CN110434883A - A kind of flexibility magnetic robot assisted handgrip - Google Patents
A kind of flexibility magnetic robot assisted handgrip Download PDFInfo
- Publication number
- CN110434883A CN110434883A CN201910546061.0A CN201910546061A CN110434883A CN 110434883 A CN110434883 A CN 110434883A CN 201910546061 A CN201910546061 A CN 201910546061A CN 110434883 A CN110434883 A CN 110434883A
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- case
- plate
- fixedly connected
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible magnetic robot assisted handgrips, including regulating box, clamp case, installs case and mounting plate, the side of installs case is fixedly connected with the side of mounting plate by scolding tin, the bottom of installation box cavity is fixedly connected with first motor by support plate, the output end of first motor runs through installs case and extends to the side of installs case, one end that first motor output end extends to installs case side is fixedly connected by ring flange with the side of regulating box, and the present invention relates to robotic technology fields.The flexibility magnetic robot assisted handgrip, the object of different location can be grabbed according to the actual situation convenient for user, whole crawl position can be adjusted well, greatly improve the using effect of auxiliary handgrip, can be carried out under the conditions of complex environment using, it can be dismounted well to some components of case lamp are clamped, gripper components are safeguarded well convenient for user.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of flexible magnetic robot assisted handgrip.
Background technique
Robot is to automatically control being commonly called as machine, and automatically controlling machine includes all simulation human behaviors or thought and mould
The machinery (such as robot dog, Doraemon etc.) of quasi- other biological.In the narrow sense to the definition of robot there are also many classification and dispute,
Some computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine that can execute task automatically
Device, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, meter
Calculation machine and artificial intelligence, materialogy and bionic product, scientific circles research and develop to this direction at present, existing flexibility
Magnetic robot generally has auxiliary handgrip, then completes some operations by auxiliary handgrip, but existing magnetic machine
People assists handgrip that can not be adjusted well according to the actual situation convenient for user, and is not easy to auxiliary handgrip and is tieed up
Shield, overall effect is not fine.
Traditional magnetic robot assisted handgrip, can not be convenient for user according to the actual situation to the object of different location
It is grabbed, it is not possible to whole crawl position is adjusted well, the using effect of auxiliary handgrip greatly reduces,
Can not be carried out under the conditions of complex environment using, it is not very practical, can not be carried out very to some components of case lamp are clamped
Good dismounting, the person of being not convenient to use safeguard gripper components well, it is difficult to guarantee the crawl effect of clamping plate, it can not be right
It is whole to be installed well, add somewhat to the labor intensity of staff.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of flexible magnetic robot assisted handgrip, magnetic is solved
Robot assisted handgrip is not easy to the problem of being adjusted and can not being safeguarded to gripper components to crawl position.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of flexibility magnetic robot assisted
Handgrip, including regulating box, clamping case, installs case and mounting plate, the side of the installs case and the side of mounting plate pass through scolding tin
It is fixedly connected, the bottom of the installation box cavity is fixedly connected with first motor, the output of the first motor by support plate
End is through installs case and extends to the side of installs case, and first motor output end extends to one end of installs case side and passes through
Ring flange is fixedly connected with the side of regulating box, is fixedly connected with partition, the adjusting between the two sides for adjusting box cavity
The bottom of box cavity is fixedly connected with the second motor, and the output shaft of the second motor is fixedly connected with screw thread by shaft coupling
The top of bar, the threaded rod is connected by the lower rotation of bearing and partition, and the surface of the threaded rod is threaded with spiral shell
Line set, and the two sides of thread bush pass through screw and are fixedly connected with L-type plate, sequentially passed through at the top of the L-type plate partition and
Regulating box and the top for extending to regulating box, and two L-type plates are extended between the surface at the top of regulating box and are fixedly connected with
Fixed plate is fixedly connected with adjustable plate at the top of the fixed plate, and the bottom for clamping case is fixedly connected with by scolding tin tears open
Vanning, is slidably connected between the surface of the L-type plate and the inside of partition.
Preferably, the two sides inside the dismounting case offer card slot, and disassembly case is run through simultaneously in the top of the adjustable plate
The inner cavity of dismounting case is extended to, and is fixedly connected with baffle between the top and bottom of adjustable plate inner cavity, the two of the baffle
Side is fixedly connected to reset spring, and the reset spring is fixedly connected with fixture block far from one end of baffle, and the one of the fixture block
Side sequentially pass through adjustable plate and dismount case and extend to dismounting case inner wall, and fixture block extend to dismounting chamber interior wall surface with
The inner wall of card slot contacts, and the two sides of the dismounting case, which are run through, compression bar, and compression bar extend to the surface of dismounting box cavity with
The inner wall of card slot is slidably connected.
Preferably, pass through movable part between the top and bottom of the mounting plate side and the top and bottom of installs case
It is connected with strut, the mounting plate side and top and bottom for being located at installs case are threaded with bolt.
Preferably, the top for clamping box cavity is fixedly connected with teeth plate, the clamping box cavity by support plate
Bottom slide plate is fixedly connected with by screw, and the inside of slide plate offers sliding slot, and the two sides of the sliding slot inner wall are sliding
Dynamic to be connected with sliding block, the top of the sliding block runs through slide plate and extends to the top of slide plate, and two sliding blocks extend to slide plate
The surface at top is fixedly connected to fixed case, and the bottom of the fixed box cavity is fixedly connected with third electricity by support plate
Machine, and the output end of third motor is fixedly connected with shaft by shaft coupling, and the one end of the shaft far from third motor is logical
It crosses bearing to connect with the surface pivots of fixed box cavity, the surface of the shaft is fixedly connected with gear, the top of the gear
Through fixed case and extend to the top of fixed case, and the bottom on surface and teeth plate that gear extends at the top of fixed case is nibbled
It closes.
Preferably, the side of two fixed cases passes through scolding tin and is fixedly connected with curved plates, and the curved plates are separate
The side of fixed case, which is run through, to be clamped case and extends to the outside for clamping case, and curved plates extend to the side clamped outside case and consolidate
Surely it is connected with adjustment barrel, and connecting plate is slidably connected by fixed block between the top and bottom of adjustment barrel inner wall, it is described
The side of connecting plate runs through adjustment barrel and extends to the outside of adjustment barrel, and connecting plate extends to the side outside adjustment barrel and consolidates
Surely it is connected with clamping plate, the clamping plate is fixedly connected with rubber pad far from the surface of adjustment barrel side.
Preferably, through there is pin, one end that the pin extends to adjusting tube inner chamber is run through on the surface of the adjustment barrel
Connecting plate and the outside for extending to connecting plate, and one end that pin extends to outside adjustment barrel connects with the back side for adjusting tube inner chamber
Touching.
Preferably, the middle part at the top of the slide plate is fixedly connected with limit plate, and the surface of limit plate two sides is fixed
It is connected with cushion.
Preferably, the bottom on the regulating box surface offers heat dissipation mesh, and the bottom of regulating box is connected with
Case lid.Preferably, the mounting plate is fixedly connected with stable pad far from the side of installs case.
Beneficial effect
The present invention provides a kind of flexible magnetic robot assisted handgrips.Have compared with prior art it is following the utility model has the advantages that
(1), the flexibility magnetic robot assisted handgrip is connected by the top of threaded rod by the lower rotation of bearing and partition
It connects, the surface of threaded rod is threaded with thread bush, and the two sides of thread bush pass through screw and are fixedly connected with L-type plate, L-type
Partition and regulating box are sequentially passed through at the top of plate and extends to the top of regulating box, and two L-type plates extend to regulating box top
It is fixedly connected with fixed plate between the surface in portion, is fixedly connected with adjustable plate at the top of fixed plate, the bottom for clamping case passes through weldering
Tin is fixedly connected with dismounting case, is slidably connected between the surface of L-type plate and the inside of partition, can be convenient for user according to reality
Situation grabs the object of different location, can be adjusted, be greatly improved well to whole crawl position
The using effect for assisting handgrip, can carry out under the conditions of complex environment using practical.
(2), the flexibility magnetic robot assisted handgrip through disassembly case and extends to dismounting case by the top of adjustable plate
Inner cavity, and baffle is fixedly connected between the top and bottom of adjustable plate inner cavity, the two sides of baffle are fixedly connected to multiple
Position spring, reset spring are fixedly connected with fixture block far from one end of baffle, and the side of fixture block sequentially passes through adjustable plate and dismounting case
And extend to dismounting case inner wall, and fixture block extend to dismounting chamber interior wall surface contacted with the inner wall of card slot, dismount case
Two sides, which are run through, compression bar, and compression bar extends to the surface of dismounting box cavity and the inner wall of card slot is slidably connected, can be to folder
The tight some components of case lamp are dismounted well, are safeguarded convenient for user to gripper components well, ensure that clamping plate
Crawl effect.
(3), the flexibility magnetic robot assisted handgrip, passes through the top and bottom of mounting plate side and the top of installs case
Strut, mounting plate side and the equal screw thread in top and bottom for being located at installs case are connected with by movable part between bottom
It is connected with bolt, the side of installs case is fixedly connected with the side of mounting plate by scolding tin, and the bottom for installing box cavity passes through branch
Fagging is fixedly connected with first motor, and the output end of first motor runs through installs case and extends to the side of installs case, can be right
It is whole to be installed well, the labor intensity of staff is reduced to a certain extent.
(4), the flexibility magnetic robot assisted handgrip, by that can be safeguarded well to clamping plate, and can be to folder
Plate is replaced.
(5), the flexibility magnetic robot assisted handgrip, offers heat dissipation mesh by the bottom on regulating box surface, and
The bottom of regulating box is connected with case lid, and the middle part at the top of slide plate is fixedly connected with limit plate, and the table of limit plate two sides
Face is fixedly connected to cushion, and the heat that can be generated to the second motor of regulating box inside is distributed very well, increases whole
The service life of body.
(6), the flexibility magnetic robot assisted handgrip, for the surface by adjustment barrel through there is pin, pin extends to tune
One end of section tube inner chamber is through connecting plate and extends to the outside of connecting plate, and pin extend to one end outside adjustment barrel with
The rear-face contact of tube inner chamber is adjusted, the side of connecting plate runs through adjustment barrel and extends to the outside of adjustment barrel, and connecting plate prolongs
It extending to the side outside adjustment barrel and is fixedly connected with clamping plate, clamping plate is fixedly connected with rubber pad far from the surface of adjustment barrel side,
It is operated convenient for user, securely and reliably.
(7), the flexibility magnetic robot assisted handgrip, is fixedly connected with stabilization far from the side of installs case by mounting plate
Pad, the bottom for installing box cavity are fixedly connected with first motor by support plate, and the output end of first motor runs through installs case simultaneously
Extend to the side of installs case, and first motor output end extends to one end of installs case side and passes through ring flange and regulating box
Side be fixedly connected, overall stability is strong, avoid to a certain extent auxiliary handgrip damage.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is installs case of the present invention and the cross-sectional view for adjusting box structure；
Fig. 3 is the cross-sectional view of present invention dismounting case and adjustable plate structure；
Fig. 4 is the cross-sectional view that the present invention clamps box structure；
Fig. 5 is the side view of slide plate of the present invention, sliding slot and slide block structure；
Fig. 6 is the side view of fixed case internal structure of the present invention；
Fig. 7 is the cross-sectional view that the present invention adjusts barrel structure.
In figure: 1 regulating box, 2 clamp case, 3 installs cases, 4 mounting plates, 5 first motors, 6 ring flanges, 7 partitions, 8 second electricity
Machine, 9 threaded rods, 10 thread bush, 11 L-type plates, 12 fixed plates, 13 adjustable plates, 14 dismounting casees, 15 card slots, 16 baffles, 17 reset
Spring, 18 fixture blocks, 19 compression bars, 20 struts, 21 bolts, 22 teeth plates, 23 slide plates, 24 sliding slots, 25 sliding blocks, 26 fixed cases, 27
Three motors, 28 shafts, 29 gears, 30 curved plates, 31 adjustment barrels, 32 fixed blocks, 33 connecting plates, 34 clamping plates, 35 pins, 36 limits
Plate, 37 heat dissipation mesh.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-7 is please referred to, the present invention provides a kind of technical solution: a kind of flexibility magnetic robot assisted handgrip, including adjust
Section case 1, clamping case 2, installs case 3 and mounting plate 4, the side of installs case 3 are fixedly connected with the side of mounting plate 4 by scolding tin,
Strut 20 is connected with by movable part between the top and bottom of 4 side of mounting plate and the top and bottom of installs case 3,
4 side of mounting plate and be located at installs case 3 top and bottom be threaded with bolt 21, user can first pass through mounting plate
4 and 21 pairs of entirety of bolt install, the top for clamping 2 inner cavity of case is fixedly connected with teeth plate 22 by support plate, clamping case 2
The bottom of inner cavity is fixedly connected with slide plate 23 by screw, and the inside of slide plate 23 offers sliding slot 24,24 inner wall of sliding slot
Two sides slidably connect sliding block 25, and the top of sliding block 25 runs through slide plate 23 and extends to the top of slide plate 23, and two cunnings
The surface that block 25 extends to 23 top of slide plate is fixedly connected to fixed case 26, and the bottom of 26 inner cavity of fixed case is solid by support plate
Surely it is connected with third motor 27, and the output end of third motor 27 is fixedly connected with shaft 28, two thirds by shaft coupling
The steering of motor 27 on the contrary, third motor 27 will drive the rotation of shaft 28 after starting, and then drive the rotation of gear 29, because
It is engaged for gear 29 and teeth plate 22, and sliding block 25 and sliding slot 24 can limit fixed case 26, such third motor 27
Will drive fixed case 26 after starting to move along a straight line on slide plate 23, and two fixed cases 26 be move along a straight line round about, Gu
Determine to will drive the movement of curved plates 30 after case 26 moves, and then two clamping plates 34 has been driven to move along a straight line round about, in this way
Two clamping plates 34 can be clamped crawl to object, and shaft 28 passes through bearing and fixed case far from one end of third motor 27
The surface pivots of 26 inner cavities connect, and the surface of shaft 28 is fixedly connected with gear 29, and fixed case 26 is run through simultaneously in the top of gear 29
The top of fixed case 26 is extended to, and the surface that gear 29 extends at the top of fixed case 26 is engaged with the bottom of teeth plate 22,
The side of two fixed cases 26 passes through scolding tin and is fixedly connected with curved plates 30, and curved plates 30 run through far from the side of fixed case 26
It clamps case 2 and extends to the outside for clamping case 2, and curved plates 30 extend to the side clamped outside case 2 and are fixedly connected with tune
Save cylinder 31, the mounting plate 4 is fixedly connected with stable pad far from the side of installs case 3, and the top of 31 inner wall of adjustment barrel and
Connecting plate 33 is slidably connected by fixed block 32 between bottom, the side of connecting plate 33 through adjustment barrel 31 and extends to adjusting
The outside of cylinder 31, and the side that connecting plate 33 extends to outside adjustment barrel 31 is fixedly connected with clamping plate 34, and clamping plate 34 is far from tune
The surface of section 31 side of cylinder is fixedly connected with rubber pad, and user can star first motor 5, and first motor 5 can lead to after starting
It crosses ring flange 6 and drives the movement of regulating box 1, and then driven the rotation for clamping case 2, then two clamping plates 34 are rotated,
Clamping plate 34 can rotate and position is adjusted in this way, and can star the second motor 8, will drive after the starting of the second motor 8
The rotation of threaded rod 9, and then the rotation of thread bush 10 has been driven, because partition 7 is to the position-limiting action of L-type plate 11, such screw thread
Bar 9 will drive thread bush 10 after rotating and move along a straight line on threaded rod 9, and then the fortune of fixed plate 12 has been driven by L-type plate 11
It is dynamic, the movement of adjustable plate 13 has then been driven, whole length can be thus adjusted, the surface of adjustment barrel 31 is run through
There is pin 35, pin 35 extends to one end of 31 inner cavity of adjustment barrel through connecting plate 33 and extends to the outside of connecting plate 33, and
And pin 35 extends to the rear-face contact of one end outside adjustment barrel 31 Yu 31 inner cavity of adjustment barrel, the middle part at 23 top of slide plate is fixed
It is connected with limit plate 36, and the surface of 36 two sides of limit plate is fixedly connected to cushion, the bottom on 1 surface of regulating box opens up
There is heat dissipation mesh 37, and the bottom of regulating box 1 is connected with case lid, the bottom of 3 inner cavity of installs case is fixed by support plate
It is connected with first motor 5, the output end of first motor 5 runs through installs case 3 and extends to the side of installs case 3, and first motor 5 is watched
Motor is taken, the angle of rotation is closed speed and can be controlled, and 5 output end of first motor extends to 3 side of installs case
One end is fixedly connected by ring flange 6 with the side of regulating box 1, is fixedly connected with partition 7 between the two sides of 1 inner cavity of regulating box,
The bottom of 1 inner cavity of regulating box is fixedly connected with the second motor 8, and the second motor 8 and third motor 27 are servo motor, Ke Yijin
Row positive and negative rotation, and the output shaft of the second motor 8 is fixedly connected with threaded rod 9 by shaft coupling, and the top of threaded rod 9 passes through axis
It holds and is connect with the lower rotation of partition 7, the surface of threaded rod 9 is threaded with thread bush 10, and the two sides of thread bush 10 are equal
It is fixedly connected with L-type plate 11 by screw, the top of L-type plate 11 sequentially passes through partition 7 and regulating box 1 and extends to regulating box 1
Top, and two L-type plates 11 extend between the surface at the top of regulating box 1 and are fixedly connected with fixed plate 12, fixed plate 12
Top be fixedly connected with adjustable plate 13, the bottom for clamping case 2 is fixedly connected with by scolding tin dismounts case 14, the table of L-type plate 11
It is slidably connected between face and the inside of partition 7, dismounts the two sides inside case 14 and offer card slot 15, the top of adjustable plate 13 is passed through
It wears disassembly case 14 and extends to the inner cavity of dismounting case 14, and be fixedly connected with gear between the top and bottom of 13 inner cavity of adjustable plate
Plate 16, the two sides of baffle 16 are fixedly connected to reset spring 17, and reset spring 17 is fixedly connected with far from one end of baffle 16
Fixture block 18, the side of fixture block 18 sequentially pass through adjustable plate 13 and dismount case 14 and extend to the inner wall of dismounting case 14, and fixture block
18 surfaces for extending to dismounting 14 inner wall of case are contacted with the inner wall of card slot 15, and the two sides of dismounting case 14, which are run through, compression bar 19, and
And compression bar 19 extends to the surface of dismounting 14 inner cavity of case and the inner wall of card slot 15 is slidably connected.
It is installed in use, user can first pass through 21 pairs of entirety of mounting plate 4 and bolt, after installing, when need
When the position of crawl being adjusted, at this moment user can star first motor 5, and first motor 5 can pass through method after starting
Blue disk 6 drives the movement of regulating box 1, and then has driven the rotation for clamping case 2, then rotates to two clamping plates 34, in this way
Clamping plate 34 can rotate and position is adjusted, and can star the second motor 8, will drive screw thread after the starting of the second motor 8
The rotation of bar 9, and then the rotation of thread bush 10 has been driven, because partition 7 is to the position-limiting action of L-type plate 11,9 turns of such threaded rod
It will drive thread bush 10 after dynamic to move along a straight line on threaded rod 9, and then driven the movement of fixed plate 12 by L-type plate 11, after
And the movement of adjustable plate 13 has been driven, whole length can be thus adjusted, after position regulates, then be made
User can star two third motors 27, and the steering of two third motors 27 turns on the contrary, will drive after the starting of third motor 27
The rotation of axis 28, and then the rotation of gear 29 has been driven, because gear 29 and teeth plate 22 engage, and sliding block 25 and sliding slot 24 can
To limit to fixed case 26, such third motor 27 will drive fixed case 26 after starting and move along a straight line on slide plate 23, and
Two fixed cases 26 are to move along a straight line round about, and fixed case 26 will drive the movement of curved plates 30 after moving, and then drive
Two clamping plates 34 move along a straight line round about, and two such clamping plate 34 can be clamped crawl to object.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of flexibility magnetic robot assisted handgrip, including regulating box (1), clamping case (2), installs case (3) and mounting plate
(4), the side of the installs case (3) is fixedly connected with the side of mounting plate (4) by scolding tin, it is characterised in that: the installation
The bottom of case (3) inner cavity is fixedly connected with first motor (5) by support plate, and the output end of the first motor (5) is through peace
Vanning (3) and the side for extending to installs case (3), and first motor (5) output end extends to one end of installs case (3) side
It is fixedly connected by ring flange (6) with the side of regulating box (1), is fixedly connected between the two sides of regulating box (1) inner cavity
The bottom of partition (7), regulating box (1) inner cavity is fixedly connected with the second motor (8), and the output shaft of the second motor (8)
It is fixedly connected with threaded rod (9) by shaft coupling, the top of the threaded rod (9) passes through the lower rotation of bearing and partition (7)
Connection, the surface of the threaded rod (9) are threaded with thread bush (10), and the two sides of thread bush (10) are solid by screw
Surely it is connected with L-type plate (11), partition (7) and regulating box (1) are sequentially passed through at the top of the L-type plate (11) and extends to regulating box
(1) top, and fixed plate (12) are fixedly connected between the surface that extends at the top of regulating box (1) of two L-type plates (11),
It is fixedly connected with adjustable plate (13) at the top of the fixed plate (12), the bottom for clamping case (2) is fixedly connected by scolding tin
Have dismounting case (14), is slidably connected between the surface of the L-type plate (11) and the inside of partition (7).
2. a kind of flexible magnetic robot assisted handgrip according to claim 1, it is characterised in that: the dismounting case (14)
Internal two sides offer card slot (15), and the top of the adjustable plate (13) through disassembly case (14) and extends to dismounting case
(14) inner cavity, and be fixedly connected with baffle (16) between the top and bottom of adjustable plate (13) inner cavity, the baffle (16)
Two sides be fixedly connected to reset spring (17), the reset spring (17) is fixedly connected with card far from the one end of baffle (16)
Block (18), the side of the fixture block (18) sequentially pass through adjustable plate (13) and dismount case (14) and extend to the interior of dismounting case (14)
Wall, and fixture block (18) extend to dismounting case (14) inner wall surface contacted with the inner wall of card slot (15), the dismounting case (14)
Two sides run through and have compression bar (19), and compression bar (19) extends to the surface of dismounting case (14) inner cavity and the inner wall of card slot (15)
It is slidably connected.
3. a kind of flexible magnetic robot assisted handgrip according to claim 1, it is characterised in that: the mounting plate (4)
Strut (20), institute are connected with by movable part between the top and bottom of side and the top and bottom of installs case (3)
It states mounting plate (4) side and is threaded with bolt (21) positioned at the top and bottom of installs case (3).
4. a kind of flexible magnetic robot assisted handgrip according to claim 1, it is characterised in that: the clamping case (2)
The top of inner cavity is fixedly connected with teeth plate (22) by support plate, and the bottom for clamping case (2) inner cavity is fixed by screw
It is connected with slide plate (23), and the inside of slide plate (23) offers sliding slot (24), the two sides of sliding slot (24) inner wall are slided
It is connected with sliding block (25), the top of the sliding block (25) runs through slide plate (23) and extends to the top of slide plate (23), and two
The surface that sliding block (25) extends at the top of slide plate (23) is fixedly connected to fixed case (26), the bottom of fixed case (26) inner cavity
Portion is fixedly connected with third motor (27) by support plate, and the output end of third motor (27) is fixedly connected by shaft coupling
Have shaft (28), the one end of the shaft (28) far from third motor (27) is turned by the surface of bearing and fixed case (26) inner cavity
Dynamic connection, the surface of the shaft (28) are fixedly connected with gear (29), and fixed case (26) are run through at the top of the gear (29)
And the top of fixed case (26) is extended to, and gear (29) extends to the surface at the top of fixed case (26) and teeth plate (22)
Bottom engagement.
5. a kind of flexible magnetic robot assisted handgrip according to claim 4, it is characterised in that: two fixed cases
(26) side passes through scolding tin and is fixedly connected with curved plates (30), and the curved plates (30) are passed through far from the side of fixed case (26)
It wears and clamps case (2) and extend to the outside for clamping case (2), and curved plates (30) extend to the external side of clamping case (2) and consolidate
Surely it is connected with adjustment barrel (31), and is slidably connected between the top and bottom of adjustment barrel (31) inner wall by fixed block (32)
The side of connecting plate (33), the connecting plate (33) runs through adjustment barrel (31) and extends to the outside of adjustment barrel (31), and even
Fishplate bar (33) extends to the external side of adjustment barrel (31) and is fixedly connected with clamping plate (34), and the clamping plate (34) is far from adjustment barrel
(31) surface of side is fixedly connected with rubber pad.
6. a kind of flexible magnetic robot assisted handgrip according to claim 5, it is characterised in that: the adjustment barrel (31)
Surface through having pin (35), the pin (35) extends to one end of adjustment barrel (31) inner cavity through connecting plate (33) and prolongs
The outside of connecting plate (33) is extended to, and pin (35) extends to the external one end of adjustment barrel (31) and adjustment barrel (31) inner cavity
Rear-face contact.
7. a kind of flexible magnetic robot assisted handgrip according to claim 6, it is characterised in that: slide plate (23) top
It is fixedly connected in the middle part of portion limit plate (36), and the surface of limit plate (36) two sides is fixedly connected to cushion.
8. a kind of flexibility magnetic robot assisted handgrip described in -7 according to claim 1, it is characterised in that: the regulating box
(1) bottom on surface offers heat dissipation mesh (37), and the bottom of regulating box (1) is connected with case lid.
9. a kind of flexibility magnetic robot assisted handgrip described in -8 according to claim 1, it is characterised in that: the mounting plate
(4) side far from installs case (3) is fixedly connected with stable pad.
10. a kind of application of flexibility magnetic robot assisted handgrip, it is characterised in that: user can first pass through mounting plate (4)
It is installed with bolt (21) to whole, after installing, when needing that the position of crawl is adjusted, at this moment user can
To start first motor (5), the movement of regulating box (1), and then band can be driven after first motor (5) starting by ring flange (6)
Moved the rotation of clamping case (2), then two clamping plates (34) rotated, such clamping plate (34) can rotate to position into
Row is adjusted, and can star the second motor (8), will drive the rotation of threaded rod (9) after the second motor (8) starting, and then is driven
The rotation of thread bush (10), because partition (7) will drive the position-limiting action of L-type plate (11) after such threaded rod (9) rotation
Thread bush (10) moves along a straight line on threaded rod (9), and then the movement of fixed plate (10) has been driven by L-type plate (11), then
The movement of adjustable plate (13) has been driven, whole length can be thus adjusted, after position regulates, then be made
User can star two third motors (27), and the steering of two third motors (27) is on the contrary, meeting after third motor (27) starting
The rotation of shaft (28) is driven, and then has driven the rotation of gear (29), because gear (29) and teeth plate (22) engagement, and it is sliding
Block (25) and sliding slot (24) can limit fixed case (26), will drive fixed case after such third motor (27) starting
(26) it moves along a straight line on slide plate (23), and two fixed cases (26) are to move along a straight line round about, fixed case (26) movement
It will drive the movement of curved plates (30) afterwards, and then two clamping plates (34) driven to move along a straight line round about, two such folder
Plate (34) can be clamped crawl to object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910546061.0A CN110434883A (en) | 2019-06-23 | 2019-06-23 | A kind of flexibility magnetic robot assisted handgrip |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910546061.0A CN110434883A (en) | 2019-06-23 | 2019-06-23 | A kind of flexibility magnetic robot assisted handgrip |
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| CN110434883A true CN110434883A (en) | 2019-11-12 |
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| CN201910546061.0A Pending CN110434883A (en) | 2019-06-23 | 2019-06-23 | A kind of flexibility magnetic robot assisted handgrip |
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| CN112847005A (en) * | 2021-01-25 | 2021-05-28 | 严成都 | Manufacturing method of anti-falling and anti-blue-light toughened film |
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Address after: 150090 Hanshui Road, Nangang District, Harbin, Heilongjiang 265 Applicant after: Institute of intelligent manufacturing, Heilongjiang Academy of Sciences Address before: 150090 Hanshui Road, Nangang District, Harbin, Heilongjiang 265 Applicant before: INSTITUTE OF AUTOMATION OF HEILONGJIANG ACADEMY OF SCIENCES |
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Application publication date: 20191112 |