to rotate clockwise,
The JC2 types connecting rod 21 drives the K-type connecting rod 22 to rotate clockwise, and the K-type connecting rod 22 drives the inverse time of L-type connecting rod 23
Pin is rotated.Now three fingers 1 are flared out simultaneously, so as to realize that part unclamps.
Flexibility ultrahigh speed manipulator of the invention is driven using the single direct current generator 10, is drawn using the steel wire rope 7
Realize that part is firmly grasped and discharged to paw with spring, the real-time angular of the direct current generator 10 detected using the potentiometer 11,
So as to the open configuration of finger 1 described in indirect gain, it is ensured that while kinematic accuracy, delicate structure is flexible movements, reliable.
In addition, the direct current generator 10, which is brushed DC motor, drives planetary reducer drive mechanism, compact conformation, moment of torsion is big,
It ensure that the crawl work under high capacity.In addition in the JC2 types connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod 23
End face is bonded pad 29,30 and 32 respectively so that do not produce scratch to piece surface in Clamp blocks, while also increasing hand
Refer to the frictional force of 1 end, so as to more preferable stronger crawl part.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, can also there is many deformations.Any letter that every technical spirit according to the present invention is made to above example
Single modification, equivalent variations and modification, are considered as belonging to protection scope of the present invention.
Claims (3)
1. a kind of flexible ultrahigh speed manipulator, it is characterised in that composition is as follows：Including finger and wrist；The wrist includes：Bone
Frame, direct current generator, potentiometer, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is worn
Cross motor output shaft to be fixed on the potentiometer mounting surface of the skeleton, the capstan winch is fixed on the end of motor output shaft；Institute
Finger quantity is stated for 3, the finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body；It is described
The quantity of multidigit neck is two, and the quantity of the neck is one, and the sum of the neck or multidigit neck is three and its central point
Constitute the layout of equilateral triangle；The multidigit neck includes：Central Symmetry position, 30 ° of positions, 60 ° of positions, 30 ° of positions
Put and Central Symmetry position both sides are arranged in 60 ° of positional symmetries；
The finger mainly includes：Upper spring, lower spring, middle spring, JC2 types connecting rod, K-type connecting rod, L-type connecting rod, A1 types connecting rod,
Rotary body, B1 types connecting rod, C1A2 types connecting rod, B2 types connecting rod, steel wire rope；The end of the JC2 types connecting rod be movably connected with
K-type connecting rod and B2 the type connecting rod, the B2 types connecting rod is movably connected on the C1A2 types connecting rod, the upper both ends of the spring difference
Clamp button of the spring is fixed on, K-type connecting rod and C1A2 the types connecting rod is movably connected on the L-type connecting rod, the middle both ends of the spring
It is respectively fixedly connected in clamp button of the spring, the other end of the L-type connecting rod is movably connected on the middle-end of the A1 types connecting rod, the B1 types connect
Bar two ends are movably connected with middle-end and the A1 types connecting rod in the C1A2 types connecting rod, and the rotary body is movably connected on institute
The middle-end of A1 type connecting rods is stated, the lower spring two ends are respectively fixedly connected in clamp button of the spring；The steel wire rope is inserted by intake, drawn
Mouth is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction groove, and the exit of the steel wire rope is fixed on steel wire rope bayonet socket,
Axis hole is fixed on motor output shaft；When the part shape of crawl is column such as ring flange, respectively by the two hands
The protruding block referred to is transposed to 60 ° of positions in the multidigit neck, and now three fingers are in parallel position shape
State, two fingers in 60 ° of positions are located at part the same side, simultaneously clamp on part edge, and in the card
The finger in groove is located at part opposite side, and Central of the parts is clamped.
2. flexible ultrahigh speed manipulator according to claim 1, it is characterised in that the JC2 types connecting rod, the K-type connect
The end face of bar and the L-type connecting rod is bonded with pad respectively.
3. flexible ultrahigh speed manipulator according to claim 1, it is characterised in that the direct current generator is to be integrated with deceleration
The DC speed-reducing of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424589.1A CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424589.1A CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
| CN201610126285.2A CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610126285.2A Division CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214715A true CN107214715A (en) | 2017-09-29 |
Family
ID=55874421
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
| CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
| CN201710424015.4A Withdrawn CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
| CN201710424589.1A Withdrawn CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
| CN201710424590.4A Active CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
| CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
| CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
| CN201710424015.4A Withdrawn CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710424590.4A Active CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
| CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (6) | CN105563513B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527412A (en) * | 2018-04-17 | 2018-09-14 | 西安工业大学 | It is a kind of based on the industrial Gripping platform captured to the heart |
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| CN108527412A (en) * | 2018-04-17 | 2018-09-14 | 西安工业大学 | It is a kind of based on the industrial Gripping platform captured to the heart |
| CN108527412B (en) * | 2018-04-17 | 2023-09-05 | 西安工业大学 | Industrial clamping platform based on centering grabbing |
| CN115648261A (en) * | 2022-10-14 | 2023-01-31 | 北京电子科技职业学院 | Flexible rotating joint, mechanical finger and easy-to-assemble and disassemble modular underactuated manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107053243A (en) | 2017-08-18 |
| CN107053242A (en) | 2017-08-18 |
| CN107175680A (en) | 2017-09-19 |
| CN107053243B (en) | 2019-08-13 |
| CN105563513B (en) | 2017-07-07 |
| CN107053242B (en) | 2019-08-13 |
| CN105563513A (en) | 2016-05-11 |
| CN107243919A (en) | 2017-10-13 |
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