CN103192382B - Stroke limiting mechanism based on magnetic force - Google Patents
Stroke limiting mechanism based on magnetic force Download PDFInfo
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- CN103192382B CN103192382B CN201210003731.2A CN201210003731A CN103192382B CN 103192382 B CN103192382 B CN 103192382B CN 201210003731 A CN201210003731 A CN 201210003731A CN 103192382 B CN103192382 B CN 103192382B
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- shift fork
- magnetic patch
- magnetic force
- shifting fork
- stop gear
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a stroke limiting mechanism based on a magnetic force. The stroke limiting mechanism comprises a shifting fork, a baffle plate on a rotating component and a limiting device for limiting the rotational angle of the shifting fork, wherein the baffle plate on the rotating component can push the shifting fork to rotate; the stroke limiting mechanism further comprises a shifting fork reset device; the shifting fork reset device comprises a fixed magnet and a magnet arranged on the shifting fork; after the shifting fork is shifted, the fixed magnet drags the shifting fork to reset by utilizing the magnetic force between the fixed magnet and the shifting fork magnet; the shifting fork comprises a body and a shifting fork rotating shaft; the shifting fork body comprises two ends positioned on two sides of the shifting fork rotating shaft, one end can be pushed by the baffle plate on the rotating component so as to enable the shifting fork to rotate, and the other end is mounted on the magnet on the shifting fork; and the limiting device for limiting the rotational angle of the shifting fork is used for limiting the angle of the shifting fork when being pushed by the baffle plate on the rotating component to rotate. The stroke limiting mechanism is applicable to an environment which has strict requirements on radial space.
Description
Technical field
The present invention relates to a kind of position-limit mechanism, particularly relate to a kind of journey stop gear based on magnetic force being applied to radial space and requiring in strict environment.
Background technology
Along with the continuous expansion of commercial production scale, the continuous rising of human cost, the requirement of industrial automation is more and more higher.And robot is as the science and technology of a kind of advanced person, will be widely used.The design of robot is a kind of design of complexity, relates to the technological know-how of each subject.Wherein, the design of mechanism is a very important aspect.
Existing restoration type shift fork rotary position-limit mechanism is mainly the application of industrial robot and designs, and it has its advantage, but its shortcoming does not fully optimize to rotate radial space.And in the robot that clean environment is applied, due in board, so radial space requires strict, original restoration type shift fork rotary position-limit mechanism obviously can not meet the demands.
Summary of the invention
In view of above content, be necessary to provide a kind of journey stop gear based on magnetic force additionally not taking rotating shaft radial space.
Based on a journey stop gear for magnetic force, the block and comprised on a shift fork, a rotary part limits the restraint device of the shift fork anglec of rotation, and the block on described rotary part can promote described shift fork and rotate; Described journey stop gear also comprises a shift fork resetting means, described shift fork resetting means comprises a fixing magnetic patch and and is located at magnetic patch on shift fork, after described shift fork is struck, described fixing magnetic patch pulls shift fork to reset by the magnetic force on itself and shift fork between magnetic patch; Described shift fork comprises a body and a shift fork rotating shaft, and described shift fork body comprises the two ends being positioned at shift fork rotating shaft both sides, and wherein one end can be promoted by the block on rotary part and shift fork be rotated, and is located at the magnetic patch on shift fork described in other end installing; The restraint device of the described restriction shift fork anglec of rotation is in order to limit the angle rotated when shift fork is promoted by the block on rotary part.
Further, described shift fork is arranged on the axial direction of the rotating shaft of rotary part.
Further, when shift fork does not promote by external force, the line of described fixing magnetic patch and the magnetic patch N pole be located on shift fork and S pole parallels.
Further, when shift fork does not promote by external force, described fixing magnetic patch and be located at the towards the opposite of magnetic patch N pole on shift fork and S pole.
Further, when shift fork does not promote by external force, the mid point of described fixing magnetic patch and the magnetic patch N pole be located on shift fork and S pole line coincides, and line parallels with horizontal plane.
Further, the restraint device of the described restriction shift fork anglec of rotation comprises two sensors, and the starting point that the corresponding shift fork of described two sensors difference rotates and terminal, it is spacing to shift fork that described shift fork produces limit signal in its starting point rotated and terminal trigger sensor.
Further, the restraint device of the described restriction shift fork anglec of rotation also comprises one and is arranged on sensor anti-dazzling screen on described shift fork, and described shift fork is by described sensor anti-dazzling screen and sensor contacts.
Further, described sensor anti-dazzling screen is arc, and described two sensors is positioned at the both sides of described shift fork, described shift fork arrive its rotate starting point and terminal time respectively by arc two ends and the corresponding sensor contacts of sensor anti-dazzling screen.
Further, the restraint device of the described restriction shift fork anglec of rotation also comprises the dead gear of two machinery that corresponding shift fork two respectively rotates the limit, when sensor do not trigger limit signal spacing to shift fork time, extremely can keep off with machinery when described shift fork continues motion and bump against and stop moving.
Further, the anglec of rotation of shift fork described in described two machinery dead gear formation one V-arrangement space constraint.
Compared with prior art, in above-mentioned journey stop gear, the axial direction that the parts of described journey stop gear tie up to the rotating shaft of rotary part is arranged, when using function is constant, radial space not outside occupying volume, be applicable to being applied to radial space and require strict environment, as being applied in the robot of clean environment.
Accompanying drawing explanation
Fig. 1 is a view of a better embodiment of the journey stop gear that the present invention is based on magnetic force.
Main element symbol description
| Sensor anti-dazzling screen | 1 |
| The dead gear of machinery | 2、9 |
| Sensor | 3、7 |
| Magnetic patch on shift fork 10 | 4 |
| Fixing magnetic patch | 5 |
| Shift fork rotating shaft | 6 |
| Fixture | 8 |
| Shift fork | 10 |
| Block on rotary part | 11 |
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Please refer to Fig. 1, in a better embodiment of the present invention, a kind of journey stop gear based on magnetic force, comprise the block 11 on shift fork 10, rotary part and a restraint device, block 11 on described rotary part can promote described shift fork 10 along clockwise or be rotated counterclockwise, described restraint device then limit shift fork 10 along clockwise or be rotated counterclockwise time the anglec of rotation.
Block 11 on described rotary part is positioned at the top of described shift fork 10, comprises one to the projection of downward-extension, can promote shift fork 10 rotate when block 11 moves.
Described journey stop gear also comprises a shift fork resetting means, described shift fork resetting means comprises is located at magnetic patch on shift fork 10 4 and a fixing magnetic patch 5, after described shift fork 10 is struck, described fixing magnetic patch 5 pulls shift fork 10 to reset by the magnetic force on itself and shift fork between magnetic patch 4.Fixing magnetic patch 5 is arranged on a fixed mount 8, has N pole and S pole.When shift fork 10 does not promote by external force, the N pole of magnetic patch 4 on described fixing magnetic patch 5 and shift fork 10 and the line of S pole parallel.In the present embodiment, described fixing magnetic patch 5 is horizontal positioned, and its N pole and S pole line parallel with horizontal plane.When shift fork 10 does not promote by external force, the N pole of the magnetic patch 4 on shift fork 10 and S pole line are also parallel with horizontal plane.The N pole of magnetic patch 4 on described fixing magnetic patch 5 and shift fork 10 and the towards the opposite of S pole, but when shift fork does not promote by external force, the N pole of magnetic patch 4 on described fixing magnetic patch 5 and shift fork 10 and the mid point of S pole line coincide, now, shift fork 10 is in vertical state, perpendicular with the magnetic patch 4 on fixing magnetic patch 5 and shift fork 10.
Described shift fork 10 is arranged on the axial direction of the rotating shaft of rotary part, the body that tool one is elongated.Described shift fork 10 is tool one shift fork rotating shaft 6 also, the bearing of trend of shift fork 10 strip body and the axis of shift fork rotating shaft 6 perpendicular.Shift fork 10 strip body comprises the two ends being positioned at shift fork rotating shaft 6 both sides, and one end system is tapered, and this end can be promoted by the block on rotary part and shift fork be rotated; The other end installs the magnetic patch 4 on described shift fork 10.The N pole of magnetic patch 4 and S pole towards perpendicular with the bearing of trend of shift fork 10 strip body.
Described restraint device comprises two-stage, first order restraint device is sensor restraint device, second level restraint device is that machinery extremely keeps off restraint device, the machinery of the second level extremely keeps off restraint device when the sensor restraint device of the first order does not play a role because of fault or other reasons, can shift fork 10 continue motion time with its collision, reach stop its move object
The sensor restraint device of the first order comprises a sensor anti-dazzling screen 1 and two sensors 3,7.Described two sensors 3,7 is arranged on fixture 8, and be positioned at the both sides of described shift fork 10, with the starting point of corresponding shift fork 10 rotation respectively and terminal, it is spacing to shift fork 10 that described shift fork 10 produces limit signal in its starting point rotated and terminal meeting trigger sensor 3,7.Described sensor anti-dazzling screen 1 is arranged on described shift fork 10, curved, described shift fork 10, at its starting point rotated and terminal, is contacted the sensor 3,7 being positioned at its both sides respectively by the arc two ends of sensor anti-dazzling screen 1, thus generation limit signal, carry out spacing to shift fork 10.
The machinery of the second level extremely keeps off restraint device and comprises the dead gear 2,9 of two machinery that corresponding shift fork 10 liang respectively rotates the limit.When sensor 3 not by sensor anti-dazzling screen 1 trigger limit signal spacing to shift fork 10 time, shift fork 10 continues athletic meeting and machinery extremely keeps off 2 collisions and stops moving.The dead gear 2,9 of two machinery is also arranged on fixture 8, is positioned at the both sides of described shift fork 10, and near one end that shift fork 10 is promoted by the block 11 on rotary part, away from the other end being provided with magnetic patch 4 on shift fork 10.Form a V-arrangement space between the dead gear 2,9 of two machinery, only allow that shift fork 10 rotates in this V-arrangement space.
Shift fork 10 operationally as shown in Figure 1, the right side of the block 11 of shift fork 10 on rotary part, when the block 11 on rotary part moves to the left, because motion will block 11 on rotary part and produce gap between shift fork 10, because the magnetic force between the magnetic patch 4 on shift fork 10 and the magnetic patch 5 on fixture 8 pulls down, shift fork 10 will rotate counterclockwise vertical position around shift fork rotating shaft 6; When promotion shift fork 10 continues to rotate counterclockwise by the block 11 on rotary part after the right contact of shift fork 10, when sensor anti-dazzling screen 1 contacts with sensor 3 under the drive of shift fork 10, thus generation limit signal, if sensor 3 does not play a role, shift fork 10 continues motion and extremely keeps off 2 collisions with the machinery on fixture 8, reaches and stops motion object.Shift fork 10 turns clockwise principle with to be rotated counterclockwise principle identical.
The axial direction that the parts of the journey stop gear in the present embodiment tie up to the rotating shaft of rotary part is arranged, when using function is constant, do not take the radial space of structure, be applicable to being applied to radial space and require strict environment, as being applied in the robot of clean environment.
Claims (9)
1. the journey stop gear based on magnetic force, the block and one comprised on a shift fork, a rotary part limits the restraint device of the shift fork anglec of rotation, block on described rotary part can promote described shift fork and rotate, it is characterized in that: described journey stop gear also comprises a shift fork resetting means, described shift fork resetting means comprises a fixing magnetic patch and and is located at magnetic patch on shift fork, after described shift fork is struck, described fixing magnetic patch pulls shift fork to reset by the magnetic force on itself and shift fork between magnetic patch; Described shift fork comprises a body and a shift fork rotating shaft, and described shift fork body comprises the two ends being positioned at shift fork rotating shaft both sides, and wherein one end can be promoted by the block on rotary part and shift fork be rotated, and is located at the magnetic patch on shift fork described in other end installing; The restraint device of the described restriction shift fork anglec of rotation is in order to limit the angle rotated when shift fork is promoted by the block on rotary part;
The restraint device of the described restriction shift fork anglec of rotation comprises two sensors, and the starting point that the corresponding shift fork of described two sensors difference rotates and terminal, it is spacing to shift fork that described shift fork produces limit signal in its starting point rotated and terminal trigger sensor.
2., as claimed in claim 1 based on the journey stop gear of magnetic force, it is characterized in that: described shift fork is arranged on the axial direction of the rotating shaft of rotary part.
3. as claimed in claim 1 based on the journey stop gear of magnetic force, it is characterized in that: when shift fork does not promote by external force, the line of described fixing magnetic patch and the magnetic patch N pole be located on shift fork and S pole parallels.
4. as claimed in claim 3 based on the journey stop gear of magnetic force, it is characterized in that: when shift fork does not promote by external force, described fixing magnetic patch and the magnetic patch N pole be located on shift fork and S pole towards the opposite.
5. as claimed in claim 4 based on the journey stop gear of magnetic force, it is characterized in that: when shift fork does not promote by external force, the mid point of described fixing magnetic patch and the magnetic patch N pole be located on shift fork and S pole line coincides, and line parallels with horizontal plane.
6. as claimed in claim 1 based on the journey stop gear of magnetic force, it is characterized in that: the restraint device of the described restriction shift fork anglec of rotation also comprises one and is arranged on sensor anti-dazzling screen on described shift fork, and described shift fork is by described sensor anti-dazzling screen and sensor contacts.
7. as claimed in claim 6 based on the journey stop gear of magnetic force, it is characterized in that: described sensor anti-dazzling screen is arc, described two sensors is positioned at the both sides of described shift fork, described shift fork arrive its rotate starting point and terminal time respectively by arc two ends and the corresponding sensor contacts of sensor anti-dazzling screen.
8. as claimed in claim 1 based on the journey stop gear of magnetic force, it is characterized in that: the restraint device of the described restriction shift fork anglec of rotation also comprises the dead gear of two machinery that corresponding shift fork two respectively rotates the limit, when sensor do not trigger limit signal spacing to shift fork time, extremely can keep off with machinery when described shift fork continues motion and bump against and stop moving.
9. as claimed in claim 8 based on the journey stop gear of magnetic force, it is characterized in that: the anglec of rotation of shift fork described in described two machinery dead gear formation one V-arrangement space constraint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210003731.2A CN103192382B (en) | 2012-01-06 | 2012-01-06 | Stroke limiting mechanism based on magnetic force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210003731.2A CN103192382B (en) | 2012-01-06 | 2012-01-06 | Stroke limiting mechanism based on magnetic force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103192382A CN103192382A (en) | 2013-07-10 |
| CN103192382B true CN103192382B (en) | 2015-06-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210003731.2A Active CN103192382B (en) | 2012-01-06 | 2012-01-06 | Stroke limiting mechanism based on magnetic force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103192382B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4514136A (en) * | 1981-12-25 | 1985-04-30 | Okamura Corporation | Pivot angle adjusting means for the arm of a material handling device |
| EP0241556A1 (en) * | 1985-07-29 | 1987-10-21 | Fanuc Ltd. | Apparatus for limiting the operation range of an industrial robot |
| EP0390084A2 (en) * | 1989-03-28 | 1990-10-03 | Omron Corporation | Limit switch |
| CN2657849Y (en) * | 2003-06-11 | 2004-11-24 | 苏州精机机械工业有限公司 | Integral device of limiting and locking |
| CN1701930A (en) * | 2004-05-25 | 2005-11-30 | 发那科株式会社 | Robot knuckle actuating range limitation device for equipping movement area checking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6464791A (en) * | 1987-09-01 | 1989-03-10 | Mitsubishi Electric Corp | Joint device for industrial robot |
-
2012
- 2012-01-06 CN CN201210003731.2A patent/CN103192382B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4514136A (en) * | 1981-12-25 | 1985-04-30 | Okamura Corporation | Pivot angle adjusting means for the arm of a material handling device |
| EP0241556A1 (en) * | 1985-07-29 | 1987-10-21 | Fanuc Ltd. | Apparatus for limiting the operation range of an industrial robot |
| EP0390084A2 (en) * | 1989-03-28 | 1990-10-03 | Omron Corporation | Limit switch |
| CN2657849Y (en) * | 2003-06-11 | 2004-11-24 | 苏州精机机械工业有限公司 | Integral device of limiting and locking |
| CN1701930A (en) * | 2004-05-25 | 2005-11-30 | 发那科株式会社 | Robot knuckle actuating range limitation device for equipping movement area checking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103192382A (en) | 2013-07-10 |
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