CN106799741A - Manipulator with cam turntable and torsion spring - Google Patents
Manipulator with cam turntable and torsion spring Download PDFInfo
- Publication number
- CN106799741A CN106799741A CN201710177179.1A CN201710177179A CN106799741A CN 106799741 A CN106799741 A CN 106799741A CN 201710177179 A CN201710177179 A CN 201710177179A CN 106799741 A CN106799741 A CN 106799741A
- Authority
- CN
- China
- Prior art keywords
- paw
- torsion spring
- cam turntable
- motor
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
A kind of manipulator with cam turntable and torsion spring, can be used for the game machine for gaining an award, in robot manipulator structure, cam turntable is rotarily driven by motor to rotate, three bulge-structures on cam turntable overcome the initial forces of torsion spring at pin joint to drive paw to be rotated around hinged seat, so as to realize paw or closure, so as to complete the crawl of prize, so as to form a kind of robot manipulator structure of simple structure.
Description
Technical field
The present invention relates to manipulator, the especially manipulator with cam turntable and torsion spring, can be used to capture the trip of prize
Gaming machine.
Background technology
The game machine for capturing article is the crawl that various articles are completed using the end such as manipulator execution unit, existing trip
Gaming machine gripping structure have the shortcomings that complex structure, be difficult to process, weight it is big.It is therefore desirable to provide a kind of simple structure, system
Make the gripping structure of easy lightweight again.
The content of the invention
The present invention is based on above-mentioned technical problem and prior art, there is provided a kind of simple structure, easy to manufacture and lightweight tool
There is the manipulator of cam turntable and torsion spring.
Technical solution of the present invention is：
A kind of manipulator with cam turntable and torsion spring, including connecting seat, motor casing, pedestal, paw, connecting seat is round
Rod structure, for being connected to lifting structure, it is characterised in that
The two ends of motor casing connect pedestal and connecting seat respectively, and motor is fixedly mounted on pedestal side and is located at motor casing
Interior, the output shaft of motor passes pedestal and stretches to outside and be fixedly connected with cam turntable；The opposite side of pedestal is provided with hinged seat,
The paw is that at least three substantially in the paw of " 7 " type, the paw has short side and a side long, the paw edge tail peace long
Equipped with the holding unit for holding article, paw short side extends along motor output shaft direction and is hinged near the side of motor
On joint chair, cam turntable is abutted against with the paw short side, and torsion spring is provided with hinged seat, and the torsion spring two ends are connected to respectively
On hinged seat and the paw, the torsion spring applies initial forces makes the paw be closed to the direction of crawl article, described
Cam turntable has along at least three projections uniform in the range of 360 degree, and the initial forces of the raised resistance torsion spring make hand
Pawl opens.
Further, the paw is three, described raised for three；
Further, multiple loss of weight fabrication holes are distributed with paw short side.
By above-mentioned technical proposal, a kind of simple structure is formd, easy to manufacture and lightweight with cam turntable and torsion
The manipulator of spring, overcomes the deficiency that existing gripping structure is present.Connection procedure of the invention is：By motor connection in pedestal
On, then motor casing is arranged on pedestal, the electric machine structure of closing is formed, the other end of motor casing connects connecting seat, motor
Through cam turntable is fixedly connected after pedestal, cam turntable is abutted against output shaft with paw, pedestal it is relative with installation motor
Side be provided with hinged seat, set at least three substantially in the paws of " 7 " type, the paw has short side and side long, paw
Edge tail long is provided with the holding unit for holding article, and paw short side extends and with certain length along motor output shaft direction
Spend and be hinged on hinged seat near the side of motor, cam turntable is abutted against with the paw short side with the length, is hinged
Torsion spring is provided with seat, torsion spring two ends are connected on hinged seat and paw respectively, torsion spring applies initial forces makes the paw
Closed to the direction of crawl article.Originally new course of work is：Motor rotarily drives cam turntable rotation, on cam turntable
Bulge-structure overcomes the initial forces of torsion spring to drive paw to be rotated around hinged seat, so as to realize opening for paw；Motor is again
Rotation, bulge-structure leaves paw, and paw is closed in the presence of torsion spring, completes the crawl of article.
Brief description of the drawings
Fig. 1 is the integrally-built schematic diagram of manipulator.
Fig. 2 is the schematic diagram of cam turntable structure.
Fig. 3 is the partial structural diagram of manipulator.
Specific embodiment
As shown in Figure 1-2, a kind of manipulator with cam turntable and torsion spring, including connecting seat 1, motor casing 2, pedestal 4,
Paw 9, connecting seat 1 is cylindrical structure, and one end is used to be connected to lifting structure, and the two ends of motor casing 2 connect pedestal 4 and connect respectively
Joint chair 1, motor 3 is fixedly mounted on pedestal 4 and is located in motor casing 2, and the output shaft 6 of motor 3 passes pedestal 4 and stretches to outside simultaneously
It is fixedly connected with cam turntable 8；Pedestal 4, hinged seat 5 is provided with the relative side for installing motor 3, sees Fig. 3；At least three
Substantially in the paw 9 of " 7 " type, with short side and side long, paw edge tail long is provided with the holding unit 10 for holding article, hand
Pawl short side extends along motor output shaft direction and is hinged on hinged seat 5 with certain length and near the side of motor, convex
Wheel rotating disk 8 is abutted against with the paw short side with the length, and torsion spring is provided with hinged seat 5, sees Fig. 3, torsion spring two ends difference
It is connected on hinged seat 5 and paw 9, torsion spring applies initial forces makes the paw 9 be closed to the direction of crawl article, cam
Rotating disk 8 has along at least three projections uniform in the range of 360 degree, and the initial forces of the raised resistance torsion spring make paw 9
Open.
Further, the paw 9 is three, described raised for three, as shown in Figure 2；
Further, multiple loss of weight fabrication holes are distributed with the paw short side with certain length.
The present invention is described in detail by above-mentioned preferred embodiment, and the right present invention is not limited to above-mentioned illustrated reality
Example is applied, it is all in the range of disclosed technological thought, the structure such as this is made various changes and modified, the grade changes and repaiies
Decorations still belong to the scope of the present invention.
Claims (3)
1. a kind of manipulator with cam turntable and torsion spring, including connecting seat, motor casing, pedestal, paw, connecting seat is cylinder
Structure simultaneously is used to be connected to lifting structure, it is characterised in that
The two ends of motor casing connect pedestal and connecting seat respectively, and motor is fixedly mounted on pedestal side and is located in motor casing,
The output shaft of motor passes pedestal and stretches to outside and be fixedly connected with cam turntable；The opposite side of pedestal is provided with hinged seat, institute
Paw is stated at least three substantially in the paw of " 7 " type, the paw has short side and side long, the paw edge tail long is installed
There is the holding unit for holding article, paw short side extends along motor output shaft direction and is hinged near the side of motor described
On hinged seat, cam turntable is abutted against with the paw short side, and torsion spring, the torsion spring two ends difference are provided with the hinged seat
It is connected on the hinged seat and the paw, the torsion spring applies the direction that initial forces make the paw to crawl article
Closure, the cam turntable has along at least three raised, the initial works of the raised resistance torsion spring uniform in the range of 360 degree
Firmly open paw.
2. the manipulator with cam turntable and torsion spring according to claim 1, it is characterised in that the paw is three
It is individual, it is described raised for three.
3. the manipulator with cam turntable and torsion spring according to claim 2, it is characterised in that on the paw short side
Multiple loss of weight fabrication holes are distributed with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177179.1A CN106799741A (en) | 2017-03-16 | 2017-03-16 | Manipulator with cam turntable and torsion spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177179.1A CN106799741A (en) | 2017-03-16 | 2017-03-16 | Manipulator with cam turntable and torsion spring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106799741A true CN106799741A (en) | 2017-06-06 |
Family
ID=58988405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710177179.1A Pending CN106799741A (en) | 2017-03-16 | 2017-03-16 | Manipulator with cam turntable and torsion spring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106799741A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107469342A (en) * | 2017-06-16 | 2017-12-15 | 广州雪暴电子科技有限公司 | The gripper grip adaptive regulation method and system of doll machine |
| CN107598954A (en) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | Robot arm |
| CN108068105A (en) * | 2017-12-23 | 2018-05-25 | 协建（江苏）智能装备有限公司 | Clamping jaw structure with fine tuning structure |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
| CN108584407A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of single motor control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005238400A (en) * | 2004-02-27 | 2005-09-08 | Japan Servo Co Ltd | Gripping device |
| CN104908056A (en) * | 2015-06-29 | 2015-09-16 | 哈尔滨工业大学 | Three-finger mechanical gripper with variable structure |
| CN204712068U (en) * | 2015-06-19 | 2015-10-21 | 宁波亚大金属表面处理有限公司 | A kind of structure improved mechanical paw |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
-
2017
- 2017-03-16 CN CN201710177179.1A patent/CN106799741A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005238400A (en) * | 2004-02-27 | 2005-09-08 | Japan Servo Co Ltd | Gripping device |
| CN204712068U (en) * | 2015-06-19 | 2015-10-21 | 宁波亚大金属表面处理有限公司 | A kind of structure improved mechanical paw |
| CN104908056A (en) * | 2015-06-29 | 2015-09-16 | 哈尔滨工业大学 | Three-finger mechanical gripper with variable structure |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107469342A (en) * | 2017-06-16 | 2017-12-15 | 广州雪暴电子科技有限公司 | The gripper grip adaptive regulation method and system of doll machine |
| CN107469342B (en) * | 2017-06-16 | 2020-07-07 | 广州雪暴电子科技有限公司 | Adaptive adjustment method and system for mechanical claw holding force of doll machine |
| CN107598954A (en) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | Robot arm |
| CN108068105A (en) * | 2017-12-23 | 2018-05-25 | 协建（江苏）智能装备有限公司 | Clamping jaw structure with fine tuning structure |
| CN108582137A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of Dual-motors Driving |
| CN108584407A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of mechanical clamp hand device of single motor control |
| CN108584407B (en) * | 2018-01-29 | 2020-06-09 | 金华市沪达工具有限公司 | Mechanical clamping hand device controlled by single motor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170606 |