CN206811994U - A kind of flexible mechanical paw applied to spherical body - Google Patents
A kind of flexible mechanical paw applied to spherical body Download PDFInfo
- Publication number
- CN206811994U CN206811994U CN201720563048.2U CN201720563048U CN206811994U CN 206811994 U CN206811994 U CN 206811994U CN 201720563048 U CN201720563048 U CN 201720563048U CN 206811994 U CN206811994 U CN 206811994U
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- arc
- block
- guide groove
- contact block
- arc guide
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Abstract
The utility model discloses a kind of flexible mechanical paw applied to spherical body, including base, motor installation disc and outer cover are sequentially installed with base from the bottom up, motor is installed on motor installation disc, the output shaft of motor stretches out and is fixedly connected with cam disc straight up, cam disc is provided with the first arc guide groove and the second arc guide groove, from the head end of the first arc guide groove to tail end direction, first arc guide groove and the distance of cam disk center gradually increase, rotated by motor driven cam disc, and then two bearing pins are driven to be slided respectively in corresponding first arc guide groove and the second arc guide groove, and due to the guide effect of chute, bearing pin will drive corresponding sliding block to do linear slide in chute, so as to realize the clamping or release to object.The utility model advantage：By the arc guide groove of special construction, coordinate the guide effect of chute, realize the automatic closure or opening of two arc grip blocks.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of flexible mechanical applied to spherical body
Paw.
Background technology
The mechanical paw researched and developed in present society is a lot, but mostly rigid mechanical paw, particularly easy when capturing object
Object is easily damaged during broken object, causes extreme loss, and be directed to spherical body and plate-shaped body, it usually needs two kinds of design
The paw of structure is individually captured, and versatility is not strong.
Utility model content
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of flexibility applied to spherical body
Mechanical paw, to realize the flexible clamping to object, avoid damage clamping object.
The utility model is achieved through the following technical solutions：
A kind of flexible mechanical paw applied to spherical body, including base, install successively from the bottom up on the base
There are motor installation disc and outer cover,
Motor is installed on the motor installation disc, the output shaft of the motor stretch out straight up motor installation disc it
On, cam disc is provided with the outer cover, and the cam disk center is fixed on the output shaft of the motor, on the cam disc
Provided with the first arc guide groove and the second arc guide groove, from the head end of first arc guide groove to tail end direction, institute
State the first arc guide groove and the distance of the cam disk center gradually increases, second arc guide groove is by described first
Arc guide groove forms along 180 ° of the cam disc central rotation, and the outer cover is provided with linearly extended chute, the cunning
Two sliding blocks are installed, each upper end of slide block is connected with respective arc grip block, the indent one of two arc grip blocks in groove
Side is oppositely arranged to form clamping face, and each sliding block lower end is connected to a bearing pin extended straight down, two bearing pins point
The outer cover is not passed down through and is stretched into the first arc guide groove and the second arc guide groove on the cam disc, passes through electricity
Machine drives cam disc to rotate, and then drives two bearing pins respectively in corresponding first arc guide groove and the second arc guide groove
Slide, and due to the guide effect of chute, bearing pin will drive corresponding sliding block to do linear slide in chute, realize two arcs
The closure or opening of shape grip block, so as to realize the clamping or release to object；
An installation groove is provided with each arc grip block, a flexible contact mechanism is provided with the installation groove,
The flexible contact mechanism includes contact block, mounting bracket, and the contact block and mounting bracket are respectively positioned at corresponding arc grip block
Installation groove inside and outside, the mounting bracket be fixed on corresponding on arc grip block, the medial surface of the contact block with
The medial surface shape of corresponding arc grip block matches, and the contact block on two arc grip blocks is in be oppositely arranged, described to connect
The outside of contact block is by an elastic device and mounting bracket elastic connection, and under nature, the contact block is in elastic device
The medial surface of the inwardly projecting arc grip block of meeting under resilient force, when clamping object, the contact block can touch thing first
Body, realize the flexible clamping to object；The contact block and mounting bracket are respectively arranged with sensing conductive pole in opposite side, when
When two relative sensing conductive poles contact, relative two sensing conductive poles can transmit induced signal to motor, be controlled with this
Motor is turned on and off, and then realizes the Bit andits control of two arc grip blocks.
As the preferred embodiment of above-mentioned technical proposal, the elastic device includes screw rod and spring, in the screw rod
End is fixed on the outside of contact block, and the mounting bracket is provided with the screw rod sets of holes for being used to pass for screw rod, the screw rod outer end
The screw rod sets of holes rear enclosure for passing outwards through the mounting bracket is equipped with a nut, and the screw jacket has a spring, the spring
Both ends are pressed between the contact block and mounting bracket, under nature, contact block meeting under the resilient force of spring
The medial surface of inwardly projecting arc grip block, when contact block contacts with object produces pressure, the contact block can be displaced outwardly
Compression spring, while screw rod can be displaced outwardly along the screw rod sets of holes of mounting bracket.
As the preferred embodiment of above-mentioned technical proposal, the installation groove on the arc grip block is opened in arc folder
Hold at the end edge of plate, in its natural state, the end of arc grip block corresponding to the end edge protrusion of the contact block
Edge, to realize the clamping of plate-shaped body.
As the preferred embodiment of above-mentioned technical proposal,：The contact block is provided with two sensing conductive poles, described to connect
Two sensing conductive poles on contact block are two first sensing conductive poles, and described two first sensing conductive poles are respectively positioned at described
The upper and lower of screw rod, accordingly, it is also equipped with the mounting bracket and two first sensing conductive pole difference one-to-one two
Individual second sensing conductive pole.
As the preferred embodiment of above-mentioned technical proposal, the arc grip block center bottom is provided with contiguous block, passes through
The contiguous block is connected with corresponding sliding block.
The utility model has advantages below compared with prior art：
1st, a kind of flexible mechanical paw applied to spherical body provided by the utility model, it sets two on cam disc
Individual arc guide groove, and from the head end of arc guide groove to tail end direction, each arc guide groove and cam disk center away from
From gradual increase, the arc guide groove of such a special construction is designed, is rotated by motor driven cam disc, so as to drive bearing pin to exist
Slided in corresponding arc guide groove, coordinate the guide effect of chute, bearing pin will drive corresponding sliding block to be done in chute directly
Line slides, and realizes the automatic closure or opening of two arc grip blocks, realizes Automatic-clamping or the release of object.
2nd, a kind of flexible mechanical paw applied to spherical body provided by the utility model, on each arc grip block
Provided with flexible contact mechanism, because contact block is by an elastic device and mounting bracket elastic connection, under nature, contact block
The medial surface of the inwardly projecting arc grip block of meeting under the resilient force of elastic device, when clamping object, flexible contact machine
The contact block of structure can touch object first, realize the flexible clamping to object, especially suitable so as to damage held object
It is suitable for the clamping of frangible object；In addition, contact block and mounting bracket are respectively arranged with sensing conductive pole in opposite side, it is relative
Induced signal can be transmitted to motor during two sensing conductive pole contacts, with being turned on and off for this controlled motor, and then realize two
The Bit andits control of individual arc grip block.
3rd, a kind of flexible mechanical paw applied to spherical body provided by the utility model, connecing on its arc grip block
The end edge of arc grip block, can realize plate-shaped body such as poly (methyl methacrylate) plate simultaneously corresponding to the end edge protrusion of contact block
Flexible clamping, it is applied widely, it is versatile.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is that the utility model removes the overall structure diagram after outer cover and base.
Fig. 3 is top view of the present utility model.
Fig. 4 is the structural representation of arc grip block of the present utility model.
Fig. 5 is the structural representation of flexible contact mechanism of the present utility model.
Fig. 6 is the top view of cam disc of the present utility model.
Fig. 7 is the attachment structure schematic diagram of sliding block of the present utility model respectively with bearing pin and contiguous block.
Label in figure：1 base, 2 motor installation discs, 3 outer covers, 4 sliding blocks, 5 arc grip blocks, 6 mounting brackets, 7 contiguous blocks, 8
Contact block, 9 springs, 10 screw rods, 11 first sensing conductive poles, 12 cam discs, 13 bearing pins, 14 motors, 15 chutes, 16 first arcs
Guide groove, 17 second arc guide grooves, 18 second sensing conductive poles, 19 installation grooves.
Embodiment
Embodiment of the present utility model is elaborated below, the present embodiment using technical solutions of the utility model before
Put and implemented, give detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited
In following embodiments.
Referring to Fig. 1 to Fig. 7, present embodiment discloses a kind of flexible mechanical paw applied to spherical body, including base
1, motor installation disc 2 and outer cover 3 are sequentially installed with from the bottom up on base 1, and outer cover 3, motor installation disc 2 can be fixed by screw
On base 1.
Motor 14 is installed on motor installation disc 2, the output shaft of motor 14 stretches out on motor installation disc 2 straight up,
Cam disc 12 is provided with outer cover 3, and the center of cam disc 12 is fixed on the output shaft of motor 14, cam disc 12 is provided with the first arc
The arc guide groove 17 of shape guide groove 16 and second, from the head end of the first arc guide groove 16 to tail end direction, the first arc is led
Gradually increase to groove 16 and the distance at the center of cam disc 12, the second arc guide groove 17 is along convex by the first arc guide groove 16
180 ° of 12 central rotation of wheel disc forms, and outer cover 3 is provided with linearly extended chute 15, is provided with two sliding blocks 4 in chute 15, often
The individual upper end of sliding block 4 is connected with respective arc grip block 5, and the center bottom of arc grip block 5 is provided with contiguous block 7, passes through contiguous block 7
It is connected with corresponding sliding block 4.The indent side of two arc grip blocks 5 is oppositely arranged to form clamping face, each lower end of sliding block 4
A bearing pin extended straight down 13 is connected to, two bearing pins 13 through outer cover 3 and stretch into cam disc 12 separately down
On the first arc guide groove 16 and the second arc guide groove 17 in, by motor 14 drive cam disc 12 rotate, and then drive
Two bearing pins 13 slide in the corresponding arc guide groove 17 of first arc guide groove 16 and second respectively, and due to chute 15
Guide effect, bearing pin 13 will drive corresponding to sliding block 4 do linear slide in chute 15, realize two arc grip blocks 5
Closure is opened, so as to realize the clamping or release to object；
An installation groove 19 is provided with each arc grip block 5, installs and is provided with a flexible contact mechanism at groove 19,
Flexible contact mechanism includes contact block 8, mounting bracket 6, and contact block 8 and mounting bracket 6 are respectively positioned at the peace of corresponding arc grip block 5
Fill inside and outside groove 19, mounting bracket 6 is fixed on corresponding arc grip block 5, the medial surface of contact block 8 and corresponding arc
The medial surface shape of shape grip block 5 matches, and the contact block 8 on two arc grip blocks 5 is in be oppositely arranged, outside contact block 8
Side is by an elastic device and the elastic connection of mounting bracket 6, under nature, resilient force of the contact block 8 in elastic device
The medial surface of the lower inwardly projecting arc grip block 5 of meeting, when clamping object, contact block 8 can touch object first, realize to thing
The flexible clamping of body；As preferred embodiment, the installation groove 19 on arc grip block 5 is opened in arc grip block 5
At end edge, in its natural state, the end edge of arc grip block 5 corresponding to the end edge protrusion of contact block 8, with reality
The clamping of existing plate-shaped body.Contact block 8 and mounting bracket 6 are respectively arranged with sensing conductive pole in opposite side, are set on contact block 8
There are two sensing conductive poles, two sensing conductive poles on contact block 8 are two first sensing conductive poles 11, two first sensings
Conductive pole 11 is located at the upper and lower of screw rod 10 respectively, accordingly, is also equipped with mounting bracket 6 and two first sensing conductive poles 11
One-to-one two second sensings conductive pole 18 respectively.When two relative sensing conductive pole contacts, relative two senses
Answer conductive pole to transmit induced signal to motor 14, with being turned on and off for this controlled motor 14, and then realize two arc folders
Hold the Bit andits control of plate 5.
Elastic device includes screw rod 10 and spring 9, and the inner of screw rod 10 is fixed on the outside of contact block 8, and mounting bracket 6 is provided with one
The individual sets of holes of screw rod 10 for being used to pass for screw rod 10, the sets of holes rear enclosure of screw rod 10 that the outer end of screw rod 10 passes outwards through mounting bracket 6 are equipped with
One nut, screw rod 10 are cased with a spring 9 outside, and the both ends of spring 9 are pressed between contact block 8 and mounting bracket 6, nature
Under, the medial surface of the inwardly projecting arc grip block 5 of meeting under the resilient force of spring 9 of contact block 8, when contact block 8 and object
When contact produces pressure, contact block 8 can be displaced outwardly compression spring 9, while screw rod 10 can be along the sets of holes of screw rod 10 of mounting bracket 6
It is displaced outwardly.
When needing to capture object, start motor 14, drive cam disc 12 to rotate by motor 14, driven by cam disc 12
Two bearing pins 13 slide in the arc guide groove 17 of corresponding first arc guide groove 16 and second respectively, due to from arcuate guide
The head end of groove gradually increases to arc guide groove on tail end direction and the distance at the center of cam disc 12, when bearing pin 13 is in corresponding arc
From during tail end slides into head end in shape guide groove, bearing pin 13 can move closer to the center of cam disc 12, coordinate chute 15
Straight-line guidance effect, bearing pin 13 will drive corresponding to sliding block 4 do linear slide in chute 15, realize the clamping of two arcs
The automatic closure of plate 5, so as to realize the automatic crawl of object.In the initial of crawl, because contact block 8 is in the elasticity of elastic device
The medial surface of the automatic inwardly projecting arc grip block 5 of the lower meeting of power effect, therefore, two contact blocks 8 can touch object first, connect
Contact block 8 starts to be pressed against outside movement by object, when waiting extruding to a certain extent, the first sensing conductive pole 11 on contact block 8
Will it is corresponding with mounting bracket 6 second sensing conductive pole 18 be in contact, formed galvanic circle, sensing conductive pole will transmit sense
Induction signal starts to stop operating to motor 14, motor 14, and now spring 9 is compressed to has certain elastic force to a certain degree,
Object is clamped because of elastic force, is kept holding state, so as to realize the flexible clamping to object, is realized that object is not moving
Self-locking in the case of power, such a method of clamping will not damage object, ensure that the quality of held object.When need unclamp object
When, similar principle, motor 14 inverts, so as to drive two arc grip blocks 5 to unclamp automatically.
Certainly, plate-shaped body, such as poly (methyl methacrylate) plate are if desired clamped, plate-shaped body first can be placed in two arc clampings
Between plate 5, due to the end edge of arc grip block 5 corresponding to the end edge protrusion of contact block 8, therefore in the process of clamping
In, and two contact blocks 8 are in contact with plate-shaped body first, the course of work for clamping or unclamping is same as above, and here is omitted.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
All any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (5)
1. a kind of flexible mechanical paw applied to spherical body, including base, it is characterised in that:On the base from the bottom up
Motor installation disc and outer cover are sequentially installed with,
Motor is installed, the output shaft of the motor is stretched out on motor installation disc straight up, institute on the motor installation disc
State in outer cover and be provided with cam disc, and the cam disk center is fixed on the output shaft of the motor, the cam disc is provided with
First arc guide groove and the second arc guide groove, from the head end of first arc guide groove to tail end direction, described
One arc guide groove and the distance of the cam disk center gradually increase, and second arc guide groove is by first arc
Guide groove forms along 180 ° of the cam disc central rotation, and the outer cover is provided with linearly extended chute, in the chute
Two sliding blocks are installed, each upper end of slide block is connected with respective arc grip block, the indent side phase of two arc grip blocks
Form clamping face to setting, each sliding block lower end is connected to a bearing pin extended straight down, two bearing pins respectively to
Under through the outer cover and stretch into the first arc guide groove and the second arc guide groove on the cam disc, pass through motor belt motor
Moving cam disk rotates, and then drives two bearing pins sliding in corresponding first arc guide groove and the second arc guide groove respectively
It is dynamic, and due to the guide effect of chute, bearing pin will drive corresponding sliding block to do linear slide in chute, realize two arcs
The closure or opening of grip block, so as to realize the clamping or release to object；
An installation groove is provided with each arc grip block, a flexible contact mechanism is provided with the installation groove, it is described
Flexible contact mechanism includes contact block, mounting bracket, and the contact block and mounting bracket are respectively positioned at the peace of corresponding arc grip block
Fill inside and outside groove, the mounting bracket be fixed on corresponding on arc grip block, the medial surface of the contact block with it is corresponding
The medial surface shape of arc grip block match, the contact block on two arc grip blocks is in being oppositely arranged, the contact block
Outside by an elastic device and mounting bracket elastic connection, under nature, elasticity of the contact block in elastic device
The medial surface of the lower inwardly projecting arc grip block of meeting of power effect, when clamping object, the contact block can touch object first,
Realize the flexible clamping to object；The contact block and mounting bracket are respectively arranged with sensing conductive pole in opposite side, work as phase
To two sensing conductive poles contact when, relative two sensing conductive poles can transmit induced signal to motor, electricity is controlled with this
Machine is turned on and off, and then realizes the Bit andits control of two arc grip blocks.
A kind of 2. flexible mechanical paw applied to spherical body as claimed in claim 1, it is characterised in that：The elasticity dress
Put including screw rod and spring, described screw rod the inner is fixed on the outside of contact block, and the mounting bracket is provided with one and is used to supply screw rod
The screw rod sets of holes passed, the screw rod sets of holes rear enclosure that the screw rod outer end passes outwards through the mounting bracket is equipped with a nut, described
Screw jacket has a spring, and the both ends of the spring is pressed between the contact block and mounting bracket, described to connect under nature
The medial surface of contact block inwardly projecting arc grip block of meeting under the resilient force of spring, when contact block contacts generation pressure with object
During power, the contact block can be displaced outwardly compression spring, while screw rod can be displaced outwardly along the screw rod sets of holes of mounting bracket.
A kind of 3. flexible mechanical paw applied to spherical body as claimed in claim 1, it is characterised in that：The arc folder
The installation groove held on plate is opened at the end edge of arc grip block, in its natural state, the end edge of the contact block
The end edge of arc grip block corresponding to edge protrusion, to realize the clamping of plate-shaped body.
A kind of 4. flexible mechanical paw applied to spherical body as claimed in claim 2, it is characterised in that：The contact block
Provided with two sensing conductive poles, two on the contact block sense conductive poles for two first sensing conductive poles, and described two
Individual first sensing conductive pole is located at the upper and lower of the screw rod respectively, accordingly, is also equipped with the mounting bracket and two the
The one one-to-one two second sensings conductive pole of sensing conductive pole difference.
A kind of 5. flexible mechanical paw applied to spherical body as claimed in claim 1, it is characterised in that：The arc folder
Hold plate center bottom and be provided with contiguous block, be connected by the contiguous block with corresponding sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720563048.2U CN206811994U (en) | 2017-05-19 | 2017-05-19 | A kind of flexible mechanical paw applied to spherical body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720563048.2U CN206811994U (en) | 2017-05-19 | 2017-05-19 | A kind of flexible mechanical paw applied to spherical body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811994U true CN206811994U (en) | 2017-12-29 |
Family
ID=60756903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720563048.2U Withdrawn - After Issue CN206811994U (en) | 2017-05-19 | 2017-05-19 | A kind of flexible mechanical paw applied to spherical body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206811994U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326388A (en) * | 2018-01-19 | 2018-07-27 | 苏州特米特自动化科技有限公司 | A kind of four axis tin soldering machines of PCB |
| CN108656155A (en) * | 2018-05-22 | 2018-10-16 | 王伟 | A kind of protection mechanism of industrial machinery arm |
| CN110282445A (en) * | 2019-06-02 | 2019-09-27 | 江苏三工建材科技有限公司 | A kind of air entrained concrete rolling clamp |
| CN110355315A (en) * | 2018-04-11 | 2019-10-22 | 辽宁五一八内燃机配件有限公司 | A kind of automatic forging positioning die device |
-
2017
- 2017-05-19 CN CN201720563048.2U patent/CN206811994U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326388A (en) * | 2018-01-19 | 2018-07-27 | 苏州特米特自动化科技有限公司 | A kind of four axis tin soldering machines of PCB |
| CN110355315A (en) * | 2018-04-11 | 2019-10-22 | 辽宁五一八内燃机配件有限公司 | A kind of automatic forging positioning die device |
| CN108656155A (en) * | 2018-05-22 | 2018-10-16 | 王伟 | A kind of protection mechanism of industrial machinery arm |
| CN110282445A (en) * | 2019-06-02 | 2019-09-27 | 江苏三工建材科技有限公司 | A kind of air entrained concrete rolling clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171229 Effective date of abandoning: 20230314 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171229 Effective date of abandoning: 20230314 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |