CN203003903U - Hydraulic under-actuated claw - Google Patents
Hydraulic under-actuated claw Download PDFInfo
- Publication number
- CN203003903U CN203003903U CN 201220640183 CN201220640183U CN203003903U CN 203003903 U CN203003903 U CN 203003903U CN 201220640183 CN201220640183 CN 201220640183 CN 201220640183 U CN201220640183 U CN 201220640183U CN 203003903 U CN203003903 U CN 203003903U
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- finger
- frame
- hydraulic motor
- transmission mechanism
- drive
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Abstract
The utility model discloses a hydraulic under-actuated claw, which comprises a frame, three finger mechanisms connected to the frame and a control mechanism, and is characterized in that the control mechanism comprises a drive branching transmission mechanism and a finger position regulating mechanism; the frame is mechanically connected with the three finger mechanisms, the middle of the frame is provided with a finger position regulating mechanism capable of regulating the positions of the finger mechanisms, and the periphery of the frame is provided with the drive branching transmission mechanism; and the drive branching transmission mechanism can drive the finger mechanisms and make the finger mechanisms have different grabbing states. By improving the mechanical mechanisms, a hydraulic motor is arranged on the claw, a hydraulic motor control valve is arranged on an assembled excavator and is connected with the motor through a pipeline to match a main machine of engineering machinery so as to make the actuated claw do corresponding actions, and the hydraulic under-actuated claw is applied to the engineering machinery industry. Through the stability of hydraulic pressure, the grabbing force and the stability of the claw are improved, the claw can grab heavy objects, and the application space of the actuated claw is expanded.
Description
Technical field
The utility model belongs to one of robot application field, particularly a kind of multipurpose shape adaptive robot hand.
Background technology
Due to the important function of service robot, each machinery state greatly all was used for all kinds robot hand of Engineering Service in research and development, successfully completed a series of service roles in recent years.But because its function is simple, adaptability is relatively poor, can not satisfy the diversified crawl task of engineering machinery.The patent No. be CN200610156059.5 owe to drive in paw, be by the motor-driven paw, when power of motor hour, the crawl dynamics of its paw is little, poor stability, can not grasp heavier object; If the use heavy-duty motor, whole device becomes large, causes the too fat to move of mechanism.
The utility model content
Problem to be solved in the utility model is to provide a kind of fluid pressure type and owes to drive paw, it is pointed by fluid motor-driven, and the crawl dynamics of paw and stability are strengthened, and can grasp heavier object, prevent that object from dropping due to overweight, expanded the application space that drives paw.
A kind of fluid pressure type of the utility model owes to drive paw, comprises frame, is connected to three finger mechanisms, controlling organization on frame, it is characterized in that: controlling organization comprises driving transmission mechanism and finger position guiding mechanism along separate routes; Three finger mechanisms of mechanical attachment above frame, the centre is equipped with the finger position guiding mechanism, and the position of finger position guiding mechanism capable of regulating finger mechanism, periphery are equipped with and drive transmission mechanism along separate routes, and driving shunt transmission mechanism can drive finger mechanism and make it to be in different seized conditions.
Wherein, drive along separate routes that transmission mechanism comprises that large hydraulic motor, three is enclosed within transmission mechanism uniform on circumference, large hydraulic motor vertically be fixed on upper cover below, transmission mechanism includes screw rod, driven wheel, nut; Screw rod is connected between upper cover and middle cover, and driven wheel is enclosed within on screw rod, and the nut that is enclosed within on screw rod is connected with the root of finger mechanism by big connecting rod; Three driven wheels all are meshed with the shaft end gear of large hydraulic motor, and these gears are in same plane.
The utility model is arranged on hydraulic motor above paw by the improvement of mechanical mechanism, and hydraulic motor control valve is installed on the digging machine that is equipped with, come connection valve and motor by pipeline, match with the engineering machinery main frame, realize driving the corresponding actions of paw, be applied to construction machinery industry.The stability of hydraulic pressure strengthens the crawl dynamics of paw and stability, can grasp heavier object, has expanded the application space that drives paw.
Description of drawings
Fig. 1 owes to drive the structural representation of paw for this new Type of Hydraulic;
Fig. 2 owes to drive the structural representation of paw frame for this new Type of Hydraulic;
Fig. 3 owes to drive for this new Type of Hydraulic the stereogram that paw is removed frame.
The specific embodiment
A kind of fluid pressure type of the utility model owes to drive paw, comprises frame 1, is connected to three finger mechanisms 2, controlling organization on frame 1, and controlling organization comprises driving transmission mechanism and finger position guiding mechanism along separate routes; Three finger mechanisms 2 of mechanical attachment above frame 1, the centre is equipped with the finger position guiding mechanism, and the position of finger position guiding mechanism capable of regulating finger mechanism 2, the periphery is equipped with and drives transmission mechanism along separate routes, and driving shunt transmission mechanism can drive finger mechanism 2 and make it to be in different seized conditions.
Frame 1 comprises upper cover 8, middle cover 6, bottom 5 and connecting rod 7; Upper cover 8, middle cover 6, bottom 5 are cylindric, and are connected with upper cover 8 by three connecting rods 7 above middle cover 6, below mechanical connection bottom 5.
Drive along separate routes that transmission mechanism comprises that large hydraulic motor 14, three is enclosed within transmission mechanism uniform on circumference, large hydraulic motor 14 vertically be fixed on upper cover 8 below, transmission mechanism includes screw rod 4, driven wheel 13 A, 13B, 13C, nut 12; Screw rod 4 is connected between upper cover 8 and middle cover 6, and driven wheel 13 is enclosed within on screw rod 4, and the nut 12 that is enclosed within on screw rod 4 is connected with the root of finger mechanism 2 by big connecting rod 3; Three driven wheel 13 A, 13B, 13C all are meshed with the shaft end gear 15 of large hydraulic motor 14, and these gears are in same plane.
The finger position guiding mechanism is two covers, and every cover includes the travelling gear 11 of little hydraulic motor 10, finger mechanism; Little hydraulic motor 10 vertically be fixed on middle cover 6 above, the shaft end gear of little hydraulic motor 10 is meshed with the travelling gear 11 of finger mechanism 2 roots, these gears and all are fixed in middle cover 6 in same plane.
When large hydraulic motor 14 work, driven gear 13A, 13B, 13C rotate, and rotate thereby drive screw rod 4, make nut 12 move up and down along screw rod 4, thereby make the finger mechanism 2 that connects from nut 12 be in different seized conditions.
When little hydraulic motor 10 work, make the travelling gear 11 on finger mechanism 2 roots rotate, thereby realize the adjustment of two finger angles in finger mechanism 2.
The utility model is pointed by being changed into by fluid motor-driven by the motor-driven finger, crawl dynamics and the stability of paw are strengthened, can grasp heavier object, pawl power taking degree increases, prevent that object from dropping due to overweight, expanded the application space that drives paw.
Claims (4)
1. a fluid pressure type owes to drive paw, comprises frame (1), is connected to three finger mechanisms (2), controlling organization on frame (1), it is characterized in that: controlling organization comprises driving transmission mechanism and finger position guiding mechanism along separate routes; Three finger mechanisms of mechanical attachment (2) above frame (1), the centre is equipped with the finger position guiding mechanism, and the position of finger position guiding mechanism capable of regulating finger mechanism (2), the periphery is equipped with and drives transmission mechanism along separate routes, and driving shunt transmission mechanism can drive finger mechanism (2) and make it to be in different seized conditions.
2. according to claim 1ly owe to drive paw, it is characterized in that: frame (1) comprises upper cover (8), middle cover (6), bottom (5) and connecting rod (7); Upper cover (8), middle cover (6), bottom (5) are cylindric, and middle cover (6) above be connected with upper cover (8) by three connecting rods (7), below mechanical connection bottom (5).
3. according to claim 2ly owe to drive paw, it is characterized in that: driving along separate routes, transmission mechanism comprises that large hydraulic motor (14), three is enclosed within transmission mechanism uniform on circumference, large hydraulic motor (14) vertically be fixed on upper cover (8) below, transmission mechanism includes screw rod (4), driven wheel (13 A, 13B, 13C), nut (12); Screw rod (4) is connected between upper cover (8) and middle cover (6), and driven wheel (13) is enclosed within on screw rod (4), and the nut (12) that is enclosed within on screw rod (4) is connected with the root of finger mechanism (2) by big connecting rod (3); Three driven wheels (13A, 13B, 13C) all are meshed with the shaft end gear (15) of large hydraulic motor (14), and these gears are in same plane.
4. according to claim 2ly owe to drive paw, it is characterized in that: the finger position guiding mechanism is two covers, and every cover includes the travelling gear of little hydraulic motor (10), finger mechanism; Little hydraulic motor (10) vertically be fixed on middle cover (6) above, the shaft end gear of little hydraulic motor (10) is meshed with the travelling gear (11) of finger mechanism (2) root, these gears and all are fixed in middle cover (6) in same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220640183 CN203003903U (en) | 2012-11-29 | 2012-11-29 | Hydraulic under-actuated claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220640183 CN203003903U (en) | 2012-11-29 | 2012-11-29 | Hydraulic under-actuated claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203003903U true CN203003903U (en) | 2013-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220640183 Expired - Lifetime CN203003903U (en) | 2012-11-29 | 2012-11-29 | Hydraulic under-actuated claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203003903U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465270A (en) * | 2013-09-09 | 2013-12-25 | 三峡大学 | Clamping device with self-locking mechanism |
| CN103921282A (en) * | 2014-04-08 | 2014-07-16 | 济南大学 | Manipulator |
| CN104669290A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Under-actuated spatial manipulator end effector |
| CN105711669A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Connecting rod under-actuated crawling robot |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN106426261A (en) * | 2016-11-10 | 2017-02-22 | 合肥工业大学 | Manipulator |
| CN107414880A (en) * | 2017-08-30 | 2017-12-01 | 东北大学 | Based on the activation lacking mechanical finger for becoming born of the same parents' principle |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110281997A (en) * | 2019-07-18 | 2019-09-27 | 徐月美 | A kind of device for carrying machine tool spindles |
-
2012
- 2012-11-29 CN CN 201220640183 patent/CN203003903U/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465270B (en) * | 2013-09-09 | 2015-04-29 | 三峡大学 | Clamping device with self-locking mechanism |
| CN103465270A (en) * | 2013-09-09 | 2013-12-25 | 三峡大学 | Clamping device with self-locking mechanism |
| CN103921282A (en) * | 2014-04-08 | 2014-07-16 | 济南大学 | Manipulator |
| CN104669290A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Under-actuated spatial manipulator end effector |
| CN105711669A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Connecting rod under-actuated crawling robot |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN105922281B (en) * | 2016-05-28 | 2017-12-22 | 徐州市柯瑞斯电机制造有限公司 | A kind of mechanical arm assembly of light-duty six axles all-purpose robot |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
| CN106426261A (en) * | 2016-11-10 | 2017-02-22 | 合肥工业大学 | Manipulator |
| CN107414880A (en) * | 2017-08-30 | 2017-12-01 | 东北大学 | Based on the activation lacking mechanical finger for becoming born of the same parents' principle |
| CN107414880B (en) * | 2017-08-30 | 2019-06-21 | 东北大学 | Based on the activation lacking mechanical finger for becoming born of the same parents' principle |
| CN108381524A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of intelligence magic cube-solving robot training platform |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110171011B (en) * | 2019-04-26 | 2021-06-15 | 湖南大学 | Three-finger robot dexterous hand driven in coordination |
| CN110281997A (en) * | 2019-07-18 | 2019-09-27 | 徐月美 | A kind of device for carrying machine tool spindles |
| CN110281997B (en) * | 2019-07-18 | 2020-06-30 | 徐月美 | Machine tool spindle carrying device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130619 |
|
| CX01 | Expiry of patent term |