CN209774680U - Mechanical claw structure based on steel wire driving - Google Patents
Mechanical claw structure based on steel wire driving Download PDFInfo
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- CN209774680U CN209774680U CN201920266112.XU CN201920266112U CN209774680U CN 209774680 U CN209774680 U CN 209774680U CN 201920266112 U CN201920266112 U CN 201920266112U CN 209774680 U CN209774680 U CN 209774680U
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Abstract
The utility model discloses a gripper structure based on steel wire drive, including support, a servo drive motor and No. two servo drive motors. Has the advantages that: through the pulley that sets up, a diverting pulley, a drive pulley, a steel wire, No. two pulleys, No. two diverting pulleys, No. two drive pulleys and No. two steel wires, make the device carry out the power transmission through the steel wire, improve the force feedback precision, through the tight pulley that rises that sets up, No. two tight pulleys that rise, No. three steel wires, No. four steel wires, a revolution fixed pulley and No. two revolution fixed pulleys, make the device avoid because the influence of clearance between the connecting rod to the gripper parallelism, guarantee the gripper jaw clamp and get the parallelism of object, through the No. three pulley that sets up, No. four pulleys, No. two rotation axes and No. four rotation axes, make a gripper steel spare and No. two gripper steel spare can carry out nearly 180 degrees motion angles, expand the claw scope.
Description
Technical Field
the utility model relates to a silk transmission structure indicates the field of gripper at two, the utility model relates to a gripper structure based on steel wire drive.
Background
The double-claw clamping mechanism is common in the use of the manipulator, the claw holding range of the two claws is wider, and the double-claw clamping mechanism is a tool designed for human beings and an article in an actual application scene. Two conventional claw mechanisms adopt pneumatics or motor to drive, drive structure is generally that a cylinder or a motor control two fingers through the parallelogram connecting rod and carry out the claw and hold the action, the power transmission of rethread rigidity connecting rod carries out the control that the dynamics was held to the claw, but because the movement clearance and the precision of connecting rod are relatively poor, force feedback is inaccurate, and simultaneously, current mechanism is after long-time the use, the clearance that produces between the connecting rod leads to the fact the influence to fixture's depth of parallelism, and, current mechanism is because link mechanism's size restriction, the motion angle of clamping jaw can not be very big, it is little to open the claw scope, consequently, need a neotype device to solve current problem.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a gripper structure based on steel wire drive for solving above-mentioned problem.
The utility model discloses a following technical scheme realizes above-mentioned purpose:
A gripper structure based on steel wire driving comprises a support, a first servo driving motor and a second servo driving motor, wherein the first servo driving motor is arranged in the support, the second servo driving motor is arranged on the lower side of the first servo driving motor, a first pulley is arranged on one side of the first servo driving motor, a first steering pulley is arranged on one side of the first pulley, a first steel wire is arranged on the outer side of the first pulley, a first driving pulley is arranged at one end, away from the first pulley, of the first steel wire, a first steel piece is arranged on one side, away from the first pulley, of the first servo driving motor, a first gripper steel piece is arranged on one side, away from the first driving pulley, of the first steel piece, a first revolution fixed pulley is arranged on one side of the first revolution fixed pulley, a first tensioning wheel is arranged on one side of the first revolution fixed pulley, a third pulley is arranged on one side, away from the first revolution fixed pulley, of the tensioning wheel, a third steel wire is arranged between the third pulley and the first revolution fixed pulley, a second pulley is arranged on one side of the second servo drive motor, a second steering pulley is arranged on one side of the second pulley, a second steel wire is arranged on the outer side of the second pulley, one end, away from the second pulley, of the second steel wire is provided with a second drive pulley, one side, away from the second pulley, of the second servo drive motor is provided with a second steel part, one side, away from the second servo drive motor, of the second steel part is provided with a second claw steel part, one side, away from the second drive pulley, of the second steel part is provided with a second revolution fixed pulley, one side, away from the second revolution fixed pulley is provided with a second tensioning wheel, and one side, away from the second fixed pulley, of the second tensioning wheel is provided with a fourth pulley, no. four pulleys with be provided with No. four steel wires between No. two revolution fixed pulleys, be provided with the rotation axis No. one in the drive pulley, be provided with the rotation axis No. two in the hand steel spare, be provided with the rotation axis No. three in the drive pulley No. two, be provided with the rotation axis No. four in the hand steel spare No. two.
furthermore, the support with servo drive motor passes through the draw-in groove and is connected, servo drive motor with a pulley passes through splined connection, a pulley with steel wire rigid connection.
Furthermore, a diverting pulley with the support passes through bolted connection, a steel wire with drive pulley rigid connection, a drive pulley with steel part welding, a steel part with servo drive motor passes through a rotation axis is connected.
Furthermore, a steel part with a claw steel part pass through No. two rotation axes, No. three pulleys, No. three steel wires, a tight pulley and a revolution fixed pulley is connected, a revolution fixed pulley with servo drive motor rigid connection.
Furthermore, a revolution fixed pulley and No. three steel wires rigid connection, No. three pulleys with a hand claw steel spare rotates to be connected, No. three steel wires with No. three pulley rigid connection.
Further, the support with No. two servo drive motor pass through the draw-in groove and are connected, No. two servo drive motor with No. two pulleys pass through splined connection, No. two pulleys with No. two steel wire rigid connection.
Furthermore, No. two diverting pulleys with the support passes through bolted connection, No. two steel wires with No. two drive pulley rigid connection, No. two drive pulley with No. two steel part welding, No. two steel part with No. two servo drive motor passes through No. three swivelling axes are connected.
furthermore, No. two steel parts with No. two claw steel parts pass through No. four rotation axes, No. four pulleys, No. four steel wires, No. two tight pulley and No. two revolution fixed pulleys are connected, No. two revolution fixed pulleys with No. two servo drive motor rigid connection.
Furthermore, the second revolution fixed pulley is rigidly connected with the fourth steel wire, the fourth pulley is rotatably connected with the second claw steel part, and the fourth steel wire is rigidly connected with the fourth pulley.
Furthermore, the first tension wheel is connected with the first steel piece through threads, and the second tension wheel is connected with the second steel piece through threads.
The specific working principle is as follows: when the clamping device is used, when an object needs to be clamped, the first servo driving motor and the second servo driving motor respectively drive the first pulley and the second pulley to rotate simultaneously, the first pulley drives the first driving pulley to rotate anticlockwise around the first rotating shaft through the first steel wire, the first steel part also rotates anticlockwise, the first revolution fixed pulley is rigidly connected with the support, so the first revolution fixed pulley drives the third steel wire to wind, the third steel wire is rigidly connected with the first revolution fixed pulley, so the third pulley rotates anticlockwise, so the first claw steel part moves downwards, meanwhile, the second servo driving motor drives the second pulley to rotate, the second pulley drives the second driving pulley to rotate clockwise around the third rotating shaft through the second steel wire, the second revolution fixed pulley is rigidly connected with the fourth steel wire, so that the fourth steel wire drives the fourth pulley to rotate clockwise around the fourth rotating shaft, the second claw steel piece moves upwards, an object can be clamped, the third steel wire and the fourth steel wire are kept in a tightened state by adjusting the first tension wheel and the second tension wheel, the first claw steel piece and the second consignee steel piece are kept parallel when being clamped, when the first claw steel piece and the second claw steel piece need to be opened, the first servo driving motor and the second servo driving motor respectively rotate in opposite directions, the first driving pulley and the second driving pulley respectively rotate clockwise and anticlockwise, and the first steel piece and the second steel piece respectively rotate clockwise and anticlockwise around the first rotating shaft and the second rotating shaft respectively The needle rotates, the third pulley and the fourth pulley are driven by the third steel wire and the fourth steel wire to rotate anticlockwise and clockwise respectively, so that the first claw steel part and the second claw steel part are separated and opened, the first pulley, the first steering pulley, the first driving pulley, the first steel wire, the second pulley, the second steering pulley, the second driving pulley and the second steel wire are arranged, the device transmits force through the first steel wire and the second steel wire, the low force transmission precision caused by movement gaps and precision difference of a connecting rod mechanism is avoided, the force feedback precision is improved, and meanwhile, the first claw steel part and the second claw steel part can move by nearly 180-degree movement angles through the third pulley, the fourth pulley, the second rotating shaft and the fourth rotating shaft, the claw opening range is enlarged.
The beneficial effects of the utility model reside in that:
1. through the arrangement of the first pulley, the first steering pulley, the first driving pulley, the first steel wire, the second pulley, the second steering pulley, the second driving pulley and the second steel wire, the device can transmit force through the steel wires, and the force feedback accuracy is improved;
2. Through the arrangement of the first tension wheel, the second tension wheel, the third steel wire, the fourth steel wire, the first revolution fixed pulley and the second revolution fixed pulley, the device avoids the influence of the gap between the connecting rods on the parallelism of the clamping jaws and ensures the parallelism of the clamping jaws for clamping an object;
3. Through the third pulley, the fourth pulley, the second rotating shaft and the fourth rotating shaft, the first claw steel piece and the second claw steel piece can move by an angle of nearly 180 degrees, and the claw opening range is enlarged.
Drawings
fig. 1 is a front view of a gripper structure based on a steel wire drive according to the present invention;
Fig. 2 is a rear view of the gripper structure based on the steel wire driving of the present invention;
Fig. 3 is a claw holding schematic diagram of a mechanical claw structure based on steel wire driving according to the present invention;
Fig. 4 is an opening schematic diagram of the gripper structure based on the steel wire driving of the present invention.
The reference numerals are explained below:
1. A first steel part; 2. a first driving pulley; 3. a first servo drive motor; 4. a first steel wire; 5. a first diverting pulley; 6. a first pulley; 7. a second steel wire; 8. a second pulley; 9. a support; 10. a second diverting pulley; 11. a second driving pulley; 12. a second steel part; 13. a first revolution fixed pulley; 14. a third pulley; 15. a first jaw steel part; 16. a third steel wire; 17. a tension wheel I; 18. a second gripper steel part; 19. a second servo drive motor; 20. a third rotating shaft; 21. a fourth steel wire; 22. a second tensioning wheel; 23. a fourth pulley; 24. a second revolution fixed pulley; 25. a first rotating shaft; 26. a second rotating shaft; 27. and a fourth rotating shaft.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1-4, a gripper structure based on steel wire drive comprises a support 9, a first servo drive motor 3 and a second servo drive motor 19, wherein the first servo drive motor 3 is arranged in the support 9, the second servo drive motor 19 is arranged at the lower side of the first servo drive motor 3, a first pulley 6 is arranged at one side of the first servo drive motor 3, a first diverting pulley 5 is arranged at one side of the first pulley 6, a first steel wire 4 is arranged at the outer side of the first pulley 6, a first drive pulley 2 is arranged at one end of the first steel wire 4 far away from the first pulley 6, a first steel member 1 is arranged at one side of the first servo drive motor 3 far away from the first pulley 6, a first gripper steel member 15 is arranged at one side of the first steel member 1 far away from the first servo drive motor 3, a first revolving fixed pulley 13 is arranged at one side of the first steel member 1 far away from the first drive pulley 2, a first tension wheel 17 is arranged on one side of the first revolution fixed pulley 13, a third pulley 14 is arranged on one side of the first tension wheel 17 away from the first revolution fixed pulley 13, a third steel wire 16 is arranged between the third pulley 14 and the first revolution fixed pulley 13, a second pulley 8 is arranged on one side of a second servo drive motor 19, a second diverting pulley 10 is arranged on one side of the second pulley 8, a second steel wire 7 is arranged on the outer side of the second pulley 8, a second drive pulley 11 is arranged on one end of the second steel wire 7 away from the second pulley 8, a second steel part 12 is arranged on one side of the second servo drive motor 19 away from the second pulley 8, a second claw steel part 18 is arranged on one side of the second steel part 12 away from the second servo drive motor 19, and a second revolution fixed pulley 24 is arranged on one side of the second steel part 12 away from the second drive pulley 11, no. two revolution fixed pulley 24 one side is provided with No. two tight pulley 22 that rises, No. two tight pulley 22 that rises keeps away from No. two revolution fixed pulley 24 one side is provided with No. four pulley 23, No. four pulley 23 with be provided with No. four steel wire 21 between No. two revolution fixed pulley 24, be provided with a rotation axis 25 in the drive pulley 2, be provided with No. two rotation axes 26 in the claw steel piece 15, be provided with No. three rotation axis 20 in the drive pulley 11, be provided with No. four rotation axes 27 in the claw steel piece 18.
In this embodiment, support 9 with servo drive motor 3 passes through the draw-in groove connection, servo drive motor 3 with pulley 6 passes through splined connection, pulley 6 with steel wire 4 rigid connection, support 9 can be right servo drive motor 3 with servo drive motor 19 supports No. two.
In this embodiment, a diverting pulley 5 with support 9 passes through bolted connection, a steel wire 4 with a drive pulley 2 rigid connection, a drive pulley 2 with a steel part 1 welding, a steel part 1 with a servo drive motor 3 passes through a rotation axis 25 is connected, a steel wire 4 can drive a drive pulley 2 rotates, a servo drive motor 3 can do a pulley 6 provides power.
In this embodiment, the first steel member 1 and the first claw steel member 15 are connected through the second rotating shaft 26, the third pulley 14, the third steel wire 16, the first tension roller 17 and the first revolving fixed pulley 13, the first revolving fixed pulley 13 is rigidly connected with the first servo drive motor 3, and the third steel wire 16 can drive the third pulley 14 to rotate.
in this embodiment, the first revolving fixed pulley 13 is rigidly connected to the third steel wire 16, the third pulley 14 is rotatably connected to the first claw steel member 15, the third steel wire 16 is rigidly connected to the third pulley 14, and the first claw steel member 15 can claw an object.
In this embodiment, support 9 with No. two servo drive motor 19 pass through the draw-in groove and connect, No. two servo drive motor 19 with No. two pulley 8 pass through splined connection, No. two pulley 8 with No. two steel wire 7 rigid connection, No. two servo drive motor 19 can drive No. two pulley 8 rotate.
In this embodiment, No. two diverting pulley 10 with support 9 passes through bolted connection, No. two steel wires 7 with No. two drive pulley 11 rigid connection, No. two drive pulley 11 with No. two steel part 12 welding, No. two steel part 12 with No. two servo drive motor 19 passes through No. three rotation axis 20 connects, No. two steel part 12 does No. two drive pulley 11 provides the support.
in this embodiment, the second steel member 12 and the second claw steel member 18 are connected through the fourth rotating shaft 27, the fourth pulley 23, the fourth steel wire 21, the second tension roller 22 and the second revolving fixed pulley 24, the second revolving fixed pulley 24 is rigidly connected to the second servo drive motor 19, and the fourth steel wire 21 can drive the fourth pulley 23 to rotate.
In this embodiment, the second revolving fixed pulley 24 is rigidly connected to the fourth steel wire 21, the fourth pulley 23 is rotatably connected to the second claw steel member 18, the fourth steel wire 21 is rigidly connected to the fourth pulley 23, and the second claw steel member 18 can claw an object.
In this embodiment, the first tension pulley 17 is in threaded connection with the first steel member 1, the second tension pulley 22 is in threaded connection with the second steel member 12, and the tightness of the third steel wire 16 and the tightness of the fourth steel wire 21 can be adjusted through the first tension pulley 17 and the second tension pulley 22.
The specific working principle is as follows: when the clamping device is used, when an object needs to be clamped, the first servo drive motor 3 and the second servo drive motor 19 respectively drive the first pulley 6 and the second pulley 8 to rotate simultaneously, the first pulley 6 drives the first drive pulley 2 to rotate anticlockwise around the first rotating shaft 25 through the first steel wire 4, the first steel member 1 also rotates anticlockwise, the first revolving fixed pulley 13 is rigidly connected with the bracket 9, so the first revolving fixed pulley 13 drives the third steel wire 16 to wind, the third steel wire 16 is rigidly connected with the first revolving fixed pulley 13, so the third pulley 14 rotates anticlockwise, the first claw steel member 15 moves downwards, and meanwhile, the second servo drive motor 19 drives the second pulley 8 to rotate, the second pulley 8 drives the second driving pulley 11 to rotate clockwise around the third rotating shaft 20 through the second steel wire 7, because the second revolving fixed pulley 24 is rigidly connected with the fourth steel wire 21, the fourth steel wire 21 drives the fourth pulley 23 to rotate clockwise around the fourth rotating shaft 27, so that the second claw steel piece 18 moves upwards to clamp an object, the third steel wire 16 and the fourth steel wire 21 are kept in a tightened state by adjusting the first tension pulley 17 and the second tension pulley 22, so that the first claw steel piece 15 and the second claw steel piece 18 keep the parallelism during clamping, and when the first claw steel piece 15 and the second claw steel piece 18 need to be opened, the first servo driving motor 3 and the second servo driving motor 19 respectively rotate in opposite directions, the first driving pulley 2 and the second driving pulley 11 rotate clockwise and counterclockwise respectively, the first steel part 1 and the second steel part 12 rotate clockwise and counterclockwise respectively around the first rotating shaft 25 and the second rotating shaft 26, the third steel wire 16 and the fourth steel wire 21 drive the third pulley 14 and the fourth pulley 23 to rotate counterclockwise and clockwise respectively, the first claw steel part 15 and the second claw steel part 18 are separated and opened, and the first pulley 6, the first diverting pulley 5, the first driving pulley 2, the first steel wire 4, the second pulley 8, the second diverting pulley 10, the second driving pulley 11 and the second steel wire 7 are arranged, so that the device can transmit force through the first steel wire 4 and the second steel wire 7, avoid link mechanism to cause the power transmission precision low because movement gap and precision are poor, improve the power feedback precision, simultaneously, through setting up No. three pulley 14 No. four pulley 23 No. two rotation axis 26 with No. four rotation axis 27 makes a hand claw steel part 15 with No. two hand claw steel part 18 can carry out nearly 180 degrees motion angles, enlarges claw opening scope.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. A gripper structure based on steel wire drive, its characterized in that: the steel wire rope comprises a support (9), a first servo driving motor (3) and a second servo driving motor (19), wherein the first servo driving motor (3) is arranged in the support (9), the second servo driving motor (19) is arranged on the lower side of the first servo driving motor (3), a first pulley (6) is arranged on one side of the first servo driving motor (3), a first steering pulley (5) is arranged on one side of the first pulley (6), a first steel wire (4) is arranged on the outer side of the first pulley (6), a first driving pulley (2) is arranged at one end, away from the first pulley (6), of the first steel wire (4), a first steel part (1) is arranged on one side, away from the first pulley (6), of the first steel part (1) is provided with a first claw steel part (15), one side, away from the first driving pulley (2), of the first steel part (1) is provided with a first revolution fixed pulley (13), one side of the first revolution fixed pulley (13) is provided with a first tension pulley (17), one side, away from the first revolution fixed pulley (13), of the first tension pulley (17) is provided with a third pulley (14), a third steel wire (16) is arranged between the third pulley (14) and the first revolution fixed pulley (13), one side, away from the second servo driving motor (19), of the second tension pulley (8) is provided with a second pulley (8), one side, away from the second pulley (8), of the second pulley (8) is provided with a second steering pulley (10), the outer side, away from the second pulley (8), of the second steel wire (7), one end, away from the second pulley (8), of the second servo driving motor (19) is provided with a second steel part (12), a second claw steel piece (18) is arranged on one side of the second steel piece (12) far away from the second servo drive motor (19), a second revolution fixed pulley (24) is arranged on one side of the second steel piece (12) far away from the second driving pulley (11), a second tensioning wheel (22) is arranged on one side of the second revolution fixed pulley (24), a fourth pulley (23) is arranged on one side of the second tensioning wheel (22) far away from the second revolution fixed pulley (24), a fourth steel wire (21) is arranged between the fourth pulley (23) and the second revolution fixed pulley (24), a first rotating shaft (25) is arranged in the first driving pulley (2), a second rotating shaft (26) is arranged in the first claw steel piece (15), a third rotating shaft (20) is arranged in the second driving pulley (11), and a fourth rotating shaft (27) is arranged in the second claw steel piece (18).
2. The steel wire drive-based gripper mechanism according to claim 1, wherein: support (9) with servo drive motor (3) pass through the draw-in groove and connect, servo drive motor (3) with pulley (6) pass through splined connection, pulley (6) with steel wire (4) rigid connection.
3. The steel wire drive-based gripper mechanism according to claim 1, wherein: a diverting pulley (5) with support (9) pass through bolted connection, a steel wire (4) with drive pulley (2) rigid connection, a drive pulley (2) with a steel part (1) welding, a steel part (1) with servo drive motor (3) pass through a rotation axis (25) are connected.
4. The steel wire drive-based gripper mechanism according to claim 1, wherein: a steel part (1) with a claw steel part (15) pass through No. two rotation axes (26), No. three pulley (14), No. three steel wire (16), a tight pulley (17) and a revolution fixed pulley (13) are connected, a revolution fixed pulley (13) with servo drive motor (3) rigid connection.
5. The steel wire drive-based gripper mechanism according to claim 1, wherein: a revolution fixed pulley (13) with No. three steel wire (16) rigid connection, No. three pulley (14) with a hand claw steel spare (15) rotate and are connected, No. three steel wire (16) with No. three pulley (14) rigid connection.
6. The steel wire drive-based gripper mechanism according to claim 1, wherein: support (9) with No. two servo drive motor (19) pass through the draw-in groove and connect, No. two servo drive motor (19) with No. two pulley (8) pass through splined connection, No. two pulley (8) with No. two steel wire (7) rigid connection.
7. The steel wire drive-based gripper mechanism according to claim 1, wherein: no. two diverting pulley (10) with support (9) pass through bolted connection, No. two steel wire (7) with No. two drive pulley (11) rigid connection, No. two drive pulley (11) with No. two steel part (12) welding, No. two steel part (12) with No. two servo drive motor (19) pass through No. three rotation axis (20) are connected.
8. The steel wire drive-based gripper mechanism according to claim 1, wherein: no. two steel part (12) with No. two claw steel part (18) pass through No. four rotation axis (27), No. four pulley (23), No. four steel wire (21), No. two tight pulley (22) and No. two revolution fixed pulley (24) are connected, No. two revolution fixed pulley (24) with No. two servo drive motor (19) rigid connection.
9. The steel wire drive-based gripper mechanism according to claim 1, wherein: the second revolution fixed pulley (24) is rigidly connected with the fourth steel wire (21), the fourth pulley (23) is rotatably connected with the second claw steel part (18), and the fourth steel wire (21) is rigidly connected with the fourth pulley (23).
10. The steel wire drive-based gripper mechanism according to claim 1, wherein: the first tension wheel (17) is in threaded connection with the first steel piece (1), and the second tension wheel (22) is in threaded connection with the second steel piece (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920266112.XU CN209774680U (en) | 2019-03-01 | 2019-03-01 | Mechanical claw structure based on steel wire driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920266112.XU CN209774680U (en) | 2019-03-01 | 2019-03-01 | Mechanical claw structure based on steel wire driving |
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| Publication Number | Publication Date |
|---|---|
| CN209774680U true CN209774680U (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920266112.XU Active CN209774680U (en) | 2019-03-01 | 2019-03-01 | Mechanical claw structure based on steel wire driving |
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| CN (1) | CN209774680U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807920A (en) * | 2019-03-01 | 2019-05-28 | 上海傲鲨智能科技有限公司 | A kind of gripper structure based on steel wire driving |
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2019
- 2019-03-01 CN CN201920266112.XU patent/CN209774680U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807920A (en) * | 2019-03-01 | 2019-05-28 | 上海傲鲨智能科技有限公司 | A kind of gripper structure based on steel wire driving |
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