CN103921278A - Intelligent manipulator - Google Patents
Intelligent manipulator Download PDFInfo
- Publication number
- CN103921278A CN103921278A CN201410149976.5A CN201410149976A CN103921278A CN 103921278 A CN103921278 A CN 103921278A CN 201410149976 A CN201410149976 A CN 201410149976A CN 103921278 A CN103921278 A CN 103921278A
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- CN
- China
- Prior art keywords
- joint
- flexibly connected
- copper sheet
- base pitch
- tooth bar
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- 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.)
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Abstract
The invention discloses an intelligent manipulator and belongs to the field of machinery and sensing. The intelligent manipulator solves the problem that intelligent automatic outage and locking of the manipulator. The near upper position of the middle portion of a base joint (1) is movably connected with one end of a middle joint (2), the near upper position of the middle of the middle joint (2) is movably connected with one end of a tail joint (3), the near upper position of the tail joint (3) is movably connected with one end of an end joint (4), one end of a pull string (6) is movably connected to the top of the base joint (1), the other end of the pull string (6) is movably connected with the near lower position of the middle of the tail joint (3), one end of a pull string (5) is movably connected with the near lower position of the middle of the base joint (1), the other end of the pull string (5) is connected with one end of a rack (8), a copper piece stationary contact (13) and a T-shaped copper piece movable contact (14) are fixedly connected with the base joint, and the rack (8) is mounted on the base joint (1), so that the rack (8) can vertically move without sliding. The intelligent manipulator is used for production of various industries or simulating human actions.
Description
Technical field
A puma manipulator, belongs to machinery, sensory field.
Background technology
Current manipulator, can not auto-breaking, can not be motionless from pinning manipulator when motor stalling.
Summary of the invention
A kind of puma manipulator is provided here, and energy auto-breaking while making manipulator catch object body can certainly pin manipulator and the wide ranges grasping when motor stalling.
This invention is such: base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), copper sheet movable contact touches mutually with copper sheet stationary contact, and grasp switch (10) and decontrol switch (11) and connect.Above base pitch, middle joint, periproct and slightly joint form a mechanical finger, and plural mechanical finger forms manipulator.It is upper that tooth bar (8) is arranged on base pitch (1), and tooth bar (8) can be moved up and down and not landing.One end of tooth bar (8) is flexibly connected with bracing wire (5).One end of cover fork (9) is fixedly connected with motor (12).Cover fork (9) is overlapping a rib tooth on tooth bar (8).
During work, electric machine rotation, just drives cover fork to rotate.The rotation of cover fork promotes again tooth bar and moves up and down.Because tooth bar is flexibly connected with bracing wire (5), bracing wire (5) moves up and down, and can make base pitch, middle joint, periproct, slightly save interlock.Because a bracing wire is located to be flexibly connected on the upper side with periproct middle part in base pitch top, a bracing wire is located to be also connected on the upper side with joint middle part slightly in middle joint top, when mobile under bracing wire (5), periproct middle part is located on the upper side and slightly in the middle part of joint, is located on the upper side, than He Zhongjie top, base pitch top, move soon, thereby its spacing is from increasing, but the length of bracing wire can not change, when the moving down of bracing wire (5), can make periproct and slightly joint gradually draw song.Meanwhile, moving down of bracing wire (5), makes again base pitch bent by stretch bending.Thereby as the finger of a hand, gradually curve one.Otherwise while moving in bracing wire (5), base pitch is by top is straight gradually, other bracing wire also gradually push up that straight periproct middle part is located on the upper side and slightly joint middle part locate on the upper side, until as people's finger stretches.
As above, when manipulator is crooked, crawled object just pushes copper sheet movable contact, makes it distortion, and shift position, and like this, copper sheet movable contact just disconnects with stationary contact, motor power-off stall.When pressing relieving switch, motor reverse rotation, manipulator stretches, and just object has been decontroled.When again pressing grasping switch, motor is just rotated in the forward object is caught.And oppress the power-off of copper sheet movable contact.When motor stops operating, cover fork is parallel-laid into yi word pattern with tooth bar, and manipulator is just lockable.
Owing to adopting above-mentioned design, make manipulator energy auto-breaking when grasping, can be automatically locked, capture wide scope.
Accompanying drawing explanation
Fig. 1 is puma manipulator full figure, and Fig. 2 is Self-disconnecting circuit diagram.
The specific embodiment
In Fig. 1, base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), copper sheet movable contact touches mutually with copper sheet stationary contact, and grasp switch (10) and decontrol switch (11) and connect.It is upper that tooth bar (8) is arranged on base pitch (1), and tooth bar (8) can be moved up and down and not landing.One end of tooth bar (8) is flexibly connected with bracing wire (5).One end of cover fork (9) is fixedly connected with motor (12).Cover fork (9) is overlapping a rib tooth on tooth bar (8).
In Fig. 2, copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected to copper sheet movable contact (14) upper, copper sheet movable contact touches mutually with copper sheet stationary contact, and grasps switch (10) and decontrol switch (11) and connect.
Claims (3)
1. a puma manipulator, it is characterized in that: base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), tooth bar (8) is arranged on base pitch (1), tooth bar (8) can be moved up and down and not landing, one end of tooth bar (8) is flexibly connected with bracing wire (5), one end of cover fork (9) is fixedly connected with motor (12), cover fork (9) is overlapping a rib tooth on tooth bar (8).
2.
puma manipulator according to claim 1, is characterized in that:and grasp switch (10) and decontrol switch (11) and connect.
3.
a kind of puma manipulator according to claim 1, is characterized in that:copper sheet movable contact touches mutually with copper sheet stationary contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149976.5A CN103921278A (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149976.5A CN103921278A (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103921278A true CN103921278A (en) | 2014-07-16 |
Family
ID=51139795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410149976.5A Pending CN103921278A (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103921278A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882623A (en) * | 2015-01-25 | 2016-08-24 | 泸县玉流机械制造有限责任公司 | Method for controlling lock of tooth path |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1400083A (en) * | 2002-07-01 | 2003-03-05 | 王光树 | Method for bending and straightening to form rigidy and its primary application |
| JP2006192523A (en) * | 2005-01-12 | 2006-07-27 | Sharp Corp | Articulated finger mechanism |
| CN102102466A (en) * | 2010-12-17 | 2011-06-22 | 王光树 | Method for automatic controller |
| CN202344546U (en) * | 2011-11-23 | 2012-07-25 | 重庆交通大学 | Manipulator assembly of flexible fingers |
| CN203109953U (en) * | 2013-02-27 | 2013-08-07 | 湖北铁人机器人自动化有限公司 | Mistakenly-colliding-resistant mechanical arm obstacle recognition control device |
| CN203779504U (en) * | 2014-04-15 | 2014-08-20 | 王光树 | Intelligent manipulator |
-
2014
- 2014-04-15 CN CN201410149976.5A patent/CN103921278A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1400083A (en) * | 2002-07-01 | 2003-03-05 | 王光树 | Method for bending and straightening to form rigidy and its primary application |
| JP2006192523A (en) * | 2005-01-12 | 2006-07-27 | Sharp Corp | Articulated finger mechanism |
| CN102102466A (en) * | 2010-12-17 | 2011-06-22 | 王光树 | Method for automatic controller |
| CN202344546U (en) * | 2011-11-23 | 2012-07-25 | 重庆交通大学 | Manipulator assembly of flexible fingers |
| CN203109953U (en) * | 2013-02-27 | 2013-08-07 | 湖北铁人机器人自动化有限公司 | Mistakenly-colliding-resistant mechanical arm obstacle recognition control device |
| CN203779504U (en) * | 2014-04-15 | 2014-08-20 | 王光树 | Intelligent manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882623A (en) * | 2015-01-25 | 2016-08-24 | 泸县玉流机械制造有限责任公司 | Method for controlling lock of tooth path |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140716 |