CN105291126A - Flexible self-locking mechanical arm - Google Patents
Flexible self-locking mechanical arm Download PDFInfo
- Publication number
- CN105291126A CN105291126A CN201510767864.0A CN201510767864A CN105291126A CN 105291126 A CN105291126 A CN 105291126A CN 201510767864 A CN201510767864 A CN 201510767864A CN 105291126 A CN105291126 A CN 105291126A
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- gear
- power transmission
- flexible self
- transmission shaft
- grippers
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Abstract
A flexible self-locking mechanical arm is provided with two mechanical grippers. The tail ends of the two mechanical grippers are in an arc shape. When the two mechanical grippers are closed together (the grippers are enclasped), a cylindrical clamping space is formed, and cylindrical objects and spherical objects can be clamped well. The two grippers are connected with two engaged gears respectively, and grabbing and loosening of the grippers can be achieved simply by driving one gear mechanism. A tension spring is connected between the two grippers, certain pretightening force is provided, and the mechanical arm is in a normally-closed state. According to the pretightening force provided by the spring, the requirement for driving torque is reduced when the mechanical arm grabs the objects. The flexible self-locking mechanical arm is simple and practical in structure, and the task of grabbing the objects can be efficiently completed.
Description
Technical field
The present invention relates to a kind of flexible self-locking manipulator, particularly relating to a kind of manipulator with flexible self-locking function for picking and placeing column type, spheroidal object.
Background technology
Manipulator is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, manipulator is applied in automatic assembly line widely, the research and production of robot has become in high-tech neighborhood, one that develops rapidly emerging technology, it facilitates the development of manipulator more, makes the combination that manipulator can realize with mechanization and automation better.Although manipulator is flexible like that not as good as staff, it has energy constantly repeated work and work, does not know fatigue, be fearless of danger, the feature that the strength of snatch weight is larger than people hand-power, therefore, manipulator has been subject to the attention of many departments, and obtains application more and more widely.
Although manipulator is through research and development for many years, most manipulator cost is still higher, and complex structure also has higher requirement to power set.And traditional manipulator does not usually possess self-lock ability, in grasping to often needing power set to provide the moment of holding with a firm grip during object always.
Summary of the invention
The present invention is directed to above deficiency, design a manipulator with flexible self-locking function, this manipulator adopts gear drive to have simple, with low cost, the high efficiency advantage of structure, and the flexible self-locking function provided by extension spring improves the reliability grasping object.
The technical solution adopted in the present invention:
1, a kind of flexible self-locking manipulator, for clamping column type, spherical object, comprise two paws, it is characterized in that: two described paws are connected with gear one, gear two respectively, and described gear one, gear two are connected with power transmission shaft one, power transmission shaft two respectively by key; The two ends of two power transmission shafts are provided with bearing, and the outside of described bearing is provided with baffle plate; Between two described paws, extension spring is installed.
2, described gear one, gear two there is keyway, gear one, gear two and power transmission shaft one, power transmission shaft two axle are located through key to realize, footpath is located through the shaft shoulder and sleeve realizes.
3, there is installing hole described power transmission shaft one one end, and connection for transmission flange on installing hole, drive flange is connected with power set.
4, described baffle plate has bearing position, and the bearing on power transmission shaft will be encased in the bearing position in baffle plate.
5, the described shaft shoulder is positioned near there being power transmission shaft one end of installing hole, described sleeve be arranged on power transmission shaft the other end and between gear and bearing.
6, described power set are motor
7, flexible self-locking robot work process of the present invention is: power set pass through drive flange, power transmission shaft one is driven to rotate, and then driven gear one, paw one rotate, because gear one and gear two are meshing relations, paw one, paw two rotation direction are contrary, change turning to of motor and can realize unclamping and grasping of manipulator.When grasping object, only flexible self-locking can be completed by the power that extension spring provides.
The invention has the beneficial effects as follows.
(1) flexible self-locking function, makes grasping object more reliable.
(2) gear drive, structure is simple, and transmission efficiency is very high.
(3) power set only need one, control simpler.
Accompanying drawing explanation
Below in conjunction with accompanying drawing description, this patent is described.
Fig. 1: organigram of the present invention.
Fig. 2: power transmission shaft one graphics.
Fig. 3: baffle plate front view.
Detailed description of the invention
The specific implementation method of this manipulator is set forth below in conjunction with accompanying drawing:
As shown in Figure 1, motor 8 is connected with power transmission shaft 1 by drive flange 9 flexible self-locking manipulator overall construction drawing, by the power transmission of motor 8 to power transmission shaft 1.Power transmission shaft 1 is connected with gear 7 by key, and gear 7 is connected with paw 6 by bolt, and gear 7 and gear 3 are the relations engaged, and gear 3 is connected with power transmission shaft 2 by key, and gear 3 is connected with paw 4 by bolt, are provided with tension spring 5 between paw 6 and paw 4.When motor does not have output torque time, the state that the pretightning force due to tension spring makes manipulator be in hold with a firm grip.When motor rotates counterclockwise, drive power transmission shaft 1 to rotate counterclockwise, then driven gear 7 rotates counterclockwise, and then drives paw 6 to rotate counterclockwise.Gear 7 rotates counterclockwise driven gear 3 and rotates clockwise, and then drives paw 4 to rotate counterclockwise, and completes the release process of manipulator.That motor disconnects moment input, and under the effect of tension spring, paw 6 rotates clockwise, and paw 4 rotates counterclockwise, and completes the grasping process of manipulator when paw is in the state of unclamping.
Claims (6)
1. a flexible self-locking manipulator, for clamping column type, circular object, comprise two paws, it is characterized in that: two described paws are connected with gear 7, gear 3 respectively, and described gear 7, gear 3 are connected with power transmission shaft 1, power transmission shaft 2 respectively by key; The two ends of two power transmission shafts are provided with bearing 10, and the outside of described bearing 10 is provided with baffle plate 12; Between two described paws, extension spring 5 is installed.
2. flexible self-locking manipulator according to claim 1, is characterized in that: described gear 7, gear 3 have keyway, and gear 7, gear 3 and power transmission shaft 1, power transmission shaft 3 axle are located through key to realize, and footpath is located through the shaft shoulder 102 and sleeve realizes.
3. flexible self-locking manipulator according to claim 1 and 2, is characterized in that: there is installing hole 103 power transmission shaft 1 one end, and connection for transmission flange 9 on installing hole 103, drive flange 9 is connected with power set.
4. flexible self-locking manipulator according to claim 1, is characterized in that: baffle plate 12 has bearing position 1201, the bearing 10 on power transmission shaft will be encased in the bearing position 1201 in baffle plate.
5. flexible self-locking manipulator according to claim 2, is characterized in that: the described shaft shoulder 102 is positioned near there being power transmission shaft 1 one end of installing hole 103, described sleeve be arranged on power transmission shaft the other end and between gear and bearing.
6. flexible self-locking manipulator according to claim 3, is characterized in that: described power set are motor 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510767864.0A CN105291126A (en) | 2015-11-12 | 2015-11-12 | Flexible self-locking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510767864.0A CN105291126A (en) | 2015-11-12 | 2015-11-12 | Flexible self-locking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105291126A true CN105291126A (en) | 2016-02-03 |
Family
ID=55189286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510767864.0A Pending CN105291126A (en) | 2015-11-12 | 2015-11-12 | Flexible self-locking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105291126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729464A (en) * | 2016-02-04 | 2016-07-06 | 深圳市芯海互联技术有限公司 | Anti-rotation clamp structure of vending machine |
| CN106576568A (en) * | 2016-12-01 | 2017-04-26 | 广西大学 | Double gear driven cassava clamping and pulling-up mechanism |
-
2015
- 2015-11-12 CN CN201510767864.0A patent/CN105291126A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729464A (en) * | 2016-02-04 | 2016-07-06 | 深圳市芯海互联技术有限公司 | Anti-rotation clamp structure of vending machine |
| CN106576568A (en) * | 2016-12-01 | 2017-04-26 | 广西大学 | Double gear driven cassava clamping and pulling-up mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160203 |