CN105313101A - Deep groove grabbing and releasing mechanical arm - Google Patents
Deep groove grabbing and releasing mechanical arm Download PDFInfo
- Publication number
- CN105313101A CN105313101A CN201410417662.9A CN201410417662A CN105313101A CN 105313101 A CN105313101 A CN 105313101A CN 201410417662 A CN201410417662 A CN 201410417662A CN 105313101 A CN105313101 A CN 105313101A
- Authority
- CN
- China
- Prior art keywords
- motor
- electromagnet
- elevating mechanism
- release
- fixed guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a mechanical arm which supplies electromagnetic force through an electromagnetic relay, can grab an irony block in a deep groove and release the irony block and is applied to the technical fields of civil engineering and testing. The mechanical arm comprises the electromagnetic relay, an electromagnet, a stepping motor and a lifting mechanism. The electromagnetic relay is controlled through a central processing unit (CPU) setup procedure, and the electromagnet is connected with the electromagnetic relay through a wire. The lower end of the lifting mechanism is connected with the upper end of the electromagnet, the lifting mechanism is integrally connected with the stepping motor through a rack, the stepping motor is composed of a motor, and the motor is controlled through a microcomputer and is capable of rotating clockwise and anticlockwise. The deep groove grabbing and releasing mechanical arm is simple in structure, easy to manufacture and capable of being precisely controlled to grab and release the irony block in a long and narrow space of the deep groove.
Description
Technical field
The present invention relates to the application in civil engineering and technical field of measurement and test of electromechanical device and manipulator.
Background technology
The plant equipment that manipulator is a kind of complex structure, machining accuracy is high is that a kind of staff that can imitate is in order to capture the automatic pilot of object by fixed routine.Common mechanical hand is by mechanical part clamping and rely on frictional force to capture the smooth thing block of end face, needs certain grasping part.In civil engineering and technical field of measurement and test, have accurately to control to capture in long and narrow and deep trouth and with the needs of release end face smooth irony thing block.In some cases .., this type of iron block except can moving in a direction, on two other direction without crawl space; Thus for without the long and narrow of side holding space and deep trouth space, the crawl operation of existing machinery hand is difficult to carry out.If attract iron block by permanent magnet from movable direction, then cannot implement the release of iron block; And at present electromagnetization manipulator in long and narrow and deep trouth space to capture and not accurate with the time controling of release.
Summary of the invention
In order to overcome common mechanical hand complex structure, functional not reaching accurately controls crawl and the problem with release end face smooth irony thing block in deep trouth, there is provided a kind of structure simply, be easy to the manipulator being applicable to precisely control in deep trouth crawl and Iron Release pledge block manufactured.
The technical scheme that the present invention takes is: adopt driving stepper motor zigzagging bar, be freely elevated to realize manipulator along deep trouth direction; Control the generation of electromagnet magnetic by being carried out relay switch by microprocessor system and disappear, realize deep trouth when being elevated with cooperative mechanical hand and capture and release iron block.
Above-mentioned stepper motor, can rotate clockwise as required and rotate counterclockwise.
Above-mentioned electromagnet, accurately controls the time of crawl and releaser block to relay switch by microsystem.
Above-mentioned electromagnet, relies on electromagnetic force, is easy to capture various shape irony thing block in small space, and provides stable grasp force.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is that a kind of collection of the present invention has automatic capturing and release, rises and fall the robot manipulator structure schematic diagram of function, and this manipulator comprises: 1, elevating mechanism, 2, stepper motor, 3, electromagnet, 4, electromagnetic relay.
Fig. 2 is stepper motor and elevating mechanism connection diagram.
Fig. 3 is stepper motor and elevating mechanism supplementary structure schematic diagram.
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
As shown in Figure 1, deep trouth captures and comprises with the mechanical hand of release: electromagnetic relay 4, electromagnet 3, stepper motor 2, elevating mechanism 1.
Electromagnetic relay exports control and drive system by CPU, and then the switch of control relay, thus produce galvanomagnetic-effect.The voltage that relay uses is 24V.
Can be controlled by setting program by CPU, accurately control the time that electromagnet captures irony thing block and releaser block.
As shown in electromagnet 3, utilize electromagnet, when crawl and Iron Release pledge block, greatly can simplify the labyrinth of common mechanical hand.Long and narrow with in deep trouth space, the present invention is easier to capture and Iron Release pledge block than common mechanical hand.
Stepper motor 2 is by controlling adjustment rotation direction, during counterclockwise to rotate, electromagnet 3 declines, and when opening relay close to during irony thing block, utilizes electromagnetic force to adsorb irony thing block, when completing absorption, stepper motor rotates in a clockwise direction and promotes irony thing block.Stepper motor 2 also adjustable rotating speed to regulate the rising or falling speed of object.
Elevating mechanism 1 can choose the tooth bar of different length according to the degree of depth of groove.
As shown in Figure 2, stepper motor is made up of motor and protecting sheathing 1, and motor and protecting sheathing 1 are positioned at above electromagnet, is connected with a top board 6.
Top board 6 central aperture.
The tooth bar 2 of elevating mechanism is connected through top board 6 with electromagnet 5, is elevated to be with motor magnet.
As shown in Figure 3, electromagnet 7 wire and motor 6 wire are connected to microcomputerized controller via conductor connecting pipe 1.
Tooth bar is connected with rack-track 4.
Stepper motor band carry-over bar moves, and tooth bar is connected with rack guide rail 4 composition elevating mechanism, and elevating mechanism moves both vertically along fixed guide 5.
Motor and protecting sheathing 6 thereof are connected with guide rail motor connecting plate 2.
Fixed guide 5 is connected with linear bearing connecting plate 3.
Linear bearing connecting plate 3 is connected with guide rail motor connecting plate 2.
Claims (3)
1. one kind has and is elevated in long and narrow and deep trouth space, utilizes electromagnetic force to capture and the manipulator of Iron Release pledge block, it is characterized in that, comprising: electromagnetic relay, electromagnet, elevating mechanism and stepper motor.Elevating mechanism is made up of tooth bar, fixed guide, top board, connecting plate and tube connector; Electromagnet is located at the below of elevating mechanism, is connected with the tooth bar through base plate perforate; Stepper motor by gear driven gear rack elevating thus band motor magnet move up and down; Electromagnetic relay is located at outside elevating mechanism, stepper motor and electromagnet, is connected with electromagnet with the tube connector of electric wire by elevating mechanism.
2. deep trouth according to claim 1 captures and release manipulator, it is characterized in that, described electromagnetic relay comprises system control cpu and relay, by the opening and closing of CPU control relay switch, thus the generation of electromagnetic force and disappearance and the crawl implemented irony thing block and release in electromagnet described in controlling.
3. deep trouth according to claim 1 captures and release manipulator, and it is characterized in that, described elevating mechanism, connecting plate is located at fixed guide side, and for being connected and fixed guide rail and top board, top board is located at below connecting plate, and tooth bar embeds fixed guide; Described stepper motor comprises motor and shell, and stepper motor shell is located at above top board, and motor is connected by wheel and rack, and motor can carry out rotating with counterclockwise both direction clockwise; The tooth bar of motor and described elevating mechanism and fixed guide form transmission system, utilize the rotating band carry-over bar of motor different directions to move up and down along fixed guide, thus band motor magnet moves up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410417662.9A CN105313101B (en) | 2014-08-21 | 2014-08-21 | Deep trouth captures and release manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410417662.9A CN105313101B (en) | 2014-08-21 | 2014-08-21 | Deep trouth captures and release manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105313101A true CN105313101A (en) | 2016-02-10 |
| CN105313101B CN105313101B (en) | 2018-05-15 |
Family
ID=55241918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410417662.9A Active CN105313101B (en) | 2014-08-21 | 2014-08-21 | Deep trouth captures and release manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105313101B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538336A (en) * | 2016-02-29 | 2016-05-04 | 昆山—邦泰汽车零部件制造有限公司 | Multifunctional manipulator |
| CN106185269A (en) * | 2016-08-23 | 2016-12-07 | 安庆银亿轴承有限公司 | Feeding device between a kind of production line |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273407A1 (en) * | 2001-07-05 | 2003-01-08 | EBAWE Anlagentechnik GmbH | Robot for positioning magnets |
| CN201776755U (en) * | 2010-04-02 | 2011-03-30 | 尹克华 | Novel flexible mechanical hand |
| CN202449654U (en) * | 2011-12-13 | 2012-09-26 | 北方工业大学 | Electromagnetic moving stacking device |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN203580369U (en) * | 2013-12-06 | 2014-05-07 | 武汉金仕防伪技术开发有限公司 | Limit device for cantilever motion stroke of automatic stamping machine |
-
2014
- 2014-08-21 CN CN201410417662.9A patent/CN105313101B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273407A1 (en) * | 2001-07-05 | 2003-01-08 | EBAWE Anlagentechnik GmbH | Robot for positioning magnets |
| CN201776755U (en) * | 2010-04-02 | 2011-03-30 | 尹克华 | Novel flexible mechanical hand |
| CN202449654U (en) * | 2011-12-13 | 2012-09-26 | 北方工业大学 | Electromagnetic moving stacking device |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN203580369U (en) * | 2013-12-06 | 2014-05-07 | 武汉金仕防伪技术开发有限公司 | Limit device for cantilever motion stroke of automatic stamping machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538336A (en) * | 2016-02-29 | 2016-05-04 | 昆山—邦泰汽车零部件制造有限公司 | Multifunctional manipulator |
| CN106185269A (en) * | 2016-08-23 | 2016-12-07 | 安庆银亿轴承有限公司 | Feeding device between a kind of production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105313101B (en) | 2018-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105690416A (en) | Robot clamping device and control method | |
| CN103559919B (en) | Control rod drive mechanisms (CRD) and control rod driving method | |
| CN105397798B (en) | Capture clamping device | |
| CN107414370B (en) | A kind of working method of quick detachable magnetic suck welding robot | |
| CN205176665U (en) | Accurate controlling means of rotary platform | |
| CN105313101A (en) | Deep groove grabbing and releasing mechanical arm | |
| CN108582024A (en) | A kind of clamp device of manipulator | |
| CN107649801B (en) | A kind of easy-to-dismount magnetic suck robot | |
| KR20180130112A (en) | Repeated drop testing equipment | |
| CN204360055U (en) | A kind of tester substrate device | |
| CN204686239U (en) | LED backlight module Intelligent welding robot | |
| CN104908835B (en) | A kind of climbing mechanism of climbing robot | |
| CN103487183A (en) | Torque loading device of automatic torque testing system | |
| CN205129214U (en) | Automatic welding mechanical hand | |
| CN107702881A (en) | Wind-tunnel wind resistance tests locating platform and its control system | |
| CN103672328A (en) | Lifting device controlling measuring head to move and be positioned on Z axis | |
| CN104180048B (en) | Electric device for integrated intelligent valve | |
| CN202163896U (en) | Take out device of LED (light emitting diode) die bonder or wire bonding machine | |
| RU128546U1 (en) | CYCLE MANIPULATOR WITH PERMANENT MAGNETS | |
| CN205003947U (en) | Real model of instructing of three freedoms motion control | |
| CN104015192A (en) | Mechanical arm using inertia for automatically placing object | |
| CN204405437U (en) | A kind of testing apparatus of welding spun gold pulling force and gold goal shearing force | |
| CN108526856B (en) | Stress-free operating device for conductive hairspring | |
| CN212049483U (en) | Mechanical automation grabbing device | |
| CN202508875U (en) | Automatic wire arrangement microclamping device for micromotor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Zhangming Inventor after: Yang Wenlong Inventor after: Luo Zhibin Inventor after: Liu Yongjian Inventor before: Li Zhangming Inventor before: Yang Wenlong Inventor before: Luo Zhibin |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Guangdong University of Technology Document name: Notification of Passing Examination on Formalities |
|
| DD01 | Delivery of document by public notice |