CN206029882U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN206029882U CN206029882U CN201620993090.3U CN201620993090U CN206029882U CN 206029882 U CN206029882 U CN 206029882U CN 201620993090 U CN201620993090 U CN 201620993090U CN 206029882 U CN206029882 U CN 206029882U
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- support
- hall element
- working shaft
- manipulator
- magnet
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- 210000000245 forearm Anatomy 0.000 claims abstract description 35
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 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 7
- 230000001681 protective effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a manipulator belongs to manipulator technical field, its problem of having solved present manipulator unstable operation. Manipulator, including base and the forearm continuous with the base, the forearm on be equipped with vertical setting the lead screw and with lead screw parallel arrangement's working shaft, be equipped with the connecting piece between working shaft and the lead screw, working shaft axial fixity is on the connecting piece, connecting piece connection connecting piece on the lead screw and under the drive of lead screw can drive working shaft along working shaft axial displacement, its characterized in that, be equipped with the mount pad on the forearm, fixed being equipped with just is bacillary support with working shaft parallel arrangement on the mount pad, be equipped with hall sensor no. 1 on the support, manipulator still includes the magnet no. 1 that sets up with the hall sensor monogamy, magnet no. 1 setting fixed for the connecting piece. In this manipulator, because the magnet no. 1 or the magnet no. 5 that have set up hall sensor no. 1 and set up rather than the correspondence for manipulator moves stably.
Description
Technical field
The utility model belongs to manipulator technical field.
Background technology
It is the position that rotated by software monitors motor in existing level joint Manipulator calibrating to working shaft, but
In running, working shaft and other parts can make working shaft produce certain displacement, therefore this to flapping articulation manipulator
It is more unstable that mode runs manipulator.
Utility model content
For the problems referred to above, the utility model proposes a kind of stable manipulator, its purpose can be by following skill
Art scheme is realizing：
Manipulator, including base and the forearm being connected with base, described forearm be provided with the screw mandrel that is vertically arranged and with
The working shaft that screw mandrel be arranged in parallel, is provided with connector between working shaft and screw mandrel, the working shaft is axially fixed on connector,
The connector is connected on screw mandrel and connector can drive working shaft to move axially along working shaft under the drive of screw mandrel, its
It is characterised by, the forearm is provided with mounting seat, is fixed with and be arranged in parallel and in shaft-like with working shaft in the mounting seat
Support, the support are provided with Hall element one；Manipulator also includes the magnet one being correspondingly arranged with Hall element one, institute
State magnet one to be fixedly installed relative to connector.
During manipulator runs, screw mandrel action drives the connector being connected on screw mandrel to move up and down, so that
Connector drives working shaft to move up and down, and completes the action request of manipulator.As hall sensing is provided with this manipulator
Device one and the magnet one being correspondingly arranged with Hall element one, when in connector moving process drive Hall element one near magnetic
When iron is sensed in the lump, manipulator obtains the current position of working shaft.The acquisition of working shaft current location can be used for working shaft
Stroke calibrated, it can also be used to the movement to working shaft is spacing, that is to say, that when working shaft moves to Hall element one
When sensing the position of magnet one, manipulator obtains signal, and control working shaft stops movement, therefore so that manipulator operation is steady
It is fixed.Further, since being provided with for arranging the support of Hall element one, the position of Hall element one can be arranged as required to
Put so that the setting of Hall element one is more flexible.
In above-mentioned manipulator, described Hall element one is located at the upper end of connector stroke.
As working shaft is axially fixed on connector, therefore, the stroke of connector is the stroke of working shaft.Due to general
Robot work object is located at below working shaft, therefore, the space below working shaft is less, and in this structure, working shaft is moved
Move to higher position, Hall element one senses magnet one, when this position is used for the calibration of working shaft, target is difficult
Affect the calibration of working shaft so that work axis calibration is more convenient.
In above-mentioned manipulator, described Hall element one is located at the upper end of support, the Hall element one
Upper connection live wire, described electric wire are arranged along support.
As the signal transmission of Hall element one needs electric wire, in this manipulator, support is for the load as electric wire
Body so that the setting of electric wire is more stable.
In above-mentioned manipulator, described support has tube, tube of the electric wire through support；Or institute
The outside of the support stated has wire casing, and the electric wire passes through wire casing.
Used as a kind of scheme, support has tube, tube of the electric wire through support so that support can either be used as electricity
The carrier of line, it is also possible to which electric wire is played a protective role.Alternatively, the outside of support has wire casing, and electric wire is passed through
Wire casing, this scheme also can play a protective role to electric wire.
In above-mentioned manipulator, also include the Hall element two being fixedly installed relative to mounting seat, Hall element
Two are correspondingly arranged with magnet one.
In this programme, Hall element one and Hall element two are correspondingly arranged with magnet one, two hall sensings
Device shares a magnet one, and its structure is relatively simple.Hall element one and Hall element two are respectively induced magnet for the moment,
A working shaft current location is obtained respectively.In the same manner, the acquisition of working shaft current location can be used for calibration or spacing.
In above-mentioned manipulator, also include the Hall element two being fixedly installed relative to mounting seat, also include relative
In the magnet two that connector is fixedly installed, Hall element two is correspondingly arranged with magnet two.
In this programme, the correspondence magnet one of Hall element one is arranged, and the correspondence magnet two of Hall element two is arranged so that
Hall element one, Hall element two, magnet one and two set location of magnet are more flexible.
In above-mentioned manipulator, described Hall element one is located at the upper end of connector stroke, described Hall
Sensor two is located at the lower end of connector stroke.
In this structure, working shaft current location is can determine that when Hall element one senses, Hall element one connects
Collect mail number can be used for calibrating the shaft position that works or to working shaft continue to move up carry out it is spacing, it is ensured that working shaft
Not overtravel is moved, ensures that manipulator is stable；Equally, Hall element two receives signal and can be used to enter the shaft position that works
Row calibration or to working shaft continue to move down carry out it is spacing.
In above-mentioned manipulator, the support in a tubular form and is vertically arranged, and the support is in shaft-like and be vertically arranged, institute
The axis of working shaft, support and the screw mandrel stated is generally in same plane.
The axis of working shaft, support and screw mandrel is generally in same plane so that working shaft, support and screw mandrel are in manipulator
In weight distribute more evenly and symmetrically so that manipulator is stable.
In above-mentioned manipulator, described support is located between working shaft and screw mandrel, and described support passes through connector
And the upper end of support passes connector.
As working shaft needs to rotate, screw mandrel is also required to rotate, general two power for driving working shaft and screw mandrel to rotate
Device is arranged on forearm so that have at regular intervals between working shaft and screw mandrel, and in this configuration, support is arranged on work
Between axle and screw mandrel so that the structure of manipulator is more compact.In addition, support passes through connector and the upper end of support passes connection
Part so that the setting of support, for the structural strength of connector affects less；In addition, connector also plays certain to support
Position-limiting action, facilitates the installation of support.
In above-mentioned manipulator, including support member one, the Hall element one is connected on support member one, described
Support member one is fixed on support along stent length direction position is adjustable.
It is arranged on one position of Hall element adjustable on support so that the setting of Hall element one is more flexible,
The position of Hall element one is adjusted as needed can.In addition, the regulation side of the support member one for carrying Hall element one
To along stent length direction so that during one position adjustments of support member, the position in the horizontal direction of Hall element one
Put comparatively stable, it is ensured that after one position adjustments of support member, Hall element one remains able to be relatively easy to sensing
To magnet one, so that manipulator is stable.
In above-mentioned manipulator, described support member one is set on support, has threaded portion, institute on described support
The sidepiece for being respectively provided on two sides with adapter sleeve one and adapter sleeve two, adapter sleeve one and adapter sleeve two up and down for stating support member one is equipped with
Bolt, described adapter sleeve one and adapter sleeve two are threaded on the threaded portion of support.
When needing to adjust the position of support member one, the axis direction of threaded portion along on support adjusts one He of adapter sleeve
The position of adapter sleeve two, so as to adjust the position of the support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned manipulator, described support member one is set on support, the both sides up and down point of the support member one
Adapter sleeve one and adapter sleeve two are not provided with, the adapter sleeve one and adapter sleeve two are arranged by bolt and are fixed on support.
In the same manner, when needing to adjust the position of support member one, the direction along support adjusts adapter sleeve one and adapter sleeve two
Position, so as to adjust the position of the support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned manipulator, described Hall element two is fixed on support；Or the Hall element two
It is fixed in mounting seat.
In both schemes, Hall element two plays a part of to sense work shaft position in the robot.
According to the purpose of this utility model, the utility model proposes a kind of manipulator in addition, and its technical scheme is as follows：
Manipulator, including base and the forearm being connected with base, described forearm be provided with the screw mandrel that is vertically arranged and with
The working shaft that screw mandrel be arranged in parallel, is provided with connector between working shaft and screw mandrel, the working shaft is axially fixed on connector,
The connector is connected on screw mandrel and connector can drive working shaft to move axially along working shaft under the drive of screw mandrel, its
It is characterised by, the forearm is provided with mounting seat, is fixed with and be arranged in parallel and in shaft-like with working shaft in the mounting seat
Support, the support are provided with magnet one；Manipulator also includes the Hall element one being correspondingly arranged with magnet one, the Hall
Sensor one is fixedly installed relative to connector.
During manipulator runs, screw mandrel action drives the connector being connected on screw mandrel to move up and down, so that
Connector drives working shaft to move up and down, and completes the action request of manipulator.As hall sensing is provided with this manipulator
Device one and the magnet one being correspondingly arranged with Hall element one, when in connector moving process band moving magnet one near hall sensing
Device makes Hall element one sense magnet for the moment in the lump, and manipulator obtains the current position of working shaft.Working shaft current location
Acquisition can be used to calibrate the stroke of working shaft, it can also be used to the movement to working shaft is spacing, that is to say, that work as work
When axle moves to Hall element one and senses the position of magnet one, manipulator obtains signal, and control working shaft stops movement, because
This so that manipulator is stable.Further, since being provided with for arranging the support of magnet one, magnet can be arranged as required to
One position so that the setting of magnet one is more flexible.
In above-mentioned manipulator, described magnet one is located at the upper end of connector stroke.
As working shaft is axially fixed on connector, therefore, the stroke of connector is the stroke of working shaft.Due to general
Robot work object is located at below working shaft, therefore, the space below working shaft is less, and in this structure, working shaft is moved
Move to higher position, Hall element one senses magnet one, when this position is used for the calibration of working shaft, target is difficult
Affect the calibration of working shaft so that work axis calibration is more convenient.
In above-mentioned manipulator, also include the Hall element two being fixedly installed relative to connector, Hall element
Two are correspondingly arranged with magnet one.
In this programme, Hall element one and Hall element two are correspondingly arranged with magnet one, two hall sensings
Device shares a magnet one, and its structure is relatively simple.Hall element one and Hall element two are respectively induced magnet for the moment,
A working shaft current location is obtained respectively.In the same manner, the acquisition of working shaft current location can be used for calibration or spacing.
In above-mentioned manipulator, also include the Hall element two being fixedly installed relative to connector, also include relative
In the magnet two that support is fixedly installed, Hall element two is correspondingly arranged with magnet two.
In this programme, the correspondence magnet one of Hall element one is arranged, and the correspondence magnet two of Hall element two is arranged so that
Hall element one, Hall element two, magnet one and two set location of magnet are more flexible.
In above-mentioned manipulator, described magnet one is located at the upper end of connector stroke, and described magnet two is located at
At the lower end of connector stroke.
In this structure, working shaft current location is can determine that when Hall element one senses, Hall element one connects
Collect mail number can be used for calibrating the shaft position that works or to working shaft continue to move up carry out it is spacing, it is ensured that working shaft
Not overtravel is moved, ensures that manipulator is stable；Equally, Hall element two receives signal and can be used to enter the shaft position that works
Row calibration or to working shaft continue to move down carry out it is spacing.
In above-mentioned manipulator, the support is in shaft-like, and the axis of described working shaft, support and screw mandrel is generally in
Same plane.
The axis of working shaft, support and screw mandrel is generally in same plane so that working shaft, support and screw mandrel are in manipulator
In weight distribute more evenly and symmetrically so that manipulator is stable.
In above-mentioned manipulator, described support is located between working shaft and screw mandrel, and described support passes through connector
And the upper end of support passes connector.
As working shaft needs to rotate, screw mandrel is also required to rotate, general two power for driving working shaft and screw mandrel to rotate
Device is arranged on forearm so that have at regular intervals between working shaft and screw mandrel, and in this configuration, support is arranged on work
Between axle and screw mandrel so that the structure of manipulator is more compact.In addition, support passes through connector and the upper end of support passes connection
Part so that the setting of support, for the structural strength of connector affects less；In addition, connector also plays certain to support
Position-limiting action, facilitates the installation of support.
In above-mentioned manipulator, including support member one, the magnet one is connected on support member one, the support member one
It is fixed on support along stent length direction position is adjustable.
It is arranged on one position of magnet adjustable on support so that the setting of magnet one is more flexible, can adjust as needed
The position of section magnet one.In addition, the regulation direction of the support member one for carrying magnet one is along stent length direction so that
During one position adjustments of support member, the position in the horizontal direction of magnet one is comparatively stable, it is ensured that in support member one
After position adjustments, magnet one remains able to be relatively easy to be sensed by Hall element one, so that manipulator operation is steady
It is fixed.
In above-mentioned manipulator, described support member one is set on support, has threaded portion, institute on described support
That states support member one is respectively provided on two sides with adapter sleeve one and adapter sleeve two up and down, and described adapter sleeve one and two screw thread of adapter sleeve connect
It is connected on the threaded portion of support.
When needing to adjust the position of support member one, the axis direction of threaded portion along on support adjusts one He of adapter sleeve
The position of adapter sleeve two, so as to adjust the position of the support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned manipulator, described support member one is set on support, the both sides up and down point of the support member one
Adapter sleeve one and adapter sleeve two are not provided with, adapter sleeve one and two sidepiece of adapter sleeve are equipped with bolt, the adapter sleeve one and connection
Set two is arranged by bolt and is fixed on support.
In the same manner, when needing to adjust the position of support member one, the direction along support adjusts adapter sleeve one and adapter sleeve two
Position, so as to adjust the position of the support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned manipulator, described magnet two is fixed on support；Or the magnet two is fixed on mounting seat
On.
In both schemes, Hall element two plays a part of to sense work shaft position in the robot.
According to the purpose of this utility model, the utility model proposes a kind of manipulator in addition, and its technical scheme is as follows：
Manipulator, including forearm, described forearm are provided with the working shaft being vertically arranged, it is characterised in that mechanical handbag
Include fixed and be set in the magnet five in a ring on working shaft, the manipulator also include it is corresponding with magnet five and relative to
The Hall element one that forearm is fixedly installed.
In manipulator running, working shaft is rotated as needed and is moved up and down.Magnet five is set to annular so that
Working shaft is in course of action, it is also possible to sensed by Hall element one.In the same manner, magnet five and Hall are set in the robot
Sensor one so that manipulator runs relatively stable safety.
In above-mentioned manipulator, described working shaft is spline screw structure.
Working shaft means there is spline lines and screw mandrel line on the lateral surface of working shaft simultaneously for spline screw structure
Road so that working shaft can be rotated in the presence of other mechanisms, can also move up and down.Working shaft is spline screw structure, is made
The structure for obtaining manipulator is more compact.
In above-mentioned manipulator, also including the support being vertically arranged on forearm, described Hall element one is fixed
On support.
Support serves supporting role to Hall element one, makes Hall element setting structure more stable.
In above-mentioned manipulator, also include the Hall element two being correspondingly arranged with magnet five, described hall sensing
Device one and Hall element two are each attached on support.
When magnet five is near Hall element one and Hall element two, two points of Hall element one and Hall element
Signal is not obtained, the position current to determine working shaft.The determination of working shaft current location, may be used to the position to working shaft
Calibrated, run manipulator more accurate；The determination of working shaft current location, it can also be used to which the position of working shaft is carried out
It is spacing, run manipulator safer.
In above-mentioned manipulator, described Hall element one and Hall element two are adjacent.
For example, when spacing place of the Hall element one as working shaft stroke, if Hall element one fails, work
Axle is further continued for moving a small distance so that magnet five near Hall element two, after Hall element two senses magnet five,
Connector stops continuing to move to；Or while the failure of Hall element one, Hall element two senses magnet five at once.Cause
This, in this structure, arranges adjacent Hall element one and Hall element two, serves safety effect in the robot,
Working shaft operation not overtravel is made, manipulator operation safety is ensured.
In above-mentioned manipulator, described Hall element one is located at the sidepiece at working shaft stroke upper end.
Hall element one is located at the sidepiece at connector stroke upper end, when work is axially moved at end of travel,
Hall element one senses magnet five, may be configured as manipulator and the position of working shaft is calibrated.Typically, working shaft contraposition
Workpiece below forearm is processed, and in this position correction, the space below forearm is larger so that below forearm
Workpiece it is less to the interference that causes of calibration so that manipulator is convenient to be calibrated.
In above-mentioned manipulator, described Hall element two is located at the sidepiece at working shaft stroke lower end.
Hall element two is located at the sidepiece at connector stroke lower end, when working shaft is moved down at end of travel,
Hall element two senses magnet five, may be configured as manipulator and the position of working shaft is calibrated.If moved on working shaft
To the calibration inconvenience of end, or there are other reasons, this structure just makes manipulator school conveniently be carried out to the position of working shaft
It is accurate.
In this manipulator, the magnet one or magnet five due to being provided with Hall element one and corresponding setting makes
Obtain manipulator stable.
Description of the drawings
Fig. 1 is a kind of structural representation of embodiment of manipulator；
Fig. 2 is the enlarged drawing in Fig. 1 at A；
Fig. 3 is the enlarged drawing in Fig. 1 at B；
Fig. 4 is a kind of structural representation of embodiment of manipulator；
Fig. 5 is a kind of structural representation of embodiment of manipulator；
Fig. 6 is a kind of structural representation of embodiment of manipulator；
Fig. 7 is a kind of structural representation of embodiment of manipulator；
Fig. 8 is a kind of structural representation of embodiment of manipulator；
Fig. 9 is a kind of structural representation of embodiment of manipulator；
Figure 10 is a kind of structural representation 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 element one；9th, magnet one；10th, Hall element two；11st, magnet
Two；12nd, support member one；13rd, adapter sleeve one；14th, adapter sleeve two；15th, nut；16th, support member two；17th, adapter sleeve three；18th, even
Female connector four；19th, support member three；20th, magnet five；21st, Hall element three；22nd, Hall element four；23rd, magnet three；24th, magnetic
Iron four.
Specific embodiment
Embodiment one
As shown in figure 1, the forearm 2 that manipulator is included base 1 and is connected with base 1.Specifically, base 1 includes fixed seat
1a and large arm 1b, forearm 2 are connected in large arm 1b.In manipulator running, large arm 1b is rotatable relative to fixed seat 1a
Arrange, forearm 2 is rotatably arranged relative to large arm 1b.
As shown in Figure 1 and Figure 4, forearm 2 is provided with the screw mandrel 3 being vertically arranged and the working shaft 4 be arrangeding in parallel with screw mandrel 3,
Connector 5 is provided between working shaft 4 and screw mandrel 3, working shaft 4 is axially fixed on connector 5, and connector 5 is connected on screw mandrel 3
And connector 5 can drive working shaft 4 to move axially along working shaft 4 under the drive of screw mandrel 3.In the present embodiment, on screw mandrel 3
A nut 15 is correspondingly provided with, connector 5 is fixed on nut 15, when screw mandrel 3 is rotated, drives nut 15 to move up and down, from
And pass through connector 5 and drive working shaft 4 to move up and down.As another kind of replacement scheme that screw mandrel 3 is arranged, 3 axial restraint of screw mandrel
On connector 5, nut 15 is rotated, and drives screw mandrel 3 to move up and down, and drives working shaft 4 to move up and down so as to pass through connector 5.
Mounting seat 6 is additionally provided with forearm 2, is fixed with mounting seat 6
7, specifically, support 7 is in hollow tubular.In the present embodiment, the axis of working shaft 4, support 7 and screw mandrel 3 is generally in same putting down
Face so that working shaft 4, support 7 and screw mandrel 3 weight in the robot is distributed more evenly and symmetrically, so that manipulator
It is stable.Support 7 is located between working shaft 4 and screw mandrel 3, and support 7 passes through connector 5 and the upper end of support 7 passes connector
5。
As working shaft 4 needs to rotate, screw mandrel 3 is also required to rotate, general two that drive working shaft 4 and screw mandrel 3 to rotate
Power set are arranged on forearm 2 so that have at regular intervals between working shaft 4 and screw mandrel 3, and in this configuration, support 7 sets
Put between working shaft 4 and screw mandrel 3 so that the structure of manipulator is more compact.In addition, support 7 passes through connector 5 and support 7
Upper end pass connector 5 so that the setting of support 7, for connector 5 structural strength affect it is less；In addition, connector 5
Also certain position-limiting action is played to support 7, facilitates the installation of support 7.
Manipulator includes support member 1, and Hall element 1 is connected on support member 1, and support member 1 is along support
7 lengthwise locations are adjustable to be fixed on support 7.In the present embodiment, support member 1 be circuit board, Hall element one
Fix on the board.
It is arranged on one 8 position of Hall element adjustable on support 7 so that the setting of Hall element 1 is more clever
It is living, the position of Hall element 1 can be adjusted as needed.In addition, support member 1 for carrying Hall element 1
Direction is adjusted along 7 length direction of support so that during one 12 position adjustments of support member, Hall element 1 is in level
Position on direction is comparatively stable, it is ensured that after one 12 position adjustments of support member, Hall element 1 remain able to compared with
Readily to sense magnet 1, so that manipulator is stable.
A kind of scheme being arranged on support 7 is can adjust as support member about one 12, as shown in Fig. 2 support member 1
It is set on support 7, there is on support 7 threaded portion 7b, support member 1 is respectively provided on two sides with adapter sleeve 1 and even up and down
Female connector 2 14, adapter sleeve 1 and adapter sleeve 2 14 are threaded on the threaded portion 7b of support 7.When need adjust support member one
During 12 position, the direction of screw thread along on support 7 adjusts the position of adapter sleeve 1 and adapter sleeve 2 14, so as to adjust position
The position of the support member 1 between adapter sleeve 1 and adapter sleeve 2 14.
Another kind of scheme being arranged on support 7 is can adjust as support member about one 12, support member 1 is set in and props up
On frame 7, support member 1 is respectively provided on two sides with adapter sleeve 1 and adapter sleeve 2 14, adapter sleeve 1 and adapter sleeve two up and down
14 are arranged by bolt and are fixed on support 7.In the same manner, when needing to adjust the position of support member 1, along the side of support 7
To the position for adjusting adapter sleeve 1 and adapter sleeve 2 14, so as to adjust propping up between adapter sleeve 1 and adapter sleeve 2 14
The position of support member 1.
Manipulator also includes the magnet 1 being correspondingly arranged with Hall element 1, and magnet 1 is fixed relative to connector 5
Arrange.In the present embodiment, magnet 1 is arranged on the upper side of connector 5 one.Specifically, one 9 built-in connector 5 of magnet.
In the present embodiment, Hall element 1 is located at the upper end of support 7, connects live wire, electric wire edge on Hall element 1
Frame 7 is arranged.In the present embodiment, electric wire grafting is on circuit boards.Certainly, as similar scheme, electric wire is directly from Hall
The pin of sensor 1 is drawn.
As the signal transmission of Hall element 1 needs electric wire, in this manipulator, support 7 is for as electric wire
Carrier so that the setting of electric wire is more stable.
Specifically, as depicted in figs. 1 and 2, in the present embodiment, support 7 has tube 7a, and electric wire is through support 7
Tube 7a so that support 7 can either be used as the carrier of electric wire, it is also possible to play a protective role to electric wire.Replace as another kind
For scheme, the outside of support 7 has wire casing, and electric wire passes through wire casing, this scheme also can play a protective role to electric wire.
Support member 2 16 is additionally provided with support 7, support member 2 16 is arranged on the mode on support 7 and is arranged with support member 1
Mode on support 7 is similar.In the present embodiment, support member 2 16 is circuit board, and Hall element 2 10 is fixed on the electricity
On the plate of road.
As shown in figure 3, support member 2 16 is set at the lower end of support 7, there is at the lower end of support 7 lower threaded portion,
Support member 2 16 is respectively provided on two sides with adapter sleeve 3 17 and adapter sleeve 4 18,4 18 equal screw thread of adapter sleeve 3 17 and adapter sleeve up and down
It is connected on the lower threaded portion at 7 lower end of support.In the same manner, be arranged on support 7 is can adjust as support member about 2 16
Kind of scheme, support member 2 16 be set on support 7, and support member 2 16 is respectively provided on two sides with adapter sleeve 3 17 and adapter sleeve up and down
4 18, adapter sleeve 3 17 and adapter sleeve 4 18 are arranged by bolt and are fixed on support 7.
Hall element 2 10 is connected on support member 2 16, and Hall element 2 10 is correspondingly arranged with magnet 2 11.
In this programme, the correspondence magnet 1 of Hall element 1 is arranged, and the correspondence magnet 2 11 of Hall element 2 10 is arranged so that Hall
Sensor 1, Hall element 2 10, magnet 1 and 2 11 set location of magnet are more flexible.Specifically, magnet 1 is arranged
On the upside of connector 5, magnet 2 11 is arranged on the downside of connector 5.
In the present embodiment, Hall element 1 is located at the upper end of 5 stroke of connector, and Hall element 2 10 is located at
At the lower end of 5 stroke of connector.
In this structure, 4 current location of working shaft, Hall element 1 are can determine that when Hall element 1 senses
Receive signal can be used to calibrating 4 position of working shaft or to working shaft 4 continue to move up carry out it is spacing, it is ensured that work
Make axle 4 and move not overtravel, ensure that manipulator is stable；Equally, Hall element 2 10 receives signal and can be used for work
4 position of axle calibrated or to working shaft 4 continue to move down carry out it is spacing.
During manipulator runs, 3 action of screw mandrel drives the connector 5 being connected on screw mandrel 3 to move up and down, from
And make connector 5 drive working shaft 4 to move up and down, complete the action request of manipulator.Due to being provided with suddenly in this manipulator
Your sensor 1 and the magnet 1 being correspondingly arranged with Hall element 1, when driving hall sensing in 5 moving process of connector
Near magnet 1 and when sensing, manipulator obtains the current position of working shaft 4 to device 1.The acquisition of 4 current location of working shaft
Can be used to calibrate the stroke of working shaft 4, it can also be used to which the movement to working shaft 4 is spacing, that is to say, that when working shaft 4
When moving to Hall element 1 and sensing the position of magnet 1, manipulator obtains signal, and control working shaft 4 stops movement,
Therefore so that manipulator is stable.Further, since be provided with for arranging the support 7 of Hall element 1, can be according to need
The position is set by Hall element 1 so that the setting of Hall element 1 is more flexible.
As the present embodiment another kind scheme, on support member one, be additionally provided with Hall element three, connector be provided with suddenly
The magnet three that your sensor three is correspondingly arranged；Hall element four is additionally provided with support member two, connector is provided with and is passed with Hall
The magnet four that sensor four is correspondingly arranged.
Embodiment two
The present embodiment is roughly the same with embodiment one, is, in the present embodiment, as shown in figure 5, Hall where difference
Sensor 2 10 is correspondingly arranged with magnet 1.In this programme, Hall element 1 and Hall element 2 10 are and magnet
One 9 are correspondingly arranged, and two Hall elements share a magnet 1, and its structure is relatively simple.Specifically, magnet is passed through about one 9
Wear and be arranged on connector 5.When Hall element 1 and Hall element 2 10 are respectively induced magnet 1, one is obtained respectively
4 current location of individual working shaft.In the same manner, the acquisition of 4 current location of working shaft can be used for calibration or spacing.
Embodiment three
The present embodiment is roughly the same with embodiment two, is, in the present embodiment, as shown in figure 9, support where difference
7 outsides for being located at connector 5.In the present embodiment, magnet 1 is located at 5 sidepiece of connector, the hall sensing on support 7
Device 1 and Hall element 2 10 are located at the sidepiece of connector 5.When 5 moving belt moving magnet 1 of connector moves to hall sensing
During one 8 sidepiece of device, Hall element 1 senses magnet 1；And work as 5 moving belt moving magnet 1 of connector and move to Hall biography
During 2 10 sidepiece of sensor, Hall element 2 10 senses magnet 1.
Example IV
The present embodiment is roughly the same with embodiment one, where difference is, in the present embodiment, as shown in fig. 6, installing
Seat 6 is provided with support member 3 19, and Hall element 2 10 is arranged on support member 3 19.In the present embodiment, support member 3 19
For circuit board.
Embodiment five
The present embodiment is roughly the same with embodiment one, is, in the present embodiment, as shown in fig. 7, Hall where difference
Sensor 1 and Hall element 2 10 are separately positioned on the upper and lower sides of connector 5, and magnet 1 and magnet 2 11 are arranged at
On support 7, and magnet 1 is located at the upside of Hall element 1, and magnet 2 11 is located at the downside of Hall element 2 10.
Embodiment six
The present embodiment is roughly the same with embodiment five, where difference is, in the present embodiment, as shown in Figure 10,
Frame 7 is located at the outside of connector 5, and described magnet 1 and magnet 2 11 are arranged on support 7, and Hall element 1 is arranged
On connector 5, and Hall element 1 is correspondingly arranged with magnet 1, magnet 2 11；In other words, when connector 5 is moved
When driving Hall element 1 to move to one 9 sidepiece of magnet, Hall element 1 senses magnet 1；And work as connector 5 and move
When dynamic drive Hall element 1 moves to 2 11 sidepiece of magnet, Hall element 1 senses magnet 2 11.In this enforcement
In example, a Hall element 1 corresponds to magnet 1 and magnet 2 11 so that the structure of manipulator is relatively simple.
Embodiment seven
As shown in figure 8, manipulator, including forearm, forearm is provided with the working shaft 4 being vertically arranged, and working shaft 4 is spline silk
Bar structure.Working shaft 4 means there is spline lines and screw mandrel on the lateral surface of working shaft 4 simultaneously for spline screw structure
Lines so that working shaft 4 can be rotated around own axes in the presence of other mechanisms, also vertically can move up and down.Working shaft 4
For spline screw structure so that the structure of manipulator is more compact.
Manipulator includes fixing and being set in the magnet 5 20 in a ring on working shaft 4.Manipulator also includes and magnet
5 20 Hall elements corresponding and being fixedly installed relative to forearm.In the present embodiment, support 7 is vertically arranged in forearm
On, on Hall element fixed support 7.Support 7 serves supporting role to Hall element, makes Hall element setting structure
It is more stable.
Hall element includes Hall element 1 and Hall element 2 10, Hall element 1 and Hall element
2 10 are each attached on support 7.When magnet 5 20 is near Hall element 1 and Hall element 2 10, Hall element
1 and Hall element 2 10 obtain signal respectively, the position current to determine working shaft 4.4 current location of working shaft is really
It is fixed, may be used to calibrate the position of working shaft 4, run manipulator more accurate；The determination of 4 current location of working shaft,
Can also be used for carrying out the position of working shaft 4 spacing, run manipulator safer.
Hall element 1 is located at the sidepiece at 4 stroke upper end of working shaft, and Hall element 2 10 is located at 4 row of working shaft
Sidepiece at journey lower end.Hall element 1 is located at the sidepiece at 5 stroke upper end of connector, when working shaft 4 is moved upwards up to row
Journey end, Hall element 1 sense magnet 5 20, may be configured as manipulator and the position of working shaft 4 is calibrated.One
As, working shaft 4 is pointed to the workpiece below forearm and is processed, and in this position correction, the space below forearm compared with
Greatly so that the workpiece below forearm is less to the interference that calibration is caused so that manipulator is convenient to be calibrated.Hall element 2 10
Sidepiece at 5 stroke lower end of connector, when working shaft 4 is moved down at end of travel, Hall element 2 10 is sensed
Magnet 5 20, may be configured as manipulator and the position of working shaft 4 is calibrated.If the calibration of end is moved on on working shaft 4 not
Just, or there are other reasons, this structure just makes manipulator conveniently calibrate the position of working shaft 4.
In manipulator running, working shaft 4 is rotated as needed and is moved up and down.Magnet 5 20 is set to annular,
So that working shaft 4 is in course of action, it is also possible to sensed by Hall element.In the same manner, magnet 5 20 is set in the robot
And Hall element so that manipulator runs relatively stable safety.
Claims (10)
1. manipulator, including forearm (2), described forearm (2) are provided with the screw mandrel (3) that is vertically arranged and parallel with screw mandrel (3)
The working shaft (4) of setting, is provided with connector (5), working shaft (4) company of being axially fixed 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 the forearm (2) is provided with mounting seat (6), the mounting seat
(6) support (7) is fixed with, the support (7) is provided with Hall element one (8)；Manipulator also includes and hall sensing
The magnet one (9) that device one (8) is correspondingly arranged, the magnet one (9) are fixedly installed relative to connector (5).
2. manipulator according to claim 1, it is characterised in that described Hall element one (8) is positioned at connector (5)
At the upper end of stroke.
3. manipulator according to claim 1 and 2, it is characterised in that described Hall element one (8) is positioned at support
(7) at upper end, on the Hall element one (8), connect live wire, described electric wire is arranged along support (7).
4. manipulator according to claim 3, it is characterised in that there is on described support (7) tube (7a), it is described
Tube (7a) of the electric wire through support (7)；Or the outside of described support (7) has wire casing, the electric wire passes through wire casing.
5. manipulator according to claim 1, it is characterised in that also include being fixedly installed suddenly relative to mounting seat (6)
That sensor two (10), Hall element two (10) are correspondingly arranged with magnet one (9).
6. manipulator according to claim 1, it is characterised in that also include being fixedly installed suddenly relative to mounting seat (6)
That sensor two (10), also includes the magnet two (11) being fixedly installed relative to connector (5), Hall element two (10) and magnetic
Iron two (11) is correspondingly arranged.
7. manipulator according to claim 1, it is characterised in that described Hall element one (8) is positioned at connector (5)
At the upper end of stroke, described Hall element two (10) is at the lower end of connector (5) stroke.
8. the manipulator according to claim 1 or 2 or 7, it is characterised in that described support (7) is in shaft-like and vertically set
Put, the axis of described working shaft (4), support (7) and screw mandrel (3) is generally in same plane.
9. the manipulator according to claim 1 or 2 or 7, it is characterised in that described support (7) positioned at working shaft (4) and
Between screw mandrel (3), described support (7) is through connector (5) and the upper end of support (7) passes connector (5).
10. the manipulator according to claim 1 or 2 or 7, it is characterised in that including support member one (12), the Hall is passed
Sensor one (8) is connected on support member one (12), and the support member one (12) is along the adjustable fixation of support (7) lengthwise location
On support (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620993090.3U CN206029882U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620993090.3U CN206029882U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029882U true CN206029882U (en) | 2017-03-22 |
Family
ID=58302333
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620993090.3U Active CN206029882U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN206029882U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181972A (en) * | 2016-08-30 | 2016-12-07 | 浙江琦星电子有限公司 | Mechanical hand |
-
2016
- 2016-08-30 CN CN201620993090.3U patent/CN206029882U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181972A (en) * | 2016-08-30 | 2016-12-07 | 浙江琦星电子有限公司 | Mechanical hand |
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Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |
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| CP01 | Change in the name or title of a patent holder |