CN107775631A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN107775631A CN107775631A CN201610776579.XA CN201610776579A CN107775631A CN 107775631 A CN107775631 A CN 107775631A CN 201610776579 A CN201610776579 A CN 201610776579A CN 107775631 A CN107775631 A CN 107775631A
- Authority
- CN
- China
- Prior art keywords
- hall sensor
- manipulator
- working shaft
- magnet
- support
- 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.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 41
- 230000000694 effects Effects 0.000 abstract description 16
- 238000003475 lamination Methods 0.000 description 6
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
This application discloses manipulator, belongs to manipulator technical field, which solves current manipulator and runs more unsafe problem.Manipulator, including forearm; forearm is provided with the screw mandrel being vertically arranged and the working shaft being be arranged in parallel with screw mandrel; connector is provided between working shaft and screw mandrel; working shaft is axially fixed on connector, and connector is connected on screw mandrel and connector can drive working shaft to be moved axially along working shaft under the drive of screw mandrel.In this manipulator, because there is provided Hall sensor one and Hall sensor two, the spacing and calibration to working shaft movement serves safety effect so that manipulator is stable.
Description
Technical field
The invention belongs to manipulator technical field.
Background technology
It is that the position rotated by software monitors motor is spacing to be carried out to working shaft in existing level joint Manipulator, but
In this approach, easily cause working shaft to run more than stroke when running software mistake, damage the structure of manipulator, therefore make
Manipulator operation is more dangerous.
The content of the invention
The present invention is in view of the above-mentioned problems, propose a kind of manipulator safe for operation.
Manipulator, including forearm, described forearm are provided with the screw mandrel being vertically arranged and the work being be arranged in parallel with screw mandrel
Axle, connector is provided between working shaft and screw mandrel, the working shaft is axially fixed on connector, and the connector is connected to silk
Connector can drive working shaft to be moved axially along working shaft on bar and under the drive of screw mandrel, it is characterised in that mechanical handbag
The magnet one and magnet two relative to one of fixed setting in both connector and forearm are included, the manipulator also includes phase
The Hall sensor one and Hall sensor two being fixedly installed for another in both connector and forearm, described Hall pass
Sensor one is correspondingly arranged with magnet one, and described Hall sensor two is correspondingly arranged with magnet two, and Hall sensor one senses
The position of working shaft is suitable when the position of magnet a period of time working shaft and Hall sensor two sense magnet two.
In this manipulator, Hall sensor one is correspondingly arranged with magnet one and meant, in manipulator running,
When magnet one can sense magnet one close to Hall sensor a period of time, Hall sensor one.Similarly, Hall sensor two and magnetic
Iron two, which is correspondingly arranged, to be meant, in manipulator running, when magnet two is close to Hall sensor two, and Hall sensor
Two can sense magnet two.The meaning that some Hall sensor occurred elsewhere herein is correspondingly arranged with some magnet
Also it is identical with this.
During manipulator is run, screw mandrel action, the connector being connected on screw mandrel is driven to move up and down, so that
Connector drives working shaft to move up and down, and therefore, connector moves relative to forearm.In the process, magnet one is relative to Hall
Sensor one relatively moves, and magnet two moves relative to Hall sensor two.When Hall sensor one sense magnet for the moment, suddenly
That output signal of sensor one；Also, when Hall sensor two senses magnet two, the output signal of Hall sensor two.
In this manipulator, Hall sensor one senses that the position of magnet a period of time working shaft and Hall sensor two sense
Position to working shaft during magnet two is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind set in, when one of damage in Hall sensor one and Hall sensor 2 two, working shaft movement compared with
Without mobile, another in Hall sensor one and Hall sensor 2 two remains able to feel for a small range or working shaft
Corresponding magnet and output signal should be arrived, therefore so that manipulator is safe for operation.And work as Hall sensor one and Hall sensor two
When playing spacing or calibration function for the movement to working shaft, it can prevent working shaft movement from exceeding stroke, so as to prevent work
The other structures in manipulator are impacted after making axle movement overtravel so that manipulator operation is safer.
In above-mentioned manipulator, manipulator also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall sensor two are arranged on support.
It is provided for supporting the support of Hall sensor one and Hall sensor two in the robot so that Hall sensor
One and Hall sensor two setting it is more flexible.
In above-mentioned manipulator, live wire, described electricity are connected on the Hall sensor one and Hall sensor two
Line is set along support.
In this structure, support not only acts as the effect of support Hall sensor one and Hall sensor two, moreover, also right
The setting of electric wire serves supporting function so that electric wire sets more convenient.
In above-mentioned manipulator, there is tube on described support, described electric wire is located in tube.
Because electric wire is located in the tube of support, support can play a protective role to electric wire, also cause electric wire
Set more convenient.
In above-mentioned manipulator, described support is provided with support member one, and described Hall sensor one and Hall pass
Sensor two is arranged on support member one, on the support of the described adjustable setting in the vertical direction position of support member one.
When support member one is in position adjustments on support, Hall sensor one and Hall sensor two also with support member one by one
Rise and have adjusted position so that Hall sensor one and Hall sensor two are set flexibly.
There is the threaded portion being vertically arranged in above-mentioned manipulator, on described support, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two are threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, relative to threaded portion rotation connection set one and adapter sleeve two so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.Because the adapter sleeve one for securing supports one and adapter sleeve two are threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned manipulator, Hall sensor one senses position and the Hall sensor two of magnet a period of time working shaft
The position of working shaft is different when sensing magnet two.
Because both positions are different, when Hall sensor one and Hall sensor two are used for the mobile progress to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense magnet one when
Between time of magnet two is sensed earlier than Hall sensor two, wherein, Hall sensor one plays normal spacing or calibration and made
With Hall sensor two plays safety effect.It is such set cause in manipulator normal course of operation, when need it is spacing or
During calibration, only Hall sensor is for a moment in running order, and Hall sensor two is not at working condition, so that suddenly
You are longer the shelf life of sensor two so that Hall sensor two more efficiently can play safety effect.
In above-mentioned manipulator, cover lid, described screw mandrel and working shaft are fixed with described forearm and is covered positioned at cover
At inner side, described Hall sensor one and Hall sensor two are arranged on cover and covered.
Because screw mandrel and working shaft are at the inner side of cover lid, covering in the side wall of lid has along the extension of working shaft length direction
The part of setting, cover lid is as the structure for supporting Hall sensor one and Hall sensor two so that Hall sensor one and suddenly
Your setting of sensor two is more convenient.
In this manipulator, due to there is provided Hall sensor one and Hall sensor two, being moved to working shaft spacing
Safety effect is served with calibration so that manipulator is stable.
According to the purpose of the present invention, the present invention proposes a kind of design identical manipulator in addition, and its scheme is as follows：
Manipulator, including forearm, described forearm are provided with the screw mandrel being vertically arranged and the work being be arranged in parallel with screw mandrel
Axle, connector is provided between working shaft and screw mandrel, the working shaft is axially fixed on connector, and the connector is connected to silk
Connector can drive working shaft to be moved axially along working shaft on bar and under the drive of screw mandrel, it is characterised in that mechanical handbag
The magnet one relative to one of fixed setting in both connector and forearm is included, the manipulator also includes relative to connection
The Hall sensor one and Hall sensor two that another in both part and forearm is fixedly installed, Hall sensor one and Hall pass
Sensor two is correspondingly arranged with magnet one and Hall sensor one and Hall sensor two are disposed adjacent, in working shaft vertical shift
Direction on, Hall sensor one senses that the position of magnet a period of time working shaft and Hall sensor two sense magnet a period of time work
The position for making axle is suitable.
During manipulator is run, screw mandrel action, the connector being connected on screw mandrel is driven to move up and down, so that
Connector drives working shaft to move up and down, and therefore, connector moves relative to forearm.In the process, magnet one is relative to Hall
Sensor one and Hall sensor two move.When Hall sensor one senses magnet a period of time, the output signal of Hall sensor one；
Also, when Hall sensor two senses magnet a period of time, the output signal of Hall sensor two.
In this manipulator, Hall sensor one senses that the position of magnet a period of time working shaft and Hall sensor two sense
Position to magnet a period of time working shaft is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind set in, when one of damage in Hall sensor one and Hall sensor 2 two, working shaft movement compared with
Without mobile, another in Hall sensor one and Hall sensor 2 two remains able to feel for a small range or working shaft
Corresponding magnet and output signal should be arrived, therefore so that manipulator is safe for operation.And work as Hall sensor one and Hall sensor two
When playing spacing or calibration function for the movement to working shaft, it can prevent working shaft movement from exceeding stroke, so as to prevent work
The other structures in manipulator are impacted after making axle movement overtravel so that manipulator operation is safer.
In addition, in this manipulator, the corresponding Hall sensor one of a magnet one and Hall sensor two are set so that machine
The structure of tool hand is more simple.
In above-mentioned manipulator, manipulator also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall sensor two are arranged on support.
It is provided for supporting the support of Hall sensor one and Hall sensor two in the robot so that Hall sensor
One and Hall sensor two setting it is more flexible.
In above-mentioned manipulator, live wire, described electricity are connected on the Hall sensor one and Hall sensor two
Line is set along support.
In this structure, support not only acts as the effect of support Hall sensor one and Hall sensor two, moreover, also right
The setting of electric wire serves supporting function so that electric wire sets more convenient.
In above-mentioned manipulator, there is tube on described support, described electric wire is located in tube.
Because electric wire is located in the tube of support, support can play a protective role to electric wire, also cause electric wire
Set more convenient.
In above-mentioned manipulator, described support is provided with support member one, and described Hall sensor one and Hall pass
Sensor two is arranged on support member one, on the support of the described adjustable setting in the vertical direction position of support member one.
When support member one is in position adjustments on support, Hall sensor one and Hall sensor two also with support member one by one
Rise and have adjusted position so that Hall sensor one and Hall sensor two are set flexibly.
There is the threaded portion being vertically arranged in above-mentioned manipulator, on described support, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two are threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, relative to threaded portion rotation connection set one and adapter sleeve two so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.Because the adapter sleeve one for securing supports one and adapter sleeve two are threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned manipulator, Hall sensor one senses position and the Hall sensor two of magnet a period of time working shaft
Sense that the position of magnet a period of time working shaft is different.
Because both positions are different, when Hall sensor one and Hall sensor two are used for the mobile progress to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense magnet one when
Between time of magnet two is sensed earlier than Hall sensor two, wherein, Hall sensor one plays normal spacing or calibration and made
With Hall sensor two plays safety effect.It is such set cause in manipulator normal course of operation, when need it is spacing or
During calibration, only Hall sensor is for a moment in running order, and Hall sensor two is not at working condition, so that suddenly
You are longer the shelf life of sensor two so that Hall sensor two more efficiently can play safety effect.
In above-mentioned manipulator, cover lid, described screw mandrel and working shaft are fixed with described forearm and is covered positioned at cover
At inner side, described Hall sensor one and Hall sensor two are arranged on cover and covered.
Because screw mandrel and working shaft are at the inner side of cover lid, covering in the side wall of lid has along the extension of working shaft length direction
The part of setting, cover lid is as the structure for supporting Hall sensor one and Hall sensor two so that Hall sensor one and suddenly
Your setting of sensor two is more convenient.
In this manipulator, due to there is provided Hall sensor one and Hall sensor two, being moved to working shaft spacing
Safety effect is served with calibration so that manipulator is stable.
According to the purpose of the present invention, the present invention proposes a kind of design identical manipulator in addition, and its scheme is as follows：
Manipulator, including forearm, described forearm are provided with and are vertically arranged working shaft, it is characterised in that the working shaft
On be fixed with one in circular magnet five, the magnet five and working shaft are coaxial, and manipulator relative to forearm including consolidating
Surely the Hall sensor one and Hall sensor two being correspondingly arranged with magnet five set and equal, in the side of working shaft vertical shift
Upwards, the working shaft when position of working shaft and Hall sensor two sense magnet five when Hall sensor one senses magnet five
Position it is suitable.
It is in circular magnet five due to being fixed with working shaft during manipulator is run, therefore, except work
Outside axle moves up and down, though working shaft in own axes rotary course, Hall sensor one and Hall sensor two
Magnet five can be sensed.
In this manipulator, Hall sensor one senses that the position of magnet a period of time working shaft and Hall sensor two sense
Position to working shaft during magnet five is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind set in, when one of damage in Hall sensor one and Hall sensor 2 two, working shaft movement compared with
Without mobile, another in Hall sensor one and Hall sensor 2 two remains able to feel for a small range or working shaft
Corresponding magnet and output signal should be arrived, therefore so that manipulator is safe for operation.And work as Hall sensor one and Hall sensor two
When playing spacing or calibration function for the movement to working shaft, it can prevent working shaft movement from exceeding stroke, so as to prevent work
The other structures in manipulator are impacted after making axle movement overtravel so that manipulator operation is safer.
In addition, in this manipulator, the corresponding Hall sensor one of a magnet five and Hall sensor two are set so that machine
The structure of tool hand is more simple.
In above-mentioned manipulator, manipulator also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall sensor two are arranged on support.
It is provided for supporting the support of Hall sensor one and Hall sensor two in the robot so that Hall sensor
One and Hall sensor two setting it is more flexible.
In above-mentioned manipulator, live wire, described electricity are connected on the Hall sensor one and Hall sensor two
Line is set along support.
In this structure, support not only acts as the effect of support Hall sensor one and Hall sensor two, moreover, also right
The setting of electric wire serves supporting function so that electric wire sets more convenient.
In above-mentioned manipulator, there is tube on described support, described electric wire is located in tube.
Because electric wire is located in the tube of support, support can play a protective role to electric wire, also cause electric wire
Set more convenient.
In above-mentioned manipulator, described support is provided with support member one, and described Hall sensor one and Hall pass
Sensor two is arranged on support member one, on the support of the described adjustable setting in the vertical direction position of support member one.
When support member one is in position adjustments on support, Hall sensor one and Hall sensor two also with support member one by one
Rise and have adjusted position so that Hall sensor one and Hall sensor two are set flexibly.
There is the threaded portion being vertically arranged in above-mentioned manipulator, on described support, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two are threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, relative to threaded portion rotation connection set one and adapter sleeve two so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.Because the adapter sleeve one for securing supports one and adapter sleeve two are threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned manipulator, Hall sensor one senses position and the Hall sensor two of magnet a period of time working shaft
Sense that the position of magnet a period of time working shaft is different.
Because both positions are different, when Hall sensor one and Hall sensor two are used for the mobile progress to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense magnet one when
Between time of magnet two is sensed earlier than Hall sensor two, wherein, Hall sensor one plays normal spacing or calibration and made
With Hall sensor two plays safety effect.It is such set cause in manipulator normal course of operation, when need it is spacing or
During calibration, only Hall sensor is for a moment in running order, and Hall sensor two is not at working condition, so that suddenly
You are longer the shelf life of sensor two so that Hall sensor two more efficiently can play safety effect.
In above-mentioned manipulator, cover lid, described screw mandrel and working shaft are fixed with described forearm and is covered positioned at cover
At inner side, described Hall sensor one and Hall sensor two are arranged on cover and covered.
Because screw mandrel and working shaft are at the inner side of cover lid, covering in the side wall of lid has along the extension of working shaft length direction
The part of setting, cover lid is as the structure for supporting Hall sensor one and Hall sensor two so that Hall sensor one and suddenly
Your setting of sensor two is more convenient.
In this manipulator, due to there is provided Hall sensor one and Hall sensor two, being moved to working shaft spacing
Safety effect is served with calibration so that manipulator is stable.
Brief description of the drawings
Fig. 1 is the structural representation in a kind of embodiment of manipulator；
Fig. 2 is the enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation in a kind of embodiment of manipulator；
Fig. 4 is the structural representation in a kind of embodiment of manipulator；
Fig. 5 is the structural representation in a kind of embodiment of manipulator；
Fig. 6 is the structural representation in a kind of embodiment of manipulator；
Fig. 7 is the structural representation in a kind of embodiment of manipulator；
Fig. 8 is the structural representation in a kind of embodiment of manipulator；
Fig. 9 is the structural representation in a kind of embodiment of manipulator；
Figure 10 is the structural representation in a kind of embodiment of manipulator；
Figure 11 is the structural representation in a kind of embodiment of manipulator；
Figure 12 is the structural representation in a kind of embodiment of manipulator；
Figure 13 is the structural representation in a kind of embodiment of manipulator；
Figure 14 is the structural representation in a kind of embodiment of manipulator；
In figure, 1, base；1a, fixed seat；1b, large arm；2nd, forearm；3rd, screw mandrel；4th, working shaft；5th, connector；6th, install
Seat；7th, support；7a, tube；7b, threaded portion；8th, Hall sensor one；9th, magnet one；10th, Hall sensor two；11st, magnet
Two；12nd, support member one；13rd, adapter sleeve one；14th, adapter sleeve two；15th, nut；20th, magnet five；25th, cover lid.
Embodiment
Embodiment one
According to the purpose of the present invention, the present invention proposes a kind of design identical manipulator in addition, and its scheme is as follows：
As shown in figure 1, manipulator base 1 and the forearm 2 being connected on base 1, wherein, base 1 include fixed seat 1a and
Large arm 1b, large arm 1b are spindle rotationally arranged on fixed seat 1a, and forearm 2 is spindle rotationally arranged on large arm 1b.It is specifically, fixed
It is provided between seat 1a and large arm 1b and is used to drive the motor that large arm 1b rotates relative to fixed seat 1a, between large arm 1b and forearm 2
Provided with the motor for driving forearm 2 to be rotated relative to large arm 1b.
Forearm 2 is provided with the screw mandrel 3 being vertically arranged and the working shaft 4 being be arranged in parallel with screw mandrel 3, working shaft 4 and screw mandrel 3 it
Between be provided with connector 5, working shaft 4 is axially fixed on connector 5, and connector 5 is connected on screw mandrel 3 and in the drive of screw mandrel 3
Lower connector 5 can drive working shaft 4 to be moved axially along working shaft 4.
In the present embodiment, nut 15 is connected with screw mandrel 3, connector 5 is fixed on nut 15.When screw mandrel 3 rotates,
Screw mandrel 3 drives nut 15 to move up and down, so as to be moved up and down with follower link 5, so that connector 5 drives working shaft about 4
Mobile, therefore, connector 5 moves relative to forearm 2.Another alternative solution set as screw mandrel 3, screw mandrel 3 are axially fixed in
On connector 5, nut 15 rotates, and drives screw mandrel 3 to move up and down, so as to drive working shaft 4 to move up and down by connector 5.
Manipulator also includes the support 7 being fixedly installed relative to forearm 2, and in the present embodiment, forearm 2 is provided with mounting seat
6, support 7 is fixed in mounting seat 6, and support 7 in a tubular form and is vertically arranged, and support 7 props up between screw mandrel 3 and working shaft 4
The axis of frame 7, screw mandrel 3 and the three of working shaft 4 is generally aligned in the same plane so that and the distribution of weight on manipulator is more uniform, so as to
Make manipulator stable.
Manipulator includes the magnet 1 and magnet two relative to one of fixed setting in both connector 5 and forearm 2
11, manipulator also includes the Hall sensor 1 and Hall being fixedly installed relative to another in both connector 5 and forearm 2
Sensor 2 10, Hall sensor 1 are correspondingly arranged with magnet 1, and Hall sensor 2 10 is correspondingly arranged with magnet 2 11.Suddenly
The working shaft when position of working shaft 4 and Hall sensor 2 10 sense magnet 2 11 when your sensor 1 senses magnet 1
4 position is suitable.
In the present embodiment, Hall sensor 1 is identical with the specification of Hall sensor 2 10, magnet 1 and magnet two
11 dimensions is identical, and in the upper side of magnet 1 and the built-in connector 5 of magnet 2 11, magnet 1 and magnet 2 11 exist
On vertical direction, sustained height is generally in.
In this manipulator, Hall sensor 1 is correspondingly arranged with magnet 1 and meant, in manipulator running
In, when magnet 1 is close to Hall sensor 1, Hall sensor 1 can sense magnet 1.Similarly, hall sensing
Device 2 10 is correspondingly arranged with magnet 2 11 and meant, in manipulator running, when magnet 2 11 is close to Hall sensor
When 2 10, Hall sensor 2 10 can sense magnet 2 11.Some Hall sensor for occurring elsewhere herein with
The meaning that some magnet is correspondingly arranged is also identical with this.
In the present embodiment, as shown in Fig. 2 support 7 is provided with support member 1, Hall sensor 1 and hall sensing
Device 2 10 is arranged on support member 1.When support member 1 is in position adjustments on support 7, Hall sensor 1 and Hall
Sensor 2 10 also have adjusted position with together with support member 1 so that Hall sensor 1 and Hall sensor 2 10 are set
Flexibly.
In the present embodiment, support member 1 is horizontally disposed circuit board, and support member 1 is located at the upper of connector 5
Side.
Live wire is connected on Hall sensor 1 and Hall sensor 2 10, electric wire is set along support 7.In this structure,
Support 7 not only acts as the effect of support Hall sensor 1 and Hall sensor 2 10, moreover, the setting also to electric wire is played
Supporting function so that electric wire sets more convenient.Specifically, having tube 7a on support 7, electric wire is located in tube 7a
It is interior.Because electric wire is located in the tube 7a of support 7, support 7 can play a protective role to electric wire, also cause setting for electric wire
Put more convenient.
On the support 7 of the adjustable setting in the vertical direction position of support member 1, specifically, having vertically on support 7
It is arranged on the threaded portion 7b of setting, threaded portion 7b and is threaded with adapter sleeve 1 and adapter sleeve 2 14, one 12 sets of support member
It is located on the 7b of threaded portion and support member 1 is between adapter sleeve 1 and adapter sleeve 2 14.
When needing to adjust the position of support member 1, relative to threaded portion 7b rotation connections set 1 and adapter sleeve two
14 so that adapter sleeve 1 and adapter sleeve 2 14 change position on support 7, so that being located at adapter sleeve 1 and adapter sleeve
Support member 1 between 2 14 changes position.Because the adapter sleeve 1 for securing supports 1 and adapter sleeve 2 14 are equal
It is threaded on the 7b of threaded portion, support member 1 more firmly can be fixed on spiral shell by adapter sleeve 1 and adapter sleeve 2 14
On line portion 7b.
The position of working shaft 4 and Hall sensor 2 10 sense magnet two when Hall sensor 1 senses magnet 1
The position of working shaft 4 is different when 11.In the present embodiment, Hall sensor 1 is located at the upper side of support member 1, and Hall passes
Sensor 2 10 is located at the downside of support member 1.
During manipulator is run, screw mandrel 3 acts, and drives the connector 5 being connected on screw mandrel 3 to move up and down,
During this, magnet 1 relatively moves relative to Hall sensor 1, and magnet 2 11 moves relative to Hall sensor 2 10.
When Hall sensor 1 senses magnet 1, the output signal of Hall sensor 1；Also, when Hall sensor 2 10 is felt
When should arrive magnet 2 11, the output signal of Hall sensor 2 10.
On a moving direction of working shaft 4, hall sensing one senses that the time of magnet 1 is later than Hall sensor
2 10 sense the time of magnet 2 11, wherein, Hall sensor 2 10 plays normal spacing or calibration function, hall sensing
Device 1 plays safety effect.Such set causes in manipulator normal course of operation, when needing spacing or calibration,
There is Hall sensor 2 10 in running order, Hall sensor 1 is not at working condition, so that hall sensing
The service life of device 1 is longer so that Hall sensor 1 more efficiently can play safety effect.
In this manipulator, the position of working shaft 4 and Hall sensor two when Hall sensor 1 senses magnet 1
The position of 10 working shafts 4 when sensing magnet 2 11 is suitable, that is to say, that the two positions are at a distance of relatively near or the two positions
It is identical.In this set, when one of damage in Hall sensor 1 and Hall sensor 2 10 two, in work
Make in the smaller range of the movement of axle 4 or working shaft 4 is without mobile, in Hall sensor 1 and Hall sensor 2 10 two
Another remain able to sense corresponding magnet and output signal, therefore so that manipulator is safe for operation.And work as hall sensing
When spacing or calibration function is played in the movement that device 1 and Hall sensor 2 10 are used for working shaft 4, working shaft 4 can be prevented
Movement exceedes stroke, so as to prevent working shaft 4 from being impacted after moving overtravel to the other structures in manipulator so that machinery
Hand operation is safer.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 4, Hall
Sensor 1 and Hall sensor 2 10 are respectively positioned on the downside of support member 1.In the present embodiment, due to Hall sensor
1 and Hall sensor 2 10 height it is roughly the same, Hall sensor 1 senses magnet 1 and Hall sensor 2 10
Sense magnet 2 11 substantially while occur.In manipulator running, one of sensing can be set effectively, another sense
Should be effective when one of Hall sensor damages.In the present embodiment, Hall sensor 1 and Hall sensor 2 10
Set more convenient.
Certainly, Hall sensor 1 and Hall sensor 2 10 can be arranged on the upper side of support member 1 simultaneously.
Embodiment three
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 5, forearm
Cover lid 25 is fixed with 2, screw mandrel 3 and working shaft 4 are located at the inner side of cover lid 25, Hall sensor 1 and Hall sensor two
10 are arranged on cover lid 25.In Fig. 5, magnet 2 11 is not shown.
Because screw mandrel 3 and working shaft 4 are located at the inner side of cover lid 25, have in the side wall of cover lid 25 along the length of working shaft 4
The extended part in direction, structure of the cover lid 25 as support Hall sensor 1 and Hall sensor 2 10 so that Hall
The setting of sensor 1 and Hall sensor 2 10 is more convenient.
In the present embodiment, magnet 1 and magnet 2 11 are arranged on connector 5 at the side of the side wall of cover lid 25,
The 2 10 neighbouring setting of Hall sensor 1 and Hall sensor.Alternatively, Hall sensor 1 and Hall
Sensor 2 10 is arranged side by side.
Example IV
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 6 above, machine
Tool hand includes the magnet 1 relative to the one of fixed setting in both of connector 5 and forearm 2, Hall sensor 1 and suddenly
You are correspondingly arranged with magnet 1 sensor 2 10 and Hall sensor 1 and Hall sensor 2 10 are disposed adjacent.
Specifically, Hall sensor 1 and Hall sensor 2 10 are located at the both sides up and down of support member 1 respectively.
As shown in Figure 7 and Figure 8, Hall sensor 1 and Hall sensor 2 10 may also be arranged on the same of support member 1
On side.In Fig. 7, Hall sensor 1 and Hall sensor 2 10 are arranged side by side；In Fig. 8, Hall sensor 1 and Hall
Sensor lamination setting about 2 10.
Embodiment five
The present embodiment is roughly the same with example IV, and different places is, in the present embodiment, such as Fig. 9 and Figure 10 institutes
Show, cover lid 25 is fixed with forearm 2, and screw mandrel 3 and working shaft 4 are located at the inner side of cover lid 25, and Hall sensor 1 and Hall pass
Sensor 2 10 is arranged on cover lid 25.In Fig. 9, Hall sensor 1 and Hall sensor 2 10 are arranged above and below and are disposed adjacent.Figure
In 10, Hall sensor 1 and the lamination of Hall sensor 2 10 or so are set.
Embodiment six
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in figure 11, small
Arm 2 is provided with and is vertically arranged working shaft 4, it is characterised in that the magnet 5 20 in annular shape is fixed with working shaft 4,
Magnet 5 20 and working shaft 4 are coaxial.
It is in circular magnet 5 20 due to being fixed with working shaft 4 during manipulator is run, therefore, except
Outside working shaft 4 moves up and down, though working shaft 4 in own axes rotary course, Hall sensor 1 and hall sensing
Device 2 10 can also sense magnet 5 20.
In the present embodiment, Hall sensor 1 and Hall sensor 2 10 are respectively positioned at up and down the two of support member 1
Side.
Alternatively, as shown in figure 12, Hall sensor 1 and Hall sensor 2 10 are respectively positioned on support member one
12 downside and lamination setting, certainly, Hall sensor 1 and Hall sensor 2 10 may also be arranged on support member 1
Upper side and lamination setting.
Embodiment seven
The present embodiment is roughly the same with embodiment six, and different places is, in the present embodiment, such as Figure 13 and Figure 14 institutes
Show, cover lid 25 is fixed with forearm 2, and screw mandrel 3 and working shaft 4 are located at the inner side of cover lid 25, and Hall sensor 1 and Hall pass
Sensor 2 10 is arranged on cover lid 25, and support member 1 is arranged on the madial wall of cover lid 25, and Hall sensor 1 and Hall pass
Madial wall of the electric wire along cover lid 25 on sensor 2 10 is set.In Figure 13, Hall sensor 1 and Hall sensor 2 10 are distinguished
It is arranged on the both sides up and down of support member 1.In Figure 14, Hall sensor 1 and Hall sensor 2 10 are arranged on support member one
12 downside and lamination setting.Alternatively, Hall sensor 1 and Hall sensor 2 10 are arranged on support member
One 12 upper side and lamination is set.
Because two parts of Hall sensor and magnet are set as a pair of parts, therefore, in embodiment one to embodiment
In seven, the position of Hall sensor and magnet can mutually be exchanged.
Claims (8)
1. manipulator, including forearm (2), described forearm (2) is provided with the screw mandrel (3) that is vertically arranged and parallel with screw mandrel (3)
The working shaft (4) of setting, connector (5), working shaft (4) company of being axially fixed in are provided between working shaft (4) and screw mandrel (3)
On fitting (5), the connector (5) be connected on screw mandrel (3) and under the drive of screw mandrel (3) connector (5) can band start building
Make axle (4) to move axially along working shaft (4), it is characterised in that manipulator is included relative to both connector (5) and forearm (2)
In one of fixed setting magnet one (9) and magnet two (11), the manipulator is also including relative to connector (5) and small
The Hall sensor one (8) and Hall sensor two (10) that another in both arms (2) is fixedly installed, described Hall sensor
One (8) are correspondingly arranged with magnet one (9), and described Hall sensor two (10) is correspondingly arranged with magnet two (11), hall sensing
The work when position of working shaft (4) and Hall sensor two (10) sense magnet two (11) when device one (8) senses magnet one (9)
The position for making axle (4) is suitable.
2. manipulator according to claim 1, it is characterised in that manipulator also includes being fixedly installed relative to forearm (2)
Support (7), described Hall sensor one (8) and Hall sensor two (10) are arranged on support (7).
3. manipulator according to claim 2, it is characterised in that the Hall sensor one (8) and Hall sensor two
(10) live wire is connected on, described electric wire is set along support (7).
4. manipulator according to claim 3, it is characterised in that there is tube (7a) on described support (7), it is described
Electric wire be located in tube (7a).
5. according to the manipulator described in Claims 2 or 3 or 4, it is characterised in that described support (7) is provided with support member one
(12), described Hall sensor one (8) and Hall sensor two (10) are arranged on support member one (12), described support member
On the support (7) of the one adjustable setting in (12) in the vertical direction position.
6. manipulator according to claim 5, it is characterised in that there is the screw thread being vertically arranged on described support (7)
Portion (7b), it is arranged on the threaded portion (7b) and is threaded with adapter sleeve one (13) and adapter sleeve two (14), described support
Part one (12) is set on threaded portion (7b) and support member one (12) is between adapter sleeve one (13) and adapter sleeve two (14).
7. according to the manipulator described in claim 1 or 2 or 3 or 4, it is characterised in that Hall sensor one (8) senses magnet
The position of working shaft (4) is not when the position of working shaft (4) and Hall sensor two (10) sense magnet two (11) when one (9)
Together.
8. manipulator according to claim 1, it is characterised in that be fixed with cover lid (25), institute on described forearm (2)
The screw mandrel (3) and working shaft (4) stated are at cover lid (25) inner side, described Hall sensor one (8) and Hall sensor two
(10) it is arranged on cover lid (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610776579.XA CN107775631A (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610776579.XA CN107775631A (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107775631A true CN107775631A (en) | 2018-03-09 |
Family
ID=61450470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610776579.XA Pending CN107775631A (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107775631A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305820A (en) * | 2021-07-28 | 2021-08-27 | 深圳超磁机器人科技有限公司 | Robot module for powder weighing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004210174A (en) * | 2003-01-07 | 2004-07-29 | T S Tec Kk | Power slide seat for automobile with position sensor |
| CN103925937A (en) * | 2013-10-28 | 2014-07-16 | 芜湖莫森泰克汽车科技有限公司 | Processing method for position Hall switches |
| CN103978477A (en) * | 2014-05-20 | 2014-08-13 | 奇瑞汽车股份有限公司 | Multi-joint robot |
| CN204758187U (en) * | 2015-06-19 | 2015-11-11 | 苏州捷诚科技有限公司 | Central shaft type torque sensor |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN206029874U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
-
2016
- 2016-08-30 CN CN201610776579.XA patent/CN107775631A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004210174A (en) * | 2003-01-07 | 2004-07-29 | T S Tec Kk | Power slide seat for automobile with position sensor |
| CN103925937A (en) * | 2013-10-28 | 2014-07-16 | 芜湖莫森泰克汽车科技有限公司 | Processing method for position Hall switches |
| CN103978477A (en) * | 2014-05-20 | 2014-08-13 | 奇瑞汽车股份有限公司 | Multi-joint robot |
| CN204758187U (en) * | 2015-06-19 | 2015-11-11 | 苏州捷诚科技有限公司 | Central shaft type torque sensor |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN206029874U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305820A (en) * | 2021-07-28 | 2021-08-27 | 深圳超磁机器人科技有限公司 | Robot module for powder weighing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101486009B1 (en) | Driving Wheel of Robot moving along the wire and Robot having the same | |
| CN108608409A (en) | A kind of automatic lifting adjustable width mechanical arm | |
| CN105835130B (en) | A kind of efficiently cabinet-wood excision forming all-in-one | |
| CN102848379A (en) | Automatic manipulator of caster support press line | |
| CN110625603A (en) | Rotary industrial robot equipment | |
| CN106405198A (en) | Telescopic clip-on current detection device | |
| CN107522125A (en) | A kind of portable device for lifting of power engineering | |
| CN107217827A (en) | A kind of water conservancy construction is used can the small-sized scaffold of automatic-lifting type | |
| CN108189013A (en) | A kind of robot lifting mechanism | |
| CN107775631A (en) | Manipulator | |
| CN104526692B (en) | Full-automatic numerical control mechanical arm | |
| CN206029874U (en) | Manipulator | |
| CN104493812A (en) | Stacker robot | |
| CN109019099A (en) | A kind of center suffers from one's own actions formal shaftless cloth roll and unreel control system | |
| CN107225560B (en) | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control | |
| CN106965152A (en) | A kind of workshop mobile manipulator | |
| CN105479146B (en) | A kind of device and method for realizing peg-in-hole assembly | |
| CN103302438B (en) | Multi-welding-robot big-work-space rope-driven positioner | |
| CN205870532U (en) | Panel is got and is put manipulator | |
| CN205310833U (en) | Delta 3d printer | |
| CN208641163U (en) | A kind of gynaecology's pregnant woman's detection bed body | |
| CN105500404B (en) | A kind of mechanical arm of band auxiliary heightening structure | |
| CN203649200U (en) | Handling and palletizing manipulator | |
| CN207759639U (en) | It is a kind of being capable of reciprocal traversing material transfering device | |
| CN108163732B (en) | A kind of automation hanging device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Applicant after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Applicant before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |