CN201227814Y - Three-freedom mechanical hand - Google Patents
Three-freedom mechanical hand Download PDFInfo
- Publication number
- CN201227814Y CN201227814Y CNU2008201214027U CN200820121402U CN201227814Y CN 201227814 Y CN201227814 Y CN 201227814Y CN U2008201214027 U CNU2008201214027 U CN U2008201214027U CN 200820121402 U CN200820121402 U CN 200820121402U CN 201227814 Y CN201227814 Y CN 201227814Y
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- cylinder
- rod
- rotating mechanism
- paw
- guide rod
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- Expired - Fee Related
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Abstract
The utility model relates to a machine hand with three degrees of freedom, which is characterized in that the machine hand with three degrees of freedom comprises a paw, a clamping cylinder, a rotating arm, a cylinder guide rod, a cylinder push rod, an expansion cylinder, a cylinder connector, a rotating mechanism and a rotating cylinder, wherein the paw is connected on the clamping cylinder; the clamping cylinder is connected with the lower part of the rotating arm; the rotating arm is connected with the cylinder guide rod and the cylinder push rod; the cylinder guide rod is integrally fixed at the inner part of the expansion cylinder; the cylinder push rod is integrally fixed at the inner part of the expansion cylinder; the expansion cylinder is mounted at the upper part of the cylinder connector; the cylinder connector is fixed on the rotating mechanism, so as to connect the rotating mechanisms of the expansion cylinder and the rotating cylinder; the rotating mechanism is integrally fixed on the rotating cylinder; and the rotating cylinder is mounted on a base plate. The machine hand has the advantages of simple and reasonable structure, few fault points, simple and convenient maintenance and the like.
Description
Technical field
The utility model belongs to the instruments used for education field, relates to a kind of three freedom degree manipulator.
Background technology
Electrical Control Technology is the development trend of the industrial control technology that generally believes in the present industrial automation industry.The three freedom degree manipulator real training unit of the electric controling mode in the current instruments used for education field mainly exist complex structure, trouble point many, overhaul shortcoming such as difficulty.The duty that can not well represent the physical device of true industry spot like this for the student.
Summary of the invention
In order to overcome above-mentioned defective, the purpose of this utility model is to provide a kind of three freedom degree manipulator.
For achieving the above object, the technical solution adopted in the utility model is to provide a kind of three freedom degree manipulator, and described three freedom degree manipulator comprises paw, gripper cylinder, full wind-up, cylinder guide rod, cylinder push-rod, telescopic cylinder, cylinder connector, rotating mechanism, rotary cylinder etc.
Described paw is connected on the gripper cylinder, is used for the gripping object piece.
Described gripper cylinder is connected in full wind-up below, is used to control paw closed of gripping object piece and launches.
Described full wind-up is connected on cylinder guide rod and the cylinder push-rod, is used to connect gripper cylinder and telescopic cylinder.
The integrated telescopic cylinder inside of being fixed in of described cylinder guide rod is used to the flexible stroke linear track that provides of cylinder push-rod to guarantee.
The integrated telescopic cylinder inside of being fixed in of described cylinder push-rod under the promotion of pressure medium, finishes that full wind-up is promoted and pulling operation.
Described telescopic cylinder is installed on cylinder connector top, is used for stretching out and withdrawing of control cylinder guide rod and cylinder push-rod.
Described cylinder connector is fixed on the rotating mechanism, owing to connect the rotating mechanism on telescopic cylinder and the rotary cylinder.
Described rotating mechanism is integrated to be fixed on the rotary cylinder, under the promotion of pressure medium, finishes driving the cylinder connector, and rotatablely moves until drive telescopic cylinder, gripper cylinder, paw certain radian.
Described rotary cylinder is installed on the base plate, is used to control the arching trajectory operation of rotating mechanism.
The utility model has the advantages that simple and reasonable, the trouble point is few, maintenance is simple and convenient etc.
Description of drawings
Fig. 1 is the front view of the utility model three freedom degree manipulator one embodiment
Fig. 2 is the side view of the utility model three freedom degree manipulator one embodiment
Fig. 3 is the vertical view of the utility model three freedom degree manipulator one embodiment
The specific embodiment
Below in conjunction with accompanying drawing, this technical characterictic and advantage with other on novel is described in more detail.
For the utility model, according to the difference of the type of its application scenario gripping conveying workpieces, it can be drilled accordingly and bear some variations and combination.
See also Fig. 1, Fig. 2, shown in Figure 3, its described three freedom degree manipulator device comprises following a few part:
Three freedom degree manipulator comprises paw 1, gripper cylinder 2, full wind-up 3, cylinder guide rod 4, cylinder push-rod 5, telescopic cylinder 6, cylinder connector 7, rotating mechanism 8, rotary cylinder 9.
Full wind-up 3 is connected on cylinder guide rod 4 and the cylinder push-rod 5, is used to connect gripper cylinder and telescopic cylinder;
Cylinder guide rod 4 integrated telescopic cylinder 6 inside of being fixed in are used to the flexible stroke linear track that provides of cylinder push-rod 5 to guarantee;
Cylinder push-rod 5 integrated telescopic cylinder 6 inside of being fixed under the promotion of pressure medium, finish that full wind-up 3 is promoted and pulling operation.
Rotating mechanism 8 integrated being fixed on the rotary cylinder 9 under the promotion of pressure medium, are finished driving cylinder connector 7, and are rotatablely moved until drive telescopic cylinder 6, gripper cylinder 2, paw 1 certain radian;
Below set forth a kind of three freedom degree manipulator whole service of the utility model process.When a last unit has material to arrive, telescopic cylinder 6 withdrawals, cylinder push-rod 5 descends, gripper cylinder 2 actions, paw 1 clamps material, then, telescopic cylinder 6 stretches out, and cylinder push-rod 5 rises, and rotary cylinder 9 rotates, driven rotary arm 3 rotates certain radian, then, and telescopic cylinder 6 withdrawals, cylinder push-rod 5 descends, gripper cylinder 2 actions, and paw 1 loosens, put down material, then, telescopic cylinder 6 stretches out, cylinder push-rod 5 rises, rotary cylinder 9 is to back rotation, and driven rotary arm 3 rotates certain radian, then, telescopic cylinder 6 withdrawals, cylinder push-rod 5 descends, and gets back to original position, waits for next do action execution.
More than explanation is just illustrative for the utility model; and it is nonrestrictive; those of ordinary skills understand; under the situation of the spirit and scope that do not break away from following claims and limited; can make many modifications variations or equivalence, but all will fall in the protection domain of the present utility model.
Claims (1)
1, a kind of three freedom degree manipulator is characterized in that: three freedom degree manipulator comprises paw, gripper cylinder, full wind-up, cylinder guide rod, cylinder push-rod, telescopic cylinder, cylinder connector, rotating mechanism, rotary cylinder;
Described paw is connected on the gripper cylinder, is used for the gripping object piece;
Described gripper cylinder is connected in full wind-up below, is used to control paw closed of gripping object piece and launches;
Described full wind-up is connected on cylinder guide rod and the cylinder push-rod, is used to connect gripper cylinder and telescopic cylinder;
The integrated telescopic cylinder inside of being fixed in of described cylinder guide rod is used to the flexible stroke linear track that provides of cylinder push-rod to guarantee;
The integrated telescopic cylinder inside of being fixed in of described cylinder push-rod under the promotion of pressure medium, finishes that full wind-up is promoted and pulling operation.
Described telescopic cylinder is installed on cylinder connector top, is used for stretching out and withdrawing of control cylinder guide rod and cylinder push-rod;
Described cylinder connector is fixed on the rotating mechanism, owing to connect the rotating mechanism on telescopic cylinder and the rotary cylinder;
Described rotating mechanism is integrated to be fixed on the rotary cylinder, under the promotion of pressure medium, finishes driving the cylinder connector, and rotatablely moves until drive telescopic cylinder, gripper cylinder, paw certain radian;
Described rotary cylinder is installed on the base plate, is used to control the arching trajectory operation of rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201214027U CN201227814Y (en) | 2008-07-17 | 2008-07-17 | Three-freedom mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201214027U CN201227814Y (en) | 2008-07-17 | 2008-07-17 | Three-freedom mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201227814Y true CN201227814Y (en) | 2009-04-29 |
Family
ID=40632775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201214027U Expired - Fee Related CN201227814Y (en) | 2008-07-17 | 2008-07-17 | Three-freedom mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201227814Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397841A (en) * | 2015-12-08 | 2016-03-16 | 四川大学 | Mechanical arm with three degrees of freedom |
| CN105565183A (en) * | 2014-10-31 | 2016-05-11 | 利勃海尔工厂埃英根有限公司 | Mobile crane with ballast receiving device |
-
2008
- 2008-07-17 CN CNU2008201214027U patent/CN201227814Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105565183A (en) * | 2014-10-31 | 2016-05-11 | 利勃海尔工厂埃英根有限公司 | Mobile crane with ballast receiving device |
| CN105397841A (en) * | 2015-12-08 | 2016-03-16 | 四川大学 | Mechanical arm with three degrees of freedom |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090429 Termination date: 20110717 |