CN110978042B

CN110978042B - A flexible mechanism of a flexible robot claw and method thereof

Info

Publication number: CN110978042B
Application number: CN202010003009.3A
Authority: CN
Inventors: 李广水
Original assignee: Jinling Institute of Technology
Current assignee: Hangzhou Luanqi Robot Technology Co.,Ltd.
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2021-04-23
Anticipated expiration: 2040-01-02
Also published as: CN110978042A

Abstract

The invention discloses a flexible mechanism of a flexible machine claw and a method thereof, comprising a mounting seat, the bottom of the mounting seat is provided with a groove, a mounting plate is slidably installed in the groove, and the bottom of the mounting plate is rotatably mounted with a groove. A rotating block, the bottom of the rotating block is equipped with a connecting seat, the bottom of the connecting seat is provided with two clamping jaws, the mounting plate is provided with two restricting mechanisms, and the two restricting mechanisms are both matched with the connecting seat. The mounting seat is provided with a pushing mechanism, which cooperates with the mounting plate. The pushing mechanism includes a motor and a pushing plate. A mounting groove is formed on the top inner wall of the groove, and the motor is fixedly installed on the top inner wall of the mounting groove. The present invention is a flexible mechanism of a flexible machine claw, which can extend the clamping stroke of the clamping claw, and can clamp distant items, and at the same time, the connecting seat can be fixed, so as to prevent the connecting seat from shaking when moving and avoid clamping Items taken are dropped.

Description

Flexible mechanism and method of flexible machine claw

Technical Field

The invention relates to the technical field of machine claws, in particular to a flexible mechanism of a flexible machine claw and a method thereof.

Background

A robot claw is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

Most of the existing machine claws and mechanical arms are rigidly connected, so that the machine claws are inconvenient to adjust and inconvenient to use, and therefore a flexible mechanism of the flexible machine claw is provided for solving the problems.

Disclosure of Invention

The object of the present invention is to provide a flexible mechanism for a flexible machine claw, which solves the problems mentioned in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a flexible mechanism of nimble type machine claw, includes the mount pad, the recess has been seted up to the bottom of mount pad, and slidable mounting has the mounting panel in the recess, the bottom of mounting panel is rotated and is installed the turning block, and the connecting seat is installed to the bottom of turning block, the bottom of connecting seat is equipped with two clamping jaws, be equipped with two limiting mechanism on the mounting panel, two limiting mechanism all cooperate with the connecting seat, be equipped with pushing mechanism on the mount pad, pushing mechanism cooperatees with the mounting panel.

Preferably, pushing mechanism includes motor and slurcam, the mounting groove has been seted up on the top inner wall of recess, and motor fixed mounting is on the top inner wall of mounting groove, the output shaft of motor and the top fixed connection of slurcam, and the bottom of slurcam welds with the top of mounting panel mutually.

Preferably, the limiting mechanism comprises a sliding plate and clamping blocks, two clamping grooves are formed in the top of the connecting seat, the two clamping blocks are matched with the two clamping grooves respectively, two sliding grooves are formed in the bottom of the mounting plate, the two sliding plates are connected with the side walls of the two sliding grooves in a sliding mode respectively, and the two clamping blocks are fixedly mounted at the bottoms of the two sliding plates respectively.

Preferably, the top fixed mounting of mounting panel has two movable plates, two shifting chutes have been seted up on the top inner wall of recess, two movable plates respectively with the lateral wall sliding connection of two shifting chutes, the bottom has all been seted up to one side that two movable plates kept away from each other and has been the open-ended rectangular channel, equal slidable mounting has the rectangular plate in two rectangular channels, the equal fixed mounting in one side that two rectangular plates kept away from each other has the arc piece, the arc has all been seted up on the one side inner wall that two shifting chutes kept away from each other, two arc pieces clamp with two arc grooves respectively, the equal fixed mounting in one side that two rectangular plates are close to each other has the one end of a plurality of first springs, the other end of first spring welds with one side inner wall of rectangular channel mutually.

Preferably, all set up the bottom on the one side inner wall that two rectangular channels are close to each other and be open-ended rotation groove, two rotate the inslot and all rotate and install the screw rod, two rectangular plates respectively with two screw rod threaded connection, the outside of two screw rods all overlaps and is equipped with the gear, two rotate the equal slidable mounting in the inslot and have the rack, two gears mesh with two racks respectively mutually, the bottom of two racks welds with the top of two slides mutually respectively.

Preferably, the mounting plate is rotatably provided with a rotating shaft, the rotating block is fixedly connected with the rotating shaft, one side of the mounting plate is fixedly provided with a driving motor, and an output shaft of the driving motor is welded with one end of the rotating shaft.

Preferably, the fixed slot has been seted up to the bottom of turning block, and the top fixed mounting of connecting seat has the fixed block, and the fixed block clamps mutually with the fixed slot, has seted up the through-hole on the fixed block, and the through hole has all been seted up to the both sides of turning block, and movable mounting has the bolt on the turning block, and the through hole is passed and the through-hole is extended to the outside of turning block to the one end of bolt.

Preferably, the one end of bolt is equipped with the hypotenuse, and the spacing groove has been seted up at the top of bolt, and one side slidable mounting of turning block has the trapezoidal piece, and the trapezoidal piece clamps with the spacing groove mutually.

Preferably, one side fixed mounting of trapezoidal piece has the extrusion piece, and the extrusion groove has been seted up to one side of turning block, and the lateral wall sliding connection of extrusion piece and rectangular channel, the top fixed mounting of extrusion piece has the one end of second spring, the other end of second spring and the top inner wall fixed connection of rectangular channel.

Preferably, the specific using method is as follows:

(A1) when the clamping device is used, the rotating shaft can be driven to rotate through the driving motor, the rotating shaft drives the rotating block to rotate, the rotating block drives the connecting seat to rotate, the connecting seat drives the two clamping jaws to rotate, so that the clamping angle can be adjusted, the pushing plate is pushed by the motor to move downwards, the mounting plate is driven by the pushing plate to move, the mounting plate drives the rotating block to move, the rotating block drives the connecting seat to move, the connecting seat drives the two clamping jaws to move, the clamping stroke can be prolonged, and further articles can be clamped;

(A2) when the mounting plate moves, the mounting plate can drive the two movable plates to move, the two movable plates drive the two arc-shaped blocks and the two arc-shaped grooves to extrude with each other, so that the two arc-shaped blocks are close to each other and separated from the two arc-shaped grooves, the two arc-shaped blocks drive the two rectangular plates to be close to each other, at the moment, the plurality of first springs are extruded and contracted, and when the arc-shaped blocks are aligned with the arc-shaped grooves, the rectangular plates can drive the arc-shaped blocks to reset through the plurality of first springs;

(A3) when the two rectangular plates move, the two rectangular plates enable the two screw rods in threaded connection with the rectangular plates to rotate, the two screw rods drive the two gears to rotate, the two gear strips drive the two racks to move, the two racks drive the two sliding plates to move, the two sliding plates drive the two clamping blocks to be clamped into the two clamping grooves, the connecting seat is fixed, the connecting seat is prevented from shaking during movement, and clamped articles are prevented from falling off;

(A4) the clamping device can prolong the clamping stroke of the clamping jaw, clamp far articles, and fix the connecting seat, so that the connecting seat is prevented from shaking when moving, and the clamped articles are prevented from falling off.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention relates to a flexible mechanism of a flexible machine claw, which can drive a rotating shaft to rotate through a driving motor, so that a connecting seat drives two clamping jaws to rotate, thereby adjusting the clamping angle, a pushing plate is pushed to move downwards through the motor, the pushing plate drives a mounting plate to move, the mounting plate drives a rotating block to move, the rotating block drives the connecting seat to move, the connecting seat drives the two clamping jaws to move, the clamping stroke can be prolonged, far objects can be clamped, two sliding plates drive two clamping blocks to be clamped into two clamping grooves, the connecting seat is fixed, and the connecting seat is prevented from shaking during moving.

2. The clamping device can prolong the clamping stroke of the clamping jaw, clamp far articles, and fix the connecting seat, so that the connecting seat is prevented from shaking when moving, and the clamped articles are prevented from falling off.

Drawings

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a schematic structural view of part A of the present invention;

FIG. 3 is a schematic structural view of part B of the present invention;

FIG. 4 is a schematic perspective view of the connection between the moving plate and the arc block of the present invention;

FIG. 5 is a side view of the rectangular plate, screw, gear and rack connection of the present invention.

In the figure: 1. a mounting seat; 2. a groove; 3. mounting a plate; 4. rotating the block; 5. a connecting seat; 6. a clamping jaw; 7. mounting grooves; 8. a motor; 9. a push plate; 10. a moving groove; 11. moving the plate; 12. a rectangular groove; 13. a rectangular plate; 14. an arc-shaped block; 15. an arc-shaped slot; 16. a first spring; 17. a rotating groove; 18. a screw; 19. a gear; 20. a rack; 21. a rotating shaft; 22. a slide plate; 23. a clamping block; 24. a card slot; 25. fixing grooves; 26. a fixed block; 27. a through hole; 28. a bolt; 29. a limiting groove; 30. a trapezoidal block.

Detailed Description

The embodiment of the application solves the problems in the prior art by providing a flexible mechanism of a flexible machine claw. The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Please refer to fig. 1-5, this embodiment provides a flexible mechanism of a flexible machine claw, which includes a mounting base 1, a groove 2 is formed at the bottom of the mounting base 1, a mounting plate 3 is slidably mounted in the groove 2, a rotating block 4 is rotatably mounted at the bottom of the mounting plate 3, the moving of the mounting plate 3 can drive the rotating block 4 to move, a connecting base 5 is mounted at the bottom of the rotating block 4, the connecting base 5 can be driven to move by the movement of the rotating block 4, two clamping jaws 6 are arranged at the bottom of the connecting base 5, two limiting mechanisms are arranged on the mounting plate 3, both the two limiting mechanisms are matched with the connecting base 5, a pushing mechanism is arranged on the mounting base 1, and the pushing mechanism is matched.

Wherein, pushing mechanism includes motor 8 and slurcam 9, mounting groove 7 has been seted up on the top inner wall of recess 2, motor 8 fixed mounting is on the top inner wall of mounting groove 7, motor 8's output shaft and the top fixed connection of slurcam 9, the bottom of slurcam 9 welds with the top of mounting panel 3 mutually, can drive slurcam 9 through motor 8 and reciprocate, limiting mechanism includes slide 22 and fixture block 23, two draw-in grooves 24 have been seted up at the top of connecting seat 5, two fixture blocks 23 cooperate with two draw-in grooves 24 respectively, through two draw-in grooves 24 cooperation

Two clamping blocks 23 are clamped into two clamping grooves 24 to fix the connecting seat 5 and prevent the connecting seat 5 from shaking in the moving process, two sliding grooves are formed in the bottom of the mounting plate 3, two sliding plates 22 are respectively in sliding connection with the side walls of the two sliding grooves, two clamping blocks 23 are respectively fixedly mounted at the bottoms of the two sliding plates 22, two moving plates 11 are fixedly mounted at the top of the mounting plate 3, two moving grooves 10 are formed in the inner wall of the top of the groove 2, the two moving plates 11 are respectively in sliding connection with the side walls of the two moving grooves 10, rectangular grooves 12 with openings at the bottoms are formed in the sides, away from each other, of the two moving plates 11, rectangular plates 13 are respectively and slidably mounted in the two rectangular grooves 12, arc-shaped blocks 14 are respectively fixedly mounted on the sides, away from each other, of the two moving plates 10 are respectively provided with arc-shaped grooves 15, when the two moving plates 11, two arc pieces 14 and two arc wall 15's lateral wall extrude each other, can make two arc pieces 14 drive two rectangular plates 13 and be close to each other, two arc pieces 14 clamp with two arc wall 15 respectively mutually, two rectangular plates 13 equal fixed mounting in one side that is close to each other has a plurality of first spring 16's one end, first spring 16's the other end welds with one side inner wall of rectangular groove 12 mutually, when arc piece 14 aligns with arc wall 15, can make rectangular plate 13 drive arc piece 14 through a plurality of first spring 16 and reset.

In the embodiment, when the clamping device is used, the rotating shaft 21 can be driven to rotate by the driving motor, the rotating shaft 21 drives the rotating block 4 to rotate, the rotating block 4 drives the connecting seat 5 to rotate, the connecting seat 5 drives the two clamping jaws 6 to rotate, so that the clamping angle can be adjusted, the pushing plate 9 is pushed by the motor 8 to move downwards, the pushing plate 9 drives the mounting plate 3 to move, the mounting plate 3 drives the rotating block 4 to move, the rotating block 4 drives the connecting seat 5 to move, the connecting seat 5 drives the two clamping jaws 6 to move, so that the clamping stroke can be prolonged, a far article can be clamped, when the mounting plate 3 moves, the mounting plate 3 can also drive the two moving plates 11 to move, the two moving plates 11 drive the two arc blocks 14 to extrude with the two arc grooves 15, so that the two arc blocks 14 are close to each other and separate from the two arc grooves 15, and, at the moment, the plurality of first springs 16 are squeezed and contracted, when the arc-shaped block 14 is aligned with the arc-shaped groove 15, the rectangular plate 13 can drive the arc-shaped block 14 to reset through the plurality of first springs 16, when the two rectangular plates 13 move, the two rectangular plates 13 enable the two screw rods 18 in threaded connection with the two rectangular plates to rotate, the two screw rods 18 drive the two gears 19 to rotate, the two gear bars 19 drive the two racks 20 to move, the two racks 20 drive the two sliding plates 22 to move, the two sliding plates 22 drive the two clamping blocks 23 to be clamped into the two clamping grooves 24, the connecting seat 5 is fixed, the connecting seat 5 is prevented from shaking when moving, clamped articles are prevented from falling off, the clamping stroke of the clamping jaw 6 can be prolonged, distant articles can be clamped, meanwhile, the connecting seat 5 can be fixed, so that the connecting seat 5 is prevented from shaking when moving, and articles clamped by the clamping are prevented from falling off.

Example two

Referring to fig. 1-5, a further improvement is made on the basis of embodiment 1:

the inner wall of one side, close to each other, of each of the two rectangular grooves 12 is provided with a rotating groove 17 with an opening at the bottom, screw rods 18 are rotatably mounted in the two rotating grooves 17, the two rectangular plates 13 are respectively in threaded connection with the two screw rods 18, the screw rods 18 can be rotated when the rectangular plates 13 move, gears 19 are sleeved on the outer sides of the two screw rods 18, the screw rods 18 can drive the gears 19 to rotate, racks 20 are slidably mounted in the two rotating grooves 17, the gears 19 can drive the racks 20 to move when rotating, the two gears 19 are respectively meshed with the two racks 20, the bottoms of the two racks 20 are respectively welded with the tops of the two sliding plates 22, and the two sliding plates 22 can be driven to move by the two racks 20;

a rotating shaft 21 is rotatably mounted on the mounting plate 3, the rotating block 4 is fixedly connected with the rotating shaft 21, a driving motor is fixedly mounted on one side of the mounting plate 3, an output shaft of the driving motor is welded with one end of the rotating shaft 21, the rotating shaft 21 can be driven to rotate through the driving motor, the rotating block 4 can be driven to rotate through the rotating shaft 21, and the clamping angle is further adjusted; the bottom of the rotating block 4 is provided with a fixing groove 25, the top of the connecting seat 5 is fixedly provided with a fixing block 26, the fixing block 26 is clamped with the fixing groove 25, the fixing block 26 is provided with a through hole 27, both sides of the rotating block 4 are provided with through holes, the rotating block 4 is movably provided with a bolt 28, one end of the bolt 28 penetrates through the through holes and the through holes 27 and extends to the outer side of the rotating block 4, and the fixing block 26 can be fixed in the fixing groove 25 through the bolt 28, so that the connecting seat 5 is stably connected with the rotating block 4;

one end of the bolt 28 is provided with a bevel edge, the top of the bolt 28 is provided with a limiting groove 29, one side of the rotating block 4 is slidably provided with a trapezoidal block 30, the trapezoidal block 30 is clamped with the limiting groove 29 and can be fixed to the bolt 28 through the trapezoidal block 320, one side of the trapezoidal block 30 is fixedly provided with an extrusion block, one side of the rotating block 4 is provided with an extrusion groove, the extrusion block is slidably connected with the side wall of the rectangular groove, the top of the extrusion block is fixedly provided with one end of a second spring, the other end of the second spring is fixedly connected with the inner wall of the top of the rectangular groove, and the second spring can reset when the pressure applied to the trapezoidal block 30 disappears.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A flexible mechanism of a flexible machine claw comprises a mounting seat (1) and is characterized in that: the bottom of the mounting seat (1) is provided with a groove (2), the mounting plate (3) is slidably mounted in the groove (2), the bottom of the mounting plate (3) is rotatably provided with a rotating block (4), the bottom of the rotating block (4) is provided with a connecting seat (5), the bottom of the connecting seat (5) is provided with two clamping jaws (6), the mounting plate (3) is provided with two limiting mechanisms, the two limiting mechanisms are matched with the connecting seat (5), the mounting seat (1) is provided with a pushing mechanism, and the pushing mechanism is matched with the mounting plate (3);

the top of the mounting plate (3) is fixedly provided with two movable plates (11), two movable grooves (10) are formed in the inner wall of the top of the groove (2), the two movable plates (11) are respectively in sliding connection with the side walls of the two movable grooves (10), rectangular grooves (12) with openings at the bottoms are formed in the sides, away from each other, of the two movable plates (11), rectangular plates (13) are respectively arranged in the two rectangular grooves (12) in a sliding mode, arc-shaped blocks (14) are respectively fixedly arranged on the sides, away from each other, of the two rectangular plates (13), arc-shaped grooves (15) are respectively formed in the inner wall of one side, away from each other, of the two movable grooves (10), the two arc-shaped blocks (14) are respectively clamped with the two arc-shaped grooves (15), one sides, close to each other, of the two rectangular plates (13) are respectively and fixedly provided with one ends of a plurality of first springs (16), and the other ends;

all set up the bottom on the one side inner wall that two rectangular channels (12) are close to each other and be open-ended rotation groove (17), all rotate in two rotation grooves (17) and install screw rod (18), two rectangular plate (13) respectively with two screw rod (18) threaded connection, the outside of two screw rods (18) all is overlapped and is equipped with gear (19), equal slidable mounting has rack (20) in two rotation grooves (17), two gear (19) mesh with two rack (20) respectively mutually, the bottom of two rack (20) welds with the top of two slide (22) respectively mutually.

2. The compliant mechanism of a flexible machine jaw of claim 1, wherein: pushing mechanism includes motor (8) and slurcam (9), mounting groove (7) have been seted up on the top inner wall of recess (2), motor (8) fixed mounting on the top inner wall of mounting groove (7), the output shaft of motor (8) and the top fixed connection of slurcam (9), the bottom of slurcam (9) welds mutually with the top of mounting panel (3).

3. The compliant mechanism of a flexible machine jaw of claim 1, wherein: limiting mechanism includes slide (22) and fixture block (23), and two draw-in grooves (24) have been seted up at the top of connecting seat (5), and two fixture block (23) cooperate with two draw-in grooves (24) respectively, and two spouts have been seted up to the bottom of mounting panel (3), and two slide (22) respectively with the lateral wall sliding connection of two spouts, two fixture block (23) respectively fixed mounting in the bottom of two slide (22).

4. The compliant mechanism of a flexible machine jaw of claim 1, wherein: the mounting panel (3) are rotated and are installed axis of rotation (21), turning block (4) and axis of rotation (21) fixed connection, and one side fixed mounting of mounting panel (3) has driving motor, and driving motor's output shaft welds mutually with the one end of axis of rotation (21).

5. The compliant mechanism of a flexible machine jaw of claim 1, wherein: fixed slot (25) have been seted up to the bottom of turning block (4), and the top fixed mounting of connecting seat (5) has fixed block (26), and fixed block (26) clamp mutually with fixed slot (25), has seted up through-hole (27) on fixed block (26), and the through hole has all been seted up to the both sides of turning block (4), and movable mounting has bolt (28) on turning block (4), and the one end of bolt (28) is passed through hole and through-hole (27) and is extended to the outside of turning block (4).

6. The compliant mechanism of a flexible machine jaw of claim 5, wherein: one end of the bolt (28) is provided with a bevel edge, the top of the bolt (28) is provided with a limiting groove (29), one side of the rotating block (4) is slidably provided with a trapezoidal block (30), and the trapezoidal block (30) is clamped with the limiting groove (29).

7. The compliant mechanism of a flexible machine jaw of claim 6, wherein: one side fixed mounting of trapezoidal piece (30) has the extrusion piece, and the extrusion groove has been seted up to one side of turning block (4), and the extrusion piece is connected with the lateral wall sliding of rectangular channel, and the top fixed mounting of extrusion piece has the one end of second spring, the other end of second spring and the top inner wall fixed connection of rectangular channel.

8. The use method of the flexible mechanism of the flexible machine claw in the claim 1 is characterized by comprising the following specific steps:

(A1) during the use, can drive axis of rotation (21) through driving motor and rotate, axis of rotation (21) drives turning block (4) and rotates, turning block (4) drive connecting seat (5) and rotate, connecting seat (5) drive two clamping jaws (6) and rotate, thereby can adjust the angle of centre gripping, promote slurcam (9) downstream through motor (8), slurcam (9) drive mounting panel (3) and move, mounting panel (3) drive turning block (4) and move, turning block (4) drive connecting seat (5) and move, connecting seat (5) drive two clamping jaws (6) and move, the stroke of getting can be prolonged, can get far article and press from both sides;

(A2) when the mounting plate (3) moves, the mounting plate (3) can drive the two movable plates (11) to move, the two movable plates (11) drive the two arc-shaped blocks (14) and the two arc-shaped grooves (15) to extrude each other, so that the two arc-shaped blocks (14) are close to each other and are separated from the two arc-shaped grooves (15), the two arc-shaped blocks (14) drive the two rectangular plates (13) to be close to each other, at the moment, the first springs (16) are extruded and contracted, and when the arc-shaped blocks (14) are aligned with the arc-shaped grooves (15), the rectangular plates (13) can drive the arc-shaped blocks (14) to reset through the first springs (16);

(A3) when the two rectangular plates (13) move, the two rectangular plates (13) enable the two screw rods (18) in threaded connection with the two rectangular plates to rotate, the two screw rods (18) drive the two gears (19) to rotate, the two gears (19) drive the two racks (20) to move, the two racks (20) drive the two sliding plates (22) to move, the two sliding plates (22) drive the two clamping blocks (23) to be clamped into the two clamping grooves (24), the connecting base (5) is fixed, the connecting base (5) is prevented from shaking during moving, and clamped articles are prevented from falling off;

(A4) the utility model provides a can prolong the press from both sides of getting stroke of clamping jaw (6), can press from both sides the article far away and get, can fix connecting seat (5) simultaneously, prevents that connecting seat (5) from rocking when removing, avoids the article of getting to drop.