CN106272343A - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN106272343A CN106272343A CN201610783382.9A CN201610783382A CN106272343A CN 106272343 A CN106272343 A CN 106272343A CN 201610783382 A CN201610783382 A CN 201610783382A CN 106272343 A CN106272343 A CN 106272343A
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- China
- Prior art keywords
- hall element
- working shaft
- mechanical hand
- magnet
- connector
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
This application discloses mechanical hand, belong to mechanical hand technical field, the problem which solving current mechanical hand fluctuation of service.Mechanical hand, including forearm, forearm is provided with the screw mandrel being vertically arranged and the working shaft be arrangeding in parallel with screw mandrel, forearm is fixed with cover cap, screw mandrel and working shaft and is positioned at inside cover cap；Connector it is provided with between working shaft and screw mandrel, working shaft is axially fixed on connector, connector is connected on screw mandrel and connector can drive working shaft to move axially along working shaft under the drive of screw mandrel, it is characterized in that, mechanical hand includes the Magnet one being fixedly installed relative to connector, and mechanical hand also includes Hall element one that is corresponding with Magnet one and that be fixedly installed relative to forearm.Compared with prior art, this mechanical hand has relative displacement and the Magnet being correspondingly arranged by setting and Hall element realizes the displacement detecting of working shaft, the result of this displacement detecting can be used for displacement calibration and the position-limiting action of working shaft so that robot work is relatively stable and safety.
Description
Technical field
The invention belongs to mechanical hand technical field.
Background technology
Existing level joint Manipulator is working shaft is calibrated by the position rotated by software monitors motor, but
Flapping articulation mechanical hand is in running, and working shaft and other parts can make working shaft produce certain displacement, therefore this
It is more unstable that mode makes mechanical hand run.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of stable mechanical hand, and its purpose can pass through techniques below side
Case realizes:
Mechanical hand, including forearm, described forearm is provided with the screw mandrel being vertically arranged and the work be arrangeding in parallel with screw mandrel
Axle, described forearm is fixed with cover cap, and described screw mandrel and working shaft are positioned at inside cover cap；It is provided with between working shaft and screw mandrel
Connector, described working shaft is axially fixed on connector, and described connector is connected on screw mandrel and connects under the drive of screw mandrel
Fitting can drive working shaft to move axially along working shaft, it is characterised in that mechanical hand includes being fixedly installed relative to connector
Magnet one, described mechanical hand also includes Hall element one that is corresponding with Magnet one and that be fixedly installed relative to forearm.
In screw mandrel course of action, screw mandrel band follower link moves up and down, thus drives working shaft to move up and down, in this mistake
Cheng Zhong, the Magnet one being fixedly installed relative to connector together moves up and down with connector.Hall element one and Magnet one phase
The meaning being correspondingly arranged is, in the path that Magnet one moves, when Magnet one near Hall element for the moment by Hall element
One senses.
In this mechanical hand, owing to being provided with Magnet one and Hall element one, when Magnet one is near Hall element one
And when being sensed by Hall element one, mechanical hand obtains the position of work at present axle, can using of the position that working shaft is current
In the stroke of working shaft being defined effect, say, that when working shaft moves to current location, working shaft does not continues to
Move toward equidirectional, thus mechanical hand is played a protective role, prevent working shaft from moving overtravel so that mechanical hand is transported
Line stabilization.The current position of working shaft determines, it is also possible to for the position of working shaft is reset or calibrated, so that work
Make axle position in running more stable accurately.
In above-mentioned mechanical hand, described Hall element one is fixed on the medial wall of cover cap.
Owing to the sidewall of general cover cap is to extend along working shaft length direction to set, therefore, Hall element one is arranged
On the medial wall of cover cap so that the structure of mechanical hand is relatively simple, Hall element one is arranged conveniently.
In above-mentioned mechanical hand, also include the Hall element two being fixedly installed relative to forearm.
Hall element two is set in the robot so that connector has two positions at moving process and can sense
Signal, facilitates the calibration of working shaft, it addition, also dependent on needs, by Hall element one and Hall element two near Magnet
Two positions of one are respectively set to connector and move spacing position so that screw mandrel, working shaft or connector run and be not out of the line
Journey, ensures that mechanical hand runs safety.
In above-mentioned mechanical hand, also include that the Hall element three being fixedly installed relative to forearm, described Hall pass
Sensor three is adjacent with Hall element one.
Such as, when Hall element one is as the spacing place of working shaft stroke, if Hall element one lost efficacy, connect
Part is further continued for mobile a small distance so that Magnet one is near Hall element three, after Hall element three senses Magnet one,
Connector stops continuing to move to.Therefore, in this structure, adjacent Hall element one and Hall element three are set, at machine
Tool hands serves safety effect, prevents screw mandrel, working shaft or connector from running overtravel, ensure that mechanical hand runs safety.
In above-mentioned mechanical hand, described Hall element one is positioned at the sidepiece of connector stroke upper end.
Hall element one is positioned at the sidepiece of connector stroke upper end, when connector drives working shaft to be moved upwards up to row
Journey end, Hall element one senses Magnet one, may be configured as mechanical hand and calibrates the position of working shaft.Typically,
The workpiece that working shaft is pointed to below forearm is processed, and when this position correction, the space below forearm is relatively big, makes
Obtain the workpiece below forearm less to calibrating the interference caused so that the convenient calibration of mechanical hand.
In above-mentioned mechanical hand, described Hall element two is positioned at the sidepiece of connector stroke lower end.
Hall element two is positioned at the sidepiece of connector stroke lower end, when connector drives working shaft to be moved down into row
Journey end, Hall element two senses Magnet one, may be configured as mechanical hand and calibrates the position of working shaft.If,
Moving on to the calibration inconvenience of end on working shaft, or have other reason, this structure just makes mechanical hand the most square to the position of working shaft
Carrying out just is calibrated.
In above-mentioned mechanical hand, described Hall element one is positioned at the sidepiece of connector stroke upper end, described
Hall element two is positioned at the sidepiece of connector stroke lower end；Described Hall element also includes Hall element three and suddenly
That sensor four, described Hall element three is correspondingly arranged with Magnet one, and described Hall element four is correspondingly arranged with Magnet one,
Described Hall element three is fixedly installed relative to forearm with Hall element four, described Hall element three and hall sensing
Device one is adjacent, and described Hall element four is adjacent with Hall element two.
The meaning that Hall element three is correspondingly arranged with Magnet one is, when working shaft moves to a position, and hall sensing
Device three can sense Magnet one, and in like manner, the meaning that Hall element four is correspondingly arranged with Magnet one is that working shaft moves to one
During individual position, Hall element four can sense Magnet one.
During working shaft moves up, even if Hall element one damages, Hall element three also can sense working shaft
Position so that Hall element one and Hall element three serve safety effect during moving on working shaft, prevent work
Move as axle and exceed stroke；In like manner, during working shaft moves down, even if Hall element two damages, Hall element
Four positions that also can sense working shaft so that Hall element two and Hall element four serve in working shaft folding process
Safety effect, prevents connector from moving overtravel, so that mechanical hand runs safer.
According to the purpose of the present invention, the present invention proposes the scheme of another same idea as mechanical hand:
Mechanical hand, including forearm, described forearm is provided with the screw mandrel being vertically arranged and the work be arrangeding in parallel with screw mandrel
Axle, described forearm is fixed with cover cap, and described screw mandrel and working shaft are positioned at inside cover cap；It is provided with between working shaft and screw mandrel
Connector, described working shaft is axially fixed on connector, and described connector is connected on screw mandrel and connects under the drive of screw mandrel
Fitting can drive working shaft to move axially along working shaft, it is characterised in that mechanical hand includes being fixedly installed relative to connector
Hall element one, mechanical hand also includes Magnet one that is corresponding with Hall element one and that be fixedly installed relative to forearm.
In like manner, when connector moves, Hall element together moves with connector, when Hall element one is near Magnet
For the moment, Hall element one senses that Magnet determines the position of work at present axle in the lump.This position can be used for working shaft position
Calibration is it can also be used to spacing in working shaft moving process.Therefore, mechanical hand runs relatively stable safety.
In above-mentioned mechanical hand, described Magnet one is fixed on the medial wall of cover cap.
In like manner, Magnet one is fixed on the medial wall of cover cap so that arranging of Magnet one is more convenient.
In above-mentioned mechanical hand, mechanical hand also includes the Magnet two being fixedly installed relative to forearm, Magnet two and Hall
Sensor one is correspondingly arranged.
The meaning that Magnet two is correspondingly arranged with Hall element one is, when Hall element one is near Magnet two, and Hall
Sensor one can sense Magnet two.
The Magnet one and Magnet two being all correspondingly arranged with Hall element one is set so that connector has at moving process
Two positions can sense signal, facilitates the calibration of working shaft, it addition, also dependent on needs, Magnet one and Magnet two are leaned on
Two positions of nearly Hall element one are respectively set to connector and move spacing position so that screw mandrel, working shaft or connection
Part runs not overtravel, ensures mechanical hand stable and safe in operation.
In above-mentioned mechanical hand, described Magnet one is positioned at the sidepiece of connector stroke upper end.
In like manner, in this structure, may be configured as Hall element one and sense that the position of working shaft is carried out by Magnet for the moment
Calibration；Making when this position correction, the space below forearm is bigger so that the interference that calibration is caused by the workpiece below forearm
Less so that the convenient calibration of mechanical hand.
In above-mentioned mechanical hand, described Magnet two is positioned at the sidepiece of connector stroke lower end.
In like manner, Magnet two the selection that position is also working shaft calibrating position is set.
In above-mentioned mechanical hand, mechanical hand also includes the Hall element two adjacent with Hall element one, described suddenly
You are fixedly installed relative to connector by sensor two, and described Hall element two is correspondingly arranged with Magnet one.
Same, the meaning that Hall element two is correspondingly arranged with Magnet one is, when connector moves to a position,
Hall element two can sense Magnet one.
On the moving direction of connector, Hall element one and Hall element two all can sense Magnet one, therefore,
Hall element one and Hall element two can play the effect of insurance in the robot so that screw mandrel, working shaft or connector
Run not overtravel, ensure that mechanical hand runs safety.Concrete, if Hall element one lost efficacy, Hall element two is still
Magnet one can be sensed so that connector stops continuing to move to.
In above-mentioned mechanical hand, mechanical hand also includes the Hall element two adjacent with Hall element one, described suddenly
You are fixedly installed relative to connector by sensor two, and described Hall element two is correspondingly arranged with Magnet two.
Same, the meaning that Hall element two is correspondingly arranged with Magnet two is, when connector moves to a position,
Hall element two can sense Magnet two.
On the moving direction of connector, Hall element one and Hall element two all can sense Magnet two, therefore,
Hall element one and Hall element two can play the effect of insurance in the robot so that screw mandrel, working shaft or connector
Run not overtravel, ensure that mechanical hand runs safety.Concrete, if Hall element one lost efficacy, Hall element two is still
Magnet two can be sensed so that connector stops continuing to move to.
According to the purpose of the present invention, the present invention proposes the scheme of another same idea as mechanical hand:
Mechanical hand, including forearm, described forearm is provided with the working shaft being vertically arranged, and described forearm is fixed with
Cover cap, working shaft is positioned at inside cover cap, it is characterised in that mechanical hand includes magnetic ringwise that is fixing and that be set on working shaft
Ferrum five, described mechanical hand also includes Hall element one that is corresponding with Magnet five and that be fixedly installed relative to forearm.
The meaning that Hall element one is correspondingly arranged with Magnet five is, when Magnet five near Hall element for the moment, Hall
Sensor one senses Magnet five.
In mechanical hand running, working shaft rotates as required and moves up and down.Magnet five is set to annular so that
Working shaft is in rotation process, it is also possible to sensed by Hall element one.In like manner, Magnet five and Hall are set in the robot
Sensor one so that mechanical hand runs relatively stable safety.
In above-mentioned mechanical hand, described working shaft is spline screw structure.
Working shaft is that the meaning of spline screw structure is, the lateral surface of working shaft has spline lines and screw mandrel stricture of vagina simultaneously
Road so that working shaft can rotate under the effect of other mechanism, also can move up and down.Working shaft is spline screw structure, makes
The structure obtaining mechanical hand is the compactest.
In above-mentioned mechanical hand, described Hall element one is fixed on the medial wall of cover cap.
Hall element one the extended structure utilizing cover cap on working shaft direction is set, so that the knot of mechanical hand
Structure is relatively simple.
In above-mentioned mechanical hand, mechanical hand also includes the Hall element two being fixedly installed relative to forearm, described
Hall element two is correspondingly arranged with Magnet five.
The meaning that Hall element two is correspondingly arranged with Magnet five is, when Magnet five is near Hall element two, and Hall
Sensor two senses Magnet five.
When Magnet five is near Hall element one and Hall element two, Hall element one and Hall element two points
Do not obtain signal, the position current in order to determine working shaft.The determination of working shaft current location, may be used to the position to working shaft
Calibrate, make mechanical hand run the most accurate；The determination of working shaft current location is it can also be used to carry out the position of working shaft
Spacing, make mechanical hand run safer.
In above-mentioned mechanical hand, mechanical hand includes the Hall element three being correspondingly arranged with Magnet five, described Hall
Sensor one and Hall element three adjacent.
Such as, when Hall element one is as the spacing place of working shaft stroke, if Hall element one lost efficacy, work
Axle is further continued for mobile a small distance so that Magnet five is near Hall element two, after Hall element two senses Magnet five,
Working shaft stops continuing to move to；Or while Hall element one lost efficacy, Hall element two senses Magnet five at once.Cause
This, in this structure, arrange adjacent Hall element one and Hall element two, serve safety effect in the robot,
Make working shaft run not overtravel, ensure that mechanical hand runs safety.
In above-mentioned mechanical hand, described Hall element one is positioned at the sidepiece of Magnet five stroke upper end.
Hall element one is positioned at the sidepiece of Magnet five stroke upper end, when working shaft is moved upwards up at end of travel,
Hall element one senses Magnet five, may be configured as mechanical hand and calibrates the position of working shaft.Typically, working shaft para-position
Workpiece below forearm is processed, and when this position correction, the space below forearm is bigger so that below forearm
Workpiece less to the interference that causes of calibration so that the convenient calibration of mechanical hand.
In above-mentioned mechanical hand, described Hall element two is positioned at the sidepiece of Magnet five stroke lower end.
Hall element two is positioned at the sidepiece of Magnet five stroke lower end, when working shaft is moved down at end of travel,
Hall element two senses Magnet five, may be configured as mechanical hand and calibrates the position of working shaft.If moved on working shaft
To the calibration inconvenience of end, or having other reason, this structure just makes mechanical hand that the position of working shaft is conveniently carried out school
Accurate.
In above-mentioned mechanical hand, mechanical hand also includes that the Hall element three being all correspondingly arranged with Magnet five and Hall pass
Sensor four, described Hall element three is adjacent with Hall element one, and described Hall element four is adjacent with Hall element two.
In like manner, mechanical hand serves during Hall element one and Hall element three move on working shaft protection make
With, Hall element two and Hall element four serve protective effect to mechanical hand in working shaft folding process, so that
Mechanical hand runs safer stable.
Compared with prior art, this mechanical hand has relative displacement and the Magnet being correspondingly arranged and hall sensing by setting
Device realizes the displacement detecting of working shaft, and the result of this displacement detecting can be used for displacement calibration and the position-limiting action of working shaft, makes
Robot work is relatively stable and safety.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of a kind of embodiment of mechanical hand；
Fig. 2 is the explosive view of a kind of embodiment of mechanical hand；
Fig. 3 is the explosive view of a kind of embodiment of mechanical hand；
Fig. 4 is the explosive view of a kind of embodiment of mechanical hand；
Fig. 5 is the explosive view of a kind of embodiment of mechanical hand；
Fig. 6 is the explosive view of a kind of embodiment of mechanical hand；
In figure, 1, base；1a, fixing seat；1b, large arm；2, forearm；3, screw mandrel；4, working shaft；5, connector；8, Hall
Sensor one；9, Magnet one；10, Hall element two；11, Magnet two；15, nut；20, Magnet five；21, Hall element
Three；22, Hall element four；25, cover cap；
Detailed description of the invention
Embodiment one
As shown in Figure 1 to Figure 3, this mechanical hand, including base 1 and the forearm 2 being arranged on base 1, concrete, base 1
Including fixing seat 1a and large arm 1b, large arm 1b is rotatably provided on fixing seat 1a, and forearm 2 is rotatably provided in large arm 1b.
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, and forearm 2 is provided with cover cap
25, screw mandrel 3 and working shaft 4 are respectively positioned on inside cover cap 25.As it is shown in figure 1, a part for working shaft 4 is positioned at cover cap 25 and forearm 2
Between, the lower end of working shaft 4 is stretched out on the downside of forearm 2.
Being provided with connector 5 between working shaft 4 and screw mandrel 3, working shaft 4 is axially fixed on connector 5, and connector 5 connects
On screw mandrel 3 and under the drive of screw mandrel 3, connector 5 can drive working shaft 4 to move axially along working shaft 4.
Connector 5 is connected on screw mandrel 3 have several embodiments, as a kind of scheme, screw mandrel 3 is connected with one
Individual nut 15, nut 15 rotates, and drives screw mandrel 3 to move up and down, and screw mandrel 3 is axially fixed on connector 5, say, that silk
When bar 3 moves up and down, it is possible to band follower link 5 moves up and down.In the present embodiment, screw mandrel 3 is connected with a nut
15, connector 5 is fixed on nut 15；Screw mandrel 3 rotates, and drives nut 15 to move up and down, thus moves down on band follower link 5
Dynamic；
Being fixed with Magnet 1 on connector 5, concrete, Magnet 1 is directly anchored on connector 5 or Magnet 1
It is indirectly fixed on connector 5 by a middleware.Magnet 1 is fixed on connector 5 so that the structure of mechanical hand is relatively
For compact.It addition, a middleware can be fixed on connector 5, then Magnet 1 is fixed on middleware according to actual needs
On, so, Magnet 1 is equivalent to be indirectly fixed on connector 5.In the present embodiment, Magnet 1 is directly anchored to connector
On 5.Concrete, connector 5 offers a groove, Magnet 1 is fixed in groove with glue.
Mechanical hand also includes Hall element 1 that is corresponding with Magnet 1 and that be fixedly installed relative to forearm 2, Hall
Sensor 2 10, Hall element 3 21 and Hall element 4 22.Hall element 1, Hall element 2 10, Hall pass
Sensor 3 21 and Hall element 4 22 are each attached on the medial wall of cover cap 25 and are all correspondingly arranged with Magnet 1.
Owing to the sidewall of general cover cap 25 is to extend along working shaft 4 length direction to set, therefore, Hall element is arranged
On the medial wall of cover cap 25, more convenient.
In the present embodiment, Hall element 1 is positioned at the sidepiece of connector 5 stroke upper end.Hall element 2 10
It is positioned at the sidepiece of connector 5 stroke lower end.Mechanical hand also include the Hall element 3 21 that is all correspondingly arranged with Magnet 1 and
Hall element 4 22, Hall element 3 21 is adjacent with sensor one and is positioned on the upside of Hall element 1, Hall element
4 22 is adjacent with Hall element 2 10 and be positioned on the upside of Hall element 2 10.
Hall element 1 is positioned at the sidepiece of connector 5 stroke upper end, when connector 5 drives working shaft 4 to move up
At end of travel, Hall element 1 senses Magnet 1, may be configured as mechanical hand and the position of working shaft 4 is carried out school
Accurate.Typically, the workpiece that working shaft 4 is pointed to below forearm 2 is processed, and when this position correction, below forearm 2
Space is bigger so that the interference that calibration is caused by the workpiece below forearm 2 is less so that the convenient calibration of mechanical hand.
Hall element 2 10 is positioned at the sidepiece of connector 5 stroke lower end, when connector 5 drives working shaft 4 to moving down
Moving at end of travel, Hall element 2 10 senses Magnet 1, may be configured as mechanical hand and carries out the position of working shaft 4
Calibration.If moving on to the calibration inconvenience of end on working shaft 4, or having other reason, this structure just makes mechanical hand to working shaft 4
Position conveniently calibrate.
Hall element 1 and Hall element 3 21 serve safety effect during moving on working shaft 4, Hall passes
Sensor 2 10 and Hall element 4 22 serve safety effect in working shaft 4 folding process, prevent connector 5 from moving and are out of the line
Journey, so that mechanical hand runs safer.In this setup, under normal circumstances, working shaft 4 moves on to one
During position, Hall element 1 works, and Hall element 3 21 does not works so that the service life of Hall element 3 21 is relatively
Long.In like manner, when working shaft 4 moves down into a position, Hall element 2 10 works, and Hall element 4 22 does not works, and makes
The service life obtaining Hall element 4 22 is longer.
In screw mandrel 3 course of action, screw mandrel 3 band follower link 5 moves up and down, thus drives working shaft 4 to move up and down,
During this, the Magnet 1 being fixedly installed relative to connector 5 together moves up and down with connector 5.Hall element and Magnet
The meaning of one 9 corresponding settings is, in the path that Magnet 1 moves, Magnet 1 can be near Hall element and by Hall
Sensor sensing arrives.
In this mechanical hand, owing to being provided with Magnet 1 and Hall element, when Magnet 1 near Hall element and
When being sensed by Hall element, mechanical hand obtains the position of work at present axle 4, may be used for of the position that working shaft 4 is current
The stroke of working shaft 4 is defined effect, say, that when working shaft 4 to current location, do not continue to toward equidirectional
Move, thus mechanical hand is played a protective role so that mechanical hand is stable.The current position of working shaft 4 determines, also
May be used for the position of working shaft 4 being reset or calibrating, so that the position that working shaft 4 is in running is the most steady
Fixed accurate.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, such as Fig. 4 and Fig. 5 institute
Show,
Mechanical hand includes the Hall element 1 being fixedly installed relative to connector 5 and adjacent with Hall element 1 sets
The Hall element 2 10 put, Hall element 1 and Hall element 2 10 are fixed on connector 5.In the present embodiment,
Hall element 1 is positioned on the upside of Hall element 2 10.
Mechanical hand also includes corresponding with Hall element 1 and Hall element 2 10 and fixing relative to forearm 2 sets
The Magnet 1 put and Magnet 2 11.In the present embodiment, Magnet 1 and Magnet 2 11 are each attached on the medial wall of cover cap 25.
On correspondence position in working shaft 4 moving process, Hall element 1 and Hall element 2 10 all can sense Magnet one
9, the most all can sense Magnet 2 11.
Magnet 1 and Magnet 2 11 are set so that connector 5 has two positions at moving process can sense letter
Number, facilitate the calibration of working shaft 4, it addition, also dependent on needs, by Magnet 1 and Magnet 2 11 near the two of Hall element
Individual position is respectively set to connector 5 and moves spacing position so that screw mandrel 3, working shaft 4 or connector 5 run not overtravel,
Ensure mechanical hand stable and safe in operation.Concrete, Magnet 1 is positioned at the sidepiece of connector 5 stroke upper end, and Magnet 2 11 is positioned at
The sidepiece of connector 5 stroke lower end.
Magnet 1 is positioned at the sidepiece of connector 5 stroke upper end, and Magnet 2 11 is positioned at the side of connector 5 stroke lower end
Portion.
On correspondence position during working shaft 4 moves up, Hall element 1 and Hall element 2 10 can depend on
The secondary Magnet 1 that senses, therefore, Hall element 1 and Hall element 2 10 can play the effect of insurance in the robot,
Make screw mandrel 3, working shaft 4 or connector 5 run not overtravel, ensure that mechanical hand runs safety.Concrete, if hall sensing
Device 1 lost efficacy, and Hall element 2 10 still can sense Magnet 1 so that connector 5 stops continuing to move to.
In like manner, on the correspondence position during working shaft 4 moves down, Hall element 2 10 and Hall element one
8 can sense Magnet 2 11 successively.
The principle of the present embodiment and effect are similar with embodiment one.When connector 5 moves, Hall element be connected
Part 5 together moves, and when Hall element is near Magnet, Hall element senses Magnet and determines the position of work at present axle 4
Put.This position can be used for the calibration of working shaft 4 position it can also be used to spacing in working shaft 4 moving process.Therefore, mechanical hand
Run relatively stable safety.
Embodiment three
As shown in Figure 6, this mechanical hand, including base 1 and the forearm 2 being arranged on base 1, concrete, base 1 includes solid
Reservation 1a and large arm 1b, large arm 1b is rotatably provided on fixing seat 1a, and forearm 2 is rotatably provided in large arm 1b.
Forearm 2 is provided with cover cap 25, and working shaft 4 is positioned at inside cover cap 25.Concrete, working shaft 4 stretches out on the upside of forearm 2
Part between cover cap 25 and forearm 2, the downside of forearm 2 is stretched out in the lower end of working shaft 4.
Working shaft 4 is spline screw mandrel 3 structure.Working shaft 4 is that the meaning of spline screw mandrel 3 structure is, the lateral surface of working shaft 4
Upper have spline lines and screw mandrel 3 lines simultaneously so that working shaft 4 can rotate under the effect of other mechanism, also can be upper and lower
Mobile.Working shaft 4 is spline screw mandrel 3 structure so that the structure of mechanical hand is the compactest.
Mechanical hand includes Magnet 5 20 ringwise that is fixing and that be set on working shaft 4, and mechanical hand also includes and Magnet
5 20 Hall element 1 that is corresponding and that be fixedly installed relative to forearm 2 and Hall element 2 10, Hall elements 1
With on the medial wall that Hall element 2 10 is each attached to cover cap 25.
When Magnet 5 20 is near Hall element 1 and Hall element 2 10, Hall element 1 and hall sensing
Device 2 10 obtains signal respectively, the position current in order to determine working shaft 4.The determination of working shaft 4 current location, may be used to work
The position making axle 4 is calibrated, and makes mechanical hand run the most accurate；The determination of working shaft 4 current location is it can also be used to work
The position of axle 4 carries out spacing, makes mechanical hand run safer.
In the present embodiment, Hall element 1 is positioned at the sidepiece of Magnet 5 20 stroke upper end, Hall element 2 10
It is positioned at the sidepiece of Magnet 5 20 stroke lower end.Mechanical hand also includes the Hall element 3 21 being all correspondingly arranged with Magnet 5 20
With Hall element 4 22, Hall element 3 21 is adjacent with Hall element 1 and Hall element 3 21 and sensor one
Level height identical, Hall element 4 22 is adjacent with Hall element 2 10 and Hall element 4 22 and Hall element
The level height of 2 10 is identical.Hall element 3 21 and Hall element 4 22 are all fixedly installed on cover cap 25.
As Hall element 3 21 and the another kind of set-up mode of Hall element 4 22, the water of Hall element 3 21
Flat height is less than Hall element 2 10 higher than Hall element 1, the level height of Hall element 4 22.At this set
In mode, under normal circumstances, when moving on to a position on working shaft 4, Hall element 1 works, Hall element 3 21
Do not work so that the service life of Hall element 3 21 is longer.In like manner, when working shaft 4 moves down into a position, Hall passes
Sensor 2 10 works, and Hall element 4 22 does not works so that the service life of Hall element 4 22 is longer.
Hall element 1 is positioned at the sidepiece of Magnet 5 20 stroke upper end, when working shaft 4 is moved upwards up to end of travel
Place, Hall element 1 senses Magnet 5 20, may be configured as mechanical hand and calibrates the position of working shaft 4.Typically, work
Make the workpiece that axle 4 is pointed to below forearm 2 to be processed, and when this position correction, the space below forearm 2 be relatively big,
The interference that calibration is caused by the workpiece below forearm 2 is less so that the convenient calibration of mechanical hand.
Hall element 2 10 is positioned at the sidepiece of Magnet 5 20 stroke lower end, when working shaft 4 is moved down into stroke end
At end, Hall element 2 10 senses Magnet 5 20, may be configured as mechanical hand and calibrates the position of working shaft 4.If,
Moving on to the calibration inconvenience of end on working shaft 4, or have other reason, this structure just makes mechanical hand to the position of working shaft 4 more
Calibrate easily.
In like manner, Hall element 1 and Hall element 3 21 serve guarantor to mechanical hand during moving on working shaft 4
Protect effect, Hall element 2 10 and Hall element 4 22 and in working shaft 4 folding process, mechanical hand is served protection work
With, so that mechanical hand runs safer stable.
In mechanical hand running, working shaft 4 rotates as required and moves up and down.Magnet 5 20 is set to annular,
Making working shaft 4 in rotation process, Magnet 5 20 also is able to be sensed by Hall element 1 and Hall element 2 10.
Claims (7)
1. mechanical hand, including forearm (2), described forearm (2) is provided with the screw mandrel (3) being vertically arranged and parallel with screw mandrel (3)
The working shaft (4) arranged, described forearm (2) is fixed with cover cap (25), described screw mandrel (3) and working shaft (4) and is positioned at cover
Lid (25) inner side；Being provided with connector (5) between working shaft (4) and screw mandrel (3), described working shaft (4) is axially fixed in connector
(5), on, described connector (5) is connected on screw mandrel (3) and connector (5) can drive working shaft under the drive of screw mandrel (3)
(4) move axially along working shaft (4), it is characterised in that mechanical hand includes the Magnet one being fixedly installed relative to connector (5)
(9), described mechanical hand also includes Hall element one that is corresponding with Magnet one (9) and that be fixedly installed relative to forearm (2)
(8)。
Mechanical hand the most according to claim 1, it is characterised in that described Hall element one (8) is fixed on cover cap
(25) on medial wall.
Mechanical hand the most according to claim 1 and 2, it is characterised in that also include being fixedly installed suddenly relative to forearm (2)
That sensor two (10), described Hall element two (10) is correspondingly arranged with Magnet one (8).
4. according to the mechanical hand described in claim or 2, it is characterised in that also include being fixedly installed suddenly relative to forearm (2)
That sensor three (21), described Hall element three (21) is correspondingly arranged with Magnet one (8), described Hall element three
(21) adjacent with Hall element one (8).
Mechanical hand the most according to claim 1 and 2, it is characterised in that described Hall element one (8) is positioned at connector
(5) sidepiece of stroke upper end.
Mechanical hand the most according to claim 3, it is characterised in that described Hall element two (10) is positioned at connector
(5) sidepiece of stroke lower end.
Mechanical hand the most according to claim 1 and 2, it is characterised in that described mechanical hand also includes all right with Magnet one (9)
The Hall element three (21) that should arrange and Hall element four (22), described Hall element three (21) and Hall element
Four (22) are fixedly installed relative to forearm (2), and described Hall element three (21) is adjacent with Hall element one (8), described suddenly
Your sensor four (22) is adjacent with Hall element two (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783382.9A CN106272343A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783382.9A CN106272343A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272343A true CN106272343A (en) | 2017-01-04 |
Family
ID=57673770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610783382.9A Pending CN106272343A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272343A (en) |
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| CN203804992U (en) * | 2014-02-18 | 2014-09-03 | 威海正棋机电技术有限公司 | Horizontal joint robot with forced air convection system |
| CN206029871U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
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2016
- 2016-08-30 CN CN201610783382.9A patent/CN106272343A/en active Pending
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| JP2012218118A (en) * | 2011-04-11 | 2012-11-12 | Yamaha Motor Co Ltd | Robot |
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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. |
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Application publication date: 20170104 |