CN105313101B - Deep trouth captures and release manipulator - Google Patents
Deep trouth captures and release manipulator Download PDFInfo
- Publication number
- CN105313101B CN105313101B CN201410417662.9A CN201410417662A CN105313101B CN 105313101 B CN105313101 B CN 105313101B CN 201410417662 A CN201410417662 A CN 201410417662A CN 105313101 B CN105313101 B CN 105313101B
- Authority
- CN
- China
- Prior art keywords
- motor
- elevating mechanism
- electromagnet
- guide rail
- rack
- 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.)
- Expired - Fee Related
Links
- 230000003028 elevating effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000008034 disappearance Effects 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The present invention discloses a kind of manipulator for providing electromagnetic force using electromagnetic relay, can capturing with release irony thing block in deep trouth, in civil engineering and technical field of measurement and test application.It includes electromagnetic relay, electromagnet, stepper motor and elevating mechanism.The electromagnetic relay sets programme-control by CPU, the electromagnet is connected by conducting wire with electromagnetic relay, the elevating mechanism lower end is connected with the electromagnet upper end, elevating mechanism overall is connected with rack with the stepper motor, the stepper motor is made of motor, the motor is controlled by microcomputer, can be rotated clockwise and be rotated counterclockwise.The configuration of the present invention is simple, it is easily fabricated, crawl and release irony thing block can be precisely controlled in long and narrow and deep trouth space.
Description
Technical field
The present invention relates to electromechanical device and manipulator civil engineering and technical field of measurement and test application.
Background technology
Manipulator is a kind of complicated, high precision machining mechanical equipment, is that one kind can imitate human hand to by fixation
Program captures the automatic pilot of object.Common mechanical hand clamps and relies on frictional force crawl end face smooth by mechanical part
Thing block is, it is necessary to certain grasping part.In civil engineering and technical field of measurement and test, have in long and narrow and deep trouth accurate control crawl and
Needs with discharging the smooth irony thing block in end face.In some cases .., such iron block be in addition to it can move in one direction,
Without crawl space on two other direction；Thus for the long and narrow and deep trouth space in no side holding space, existing manipulator
Crawl operation be difficult to carry out.If attracting iron block from movable direction by permanent magnet, the release of iron block can not be implemented；And
At present electromagnetization manipulator in long and narrow and deep trouth space to crawl and it is not accurate with the time control of release.
The content of the invention
In order to overcome common mechanical hand complicated, feature does not reach accurate control crawl and and release end in deep trouth
The problem of smooth irony thing block in face, there is provided it is a kind of simple in structure, it is easily fabricated to be suitable for being precisely controlled crawl in deep trouth and release
Put the manipulator of irony thing block.
The present invention adopts the technical scheme that：Using driving stepper motor zigzagging bar, to realize manipulator along deeply
Groove direction is freely lifted；Control electromagnetism ferromagnetism to produce and disappear by carrying out relay switch by microprocessor system, with
Deep trouth crawl and release iron block are realized when closing manipulator lifting.
Above-mentioned stepper motor, can rotate clockwise and rotate counterclockwise as needed.
Above-mentioned electromagnet, can accurately control relay switch by microsystem the time of crawl and releaser block.
Above-mentioned electromagnet, by electromagnetic force, is easy to capture variously-shaped irony thing block in small space, and provide stable
Grasp force.
Brief description of the drawings
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the robot manipulator structure schematic diagram that a kind of collection of the invention has automatic crawl and release, liter and drop function：
Fig. 2 is stepper motor and elevating mechanism connection diagram.
Fig. 3 is stepper motor and elevating mechanism supplementary structure schematic diagram.
Wherein：1st, elevating mechanism, 2, stepper motor, 3, electromagnet, 4, electromagnetic relay, 5, motor and its protection shell,
6th, rack, 7, connecting tube, 8, connecting plate, 9, top plate, 10, conductor connecting pipe, 11, guide rail motor connecting plate, 12, linear bearing connects
Fishplate bar, 13, rack-track, 14, fixed guide rail.
Following embodiment will combine above-mentioned attached drawing and further illustrate the present invention.
Embodiment
As shown in Figure 1, deep trouth crawl includes with the mechanical hand of release：Electromagnetic relay 4, electromagnet 3, stepper motor 2, lifting
Mechanism 1.
Electromagnetic relay 4 is by CPU output control drivers, and then the switch of control electromagnetic relay 4, so as to produce electricity
Magnetic effect.The voltage that electromagnetic relay 4 uses is 24V.
Programme-control can be set by CPU, the accurate time for controlling electromagnet 3 to capture irony thing block and releaser block.
As shown in Figure 1, using electromagnet 3, when capturing and discharging irony thing block, answering for common mechanical hand can be greatly simplified
Miscellaneous structure.It is long and narrow with deep trouth space in, the present invention than common mechanical hand is easier to capture and discharges irony thing block.
Stepper motor 2 can adjust rotation direction by controlling, and electromagnet 3 declines when rotating in a counterclockwise direction, when close
Electromagnetic relay 4 is opened during irony thing block, adsorbs irony thing block using electromagnetic force, when completing absorption, stepper motor 2 is with clockwise
Direction rotates lifting irony thing block.Stepper motor 2 also adjustable rotating speed to adjust the lifting speed of object.
Elevating mechanism 1 can choose the rack 6 of different length according to the depth of groove.
As shown in Fig. 2, stepper motor 2 is made of motor and its protection shell 5, motor and its protection shell 5 are positioned at electricity
The top of magnet 3, is connected with top plate 9.
9 middle perforate of top plate.
Rack 6 is connected with electromagnet 3 through top plate 9, is lifted with band motor magnet 3.
As shown in figure 3,3 conducting wire of electromagnet is connected to microcomputerized controller with motor leads via conductor connecting pipe 10.
Rack 6 is connected with rack-track 13.
Stepper motor 2 is moved with carry-over bar 6, and rack 6 is connected with rack guide rail 13 forms elevating mechanism 1, elevating mechanism 1
Move vertically along fixed guide rail 14.
Motor and its protection shell 5 are connected with guide rail motor connecting plate 11.
Fixed guide rail 14 is connected with linear bearing connecting plate 12.
Linear bearing connecting plate 12 is connected with guide rail motor connecting plate 11.
Claims (1)
- Lifted 1. one kind has in long and narrow and deep trouth space, the manipulator of irony thing block is captured and discharged using electromagnetic force, its It is characterized in that, including：Electromagnetic relay, electromagnet, elevating mechanism and stepper motor；Elevating mechanism is by rack, fixed guide rail, top Plate, connecting plate and connecting tube composition；Electromagnet is arranged on the lower section of elevating mechanism, is connected with through the rack of bottom plate perforate；Step Stepper motor is lifted by gear band carry-over bar so as to move up and down with motor magnet；Electromagnetic relay is arranged on elevating mechanism, stepping Motor by the connecting tube of elevating mechanism with electric wire with electromagnet with outside electromagnet, being connected, the electromagnetic relay includes CPU Control system and relay, the opening and closing of relay switch are controlled by CPU, so as to control the production of electromagnetic force in the electromagnet It is raw to be arranged on fixed guide rail side with the crawl and release of disappearance and implementation to irony thing block, the elevating mechanism, connecting plate, be used for The fixed guide rail of connection and top plate, top plate are arranged on below connecting plate, the fixed guide rail of rack insertion；The stepper motor includes motor And shell, stepper motor shell are arranged on above top plate, motor is connected by wheel and rack, motor can carry out it is clockwise with it is inverse Hour hands both direction rotates；The rack of motor and the elevating mechanism forms transmission system with fixed guide rail, different using motor The rotation band carry-over bar in direction moves up and down along fixed guide rail, so as to move up and down with motor magnet.
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 CN105313101A (en) | 2016-02-10 |
| CN105313101B true CN105313101B (en) | 2018-05-15 |
Family
ID=55241918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410417662.9A Expired - Fee Related CN105313101B (en) | 2014-08-21 | 2014-08-21 | Deep trouth captures and release manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105313101B (en) |
Families Citing this family (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 not_active Expired - Fee Related
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105313101A (en) | 2016-02-10 |
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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 | ||
| 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 |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Guangdong University of Technology Document name: Notification of Passing Examination on Formalities |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 |