CN212123338U - Deformable flexible grabbing device - Google Patents
Deformable flexible grabbing device Download PDFInfo
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- CN212123338U CN212123338U CN202020831394.6U CN202020831394U CN212123338U CN 212123338 U CN212123338 U CN 212123338U CN 202020831394 U CN202020831394 U CN 202020831394U CN 212123338 U CN212123338 U CN 212123338U
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Abstract
The utility model discloses a deformable flexible gripping device, which comprises a deformation frame, a gripping arm connected to the deformation frame, a deformation pushing mechanism used for driving the deformation frame and a driving mechanism used for driving the gripping arm to move relative to the deformation frame, wherein the deformation frame consists of four frame shells which are hinged in pairs; the grabbing arm comprises an arm support, a connecting piece arranged on the arm support and used for connecting the rack shell and an arm tail arranged at an included angle with the arm support, and the arm support is flexibly connected with the grabbing block; the arm tail is flexibly connected with the guide wheel. The utility model has the advantages of simple structure and reasonable design, the shape can be changed according to the shape of snatching the thing to the frame that warp, and the suitability is high, snatchs piece and cantilever crane flexonics, and leading wheel and arm tail flexonics avoid being snatched the problem of thing damage, reduce the input cost of snatching the thing.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, concretely relates to deformable flexible grabbing device.
Background
With the development of science and technology, manipulators have been widely used in industrial production. Such as in the food processing industry and vending industry. Vending machines are a completely new form of commercial retail, developing in japan and europe and the united states in the 20 th century in the 70's. It is also known as a 24-hour business micro supermarket. In japan, 70% of canned beverages are sold by vending machines. There are 50 million beverage dispensers distributed worldwide by the well known beverage merchant coca-cola company. With the development of society, businesses tend to be automatically developed more and more, and the successive popularization of vending machines greatly saves manpower and material resources and promotes the development of society.
Most of the vending machines on the market sell regular geometric objects such as bottles, canned beverages, cosmetics, snacks, toys, medicines, adult products, etc., and the technology of vending fruits and fresh fruit juice is rare because the fruits are diversified and not uniform. Such as cucumbers, bananas, apples, oranges, pears, mulberries, cherries, and the like. It is difficult to find a convenient and fast mechanism to quickly pick and deliver the fruits of different shapes to customers or squeezing mechanisms.
Therefore, to this current situation, need a flexible grabbing device of flexible, can not only snatch cucumber, this kind of bar object of banana, also can snatch apple, pear, this kind of globular object of peach, also can snatch regular cuboid object to can only realize the removal of article in the whole platform machine with a grabbing device, greatly practice thrift manpower and materials.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough among the above-mentioned prior art is directed at, provide a deformable flexible grabbing device, its simple structure, reasonable in design, the shape change shape that the deformation frame can be according to being snatched the thing, and the suitability is high, snatchs piece and cantilever crane flexonics, leading wheel and arm tail flexonics, avoid being snatched the problem of thing damage, reduce the input cost who is snatched the thing.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this: a deformable flexible gripping device, characterized by: the device comprises a deformation rack, a grabbing arm connected to the deformation rack, a deformation pushing mechanism used for driving the deformation rack and a driving mechanism used for driving the grabbing arm and the deformation rack to move relatively, wherein the deformation rack consists of four rack shells, the four rack shells are hinged in pairs, the four rack shells are respectively a first rack shell, a second rack shell, a third rack shell and a fourth rack shell, and the deformation pushing mechanism is connected with the first rack shell; the number of the grabbing arms is four, each grabbing arm comprises an arm support, a connecting piece arranged on the arm support and used for being connected with the rack shell and an arm tail arranged at an included angle with the arm support, a grabbing block with one end extending out of the arm support is arranged in the arm support, and the other end of the grabbing block is fixedly connected with the arm support through an internal connecting spring; the arm tail is internally provided with a guide wheel spring and a guide wheel frame, one end of the guide wheel spring is fixedly connected with the arm tail, the other end of the guide wheel spring is fixedly connected with the guide wheel frame, the guide wheel frame is connected with a guide wheel shaft extending out of the arm tail, the arm tail is provided with a guide groove for the guide wheel shaft to move, and the guide wheel is arranged on the guide wheel shaft.
The deformable flexible grabbing device which is characterized in that: the deformation pushing mechanism comprises a steering engine, a first cam connected with the steering engine in a transmission mode and a second cam tangent to the first cam, the first cam is provided with a first cam shaft, a first bearing seat matched with the first cam shaft is arranged on a first rack shell, the second cam is provided with a second cam shaft, a second bearing seat matched with the second cam shaft is arranged on a second rack shell, and bearings are arranged in the first bearing seat and the second bearing seat.
The deformable flexible grabbing device which is characterized in that: the driving mechanism comprises a motor and a lead screw connected with the output end of the motor, the connecting piece comprises a first connecting piece and a second connecting piece which are respectively arranged on two sides of the arm support, lead screw nuts matched with the lead screw are embedded in the first connecting piece and the second connecting piece, a lead screw bearing seat matched with the lead screw is arranged on the second connecting piece, and a bearing is arranged in the lead screw bearing seat.
The deformable flexible grabbing device which is characterized in that: the fixing mechanism comprises a connecting rod, a steering engine fixing plate fixedly connected with the steering engine, a first shaft sleeve embedded in the steering engine fixing plate, a second shaft sleeve and a third shaft sleeve fixedly connected with the first rack shell, and the connecting rod is fixedly connected with the first shaft sleeve, the second shaft sleeve and the third shaft sleeve through jackscrews.
The deformable flexible grabbing device which is characterized in that: and the first rack shell is provided with a mounting plate for mounting the second shaft sleeve and the third shaft sleeve.
The deformable flexible grabbing device which is characterized in that: the grabbing block comprises a first grabbing block and a second grabbing block, the cross section of the first grabbing block is fan-shaped, and the cross section of the second grabbing block is arc-shaped.
The deformable flexible grabbing device which is characterized in that: the included angle between the arm support and the arm tail is 100-135 degrees.
The deformable flexible grabbing device which is characterized in that: and the other two sides of the arm support are respectively provided with a bull-eye universal wheel, and steel balls of the bull-eye universal wheels are abutted to the frame shell.
The deformable flexible grabbing device which is characterized in that: the number of the guide wheels is multiple.
The deformable flexible grabbing device which is characterized in that: and a tension spring is connected between the first cam shaft and the second cam shaft.
Compared with the prior art, the utility model has the following advantage:
1. the utility model has the advantages of simple structure and reasonable design, realize and use convenient operation.
2. In the utility model, when the deformation rack is not stressed, the four rack shells are mutually attached, the distance between the four grabbing arms is smaller, and the deformation rack is suitable for grabbing strip-shaped objects with smaller volume; when the deformed rack is stressed, the four rack shells are not attached, the distance between the four grabbing arms is large, and the deformed rack is suitable for grabbing a spherical object with a large radial direction.
3. The utility model discloses in, the cantilever crane is the contained angle setting with the arm tail, and the space range that consequently four arm tails enclose is greater than the space range that four cantilever cranes enclose, greatly increased be used for including the space range who is snatched the thing, promoted the effect of snatching the process.
4. The utility model discloses in, snatch piece and cantilever crane flexonics for snatch the piece and when being touched by snatching the thing, under the effect of snatching the bolster, snatch the piece and snatch the bolster to keeping away from the direction compression of snatching the thing, make and snatch the piece and can retreat towards the direction of keeping away from by snatching the thing, avoid because the problem that the too big snatching power of snatching the piece leads to by snatching the thing damage reduces the input cost by snatching the thing.
5. The utility model discloses in, when the arm tail was close to by snatchs the thing, the leading wheel at first contacted by snatchs the thing, will be taken to the inboard of cantilever crane by snatching the thing through the leading wheel, avoid by snatching the thing and directly produce the friction with the arm tail and appear damaging.
6. The utility model discloses in, set up the guide pulley bolster in the arm tail, the leading wheel passes through the leading wheel hub connection on the guide pulley frame, sets up the guide way that can supply the leading wheel shaft to remove on the arm tail, consequently, the leading wheel produces flexibility with the arm tail, guarantees that the leading wheel is unlikely to the crushing quilt and snatchs the thing in the direction.
To sum up, the utility model has the advantages of simple structure and reasonable design, the shape can be changed according to the shape of snatching the thing to the frame that warp, and the suitability is high, snatchs piece and cantilever crane flexonics, and leading wheel and arm tail flexonics avoid being snatched the problem of thing damage, reduce the input cost of snatching the thing.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of the device when the deformation frame is not stressed.
Fig. 2 is a schematic structural diagram of the device when the deformation frame is stressed.
Fig. 3 is a schematic structural view of the gripper arm.
Fig. 4 is a side view of the grabber arm.
FIG. 5 is a schematic view of the connection of the grabber arm, the rack housing, and the drive mechanism.
Fig. 6 is a schematic structural diagram of a deformation frame.
Fig. 7 is a bottom view of the transformable frame.
Fig. 8 is a structural schematic diagram of the deformation frame under stress.
Fig. 9 is a schematic connection diagram of the chassis case, the deforming pushing mechanism, and the fixing mechanism.
Fig. 10 is a side view of fig. 9.
[ description of main reference symbols ]
1-a gripper arm; 2-a deformation frame; 3-a deformation pushing mechanism;
4-a driving mechanism; 5, a fixing mechanism; 1-a connector;
1-2-bull's eye universal wheel; 1-3-arm support; 1-4-guide frame;
1-5-guide wheel; 1-6-guide groove; 1-7-guide wheel buffer parts;
1-8-a first grabbing block; 1-9-a second grabbing block; 1-10-lead screw nut;
1-11-arm tail; 1-12-grabbing the buffer member; 2-1 — a first chassis housing;
2-2 — a second chassis housing; 2-3-a third rack housing; 2-4-a fourth chassis housing;
2-5-hinge; 2-6-mounting plate; 2-7-mounting holes;
2-8-screw hole; 3-1-steering engine; 3-2 — a first cam;
3-3 — a second cam; 3-4 — a first camshaft; 3-5-a second camshaft;
3-6 — a first bearing block; 3-7-second bearing block; 4-1-motor;
4-2-lead screw bearing seat; 4-3-lead screw; 5-1-connecting rod;
5-2 — a first sleeve; 5-3-steering engine fixing plate; 5-4-second shaft sleeve;
5-third shaft sleeve.
Detailed Description
The method of the present invention will be described in further detail with reference to the accompanying drawings and embodiments of the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the 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 a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 10, the present invention comprises a deforming frame 2, a gripping arm 1 connected to the deforming frame 2, a deforming pushing mechanism 3 for driving the deforming frame 2, and a driving mechanism 4 for driving the gripping arm 1 and the deforming frame 2 to move relatively,
the deformation rack 2 consists of four rack shells, the four rack shells are hinged in pairs, the four rack shells are respectively a first rack shell 2-1, a second rack shell 2-2, a third rack shell 2-3 and a fourth rack shell 2-4, and the deformation pushing mechanism 3 is connected with the first rack shell 2-1;
the number of the grabbing arms 1 is four, the grabbing arms 1 comprise arm supports 1-3, connecting pieces 1-1 arranged on the arm supports 1-3 and used for connecting the rack shell, arm tails 1-11 arranged at an included angle with the arm supports 1-3,
a grabbing block with one end extending out of the arm support 1-3 is arranged in the arm support 1-3, and the other end of the grabbing block is fixedly connected with the arm support 1-3 through a grabbing buffer part 1-12;
the guide wheel type arm tail structure is characterized in that guide wheel buffer parts 1-7 and guide wheel frames 1-4 are arranged in the arm tail 1-11, one ends of the guide wheel buffer parts 1-7 are fixedly connected with the arm tail 1-11, the other ends of the guide wheel buffer parts 1-7 are fixedly connected with the guide wheel frames 1-4, guide wheel shafts extending out of the arm tail 1-11 are connected onto the guide wheel frames 1-4, guide grooves 1-6 for the guide wheel shafts to move are formed in the arm tail 1-11, and guide wheels 1-5 are mounted on the guide wheel shafts.
During the actual use, the frame shell is the cuboid of bottom surface open-ended, and four snatch arm 1 set up respectively in four frame shells. The four frame shells are hinged in pairs through hinges 2-5, and the hinges 2-5 are fixedly connected with the frame shells through bolts and nuts.
When the deformation rack 2 is not stressed, the device is shown in fig. 1, four rack shells are attached to each other, four grabbing arms 1 are enclosed into a cube, the distance between the four grabbing arms 1 is small, namely, the distance between grabbing blocks and the distance between guide wheels 1-5 are small, at the moment, the guide wheels 1-5 are suitable for guiding strip-shaped objects with small radial directions, and the grabbing blocks are suitable for grabbing strip-shaped objects with small sizes, such as cucumbers and bananas.
When the deformation rack 2 is stressed, namely the deformation pushing mechanism 3 pushes the first rack shell 2-1, the device is as shown in fig. 2, the four rack shells are not attached, the distance between the four grabbing arms 1 is large, namely, the distance between the grabbing blocks and the distance between the guide wheels 1-5 are large, at the moment, the guide wheels 1-5 are suitable for guiding strip-shaped objects with large volume, and the grabbing blocks are suitable for grabbing spherical objects with large radial size, such as apples, peaches, oranges and the like.
The arm supports 1-3 and the arm tails 1-11 are arranged at included angles, and the arm tails 1-11 are arranged towards the outer sides of the arm supports 1-3, so that the space range enclosed by the four arm tails 1-11 is larger than that enclosed by the four arm supports 1-3, the space range for containing the grabbed objects is greatly increased, and the grabbing effect is improved.
When the grabbing device is actually used, the grabbing blocks are made of solid silicon rubber materials, the number of the grabbing blocks is multiple, the grabbing blocks are flexibly connected with the arm supports 1-3, when the grabbing blocks touch a grabbed object, the grabbing blocks compress the grabbing buffering parts 1-12 towards the direction far away from the grabbed object under the action of the grabbing buffering parts 1-12, the grabbing blocks can retreat towards the direction far away from the grabbed object, the problem that the grabbed object is damaged due to the fact that the grabbing force of the grabbing blocks is too large is avoided, and the input cost of the grabbed object is reduced.
When the arm tail 1-11 is close to the object to be grabbed, the guide wheel 1-5 firstly contacts the object to be grabbed, the object to be grabbed is taken to the inner side of the arm support 1-3 through the guide wheel 1-5, and the object to be grabbed is prevented from being directly rubbed with the arm tail 1-11 to be damaged. In the same way, in order to avoid the problem that the grabbed objects are damaged due to too large guiding force of the guide wheels 1-5, guide wheel buffer parts 1-7 are arranged in the arm tails 1-11, the guide wheels 1-5 are connected to the guide wheel frames 1-4 through guide wheel shafts, and guide grooves 1-6 for the guide wheel shafts to move are formed in the arm tails 1-11, so that the guide wheels 1-5 and the arm tails 1-11 generate flexibility, and the grabbed objects are prevented from being crushed by the guide wheels 1-5 while guiding.
In this embodiment, the deformation pushing mechanism 3 includes a steering engine 3-1, a first cam 3-2 in transmission connection with the steering engine 3-1, and a second cam 3-3 tangent to the first cam 3-2, the first cam 3-2 has a first cam shaft 3-4, the first rack housing 2-1 is provided with a first bearing seat 3-6 matched with the first cam shaft 3-4, the second cam 3-3 has a second cam shaft 3-5, the second rack housing 2-2 is provided with a second bearing seat 3-7 matched with the second cam shaft 3-5, and bearings are arranged in the first bearing seat 3-6 and the second bearing seat 3-7.
When the cam mechanism is used practically, a steering engine 3-1 is a large-torque steering engine with the torque of 20kg and 270 degrees, the power output end of the steering engine 3-1 is connected with a steering engine circular arm matched with the steering engine circular arm, and the steering engine circular arm is connected with the first cam 3-2 through bolts and nuts. The steering engine 3-1 is used as a power source, power is transmitted to the first cam 3-2 in transmission connection with the steering engine, so that the first cam 3-2 rotates, the first cam 3-2 is tangent to the second cam 3-2, the rotating first cam 3-2 extrudes the second cam 3-2, and therefore when the steering engine 3-1 rotates the first cam 3-2, the second cam 3-2 can be pushed open, so that the first rack shell 2-1 and the second rack shell 2-2 can rotate around the second cam shaft 3-5, and the four rack shells are hinged in pairs, so that the four rack shells can be sequentially pushed under the action of power transmission, and deformation of the deformed rack is realized.
In this embodiment, the driving mechanism 4 includes a motor 4-1 and a screw 4-3 connected to an output end of the motor 4-1, the connecting member 1-1 includes a first connecting member and a second connecting member respectively disposed at two sides of the arm support 1-3, a screw nut 1-10 engaged with the screw 4-3 is embedded in each of the first connecting member and the second connecting member, a screw bearing seat 4-2 engaged with the screw 4-3 is disposed on the second connecting member, and a bearing is disposed in the screw bearing seat 4-2.
When the device is actually used, the motor 4-1 works to drive the screw rod 4-3 to rotate, so that the screw rod nuts 1-10 embedded on the first connecting piece and the second connecting piece move along the length direction of the screw rod 4-3 to drive the grabbing arms 1 to move back and forth, and the distances among the four grabbing arms 1 are the clamping distances, so that the effect of adjusting the clamping distances is realized, the using effect is good, and the applicability is high.
In the embodiment, the steering engine fixing device further comprises a fixing mechanism 5, the fixing mechanism comprises a connecting rod 5-1, a steering engine fixing plate 5-3 fixedly connected with a steering engine 3-1, a first shaft sleeve 5-2 embedded in the steering engine fixing plate 5-3, a second shaft sleeve 5-4 and a third shaft sleeve 5-5 fixedly connected with the first frame shell 2-1, and the connecting rod 5-1 is fixedly connected with the first shaft sleeve 5-2, the second shaft sleeve 5-4 and the third shaft sleeve 5-5 through jackscrews.
In practical use, the connecting rod 5-1 is fixedly connected with the first shaft sleeve 5-2, the second shaft sleeve 5-4 and the third shaft sleeve 5-5 through jackscrews, the first shaft sleeve 5-2 is fixedly connected with the steering engine fixing plate 5-3, the second shaft sleeve 5-4 and the third shaft sleeve 5-5 are fixedly connected with the first rack shell 2-1, so that the connecting rod 5-1 is fixedly connected with the device, and the connecting rod 5-1 is fixed outside the device, so that the device is fixed.
In this embodiment, the first housing 2-1 has a mounting plate 2-6 for mounting the second shaft sleeve 5-4 and the third shaft sleeve 5-5. The first rack shell 2-1 and the second rack shell 2-2 are provided with mounting holes 2-7 for mounting bearing seats, and the four rack shells are provided with screw holes 2-8 for mounting screws 4-3.
In practical use, the mounting plate 2-6 is arranged on the first rack shell 2-1, so that the first rack shell 2-1 can be kept complete, and the damage to the first rack shell 2-1 is reduced.
In this embodiment, the grabbing blocks comprise first grabbing blocks 1-8 and second grabbing blocks 1-9, the cross section of the first grabbing blocks 1-8 is fan-shaped, and the cross section of the second grabbing blocks 1-9 is arc-shaped.
In actual use, the number of the inner connecting cushion members 1 to 12 is plural. One of the linear edges of the first catching blocks 1-8 is connected to the inner connection buffer 1-12, and the linear edge of the second catching block 1-9 is connected to the inner connection buffer 1-12. The second grabbing blocks 1-9 are arranged below the first grabbing blocks 1-8, so that the upper portions of the second grabbing blocks 1-9 with the arched cross sections and the lower portions of the first grabbing blocks 1-8 with the fan-shaped cross sections are both arc-shaped, a clamping angle is formed, in the clamping process, the grabbed objects cannot be damaged due to edges and corners of the grabbing blocks, and the using effect is good. The lower part of the second grabbing block 1-9 with the arched cross section is also in an arc shape, so that the grabbed objects cannot be damaged. The cross section of the first grabbing block 1-8 is fan-shaped, so that the arc length can be prolonged to a greater extent, and the clamping effective area is prolonged.
In the embodiment, the included angle between the arm support 1-3 and the arm tail 1-11 is 100-135 degrees.
In the embodiment, the other two sides of the arm support 1-3 are respectively provided with a bull's eye universal wheel 1-2, and steel balls of the bull's eye universal wheels 1-2 are abutted to the frame shell.
In practical use, the bull's eye universal wheels 1-2 are perpendicular to the arm support 1-3, and steel balls of the bull's eye universal wheels 1-2 are abutted against the frame shell, so that the arm support 1-3 can be guaranteed to be perpendicular to the frame shell all the time in the moving process along the length direction of the lead screw 4-3, and the arm support cannot shake in the moving process.
In this embodiment, the number of the guide wheels 1 to 5 is plural. In actual use, the outer ring surface of the guide wheels 1-5 is made of silicon rubber.
In the embodiment, a tension spring 3-10 is connected between the first cam shaft 3-4 and the second cam shaft 3-5. During actual use, the tension springs 3-10 are used for ensuring that the first cam shaft 3-4 and the second cam shaft 3-5 are tangent all the time, and the using effect is good.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A deformable flexible gripping device, characterized by: the device comprises a deformation rack (2), a grabbing arm (1) connected to the deformation rack (2), a deformation pushing mechanism (3) used for driving the deformation rack (2) and a driving mechanism (4) used for driving the grabbing arm (1) and the deformation rack (2) to move relatively, wherein the deformation rack (2) consists of four rack shells, the four rack shells are hinged in pairs, the four rack shells are respectively a first rack shell (2-1), a second rack shell (2-2), a third rack shell (2-3) and a fourth rack shell (2-4), and the deformation pushing mechanism (3) is connected with the first rack shell (2-1); the number of the grabbing arms (1) is four, each grabbing arm (1) comprises an arm support (1-3), a connecting piece (1-1) arranged on the arm support (1-3) and used for connecting the rack shell and an arm tail (1-11) arranged at an included angle with the arm support (1-3), a grabbing block with one end extending out of the arm support (1-3) is arranged in the arm support (1-3), and the other end of each grabbing block is fixedly connected with the arm support (1-3) through a grabbing buffering piece (1-12); the arm tail (1-11) is internally provided with a guide wheel buffer piece (1-7) and a guide wheel frame (1-4), one end of the guide wheel buffer piece (1-7) is fixedly connected with the arm tail (1-11), the other end of the guide wheel buffer piece (1-7) is fixedly connected with the guide wheel frame (1-4), the guide wheel frame (1-4) is connected with a guide wheel shaft extending out of the arm tail (1-11), the arm tail (1-11) is provided with a guide groove (1-6) for the guide wheel shaft to move, and the guide wheel shaft is provided with a guide wheel (1-5).
2. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the deformation pushing mechanism (3) comprises a steering engine (3-1), a first cam (3-2) in transmission connection with the steering engine (3-1) and a second cam (3-3) tangent to the first cam (3-2), the first cam (3-2) is provided with a first camshaft (3-4), a first bearing seat (3-6) matched with the first camshaft (3-4) is arranged on the first frame shell (2-1), the second cam (3-3) is provided with a second cam shaft (3-5), a second bearing seat (3-7) matched with the second cam shaft (3-5) is arranged on the second frame shell (2-2), and bearings are arranged in the first bearing seat (3-6) and the second bearing seat (3-7).
3. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the driving mechanism (4) comprises a motor (4-1) and a lead screw (4-3) connected with the output end of the motor (4-1), the connecting piece (1-1) comprises a first connecting piece and a second connecting piece which are respectively arranged on two sides of the arm support (1-3), lead screw nuts (1-10) matched with the lead screw (4-3) are embedded in the first connecting piece and the second connecting piece, a lead screw bearing seat (4-2) matched with the lead screw (4-3) is arranged on the inner wall of the rack shell, and a bearing is arranged in the lead screw bearing seat (4-2).
4. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the steering engine fixing device is characterized by further comprising a fixing mechanism (5), the fixing mechanism comprises a connecting rod (5-1), a steering engine fixing plate (5-3) fixedly connected with a steering engine (3-1), a first shaft sleeve (5-2) embedded in the steering engine fixing plate (5-3), a second shaft sleeve (5-4) and a third shaft sleeve (5-5) fixedly connected with the first rack shell (2-1), and the connecting rod (5-1) is fixedly connected with the first shaft sleeve (5-2), the second shaft sleeve (5-4) and the third shaft sleeve (5-5) through jackscrews.
5. A deformable flexible gripping apparatus as claimed in claim 4, wherein: and the first rack shell (2-1) is provided with a mounting plate (2-6) for mounting a second shaft sleeve (5-4) and a third shaft sleeve (5-5).
6. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the grabbing blocks comprise first grabbing blocks (1-8) and second grabbing blocks (1-9), the cross sections of the first grabbing blocks (1-8) are fan-shaped, and the cross sections of the second grabbing blocks (1-9) are arc-shaped.
7. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the included angle between the arm support (1-3) and the arm tail (1-11) is 100-135 degrees.
8. A deformable flexible gripping apparatus as claimed in claim 3, wherein: the other two sides of the arm support (1-3) are respectively provided with a bull's eye universal wheel (1-2), and steel balls of the bull's eye universal wheels (1-2) are abutted to the frame shell.
9. A deformable flexible gripping apparatus as claimed in claim 1, wherein: the number of the guide wheels (1-5) is multiple.
10. A deformable flexible gripping apparatus as claimed in claim 2, wherein: a tension spring (3-10) is connected between the first camshaft (3-4) and the second camshaft (3-5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020831394.6U CN212123338U (en) | 2020-05-19 | 2020-05-19 | Deformable flexible grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020831394.6U CN212123338U (en) | 2020-05-19 | 2020-05-19 | Deformable flexible grabbing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114084663B (en) * | 2021-11-12 | 2024-04-02 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
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Granted publication date: 20201211 Termination date: 20210519 |