CN206558112U - A kind of teaching mechanical gripper - Google Patents
A kind of teaching mechanical gripper Download PDFInfo
- Publication number
- CN206558112U CN206558112U CN201621373050.5U CN201621373050U CN206558112U CN 206558112 U CN206558112 U CN 206558112U CN 201621373050 U CN201621373050 U CN 201621373050U CN 206558112 U CN206558112 U CN 206558112U
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- China
- Prior art keywords
- connecting rod
- installing plate
- motor
- rotating part
- right connecting
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Abstract
The first drive mechanism of rotation is changed hands in a kind of teaching mechanical gripper, including handgrip and driving；The handgrip includes the second motor of handgrip body, the first motor for driving handgrip body folding and the body rotation of driving handgrip；First driving includes the second mounting seat, the 3rd mounting seat, the 3rd motor and gear drive group；The handgrip body is assembled by acrylic transparent panel, and second mounting seat is assembled by acrylic transparent panel, and the 3rd mounting seat is assembled by acrylic transparent panel.Student can be visually seen the drive connection of handgrip, can preferably learn mechanical drive principle.
Description
Technical field
The utility model is related to teaching aid, especially a kind of teaching mechanical gripper.
Background technology
Manipulator makes it have the ability of multi-faceted motion by complicated drive connection, manipulator in the industrial production by
Extensive use, realizes the work such as the carrying of article.Manipulator is mechanically operated typical case's application, with good demonstration lesson
Also often have by the use of manipulator in property, universities and colleges and be used as teaching cases.It is expensive because manipulator is bulky, by industry
Manipulator is substantially unrealistic for teaching aid, and industry mechanical arm is complicated, and internal mechanism can not intuitively be found out,
The purposes of teaching can not be played, it is therefore desirable to research and develop a kind of mechanical arm of suitable teaching.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of teaching mechanical gripper, is adapted to demonstration lesson and uses.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of teaching mechanical gripper, including handgrip
The first drive mechanism of rotation is changed hands with driving, the handgrip includes handgrip body, drives the first motor of handgrip body folding
With the second motor of driving handgrip body rotation, the handgrip body assembles by acrylic transparent panel, it include installing plate,
Left jig arm and right jig arm, the side of the installing plate are provided with the first adpting flange, and the output shaft of second motor is provided with second
Adpting flange, the first adpting flange is bolted with the second adpting flange；The opposite side of the installing plate, which stretches out, to be set
There is the first mounting seat, first motor is fixed in the first mounting seat；The left jig arm includes the first left connecting rod, the second left company
Bar and the 3rd left connecting rod, the first left connecting rod include the first circular rotating part and are connected to the first bar of the first rotating part side
Portion, on a mounting board, the edge of the first rotating part is provided with the first teeth portion, the end of first bar portion for the first rotating part pivot joint
Portion and one end of the second left connecting rod are hinged, and the other end of the second left connecting rod is provided with the first grip slipper, the one of the 3rd left connecting rod
End is hinged on a mounting board, and the other end of the 3rd left connecting rod is hinged on the centre position of the second left connecting rod；The right jig arm includes
First right connecting rod, the second right connecting rod and the 3rd right connecting rod, the first right connecting rod include the second circular rotating part and are connected to second
Second bar portion of rotating part side, the output of the first motor is connected with the second rotating part, and the edge of the second rotating part is provided with and the
Second teeth portion of one teeth portion engagement, the end and one end of the second right connecting rod of second bar portion be hinged, the second right connecting rod it is another
One end is provided with the second grip slipper, the first grip slipper and the second grip slipper composition clamping device, one end hinge of the 3rd right connecting rod
Connect on a mounting board, the other end of the 3rd right connecting rod is hinged on the centre position of the second right connecting rod；
First drive mechanism includes the second mounting seat, the 3rd mounting seat, the 3rd motor and gear drive group, described the
Two mounting seats are assembled by acrylic transparent panel, and it includes the second installing plate and is arranged on the second side of the second installing plate both sides
Plate, the second motor is fixed on the second installing plate, and the 3rd mounting seat is assembled by acrylic transparent panel, and it includes the 3rd
Installing plate and the 3rd side plate for being arranged on the 3rd installing plate both sides, two installing plates are located at the outside of the 3rd installing plate, and two the
First rotating shaft is provided between three installing plates, the two ends of first rotating shaft are fixed after passing the 3rd side plate of both sides respectively with the second side plate
Connection；The gear drive group includes the first sector gear for being enclosed in first rotating shaft and be enclosed on the 3rd motor output shaft the
Two sector gears, the first sector gear is engaged with the second sector gear.
Mechanical gripper of the present utility model integrally has rotary motion, and itself there is handgrip body rotary motion and clamping to transport
It is dynamic；Handgrip with complicated drive connection is assembled by acrylic transparent panel, and the transmission that student can be visually seen handgrip is closed
System, can preferably learn mechanical drive principle；The structure of the utility model mechanical gripper is also suitable in the industrial production simultaneously.
As an improvement, first left connecting rod, the second left connecting rod, the 3rd left connecting rod, the first right connecting rod, the second right connecting rod,
The pivot end of 3rd right connecting rod or hinged end are circle, and are provided with circular circle centre position in circular hole, circular hole and are provided with rotary shaft.
As an improvement, second left connecting rod is outwards bent to form v-shaped structure in centre position in 160 °；Described second is right
Connecting rod is outwards bent to form v-shaped structure in centre position in 160 °.
As an improvement, the first teeth portion is distributed in the circumference range of the first rotating part a quarter；Second teeth portion is distributed in
The circumference range of two rotating part a quarters.
As an improvement, the installing plate is in octagon, the front end of installing plate is trapezoidal, the 3rd left connecting rod and the 3rd right side
One end of connecting rod is hinged on the front end of installing plate, and the second adpting flange is arranged on the rear end of installing plate, the first rotating part and second
Rotating part is arranged on installing plate center edge portion.
As an improvement, the front end of second motor is provided with taper sheath, one end of taper sheath is fixed on the second motor, the
Two adpting flanges are arranged on the other end of taper sheath, are provided with axis hole in taper sheath, and the output shaft of the second motor is through axis hole and the
Two adpting flanges are connected.
As an improvement, one end of the 3rd side plate is connected with the 3rd installing plate, other end semicircular in shape；Between two the 3rd side plates
Provided with shrouding, the shrouding, the 3rd side plate and the 3rd installing plate surround closing space, first sector gear and the second sector
Gear is in closing space.
As an improvement, the output shaft of the 3rd motor is connected by one end of shaft coupling and axostylus axostyle, the other end of axostylus axostyle
Closing space is stretched into through the 3rd installing plate to be connected with the second sector gear.
The beneficial effect that the utility model is brought compared with prior art is：
Mechanical gripper of the present utility model integrally has rotary motion, and itself there is handgrip body rotary motion and clamping to transport
It is dynamic；Handgrip with complicated drive connection is assembled by acrylic transparent panel, and the transmission that student can be visually seen handgrip is closed
System, can preferably learn mechanical drive principle；The structure of the utility model mechanical gripper is also suitable in the industrial production simultaneously.
Brief description of the drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is gripping structure schematic diagram.
Fig. 3 is handgrip decomposition view.
Embodiment
With reference to Figure of description, the utility model is described in further detail.
As shown in figure 1, the first drive mechanism 2 of rotation is changed hands in a kind of teaching mechanical gripper, including handgrip 1 and driving.
As shown in Figure 2,3,1 handgrip includes handgrip body 13, the and of the first motor 12 of the folding of driving handgrip body 13
The second motor 11 of the rotation of handgrip body 13 is driven, the handgrip body 13 is assembled by acrylic transparent panel, and student can
The drive connection of handgrip is can be visually seen, can preferably learn mechanical drive principle.Handgrip body 13 includes installing plate 131, a left side
Jig arm and right jig arm.The installing plate 131 is in octagon, and the rear end of installing plate 131 is provided with the first adpting flange 138, described
The output shaft of second motor 11 is provided with the second adpting flange 112, and the first adpting flange 138 and the second adpting flange 112 pass through spiral shell
Tether and connect, the drive installation plate 131 of the second motor 11 rotates.The middle part side of the installing plate 131 stretches out provided with the first peace
Seat 139 is filled, first motor 12 is fixed in the first mounting seat 139.The left jig arm includes the first left connecting rod 132, second
The left connecting rod 133 of left connecting rod 134 and the 3rd；First left connecting rod 132 includes the first circular rotating part 1321 and is connected to the first rotation
First bar portion 1322 of the side of transfer part 1321, first rotating part 1321 is articulated on installing plate 131, the first rotating part 1321
Edge be provided with the first teeth portion 1323, the first teeth portion 1323 is distributed in the circumference range of a quarter of the first rotating part 1321, institute
The end and one end of the second left connecting rod 134 for stating the first bar portion 1322 are hinged；The other end of second left connecting rod 134 is provided with the first folder
Seat 1341 is held, the first grip slipper 1341 is provided with anti-slop serrations；One end of 3rd left connecting rod 133 is hinged on installing plate 131,
The other end of 3rd left connecting rod 133 is hinged on the centre position of the second left connecting rod 134, and second left connecting rod 134 is in interposition
Put and be outwards bent to form v-shaped structure in 160 °.It is right that the right jig arm includes the first right connecting rod 135, the second right connecting rod 136 and the 3rd
Connecting rod 137；First right connecting rod 135 includes the second circular rotating part 1351 and is connected to the second of the side of the second rotating part 1351
Bar portion 1352, the output of the first motor 12 is connected with the second rotating part 1351, and the edge of the second rotating part 1351 is provided with and first
The second teeth portion 1353 that teeth portion 1323 is engaged, the second teeth portion 1353 is distributed in the circumference model of a quarter of the second rotating part 1351
Enclose, the end of second bar portion 1352 and one end of the second right connecting rod 136 are hinged；The other end of second right connecting rod 136 is provided with
Set on second grip slipper 1361, the first grip slipper 1341 and the second grip slipper 1361 composition clamping device, the second grip slipper 1361
There are anti-slop serrations；One end of 3rd right connecting rod 137 is hinged on installing plate 131, and the other end of the 3rd right connecting rod 137 is hinged on
The centre position of second right connecting rod 136, second right connecting rod 136 is outwards bent to form v-shaped structure in centre position in 160 °.
The front end of installing plate 131 is trapezoidal, and one end of the 3rd left connecting rod 133 and the 3rd right connecting rod 137 is hinged on installing plate 131
Front end, the second adpting flange 112 is arranged on the rear end of installing plate 131, and the first rotating part 1321 and the second rotating part 1351 are set
In the center edge portion of installing plate 131；This kind of compact conformation, and interference is not mutually produced between part.First left connecting rod
132nd, the second left connecting rod 134, the 3rd left connecting rod 133, the first right connecting rod 135, the second right connecting rod 136, the pivot of the 3rd right connecting rod 137
It is circle to connect end or hinged end, and is provided with circular circle centre position in circular hole, circular hole provided with rotary shaft.Circular configuration is around circle
Heart rotary motion is a common principle, and students are easier to receive, and the utility model makes using conventional motion structure
Life becomes apparent from other drive connections that the end rotary motion of connecting rod is brought, study from shallow to deep.Second motor 11
Front end be provided with taper sheath, one end of taper sheath is fixed on the second motor 11, and the second adpting flange 112 is arranged on taper sheath
Axis hole is provided with the other end, taper sheath, the output shaft of the second motor 11 is connected through axis hole with the second adpting flange 112.
As shown in figure 1, first drive mechanism includes the second mounting seat 21, the 3rd mounting seat 22, the and of the 3rd motor 23
Gear drive group.Second mounting seat 21 is assembled by acrylic transparent panel, and it includes the second installing plate 211 and is arranged on
Second side plate 212 of the both sides of the second installing plate 211, the second side plate 212 and the second installing plate 211 surround accommodation space, the second electricity
Machine is fixed on the outside of the second installing plate 211.3rd mounting seat 22 is in accommodation space, and the 3rd mounting seat 22 is by Asia
Gram force transparent panel assembles, its 3rd side plate 222 for including the 3rd installing plate 221 and being arranged on the both sides of the 3rd installing plate 221,
Two installing plate is located at the outside of the 3rd installing plate 221, and relative rotation occurs between the 3rd mounting seat 22 and the second mounting seat 21
It will not be interfered when turning.First rotating shaft 27 is provided between two the 3rd installing plates 221, the two ends of first rotating shaft 27 are passed respectively
It is fixedly connected after 3rd side plate 222 of both sides with the second side plate 212, the 3rd side plate 222 supplies first rotating shaft provided with bearing
27 pass through.The gear drive group includes the first sector gear 25 being enclosed in first rotating shaft 27 and is enclosed on the 3rd motor 23 exporting
The second sector gear 26 on axle, the first sector gear 25 is engaged with the second sector gear 26, and the 3rd motor 23 can pass through rotation
The dynamic rotary motion for being converted to first rotating shaft 27 of transhipment.One end of 3rd side plate 222 is connected with the 3rd installing plate 221, the other end
Semicircular in shape；Shrouding is provided between two the 3rd side plates 222, the shrouding, the 3rd side plate 222 and the 3rd installing plate 221 surround envelope
Space is closed, the sector gear 26 of the first sector gear 25 and second is in closing space.The output of 3rd motor 23
Axle is connected by shaft coupling with one end of axostylus axostyle 24, and the other end of axostylus axostyle stretches into closing space and the through the 3rd installing plate 221
Two sector gears 26 are connected；Axostylus axostyle increases the distance of the 3rd motor 23 output, the flexibility of increase mechanical gripper position.
Claims (8)
1. the first drive mechanism of rotation is changed hands in a kind of teaching mechanical gripper, including handgrip and driving, it is characterised in that：
The handgrip includes the second electricity of handgrip body, the first motor for driving handgrip body folding and the body rotation of driving handgrip
Machine, the handgrip body is assembled by acrylic transparent panel, and it includes installing plate, left jig arm and right jig arm, the installing plate
Side be provided with the first adpting flange, the output shaft of second motor is provided with the second adpting flange, the first adpting flange and the
Two adpting flanges are bolted；The opposite side of the installing plate stretches out provided with the first mounting seat, first motor
It is fixed in the first mounting seat；The left jig arm includes the first left connecting rod, the second left connecting rod and the 3rd left connecting rod, the first left connecting rod
Including the first circular rotating part and the first bar portion for being connected to the first rotating part side, first rotating part is articulated in installation
On plate, the edge of the first rotating part is provided with the first teeth portion, and the end and one end of the second left connecting rod of first bar portion are hinged, the
The other end of two left connecting rods is provided with the first grip slipper, and one end of the 3rd left connecting rod is hinged on a mounting board, the 3rd left connecting rod
The other end be hinged on the centre position of the second left connecting rod；The right jig arm includes the first right connecting rod, the second right connecting rod and the 3rd
Right connecting rod, the first right connecting rod includes the second circular rotating part and is connected to the second bar portion of the second rotating part side, the first electricity
The output of machine is connected with the second rotating part, and the edge of the second rotating part is provided with the second teeth portion engaged with the first teeth portion, and described the
The end of two bar portions and one end of the second right connecting rod are hinged, and the other end of the second right connecting rod is provided with the second grip slipper, the first clamping
Seat constitutes clamping device with the second grip slipper, and one end of the 3rd right connecting rod is hinged on a mounting board, the 3rd right connecting rod it is another
One end is hinged on the centre position of the second right connecting rod；
First drive mechanism includes the second mounting seat, the 3rd mounting seat, the 3rd motor and gear drive group, second peace
Dress seat is assembled by acrylic transparent panel, and it includes the second installing plate and is arranged on the second side plate of the second installing plate both sides,
Second motor is fixed on the second installing plate, and the 3rd mounting seat is assembled by acrylic transparent panel, and it includes the 3rd peace
Dress plate and the 3rd side plate for being arranged on the 3rd installing plate both sides, two installing plate are located at the outside of the 3rd installing plate, two the 3rd
First rotating shaft is provided between installing plate, the two ends of first rotating shaft, which pass to fix with the second side plate after the 3rd side plate of both sides respectively, to be connected
Connect；The gear drive group includes the first sector gear being enclosed in first rotating shaft and be enclosed on the 3rd motor output shaft second
Sector gear, the first sector gear is engaged with the second sector gear.
2. one kind teaching mechanical gripper according to claim 1, it is characterised in that：First left connecting rod, second left side
Connecting rod, the 3rd left connecting rod, the first right connecting rod, the second right connecting rod, the pivot end of the 3rd right connecting rod or hinged end are circle, and
Circular circle centre position, which is provided with circular hole, circular hole, is provided with rotary shaft.
3. one kind teaching mechanical gripper according to claim 1, it is characterised in that：Second left connecting rod is in interposition
Put and be outwards bent to form v-shaped structure in 160 °；Second right connecting rod is in centre position outwards in 160 ° of bent forming V-shape knots
Structure.
4. one kind teaching mechanical gripper according to claim 1, it is characterised in that：First teeth portion is distributed in the first rotation
The circumference range of portion's a quarter；Second teeth portion is distributed in the circumference range of the second rotating part a quarter.
5. one kind teaching mechanical gripper according to claim 1, it is characterised in that：The installing plate is in octagon, peace
The front end for filling plate is trapezoidal, and one end of the 3rd left connecting rod and the 3rd right connecting rod is hinged on the front end of installing plate, the second connection
Flange is arranged on the rear end of installing plate, and the first rotating part and the second rotating part are arranged on installing plate center edge portion.
6. one kind teaching mechanical gripper according to claim 1, it is characterised in that：The front end of second motor is provided with
Taper sheath, one end of taper sheath is fixed on the second motor, and the second adpting flange is arranged in the other end of taper sheath, taper sheath
Provided with axis hole, the output shaft of the second motor is connected through axis hole with the second adpting flange.
7. one kind teaching mechanical gripper according to claim 1, it is characterised in that：One end of 3rd side plate and the 3rd peace
Fill plate connection, other end semicircular in shape；Shrouding, the shrouding, the 3rd side plate and the 3rd installing plate are provided between two the 3rd side plates
Closing space is surrounded, first sector gear and the second sector gear are in closing space.
8. one kind teaching mechanical gripper according to claim 7, it is characterised in that：The output shaft of 3rd motor leads to
The one end for crossing shaft coupling and axostylus axostyle is connected, and the other end of axostylus axostyle stretches into closing space and the second sector gear through the 3rd installing plate
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373050.5U CN206558112U (en) | 2016-12-14 | 2016-12-14 | A kind of teaching mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621373050.5U CN206558112U (en) | 2016-12-14 | 2016-12-14 | A kind of teaching mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206558112U true CN206558112U (en) | 2017-10-13 |
Family
ID=60369955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621373050.5U Expired - Fee Related CN206558112U (en) | 2016-12-14 | 2016-12-14 | A kind of teaching mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206558112U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248542A (en) * | 2020-10-20 | 2021-01-22 | 成都职业技术学院 | A carton device of buckling for fruit vegetables cold chain logistics packing |
-
2016
- 2016-12-14 CN CN201621373050.5U patent/CN206558112U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248542A (en) * | 2020-10-20 | 2021-01-22 | 成都职业技术学院 | A carton device of buckling for fruit vegetables cold chain logistics packing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171013 Termination date: 20171214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |