CN206937354U - A kind of mechanical paw - Google Patents
A kind of mechanical paw Download PDFInfo
- Publication number
- CN206937354U CN206937354U CN201720712270.4U CN201720712270U CN206937354U CN 206937354 U CN206937354 U CN 206937354U CN 201720712270 U CN201720712270 U CN 201720712270U CN 206937354 U CN206937354 U CN 206937354U
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- fingers
- finger
- spring
- mechanical paw
- moving spring
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Abstract
The utility model provides a kind of mechanical paw, is related to a kind of automatic mechanism.It solves the problems, such as mechanical paw structure complexity in the prior art.This mechanical paw, it includes two split fingers, the finger root of two fingers is spindle rotationally arranged on hinge axis, hinge axis is fixed on fixed block, the alignment pin being provided with fixed block between two fingers, and being provided with finger can be with the half slot of detent fit, back-moving spring is connected between two fingers, the both ends of back-moving spring are fixed with two fingers respectively, and two finger ends have the breach of face-off, and two breach form the jaws of clamping workpiece.The finger that mechanical paw combination of the present utility model can be automatically positioned, the installation easily and fast to elastic metallic folder is realized, realize that the positioning to finger simplifies device using simple bearing pin.
Description
Technical field
The utility model belongs to a kind of mechanical paw, particularly a kind of manipulator for being used to carry out quick crawl miniature workpiece
Pawl.
Background technology
Manipulator can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can
Instead of the heavy labor of people to realize the mechanization of production and automation.
Mechanical paw can realize the robot components of similar human hand function.Robot hand is for gripping workpiece or work
The part of tool, it is one of important executing agency.
Current mechanical paw is typically provided with independent driving part, such as motor or pneumatic cylinder, and these drive
Motivation structure, which will also match somebody with somebody, closes the opening and closing movement that the action of driving part is converted into mechanical paw by corresponding transmission mechanism, but some
Simple task again need not be more complicated mechanical paw, such as only need simply crawl one finding manipulator
Pawl, if setting independent driving part and corresponding transmission switching mechanism, cost is not only added, and need complicated control
System processed.
The content of the invention
The purpose of this utility model is above mentioned problem be present for existing technology, it is proposed that a kind of mechanical paw, the machine
Tool paw does not need independent driving equipment, simple in construction, it is not necessary to which complicated control system, the mechanical paw utilized is in itself
Structure is that the crawl to workpiece can be achieved, and after mechanical paw unclamps clamping thing, the jaws of mechanical paw can automatically restore to
Position originally so that as long as the position of control machinery paw ensures that the position of jaws.
The purpose of this utility model can be realized by following technical proposal：A kind of mechanical paw, it is split including two
Finger, the finger root of two fingers is spindle rotationally arranged on hinge axis, and hinge axis is fixed on fixed block, is set on fixed block
Have the alignment pin between two fingers, be provided with finger can with the half slot of detent fit, between two fingers
Back-moving spring is connected, the both ends of back-moving spring are fixed with two fingers respectively, breach of two finger ends with face-off, two
Breach forms the jaws of clamping workpiece.
The operation principle of this mechanical paw is such：Mechanical paw is moved at workpiece, jaws alignment pieces, and then
Press to workpiece so that workpiece is pressed into jaws, is clamped workpiece under the reset pulling force effect of back-moving spring, is then moved workpiece
Specified location is moved, there are other mechanisms to take workpiece away or workpiece is installed to specified location.Due to the presence of alignment pin so that when
After workpiece leaves jaws, because the stop of alignment pin may be such that the position of relative fixed block during two fingers closure keeps fixing, i.e.,
When opening clamp mouth part without workpiece, the half slot of two fingers is all the time with positioning pin contacts, so that the jaws position of clamping jaw is relative
Constant in fixed block, consequently facilitating be accurately controlled the position of jaws by controlling the position of fixed block, such as fixed block can be by
Mechanical arm control movement, so as to ensure the accuracy of manipulator control.Special mechanism is not needed using simple alignment pin（Such as
Cylinder etc.）The folding of special control finger, that is, simplify device and improve accuracy, the stability of work again, improve effect
Rate reduces equipment cost, is a kind of principle using mechanism adaptive location.
In above-mentioned mechanical paw, chute is provided with the fixed block, the alignment pin slidably coordinates in cunning
In groove, driving spring is connected between the alignment pin and chute, under normality, i.e., when in jaws without workpiece, driving spring is to fixed
Position pin has the pretension that a direction refers to root so that after workpiece, which enters in jaws, struts two fingers, alignment pin is along chute
Moved to root is referred to so that alignment pin contacts the positioning realized to finger with two fingers all the time so that the center of jaws
It is constant.
In above-mentioned mechanical paw, the oriented slope breach for referring to the extension of root direction on the half slot on the finger, just
Moved up in alignment pin along the crack for referring to root.
In above-mentioned mechanical paw, the driving spring is two-way shape memory alloy spring, and the driving spring connects
Connect current control circuit, the electric current that the current control circuit control passes through driving spring.Control electric current is remembered by round trip shape
Alloy spring is recalled so that spring generates heat, when reaching the high temperature transformation temperature of two-way shape memory alloy spring so that driving bullet
Spring is stretched or contracted, so as to control alignment pin to be moved along chute, so as to control the folding of two fingers.
In above-mentioned mechanical paw, the back-moving spring is two-way shape memory alloy spring, and the back-moving spring connects
Connect current control circuit, the electric current that the current control circuit control passes through back-moving spring.Control electric current is remembered by round trip shape
Alloy spring is recalled so that back-moving spring generates heat, when reaching the high temperature transformation temperature of two-way shape memory alloy spring so that is drawn
Tight camber of spring can be arranged as required to so as to control the folding of paw, want mechanical paw to need to be clamped to object for example, working as
When, to back-moving spring electrified regulation spring is extended, so as to which two fingers are separately clamped into object, then powering off cooling makes
Back-moving spring shrink grip objects, object is moved into place postpone be powered again open finger cause object depart from mechanical paw.
Temperature can certainly be switched on to raise so that back-moving spring shrinks, so as to realize by chucking power of the increase to object that be powered.
In above-mentioned mechanical paw, two wires at connection back-moving spring both ends are each passed through described hinge axis and control
Circuit connection processed.
In above-mentioned mechanical paw, the back-moving spring is two-way shape memory alloy spring, the back-moving spring with
It is connected after two finger series connection with current control circuit, the current control circuit control passes through the electric current of back-moving spring, positioning
It is conductor to sell for insulator, finger so that can just be enabled current to by back-moving spring, i.e., two during only two finger contacts
Individual finger when clamping conductor between two fingers, that is, realizes the electrical contact of two fingers, namely realize equivalent to switch
The closure of switch, at this moment current control circuit can cause electric current by back-moving spring, so that back-moving spring generates heat, so as to
Control back-moving spring or folding control of the realization to finger of stretching or contract.
In above-mentioned mechanical paw, alignment pin can be controlled along chute by the pushing handle telescopic control mechanism being arranged on fixed block and slided
Dynamic, the control jaws for active is opened, such as the piston extension and contraction control alignment pin using the pneumatic cylinder being arranged on fixed block
It is mobile.
Compared with prior art, this mechanical paw has advantages below：
1st, the finger that mechanical paw combination of the present utility model can be automatically positioned, is realized easily and fast to elastic metallic
The installation of folder, realize that the positioning to finger simplifies device using simple bearing pin.
2nd, the utility model utilizes folding of the shape memory alloy spring by current control mechanical paw so that manipulator
In light weight, easy to remove, the simplified mechanical structure of pawl.
3rd, the utility model is simple in construction, easy to operate, and cost is low, is greatly improved operating efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment one；
Fig. 2 is Fig. 1 sectional view；
Fig. 3 is the schematic diagram of the fingerhold workpiece of mechanical paw；
Fig. 4 is the schematic diagram of embodiment two.
In figure, the first finger 1, second finger 2, hinge axis 3, fixed block 4, alignment pin 5, half slot 6, slope breach 61,
Back-moving spring 7, jaws 8, chute 9, driving spring 10, workpiece 11, connecting wire 12, wire 13.
Embodiment
It is specific embodiment of the utility model below, and the technical solution of the utility model is made further with reference to accompanying drawing
Description, but the utility model is not limited to these embodiments.
Embodiment one
As shown in Figure 1, 2, 3, a kind of mechanical paw, it includes two split fingers, be respectively defined as the first finger 1,
Second finger 2, the finger root of two fingers are spindle rotationally arranged on hinge axis 3, and hinge axis is fixed on fixed block 4, fixed block
It is connected available for mechanical arm, the alignment pin 5 being provided with fixed block between two fingers, being provided with finger can be with
The half slot 6 of detent fit, back-moving spring 7 is connected between two fingers, the both ends of back-moving spring are consolidated with two fingers respectively
Fixed, two finger ends have the breach of face-off, and two breach form the jaws 8 of clamping workpiece.
The operation principle of this mechanical paw is such：Mechanical paw is moved at workpiece, jaws alignment pieces, and then
Press to workpiece so that workpiece is pressed into jaws, is clamped workpiece under the reset pulling force effect of back-moving spring, is then moved workpiece
Specified location is moved, there are other mechanisms to take workpiece away or workpiece is installed to specified location.Due to the presence of alignment pin so that when
After workpiece leaves jaws, because the stop of alignment pin may be such that the position of relative fixed block during two fingers closure keeps fixing, i.e.,
When opening clamp mouth part without workpiece, the half slot of two fingers is all the time with positioning pin contacts, so that the jaws position of clamping jaw is relative
Constant in fixed block, consequently facilitating be accurately controlled the position of jaws by controlling the position of fixed block, such as fixed block can be by
Mechanical arm control movement, so as to ensure the accuracy of manipulator control.Special mechanism is not needed using simple alignment pin（Such as
Cylinder etc.）The folding of special control finger, that is, simplify device and improve accuracy, the stability of work again, improve effect
Rate reduces equipment cost, is a kind of principle using mechanism adaptive location.
Further, alignment pin can be also controlled along slide by the pushing handle telescopic control mechanism being arranged on fixed block, for leading
Dynamic control jaws is opened, such as is moved using the piston extension and contraction control alignment pin for the pneumatic cylinder being arranged on fixed block.
Further, chute 9 is provided with the fixed block, the alignment pin slidably coordinates in chute, described fixed
Driving spring 10 is connected between position pin and chute, and under normality, i.e., when in jaws without workpiece, driving spring has one to alignment pin
Towards the pretension for referring to root so that after workpiece, which enters in jaws, struts two fingers, alignment pin moves along chute to root is referred to
It is dynamic so that alignment pin contacts the positioning realized to finger with two fingers all the time so that the center of jaws is constant.
Further, the oriented slope breach 61 for referring to the extension of root direction on the half slot on the finger, is easy to alignment pin edge
The crack for referring to root moves up.
Further, the driving spring is two-way shape memory alloy spring, the driving spring connection current control electricity
Road, the electric current that the current control circuit control passes through driving spring.Control electric current is made by two-way shape memory alloy spring
Spring heating being obtained, when reaching the high temperature transformation temperature of two-way shape memory alloy spring so that driving spring is stretched or contracted, from
And control alignment pin to be moved along chute, so as to control the folding of two fingers.
Further, the back-moving spring is two-way shape memory alloy spring, the back-moving spring connection current control electricity
Road, the electric current that the current control circuit control passes through back-moving spring.Control electric current is made by two-way shape memory alloy spring
Back-moving spring heating, when reaching the high temperature transformation temperature of two-way shape memory alloy spring so that back-moving spring deformation from
And the folding of paw is controlled, it can be arranged as required to, for example, when wanting mechanical paw to need to be clamped to object, give tension bullet
Spring electrified regulation causes spring to extend, and so as to which two fingers are separately clamped into object, then power-off cooling causes back-moving spring
Shrink grip objects, object is moved into place postpone be powered again open finger cause object depart from mechanical paw.Can certainly
Temperature is switched on to raise so that back-moving spring shrinks, so as to realize by chucking power of the increase to object that be powered.
Further, two wires 13 for connecting back-moving spring both ends are each passed through described hinge axis and control circuit company
Connect.
Embodiment two
As shown in figure 4, unlike embodiment one, the back-moving spring is two-way shape memory alloy spring, described
Back-moving spring is connected after being connected with two fingers with current control circuit, and the current control circuit control passes through back-moving spring
Electric current, alignment pin are insulator, and finger is conductor so that can just enable current to pass through tension during only two finger contacts
Spring, i.e. two fingers when the workpiece 11 clamped between two fingers is conductor, that is, realize two fingers equivalent to switch
Electrical contact, namely realize the closure of switch, at this moment current control circuit can cause electric current by back-moving spring so that
Back-moving spring heating, so as to control back-moving spring or realization of stretching or contract is to the folding control of finger.Such as back-moving spring one end
It is connected with the first finger by connecting wire 12, the negative pole connection of the back-moving spring other end and current control circuit, second finger
It is connected with the positive pole of current control circuit.
Although more having used some terms herein, the possibility using other terms is not precluded from.Use these
Term is used for the purpose of more easily describing and explaining essence of the present utility model；It is construed as any additional limit
System is all disagreed with the utility model spirit.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement to described specific embodiment or using similar
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Claims (7)
1. a kind of mechanical paw, it is characterised in that it includes two split fingers, and the finger root of two fingers is rotatably set
On hinge axis, hinge axis is fixed on fixed block, the alignment pin being provided with fixed block between two fingers, in finger
On be provided with and can connect back-moving spring between two fingers with the half slot of detent fit, the both ends of back-moving spring respectively with
Two fingers are fixed, and two finger ends have the breach of face-off, and two breach form the jaws of clamping workpiece.
2. mechanical paw according to claim 1, it is characterised in that chute, the positioning are provided with the fixed block
Pin slidably coordinates in chute, is connected with driving spring between the alignment pin and chute, and under normality, driving spring is to calmly
Position pin has the pretension that a direction refers to root.
3. mechanical paw according to claim 2, it is characterised in that oriented finger root direction on the half slot on the finger
The slope breach of extension.
4. mechanical paw according to claim 2, it is characterised in that the driving spring is two-way shape memory alloy bullet
Spring, the driving spring connect current control circuit, the electric current that the current control circuit control passes through driving spring.
5. mechanical paw according to claim 1, it is characterised in that the back-moving spring is two-way shape memory alloy bullet
Spring, the back-moving spring connect current control circuit, the electric current that the current control circuit control passes through back-moving spring.
6. mechanical paw according to claim 5, it is characterised in that two wires at connection back-moving spring both ends are worn respectively
Described hinge axis is crossed to be connected with current control circuit.
7. mechanical paw according to claim 1, it is characterised in that the back-moving spring is two-way shape memory alloy bullet
Spring, the back-moving spring are connected after being connected with two fingers with current control circuit, and the current control circuit control passes through drawing
The electric current of tight spring, alignment pin is insulator, and finger is conductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720712270.4U CN206937354U (en) | 2017-06-19 | 2017-06-19 | A kind of mechanical paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720712270.4U CN206937354U (en) | 2017-06-19 | 2017-06-19 | A kind of mechanical paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206937354U true CN206937354U (en) | 2018-01-30 |
Family
ID=61365621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720712270.4U Active CN206937354U (en) | 2017-06-19 | 2017-06-19 | A kind of mechanical paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206937354U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214727A (en) * | 2017-06-19 | 2017-09-29 | 宁波神通模塑有限公司 | A kind of mechanical paw |
| CN111206887A (en) * | 2020-01-15 | 2020-05-29 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
-
2017
- 2017-06-19 CN CN201720712270.4U patent/CN206937354U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214727A (en) * | 2017-06-19 | 2017-09-29 | 宁波神通模塑有限公司 | A kind of mechanical paw |
| CN107214727B (en) * | 2017-06-19 | 2023-09-08 | 神通科技集团股份有限公司 | Mechanical gripper |
| CN111206887A (en) * | 2020-01-15 | 2020-05-29 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 315408 No. 788 Tanjialing West Road, Lanjiang Street, Yuyao City, Ningbo City, Zhejiang Province Patentee after: Shentong Science and Technology Group Co., Ltd. Address before: 315408 788 Tanjialing West Road, Yuyao City, Ningbo City, Zhejiang Province Patentee before: Ningbo Shentong Mould & Plastic Co., Ltd. |
|
| CP03 | Change of name, title or address |