CN207788984U - paw and teaching robot - Google Patents

paw and teaching robot Download PDF

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Publication number
CN207788984U
CN207788984U CN201721750490.2U CN201721750490U CN207788984U CN 207788984 U CN207788984 U CN 207788984U CN 201721750490 U CN201721750490 U CN 201721750490U CN 207788984 U CN207788984 U CN 207788984U
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China
Prior art keywords
finger
gear
paw
fixed
joint
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CN201721750490.2U
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Chinese (zh)
Inventor
龚炜
沈道军
李军凯
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CHONGQING SHUDE TECHNOLOGY CO LTD
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CHONGQING SHUDE TECHNOLOGY CO LTD
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Priority to CN201721750490.2U priority Critical patent/CN207788984U/en
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Abstract

A kind of paw of the utility model offer and teaching robot are used to solve the problem of the limited angle that noise is big in the prior art, control is not accurate enough, installs inconvenience finger expansion.Paw includes:Rotating drive part comprising driving ontology and output shaft, the output the tip of the axis are equipped with threaded portion;At least two journal stirrups are fixed on the driving ontology;Finger, the quantity Matching of the quantity of the finger and the journal stirrup, it refers to butt and is equipped with gear, the end face of the gear and finger cooperation and the gear and finger synchronization rotation, the gear and the threaded portion engage to form worm gear mechanism, and the rotation axis of the gear is fixed on the journal stirrup.Teaching robot includes paw and arm.The utility model has simple in structure, and control is accurate, and is conveniently used for imparting knowledge to students.

Description

Paw and teaching robot
Technical field
The utility model is related to a kind of robot fields, more particularly to a kind of paw and teaching robot.
Background technology
Existing paw fixture is air-actuated jaw.Air-actuated jaw support device is complicated, and even minimum application system is required for Satisfaction has air pump, solenoid valve, sensor, four big core devices of control.Air pump therein, if (but must be met with least unit Driving) from the point of view of, volume is all abnormal huge, and noise is even more that until continueing to that fixture is stopped using, can be made to entire environment around At the pollution of a large amount of sound and personal injury.
Air-actuated jaw in use, in the range of clamping and unclamp at one section, needs to be equipped with corresponding sensor As a key point of action of stopping running, the range is if desired changed, then must adjust the existing position of sensor.In reality In the application of border, the mode of operation method is extremely cumbersome, it is difficult to accomplish easy to operate, microcontroller feature.This is from safety, also more Add with danger.
And in terms of speed, the adjusting of speed is based on valve air inflow and gas output, which adjusts be required to hand every time Dynamic frequent correction, cannot accomplish an accurately point, it is difficult to realize accurate speed and adjustability.
Existing air-actuated jaw, cannot nearly all meet simultaneously microcontroller, essence transmission, it is a wide range of, easy to operate, just installation, This six big central characteristics of adjustable speed.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of paw and teaching machines People, for solving the problem of that noise is big in the prior art, control is not accurate enough, the limited angle of the inconvenient finger expansion of installation.
In order to achieve the above objects and other related objects, the utility model provides a kind of paw, including:
Rotating drive part comprising driving ontology and output shaft, the output the tip of the axis are equipped with threaded portion;
At least two journal stirrups are fixed on the driving ontology;
Finger, the quantity Matching of the quantity of the finger and the journal stirrup refer to butt and are equipped with gear, the end of the gear Face and finger cooperation and the gear and finger synchronization rotation, the gear and the threaded portion engage to form worm gear Worm mechanism.
Pass through worm gear mechanism so that the range that finger opens expands.
Preferably, the rotating drive part is servo motor.
Preferably, it is fixed with mounting plate on the driving ontology, the journal stirrup is vertically fixed on the plate face of the mounting plate On.
Preferably, the quantity of the finger is two or three.
Preferably, each finger is circumferentially arranged at equal intervals.
Preferably, the journal stirrup, the gear and the finger are fixed by axis pin.
Preferably, the finger is bent to the axis direction of the output shaft.
A kind of teaching robot, including paw;
Further include arm, each joint of the arm includes motor and harmonic speed reducer, the harmonic speed reducer set In the rotation axis of the motor, and each joint is detachable structure.
Preferably, the rotation axis of the motor between the two neighboring joint is mutually perpendicular to, and is led between the adjacent joint It crosses support element to connect, the output end in described support element one end and a joint can be detachably fixed by locking member, described The output end of the support element other end and the harmonic speed reducer in another joint is detachably fixed by locking member.
As described above, the paw and teaching robot of the utility model, have the advantages that:
One, the folding of finger, the expanded angle bigger of finger are realized using worm gear structure.
Two, it can effectively adapt to the driving demand of the index of two fingers or more, be selected as needed.
Three, it is driven by motor, structure is more simple, responds exquisiter reliable.
Four, each joint of arm is dismountable structure, the convenient operation principle for student's demonstration robot, and student After realizing self disassembling and assembling, the error of recovery is small.
Description of the drawings
Schematic diagram when 3 quantity of finger that Fig. 1 is shown as the paw of the utility model is two.
Schematic diagram when 3 quantity of finger that Fig. 2 is shown as the paw of the utility model is three.
Fig. 3 is shown as the schematic diagram of the teaching robot of the utility model.
Fig. 4 is shown as the exploded perspective view of the teaching robot of the utility model.
Specific implementation mode
Illustrate that the embodiment of the utility model, those skilled in the art can be by these by particular specific embodiment below Content disclosed by specification understands other advantages and effect of the utility model easily.
It please refers to Fig.1 to Fig.4.It should be clear that structure, ratio, size etc. depicted in this specification institute accompanying drawings, only to Coordinate the revealed content of specification, so that those skilled in the art understands and reads, is not limited to the utility model Enforceable qualifications, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or size Adjustment, in the case where not influencing the effect of the utility model can be generated and the purpose that can reach, should all still fall in the utility model Revealed technology contents obtain in the range of capable of covering.Meanwhile in this specification it is cited as "upper", "lower", " left side ", The term on " right side ", " centre " and " one " etc. is merely convenient to being illustrated for narration, rather than enforceable to limit the utility model Range, relativeness are altered or modified, enforceable when being also considered as the utility model in the case where changing technology contents without essence Scope.
Fig. 3 and Fig. 4 are please referred to, the utility model provides a kind of teaching robot, including paw and arm.
Specifically, referring to Fig. 1, paw has the embodiment of two fingers 3, a kind of paw is please referred to Fig.1, including:Turn Dynamic actuator 1, the rotating drive part 1 are servo motor.It includes driving ontology 11 and output shaft 12, the output shaft 12 End be equipped with threaded portion 121;Two journal stirrups 2, mounting plate 111 is fixed on the driving ontology 11, and the journal stirrup 2 is vertical It is fixed in the plate face of the mounting plate 111.Two fingers 3, axis direction from the finger 3 to the output shaft 12 it is curved Folding refers to butt and is equipped with gear 4, and the end face of the gear 4 coordinates with the finger 3 and the gear 4 is synchronous with the finger 3 Rotation, the gear 4 and the engagement of the threaded portion 121 form worm gear mechanism, and the rotation axis of the gear 4 is fixed on described On journal stirrup 2, each finger 3 is circumferentially arranged at equal intervals.The journal stirrup 2, the gear 4 and the finger 3 pass through pin Axis 31 is fixed.
Specifically, referring to Fig. 2, paw has the embodiment of three fingers 3, a kind of paw is please referred to Fig.1, including:Turn Dynamic actuator 1, the rotating drive part 1 are servo motor.It includes driving ontology 11 and output shaft 12, the output shaft 12 End be equipped with threaded portion 121;Three journal stirrups 2, mounting plate 111 is fixed on the driving ontology 11, and the journal stirrup 2 is vertical It is fixed in the plate face of the mounting plate 111.Three fingers 3, axis direction from the finger 3 to the output shaft 12 it is curved Folding refers to butt and is equipped with gear 4, and the end face of the gear 4 coordinates with the finger 3 and the gear 4 is synchronous with the finger 3 Rotation, the gear 4 and the engagement of the threaded portion 121 form worm gear mechanism, and the rotation axis of the gear 4 is fixed on described On journal stirrup 2, each finger 3 is circumferentially arranged at equal intervals.The journal stirrup 2, the gear 4 and the finger 3 pass through pin Axis 31 is fixed.
Specifically, please referring to Fig. 3 and Fig. 4, each joint of arm, the arm includes motor 5 and harmonic speed reducer 6, the harmonic speed reducer 6 is sleeved in the rotation axis of the motor 5, and each joint is detachable structure.Adjacent two The rotation axis of motor 5 between a joint is mutually perpendicular to, and is connected by support element 7 between the adjacent joint, the branch The output end in 7 one end of support member and a joint can be detachably fixed by locking member, and locking will be screw or bolt, institute The output end for stating 7 other end of support element and the harmonic speed reducer 6 in another joint is detachably fixed by locking member.It is working When, each motor 5 of arm matches resultant motion, realizes that different composite movement, the driving ontology 11 of paw drive output shaft 12 to rotate, i.e., Threaded portion 121 starts to rotate, and gear 4 and threaded portion 121 are engaged, and threaded portion 121 is rotated with moving gear 4, and each finger 3 is followed Gear 4 rotates synchronously together, and when driving ontology 11 rotates forward, finger 3 captures object, when 11 direction of driving ontology rotates, Finger 3 unclamps.
In conclusion folding of the utility model using servo motor driving paw, structure is more simple, and control is more It is accurate, and paw be worm gear structure its expansion angle bigger, be applicable not only to two finger paws can also be applicable in mostly finger, The side of traditional belt transmission has been abandoned by the way of motor 5 and harmonic reduction by the detachable structure of arm simultaneously Formula facilitates the demonstration to student, and after removal, then when installing recovery, and the error restored is small and support element 7 and pair The cooperation of support element 8 so that structure is relatively reliable.So the utility model effectively overcomes various shortcoming in the prior art And has high industrial utilization.
The above embodiments are only illustrative of the principle and efficacy of the utility model, new not for this practicality is limited Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model All equivalent modifications completed under refreshing and technological thought or change, should be covered by the claim of the utility model.

Claims (9)

1. a kind of paw, which is characterized in that including:
Rotating drive part (1) comprising the end of driving ontology (11) and output shaft (12), the output shaft (12) is equipped with screw thread Portion (121);
At least two journal stirrups (2) are fixed on the driving ontology (11);
Finger (3), the quantity Matching of the quantity and the journal stirrup (2) of the finger (3) refer to butt and are equipped with gear (4), described The end face of gear (4) and the finger (3) cooperation and the gear (4) and the finger (3) synchronous rotation, the gear (4) Worm gear mechanism is formed with the threaded portion (121) engagement.
2. paw according to claim 1, it is characterised in that:The rotating drive part (1) is servo motor.
3. paw according to claim 1, it is characterised in that:It is fixed with mounting plate (111) on the driving ontology (11), The journal stirrup (2) is vertically fixed in the plate face of the mounting plate (111).
4. paw according to claim 1, it is characterised in that:The quantity of the finger (3) is two or three.
5. paw according to claim 1, it is characterised in that:Each finger (3) is circumferentially arranged at equal intervals.
6. paw according to claim 1, it is characterised in that:The journal stirrup (2), the gear (4) and the finger (3) It is fixed by axis pin (31).
7. paw according to claim 1, it is characterised in that:Axis side of the finger (3) to the output shaft (12) To bending.
8. a kind of teaching robot, it is characterised in that:Including any paws of claim 1-7;
Further include arm, each joint of the arm includes motor (5) and harmonic speed reducer (6), the harmonic speed reducer (6) it is sleeved in the rotation axis of the motor (5), and each joint is detachable structure.
9. teaching robot according to claim 8, it is characterised in that:Motor (5) between the two neighboring joint Rotation axis be mutually perpendicular to, pass through support element (7) connection, described support element (7) one end and an institute between the adjacent joint Stating the output end in joint can be detachably fixed by locking member, the harmonic wave of support element (7) other end and another joint The output end of retarder (6) is detachably fixed by locking member.
CN201721750490.2U 2017-12-15 2017-12-15 paw and teaching robot Active CN207788984U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721750490.2U CN207788984U (en) 2017-12-15 2017-12-15 paw and teaching robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721750490.2U CN207788984U (en) 2017-12-15 2017-12-15 paw and teaching robot

Publications (1)

Publication Number Publication Date
CN207788984U true CN207788984U (en) 2018-08-31

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ID=63284407

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721750490.2U Active CN207788984U (en) 2017-12-15 2017-12-15 paw and teaching robot

Country Status (1)

Country Link
CN (1) CN207788984U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109545068A (en) * 2019-01-30 2019-03-29 宁波市镇海大来智能科技有限公司 A kind of teaching robot's suit
CN109605415A (en) * 2018-12-28 2019-04-12 国家电网有限公司 Gripper and robot
WO2021107039A1 (en) * 2019-11-29 2021-06-03 シナノケンシ株式会社 Robot hand
WO2021107071A1 (en) * 2019-11-29 2021-06-03 シナノケンシ株式会社 Robot hand

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109605415A (en) * 2018-12-28 2019-04-12 国家电网有限公司 Gripper and robot
CN109545068A (en) * 2019-01-30 2019-03-29 宁波市镇海大来智能科技有限公司 A kind of teaching robot's suit
WO2021107039A1 (en) * 2019-11-29 2021-06-03 シナノケンシ株式会社 Robot hand
WO2021107071A1 (en) * 2019-11-29 2021-06-03 シナノケンシ株式会社 Robot hand

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