CN205630605U - Miniature atmospheric pressure machinery hand - Google Patents
Miniature atmospheric pressure machinery hand Download PDFInfo
- Publication number
- CN205630605U CN205630605U CN201620228750.9U CN201620228750U CN205630605U CN 205630605 U CN205630605 U CN 205630605U CN 201620228750 U CN201620228750 U CN 201620228750U CN 205630605 U CN205630605 U CN 205630605U
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- CN
- China
- Prior art keywords
- finger
- mechanical hand
- air bag
- trachea
- micro pressure
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- 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.)
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Abstract
The utility model discloses a miniature atmospheric pressure machinery hand, including manipulator body, gas passage and gasbag, gas passage includes that the tracheal end of giving vent to anger of trachea and this extends the entering inside the manipulator body, the gasbag is installed the tracheal end of giving vent to anger, the gasbag passes through the change drive of gaseous drive self volume is introduced to the trachea the action of manipulator body realizes the function, the utility model discloses an adopting the gasbag to substitute the cylinder and being the mechanical motion of manipulator with the atmospheric pressure conversion, because the change that the gasbag only need be through self volume can the robot arm motion, the structure that has greatly reduced the manipulator is big or small, has greatly promoted the miniaturization of manipulator, has avoided the too fat to move of cylinder mechanism for the overall structure of manipulator is meticulousr, and the volume is littleer.
Description
Technical field
This utility model relates to technical field of mechanical equipment, more particularly, it relates to a kind of micro pressure mechanical hand.
Background technology
Mechanical hand be can apish hands and some holding function of arm, captured by fixing program, removed
Cargo transport thing or the automatic pilot of operation instrument.Mechanical hand is the industrial robot occurred the earliest, is also
The modern machines people occurred the earliest, it can replace labor under the duplication of labour of people, heavy labor, adverse circumstances
Dynamic, there is the features such as high accuracy, high reliability, thus be widely used in machine-building, metallurgy, electronics,
The department such as light industry and atomic energy.
Conventional airbrasive hands is typically all and uses cylinder that air pressure is converted into motion, owing to cylinder is tied
The restriction of structure so that the overall volume of mechanism is relatively big, is difficult to meet the requirement of mechanical mechanism trend toward miniaturization.
Utility model content
The purpose of this utility model is to propose a kind of micro pressure mechanical hand for above-mentioned technical problem.
The technical scheme that the above-mentioned technical problem of this utility model solution is used is: a kind of micro pressure machinery
Hands, including mechanical hand body, gas passage and air bag, described gas passage includes trachea and this trachea
Outlet side extend into described mechanical hand body interior, described air bag is installed in the outlet side of described trachea,
Described air bag introduces gas by described trachea and drives the change of own vol to drive described mechanical hand body to move
Realize function.
In this utility model, described mechanical hand body includes finger fixer and is installed on described
Fixed finger on finger fixer, activity are installed in the movable finger in described fixed finger, described gas
Capsule abuts with described movable finger and drives described movable finger away from or near the realization of described fixed finger
The opening and closing movement of mechanical hand body.
In this utility model, described movable finger includes driving plate and activity to refer to joint, described driving plate with
Described activity refers to save fixing connection, and described activity refers to that joint is articulated and connected with described fixed finger, and described
Plate is driven to abut with described air bag.
In this utility model, described fixed finger is provided with abut with described driving plate described for driving
The reply shell fragment that movable finger resets.
In this utility model, described finger fixer and fixed finger, described fixed finger and movable hand
Finger is connected through the hinge.
In this utility model, described finger fixer is loop configuration, the front end of described finger fixer
Be provided with the interior connection screw thread for connecting described fixed finger, the rear end of described finger fixer be provided with for
The limited step of fixing described trachea, described trachea is provided with the spacing preiection mated with this limited step.
In this utility model, one end of described fixed finger be provided with described interior be connected screw thread coupling outside
Screw thread.
In this utility model, described air bag uses polyurethane material to make.
Air pressure is converted the mechanical movement in mechanical hand by using air bag to substitute cylinder by this utility model, by
Have only to drive robot movement by the change of own vol in air bag, greatly reduce machinery
The structure size of hands, greatly promoted the miniaturization of mechanical hand, it is to avoid cylinder mechanism too fat to move, makes
The overall structure obtaining mechanical hand is more fine, and volume is less.
Accompanying drawing explanation
Fig. 1 is the structural representation of the micro pressure mechanical hand in this utility model one embodiment；
Fig. 2 is the sectional structure schematic diagram of the micro pressure mechanical hand in this utility model one embodiment.
Detailed description of the invention
In order to be illustrated more clearly that the technical solution of the utility model, below in conjunction with drawings and Examples, right
The technical solution of the utility model is further elaborated, it should be apparent that, describe below only
Embodiments more of the present utility model, for those of ordinary skill in the art, are not paying creativeness
On the premise of work, it is also possible to obtain other embodiment according to these embodiments.
With reference to Fig. 1, Fig. 2, a kind of micro pressure mechanical hand, including mechanical hand body, gas passage and
Air bag 5, gas passage includes that the outlet side of trachea 4 and this trachea 4 extends into mechanical hand body interior,
Air bag 5 is installed in the outlet side of trachea 4, and air bag 5 introduces gas by trachea 4 and drives own vol
Change drives this body action of mechanical hand to realize function.Concrete, the air bag 5 trachea 4 by gas passage
Being connected with source of the gas, the gas that source of the gas provides is optimized rear drive air bag 5 by various pipelines and valve
Volume change, air bag 5 volume change drive mechanical hand body movement structure action realize grab
The action such as take.Preferably, air bag 5 uses polyurethane material to make
In one embodiment, mechanical hand body includes finger fixer 1 and is installed on finger
Fixed finger 2 on holder 1, activity are installed in the movable finger 3 in fixed finger 2, air bag 5 with
Movable finger 3 abut and drive activity finger 3 away from or realize mechanical hand body near fixed finger 2
Folding grasping movement.Concrete, when the volume maximum of air bag 5, movable finger 3 abuts fixing hands
Refer to 2, i.e. mechanical hand body is in and grabs conjunction state；When air bag 5 volume minimum, movable finger 3 is away from solid
Determine finger 2, i.e. mechanical hand body is in open mode.Or, when the volume minimum of air bag 5, movable
Finger 3 abuts fixed finger 2, i.e. mechanical hand body and is in and grabs conjunction state；When air bag 5 volume maximum,
Movable finger 3 is away from fixed finger 2, i.e. mechanical hand body is in open mode.
In one embodiment, movable finger 3 includes driving plate 31 and activity to refer to save 32, drives plate
31 refer to save 32 with activity fixing is connected, and drives plate 31 to abut with air bag 5, and activity refers to save 32 and consolidate
Determine finger 2 to be articulated and connected.Assuming that during air bag 5 volume minimum, mechanical hand body is in conjunction state of grabbing, then
When air bag 5 volume increases, driving plate 31 action therewith abutted with air bag 5, drive activity refers to save 32
Rotate around hinged place so that mechanical hand body is gradually opened.
In one embodiment, air bag 5 is made driving plate 31 to lose and driving during volume diminishes
With, the most now mechanical hand body has the possibility occurring to loosen, to this end, fixed finger 2 is provided with and drives plate
The 31 reply shell fragments 6 for driving movable finger 3 reset abutted, this reply shell fragment 6 makes to drive plate
31 moment kept Tong Bu with air bag 5 change in volume so that the action of mechanical hand body is able to maintain that at one
In the balance of change, keep certain crawl dynamics.
In one embodiment, finger fixer 1 and fixed finger 2, fixed finger 2 and movable finger
3 by being articulated and connected.Wherein, finger fixer 1 is loop configuration, and the front end of finger fixer 1 is provided with
For connecting the interior connection screw thread of fixed finger 2, the rear end of finger fixer 1 is provided with for fixing trachea 4
Limited step, trachea 4 is provided with the spacing preiection mated with this limited step.The end that fixing hands 2 refers to
It is provided with and this interior external screw thread being connected screw thread coupling, threaded can ensure that finger fixer 1 is with fixing
The connective stability of finger 2 is accurate with relative position, and then ensures the accurate of this body action of mechanical hand.
Trachea 4 is coordinated with the limited step of finger fixer 1 by spacing preiection and is maintained in finger fixer 1
The positional stability in portion, and then ensure that the position of air bag 5 keeps stable, to improving this body action of mechanical hand
Precision there is the biggest effect.
Air pressure is converted the mechanical movement in mechanical hand by using air bag to substitute cylinder by this utility model, by
Have only to drive robot movement by the change of own vol in air bag, greatly reduce machinery
The structure size of hands, greatly promoted the miniaturization of mechanical hand, it is to avoid cylinder mechanism too fat to move, makes
The overall structure obtaining mechanical hand is more fine, and volume is less.
The above is only preferred implementation of the present utility model, it is noted that for the art
Those of ordinary skill for, on the premise of without departing from this utility model principle, it is also possible to make some
Improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (8)
1. a micro pressure mechanical hand, it is characterised in that include mechanical hand body, gas passage and
Air bag, described gas passage includes extending into described mechanical hand in the outlet side of trachea and this trachea, and this is internal
Portion, described air bag is installed in the outlet side of described trachea, and described air bag introduces gas band by described trachea
The change of dynamic own vol drives described this body action of mechanical hand to realize function.
2. micro pressure mechanical hand as claimed in claim 1, it is characterised in that described mechanical hand body
Including finger fixer and be installed on the fixed finger on described finger fixer, activity is installed in
Movable finger in described fixed finger, described air bag abuts and drives described activity with described movable finger
Finger away from or realize the opening and closing movement of mechanical hand body near described fixed finger.
3. micro pressure mechanical hand as claimed in claim 2, it is characterised in that described movable finger bag
Including driving plate and activity refers to joint, described driving plate refers to described activity save fixing connection, and described activity refers to joint
Being articulated and connected with described fixed finger, described driving plate abuts with described air bag.
4. micro pressure mechanical hand as claimed in claim 3, it is characterised in that described fixed finger sets
There is the reply shell fragment for driving described movable finger reset abutted with described driving plate.
5. micro pressure mechanical hand as claimed in claim 2, it is characterised in that described finger fixer
It is connected through the hinge with movable finger with fixed finger, described fixed finger.
6. micro pressure mechanical hand as claimed in claim 2, it is characterised in that described finger fixer
For loop configuration, the front end of described finger fixer is provided with the interior connection spiral shell for connecting described fixed finger
Stricture of vagina, the rear end of described finger fixer is provided with the limited step for fixing described trachea, and described trachea sets
There is the spacing preiection mated with this limited step.
7. micro pressure mechanical hand as claimed in claim 6, it is characterised in that described fixed finger
One end is provided with and the described interior external screw thread being connected screw thread coupling.
8. micro pressure mechanical hand as claimed in claim 1, it is characterised in that described air bag uses poly-
Urethane material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620228750.9U CN205630605U (en) | 2016-03-23 | 2016-03-23 | Miniature atmospheric pressure machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620228750.9U CN205630605U (en) | 2016-03-23 | 2016-03-23 | Miniature atmospheric pressure machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630605U true CN205630605U (en) | 2016-10-12 |
Family
ID=57073745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620228750.9U Expired - Fee Related CN205630605U (en) | 2016-03-23 | 2016-03-23 | Miniature atmospheric pressure machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630605U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345211A (en) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | Biped anthropomorphic robot and its non-linear gait planning method and control method |
-
2016
- 2016-03-23 CN CN201620228750.9U patent/CN205630605U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345211A (en) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | Biped anthropomorphic robot and its non-linear gait planning method and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20200323 |