CN104167146B - Pin-connected panel Mechanical hands for teaching - Google Patents
Pin-connected panel Mechanical hands for teaching Download PDFInfo
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- CN104167146B CN104167146B CN201410350126.1A CN201410350126A CN104167146B CN 104167146 B CN104167146 B CN 104167146B CN 201410350126 A CN201410350126 A CN 201410350126A CN 104167146 B CN104167146 B CN 104167146B
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Abstract
The present invention relates to a kind of pin-connected panel Mechanical hands for teaching, including chassis rotating device, lifting device, telescopic device and finger grip device, lifting device is located on the rotating device of chassis, and telescopic device is located at the upper end of lifting device, and finger grip device is located at one end of lifting device.The circumferencial direction that finger grip device is adjusted by chassis rotating device adjusts the crawl height of finger grip device by lifting device, and by telescopic device come the control power to the transmission crawl of finger grip device, finger grip device is responsible for grabbing object.The teaching aid can realize combining closely for mechanical core curriculum " religion " and " "；Each module of the invention is made of a variety of typical movement mechanisms, and student can be combined into various forms of manipulators by free assembly, convenient for the motion principle of a variety of typical mechanisms of students, understands the movement effects after more Mechanism Combinations.
Description
Technical field
The present invention relates to a kind of pin-connected panel Mechanical hands for teaching.
Background technique
Interactive mode teaching method obtains gradually promotion and application, but Mechanical Fundamentals class course in industry science class undergraduate course
Teaching still mostly uses the teaching pattern based on " teacher says that student listens ".Period proportion shared by office coaching is larger, and student, which obtains, to be known
Know mainly through teaching material and PPT handout, the content of courses can not be intuitively understood；Traditional Mechanical Fundamentals class curricular in-struction means compared with
Be it is single, it is less using teaching aid during giving lessons, cause classroom interaction not high；In order to pass through Course Assessment, Most students
It relies only on teaching material and material for review memorize mechanicallys correlated knowledge point, it can not be got a real idea of and is grasped；It starts due to lacking
Practice causes student after course learning, tends not to carry out flexible Application to knowledge point.
Currently, the key university of the developed countries such as America and Europe is during Mechanical Fundamentals class course teaching, by various intuitive
Teaching means, tie course Project examination mode, achieve good teaching efficiency.And domestic Mechanical Fundamentals class class
Cheng Jiaoxue still use with classroom lecture based on teaching pattern, imparted knowledge to students by computer digital, although making course teaching
Intuitive obtained certain raising, but since information content is excessive, student is made to be difficult to hold knowledge architecture instead.Majority religion
Learn research with practice have shown that, during Mechanical Fundamentals class course teaching, be used cooperatively teaching aid, more intuitive, truly display machine
Structure movement characteristic, the important function that can be played and enliven student thought, improve classroom instruction interactivity.
Currently, existing Mechanical Fundamentals class course teaching aid mainly includes following three classes in the market: (1) linkage teaching aid-packet
It includes the quick return for explaining four-bar mechanism, drive line angle, the four-bar linkage teaching aid at dead point, crank and rocker mechanism, double shake
Typical case's four-bar mechanism example teaching aid such as linkage etc.；(2) cam mechanism teaching aid-includes transporting for explaining the rise of cam mechanism
Dynamic angle, far angle of repose, motion angle for return travel, stroke and movement line chart teaching aid of push rod etc.；(3) gear mechanism teaching aid-includes being used for
Flank profil engaged transmission teaching aid etc..
Above-mentioned teaching aids making is simple, demonstration is convenient, and by intuitively demonstrating, the work of associated actuator mechanism is understood conducive to student
Make principle, the major function of basic building block.But due to having a single function, each teaching aid is relatively independent, cannot combine, and lacks interest,
So that student classroom, which incorporates, feels poor, it is also not easy to the difference of the more various mechanism motion characteristics of student.
Summary of the invention
The object of the present invention is to provide a kind of pin-connected panel Mechanical hands for teaching, at least one aspect to solve the above problems.
According to an aspect of the invention, there is provided a kind of pin-connected panel Mechanical hands for teaching, including chassis rotating device, lifting
Device, telescopic device and finger grip device, lifting device are located on the rotating device of chassis, and telescopic device is located at lifting device
Upper end, finger grip device are located at one end of lifting device.The circumference of finger grip device is adjusted by chassis rotating device
Direction adjusts the crawl height of finger grip device by lifting device, is driven by telescopic device to finger grip device
The control power of crawl, finger grip device are responsible for grabbing object.
Wherein, chassis rotating device includes bottom plate, the first transmission mechanism, connecting shaft mechanism and handle, the first transmission mechanism
It is fixed on bottom plate by connecting shaft mechanism cooperation, handle is connect with the first transmission mechanism.
Lifting device includes the first connecting shaft, the second connecting shaft, connecting flange, fixed plate, elevating mechanism, movable plate, company
Fishplate bar, first movement guide rail, the second moving guide rail and firm plate, connecting flange upper surface are equipped at least four matching holes, lead to
It crosses screw to be connected on the first transmission mechanism, the lower end of first connecting shaft and the second connecting shaft cooperates vertically is fixed on connection
In the matching hole of flange upper surface, the upper end is fixedly connected by screw with connecting plate；Two are equipped on fixed plate and movable plate
A through-hole both passes through the first connecting shaft and the second connecting shaft, and fixed plate is fixed in connecting shaft, movable plate in connecting shaft can on
Lower slider；The elevating mechanism passes through the first connecting shaft, the second connecting shaft, and the lower end of elevating mechanism is by being connected to fixed plate
The upper end of upper surface, elevating mechanism is connected to the lower end surface of movable plate.The lower end of the first movement guide rail, the second moving guide rail
By the corresponding upper surface for being fixed on movable plate of the connection type of screw thread, lower end is fixed on surely by the connection type of screw thread
The lower end surface of solid plate.
Telescopic device includes telescoping mechanism, the second transmission mechanism, the first guide rod, the second guide rod, connecting rod, finger foreboard, consolidates
Determine block and slide block connecting rod, the second transmission mechanism includes movement mechanism, handwheel, the drive rod connecting with handwheel, the left side equipped with through-hole
The output end of right sliding block, drive rod is connect with movement mechanism, and left and right sliding block is separately connected the left and right end for being fixed on motion structure.Institute
It states fixed block and is divided into the first fixed block, the second fixed block and third fixed block, be all provided on three pieces of every piece of fixed blocks there are two hole,
In the first and second fixed block be separately fixed at the both ends of firm plate, the first guide rod, the second guide rod one end sequentially pass through first,
The hole of two fixed blocks, the other end pass through third fixed block hole, the first guide rod, the second guide rod both ends threadedly with
Fixed block is fixed.The left and right sliding block is each passed through the first guide rod, the second guide rod, and it is solid to be placed in the second fixed block and third
Determine between block.The slide block connecting rod and left and right sliding block are connected by screw to fixation, and the upper end is connected by one end of hinge and connecting rod
It connects.The finger foreboard is connected to the upper end of the first fixed block by articulated manner, the upper end of finger foreboard by hinge with
The other end of connecting rod connects.
Finger grip device is connected on finger foreboard, including finger connecting rod, link mechanism, finger front with holes
Plate, the left and right finger-joint being fixed on finger front apron, the left and right finger bar and hand being connected on the finger-joint of left and right
Refer to lock-screw, the U-shaped shape of the finger connecting rod strip, two sides are equipped with loose slot, and the closed end of finger connecting rod is solid
It is scheduled on finger foreboard, the folding end of finger connecting rod is connected by screw to finger front apron, and link mechanism is placed in finger connection
Bar middle position, driving end are connected to the inner end of finger connecting rod, and power output end passes through the hole on finger front apron,
It is connect respectively with left and right finger bar by left and right quarter butt.The finger lock-screw is located at the position in hole on finger front apron, can
It is engaged with the connecting rod of the link mechanism passed through from hole, plays the role of the link mechanism that is fixed.
As the further improvement of the first transmission mechanism, the first transmission mechanism includes worm gear, worm screw, runner, and worm screw is horizontal
It places, driving end extends to outside bottom plate；Turbine is engaged with worm screw, is fixed on bottom plate by screw, fixed block, runner connection
In the elongated end of worm screw.The handle of chassis rotating device is welded on the eccentric position of runner.The upper surface of worm gear is equipped at least two
A connecting hole for being used to connect lifting device.It is rotated by handle drives runner, drives worm movement, make worm gear in the horizontal direction
It moves in a circle.
As the further improvement of the first transmission mechanism, the first transmission mechanism includes driving gear and transmission gear, master
Moving gear is engaged with transmission gear, is fixed on bottom plate by connecting shaft cooperation, and the upper surface of transmission gear is equipped at least two
A connecting hole for being used to connect lifting device.The handle of chassis rotating device is fixed on the eccentric position of driving gear.
The beneficial effects of the present invention are: compared with similar product currently on the market, the present invention is by mechanical core curriculum
" religion " combines closely with " ", and advantage is embodied in the following aspects:
(1) multimachine structure combined demonstration, intuitiveization of imparting knowledge to students
The single demo mode for breaking through tradition machinery teaching aid, by multiple Mechanism Combinations at the Manipulator Model of Suresh Kumar, to
Student shows the movement cooperation between mechanism principle and each mechanism, helps student to sharpen understanding course set, makes student to typical case
The principle of mechanism and the understanding of construction are more comprehensive.
(2) modularized design is easy to start to practice
Integrate Opening Teaching and interesting teaching, a whole set of teaching aid includes four module, and each module includes a variety of realizations
Mechanism, same module different institutions can be replaced mutually, and student can be learned according to oneself, dismantle and replace corresponding mechanism,
It is assembled into various informative Manipulator Model；In addition, single mechanism itself can dismantle assembly, increase assembled difficulty and pleasure
Interest preferably serves the teaching of mechanical core curriculum, and reforming traditional teaching model, practical operation is intuitive, interest is strong.
(3) mechanism comparison embodies
Each module is owned by a mechanism database, and inside modules mechanism can be replaced mutually, and student can be in assembling combination
The advantage and disadvantage of analysis and more each mechanism in the process.
Detailed description of the invention
Fig. 1 is the overall structure diagram of first embodiment of the invention；
Fig. 2 is that Fig. 1 first embodiment indsole is spiraled the structural schematic diagram of rotary device；
Fig. 3 is the structural schematic diagram of lifting device in Fig. 1 first embodiment；
Fig. 4 is the structural schematic diagram of telescopic device in Fig. 1 first embodiment；
Fig. 5 is the structural schematic diagram of finger grip device in Fig. 1 first embodiment；
Fig. 6 is the overall structure diagram of second embodiment of the invention；
Fig. 7 is that Fig. 6 second embodiment indsole is spiraled the structural schematic diagram of rotary device；
Fig. 8 is the structural schematic diagram of lifting device in Fig. 6 second embodiment；
Fig. 9 is the structural schematic diagram of telescopic device in Fig. 6 second embodiment；
Figure 10 is the structural schematic diagram of finger grip device in Fig. 6 second embodiment.
Specific embodiment
The present invention is described in further detail with embodiment for explanation with reference to the accompanying drawing.
Fig. 1-Fig. 5 schematically shows a kind of detailed description of embodiment according to the present invention.Fig. 6-Figure 10 signal
Property shows the detailed description of another embodiment according to the present invention.
In a kind of Fig. 1-embodiment shown in fig. 5, a kind of pin-connected panel Mechanical hands for teaching, including chassis rotating device 1, rise
Falling unit 2, telescopic device 3 and finger grip device 4, lifting device 2 are located on chassis rotating device 1, and telescopic device 3 is located at liter
The upper end of falling unit 2, finger grip device 4 are located at one end of lifting device 2.
In Fig. 2, chassis rotating device 1 include bottom plate 101, the first transmission mechanism, connecting shaft mechanism and handle 106, first
Transmission mechanism is fixed on bottom plate 101 by connecting shaft cooperation, and handle 106 is connect with the first transmission mechanism.First transmission mechanism
Including worm gear 105, worm screw 103, runner 102, worm screw 103 is horizontal positioned, and driving end extends to outside bottom plate 101；Worm gear 105 with
Worm screw 103 engages, and is fixed on bottom plate 101 by screw, fixed block, runner is connected to the elongated end of worm screw 103.Chassis rotation
The handle of device 1 is welded on the eccentric position of runner 102.The upper surface of worm gear 105 is equipped at least two for connecting lifting dress
Set 2 connecting hole.It is rotated by handle drives runner, drives worm screw 103 to move, worm gear 105 is made to do circumference fortune in the horizontal direction
It is dynamic.
In Fig. 3, lifting device 2 include the first connecting shaft 207, the second connecting shaft 210, connecting flange 214, fixed plate 208,
Elevating mechanism, movable plate 205, connecting plate 204, first movement guide rail 202, the second moving guide rail 203 and firm plate 201, connection
214 upper surface of flange is equipped at least four matching holes 215, is connected by screw on the first transmission mechanism, and described first connects
The lower end of spindle 207 and the second connecting shaft 210 cooperates vertically to be fixed in the matching hole 215 of 214 upper surface of connecting flange, thereon
End is fixedly connected by screw with connecting plate 204；Through-hole there are two being all provided in fixed plate 208 and movable plate 205, both passes through first
Connecting shaft 207 and the second connecting shaft 210, fixed plate 208 are fixed in connecting shaft, and movable plate 205 can go up downslide in connecting shaft
It is dynamic；The elevating mechanism passes through the first connecting shaft 207, the second connecting shaft 210, and the lower end of elevating mechanism is by being connected to fixed plate
208 upper surface, the upper end of elevating mechanism are connected to the lower end surface of movable plate 205.The first movement guide rail 202, second moves
The lower end of dynamic guide rail 203 passes through the corresponding upper surface for being fixed on movable plate 205 of connection type of screw thread, and lower end passes through screw thread
Connection type be fixed on the lower end surface of firm plate 201.
Wherein elevating mechanism include handwheel 213, the screw rod 216 of one end connection handwheel, fixed screw rod screw thread seat 212, cut
Connecting rod 206, the sliding block 211 with slotted slide bar 209 and cooperation on slide bar are pitched, slide bar 209 is welded or is fixed by screws in
In fixed plate 208, sliding block 211 cooperates 209 on slide bar, can move forward and backward；Screw thread seat 212 is fixed in fixed plate 208, screw thread
The axis of seat 212 is parallel with slide bar 209, and the movable end of screw rod 216 passes through screw thread seat 212 and connect with sliding block 211；Scissor connecting rod
206 upper end is connected by a hinge in the bottom end of movable plate 205, and the side of 206 lower end of scissor connecting rod is fixed on by hinge
On fixed board 208, the other side is fixed on sliding block by hinge.When hand wheel rotating, screw rod rotation is driven, sliding block is moved forward and backward,
Scissor connecting rod 206 is driven to move up and down.
In Fig. 4, telescopic device 3 includes the second transmission mechanism, the first guide rod 303, the second guide rod 311, connecting rod 312, finger
Foreboard 301, fixed block and slide block connecting rod 310, the second transmission mechanism include movement mechanism, handwheel 307, the transmission connecting with handwheel
Bar 308, the left and right sliding block 305/309 equipped with through-hole, the output end of drive rod are connect with movement mechanism, and left and right sliding block is separately connected
It is fixed on the left and right end of movement mechanism.The fixed block is divided into the first fixed block 302, the second fixed block 304 and third fixed block
306, it is all provided with that there are two holes on three pieces of every piece of fixed blocks, wherein the first and second fixed block is separately fixed at the both ends of firm plate 201,
First guide rod 303, the second guide rod 311 one end sequentially pass through the hole of the first, second fixed block, the other end is fixed across third
The hole of block 306, the first guide rod 303, the second guide rod 311 both ends threadedly fixed with fixed block.The left and right cunning
Block is each passed through the first guide rod 303, the second guide rod 311, and is placed between the second fixed block 304 and third fixed block 306.It is described
Slide block connecting rod 310 and left and right sliding block are connected by screw to fixation, and the upper end is connected by one end of hinge and connecting rod.Described
Finger foreboard 301 is connected to the upper end of the first fixed block 302 by articulated manner, the upper end of finger foreboard 301 by hinge with
The other end of connecting rod connects.
Wherein, movement mechanism includes the link block for connecting left and right sliding block, and drive rod is screw rod, and screw rod is close to handwheel 307
One end fits on third fixed block 306, fix with link block by the other end, rotates handwheel 307, passes through screw rod transmission, the company of drive
Block is connect, so that sliding block 305/309 be made to move forward and backward, has the function that flexible transmitting power.
In Fig. 5, finger grip device 4 is connected on finger foreboard 301, including finger connecting rod 402, link mechanism, band
The finger front apron 401 in hole, the left and right finger-joint 406 being fixed on finger front apron 401 are connected to left and right finger pass
Left and right finger bar and finger lock-screw 408 on section 406, the U-shaped shape of 402 strip of finger connecting rod, two sides are set
There is loose slot 403, the closed end of finger connecting rod 402 is fixed on finger foreboard 301, and the folding end of finger connecting rod 402 is logical
Screw connection finger front apron 401 is crossed, link mechanism is placed in 402 middle position of finger connecting rod, and driving end is connected to finger
The inner end of connecting rod 402, power output end pass through finger front apron 401 on hole, by left and right quarter butt 407 respectively with a left side
The right hand refers to that bar connects.The finger lock-screw 408 is located at the position in hole on finger front apron 401, can be with the company that passes through from hole
The connecting rod of linkage is engaged, and plays the role of the link mechanism that is fixed.
Wherein, the loose slot 403 of 402 two sides of finger connecting rod is non-close slot, and when flexible, side can be worn link mechanism
Non-close loose slot 403 is crossed, bindiny mechanism is the first motion bar 409, the second movable rod 404, it is connected by a hinge, motion bar
It is equipped with sliding slot, a loose slot 403 is equipped with finger lock-screw 408, is connected to the second movable rod 404 by quarter butt 407
Sliding slot on, finger lock-screw 408 herein is used to lock the scope of activities of bindiny mechanism.
In Fig. 6-another embodiment shown in Fig. 10, a kind of pin-connected panel Mechanical hands for teaching, including chassis rotating device 1,
Lifting device 2, telescopic device 3 and finger grip device 4, lifting device 2 are located on chassis rotating device 1, and telescopic device 3 is located at
The upper end of lifting device 2, finger grip device 4 are located at one end of lifting device 2.
In Fig. 7, chassis rotating device 1 include bottom plate 101, the first transmission mechanism, connecting shaft mechanism and handle 106, first
Transmission mechanism is fixed on bottom plate 101 by connecting shaft mechanism cooperation, and handle is connect with the first transmission mechanism.First transmission mechanism
Including driving gear 107 and transmission gear 108, driving gear 107 is engaged with transmission gear 108, is matched by connecting axle structure
Conjunction is fixed on bottom plate 101, and the upper surface of transmission gear is equipped at least two for connecting the connecting hole 104 of lifting device 2.Bottom
The handle of rotary device 1 of spiraling is fixed on the eccentric position of driving gear.
In Fig. 8, lifting device 2 include the first connecting shaft 207, the second connecting shaft 210, connecting flange 214, fixed plate 208,
Elevating mechanism, movable plate 205, connecting plate 204, first movement guide rail 202, the second moving guide rail 203 and firm plate 201, connection
214 upper surface of flange is equipped at least four matching holes, is connected by screw on the first transmission mechanism, first connecting shaft
207 and second the lower end of connecting shaft 210 cooperate be fixed in the matching hole of 214 upper surface of connecting flange vertically, the upper end passes through
Screw is fixedly connected with connecting plate 204；Through-hole there are two being all provided in fixed plate 208 and movable plate 205, both passes through the first connecting shaft
207 and second connecting shaft 210, fixed plate 208 be fixed in connecting shaft, movable plate 205 can slide up and down in connecting shaft；It is described
Elevating mechanism passes through the first connecting shaft 207, the second connecting shaft 210, and the lower end of elevating mechanism is by being connected to the upper of fixed plate 208
End face, the upper end of elevating mechanism are connected to the lower end surface of movable plate 205.The first movement guide rail 202, the second moving guide rail
203 lower end passes through the corresponding upper surface for being fixed on movable plate 205 of connection type of screw thread, the connection that lower end passes through screw thread
Mode is fixed on the lower end surface of firm plate 201.
Wherein elevating mechanism includes the screw rod 217 of handwheel 213, one end connection handwheel, and screw rod upper end cooperates in connecting plate 204
On, centre passes through movable plate 205, and lower end cooperates in fixed plate 208, and when rotating handwheel, screw rod transmission drives intermediate activity
Plate 205 moves up and down, so that telescopic device 3 be driven to move up and down.
In Fig. 9, telescopic device 3 includes the second transmission mechanism, the first guide rod 303, the second guide rod 311, connecting rod, finger foreboard
301, fixed block and slide block connecting rod 310, the second transmission mechanism include movement mechanism, handwheel, the drive rod connecting with handwheel, are equipped with
The left and right sliding block of through-hole, the output end of drive rod are connect with movement mechanism, and left and right sliding block, which is separately connected, is fixed on movement mechanism
Left and right end.The fixed block is divided into the first fixed block 302, the second fixed block 304 and third fixed block 306, and three pieces of fixed blocks are every
Hole there are two being all provided on block, wherein the first and second fixed block is separately fixed at the both ends of firm plate 201, the first guide rod 303, second
One end of guide rod 311 sequentially passes through the hole of the first, second fixed block 304, and the other end passes through the hole of third fixed block 306, the
One guide rod 303, the second guide rod 311 both ends threadedly fixed with fixed block.The left and right sliding block is each passed through
One guide rod 303, the second guide rod 311, and be placed between the second fixed block 304 and third fixed block 306.The slide block connecting rod 310
It is connected by screw to fixation with left and right sliding block, the upper end is connected by one end of hinge and connecting rod.The finger foreboard 301
The upper end of the first fixed block 302 is connected to by articulated manner, the upper end of finger foreboard 301 passes through the other end of hinge and connecting rod
Connection.
Wherein, movement mechanism includes the power gear 314 cooperated on drive rod, is fixed on the second fixed block 304 and
Rack gear 315 between three fixed blocks 306, the drive rod passes through slide block connecting rod 310, and cooperates and be fixed thereon, power gear
It is placed in 310 middle position of slide block connecting rod, power gear is engaged with rack.Handwheel 307 is rotated, power is transmitted by drive rod, is moved
Powershift gear 314 rotate, since rack gear is fixed, and slide block connecting rod 310 is connect with left and right sliding block, then power gear 314 with tooth
Under the action of item 315 is driven, left and right sliding block is moved forward and backward, has the function that flexible transmitting power.
In Figure 10, finger grip device 4 is connected on finger foreboard 301, including finger connecting rod 402, link mechanism, band
The finger front apron 401 in hole, the left and right finger-joint 406 being fixed on finger front apron 401 are connected to left and right finger pass
Left and right finger bar and finger lock-screw 408 on section 406, the U-shaped shape of 402 strip of finger connecting rod, two sides are set
There is loose slot 403, the closed end of finger connecting rod 402 is fixed on finger foreboard 301, and the folding end of finger connecting rod 402 is logical
Screw connection finger front apron 401 is crossed, link mechanism is placed in 402 middle position of finger connecting rod, and driving end is connected to finger
The inner end of connecting rod 402, power output end pass through finger front apron 401 on hole, by left and right quarter butt 407 respectively with a left side
The right hand refers to that bar connects.The finger lock-screw 408 is located at the position in hole on finger front apron 401, can be with the company that passes through from hole
The connecting rod of linkage is engaged, and plays the role of the link mechanism that is fixed.
Wherein, the loose slot 403 of 402 two sides of finger connecting rod is enclosed slot, and when flexible, two sides may pass through link mechanism
Loose slot 403 is closed, bindiny mechanism is parallelogram sturcutre of four motion bars 410 by hinge head and the tail connection, and activity is right
Angle end and connecting rod are hinged.
When using the present invention, the circumferencial direction of finger grip device 4 is adjusted by chassis rotating device 1, passes through lifting
Device 2 adjusts the crawl height of finger grip device 4, by telescopic device 3 come the control to the transmission crawl of finger grip device 4
Power, finger grip device 4 are responsible for crawl object.
The above is only some embodiments of the present invention, for those of ordinary skill in the art, are not departing from this
Under the premise of innovation and creation are conceived, various modifications and improvements can be made, these belong to the protection scope of invention.
Claims (9)
1. a kind of pin-connected panel Mechanical hands for teaching, it is characterised in that: including chassis rotating device, lifting device, telescopic device and hand
Refer to that grabbing device, lifting device are located on the rotating device of chassis, telescopic device is located at the upper end of lifting device, finger grip device
It is located at one end of lifting device；
The circumferencial direction that finger grip device is adjusted by chassis rotating device adjusts finger grip device by lifting device
Crawl height, by telescopic device come to finger grip device transmission crawl control power, finger grip device grab object
Part；
Chassis rotating device includes bottom plate, the first transmission mechanism, connecting shaft mechanism and handle, and the first transmission mechanism passes through connecting shaft
Mechanism cooperation is fixed on bottom plate, and handle is connect with the first transmission mechanism；
Lifting device include the first connecting shaft, the second connecting shaft, connecting flange, fixed plate, elevating mechanism, movable plate, connecting plate,
First movement guide rail, the second moving guide rail and firm plate, connecting flange upper surface are equipped at least four matching holes, pass through screw
It is connected on the first transmission mechanism, the lower end of first connecting shaft and the second connecting shaft cooperates vertically to be fixed on connecting flange
In the matching hole of end face, the upper end is fixedly connected by screw with connecting plate；It is all provided in fixed plate and movable plate there are two through-hole,
The first connecting shaft and the second connecting shaft are both passed through, fixed plate is fixed in connecting shaft, and movable plate can slide up and down in connecting shaft；
The elevating mechanism passes through the first connecting shaft, the second connecting shaft, the lower end of elevating mechanism by being connected to the upper surface of fixed plate,
The upper end of elevating mechanism is connected to the lower end surface of movable plate；The first movement guide rail, the second moving guide rail lower end pass through spiral shell
The corresponding upper surface for being fixed on movable plate of the connection type of line, lower end is fixed on firm plate by the connection type of screw thread
Lower end surface.
2. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: telescopic device includes telescoping mechanism,
Two transmission mechanisms, the first guide rod, the second guide rod, connecting rod, finger foreboard, fixed block and slide block connecting rod, the second transmission mechanism include
Movement mechanism, handwheel, the drive rod being connect with handwheel, the left and right sliding block equipped with through-hole, the output end and movement mechanism of drive rod
Connection, left and right sliding block are separately connected the left and right end for being fixed on movement mechanism；The fixed block is divided into the first fixed block, the second fixation
Block and third fixed block, are all provided with that there are two holes on three pieces of every piece of fixed blocks, wherein the first and second fixed block is separately fixed at firm plate
Both ends, the first guide rod, the second guide rod one end sequentially pass through the hole of the first, second fixed block, the other end is solid across third
Determine the hole of block, the first guide rod, the second guide rod both ends threadedly fixed with fixed block；The left and right sliding block is worn respectively
The first guide rod, the second guide rod are crossed, and is placed between the second fixed block and third fixed block；The slide block connecting rod and left and right sliding block are logical
It crosses screw to be connected and fixed, the upper end is connected by one end of hinge and connecting rod；The finger foreboard is connected to by articulated manner
The upper end of the upper end of first fixed block, finger foreboard is connected by the other end of hinge and connecting rod.
3. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: before finger grip device is connected to finger
On plate, closed including finger connecting rod, link mechanism, finger front apron with holes, the left and right finger being fixed on finger front apron
The left and right finger bar and finger lock-screw save, being connected on the finger-joint of left and right, the U of the finger connecting rod strip
Type shape, two sides are equipped with loose slot, and the closed end of finger connecting rod is fixed on finger foreboard, and the folding end of finger connecting rod is logical
Screw connection finger front apron is crossed, link mechanism is placed in finger connecting rod middle position, and driving end is connected to finger connecting rod
Inner end, power output end pass through finger front apron on hole, connect respectively with left and right finger bar by left and right quarter butt；Institute
State the position that finger lock-screw is located at hole on finger front apron；It can be engaged, can block with the connecting rod of the link mechanism passed through from hole
Close fixed link mechanism.
4. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: the first transmission mechanism includes worm gear, snail
Bar, runner, worm screw is horizontal positioned, and driving end extends to outside bottom plate；Turbine is engaged with worm screw, is fixed by screw, fixed block
On bottom plate, runner is connected to the elongated end of worm screw；The handle of chassis rotating device is welded on the eccentric position of runner；Worm gear
Upper surface is equipped at least two for connecting the connecting hole of lifting device；It is rotated by handle drives runner, drives worm movement,
Worm gear is set to move in a circle in the horizontal direction.
5. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: the first transmission mechanism includes driving gear
And transmission gear, driving gear are engaged with transmission gear, are fixed on bottom plate by connecting shaft cooperation, the upper end of transmission gear
Face is equipped at least two for connecting the connecting hole of lifting device；The handle of chassis rotating device is fixed on the bias of driving gear
Position.
6. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: elevating mechanism includes handwheel, one end company
Take over the screw rod of wheel, the screw thread seat of fixed screw rod, scissor connecting rod, the sliding block with slotted slide bar and cooperation on slide bar, slide bar
It welds or is fixed by screws in fixed plate, sliding block cooperates on slide bar, can move forward and backward；Screw thread seat is fixed on fixed plate
On, the axis of screw thread seat is parallel with slide bar, and the movable end of screw rod passes through screw thread seat and connect with sliding block；The upper end of scissor connecting rod passes through
It is hingedly connected at the bottom end of movable plate, the side of scissor connecting rod lower end is fixed in fixed plate by hinge, and the other side passes through hinge
Chain is fixed on sliding block.
7. pin-connected panel Mechanical hands for teaching according to claim 1, it is characterised in that: elevating mechanism includes handwheel, one end company
The screw rod of wheel is taken over, screw rod upper end cooperates on connecting plate, and centre passes through movable plate, and lower end cooperates in fixed plate, rotates hand
When wheel, screw rod transmission drives intermediate movable plate to move up and down, and telescopic device is driven to move up and down.
8. pin-connected panel Mechanical hands for teaching according to claim 2, it is characterised in that: movement mechanism includes cooperation in drive rod
On power gear, the rack gear that is fixed between the second fixed block and third fixed block, the drive rod passes through slide block connecting rod, and
Cooperation is fixed thereon, and power gear is placed in slide block connecting rod middle position, and power gear is engaged with rack；Handwheel is rotated, is passed through
Drive rod transmits power, power gear rotation.
9. pin-connected panel Mechanical hands for teaching according to claim 3, it is characterised in that: the loose slot of finger connecting rod two sides is
Non-close slot, for link mechanism when flexible, side may pass through non-close loose slot, and bindiny mechanism is the first motion bar, second lives
Dynamic connecting rod, is connected by a hinge, and motion bar is equipped with sliding slot, and a loose slot is equipped with finger lock-screw, is connected by quarter butt
On the sliding slot of the second movable rod, finger lock-screw is used to lock the scope of activities of bindiny mechanism.
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| CN104167146B true CN104167146B (en) | 2019-08-20 |
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Families Citing this family (6)
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| CN104552294B (en) * | 2014-12-16 | 2016-01-20 | 广西大学 | A kind of large space six degree of freedom controllable-mechanism type manipulator |
| CN105405351A (en) * | 2015-12-26 | 2016-03-16 | 四川科技职业学院 | Teaching demonstration device of mechanical arm |
| CN107243898B (en) * | 2017-06-09 | 2024-01-30 | 陕西科技大学 | Connecting rod type intelligent robot |
| CN107731080B (en) * | 2017-10-26 | 2023-12-19 | 苏州大闹天宫机器人科技有限公司 | Grabbing mechanism capable of being disassembled and assembled quickly and used for demonstrating mechanical principle |
| CN110873266A (en) * | 2019-11-27 | 2020-03-10 | 徐州翰林科技有限公司 | Examination machine that agricultural machine teaching was used |
| CN112447090B (en) * | 2020-12-22 | 2022-04-12 | 中国人民解放军陆军工程大学 | Transmission demonstration teaching aid for equipment machinery |
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