CN203901290U - Manipulator claw rotary device - Google Patents
Manipulator claw rotary device Download PDFInfo
- Publication number
- CN203901290U CN203901290U CN201420253130.1U CN201420253130U CN203901290U CN 203901290 U CN203901290 U CN 203901290U CN 201420253130 U CN201420253130 U CN 201420253130U CN 203901290 U CN203901290 U CN 203901290U
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- China
- Prior art keywords
- swing arm
- sides
- whirligig
- grabbed
- threads
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 210000000078 claw Anatomy 0.000 title abstract 3
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000000576 coating method Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a manipulator claw rotary device comprising a drive mechanism. A swing arm is connected with the drive mechanism and provided with a grabbing mechanism at the top thereof. Two torsional springs are symmetrically arranged on two sides of the swing arm, respectively. Threads are arranged in the inner sides of stopping sleeves which are arranged outside the torsional springs. An elastic stopping block and two rigid stopping blocks are arranged between each two adjacent thread segments. The elastic stopping blocks are fixed on joints between the tail ends of each two thread segments. Each two rigid stopping blocks are symmetrically fixed on vertical sides of each two thread segments. Arc-shaped slots are formed in sides, facing towards the outer sides of the threads, are formed in the elastic stopping blocks. Arc-shaped guide surfaces are arranged at edges where the rigid stopping blocks are connected with the threads. Rough layers are arranged on the surfaces of the arc-shaped guide surfaces. A top plate is arranged at the stopping sleeves. By the use of the manipulator claw rotary device, the defects of the prior art are overcome, smoothness of braking process of the rotary system is improved, and vibration is reduced.
Description
Technical field
The utility model relates to mechanical arm technical field, and especially a kind of manipulator hand is grabbed whirligig.
Background technology
For the manipulator at two precalculated position reciprocating rotaries, in its rotary course, there will be the overrun condition that exceeds stop position.Chinese invention patent CN101657080B discloses a kind of rotary system, has improved the stability of rotary course.But this structure, in improving rotational stabilization, has produced brake force excessive, causes the vibrative problem of whole equipment.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of manipulator hand and grabs whirligig, can solve the deficiencies in the prior art, has improved the ride comfort of rotary system braking procedure, has reduced vibration.
For solving the problems of the technologies described above, technical solution adopted in the utility model is as follows.
A kind of manipulator hand is grabbed whirligig, comprise driving mechanism, drive unit is connected with swing arm, the top of swing arm is provided with grasping mechanism, the both sides of described swing arm are symmetrically arranged with respectively two torsion springs, torsion spring arranged outside has stop sleeve, stop sleeve inner side is provided with screw thread, between two adjacent threads of screw thread, be provided with a flexible block and two rigidity blocks, flexible block is fixed on the joint of two thread ends, two rigidity blocks are fixed on the both sides up and down of two threads symmetrically, flexible block is provided with arc groove towards the side in screw thread outside, the edge that rigidity block and thread join is provided with arc guide surface, the surface of arc guide surface is provided with rough layer, the top of stop sleeve is provided with top board.
As preferably, the both sides up and down of described swing arm are respectively arranged with clamping plate, and swing arm contacts with clamping plate by roller.
As preferably, the ratio that is positioned at the width of arc groove lowest point and the thread height of described screw thread on described flexible block is 2:7～1:2.
As preferably, in the distance between two rigidity blocks and same position, the ratio of distances constant of adjacent two threads is 1:2～3:4.
As preferably, on described top board, be provided with polytetrafluorethylecoatings coatings.
As preferably, described driving mechanism is cylinder.
The beneficial effect that adopts technique scheme to bring is: first the utility model changes the stressed unbalanced problem that in prior art, single torsion spring brings, and is provided with two symmetrical torsion springs.A nearlyer step, deformation quantity when stop sleeve can rotate swing arm, torsion spring being produced oppositely suppresses, and adds long arm swing moderating process to play, and improves the effect of brake comfort.In the compressed process of torsion spring, flexible block is for the torsion spring of braking latter end is stopped, rigidity block is for stopping braking the just torsion spring in stage casing.When in the process that torsion spring is stretched, top board stops torsion spring.On described top board, be provided with polytetrafluorethylecoatings coatings, can avoid on the one hand torsion spring and top board direct friction and cause torsion spring stuck, can also improve in addition the even release of top board to torsion spring barrier force.The both sides up and down of described swing arm are respectively arranged with clamping plate, and swing arm contacts with clamping plate by roller, can avoid producing in swing arm rotary course the vibration of vertical direction.
Brief description of the drawings
Fig. 1 is the side view of a detailed description of the invention of the utility model.
Fig. 2 is the partial enlarged drawing of stop sleeve inside in detailed description of the invention of the utility model.
Fig. 3 is the schematic diagram of grasping mechanism in detailed description of the invention of the utility model.
In figure: 1, driving mechanism; 2, swing arm; 3, grasping mechanism; 4, torsion spring; 5, stop sleeve; 6, screw thread; 7, flexible block; 8, rigidity block; 9, arc guide surface; 10, rough layer; 11, top board; 12, clamping plate; 13, roller; 14, polytetrafluorethylecoatings coatings; 15, rubber bottom surface; 16, inclined plane; 17, arc groove.
Detailed description of the invention
The standardized element using in the utility model all can be bought from the market, shaped piece all can carry out customized according to description with record accompanying drawing, the concrete connected mode of each part all adopts the conventional meanses such as bolt ripe in prior art, rivet, welding, stickup, is not described in detail in this.
With reference to Fig. 1-3, the present embodiment comprises driving mechanism 1, drive unit 1 is connected with swing arm 2, the top of swing arm 2 is provided with grasping mechanism 3, the both sides of described swing arm 2 are symmetrically arranged with respectively two torsion springs 4, torsion spring 4 arranged outside have stop sleeve 5, stop sleeve 5 inner sides are provided with screw thread 6, between two adjacent threads of screw thread 6, be provided with a flexible block 7 and two rigidity blocks 8, flexible block 7 is fixed on the joint of two thread ends, two rigidity blocks 8 are fixed on the both sides up and down of two threads symmetrically, flexible block 7 is provided with arc groove 17 towards the side in screw thread 6 outsides, rigidity block 8 is provided with arc guide surface 9 with the edge that thread joins, the surface of arc guide surface 9 is provided with rough layer 10, rough layer 10 forms by grinder processing, roughness is 50 μ m～60 μ m, the top of stop sleeve 5 is provided with top board 11.Described driving mechanism 1 is cylinder.First the present embodiment changes the stressed unbalanced problem that in prior art, single torsion spring brings, and is provided with two symmetrical torsion springs 4.A nearlyer step, the deformation quantity that stop sleeve 5 produces torsion spring 4 can rotate swing arm 2 time oppositely suppresses, and adds long arm swing 2 moderating processes to play, and improves the effect of brake comfort.In the compressed process of torsion spring 4, flexible block 7 is for the torsion spring 4 of braking latter end is stopped, rigidity block 8 is for stopping braking the just torsion spring 4 in stage casing.When in the process that torsion spring 4 is stretched, top board 11 stops torsion spring 4.On described top board 11, be provided with polytetrafluorethylecoatings coatings 14, can avoid on the one hand torsion spring 4 to cause torsion spring 4 stuck with top board 11 direct friction, can also improve in addition the even release of top board 11 to torsion spring 4 barrier force.The both sides up and down of described swing arm 2 are respectively arranged with clamping plate 12, and swing arm 2 contacts with clamping plate 12 by roller 13, can avoid the vibration that produces vertical direction in swing arm 2 rotary courses.The ratio that is positioned at the width of arc groove 17 lowest points and the thread height of described screw thread 6 on described flexible block 7 is preferably 2:5, in distance between two rigidity blocks 8 and same position, the ratio of distances constant of adjacent two threads is preferably 2:3, flexible block 7 coordinates with the preferred of rigidity block 8, can realize the smooth-going linking of the whole braking procedure of torsion spring.
Wherein, the bottom surface of grasping mechanism 3 inside is provided with rubber bottom surface 15, and the outer ledge of rubber bottom surface 15 is provided with inclined plane 16.The frictional force of material and grasping mechanism 3 can be improved in rubber bottom surface 15, the centrifugal force that inclined plane 16 produces for offsetting rotary course material.
More than show and described general principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that in above-described embodiment and description, describes just illustrates principle of the present utility model; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (6)
1. a manipulator hand is grabbed whirligig, comprise driving mechanism (1), drive unit (1) is connected with swing arm (2), the top of swing arm (2) is provided with grasping mechanism (3), it is characterized in that: the both sides of described swing arm (2) are symmetrically arranged with respectively two torsion springs (4), torsion spring (4) arranged outside has stop sleeve (5), stop sleeve (5) inner side is provided with screw thread (6), between two adjacent threads of screw thread (6), be provided with a flexible block (7) and two rigidity blocks (8), flexible block (7) is fixed on the joint of two thread ends, two rigidity blocks (8) are fixed on the both sides up and down of two threads symmetrically, flexible block (7) is provided with arc groove (17) towards the side in screw thread (6) outside, rigidity block (8) is provided with arc guide surface (9) with the edge that thread joins, the surface of arc guide surface (9) is provided with rough layer (10), the top of stop sleeve (5) is provided with top board (11).
2. manipulator hand according to claim 1 is grabbed whirligig, it is characterized in that: the both sides up and down of described swing arm (2) are respectively arranged with clamping plate (12), swing arm (2) contacts with clamping plate (12) by roller (13).
3. manipulator hand according to claim 1 is grabbed whirligig, it is characterized in that: the ratio that is positioned at the width of arc groove (17) lowest point and the thread height of described screw thread (6) on described flexible block (7) is 2:7～1:2.
4. manipulator hand according to claim 1 is grabbed whirligig, it is characterized in that: in the distance between two rigidity blocks (8) and same position, the ratio of distances constant of adjacent two threads is 1:2～3:4.
5. manipulator hand according to claim 1 is grabbed whirligig, it is characterized in that: on described top board (11), be provided with polytetrafluorethylecoatings coatings (14).
6. manipulator hand according to claim 1 is grabbed whirligig, it is characterized in that: described driving mechanism (1) is cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420253130.1U CN203901290U (en) | 2014-05-19 | 2014-05-19 | Manipulator claw rotary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420253130.1U CN203901290U (en) | 2014-05-19 | 2014-05-19 | Manipulator claw rotary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203901290U true CN203901290U (en) | 2014-10-29 |
Family
ID=51775585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420253130.1U Expired - Lifetime CN203901290U (en) | 2014-05-19 | 2014-05-19 | Manipulator claw rotary device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203901290U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082179A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人***有限公司 | Manipulator grasp rotating device |
-
2014
- 2014-05-19 CN CN201420253130.1U patent/CN203901290U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082179A (en) * | 2014-05-08 | 2015-11-25 | 宁夏巨能机器人***有限公司 | Manipulator grasp rotating device |
| CN105082179B (en) * | 2014-05-08 | 2017-02-15 | 宁夏巨能机器人***有限公司 | Manipulator grasp rotating device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: NINGXIA JUNENG ROBOT Co.,Ltd. Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: NINGXIA JUNENG ROBOT SYSTEM Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20141029 |
|
| CX01 | Expiry of patent term |