CN107731080B - Grabbing mechanism capable of being disassembled and assembled quickly and used for demonstrating mechanical principle - Google Patents
Grabbing mechanism capable of being disassembled and assembled quickly and used for demonstrating mechanical principle Download PDFInfo
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- CN107731080B CN107731080B CN201711016901.XA CN201711016901A CN107731080B CN 107731080 B CN107731080 B CN 107731080B CN 201711016901 A CN201711016901 A CN 201711016901A CN 107731080 B CN107731080 B CN 107731080B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
The invention discloses a grabbing mechanism capable of being quickly disassembled and assembled and transformed for teaching a mechanical principle, which comprises a mounting base, a connecting straight rod and two groups of grabbing arm rod groups, wherein each group of grabbing arm rod groups comprises a first straight rod, a second straight rod, a third straight rod, a fourth straight rod, a bent rod, a sliding block, a roller, clamping jaws and a spring, and grabbing mechanisms with different structures can be obtained through disassembly and transformation connection between each rod and each part. The grabbing mechanism has the advantages of small number of rods and simple structure, and can learn the high-pair and low-pair concepts, the theoretical knowledge of the learning-shaped sealing mechanism and the force sealing mechanism and the theoretical knowledge of the learning degree of freedom through learning the mechanical principle about the straight line and curved lever principle, the toggle rod mechanism principle, the toggle rod-lever composite mechanism principle, and the roller and the sliding block. The grabbing mechanism has rich teaching functions, and can learn more mechanical principles and mechanical knowledge.
Description
Technical Field
The invention relates to a grabbing mechanism capable of being quickly disassembled and assembled and transformed for teaching a mechanical principle.
Background
Knowledge of the institution in the course of mechanical principles is often required to enhance student awareness of the connections and movements of the various components in the institution through institution displays or institution models. In case of lack of practical teaching tools in the teaching process, theoretical knowledge teaching of mechanical principles becomes a tedious language description, and it is difficult for these institutions to form a relatively complete physical image in the brain of students. In the prior art, although some teaching appliances of mechanical principle exist, most of the teaching appliances have the defects of large volume, difficulty in demonstration or single function.
Disclosure of Invention
The invention aims to provide a grabbing mechanism capable of being quickly disassembled and assembled and transformed for teaching mechanical principle, which has the advantages of small number of rod pieces, simple structure and good teaching function.
In order to achieve the above purpose, the invention adopts the following technical scheme: the grabbing mechanism comprises a mounting base, a connecting straight rod and two groups of grabbing arm rod groups, wherein each group of grabbing arm rod groups comprises a first straight rod, a second straight rod and a third straight rod, and a plurality of pin holes are formed in the first straight rod at intervals along the length direction of the first straight rod; the second straight rod is provided with a plurality of pin holes which are distributed at intervals along the length direction; the third straight rod is provided with a plurality of pin holes which are distributed at intervals along the length direction, the connecting straight rod is also provided with connecting holes,
the grabbing mechanism is provided with a first use state, in the first use state, the connecting straight rods are slidably arranged on the mounting base, in each grabbing arm rod group, the middle of each first straight rod is pivotally connected to the mounting base through a pin shaft, one end of each second straight rod is pivotally connected to one end of each first straight rod through a pin shaft, the other end of each second straight rod is fixedly connected with one end of each third straight rod through a pin shaft, and the other end of each third straight rod is pivotally connected to the connecting straight rod through a pin shaft.
Preferably, each group of grabbing arm lever sets further comprises a bent lever, the bent lever is provided with a first lever part and a second lever part, the length extension directions of the first lever part and the second lever part are different, a plurality of pin holes are formed in the bent lever at intervals along the length extension directions, the grabbing mechanism is in a second use state, in each group of grabbing arm lever sets in the second use state, the middle part of the first lever is connected to the mounting base through a pin shaft pivot, the first lever part is fixedly connected to one end of the first lever through two pin shafts, the second lever part is connected with one end of the third lever through a pin shaft pivot, and the other end of the third lever is connected to the connecting lever through a pin shaft pivot.
Preferably, the two connecting straight rods are relatively fixedly arranged and are slidably arranged on the mounting base together, a guide channel is formed between the two connecting straight rods, each grabbing arm rod group further comprises a sliding block, the grabbing mechanism has a third use state, in the third use state, each grabbing arm rod group, the middle part of the first straight rod is connected to the mounting base through a pin shaft pivot, one end of the second straight rod is connected to one end of the first straight rod through a pin shaft pivot, the sliding blocks are pivotally connected to the other end of the second straight rod, and the sliding blocks are slidably arranged in the guide channel.
Preferably, the grabbing mechanism further comprises a driving plate slidingly disposed on the mounting base, the connecting straight rod is fixedly mounted on the driving plate, each grabbing arm rod group further comprises a roller and a spring, the grabbing mechanism has a fourth use state, in each grabbing arm rod group in the fourth use state, the middle of the first straight rod is pivotally connected to the mounting base through a pin shaft, one end of the second straight rod is pivotally connected to one end of the first straight rod through a pin shaft, the slider is pivotally connected to the other end of the second straight rod, the roller is rollingly disposed on the driving plate, one end of the spring is pivotally connected to the mounting base, the other end of the spring is pivotally connected to the first straight rod, and elastic force for driving the roller to move towards the connecting straight rod is provided.
Further, the first straight rod is provided with a connecting rod part and a clamping rod part which are respectively arranged at two sides of a pivot joint between the first straight rod and the mounting base, the connecting rod part is connected with the second straight rod, and the spring is connected to the connecting rod part.
Preferably, each grabbing arm rod group further comprises a fourth straight rod, a plurality of pin holes are formed in the fourth straight rod at intervals along the length direction of the fourth straight rod, the fourth straight rod is connected to the mounting base through at least one pin shaft, and the middle part of the first straight rod is pivotally connected to the fourth straight rod through a pin shaft to be pivotally connected to the mounting base.
Preferably, the grabbing mechanism further comprises a force input rod for connecting the connecting straight rod for providing a pulling force or a pushing force.
Further, the grasping mechanism further includes a power means for providing the force input bar with a push-pull force.
Preferably, the power device comprises a force input hydraulic cylinder and a force output hydraulic cylinder, wherein,
the force input hydraulic cylinder comprises a first cylinder body and a driving piston rod assembly, the driving piston rod assembly comprises a driving piston rod and a driving piston fixed at one end of the driving piston rod, the driving piston is connected with the inner side peripheral wall of the first cylinder body in a dynamic sealing way, the driving piston rod extends out of the first cylinder body along the axial direction,
the force output hydraulic cylinder comprises a second cylinder body and a pseudo piston rod assembly, the pseudo piston rod assembly comprises a force output piston rod and a pseudo piston fixed at one end of the force output piston rod, the inner cavity of the second cylinder body is divided into a first cavity and a second cavity by the pseudo piston, a liquid flow channel which is communicated with the first cavity and the second cavity is formed in the pseudo piston, the force output piston rod penetrates through the second cavity and penetrates out of the second cylinder body and is fixedly connected with the force input rod, the force output piston rod is connected with the second cylinder body in a movable sealing mode, an elastic piece which is used for providing elastic restoring force for the pseudo piston rod assembly is further arranged in the second cavity, and the first cavity is communicated with a rodless cavity of the force input hydraulic cylinder through a liquid flow pipe.
Preferably, the power device comprises an electromagnetic driving assembly and a permanent magnet assembly, wherein the electromagnetic driving assembly comprises an induction coil fixed on the mounting base, an iron core penetrating through the induction coil along the axial movement, and a guide sliding column extending outwards from one end of the iron core, the permanent magnet assembly comprises a plurality of permanent magnets sequentially distributed along the length extending direction of the guide sliding column, all the permanent magnets are sleeved on the guide sliding column in a relatively sliding manner, adjacent end magnetic poles between two adjacent permanent magnets are arranged differently, and the outer end part of the guide sliding column penetrates out of the outer side of the permanent magnet assembly and is fixedly connected with the force input rod.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the grabbing mechanism capable of being quickly disassembled and assembled and changed for teaching the mechanical principle has the advantages of small number of rod pieces and simple structure. The grabbing mechanism can learn the principle of a mechanical principle about a straight line and a curved lever, the principle of a toggle rod mechanism and the principle of a toggle rod-lever composite mechanism, the principle of a high-pair and a low-pair concept through a roller and a sliding block, the theoretical knowledge of a learning-shaped sealing mechanism and a force sealing mechanism and the theoretical knowledge of a learning degree of freedom. The grabbing mechanism has rich teaching functions, and can learn more mechanical principles and mechanical knowledge.
Drawings
FIG. 1 is an exploded view of a lever included in the teaching gripping mechanism of the present invention;
fig. 2 is a schematic structural view of the gripping mechanism for teaching of the present invention in a first use state;
FIG. 3 is a schematic diagram of the gripping mechanism of FIG. 2 in a released operational state;
FIG. 4 is a schematic diagram of the gripping mechanism of FIG. 2 in a gripping operation;
FIG. 5 is a schematic illustration of another embodiment of the grasping mechanism of FIG. 3, wherein the grasping mechanism is in a released operational state;
FIG. 6 is a schematic diagram of the gripping mechanism of FIG. 5 in a gripping operation;
FIG. 7 is a schematic view of another mounting structure of the teaching gripping mechanism of FIG. 2 in a first use state;
FIG. 8 is a schematic view of the gripping mechanism for teaching of the present invention in a second use state;
FIG. 9 is a schematic view of the gripping mechanism for teaching of the present invention in a third use state;
FIG. 10 is a schematic view of the gripping mechanism for teaching of the present invention in a fourth use state;
FIG. 11 is a schematic structural view of a grabbing mechanism using an true-false piston hydraulic cylinder driving device, wherein the grabbing mechanism is in a release working state;
FIG. 12 is a schematic structural view of a grabbing mechanism using an true-false piston hydraulic cylinder driving device, wherein the grabbing mechanism is in a clamping working state;
FIG. 13 is a schematic cross-sectional view of the force outputting hydraulic cylinder of FIG. 11;
fig. 14 is a schematic structural view of a gripping mechanism using an electromagnetic driving device, wherein the gripping mechanism is in a released working state;
FIG. 15 is a schematic structural view of a gripping mechanism employing an electromagnetic drive, wherein the gripping mechanism is in a gripping operation;
wherein: 100. a grasping arm set; 1. a first straight rod; 2. a second straight rod; 3. a third straight rod; 4. a fourth straight rod; 5. bending a rod; 5a, a first rod part; 5b, a second rod part; 6. a slide block; 7. a roller; 8. a jaw head; 9. a spring; 11. connecting a straight rod; 12. a driving plate; 13. a force input lever;
10. a force input hydraulic cylinder; 101. a first cylinder; 102. a first cylinder head; 103. a driving piston; 104. a driving piston rod; 101a, a first liquid flow hole; 102a, a first through hole;
20. a force output hydraulic cylinder; 201. a second cylinder; 202. a second cylinder cover; 203. a dummy piston; 204. a force output piston rod; 201a, a second liquid flow hole; 203a, an open slot; 205. an elastic member;
30. a liquid flow tube; 40. a force input platform platen; 50. an electromagnetic drive assembly; 501. an electromagnetic coil; 502. an iron core; 503. a guide strut; 504. a limit baffle; 60. a permanent magnet assembly; 601. and a permanent magnet.
Detailed Description
The technical scheme of the invention is further described below with reference to the attached drawings and specific embodiments.
Referring to fig. 1, a schematic diagram of a lever involved in the quick detachable and changeable mechanical principle teaching gripping mechanism of the present embodiment is shown.
The grabbing mechanism comprises a mounting base (not shown in the figure), a connecting straight rod 11 and two groups of grabbing arm rod groups 100, wherein each group of grabbing arm rod groups 100 comprises a first straight rod 1, a second straight rod 2, a third straight rod 3, a fourth straight rod 4, a bent rod 5, a sliding block 6, a roller 7, a clamping jaw 8 and a spring 9. Each of the first straight rod 1, the second straight rod 2, the third straight rod 3, the fourth straight rod 4 and the bent rod 5 is provided with a plurality of pin holes which are distributed at intervals along the length extension direction of the pin shaft, so that the pin shafts are used for realizing the connection between the two rods; wherein the bending rod 5 is provided with a first rod part 5a and a second rod part 5b with different length extension directions, and the length extension directions of the first rod part 5a and the second rod part 5b are mutually perpendicular; the length of the first straight rod 1 should be longer than the length of the other rods.
The grabbing mechanism further comprises a driving plate 12 and a force input rod 13, wherein one end part of the force input rod 13 is connected with the driving plate 12 or the connecting rod supporting rod 11, and the other end part of the force input rod 13 is connected with a power device for acquiring pushing force or pulling force. The connecting rod 11, the force input rod 13 and the driving plate 12 are also provided with connecting holes for connection with each other and other components.
According to the lever/component described above, the gripping mechanism can have at least the following several use states:
first use state:
referring to fig. 2, a connecting straight rod 11 is slidably disposed on the mounting base, in each group of grabbing arm rod groups 100, the middle of a first straight rod 1 is pivotally connected to the mounting base through a pin, one end of a second straight rod 2 is pivotally connected to one end of the first straight rod 1 through a pin, the other end of the second straight rod 2 is fixedly connected to one end of a third straight rod 3 through a pin, and the other end of the third straight rod 3 is pivotally connected to the connecting straight rod 11 through a pin; the clamping jaw head 6 is arranged on the other end of the first straight rod 1, namely on the outer end of the first straight rod 1. One end of the force input rod 13 is connected to the connecting straight rod 11.
In this first use state, as shown in fig. 3 and 4, the working principle of the grabbing mechanism is that the connecting straight rod 11 can be driven to slide correspondingly by applying a pushing and pulling force to the input rod 13, so that each rod in the two grabbing arm rod sets 100 rotates relatively to realize the relative opening or relative closing of the two clamping jaw heads 6 mounted on the end of the first straight rod 1. As shown in fig. 3, the gripping mechanism is in a released working state, and the two clamping jaw heads 6 are relatively far away; fig. 4 shows the gripping mechanism in a gripping operation state, where the force input rod 13 obtains a pushing force to slide the connecting straight rod 11 outwards, so as to drive the two clamping jaw heads 6 to close relatively.
In some embodiments, the gripping mechanism shown in fig. 5 and 6 can be obtained by adjusting the positions of the connection points of the rods, wherein the gripping mechanism is switched from the gripping operation state to the releasing operation state when the force input rod 13 acquires the pushing force, and is switched from the releasing operation state to the gripping operation state when the force input rod 13 acquires the pulling force.
In this first use state, as shown in fig. 7, the pivotal connection between the first straight bar 1 and the installation base may be achieved by adopting the fourth straight bar 4, specifically, one end of the fourth straight bar 4 is fixedly connected to the installation base through a pin shaft, and then the other end of the fourth straight bar 4 is pivotally connected to the middle part of the first straight bar 1 through a pin shaft.
Second use state:
in this second use state, the second straight bar 2 in the first use state is replaced by a bent bar 5, see fig. 8. Specifically, in each grabbing arm rod set 100, the middle part of the first straight rod 1 is pivotally connected to the mounting base through a pin shaft, the first rod part 5a is fixedly connected to one end of the first straight rod 1 through two pin shafts, the second rod part 5b is pivotally connected to one end of the third straight rod 3 through a pin shaft, the other end of the third straight rod 3 is connected to the connecting straight rod 11 through a pin shaft, the connecting straight rod 11 is slidably arranged on the mounting base, and the force input rod 11.
Third use state:
referring to fig. 9, in this third use state, two connecting straight bars 11 are adopted, the two connecting straight bars 11 are respectively fixed on the driving plate 12, the two connecting straight bars 11 are relatively fixed, a guiding channel capable of providing sliding guiding for the sliding block 6 is formed between the two connecting straight bars, the driving plate 12 is slidably arranged on the mounting base, and one end of the force input rod 13 is connected to the connecting straight bar 11 on the inner side.
In this third use state, in each grabbing arm rod set 100, the middle part of the first straight rod 1 is pivotally connected to the mounting base through a pin, one end of the second straight rod 2 is pivotally connected to one end of the first straight rod 1 through a pin, the slider 6 is pivotally connected to the other end of the second straight rod 2, and the slider 6 is slidably disposed in the guide channel formed by the two connecting straight rods 11. The gripping mechanism is formed as a form-closure mechanism.
Fourth state of use:
referring to fig. 10, in this fourth use state, a connecting straight rod 11 is fixedly connected to the outer end portion of the driving plate 12, the driving plate 12 is slidably provided on the mounting base, and one end of the force input rod 13 is connected to the inner end portion of the driving plate 12. In this fourth state of use, roller 7 and spring 9 are also employed.
In this fourth use state, in each grabbing arm rod set 100, the middle part of the first straight rod 1 is pivotally connected to the mounting base through a pin, one end of the second straight rod 2 is pivotally connected to one end of the first straight rod 1 through a pin, the roller 7 is pivotally connected to the other end of the second straight rod 2, and the roller 7 is rollingly disposed on the driving plate 12. One end of the spring 9 is pivotally connected to the mounting base and the other end thereof is pivotally connected to the first straight bar 1 and provides an elastic force for urging the roller 7 toward the connecting straight bar 11 such that the roller 7 abuts against the side edge portion of the connecting straight bar 11.
Specifically, the first straight rod 1 has a connecting rod portion and a clamping rod portion which are separately arranged on two sides of a pivot point between the first straight rod 1 and the mounting base, the clamping rod portion is an outer end rod portion used for being connected with the clamping jaw head 6, the connecting rod portion is an inner end rod portion connected with the second straight rod 2, and the spring 9 is connected between the connecting rod portion and the mounting base to form a force sealing mechanism.
Of course, other forms of gripping mechanisms may be implemented using the lever/member described above, not shown.
Therefore, the following knowledge in the mechanical principle can be learned by adopting the grabbing mechanism: the principle of straight line and curved lever, the principle of toggle rod mechanism, the principle of toggle rod-lever composite mechanism, the principle of learning high-secondary and low-secondary concepts through rollers and sliding blocks, the principle knowledge of learning shape closing mechanisms and force closing mechanisms, and the principle knowledge of learning degrees of freedom. The grabbing mechanism has few basic components and rich teaching functions, and can learn more mechanical principles and mechanical knowledge.
In some embodiments, the gripping mechanism further comprises power means for providing the force input bar 13 in tension or in thrust.
Example 1
Referring to fig. 11 to 13, there is shown a gripping mechanism employing an true-false piston cylinder driving device, which is composed mainly of a force input cylinder 10 and a force output cylinder 20, the two cylinders being structured specifically as follows:
the force input hydraulic cylinder 10 comprises a first cylinder body and an active piston rod assembly which in this embodiment outputs a reciprocating motion in a vertical direction with respect to the first cylinder body. The first cylinder body comprises a first cylinder barrel 101 and a first cylinder cover 102 fixedly arranged at the top of the first cylinder barrel 101; the active piston rod assembly includes an active piston rod 104 and an active piston 103 fixed to the lower end portion of the active piston rod 104, the active piston 103 being connected with the inner peripheral wall of the first cylinder 101 in a dynamic sealing manner. The master piston 103 is also referred to as a true piston, due to the sealing connection between the master piston 103 and the first cylinder.
The inner cavity of the first cylinder tube 101 below the master piston 103 forms a rodless cavity of the force input hydraulic cylinder 10. A first fluid flow hole 101a is formed in the bottom of the first cylinder tube 101 for communicating the outside of the force input cylinder 10 with the rodless chamber described above.
The upper end portion of the driving piston rod 104 extends out of the first cylinder body along the axial direction, specifically, a first through hole 102a for the driving piston rod 104 to slide out is formed in the first cylinder cover 102, the aperture of the first through hole 102a is larger than that of the driving piston rod 104 and smaller than that of the driving piston 103, and therefore the first cylinder cover 102 forms limiting on the driving piston 103. A force input platform platen 40 is also fixedly provided on the upper end of the active piston rod 104.
The force output hydraulic cylinder 20 includes a second cylinder body and a pseudo piston rod assembly, which in this embodiment, as shown in fig. 11, outputs a reciprocating motion in the horizontal direction with respect to the second cylinder body. Specifically, the second cylinder body comprises a second cylinder barrel 201 and a second cylinder cover 202 fixedly arranged at the right end part of the second cylinder barrel 201; the dummy piston rod assembly comprises a dummy piston 203 and a force output piston rod 204, wherein the axial lead of the force output piston rod 204 extends along the horizontal direction, the dummy piston 203 is fixed on the left end part of the force output piston rod 204, the dummy piston 203 is arranged in the inner cavity of the second cylinder 201 and divides the inner cavity of the second cylinder into a first cavity (left cavity) and a second cavity (right cavity), and a liquid flow channel which is communicated with the first cavity and the second cavity is arranged on the dummy piston 203.
In this embodiment, as shown in fig. 11 and 12, the outer peripheral portion of the dummy piston 203 is provided with open grooves 203a, and a flow passage is formed between each open groove 203a and the inner peripheral wall of the second cylinder 201. Here, as shown in fig. 13, three open grooves 203a are provided, and the three open grooves 203a are uniformly distributed at intervals in the circumferential direction on the outer circumferential portion of the dummy piston 203. The dummy piston 203 is referred to as a dummy piston because there is no sealing connection with the second cylinder 201.
The right end of the force output piston rod 204 passes through the second cavity and out of the second cylinder and is connected with the force input rod 13, and the force output piston rod 204 is connected with the second cylinder in a dynamic sealing way. Here, a second through hole through which the force output piston rod 204 slides is formed in the second cylinder cover 202, and the force output piston rod 204 is in dynamic sealing connection with the second through hole.
A second fluid flow hole 201a is opened at the left end of the second cylinder 201 for communicating the outside of the force output cylinder 20 with the first chamber thereof.
The force output hydraulic cylinder 20 further includes an elastic member 205 provided in the second chamber to provide an elastic force to the dummy piston rod assembly, where the elastic member 205 is a spring 205 sleeved on the force output piston rod 204, and two ends of the spring 205 respectively abut against the second cylinder cover 202 and the dummy piston 203.
The linear motion driving device further includes a liquid flow pipe 30 connected to the first liquid flow hole 101a and the second liquid flow hole 201 a.
Thus, when an external force Fi is input at the force input platform platen 40, the active piston 103 and the active piston rod 104 move downward together, and the liquid in the rodless chamber of the force output hydraulic cylinder 10 enters the first chamber of the force output hydraulic cylinder 20 through the liquid flow pipe 30, pushing the dummy piston 203 and the force output piston rod 204 to move rightward.
In the above process, since the fluid flow hole formed on the dummy piston 203 is communicated with the first cavity and the second cavity, the liquid in the first cavity can flow back into the second cavity to realize area differential in the process that the driving piston 103 pushes the dummy piston 203 to move, and the stroke magnification is as follows:
ΔLo/ΔLi= Si /So= Di^2 /do^2
where Δlo is the stroke of the force output piston rod 204; Δli is the stroke of the force input piston rod 104;
si is the diameter of the active piston 103 and So is the effective active area of the pseudo piston rod assembly;
di is the diameter of the master piston 103; do is the rod diameter of the force output piston rod 204.
In this way, the force input platform pressing plate 40 is driven to perform small displacement, so that the force output piston rod 204 can achieve larger displacement, and the linear motion of the motion mechanism is driven, so that the two clamping jaw heads 8 are converted from the clamping working state shown in fig. 12 to the releasing working state shown in fig. 11.
When the external force applied to the force input platform pressing plate 40 disappears, the elastic piece 205 can be relied on to reset, so that the two clamping jaw heads 8 are relatively closed again to be converted into a clamping working state. Here, the force input platform platen 40 is used for inputting external force by stepping on or pressing the weight, and the operation is simple and convenient.
Example two
Referring to fig. 14 to 15, there is shown a grasping mechanism employing an electromagnetic drive device, specifically, the drive device mainly comprising an electromagnetic drive assembly 50 and a permanent magnet assembly 60, specifically,
the electromagnetic drive assembly 50 includes an induction coil 501 fixed to a mounting base, a core 502 axially movably penetrating the induction coil 501, and a guide runner 503 extending outwardly from one end of the core 502. When the induction coil 501 is energized, the iron core 502 moves axially outward, bringing the guide runner 503 together with it.
The permanent magnet assembly 60 includes a plurality of permanent magnets 601 sequentially arranged along the length extension direction of the guide strut 503, all of which are slidably sleeved on the guide strut 503, and adjacent end magnetic poles between two adjacent permanent magnets 601 are differently arranged. The outer end of the guide strut 503 passes out to the outside of the permanent magnet assembly 60 and is connected to the force input rod 13.
In this embodiment, all the permanent magnets 601 are hollow ring-shaped, and all the permanent magnets 601 are sleeved on the guide posts 503 at intervals. Here, among all the permanent magnets 601, the permanent magnet 601 most distant from the iron core 502 is fixedly provided on the mounting base, and the remaining permanent magnets 601 are relatively slidably provided on the mounting base in the axial direction of the guide strut 503, respectively, and the guide strut 503 slidably passes through the annular hole in the middle of all the permanent magnets 601, and other permanent magnets 601 other than the outermost permanent magnet 601 can also relatively slide along the guide strut 503.
Referring to fig. 14 and 15, in the present embodiment, a limit plate 504 is fixedly disposed between the iron core 502 and the guide strut 503, the iron core 502 and the permanent magnet assembly 60 are disposed on different sides of the limit plate 504, and the limit plate 504 is mainly used for limiting the axial sliding positions of the plurality of permanent magnets 601.
Referring to fig. 14, when the induction coil 501 is not energized, that is, when the electromagnetic driving assembly 50 is in the power-off working state, under the action of magnetic repulsion force between the plurality of permanent magnets 601, the plurality of permanent magnets 601 keep a larger interval between each other, and push the limit baffle 504 to enable the iron core 502 to be located in the induction coil 501, so that the two clamping jaw heads 6 are relatively approaching to keep a closed state, and therefore the grabbing mechanism is stably in the grabbing working state, and stable clamping of the object to be clamped is achieved.
When the clamping of the object to be clamped needs to be released or the object to be clamped needs to be prepared, the induction coil 501 is electrified, namely the electromagnetic driving assembly 50 is converted into an electrified working state, the generated electromagnetic force enables the iron core 502 to move outwards relative to the induction coil 501 along the axial direction, so that the magnetic repulsive force between the plurality of permanent magnets 601 is overcome, the guide sliding column 503 moves outwards along the axial direction, the two clamping jaw heads 8 swing relatively to open, and the grabbing mechanism is converted into a release working state.
The driving device shown in the two embodiments has novel and simple structure, small occupied space and good teaching effect.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (8)
1. The grabbing mechanism for teaching of the mechanical principle is characterized by comprising a mounting base, a connecting straight rod and two groups of grabbing arm rod groups, wherein each group of grabbing arm rod groups comprises a first straight rod, a second straight rod, a third straight rod, a bent rod and a sliding block, and a plurality of pin holes are formed in the first straight rod at intervals along the length direction of the first straight rod; the second straight rod is provided with a plurality of pin holes which are distributed at intervals along the length direction; the third straight rod is provided with a plurality of pin holes which are distributed at intervals along the length direction, the bent rod is provided with a first rod part and a second rod part which are different in length extension direction, and the bent rod is provided with a plurality of pin holes at intervals along the length extension direction; the connecting straight rod is also provided with a connecting hole, the grabbing mechanism is provided with a first using state, a second using state and a third using state,
in the first use state, the connecting straight rod is slidably arranged on the mounting base, each group of grabbing arm rod groups comprises a first straight rod, a second straight rod and a third straight rod, in each group of grabbing arm rod groups, the middle part of the first straight rod is pivotally connected to the mounting base through a pin shaft, one end of the second straight rod is pivotally connected to one end of the first straight rod through a pin shaft, the other end of the second straight rod is fixedly connected with one end of the third straight rod through a pin shaft, and the other end of the third straight rod is pivotally connected to the connecting straight rod through a pin shaft;
in the second use state, each group of grabbing arm rod groups adopts the first straight rod, the third straight rod and the bent rod, in each group of grabbing arm rod groups, the middle part of the first straight rod is pivotally connected to the mounting base through a pin shaft, the first rod part is fixedly connected to one end of the first straight rod through two pin shafts, the second rod part is pivotally connected to one end of the third straight rod through a pin shaft, and the other end of the third straight rod is pivotally connected to the connecting straight rod through a pin shaft;
in the third use state, two connecting straight rods are arranged relatively fixedly and are arranged on the mounting base in a sliding mode, a guide channel is formed between the two connecting straight rods, each grabbing arm rod group is selected from the first straight rod, the second straight rod and the sliding block, the middle part of the first straight rod is connected to the mounting base through a pin shaft pivot, one end of the second straight rod is connected to one end of the first straight rod through a pin shaft pivot, the sliding block is connected to the other end of the second straight rod in a pivot mode, and the sliding block is arranged in the guide channel in a sliding mode.
2. The quick detachable and changeable gripping mechanism for teaching mechanical principle according to claim 1, wherein: the grabbing mechanism is in a fourth use state, the grabbing mechanism further comprises a driving plate slidingly arranged on the mounting base, the connecting straight rods are fixedly arranged on the driving plate, each grabbing arm rod is selected from the first straight rods and the second straight rods, each grabbing arm rod group further comprises a roller and a spring, in each grabbing arm rod group, the middle part of the first straight rod is pivotally connected to the mounting base through a pin shaft, one end of the second straight rod is pivotally connected to one end of the first straight rod through a pin shaft, the roller is pivotally connected to the other end of the second straight rod, the roller is rollingly arranged on the driving plate, one end of the spring is pivotally connected to the mounting base, the other end of the spring is pivotally connected to the first straight rod, and the elastic force for driving the roller to move towards the connecting straight rod is provided.
3. The quick detachable and changeable gripping mechanism for teaching mechanical principle according to claim 2, wherein: in the fourth use state, the first straight rod is provided with a connecting rod part and a clamping rod part which are respectively arranged on two sides of the pivot joint between the first straight rod and the mounting base, the connecting rod part is connected with the second straight rod, and the spring is connected to the connecting rod part.
4. The quick detachable and changeable gripping mechanism for teaching mechanical principle according to claim 1, wherein: in the first use state, each grabbing arm rod group further comprises a fourth straight rod, a plurality of pin holes are formed in the fourth straight rod at intervals along the length direction of the fourth straight rod, the fourth straight rod is connected to the mounting base through at least one pin shaft, and the middle of the first straight rod is connected with the fourth straight rod through a pin shaft in a pivot mode to be connected to the mounting base in a pivot mode.
5. The quick detachable and changeable gripping mechanism for teaching mechanical principle according to any one of claims 1 to 4, characterized in that: the grabbing mechanism further comprises a force input rod used for being connected with the connecting straight rod and used for providing pulling force or pushing force.
6. The quick detachable and changeable gripping mechanism for teaching mechanical principles according to claim 5, wherein: the grasping mechanism further includes a power means for providing the force input bar with a push-pull force.
7. The quick detachable and changeable gripping mechanism for teaching mechanical principles according to claim 6, wherein: the power device comprises a force input hydraulic cylinder and a force output hydraulic cylinder, wherein,
the force input hydraulic cylinder comprises a first cylinder body and a driving piston rod assembly, the driving piston rod assembly comprises a driving piston rod and a driving piston fixed at one end of the driving piston rod, the driving piston is connected with the inner side peripheral wall of the first cylinder body in a dynamic sealing way, the driving piston rod extends out of the first cylinder body along the axial direction,
the force output hydraulic cylinder comprises a second cylinder body and a pseudo piston rod assembly, the pseudo piston rod assembly comprises a force output piston rod and a pseudo piston fixed at one end of the force output piston rod, the inner cavity of the second cylinder body is divided into a first cavity and a second cavity by the pseudo piston, a liquid flow channel which is communicated with the first cavity and the second cavity is formed in the pseudo piston, the force output piston rod penetrates through the second cavity and penetrates out of the second cylinder body and is fixedly connected with the force input rod, the force output piston rod is connected with the second cylinder body in a movable sealing mode, an elastic piece which is used for providing elastic restoring force for the pseudo piston rod assembly is further arranged in the second cavity, and the first cavity is communicated with a rodless cavity of the force input hydraulic cylinder through a liquid flow pipe.
8. The quick detachable and changeable gripping mechanism for teaching mechanical principles according to claim 6, wherein: the power device comprises an electromagnetic driving assembly and a permanent magnet assembly, wherein the electromagnetic driving assembly comprises an induction coil fixed on a mounting base, an iron core capable of axially moving and penetrating through the induction coil, and a guide slide column extending outwards from one end of the iron core, the permanent magnet assembly comprises a plurality of permanent magnets sequentially distributed along the length extending direction of the guide slide column, all the permanent magnets are sleeved on the guide slide column in a relatively sliding manner, adjacent end magnetic poles between two adjacent permanent magnets are arranged differently, and the outer end part of the guide slide column penetrates out of the outer side of the permanent magnet assembly and is fixedly connected with a force input rod.
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| CN107731080A (en) | 2018-02-23 |
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