CN108214477A - A kind of paw mechanism of Steel rope drive - Google Patents
A kind of paw mechanism of Steel rope drive Download PDFInfo
- Publication number
- CN108214477A CN108214477A CN201810009775.3A CN201810009775A CN108214477A CN 108214477 A CN108214477 A CN 108214477A CN 201810009775 A CN201810009775 A CN 201810009775A CN 108214477 A CN108214477 A CN 108214477A
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- China
- Prior art keywords
- level
- jamming claw
- wrist
- pedestal
- spool
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Classifications
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- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of paw mechanisms of Steel rope drive, the paw mechanism includes gripper unit and driving unit, and gripper unit includes left jamming claw, right jamming claw, left jamming claw pedestal, right jamming claw pedestal, rotary shaft, wrist, wrist fifth wheel, U-shaped frame, directive wheel, steel wire rope and spool.Left jamming claw is connected by bolt with left jamming claw pedestal, right jamming claw is connected by bolt with right jamming claw pedestal, left jamming claw pedestal, right jamming claw pedestal are connected by claw rotary shaft with wrist, wrist is equipped with directive wheel, the guiding of steel wire rope can be controlled, wrist is connected by wrist rotary shaft with U-shaped frame, and driving unit includes direct current generator, reel, electric machine support and bottom plate, and direct current generator respectively drives wrist by steel wire rope and claw realizes wrist pitching, claw is swung and hand claw open and close movement.The present invention solves the problems, such as that hand claw detaches over long distances with motor and can realize driving, suitable for the occasion for requiring hand claw light weight small.
Description
Technical field
The present invention relates to a kind of paw mechanisms, specifically, are related to the paw mechanism of Steel rope drive.
Background technology
With the continuous development of science and technology, more and more places replace traditional manual operation using automatic technology, with
People is helped preferably to complete certain work.In service robot field, robot or manipulator by end effector into
Row operation, hand claw is also one of end effector used.For the service robot that some small-sized high loads are flexible over long distances,
Motor is filled in hand claw can increase the weight of hand claw leads to mechanical arm bearing fall or hand claw and mechanical arm size is smaller loses motor
Remove installation space.The hand claw of the present invention has the advantages that occupy little space, Multifunctional grip, realizes hand claw and driving motor
Separation helps to improve the bearing capacity of mechanical arm.
Invention content
The purpose of the present invention is to provide a kind of paw mechanism of Steel rope drive, to solve the above problems.
The embodiment provides a kind of Steel rope drive paw mechanisms, which is characterized in that and the paw mechanism includes,
Gripper unit and driving unit, gripper unit include left jamming claw, right jamming claw, left jamming claw pedestal, right jamming claw pedestal, wrist, wrist
Fifth wheel, U-shaped frame, the left front directive wheel of level-one, the left front directive wheel of two level, the right front jockey wheel of level-one, the right front jockey wheel of two level, level-one
Directive wheel behind directive wheel, the two level right side behind the left back directive wheel of left back directive wheel, two level, the level-one right side, right steel wire rope, is bowed at left steel wire rope
Steel wire rope is faced upward, driving unit includes left direct current generator, right direct current generator, pitching direct current generator, left reel, right reel, bows
Face upward directive wheel, left electric machine support, right electric machine support, pitching motor stent and bottom plate.Three steel wire ropes are bypassed on the paw mechanism,
Respectively left steel wire rope, right steel wire rope and pitching wire rope, one end of left steel wire rope are wound on the left reel of left driving unit,
The other end is wound on the groove of left jamming claw pedestal, left reel is driven to rotate by left direct current generator, is realized left steel wire rope along one
The left spool of grade, the left spool of two level it is flexible, and then rotation of the left jamming claw pedestal along claw rotary shaft is realized, so as to fulfill left jamming claw
The swing of pedestal；One end of right steel wire rope is wound on the right reel of right driving unit, and the other end is wound on the ditch of right jamming claw pedestal
On slot, right reel is driven to rotate by right direct current generator, realize that right steel wire rope is stretched along the right spool of level-one, the right spool of two level
Contracting, and then realize rotation of the right jamming claw pedestal along claw rotary shaft, so as to fulfill the swing of right jamming claw pedestal；Pass through left jamming claw base
Seat opposite deflection with right jamming claw pedestal, realizes the folding and swing of gripper unit；One end of pitching wire rope is wound on pitching drive
On the pitching reel of moving cell, the other end is wound on the groove of wrist fifth wheel, by pitching direct current generator drive pitching around
Line wheel rotates, realize pitching wire rope along level-one pitching spool, two level pitching spool it is flexible, and then realize that wrist is revolved along wrist
The rotation of shaft, so as to fulfill the pitching of wrist.
Further, left jamming claw is connected by screw with left jamming claw pedestal, and right jamming claw is connected by screw with right jamming claw pedestal；
Left jamming claw pedestal, right jamming claw pedestal and wrist rotate axis connection by claw, and it is left that the left front directive wheel of level-one, two level are housed on wrist
The right front jockey wheel of front jockey wheel, level-one and the right front jockey wheel of two level, left steel wire rope are oriented to by the left front directive wheel of level-one around a left side
The groove of claw pedestal, right steel wire rope are oriented to the groove around right jamming claw pedestal by the right front jockey wheel of level-one；Wrist fifth wheel
It is assemblied in the rear end U-type groove of wrist；Wrist is connected, while with U-shaped frame in wrist with wrist fifth wheel by wrist rotary shaft
Directive wheel, the two after directive wheel and the two level right side are assembled behind the left back directive wheel of level-one, the left back directive wheel of two level, the level-one right side in rotary shaft
It is symmetrically distributed between wrist and U-shaped frame, U-shaped frame tail portion is driveed there are six hole.
Further, left direct current generator is mounted on left electric machine support, and right direct current generator is mounted on right electric machine support, pitching
Motor is mounted on pitching motor stent, and left electric machine support, right electric machine support and pitching motor stent are mounted side by side on bottom plate,
Left reel is mounted on by jackscrew on left direct current arbor, and right reel is mounted on right direct current generator reel by jackscrew
On, pitching reel is mounted on by jackscrew on pitching direct current generator reel.
Further, left jamming claw pedestal, right jamming claw pedestal and wrist rotate axis connection, wrist and claw rotary shaft by claw
By the way of interference connection, left jamming claw pedestal, right jamming claw pedestal are with claw rotary shaft in a manner that transition is connect.
Further, left jamming claw has identical length and width with right jamming claw, and left jamming claw and the unilateral of right jamming claw are all set
One section of sawtooth and an arc-shaped slot, to realize the crawl of different articles.
Further, left jamming claw pedestal is provided with the circle of a fixed length with right jamming claw pedestal in the position of close rotation axis
Arc slot is provided with a columned boss on the side of arc groove, and left jamming claw pedestal and right jamming claw pedestal are installed in claw
In rotary shaft, the boss of left jamming claw pedestal is inserted into the arc groove of right jamming claw pedestal, and boss is moved along arc groove, limits left jamming claw
The slewing area of pedestal and right jamming claw pedestal.
Further, left jamming claw pedestal is circumferentially provided with the groove of a circular ring shape, and left steel wire rope drives around the groove
Left jamming claw and left jamming claw pedestal are rotated around claw rotary shaft；Right jamming claw pedestal has identical feature with left jamming claw pedestal.
Further, left jamming claw base slot diametric tangential direction should by wrist install the left front directive wheel of level-one, two level
Left front directive wheel race, right jamming claw pedestal have identical structure with left jamming claw pedestal.
Further, wrist rotates axis connection with U-shaped frame by wrist, and U-shaped frame is connect with wrist rotary shaft using interference
Mode, wrist is with wrist rotary shaft in a manner that transition is connect.
Further, U-shaped frame tail portion be provided with six cylindrical holes, the left spool of level-one, the left spool of two level, the right spool of level-one,
The right spool of two level, level-one pitching spool, two level pitching spool are inserted into respectively in each hole, and are fixed on by the way of interference connection
In each hole.
Further, gripper unit and driving unit are right using the left spool of level-one, the left spool of two level, the right spool of level-one, two level
Spool, level-one pitching spool, the connection of two level pitching spool, one end of the left spool of level-one are fixed in the cylindrical hole of U-shaped frame tail portion,
The other end is fixed on left electric machine support；The left spool of two level, the right spool of level-one, the right spool of two level, level-one pitching spool, two level are bowed
Face upward spool has identical structure with the left spool of level-one.
Further, the left reel of left driving unit is provided with a hole on groove, what left steel wire rope was formed when installing
Jointing is placed in the hole；Right reel, pitching reel have identical feature with left reel.
Further, the width of left jamming claw pedestal and right jamming claw pedestal along rotor shaft direction groove can accommodate steel wire rope on it around
5 circles, the width of wrist fifth wheel groove can accommodate steel wire rope on it around 4 circles.
Compared with prior art the beneficial effects of the invention are as follows：The hand claw realizes point of gripper unit and driving unit
From having the advantages that occupy little space, light weight.Meanwhile crawl of the claw realization to different articles can be replaced；Hand claw has
2DOF can realize the crawl in any angle and direction, suitable for the occasion that operating space is small, load is larger.
Description of the drawings
Fig. 1 is a kind of axis surveys view of the paw mechanism of Steel rope drive of the present invention；
Fig. 2 is the explosive view of gripper unit；
Fig. 3 is sectional view of the paw mechanism in A-A planes of Steel rope drive；
Fig. 4 is sectional view of the paw mechanism in B-B planes of Steel rope drive；
Fig. 5 is the vertical view and partial enlarged view of gripper unit；
Fig. 6 is steel wire rope coiling enlarged drawing on the right side of gripper unit；
Fig. 7 is steel wire rope coiling enlarged drawing on the left of gripper unit；
Fig. 8 is the axis side view of left jamming claw driving unit；
Fig. 9 is right jamming claw and the axis side view of right jamming claw pedestal assembling；
Figure 10 is U-shaped frame axis side view.
Specific embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiment work done energy, method,
Or equivalent transformation or replacement in structure, all belong to the scope of protection of the present invention within.
Join shown in Fig. 1 to Figure 10, Fig. 1 is the axis surveys view of the paw mechanism, and Fig. 2 is the explosive view of gripper unit, Fig. 3
It is sectional view of the paw mechanism in A-A planes, Fig. 4 is sectional view of the paw mechanism in B-B planes, and Fig. 5 is gripper unit
Vertical view and partial enlarged view, Fig. 6 is steel wire rope coiling enlarged drawing on the right side of gripper unit, and Fig. 7 is steel wire on the left of gripper unit
Rope coiling enlarged drawing, Fig. 8 are the axis side views of left jamming claw driving unit, and Fig. 9 is right jamming claw and the axis side of right jamming claw pedestal assembling
View, Figure 10 are U-shaped frame axis side views.
A kind of paw mechanism of Steel rope drive is present embodiments provided, is joined shown in Fig. 1~Figure 10, which includes
Gripper unit and driving unit, gripper unit include left jamming claw 1, right jamming claw 2, left jamming claw pedestal 17, right jamming claw pedestal 18, wrist
3rd, before the left front directive wheel 10 of claw rotary shaft 4, wrist fifth wheel 5, U-shaped frame 19, level-one, the left front directive wheel 11 of two level, the level-one right side
Directive wheel 13 behind the right front jockey wheel 12 of directive wheel 9, two level, the left back directive wheel 14 of level-one, the left back directive wheel 15 of two level, the level-one right side,
The left spool 24 of directive wheel 16, left steel wire rope 22, right steel wire rope 21, pitching wire rope 20, level-one, the left spool of two level behind the two level right side
23rd, the right spool 25 of level-one, the right spool 26 of two level, level-one pitching spool 27, two level pitching spool 28, driving unit include left direct current
Motor 38, right direct current generator 39, pitching direct current generator 40, left reel 35, right reel 36, pitching reel 37, left motor
Stent 32, right electric machine support 33, pitching motor stent 34, left electric machine support lid 29, right electric machine support lid 30, pitching motor stent
Lid 31 and bottom plate 41.Gripper unit is placed on the end of mechanical arm, and driving unit is placed in rack, and driving unit passes through steel wire
Rope driving gripper unit realizes the pitching of hand claw wrist, the swing and folding of claw.
Left jamming claw 1 is connected by screw with left jamming claw pedestal 17, and left jamming claw pedestal 17 is provided with locating slot, can be according to object
The different dismounting left jamming claws 1 of product.Jagged tooth and arc groove are provided on the left jamming claw 1, circular arc groove face is used for accommodating circle
The surface of arcuation, serrated face are used for accommodating flexible article.The right jamming claw 2 has identical feature with left jamming claw 1.The left card
Pawl pedestal 17 and right jamming claw pedestal 18 are respectively provided with the arc groove there are one fixed length close to the position of rotation axis, on the side of arc groove
Side is provided with a columned boss, and left jamming claw pedestal 17 and right jamming claw pedestal 18 are installed in claw rotary shaft 4, Zuo Ka
The boss of pawl pedestal 17 is inserted into the arc groove of right jamming claw pedestal 18, and boss is moved along arc groove, 17 He of limitation left jamming claw pedestal
The slewing area of right jamming claw pedestal 18.The left jamming claw pedestal 17 is provided with annular groove around rotation axis, left steel wire rope 22 around
Annular groove is crossed left jamming claw pedestal 17 to be driven to rotate.The right jamming claw pedestal 18 is provided with circular ring shape ditch around rotation axis
Slot, steel wire rope 21 bypass annular groove right jamming claw pedestal 18 to be driven to rotate.The wrist 3 is provided with two U-type grooves, opens
The larger U-type groove of mouth is connected by claw rotary shaft 4 with left jamming claw pedestal 17 and right jamming claw pedestal 18, the claw rotary shaft 4
With the hole on wrist 3 using being interference fitted, claw rotary shaft 4 was used with the hole on left jamming claw pedestal 17, right jamming claw pedestal 18
Cross cooperation.Two symmetrical tapered planes are provided between two U-type grooves of the wrist 3, there are two circles respectively on two inclined-planes
Cylindrical end tangs, the tapped hole in cylindrical boss center.The right polished rod screw 7 passes through the right front jockey wheel 9 of level-one, level-one left front
Directive wheel 10 is connected on the cylindrical boss of wrist 3, right polished rod screw 7 and the left front directive wheel 10 of level-one, level-one it is right it is leading to
Wheel 9 is coordinated using transition.The left polished rod screw 8 passes through the left front directive wheel 11 of two level, the right front jockey wheel 12 of two level to be connected to wrist
On the cylindrical boss in portion 3, right polished rod screw 8 is coordinated with the left front directive wheel 11 of two level, the right front jockey wheel 12 of two level using transition.
The right front jockey wheel 9 of the level-one, the mid-plane of the right front jockey wheel 12 of two level and the rotational circle cylinder of the right jamming claw pedestal 18
Tangent, right steel wire rope 21 bypasses right jamming claw pedestal 18, and then the right front jockey wheel 9 of the level-one by being mounted on wrist 3, two level are right
Front jockey wheel 12.Mid-plane and the left jamming claw pedestal 17 of the left front directive wheel 10 of the level-one, the left front directive wheel 11 of two level
Rotational circle cylinder it is tangent, left steel wire rope 22 bypasses left jamming claw pedestal 17, and then the level-one by being mounted on wrist 3 is left front leads
To wheel 10, the left front directive wheel 11 of two level.5 interference of wrist fifth wheel is mounted in the tail portion U-type groove of wrist 3, pitching steel wire
20 cylindrical surface four on wrist fifth wheel 5 of rope is enclosed, to increase connecing for pitching wire rope 20 and the cylindrical surface on wrist fifth wheel 5
Contacting surface is accumulated, and then increases pitching wire rope 20 and cylindrical surface frictional force, so as to fulfill the pitching of wrist.The tail portion of wrist 3 is U-shaped
Directive wheel 14, two level are led behind the right side behind the left back directive wheel 13 of slot, wrist fifth wheel 5, level-one, the left back directive wheel 16 of two level, the level-one right side
It is linked together to wheel 15 with U-shaped frame 19 by wrist rotary shaft 6, directive wheel 13, two behind the left back directive wheel 14 of level-one, the level-one right side
Directive wheel 16 is mounted between the tail portion U-type groove of wrist 3 and the U-type groove of U-shaped frame 19 after the left back directive wheel 15 of grade and the two level right side, and one
Directive wheel 13 is located at the right side of the tail portion U-type groove of wrist 3, the left back directive wheel 15, two of two level behind the left back directive wheel 14 of grade, the level-one right side
Directive wheel 16 is located at the left side of the tail portion U-type groove of wrist 3 after grade is right.The U-shaped frame 19 is provided with U-type groove, is provided in U-type groove
Six holes, left steel wire rope, right steel wire rope, pitching wire rope are each passed through each hole and left driving unit, right driving list in U-type groove
Member, pitch drive unit are connected.Larger cylindrical hole, the left spool of level-one, the left spool of two level, level-one are provided with behind each hole
The right spool of right spool, two level, level-one pitching spool, two level pitching spool are inserted into respectively in each hole of U-shaped 19 tail portion of frame, and level-one
The left spool of left spool, two level, the right spool of level-one, the right spool of two level, level-one pitching spool, two level pitching spool outer ring are adopted with each hole
It is connected with interference.19 middle part of U-shaped frame is provided with shoulder block, and tail portion is provided with rectangular link block, and rectangular link block is inserted into flexible
The end of arm, is fixed by screws on telescopic arm；Shoulder block positions to hand claw on telescopic arm.
There are three small driving unit composition, respectively pitch drive unit, left driving unit and right drives for the driving unit
Moving cell, left driving unit includes left direct current generator 38, left reel 35, left electric machine support 32 and left electric machine support lid 29, right
Driving unit includes right direct current generator 39, right reel 36, right electric machine support 33 and right electric machine support lid 30, pitch drive unit
Including pitching direct current generator 40, pitching reel 37, pitching motor stent 34 and pitching motor bracket cover 31.The left driving is single
In member, left direct current generator 38 is fixed on by two screws on left electric machine support 32, and the motor shaft of left direct current generator 38 passes through a left side
Hole on electric machine support 32 is connected with left reel 35, and left electric machine support 32 is provided with semi-cylindrical groove, the left motor branch
Semi-cylindrical groove is also equipped on frame lid 29, after installation, semi-cylindrical and left electric machine support 32 on left electric machine support lid 29
On semi-cylindrical form a full circle cylinder, to fix one end of the left spool of level-one or the left spool of two level.Left electric machine support 32
Upper to be provided with two straight trough mouths, bolt passes through the straight trough mouth on left electric machine support 32 to be connected with bottom plate 41, makes left electric machine support 32
It is fixed on bottom plate 41.Threaded hole is provided on the boss of the left reel 35, threadingly hole is screwed into jackscrew, until top a to left side
On the motor axial plane of direct current generator 38, to realize that left reel 35 is fixed on the motor shaft of left direct current generator 38；Left coiling
A hole is provided on the groove of wheel 35, the connector around the left steel wire rope 22 of left reel 35 is placed in hole.The left drive
Moving cell, right driving unit, pitch drive unit are arranged on bottom plate 41 in staged, make the left steel wire rope on left reel 35
22 are not interfered by the right spool 25 of level-one, the right spool 26 of two level on right reel 36, to realize the normal transmission of left steel wire rope 22.
Right driving unit, pitch drive unit have identical structure with left driving unit.
The left steel wire rope 22 bypasses the left reel 35 of left driving unit, across the left spool 24 of level-one, again through U-shaped frame
The hole of 19 tail portions is oriented to via the left back directive wheel 14 of level-one, then is oriented to via the left front directive wheel 10 of level-one, then around left jamming claw
Pedestal 17, then be oriented to via the left front directive wheel 11 of two level, the left back directive wheel 15 of two level, across the hole of U-shaped 19 tail portion of frame, it is then passed through
The left spool 23 of two level, finally raps around on left reel 35.
The right steel wire rope cabling is similar to left steel wire rope.
The pitching wire rope 20 bypasses the pitching reel 37 of pitch drive unit, across level-one pitching spool 27, again
Across the hole of U-shaped 19 tail portion of frame, then around wrist fifth wheel 5, the hole of U-shaped 19 tail portion of frame is then passed through, is then passed through two level pitching
Spool 28 is finally rapped around on pitching reel 37.
Described left 24 one end of spool of level-one is fixed in a cylindrical hole of U-shaped 19 tail portion of frame, using interference connection
Mode, the other end is fixed on left electric machine support 32 and left electric machine support lid 29, using the fixed form of upper-lower compacting；Level-one is left
24 inside of spool is provided with small steel tank, and left steel wire rope 22 moves, and left steel wire rope 22 exists inside the left spool 24 of level-one along steel tank
Length in the left spool 24 of level-one is constant, and left steel wire rope 22 remains the state of tension, to realize left steel wire rope 22 in level-one
It is flexible in left spool 24.Other spools have similar structure to the left spool of level-one.
The present invention provides a kind of mechanism, has the advantages that：
1) hand claw realizes the separation of hand claw and electric-motor drive unit, has the advantages that occupy little space, light weight, can
To replace the crawl that claw realizes different articles.
2) hand claw have 2DOF, can realize the crawl in any angle and direction, suitable for operating space it is small, load
Larger occasion.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they are not to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requirement rather than above description limit, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.
Claims (8)
1. a kind of paw mechanism of Steel rope drive, which is characterized in that the paw mechanism includes gripper unit and driving unit, hand
Pawl unit includes left jamming claw, right jamming claw, left jamming claw pedestal, right jamming claw pedestal, wrist, U-shaped frame, and driving unit includes left direct current
Machine, right direct current generator, pitching direct current generator, left reel, right reel, pitching reel, left electric machine support, right motor branch
Frame, pitching motor stent；
Around three steel wire ropes on the paw mechanism, respectively left steel wire rope, right steel wire rope and pitching wire rope, left steel wire rope
One end is wound on the left reel of driving unit, and the other end is wound on the groove of left jamming claw pedestal, is driven by left direct current generator
The rotation of left reel, realize left steel wire rope along the left spool of level-one, the left spool of two level it is flexible, and then realize left jamming claw pedestal along card
The rotation of pawl rotary shaft, so as to fulfill the swing of left jamming claw pedestal；
One end of right steel wire rope is wound on the right reel of driving unit, and the other end is wound on the groove of right jamming claw pedestal, is passed through
Right direct current generator drives right reel rotation, realize right steel wire rope along the right spool of level-one, the right spool of two level it is flexible, and then realize
Rotation of the right jamming claw pedestal along claw rotary shaft, so as to fulfill the swing of right jamming claw pedestal；Pass through left jamming claw pedestal and right jamming claw
The opposite deflection of pedestal, realizes the folding and swing of gripper unit；
One end of pitching wire rope is wound on the pitching reel of driving unit, and the other end is wound on the groove of wrist fifth wheel,
Pitching reel is driven to rotate by pitching direct current generator, realize pitching wire rope along level-one pitching spool, two level pitching spool
It is flexible, and then rotation of the wrist along wrist rotary shaft is realized, so as to fulfill the pitching of wrist；
Left jamming claw is connected by screw with left jamming claw pedestal, and right jamming claw is connected by screw with right jamming claw pedestal；Left jamming claw pedestal,
Right jamming claw pedestal rotates axis connection with wrist by claw, and the left front directive wheel of level-one, the left front directive wheel of two level, one are housed on wrist
The right front jockey wheel of grade and the right front jockey wheel of two level, left steel wire rope are oriented to the ditch around left jamming claw pedestal by the left front directive wheel of level-one
Slot, right steel wire rope are oriented to the groove around right jamming claw pedestal by the right front jockey wheel of level-one；Wrist fifth wheel is assemblied in wrist
In the U-type groove of rear end；Wrist is connected, while assembled in wrist rotary shaft with wrist fifth wheel by wrist rotary shaft with U-shaped frame
Directive wheel, the two are symmetrically distributed in wrist behind directive wheel and the two level right side behind the left back directive wheel of level-one, the left back directive wheel of two level, the level-one right side
Between portion and U-shaped frame.
2. the paw mechanism of a kind of Steel rope drive according to claim 1, which is characterized in that left jamming claw has with right jamming claw
There is identical length and width, left jamming claw and the unilateral of right jamming claw are all provided with one section of sawtooth and an arc-shaped slot, to
Realize the crawl of different articles；The left jamming claw pedestal of the paw mechanism and right jamming claw pedestal have locating slot simultaneously, to realize
The replacement of left jamming claw and right jamming claw.
3. the paw mechanism of a kind of Steel rope drive according to claim 1, which is characterized in that left jamming claw pedestal and right card
Pawl pedestal is provided with the arc groove of a fixed length in the position of close rotation axis, and a circle is provided on the side of arc groove
Columnar boss, left jamming claw pedestal and right jamming claw pedestal are installed in claw rotary shaft, and the boss of left jamming claw pedestal is inserted into the right side
In the arc groove of claw pedestal, boss is moved along arc groove, limits the slewing area of left jamming claw pedestal and right jamming claw pedestal；
Left jamming claw pedestal is circumferentially provided with the groove of a circular ring shape, and left steel wire rope drives left jamming claw and a left side around the groove
Claw pedestal is rotated around claw rotary shaft, while the level-one that left jamming claw base slot diametric tangential direction should be installed by wrist is left
The left front directive wheel race of front jockey wheel, two level；Right jamming claw pedestal has identical structure with left jamming claw pedestal.
4. the paw mechanism of a kind of Steel rope drive according to claim 1, which is characterized in that left jamming claw pedestal, right card
Pawl pedestal and wrist rotate axis connection by claw, wrist with claw rotary shaft in a manner that interference is connect, left jamming claw pedestal,
Right jamming claw pedestal is with claw rotary shaft in a manner that transition is connect；Wrist rotates axis connection, U-shaped frame with U-shaped frame by wrist
With wrist rotary shaft in a manner that interference is connect, wrist is with wrist rotary shaft in a manner that transition is connect.
5. the paw mechanism of a kind of Steel rope drive according to claim 1, which is characterized in that gripper unit is single with driving
Member is connected by left steel wire rope, right steel wire rope and pitching wire rope, the left left spool of steel wire penetrating level-one, the left spool one end of level-one
It is fixed in U-shaped frame tail hole, by the way of interference connection, the other end is fixed on left electric machine support, using upper-lower compacting
Fixed form；Steel tank is provided with inside the left spool of level-one, left steel wire rope moves inside the left spool of level-one along steel tank, to keep
The state that steel wire rope tenses；The left spool of two level, the right spool of level-one, the right spool of two level, level-one pitching spool, two level pitching spool with
The left spool of level-one has identical structure.
A kind of 6. paw mechanism of Steel rope drive according to claim 1, which is characterized in that the left coiling of driving unit
Wheel is provided with a hole on groove, and the jointing that left steel wire rope is formed when installing is placed in the hole；Right reel, pitching
Reel has identical feature with left reel.
7. the paw mechanism of a kind of Steel rope drive according to claim 1, which is characterized in that left direct current generator is mounted on
On left electric machine support, right direct current generator is mounted on right electric machine support, and pitching motor is mounted on pitching motor stent, left motor
Stent, right electric machine support and pitching motor stent are mounted side by side on bottom plate, and left reel is mounted on left direct current by jackscrew
On arbor, right reel is mounted on by jackscrew on right direct current generator reel, and pitching reel is mounted on pitching by jackscrew
On direct current generator reel.
8. a kind of paw mechanism of Steel rope drive according to claim 1, which is characterized in that
U-shaped frame tail portion be provided with six cylindrical holes, the left spool of level-one, the left spool of two level, the right spool of level-one, the right spool of two level,
Level-one pitching spool, two level pitching spool are inserted into respectively in each hole, and are fixed in each hole by the way of interference connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810009775.3A CN108214477A (en) | 2018-01-05 | 2018-01-05 | A kind of paw mechanism of Steel rope drive |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810009775.3A CN108214477A (en) | 2018-01-05 | 2018-01-05 | A kind of paw mechanism of Steel rope drive |
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| CN108214477A true CN108214477A (en) | 2018-06-29 |
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| CN201810009775.3A Pending CN108214477A (en) | 2018-01-05 | 2018-01-05 | A kind of paw mechanism of Steel rope drive |
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| CN111807042A (en) * | 2020-08-01 | 2020-10-23 | 新昌县星丰机械厂 | Machining blanking machine material stop gear that stability is strong |
| CN112536789A (en) * | 2020-12-02 | 2021-03-23 | 山东大学 | Rigid-flexible combined type outer limb mechanical arm and auxiliary operation device thereof |
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Application publication date: 20180629 |