CN210910080U - Mechanical intelligent gripping device - Google Patents
Mechanical intelligent gripping device Download PDFInfo
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- CN210910080U CN210910080U CN201922078175.5U CN201922078175U CN210910080U CN 210910080 U CN210910080 U CN 210910080U CN 201922078175 U CN201922078175 U CN 201922078175U CN 210910080 U CN210910080 U CN 210910080U
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- incomplete gear
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- 230000008878 coupling Effects 0.000 claims abstract description 3
- 238000010168 coupling process Methods 0.000 claims abstract description 3
- 238000005859 coupling reaction Methods 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 9
- 241000446313 Lamella Species 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 239000000843 powder Substances 0.000 abstract description 13
- 239000008187 granular material Substances 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 5
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000003466 welding Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 6
- 239000002245 particle Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model provides a mechanical intelligent grabbing device, includes the frame, the frame by the top base, lower base and weld in the top base and the connecting rod of the adjacent one side outer wall axis department of base down constitute, the outer wall welding of top base one side has the linking arm, the top welding of linking arm has incomplete gear, the outer wall axis department welding that upper base one side was kept away from to incomplete gear has the axle center seat, the coupling has the fixed plate on the port of axle center seat, the positive fixed mounting in the adjacent one side edge of fixed plate has step motor A. The utility model provides a machinery intelligence grabbing device is convenient for carry out the ration to granule or powder and snatchs the operation to the manipulator can squeeze into the granule or the powder through the rotation when snatching, and through the cooperation of incomplete gear and worm, can fall the granule or the powder of full-scale manipulator after snatching back to the material inslot through the shake, avoids causing the environmental pollution or the waste of resource that the scattering brought at the in-process that removes.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a mechanical intelligent grabbing device.
Background
The robot paw can realize robot parts with hand-like functions, the operation which is difficult to be completed by manpower can be realized by the robot paw, and the robot paw is separated from mechanical power to perform grabbing and bending actions with the hand, so that articles are carried. The material volume of the particles or the powder is small, and how to quantitatively grab the particles or the powder becomes a problem to be solved urgently at the present stage.
SUMMERY OF THE UTILITY MODEL
Objects of the invention
For solving the technical problem who exists among the background art, the utility model provides a mechanical intelligent grabbing device aims at solving the problem that carries out the ration and snatchs to the goods and materials of granule or powder.
(II) technical scheme
In order to solve the problems, the utility model provides a mechanical intelligent gripping device, which comprises a machine base, the machine seat consists of an upper base, a lower base and a connecting rod welded on the middle shaft of the outer wall of one side of the upper base adjacent to the lower base, the outer wall of one side of the upper base is welded with a connecting arm, the top of the connecting arm is welded with an incomplete gear, a shaft center seat is welded at the middle shaft of the outer wall of one side of the incomplete gear, which is far away from the upper base, a fixing plate is coupled at the port of the shaft center seat, the front surface of one side edge adjacent to the fixed plate is fixedly provided with a stepping motor A, the output end of the stepping motor A is fixedly provided with a worm, the worm is meshed with the incomplete gear, the stepping motor A drives the worm to rotate and move along the arc-shaped outer wall of the incomplete gear, and the machine base is enabled to change the pitching angle by taking the fixed plate as the axis; the top fixed mounting of upper base has the driving motor who is located axle center one side, the axle center department coupling of lower base lower surface has the threaded rod, the threaded rod is located the one end fixed mounting of lower base upper surface has big circular gear, driving motor is located the one end fixed mounting of upper base lower surface has small circle gear, big circular gear with small circle gear meshes mutually, the upper base with be equipped with the toothed disc between the lower base, the outer wall symmetry of toothed disc is equipped with articulated seat, the quantity of articulated seat is three, threaded rod outer wall threaded connection has the carousel, the outer wall of carousel articulates there is mechanical claw lamella, the quantity of mechanical claw lamella is three, and the upper surface all articulates there is the support arm, the support arm is kept away from the one end of mechanical claw lamella articulate in on articulated seat, three the mechanical claw lamella passes through the rotation of threaded rod makes the carousel follow the threaded rod outer wall reciprocates, and the three mechanical claws are opened and closed.
Preferably, the machine base is of a circular structure.
Preferably, arc arms distributed along the edge are symmetrically installed at the top of the upper base, and the two arc arms and the incomplete gear are far away from the outer wall of one side of the axle center seat.
Preferably, the top of the upper base is fixedly provided with a stepping motor B, the output end of the stepping motor B is fixedly provided with a transmission gear, the transmission gear is meshed with the outer wall of the gear disc, and the gear disc is driven to rotate by 360 degrees by the stepping motor B.
Preferably, the three mechanical claw pieces are combined to form a circular truncated cone structure with a circular head at the top end, and the circular head at the top end is provided with threads.
Preferably, the inner walls of the adjacent sides of the three mechanical claw pieces are provided with alloy plate surfaces.
Preferably, the outer walls of two opposite sides of the three mechanical claw pieces are respectively provided with a concave groove and a convex edge, and the concave groove and the convex edge are clamped and connected
Preferably, the model of the stepping motor is 42HS6023A 4.
Preferably, the drive motor is of the type JIEBA/Jieba-Y2.
The above technical scheme of the utility model has following profitable technological effect: make mechanical claw lamella fold through the drive and form sealed round platform type structure, be convenient for carry out the ration to granule or powder and snatch the operation, and the manipulator is when snatching, can squeeze into the granule or the powder through the rotation snatchs, guarantee to grab and get the volume, and through the cooperation of incomplete gear and worm, can fall back to the material inslot through the shake with the granule or the powder that full out the manipulator after snatching, avoid causing the environmental pollution or the waste of resource that the scattering brought at the in-process that removes.
Drawings
Fig. 1 is the utility model provides a mechanical intelligent gripping device's schematic structure.
Fig. 2 is the utility model provides a deflection angle connection structure schematic diagram in mechanical intelligent grabbing device.
Fig. 3 is the utility model provides a structure schematic diagram of worm and incomplete gear among mechanical intelligent grabbing device.
Fig. 4 is the utility model provides a driving motor driven schematic structure among mechanical intelligent grabbing device.
Reference numerals: 1. a machine base; 10. an upper base; 101. an arc-shaped arm; 102. a stepping motor B; 103. a transmission gear; 11. a lower base; 12. a connecting rod; 20. a connecting arm; 21. an incomplete gear; 22. a spindle base; 23. a fixing plate; 24. a stepping motor A; 25. a worm; 30. a drive motor; 31. a threaded rod; 32. a large circular gear; 33. a small circular gear; 34. a gear plate; 35. a hinged seat; 36. a turntable; 37. a mechanical claw piece; 371. a concave groove; 372. a convex edge; 38. a support arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is the utility model provides a mechanical intelligent gripping device's schematic structure.
Fig. 2 is the utility model provides a deflection angle connection structure schematic diagram in mechanical intelligent grabbing device.
Fig. 3 is the utility model provides a structure schematic diagram of worm and incomplete gear among mechanical intelligent grabbing device.
Fig. 4 is the utility model provides a driving motor driven schematic structure among mechanical intelligent grabbing device.
As shown in fig. 1-4, the utility model provides an intelligent conveyor, including frame 1, frame 1 comprises upper base 10, lower base 11 and the connecting rod 12 that welds in the adjacent one side outer wall axis department of upper base 10 and lower base 11.
Fig. 2 is the utility model provides a deflection angle connection structure schematic diagram in mechanical intelligent grabbing device.
Fig. 3 is the utility model provides a structure schematic diagram of worm and incomplete gear among mechanical intelligent grabbing device.
Further, as shown in fig. 2-3, a connecting arm 20 is welded on the outer wall of one side of the upper base 10, an incomplete gear 21 is welded on the top of the connecting arm 20, a shaft center seat 22 is welded on the central axis of the outer wall of one side of the incomplete gear 21, which is far away from the upper base 10, a fixing plate 23 is coupled on a port of the shaft center seat 22, a stepping motor a24 is fixedly mounted on the front surface of one side edge adjacent to the fixing plate 23, a worm 25 is fixedly mounted on the output end of the stepping motor a24, the worm 25 is engaged with the incomplete gear 21, and the stepping motor a24 drives the worm 25 to rotate and move along the arc-shaped outer wall of the incomplete gear 21, so that the.
In a specific implementation process, the fixing plate 23 is mounted on the mechanical arm, and then the worm 25 is driven to rotate by the clockwise or counterclockwise rotation of the stepping motor a24, so that the incomplete gear 21 is driven to rotate by the rotation of the worm 25, and the base 1 is angularly deflected by taking the fixing plate 23 as an origin, and the deflected angle is determined according to the length of the arc-shaped tooth surface of the incomplete gear 21 actually used.
Fig. 1 is the utility model provides a mechanical intelligent gripping device's schematic structure.
Fig. 4 is the utility model provides a driving motor driven schematic structure among mechanical intelligent grabbing device.
Further, as shown in fig. 1 and 4, a driving motor 30 is fixedly installed on the top of the upper base 10 and located on one side of the axis, a threaded rod 31 is coupled to the axis of the lower surface of the lower base 11, a large circular gear 32 is fixedly installed on one end of the threaded rod 31 located on the upper surface of the lower base 11, small circular gears 33 are fixedly installed on one ends of the driving motors 30 located on the lower surface of the upper base 10, the large circular gears 32 are engaged with the small circular gears 33, a gear plate 34 is arranged between the upper base 10 and the lower base 11, hinge seats 35 are symmetrically arranged on the outer wall of the gear plate 34, the number of the hinge seats 35 is three, a turntable 36 is connected to the outer wall of the threaded rod 31 through threads, mechanical claw flaps 37 are hinged to the outer wall of the turntable 36, the number of the mechanical claw flaps 37 is three, support arms 38 are hinged to the upper surface, one end of the support arm 38 far away from the mechanical claw flap 37 is hinged to the hinge seats 35, the three, and opens and closes the three mechanical claws 37.
In a specific implementation process, the driving motor 30 rotates clockwise under the transmission of the gear, the threaded rod 31 rotates clockwise, the supporting arms 38 are fixedly mounted between the three mechanical claws 37, so that the rotary disc 36 can move the threaded rod 31 downward to open the three mechanical claws 37, then the threaded rod 31 rotates counterclockwise under the transmission of the gear when the driving motor 30 rotates counterclockwise, and the supporting arms 38 are fixedly mounted between the three mechanical claws 37, so that the rotary disc 36 can move the threaded rod 31 downward to close the three mechanical claws 37 and perform grabbing operation.
It should be noted that, in this document, a raised circular truncated cone is provided at the central axis of the upper surface of the lower base 11, the connecting rod 12 is mounted on the circular truncated cone, the threaded rod 31 is mounted at the bottom of the circular truncated cone, and the tooth mouths on both sides of the large circular gear 32 extend out of the outer side of the circular truncated cone and are engaged with the small circular gear 33, and the circular truncated cone is taken out in the drawing to facilitate the observation of the gear.
Wherein, the engine base 1 is a circular structure.
In the utility model discloses, the arc arm 101 along edge distribution is installed to the top symmetry of upper base 10, and two arc arms 101 and incomplete gear 21 keep away from the outer wall of axle center seat 22 one side, increase the structural strength between upper base 10 and the incomplete gear 21 through arc arm 101, increase the side direction pulling force.
Fig. 1 is the utility model provides a mechanical intelligent gripping device's schematic structure.
Further, as shown in fig. 1, a stepping motor B102 is fixedly mounted on the top of the upper base 10, a transmission gear 103 is fixedly mounted at an output end of the stepping motor B102, the transmission gear 103 is engaged with an outer wall of the gear plate 34, and the gear plate 34 is driven by the stepping motor B102 to rotate 360 °.
In a specific implementation process, the gear plate 34 driven by the stepping motor B102 rotates along the track of the outer wall of the adjacent side of the upper base 10 and the lower base 11, so that the three mechanical claws 37 are not collided with other obstacles after being opened.
The three mechanical claw flaps 37 are combined to form a circular truncated cone structure with a circular head at the top end, and the circular head at the top end is provided with threads.
Moreover, the inner walls of the adjacent sides of the three mechanical claw petals 37 are provided with alloy plate surfaces.
In addition, the outer walls of the two opposite sides of the three mechanical claw pieces 37 are respectively provided with a concave groove 371 and a convex edge 372, and the concave groove 371 and the convex edge 372 are clamped, so that when the three mechanical claw pieces 37 are folded, the problem of scattering and leaking of particles and powder caused by gaps between joints is avoided.
The utility model discloses be convenient for carry out the ration to granule or powder and snatch the operation to the manipulator can squeeze into the granule or the powder through the rotation and snatch when snatching, guarantees to grab and gets the volume, and through incomplete gear 21 and worm 25's cooperation, can fall back to the material inslot through the shake with the granule or the powder of full-length manipulator after snatching, avoids causing the environmental pollution or the waste of resource that the scattering brought at the in-process that removes.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (7)
1. The utility model provides a mechanical intelligent grabbing device, includes frame (1), frame (1) by upper base (10), lower base (11) and weld in upper base (10) with connecting rod (12) of base (11) adjacent one side outer wall axis department down constitute its characterized in that:
the outer wall of one side of the upper base (10) is welded with a connecting arm (20), the top of the connecting arm (20) is welded with an incomplete gear (21), a shaft center seat (22) is welded at the central shaft of the outer wall of one side of the incomplete gear (21) far away from the upper base (10), a fixing plate (23) is coupled on the port of the axle center seat (22), a stepping motor A (24) is fixedly mounted on the front surface of one side edge adjacent to the fixing plate (23), the output end of the stepping motor A (24) is fixedly provided with a worm (25), the worm (25) is meshed with the incomplete gear (21), the stepping motor A (24) drives the worm (25) to rotate and move along the arc-shaped outer wall of the incomplete gear (21), the machine base (1) is enabled to change the pitching angle by taking the fixed plate (23) as an axis;
the top fixed mounting of going up base (10) has driving motor (30) that is located axle center one side, the axle center department coupling of base (11) lower surface has threaded rod (31) down, threaded rod (31) are located the one end fixed mounting of base (11) upper surface has big circular gear (32) down, driving motor (30) are located the one end fixed mounting of going up base (10) lower surface has small circular gear (33), big circular gear (32) with small circular gear (33) mesh mutually, going up base (10) with be equipped with toothed disc (34) down between base (11), the outer wall symmetry of toothed disc (34) is equipped with articulated seat (35), the quantity of articulated seat (35) is three, threaded rod (31) outer wall threaded connection has carousel (36), the outer wall of carousel (36) articulates there is mechanical claw lamella (37), the number of mechanical claw clacks (37) is three, and the upper surface all articulates there is support arm (38), support arm (38) are kept away from the one end of mechanical claw clack (37) articulate in articulate on seat (35), three mechanical claw clack (37) pass through the rotation of threaded rod (31) makes carousel (36) follow threaded rod (31) outer wall reciprocates, and makes threely mechanical claw clack (37) open and shut.
2. Mechanical intelligent gripping device according to claim 1, characterized in that the frame (1) is embodied in a circular configuration.
3. The mechanical intelligent grabbing device according to claim 1, characterized in that the top of the upper base (10) is symmetrically provided with arc arms (101) distributed along the edge, and two arc arms (101) and the incomplete gear (21) are arranged on the outer wall of the side far away from the axle center seat (22).
4. The mechanical intelligent grabbing device of claim 1, characterized in that a stepping motor B (102) is fixedly installed at the top of the upper base (10), a transmission gear (103) is fixedly installed at the output end of the stepping motor B (102), the transmission gear (103) is meshed with the outer wall of the gear disc (34), and the gear disc (34) is driven to rotate 360 degrees by the stepping motor B (102).
5. The mechanical intelligent grabbing device according to claim 1, characterized in that three mechanical claw pieces (37) are combined to form a circular truncated cone structure with a circular head at the top end, and the circular head at the top end is provided with threads.
6. The mechanical intelligent gripping device as claimed in claim 1, wherein the inner wall of the adjacent side of the three mechanical claw pieces (37) is provided with an alloy plate surface.
7. The mechanical intelligent gripping device as claimed in claim 1, wherein the outer walls of two opposite sides of the three mechanical claw pieces (37) are respectively provided with a concave groove (371) and a convex edge (372), and the concave groove (371) and the convex edge (372) are clamped with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922078175.5U CN210910080U (en) | 2019-11-27 | 2019-11-27 | Mechanical intelligent gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922078175.5U CN210910080U (en) | 2019-11-27 | 2019-11-27 | Mechanical intelligent gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210910080U true CN210910080U (en) | 2020-07-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922078175.5U Expired - Fee Related CN210910080U (en) | 2019-11-27 | 2019-11-27 | Mechanical intelligent gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210910080U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113024921A (en) * | 2021-02-07 | 2021-06-25 | 李春梅 | Preparation method of EPE environment-friendly packaging material |
| CN113782169A (en) * | 2021-09-10 | 2021-12-10 | 江西中医药大学 | Traditional Chinese medicine dispensing method and system based on decoction process and storage medium |
-
2019
- 2019-11-27 CN CN201922078175.5U patent/CN210910080U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113024921A (en) * | 2021-02-07 | 2021-06-25 | 李春梅 | Preparation method of EPE environment-friendly packaging material |
| CN113782169A (en) * | 2021-09-10 | 2021-12-10 | 江西中医药大学 | Traditional Chinese medicine dispensing method and system based on decoction process and storage medium |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200703 |