CN212072006U - Be applied to small-size triangle mechanical claw and robot that piece snatched - Google Patents
Be applied to small-size triangle mechanical claw and robot that piece snatched Download PDFInfo
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- CN212072006U CN212072006U CN201922373412.0U CN201922373412U CN212072006U CN 212072006 U CN212072006 U CN 212072006U CN 201922373412 U CN201922373412 U CN 201922373412U CN 212072006 U CN212072006 U CN 212072006U
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- 210000000078 claw Anatomy 0.000 title claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 238000004880 explosion Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the robot, concretely relates to be applied to small-size triangle gripper and robot that the piece snatched. The utility model provides a be applied to small-size triangle mechanical gripper that piece snatched includes drive unit, rotary disk, paws, drive unit and base, and the rotary disk can rotate under drive unit's effect, and the quantity of paws is three, and drive unit's both ends link to each other with rotary disk and paws through can the pivoted mode respectively, and the base links to each other with drive unit, and the interlude of paws links to each other with the base through can the pivoted mode. Through using the small-size triangle gripper that is applied to the piece and snatchs among this technical scheme, drive unit can drive the rotary disk and rotate, and the rotary disk passes through the drive unit simultaneously and acts on the paw, and the paw is because the interlude links to each other with the base through the mode that can rotate, so the paw can be followed the interlude and rotated in order to change the area of snatching between the three paw.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to be applied to small-size triangle gripper and robot that the piece snatched.
Background
To this kind of novel amusement of robot of playing chess and use type robot, often the function is various, and the piece shape of different chess class often is different, for example the chess piece is the cylinder, and the army's flag piece is the cuboid, and the chinese checkers piece is spheroid or class cone, therefore the shape of terminal holder often also is various. With commonly used end grippers such as two-legged clips, collets and the like often do not grip all pawns effectively. The chess playing robot is single in type and can often play chess, or the end effectors in different shapes need to be replaced when playing different chess, so that great inconvenience is caused when the chess playing robot is used.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem that the chess piece type is single when the chess playing robot clamps at least. The purpose is realized by the following technical scheme:
the utility model discloses a first aspect provides a small-size triangle gripper that is applied to piece and snatchs, include:
a drive unit;
a rotating disk which can rotate under the action of the driving unit;
the number of the claws is three;
the two ends of the transmission unit are respectively connected with the rotating disc and the claws in a rotatable mode;
the base, the base with drive unit links to each other, the interlude of paws through can the pivoted mode with the base links to each other.
Through using the small-size triangle gripper that is applied to the piece and snatchs among this technical scheme, drive unit can drive the rotary disk and rotate, and the rotary disk passes through the drive unit simultaneously and acts on the paw, and the paw is because the interlude links to each other with the base through the mode that can rotate, so the paw can be followed the interlude and rotated the area of snatching in order to change between the three paw to make the end of three paw to snatching of different kind pieces, improved the suitability.
Additionally, according to the utility model discloses a be applied to small-size triangle gripper that the piece snatched, still can have following additional technical characterstic:
the utility model discloses an in some embodiments, the drive unit includes head rod, driving medium and second connecting rod, the head rod with the rotary disk links to each other, the head rod can follow the rotation of rotary disk and rotate, the second connecting rod with the paws link to each other, the second connecting rod can wind around being on a parallel with the axis rotation of the quotation of rotary disk, the driving medium is used for connecting the head rod with the second connecting rod.
The utility model discloses an in some embodiments, the driving medium is including being used for connecting the installation face of head rod, the installation face with the quotation parallel arrangement of rotary disk, the driving medium still includes the perpendicular to the mounting groove that the installation face set up, the one end of second connecting piece is located in the mounting groove.
In some embodiments of the present invention, the first connecting rod is an arc-shaped rod, and the first end of the arc-shaped rod is connected to the rotating disk in a rotatable manner.
In some embodiments of the present invention, it is three that the claws are each the distance of the center of rotation of the first end of the arc-shaped rod from the center axis of the rotating disk is equal, and two arbitrary the center of rotation of the first end of the arc-shaped rod with the included angle formed by the center axis of the rotating disk is 120 °.
The utility model discloses an in some embodiments, be equipped with on the base be used for with the interlude cooperation of foot claw is connected the recess, the interlude of foot claw can be around passing the axis of the connecting axle of recess rotates.
The utility model discloses an in some embodiments, the base is regular hexagon structure, arbitrary mutual non-adjacent three side is equipped with the mount table that outside protrusion set up in the regular hexagon structure, the recess is located in the mount table.
In some embodiments of the present invention, the driving unit is a steering engine.
In some embodiments of the present invention, the small-sized triangular mechanical claw applied to the chessman grabbing further comprises a speed reducer, wherein the speed reducer is used for driving and connecting the driving unit and the rotating disk.
The utility model also provides a robot, be applied to the small-size triangle gripper that the piece snatched including above.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows an overall structure diagram of a small triangular mechanical claw applied to chessman grabbing in an open state according to an embodiment of the present invention;
fig. 2 schematically shows an overall structure diagram of a small-sized triangular mechanical claw applied to chessman grabbing in a closed state according to an embodiment of the present invention;
fig. 3 schematically shows an explosion diagram of a small-sized triangular mechanical claw applied to chessman grabbing according to an embodiment of the present invention.
10: a drive unit;
20: rotating the disc;
30: a paw;
40: transmission unit, 41: first connecting rod, 42: connecting piece, 421: mounting surface, 422: mounting groove, 43: a second connecting rod;
50: base, 51: groove, 52: mounting table, 53: a housing;
60: and a speed reducer.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Fig. 1 schematically shows an overall structure diagram of a small-sized triangular mechanical claw applied to chessman grabbing in an open state according to an embodiment of the present invention. Fig. 2 schematically shows an overall structure diagram of a small-sized triangular mechanical claw applied to chessman grabbing in a closed state according to an embodiment of the present invention. As shown in fig. 1 and 2, the utility model provides a small-sized triangular mechanical claw applied to chessman grabbing. The utility model provides a be applied to small-size triangle mechanical gripper that piece snatched includes drive unit 10, rotary disk 20, the paws 30, drive unit 40 and base 50, rotary disk 20 can rotate under drive unit 10's effect, the quantity of paws 30 is three, drive unit 40's both ends link to each other with rotary disk 20 and paws 30 through the mode that can rotate respectively, base 50 links to each other with drive unit 10, the interlude of paws 30 links to each other with base 50 through the mode that can rotate.
Through using the small-size triangle gripper that is applied to the chess piece and snatchs among this technical scheme, drive unit 10 can drive rotary disk 20 and rotate, and rotary disk 20 passes through drive unit 40 simultaneously and acts on the paw 30, and the paw 30 is because the interlude links to each other with base 50 through the mode that can rotate, so the paw 30 can be followed the interlude and rotated the area of snatching in order to change between the three paw 30, thereby make the end of three paw 30 snatch to different kinds of chess pieces, improved the suitability.
Further, in the present embodiment, as shown in fig. 3, the transmission unit 40 includes a first connection rod 41, a transmission member and a second connection rod 43, the first connection rod 41 is connected to the rotating disk 20, the first connection rod 41 can rotate along with the rotation of the rotating disk 20, the second connection rod 43 is connected to the paws 30, and the second connection rod 43 can rotate around an axis parallel to the disk surface of the rotating disk 20, so that the second connection rod 43 can displace outwards, including lateral and longitudinal displacements, in the process of grabbing the pawns, and further drive the paws 30 to grab the paws. The second connecting rod 43 and the transmission member are used for connecting the first connecting rod 41 and the second connecting rod 43. When the driving unit 10 drives the rotating disc 20 to rotate, the first connecting rod 41 on the rotating disc 20 can transmit the torque of the rotating disc 20 to the connecting member 42, and then to the second connecting rod 43 through the connecting member 42, and further to the claws 30 to complete the grabbing task.
Specifically, in the present embodiment, as shown in fig. 3, the transmission member includes a mounting surface 421 for connecting the first connecting rod 41, the mounting surface 421 is disposed parallel to the disk surface of the rotating disk 20, one end of the first connecting rod 41 is movably connected to the mounting surface 421 through a first connecting arm, and the first connecting rod 41 can transmit a torque to the connecting member 42 to move outward when rotating along with the rotation of the rotating disk 20. In addition, the driving member further includes a mounting groove 422 perpendicular to the mounting surface 421, one end of the second connecting member 42 is disposed in the mounting groove 422, the mounting groove 422 is connected to the second connecting rod 43 through a second connecting arm, and when the first connecting rod 41 drives the connecting member 42 to move outwards to perform a transverse displacement, the second connecting rod 43 rotates around one end located inside the mounting groove 422 to perform a longitudinal displacement, so as to drive the claws 30 to rotate along the middle section to perform a grabbing operation.
Specifically, in the present embodiment, as shown in fig. 3, the first connecting rod 41 is an arc-shaped rod, and a first end of the arc-shaped rod is rotatably connected to the rotating disk 20. Can turn into planar power that opens and shuts with the revolving force of axis through the arc pole, adopt the arc pole simultaneously can reduce the motion space relatively, enlarge the distance of motion effectively in narrow and small space. In other embodiments of the present invention, the straight rod may be connected to convert the rotation force of the axis into a planar opening and closing force, but the movement space is not reduced.
Further, in the present embodiment, as shown in fig. 3, the rotating centers of the first ends of the arc-shaped rods of the three claws 30 are at the same distance from the central axis of the rotating disc 20, and the rotating centers of the first ends of any two arc-shaped rods and the central axis of the rotating disc 20 form an included angle of 120 °. By applying the principle of triangular stability, the opening and closing angles of the three claws 30 can be controlled according to the rotation angle of the driving unit 10, so that the function of stably grabbing an object with a fixed shape is achieved, and the problem that the end effector is replaced when the chess playing robot plays various chess games is solved. Meanwhile, the arc-shaped rods can be pushed to move uniformly, so that the moment is transmitted to the connecting piece 42 and the second connecting rod 43, the aim of clamping the chess pieces by the operating claws 30 is fulfilled finally, and the stability is improved.
Specifically, in the present embodiment, as shown in fig. 3, the base 50 is provided with a groove 51 for engaging with the middle section of the claw 30, and the middle section of the claw 30 can rotate around the axis of the connecting shaft passing through the groove 51. The base 50 in this embodiment is a regular hexagon structure, and any three sides that are not adjacent to each other in the regular hexagon structure are provided with an installation table 52 protruding outward, and the groove 51 is arranged in the installation table 52. Through the assembly of the third connecting arm with the recess 51 and the middle section of the claw 30, when the transmission unit 40 drives the claw 30 to move, the claw 30 can rotate along the third connecting arm on the middle section, and then the tail end of the claw 30 is driven to perform grabbing operation.
Further, in this embodiment, the driving unit 10 is a PWM steering engine, so that various controllers can control the rotation angle, speed and rotation time of the steering engine by controlling the PWM output, and the rotation angle of the steering engine controls the opening and closing angle of the end of the claw 30.
Specifically, in the present embodiment, as shown in fig. 3, the small-sized mechanical claw for picking up the chess further includes a decelerator 60, and the decelerator 60 is used for driving and connecting the driving unit 10 and the rotating disk 20. The decelerator 60 is fixedly connected to the rotating disk 20 and the driving unit 10, respectively. The decelerator 60 can reduce the speed of rotation of the driving unit 10 and increase the torque of the output, ensuring stable grasping, and improving stability and grasping force.
Further, in the present embodiment, as shown in fig. 3, a housing 53 is further disposed on the top of the base 50, the housing 53 is sleeved outside the driving unit 10, and the housing 53 is used for protecting and fixing the driving unit 10.
The utility model also provides a robot, be applied to the small-size triangle gripper that the piece snatched including above.
Through using the robot among this technical scheme, drive unit 10 on the robot can drive rotary disk 20 and rotate, and rotary disk 20 acts on the pawn 30 through drive unit 40 simultaneously, and the pawn 30 is because the interlude links to each other with base 50 through the mode that can rotate, so the pawn 30 can be followed the interlude and rotated in order to change the area of snatching between the three pawns 30 to make the terminal of three pawns 30 snatch to different kinds of chess pieces, improved the suitability.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a be applied to small-size triangle mechanical claw that piece snatched which characterized in that includes:
a drive unit;
a rotating disk which can rotate under the action of the driving unit;
the number of the claws is three;
the two ends of the transmission unit are respectively connected with the rotating disc and the claws in a rotatable mode;
the base, the base with drive unit links to each other, the interlude of paws through can the pivoted mode with the base links to each other.
2. The small-sized mechanical claw for chess grabbing according to claim 1, wherein said transmission unit comprises a first connecting rod, a transmission member and a second connecting rod, said first connecting rod is connected with said rotating disk, said first connecting rod can rotate along with the rotation of said rotating disk, said second connecting rod is connected with said foot claw, said second connecting rod can rotate around an axis parallel to the surface of said rotating disk, said transmission member is used for connecting said first connecting rod and said second connecting rod.
3. The small-sized mechanical claw for chess grabbing according to claim 2, wherein said transmission member comprises a mounting surface for connecting said first connecting rod, said mounting surface is disposed parallel to the surface of said rotating disk, said transmission member further comprises a mounting groove disposed perpendicular to said mounting surface, and one end of said second connecting rod is disposed in said mounting groove.
4. The small-sized mechanical claw for chess grabbing as claimed in claim 2, wherein said first connecting rod is an arc-shaped rod, and a first end of said arc-shaped rod is rotatably connected to said rotating disk.
5. The small triangular mechanical claw applied to chessman grabbing according to claim 4, wherein the rotating centers of the first ends of the arc-shaped rods of three claws are at equal distances from the central axis of the rotating disk, and the rotating centers of the first ends of any two arc-shaped rods form an included angle of 120 degrees with the central axis of the rotating disk.
6. The small triangular mechanical claw applied to chess piece grabbing according to claim 1, wherein the base is provided with a groove for matching and connecting with the middle section of the claw, and the middle section of the claw can rotate around the axis of a connecting shaft passing through the groove.
7. The small triangular mechanical claw applied to chess grabbing as claimed in claim 6, wherein the base is a regular hexagon structure, any three sides of the regular hexagon structure that are not adjacent to each other are provided with mounting platforms protruding outwards, and the groove is provided in the mounting platforms.
8. The small-sized triangular mechanical claw applied to chess piece grabbing according to any one of claims 1 to 7, wherein the driving unit is a steering engine.
9. The small-sized mechanical claw for chess grabbing according to any one of claims 1 to 7, wherein said small-sized mechanical claw for chess grabbing further comprises a speed reducer for driving and connecting said driving unit and said rotating disk.
10. A robot, characterized in that it comprises a small triangular gripper according to any of claims 1-9 for pawn gripping.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922373412.0U CN212072006U (en) | 2019-12-25 | 2019-12-25 | Be applied to small-size triangle mechanical claw and robot that piece snatched |
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| CN201922373412.0U CN212072006U (en) | 2019-12-25 | 2019-12-25 | Be applied to small-size triangle mechanical claw and robot that piece snatched |
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| CN212072006U true CN212072006U (en) | 2020-12-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113474A (en) * | 2019-12-25 | 2020-05-08 | 浙江省北大信息技术高等研究院 | Be applied to small-size triangle mechanical claw and robot that piece snatched |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113474A (en) * | 2019-12-25 | 2020-05-08 | 浙江省北大信息技术高等研究院 | Be applied to small-size triangle mechanical claw and robot that piece snatched |
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