CN206551035U - A kind of quick reduction magic square mechanical gripper - Google Patents
A kind of quick reduction magic square mechanical gripper Download PDFInfo
- Publication number
- CN206551035U CN206551035U CN201720189638.3U CN201720189638U CN206551035U CN 206551035 U CN206551035 U CN 206551035U CN 201720189638 U CN201720189638 U CN 201720189638U CN 206551035 U CN206551035 U CN 206551035U
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- magic square
- fixed
- fixed block
- mechanical gripper
- socket
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Abstract
A kind of quick reduction magic square mechanical gripper of the utility model, including several handgrip units, each handgrip unit include Coupling and stepper motor；The stepper motor includes drive device and drive shaft；The Coupling includes being fixed by socket portion and several fixed blocks, and definition is described, and to be fixed by socket portion close to the surface of magic square be first surface, then its opposite face is second surface；The second surface center is provided with a circular groove and is adapted with the drive shaft；The fixed block is uniformly distributed on the first surface；Several holes are provided with the magic square to be adapted with the fixed block.Each surface of magic square can effectively be rotated using such mechanical gripper structure, function is easy and simple in construction.
Description
Technical field
The utility model is related to manipulator technical field, especially a kind of quick reduction magic square mechanical gripper.
Background technology
With the continuous progress of human lives, magic square becomes the riddle increasingly liked in people's life, and gets over
Also arisen at the historic moment come more magic cube-solving robots, and solution magic square manipulator of the prior art be mostly by complicated six from
Controlled by degree manipulator, or clamp each surface of magic square to rotate magic square by the manipulator of claw-like, but used
These structures often cause the cost of manipulator to greatly increase, and many clamping structures can not extremely flexible rotate magic square
And rotary speed is universal too slow, therefore, it is necessary to propose a more preferable solution magic square manipulator.
Utility model content
In view of the technical problem present in background technology, the purpose of this utility model is the shortcoming for overcoming prior art,
The quick reduction magic square mechanical gripper of one kind that a kind of rotary speed is fast, firm, simple in construction and production cost is low is provided：
A kind of quick reduction magic square mechanical gripper, including several handgrip units, each handgrip unit include set
Fitting and stepper motor；The stepper motor includes drive device and drive shaft；If the Coupling include be fixed by socket portion and
A dry fixed block, definition is described, and to be fixed by socket portion close to the surface of magic square be first surface, then its opposite face is second surface；Institute
State second surface center and be provided with a circular groove and be adapted with the drive shaft；The fixed block is uniformly distributed in the first surface
On；Several holes are provided with the magic square to be adapted with the fixed block.
As a further improvement, the quantity of the handgrip unit is six, six surfaces with magic square are just to setting respectively.
As a further improvement, the portion of being fixed by socket is cylinder；The quantity of the fixed block is four, the fixation
Block is cylinder, and the fixed block is mutually inscribed with the first surface.
As a further improvement, being fixed by socket a height of d in portion described in definition, wherein d scope is 18mm~25mm；Definition
The basal diameter for being fixed by socket portion is a, and wherein a scope is 13mm~15mm；A height of h of the fixed block is defined, its
Middle h scope is 2.5mm~3.5mm；Define the fixed block basal diameter be l, wherein l scope be 2.5mm~
3.5mm。
As a further improvement, being provided with a screwed hole on the portion of the being fixed by socket side and drive shaft correspondence position, pass through
The portion that is fixed by socket is fixedly connected by nut with drive shaft.
It is adapted as a further improvement, being provided with four on the temporary location block in each face of magic square with the fixed block
Hole；The drive device provides drive shaft power, and the drive shaft drives the Coupling rotation to control the every of magic square
Individual face is rotated.
Compared with prior art, the utility model has advantages below：
Use solid provided with cylinder on Coupling surface in a kind of quick reduction magic square mechanical gripper of the utility model
The structure of block is determined, while the circular groove being adapted therewith is provided with each centre of surface of magic square, finally by coaxial with fixed block
Drive shaft provides power, and to rotate, magic square, whole mechanical structure very simple, but rotary speed are fast and rotation magic square effect is good.
Brief description of the drawings
Accompanying drawing 1 is a kind of structural representation of quick reduction magic square mechanical gripper of the utility model；
Accompanying drawing 2 is a kind of structural representation of quick reduction magic square mechanical gripper Coupling of the utility model；
Accompanying drawing 3 is the signal that magic square is fixed when a kind of quick reduction magic square of the utility model is six with mechanical gripper quantity
Figure.
Main element symbol description
Handgrip unit 100 including Coupling 10, it is fixed by socket portion 11, first surface 111, circular groove 1121, second surface
112nd, screwed hole 113, fixed block 12, stepper motor 20, drive device 21, drive shaft 22, magic square 200,
Embodiment
, it is necessary to which explanation, term " first ", " second " are only used for describing purpose in description of the present utility model, and
It is not intended that indicating or implying relative importance." being connected ", " connection " should be interpreted broadly, for example, it may be fixed connect
Connect or be detachably connected, or be integrally connected；Can be mechanical connection or electrical connection；It can be direct phase
Even, it can also be indirectly connected to by intermediary, can be the connection of two element internals.For the ordinary skill people of this area
For member, concrete meaning of the above-mentioned term in the utility model can be understood with concrete condition.In addition, being retouched of the present utility model
In stating, unless otherwise indicated, " multiple " are meant that two or more.
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is a part of embodiment of the present utility model, rather than whole embodiments.Based on the reality in the utility model
Apply example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made, all
Belong to the scope of the utility model protection.The utility model is made with embodiment below in conjunction with the accompanying drawings further to retouch in detail
State.
Embodiment：
It refer in Fig. 1 to Fig. 3, embodiment, a kind of quick reduction magic square mechanical gripper, including several handgrip units
100, each handgrip unit 100 includes Coupling 10 and stepper motor 20；The stepper motor 20 includes drive device 21
With drive shaft 22；The Coupling 10 includes being fixed by socket portion 11 and several fixed blocks 12, define described in be fixed by socket portion 11
It is first surface 111 close to the surface of magic square 200, then its opposite face is second surface 112；Open at the center of second surface 112
There is a circular groove 1121 to be adapted with the drive shaft 22；The fixed block 12 is uniformly distributed in 11 on the first surface；It is described
Several holes are provided with magic square 200 to be adapted with the fixed block 12.Using on the surface of Coupling 10 provided with fixed block 12
Structure, while the fixation slotted eye being adapted therewith is provided with each centre of surface of magic square 200, finally by coaxial with fixed block 12
Drive shaft to provide power fast and rotate magic square effect to rotate magic square 200, whole mechanical structure very simple, but rotary speed
It is good.
It refer in Fig. 1, embodiment, cylinder is in the portion 10 that is fixed by socket；The quantity of the fixed block 12 is four,
The fixed block 12 is cylinder, and the fixed block 12 is mutually inscribed with the first surface 111.Portion 11 is fixed by socket described in definition
A height of d, wherein d scope be 18mm~25mm；The basal diameter that portion 11 is fixed by socket described in definition is a, wherein a scope
For 13mm~15mm；A height of h of the fixed block 12 is defined, wherein h scope is 2.5mm~3.5mm；Define the fixed block
12 basal diameter is l, and wherein l scope is 2.5mm~3.5mm.Fixed block 12 is using the knot being mutually inscribed with first surface 111
Structure, turn that fixed block drives magic-square rotary can be effectively improved in combination with the radius scale of the portion that is fixed by socket 11 and fixed block 12
Efficiency of movement, saves power output.
Fig. 1 is refer to, described be fixed by socket on the side of portion 11 and the correspondence position of drive shaft 22 is provided with a screwed hole 113, led to
Cross nut to be fixedly connected with the portion 11 that is fixed by socket with drive shaft 22, will effectively can be covered by nut using such structure
Fitting 10 is fixed in drive shaft 22, it is ensured that Coupling 10 does not depart from drive shaft 22 during high speed rotates.
It refer in Fig. 3, embodiment, the quantity of the handgrip unit 100 is six, respectively with six tables of magic square 200
Face is adapted with the fixed block 12 just to setting while being provided with four on the temporary location block in each face of the magic square 200
Hole；The drive device 21 provides the power of drive shaft 22, and the drive shaft 22 drives the rotation of Coupling 10 to control evil spirit
Each face of side 200 is rotated.The stepper motor of each handgrip unit 100 is connected to power supply and controller.Market
Upper many robot manipulator structures using four axles, can become very difficult when rotating magic square upper and lower surface, set six handgrip units 100
The rotation on six-freedom degree can be effectively realized, it is efficient and quick.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements done etc. should be included in the utility model
Within the scope of protection.
Claims (6)
1. a kind of quick reduction magic square mechanical gripper, it is characterised in that：Including several handgrip units, each handgrip list
Member includes Coupling and stepper motor；The stepper motor includes drive device and drive shaft；It is solid that the Coupling includes socket
Determine portion and several fixed blocks, definition is described, and to be fixed by socket portion close to the surface of magic square be first surface, then its opposite face is the
Two surfaces；The second surface center is provided with a circular groove and is adapted with the drive shaft；The fixed block is uniformly distributed in described
On first surface；Several holes are provided with the magic square to be adapted with the fixed block.
2. quick reduction magic square mechanical gripper according to claim 1, it is characterised in that：The quantity of the handgrip unit
For six, six surfaces with magic square are just to setting respectively.
3. quick reduction magic square mechanical gripper according to claim 2, it is characterised in that：The portion of being fixed by socket is circle
Cylinder；The quantity of the fixed block be four, the fixed block be cylinder, the fixed block with the first surface phase
Connect.
4. quick reduction magic square mechanical gripper according to claim 3, it is characterised in that：Portion is fixed by socket described in definition
A height of d, wherein d scope be 18mm~25mm；The basal diameter that portion is fixed by socket described in definition is a, and wherein a scope is
13mm~15mm；A height of h of the fixed block is defined, wherein h scope is 2.5mm~3.5mm；Define the bottom of the fixed block
The a diameter of l in face, wherein l scope are 2.5mm~3.5mm.
5. quick reduction magic square mechanical gripper according to claim 4, it is characterised in that：The portion of the being fixed by socket side
With a screwed hole is provided with drive shaft correspondence position, the portion that is fixed by socket is fixedly connected with drive shaft by nut.
6. quick reduction magic square mechanical gripper according to claim 1, it is characterised in that：In each face of magic square
Between be provided with four holes being adapted with the fixed block on cell block；The drive device provides drive shaft power, the driving
Axle drives the Coupling rotation to control each face of magic square to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720189638.3U CN206551035U (en) | 2017-02-28 | 2017-02-28 | A kind of quick reduction magic square mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720189638.3U CN206551035U (en) | 2017-02-28 | 2017-02-28 | A kind of quick reduction magic square mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206551035U true CN206551035U (en) | 2017-10-13 |
Family
ID=60360275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720189638.3U Active CN206551035U (en) | 2017-02-28 | 2017-02-28 | A kind of quick reduction magic square mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206551035U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| CN109571501A (en) * | 2018-12-29 | 2019-04-05 | 上海建桥学院 | Four-column type magic cube-solving robot device, system and application method |
-
2017
- 2017-02-28 CN CN201720189638.3U patent/CN206551035U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| CN108159682B (en) * | 2018-02-09 | 2024-01-09 | 南月（广州）机器人科技有限公司 | Magic cube and automatic restoration device thereof |
| CN109571501A (en) * | 2018-12-29 | 2019-04-05 | 上海建桥学院 | Four-column type magic cube-solving robot device, system and application method |
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