CN206568146U - A kind of friction mechanism hand - Google Patents
A kind of friction mechanism hand Download PDFInfo
- Publication number
- CN206568146U CN206568146U CN201621240325.8U CN201621240325U CN206568146U CN 206568146 U CN206568146 U CN 206568146U CN 201621240325 U CN201621240325 U CN 201621240325U CN 206568146 U CN206568146 U CN 206568146U
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- China
- Prior art keywords
- fixed plate
- connecting rod
- connector
- guide rod
- motor
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- 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.)
- Withdrawn - After Issue
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- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 230000008878 coupling Effects 0.000 claims abstract description 24
- 238000010168 coupling process Methods 0.000 claims abstract description 24
- 238000005859 coupling reaction Methods 0.000 claims abstract description 24
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 3
- 230000008520 organization Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The utility model is related to a kind of friction mechanism hand, belongs to mechanical robot's technical field.The utility model includes bearing block, motor I, fixed plate I, two axle fixtures, baffle plate, screw, rubbing device, connecting rod I, gear wheel, fixed plate III, motor III, guide rod I, screw mandrel I, feed screw nut I, guide rod connector, fixed plate IV, belt, guide rod II, it is oriented to fixed seat, belt pulley fixed seat, little gear, connecting rod II, connector, connecting rod screw, the fixed seat of guide rod I, belt pulley, Pulley shaft, fixed plate bolt, major axis, nut, connecting rod connector, short axle, the connector of fixed plate I, shaft coupling II, bearing I, screw mandrel II, feed screw nut II.The utility model can improve efficiency of the manipulator in practice；Save hand labor cost；Mechanical mechanism design organization is simple, easy processing；The manual labor of people can be reduced；It can capture than manually operating more spherical bodies, operating efficiency can be improved.
Description
Technical field
The utility model is related to a kind of friction mechanism hand, belongs to mechanical robot's technical field.
Background technology
With rapid development of economy, the continuous improvement of people's living standard, the application field of manipulator is more and more wider, but
It is in some special work positions, it is necessary to the artificial crawl and delivery for constantly bending over to carry out object, and in manually crawl thing
When body, the quantity manually captured is few but also wants some actions of bending over of the progress of repeatability so that manually operated
In cumbersome；Although current manipulator application field is extensively, to be developed in terms of object is captured, in order to specific at some
Occasion meets specific demand, devises a kind of new mechanical arm that object is placed using friction crawl, some articles are carried out
Crawl and dispensing, reduce the time for manually capturing object, improve the efficiency of crawl object, realize the multifunction of manipulator.
For example, the people of selection golf sports is more and more, specific people's crawl is needed in whole motion process, golf is carried,
The plenty of time is wasted, when golf is captured, the process for replacing artificially going to grab ball placement is completed with manipulator, so
The time can be saved, while improving the application function of manipulator.
The content of the invention
The purpose of this utility model is to provide a kind of friction mechanism hand, and efficiency is low during solving manually to capture object, operate
Cumbersome the problems such as,
The utility model is realized by following technical scheme：A kind of friction mechanism hand, including bearing block 1, motor I 2, fixed plate
I 3, two axle fixtures 4, baffle plate 5, screw 6, rubbing device 7, connecting rod I 8, gear wheel 12, fixed plate III 13, motor III 14, guide rod
I 15, screw mandrel I 16, feed screw nut I 17, guide rod connector 18, fixed plate IV 19, belt 20, guide rod II 21, be oriented to fixed seat 22,
Belt pulley fixed seat 23, little gear 24, connecting rod II 25, connector 26, connecting rod screw 29, the fixed seat 31 of guide rod I, belt pulley 32,
Pulley shaft 33, fixed plate bolt 34, major axis 35, nut 36, connecting rod connector 37, short axle 38, the connector 39 of fixed plate I, connection
Axle device II 40, bearing I 41, screw mandrel II 44, feed screw nut II 45；Fixed plate I 3, fixed plate III 13 are connected by fixed plate bolt 34
Connect, bearing block 1 is arranged in fixed plate III 13, motor I 2 is arranged on the middle part of fixed plate I 3, motor III 14 is arranged on fixed plate III
On 13, gear wheel 12, which is arranged on the output shaft of motor III 14, is located at the bottom of fixed plate III 13, and the one end of guide rod I 15 passes through guide rod I
Fixed seat 31 is arranged in fixed plate III 13, and the one end of screw mandrel I 16 is located at the bottom of fixed plate III 13, little gear 24 by bearing block 1
It is located at the bottom of fixed plate III 13 installed in the one end of screw mandrel I 16, little gear 24 is engaged with gear wheel 12, and feed screw nut I 17 is arranged on
In the middle part of the sidepiece of fixed plate IV 19, guide rod connector 18 is arranged on the sidepiece of fixed plate IV 19, and fixed plate IV 19 passes through feed screw nut I
17th, guide rod connector 18 coordinates with screw mandrel I 16, guide rod I 15 is placed in screw mandrel I 16, the other end of guide rod I 15, and guide rod II 21 passes through
It is oriented to fixed seat 22 and is arranged on the bottom of fixed plate IV 19, belt pulley fixed seat 23 is arranged in the middle part of the bottom of fixed plate IV 19, belt
Wheel shaft 33 is arranged in belt pulley fixed seat 23, and belt pulley 32 is arranged on Pulley shaft 33, and belt 20, which coordinates, is arranged on belt
On wheel 32, feed screw nut II 45 is arranged on the bottom of two axle fixtures 4, and shaft coupling II 40 is arranged on the output shaft of motor I 2,
One end of screw mandrel II 44 is connected with feed screw nut II 45, and the other end is connected with shaft coupling II 40, and two axle fixtures 4 pass through shaft coupling
II 40, screw mandrel II 44, which is placed on the output shaft of motor I 2, is located at the bottom of fixed plate I 3, and major axis 35 is arranged on two axle fixtures 4
On, the one end of connecting rod II 25 is arranged on major axis 35 by nut 36, bearing I 41, and the one end of connecting rod I 8 is arranged on length by bearing I 41
On axle 35, the one end of connector 26 is arranged on connecting rod I 8 by connecting rod screw 29, and the other end is arranged on by connecting rod screw 29 to be connected
The middle part of bar II 25, the connector 39 of fixed plate I is arranged on the bottom of fixed plate I 3, and the one end of connecting rod connector 37 is arranged on by short axle 38
The middle part of connecting rod I 8, the other end of connecting rod connector 37 is arranged on the bottom of I connector of fixed plate 39 by short axle 38, and rubbing device 7 is pacified
Mounted in the other end of connecting rod II 25, baffle plate 5 is arranged on connecting rod II 25 by screw 6.
The rubbing device 7 includes copper post 9, fixed plate II 10, motor II 11, pipe connector 27, friction pulley 28, shaft coupling
Device I 30, bearing II 42, friction pulley rotating shaft 43, pipe 46；The one end of copper post 9 is arranged on the other end side of connecting rod II 25, fixed plate
II 10 are arranged on the other end of copper post 9, and motor II 11 is arranged in fixed plate II 10, the one end of shaft coupling I 30 and motor II 11
Output shaft is connected, and friction pulley rotating shaft 43 is arranged in the middle part of the bottom of connecting rod II 25 by bearing II 42, the one end of friction pulley rotating shaft 43 and connection
The other end of axle device I 30 is connected, and pipe connector 27, which is arranged in friction pulley rotating shaft 43, to be located on the other end opposite side of connecting rod II 25,
Pipe 46 is arranged on pipe connector 27, and friction pulley 28 is installed on pipe 46.
A kind of operation principle of friction mechanism hand is：Electric power system is powered to motor I 2, rotates motor I 2, so as to drive
Shaft coupling II 40 is rotated, and shaft coupling II 40 is rotated so that screw mandrel II 44 moves up and down in feed screw nut II 45, so that the company of realization
Joint element for bar 37 is rotated around short axle 38, so that drivening rod I 8 and connecting rod II 25 are rotated around major axis 35, so as to realize whole
Friction mechanism winding by hand major axis 35 and rotated, and realizes opening and closing for friction friction mechanism hand；After friction mechanism hand opens,
Two motors II 11 start to rotate, by the rotation of two motors II 11, drive whole rubbing device 7 to rotate, so that peace
Friction pulley 28 mounted in pipe 46 is rotated, when object is captured, and the rotation of motor I 2 can adjust two rubbing devices 7
The distance between, rotated and contacted with object by friction pulley 28, grasping body in friction mechanism hand；When grab object with
Afterwards, motor I 2 starts to rotate, and shortens the distance between two rubbing devices 7, realizes the closure of friction mechanism hand, friction mechanism hand
After crawl object terminates, motor III 14 is started working, so as to drive the gear wheel 12 on the output shaft of motor III 14
Rotate, gear wheel 12, which is rotated, drives the little gear 24 engaged with gear wheel 12 to rotate, the rotation of little gear 24, which drives, is fixed on axle
Screw mandrel I 16 in bearing 1 is rotated, so that screw mandrel I 16 is rotated in bearing block 1 and feed screw nut I 17, now guide rod I 15
Play a part of guiding, so as to realize the up and down motion of whole friction mechanism hand；Guide rod II 21 can be connected with external equipment
Installation is connect, is rotated by belt pulley 32, drives belt 20 to rotate, so as to realize that whole friction mechanism hand does axle along guide rod II 21
To motion, finally realize the multidirectional motion of friction mechanism hand, improve the efficiency of crawl spherical body.
The utility model has the advantages that：
1st, the problem of can solving now to be difficult crawl spherical body at present, can improve efficiency of the manipulator in practice；
2nd, while may be implemented in crawl spherical body, the spherical body accordingly captured is transported to corresponding workspace,
Save hand labor cost；
3rd, mechanical mechanism design organization is simple, easy processing；
4th, the manual labor of people can be reduced, is completed with manipulator because shape is special, be difficult the spherical body of crawl；
5th, it can capture than manually operating more spherical bodies, the quantity that solution is manually captured is few and is difficult to grab steady when capturing
The problem of, improve operating efficiency；
6th, improve by triviality during artificial crawl spherical body, improve operating efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is overlooking the structure diagram of the present utility model；
Fig. 3 is fixed plate mounting structure schematic diagram of the present utility model；
Fig. 4 is guide rod of the present utility model and belt mounting structure schematic diagram；
Fig. 5 is friction mechanism arm device structural representation of the present utility model；
Fig. 6 is connecting rod I of the present utility model, the mounting structure schematic diagram of connecting rod II；
Fig. 7 is rubbing device mounting structure schematic diagram of the present utility model；
Fig. 8 is two axles anchor structure schematic diagram of the present utility model；
Fig. 9 is rubbing device structural representation of the present utility model.
In figure it is each marked as：1：Bearing block, 2：Motor I, 3：Fixed plate I, 4：Two axle fixtures, 5：Baffle plate, 6：Screw, 7：
Rubbing device, 8：Connecting rod I, 9：Copper post, 10：Fixed plate II, 11：Motor II, 12：Gear wheel, 13：Fixed plate III, 14：Motor
Ⅲ、15：Guide rod I, 16：Screw mandrel I, 17：Feed screw nut I, 18：Guide rod connector, 19：Fixed plate IV, 20：Belt, 21：Guide rod
Ⅱ、22：It is oriented to fixed seat, 23：Belt pulley fixed seat, 24：Little gear, 25：Connecting rod II, 26：Connector, 27：Pipe connector,
28：Friction pulley, 29：Connecting rod screw, 30：Shaft coupling I, 31：The fixed seat of guide rod I, 32：Belt pulley, 33：Pulley shaft, 34：It is fixed
Plate bolt, 35：Major axis, 36：Nut, 37：Connecting rod connector, 38：Short axle, 39：The connector of fixed plate I, 40：Shaft coupling II, 41：
Bearing I, 42：Bearing II, 43：Friction pulley rotating shaft, 44：Screw mandrel II, 45：Feed screw nut II, 46：Pipe.
Embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, but content of the present utility model is not
It is limited to the scope.
Embodiment 1：As shown in figs 1-9, a kind of friction mechanism hand, including bearing block 1, motor I 2, fixed plate I 3, two axles are solid
Determine part 4, baffle plate 5, screw 6, rubbing device 7, connecting rod I 8, gear wheel 12, fixed plate III 13, motor III 14, guide rod I 15, screw mandrel I
16th, feed screw nut I 17, guide rod connector 18, fixed plate IV 19, belt 20, guide rod II 21, guiding fixed seat 22, belt pulley are solid
Reservation 23, little gear 24, connecting rod II 25, connector 26, connecting rod screw 29, the fixed seat 31 of guide rod I, belt pulley 32, Pulley shaft
33rd, fixed plate bolt 34, major axis 35, nut 36, connecting rod connector 37, short axle 38, the connector 39 of fixed plate I, shaft coupling II 40,
Bearing I 41, screw mandrel II 44, feed screw nut II 45；Fixed plate I 3, fixed plate III 13 are connected by fixed plate bolt 34, bearing block 1
In fixed plate III 13, motor I 2 is arranged on the middle part of fixed plate I 3, and motor III 14 is arranged in fixed plate III 13, gear wheel
12 are arranged on positioned at the bottom of fixed plate III 13 on the output shaft of motor III 14, and the one end of guide rod I 15 is installed by the fixed seat 31 of guide rod I
In fixed plate III 13, the one end of screw mandrel I 16 is located at the bottom of fixed plate III 13 by bearing block 1, and little gear 24 is arranged on screw mandrel I 16
One end is located at the bottom of fixed plate III 13, and little gear 24 is engaged with gear wheel 12, and feed screw nut I 17 is arranged on the side of fixed plate IV 19
In the middle part of portion, guide rod connector 18 is arranged on the sidepiece of fixed plate IV 19, and fixed plate IV 19 passes through feed screw nut I 17, guide rod connector
18 are placed in screw mandrel I 16, the other end of guide rod I 15 with screw mandrel I 16, the cooperation of guide rod I 15, and guide rod II 21 is pacified by being oriented to fixed seat 22
Mounted in the bottom of fixed plate IV 19, belt pulley fixed seat 23 is arranged in the middle part of the bottom of fixed plate IV 19, and Pulley shaft 33 is arranged on skin
In belt wheel fixed seat 23, belt pulley 32 is arranged on Pulley shaft 33, and belt 20, which coordinates, to be arranged on belt pulley 32, feed screw nut
II 45 be arranged on two axle fixtures 4 bottom, shaft coupling II 40 be arranged on motor I 2 output shaft on, one end of screw mandrel II 44 with
Feed screw nut II 45 is connected, and the other end is connected with shaft coupling II 40, and two axle fixtures 4 are pacified by shaft coupling II 40, screw mandrel II 44
Put and be located at the bottom of fixed plate I 3 on the output shaft of motor I 2, major axis 35 is arranged on two axle fixtures 4, and the one end of connecting rod II 25 leads to
Nut 36, bearing I 41 are crossed on major axis 35, the one end of connecting rod I 8 is arranged on major axis 35 by bearing I 41, connector 26 1
End is arranged on connecting rod I 8 by connecting rod screw 29, and the other end is arranged on the middle part of connecting rod II 25, fixed plate I by connecting rod screw 29
Connector 39 is arranged on the bottom of fixed plate I 3, and the one end of connecting rod connector 37 is arranged on the middle part of connecting rod I 8 by short axle 38, and connecting rod connects
The other end of fitting 37 is arranged on the bottom of I connector of fixed plate 39 by short axle 38, and it is another that rubbing device 7 is arranged on connecting rod II 25
End, baffle plate 5 is arranged on connecting rod II 25 by screw 6.
Rubbing device 7 includes copper post 9, fixed plate II 10, motor II 11, pipe connector 27, friction pulley 28, shaft coupling I
30th, bearing II 42, friction pulley rotating shaft 43, pipe 46；The one end of copper post 9 is arranged on the other end side of connecting rod II 25, fixed plate II
10 are arranged on the other end of copper post 9, and motor II 11 is arranged in fixed plate II 10, and the one end of shaft coupling I 30 is defeated with motor II 11
Shaft is connected, and friction pulley rotating shaft 43 is arranged in the middle part of the bottom of connecting rod II 25 by bearing II 42, the one end of friction pulley rotating shaft 43 and shaft coupling
The other end of device I 30 is connected, and pipe connector 27, which is arranged in friction pulley rotating shaft 43, to be located on the other end opposite side of connecting rod II 25, circle
Pipe 46 is arranged on pipe connector 27, and friction pulley 28 is installed on pipe 46.
Claims (2)
1. a kind of friction mechanism hand, it is characterised in that：Including bearing block（1）, motor I（2）, fixed plate I（3）, two axle fixtures
（4）, baffle plate（5）, screw（6）, rubbing device（7）, connecting rod I（8）, gear wheel（12）, fixed plate III（13）, motor III（14）、
Guide rod I（15）, screw mandrel I（16）, feed screw nut I（17）, guide rod connector（18）, fixed plate IV（19）, belt（20）, guide rod II
（21）, be oriented to fixed seat（22）, belt pulley fixed seat（23）, little gear（24）, connecting rod II（25）, connector（26）, connecting rod spiral shell
Nail（29）, the fixed seat of guide rod I（31）, belt pulley（32）, Pulley shaft（33）, fixed plate bolt（34）, major axis（35）, nut
（36）, connecting rod connector（37）, short axle（38）, the connector of fixed plate I（39）, shaft coupling II（40）, bearing I（41）, screw mandrel II
（44）, feed screw nut II（45）；Fixed plate I（3）, fixed plate III（13）Pass through fixed plate bolt（34）Connection, bearing block（1）Peace
Mounted in fixed plate III（13）On, motor I（2）Installed in fixed plate I（3）Middle part, motor III（14）Installed in fixed plate III（13）
On, gear wheel（12）Installed in motor III（14）Output shaft on be located at fixed plate III（13）Bottom, guide rod I（15）One end passes through
The fixed seat of guide rod I（31）Installed in fixed plate III（13）On, screw mandrel I（16）One end passes through bearing block（1）Positioned at fixed plate III
（13）Bottom, little gear（24）Installed in screw mandrel I（16）One end is located at fixed plate III（13）Bottom, little gear（24）With gear wheel
（12）Engagement, feed screw nut I（17）Installed in fixed plate IV（19）Sidepiece in the middle part of, guide rod connector（18）Installed in fixed plate
Ⅳ（19）Sidepiece, fixed plate IV（19）Pass through feed screw nut I（17）, guide rod connector（18）With screw mandrel I（16）, guide rod I（15）
Cooperation is placed in screw mandrel I（16）, guide rod I（15）The other end, guide rod II（21）By being oriented to fixed seat（22）Installed in fixed plate
Ⅳ（19）Bottom, belt pulley fixed seat（23）Installed in fixed plate IV（19）In the middle part of bottom, Pulley shaft（33）Installed in belt
Take turns fixed seat（23）It is interior, belt pulley（32）Installed in Pulley shaft（33）On, belt（20）Coordinate and be arranged on belt pulley（32）On,
Feed screw nut II（45）Installed in two axle fixtures（4）Bottom, shaft coupling II（40）Installed in motor I（2）Output shaft on,
Screw mandrel II（44）One end and feed screw nut II（45）Connection, the other end and shaft coupling II（40）Connection, two axle fixtures（4）It is logical
Cross shaft coupling II（40）, screw mandrel II（44）It is placed in motor I（2）Output shaft on be located at fixed plate I（3）Bottom, major axis（35）
Installed in two axle fixtures（4）On, connecting rod II（25）One end passes through nut（36）, bearing I（41）Installed in major axis（35）On, even
Bar I（8）One end passes through bearing I（41）Installed in major axis（35）On, connector（26）One end passes through connecting rod screw（29）It is arranged on
Connecting rod I（8）On, the other end passes through connecting rod screw（29）Installed in connecting rod II（25）Middle part, the connector of fixed plate I（39）It is arranged on
Fixed plate I（3）Bottom, connecting rod connector（37）One end passes through short axle（38）Installed in connecting rod I（8）Middle part, connecting rod connector
（37）The other end passes through short axle（38）Installed in the connector of fixed plate I（39）Bottom, rubbing device（7）Installed in connecting rod II（25）
The other end, baffle plate（5）Pass through screw（6）Installed in connecting rod II（25）.
2. friction mechanism hand according to claim 1, it is characterised in that：The rubbing device（7）Including copper post（9）, it is solid
Fixed board II（10）, motor II（11）, pipe connector（27）, friction pulley（28）, shaft coupling I（30）, bearing II（42）, friction pulley
Rotating shaft（43）, pipe（46）；Copper post（9）One end is arranged on connecting rod II（25）On other end side, fixed plate II（10）It is arranged on
Copper post（9）On the other end, motor II（11）Installed in fixed plate II（10）On, shaft coupling I（30）One end and motor II（11）'s
Output shaft is connected, friction pulley rotating shaft（43）Pass through bearing II（42）Installed in connecting rod II（25）In the middle part of bottom, friction pulley rotating shaft（43）
One end and shaft coupling I（30）The other end is connected, pipe connector（27）Installed in friction pulley rotating shaft（43）It is upper to be located at connecting rod II
（25）On other end opposite side, pipe（46）Installed in pipe connector（27）On, friction pulley（28）Pipe is installed（46）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621240325.8U CN206568146U (en) | 2016-11-21 | 2016-11-21 | A kind of friction mechanism hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621240325.8U CN206568146U (en) | 2016-11-21 | 2016-11-21 | A kind of friction mechanism hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206568146U true CN206568146U (en) | 2017-10-20 |
Family
ID=60062441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621240325.8U Withdrawn - After Issue CN206568146U (en) | 2016-11-21 | 2016-11-21 | A kind of friction mechanism hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206568146U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514619A (en) * | 2016-11-21 | 2017-03-22 | 昆明理工大学 | Friction mechanical arm |
-
2016
- 2016-11-21 CN CN201621240325.8U patent/CN206568146U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514619A (en) * | 2016-11-21 | 2017-03-22 | 昆明理工大学 | Friction mechanical arm |
| CN106514619B (en) * | 2016-11-21 | 2019-01-04 | 昆明理工大学 | A kind of friction mechanism hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171020 Effective date of abandoning: 20190104 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171020 Effective date of abandoning: 20190104 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |