CN207656716U - A kind of novel catching robot - Google Patents
A kind of novel catching robot Download PDFInfo
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- CN207656716U CN207656716U CN201721492964.8U CN201721492964U CN207656716U CN 207656716 U CN207656716 U CN 207656716U CN 201721492964 U CN201721492964 U CN 201721492964U CN 207656716 U CN207656716 U CN 207656716U
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- knuckle
- driving motor
- drawstring
- finger
- pedestal
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Abstract
The utility model embodiment is suitable for manipulator technical field, provides a kind of novel catching robot.The manipulator includes at least two fingers, first driving motor, first drawstring and pedestal, finger and the first driving motor are installed on pedestal, finger includes first knuckle, second knuckle and third knuckle, one end of first knuckle is rotatably connected on pedestal, the first torsional spring is connected between first knuckle and pedestal, one end of second knuckle is rotatably connected on the other end of first knuckle, the second torsional spring is connected between second knuckle and first knuckle, one end of third knuckle is rotatably connected on the other end of second knuckle, the other end is free end, third torsional spring is connected between third knuckle and second knuckle, first drawstring is around the output end for being located at the first driving motor, and one end is fixedly connected with third knuckle.The utility model has the advantages that capture working space greatly and crawl is convenient.
Description
Technical field
The utility model belongs to manipulator technical field more particularly to a kind of novel catching robot.
Background technology
Currently, catching robot refers to diarticular mechanical structure in order to ensure stability, using two, but machine is limited simultaneously
The working range of tool hand.After two refer to design of the two joint mechanical structure based on stability and reliability, manipulator singly refers to length
It is subject to limitation, when manipulator needs the bigger object of crawl size, this manipulator will be not suitable for current work
Make environment.And three refer to manipulator currently on the market mainly using three finger two joint mechanical structures, even if solving two finger two joints
The limitation of object is captured, but still there are problems that capturing space has limitation.
Utility model content
The utility model embodiment technical problem to be solved is to provide a kind of novel catching robot, it is intended to solve
Manipulator in the prior art there are problems that capturing limited space.
The utility model embodiment, which is achieved in that, provides a kind of novel catching robot comprising at least two hands
Refer to, the first driving motor and pedestal, the finger and the first driving motor are respectively mounted on the base；It is characterized in that,
The manipulator further includes the first drawstring, and the finger includes first knuckle, second knuckle and third knuckle, and described first refers to
One end of section is rotatably connected on the pedestal, is connected with the first torsional spring between the first knuckle and pedestal, and described
One end of two finger joints is rotatably connected on the other end of the first knuckle, is connected between the second knuckle and first knuckle
It is connected to the second torsional spring, one end of the third knuckle is rotatably connected on the other end of the second knuckle, and the other end is
Free end, is connected with third torsional spring between the third knuckle and the second knuckle, first drawstring is around being located at described
The output end of one driving motor, and one end is fixedly connected with the third knuckle.
Further, between the first knuckle and pedestal, between second knuckle and first knuckle and third knuckle with
It is connected by shaft between second knuckle, first torsional spring, the second torsional spring and third torsional spring are set in the shaft
On.
Further, the first wheel disc is connected on the output shaft of first driving motor, first drawstring is set around
On first wheel disc.
Further, the pedestal includes the upper layer chassis being connected with each other and lower layer chassis, the first driving motor peace
On the lower layer chassis, for the finger mounted on the upper layer chassis, first drawstring sequentially passes through the upper layer
After chassis, first knuckle and second knuckle, and it is fixedly connected with the third knuckle.
Further, the finger and the first driving motor all have three, and three first driving motors are right respectively
Three fingers, three fingers should be driven to be distributed in spaced reciprocally on the upper layer chassis, three first driving electricity
Machine, which corresponds to below three fingers, to be distributed on the lower layer chassis.
Further, the manipulator further includes the second driving motor, parting-line piece and the second drawstring, second driving
Motor is mounted on the lower layer chassis, and the parting-line piece is mounted on the lower end on the lower layer chassis, the second drawstring winding
In on the output end of second driving motor, and one end passes through the parting-line piece to carry out after separated time is pierced by, being then passed through institute
Upper layer chassis is stated to be fixedly connected with the third knuckle in the finger respectively.
Further, the second wheel disc is connected on the output shaft of second driving motor, second drawstring is set around
On second wheel disc.
Compared with prior art, advantageous effect is the utility model embodiment：Finger in the utility model includes the
One finger joint, second knuckle and third knuckle, between first knuckle and pedestal, between second knuckle and first knuckle and third
Be between finger joint and second knuckle be rotatably connected, and under the torque force effect of the first, second and third torsional spring mutually
Tensioning, by the first drawstring on the output end for being located at the first driving motor, and one end is fixedly connected with first knuckle, to
The output end of the first driving motor can be utilized to wind the first drawstring, so that the first drawstring is pulled first knuckle rotation, and then drive
Second knuckle and third knuckle rotation carry out crawl operation, have the advantages that crawl working space is big.
Description of the drawings
Fig. 1 is the novel catching robot structural schematic diagram that the utility model embodiment provides；
Fig. 2 is another angle schematic diagram of Fig. 1；
Fig. 3 is the main structure diagram of Fig. 1.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Figure 1 to Figure 3, it is a kind of novel catching robot of the utility model embodiment offer.The machinery handbag
Include at least two fingers 1, the first driving motor 2 corresponding with 1 quantity of finger, the first drawstring 3 and pedestal 4, finger 1 and
One driving motor 2 is installed on pedestal 4.Finger 1 include first knuckle 11, second knuckle 12 and third knuckle 13, first
The lower end of finger joint 11 is rotatably connected at by shaft 5 on pedestal 4, specifically, has connecting seat 40 on pedestal 4, first refers to
Section 11 is rotatablely connected by shaft 5 and connecting seat 40, and the first torsional spring is connected between first knuckle 11 and pedestal 4 (in figure
It is not shown), which is set in shaft 5 so that by the torque masterpiece of the first torsional spring between first knuckle 11 and pedestal 4
With mutual tensioning.The lower end of second knuckle 12 is rotatably connected at the upper end of first knuckle 11 by shaft 5, and second refers to
It is connected with the second torsional spring (not shown) between section 12 and first knuckle 11, which is set in shaft 5 so that the
Torque force effect between two finger joints 12 and first knuckle 11 by the second torsional spring is mutually tensioned.The lower end of third knuckle 13 is by turning
Axis 5 is rotatably connected at the upper end of second knuckle 12, and 13 upper end of third knuckle is free end, and third knuckle 13 and second
Third torsional spring (not shown) is connected between finger joint 12, which is set in shaft 5 so that third knuckle 13 with
Torque force effect between second knuckle 12 by third torsional spring is mutually tensioned.First drawstring 3 is around being located at the defeated of the first driving motor 1
Outlet, so as to wind the first drawstring 3, one end and the third knuckle 13 of the first drawstring 3 using the rotation of the first driving motor 1
It is fixedly connected, pulls third knuckle 13 to rotate so as to be shunk by the first drawstring 3, and then drive second knuckle 12 and first
Finger joint 11 rotates.
In above-described embodiment, the first wheel disc 20 is connected on the output shaft of the first driving motor 2, the first drawstring is set to around 3
On first wheel disc 20, the output shaft of the first driving motor 2 drives the rotation of the first turntable 20, to the first drawstring 3 of winding.Pedestal 4
Upper layer chassis 41 including interconnection and lower layer chassis 42, the first driving motor 2 are mounted on lower layer chassis 42, and finger 1 is pacified
On upper layer chassis 41, after the first drawstring 3 sequentially passes through upper layer chassis 41, first knuckle 11 and second knuckle 12, and with
Three finger joints 13 are fixedly connected.In the present embodiment, finger 1 and the first driving motor 2 all have three, three the first driving motors
2 correspond to three fingers 1 of driving respectively, and three fingers 1 are distributed in spaced reciprocally on upper layer chassis 41, to form jaw structure,
The lower section that three the first driving motors 2 correspond to three fingers 1 is distributed on lower layer chassis 42.In other embodiments, hand
The number of finger 1 and the first driving motor 2 can be depending on actual requirement.
Above-mentioned novel catching robot further includes the second driving motor 6, parting-line piece 7 and the second drawstring 8, the second driving
Motor 6 is mounted on lower layer chassis 42, and parting-line piece 7 is mounted on the lower end on lower layer chassis 42, and the second drawstring 8 is set around the second driving
On the output end of motor 6, specifically, the second wheel disc 60,8 winding of the second drawstring are connected on the output shaft of the second driving motor 6
In on the second wheel disc 60.After one end of second drawstring 8 passes through the progress separated time of parting-line piece 7 to be pierced by, it is then passed through the difference of upper layer chassis 41
It is fixedly connected with the first knuckle 13 in finger 1, by driving output shaft rotation the second drawstring 8 of winding of the second driving motor 6,
So that the second drawstring 8 is shunk and pulls first knuckle rotation.
In conclusion the finger in the manipulator of the utility model has three degree of freedom, crawl work is being carried out to object
When industry, it is driven forward by the first driving motor 2 to drive the first drawstring 3 to shrink, the first drawstring 3 pulls the third of finger first
Finger joint 13 rotates, and after third knuckle 13 turns to certain position, second knuckle 12 starts to rotate, and third knuckle 13 and second refers to
Section 12 is driven by the first driving motor 2, constitutes the kind of drive of drive lacking, and that reduces system holds high long property.In addition, passing through second
Driving motor 6 is driven forward that the second drawstring 8 is driven to shrink, and the second drawstring 8 pulls 11 turns of the first knuckle of each finger simultaneously
It is dynamic, and then finger 1 is made to shrink crawl object, when needing to unclamp object, the first driving motor 2 and the second driving motor 6 invert,
First drawstring 3 and the second drawstring 8 extend, and finger 1 is opened due to the torque force effect of torsional spring, have crawl working space model
Enclose advantage big and that crawl is convenient.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (7)
1. a kind of novel catching robot, including at least two fingers, the first driving motor and pedestal, the finger and first
Driving motor is respectively mounted on the base；It is characterized in that, the manipulator further includes the first drawstring, the finger includes the
One end of one finger joint, second knuckle and third knuckle, the first knuckle is rotatably connected on the pedestal, and described
The first torsional spring is connected between one finger joint and pedestal, one end of the second knuckle is rotatably connected at the first knuckle
On the other end, the second torsional spring is connected between the second knuckle and first knuckle, one end of the third knuckle is rotationally
It is connected on the other end of the second knuckle, the other end is free end, is connected between the third knuckle and the second knuckle
It is connected to third torsional spring, first drawstring is around the output end for being located at first driving motor, and one end and the third
Finger joint is fixedly connected.
2. novel catching robot as described in claim 1, which is characterized in that between the first knuckle and pedestal, second
It is connected by shaft between finger joint and first knuckle and between third knuckle and second knuckle, first torsional spring, second
Torsional spring and third torsional spring are set in the shaft.
3. novel catching robot as described in claim 1, which is characterized in that connect on the output shaft of first driving motor
It is connected to the first wheel disc, first drawstring is set around on first wheel disc.
4. novel catching robot as described in claim 1, which is characterized in that the pedestal includes the upper layer bottom being connected with each other
Disk and lower layer chassis, first driving motor are mounted on the lower layer chassis, and the finger mounted is on the upper layer chassis
On, after first drawstring sequentially passes through the upper layer chassis, first knuckle and second knuckle, and fixed with the third knuckle
Connection.
5. novel catching robot as claimed in claim 4, which is characterized in that the finger and the first driving motor all have
Three, three fingers of corresponding driving, three fingers are distributed three first driving motors spaced reciprocally respectively
On the upper layer chassis, three the first driving motors, which correspond to below three fingers, is distributed in the lower layer chassis
On.
6. novel catching robot as claimed in claim 4, which is characterized in that the manipulator further includes the second driving electricity
Machine, parting-line piece and the second drawstring, second driving motor are mounted on the lower layer chassis, and the parting-line piece is mounted on institute
The lower end on lower layer chassis is stated, second drawstring is set around on the output end of second driving motor, and one end passes through
After the parting-line piece progress separated time is pierced by, it is then passed through the upper layer chassis and fixes company with the first knuckle in the finger respectively
It connects.
7. novel catching robot as claimed in claim 6, which is characterized in that connect on the output shaft of second driving motor
It is connected to the second wheel disc, second drawstring is set around on second wheel disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721492964.8U CN207656716U (en) | 2017-11-10 | 2017-11-10 | A kind of novel catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721492964.8U CN207656716U (en) | 2017-11-10 | 2017-11-10 | A kind of novel catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207656716U true CN207656716U (en) | 2018-07-27 |
Family
ID=62939079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721492964.8U Active CN207656716U (en) | 2017-11-10 | 2017-11-10 | A kind of novel catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207656716U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN110065085A (en) * | 2019-04-26 | 2019-07-30 | 西安工程大学 | A kind of Yarn grasping device, grasping system and grasping means |
-
2017
- 2017-11-10 CN CN201721492964.8U patent/CN207656716U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN110065085A (en) * | 2019-04-26 | 2019-07-30 | 西安工程大学 | A kind of Yarn grasping device, grasping system and grasping means |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huang Qibiao Inventor after: Zeng Xiangrong Inventor after: Chen Yongquan Inventor before: Huang Qibiao Inventor before: Zeng Xiangrong Inventor before: Chen Yongquan |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200217 Address after: 518060 floor 15, Xinghe worldg2-14, No.1 Yabao Road, Bantian street, Longgang District, Shenzhen City, Guangdong Province Co-patentee after: THE CHINESE UNIVERSITY OF HONGKONG, SHENZHEN Patentee after: Shenzhen Institute of artificial intelligence and Robotics Address before: 518060 Longxiang Avenue, Longgang District, Shenzhen, Guangdong 2001 Patentee before: THE CHINESE UNIVERSITY OF HONGKONG, SHENZHEN |
|
| TR01 | Transfer of patent right |