CN106181972A - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN106181972A CN106181972A CN201610767321.3A CN201610767321A CN106181972A CN 106181972 A CN106181972 A CN 106181972A CN 201610767321 A CN201610767321 A CN 201610767321A CN 106181972 A CN106181972 A CN 106181972A
- Authority
- CN
- China
- Prior art keywords
- support
- mechanical hand
- hall element
- working shaft
- connector
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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 base and the forearm that is connected with base, described forearm is provided with the screw mandrel being vertically arranged and the working shaft be arrangeding in parallel with screw mandrel, connector it is provided with between working shaft and screw mandrel, described working shaft is axially fixed on connector, described 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, described forearm is provided with mounting seat, being fixed with in described mounting seat and be arranged in parallel with working shaft and in shaft-like support, described support is provided with Hall element one；Mechanical hand also includes the Magnet one being correspondingly arranged with Hall element one, and described Magnet one is fixedly installed relative to connector.In this mechanical hand, owing to being provided with Magnet one or the Magnet five of Hall element one and corresponding setting so that mechanical hand is stable.
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 base and the forearm that is connected with base, described forearm be provided with the screw mandrel being vertically arranged and with
The working shaft that screw mandrel be arranged in parallel, is provided with connector between working shaft and screw mandrel, described working shaft is axially fixed on connector,
Described 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
Being characterised by, described forearm is provided with mounting seat, described mounting seat is fixed with and be arranged in parallel with working shaft and in shaft-like
Support, described support is provided with Hall element one；Mechanical hand also includes the Magnet one being correspondingly arranged with Hall element one, institute
State Magnet one to be fixedly installed relative to connector.
During mechanical hand runs, screw mandrel action, the connector that band is automatically connected on screw mandrel moves up and down, so that
Connector drives working shaft to move up and down, and completes the action request of mechanical hand.Owing to being provided with hall sensing in this mechanical hand
Device one and the Magnet one being correspondingly arranged with Hall element one, when driving Hall element one near magnetic in connector moving process
When ferrum senses in the lump, mechanical hand obtains the position that working shaft is current.The acquisition of working shaft current location can be used for working shaft
Stroke carry out calibrating it can also be used to the movement to working shaft is spacing, say, that when working shaft moves to Hall element one
When sensing the position of Magnet one, mechanical hand obtains signal, controls working shaft and stops mobile, therefore so that mechanical hand runs steady
Fixed.Further, since be provided with the support for arranging 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 the most flexible.
In above-mentioned mechanical hand, described Hall element one is positioned at the upper end of connector stroke.
Owing to working shaft is axially fixed on connector, therefore, the stroke of the connector i.e. stroke of working shaft.Due to typically
Robot work object is positioned at below working shaft, and therefore, the space below working shaft is less, and in this structure, working shaft moves
Moving to higher position, Hall element one senses Magnet one, and when this position is for the calibration of working shaft, target is difficult to
Affect the calibration of working shaft so that working shaft calibration is more convenient.
In above-mentioned mechanical hand, described Hall element one is positioned at the upper end of support, described Hall element one
Upper connection live wire, described electric wire is arranged along support.
Needing electric wire owing to the signal of Hall element one transmits, in this mechanical hand, support is for the load as electric wire
Body so that arranging of electric wire is more stable.
In above-mentioned mechanical hand, described support has tube, and described electric wire is through the tube of support；Or institute
The outside of the support stated has wire casing, and described electric wire passes wire casing.
As a kind of scheme, support has tube, and electric wire is through the tube of support so that support can either be as electricity
The carrier of line, it is also possible to electric wire is played a protective role.Alternatively, the outside of support has wire casing, and electric wire passes
Wire casing, this scheme also is able to play a protective role electric wire.
In above-mentioned mechanical hand, 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 all 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,
Obtain a working shaft current location respectively.In like manner, the acquisition of working shaft current location can be used for calibration or spacing.
In above-mentioned mechanical hand, also include the Hall element two being fixedly installed relative to mounting seat, also include relatively
In the Magnet two that connector is fixedly installed, Hall element two is correspondingly arranged with Magnet two.
In this programme, the corresponding Magnet one of Hall element one is arranged, and the corresponding Magnet two of Hall element two is arranged so that
It is the most flexible that Hall element one, Hall element two, Magnet one and Magnet two arrange position.
In above-mentioned mechanical hand, described Hall element one is positioned at the upper end of connector stroke, described Hall
Sensor two is positioned at the lower end of connector stroke.
In this structure, can determine that when Hall element one is sensed working shaft current location, Hall element one connect
Collect mail number can be used for working shaft position being calibrated or working shaft is continued to move up carry out spacing, it is ensured that working shaft
Move not overtravel, ensure that mechanical hand is stable；Equally, Hall element two receives signal and can be used for entering working shaft position
Row calibration or continue working shaft to move down carry out spacing.
In above-mentioned mechanical hand, described support in a tubular form and is vertically arranged, and described support is shaft-like and is 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 at mechanical hand
In weight distribute the most evenly and symmetrically so that mechanical hand is stable.
In above-mentioned mechanical hand, described support is between working shaft and screw mandrel, and described support passes connector
And the upper end of support passes connector.
Owing to working shaft needs to rotate, screw mandrel is also required to rotate, general two power 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 mechanical hand is the compactest.It addition, the upper end that support passes connector and support passes connection
Part so that the setting of support, the structural strength for connector affects less；It addition, support is also played certain by connector
Position-limiting action, facilitates the installation of support.
In above-mentioned mechanical hand, including support member one, described Hall element one is connected on support member one, described
Support member one is fixed on support along position, stent length direction is adjustable.
It is arranged on adjustable for Hall element one position on support so that the setting of Hall element one is more flexible,
The position of Hall element one can be regulated as required.It addition, the regulation side of the support member one for carrying Hall element one
To along stent length direction so that during support member one position adjustments, Hall element one position in the horizontal direction
Putting the most stable, it is ensured that after support member one position adjustments, Hall element one remains able to be relatively easy to sensing
To Magnet one, so that mechanical hand is stable.
In above-mentioned mechanical hand, described support member one is set on support, and described support has threaded portion, institute
That states support member one is respectively provided on two sides with adapter sleeve one and adapter sleeve two up and down, and the sidepiece of adapter sleeve one and adapter sleeve two is equipped with
Bolt, described adapter sleeve one and adapter sleeve two are threaded on the threaded portion of support.
When needing the position regulating support member one, the axis direction of threaded portion on support, regulate adapter sleeve one He
The position of adapter sleeve two, thus the position of the support member one that regulation is between adapter sleeve one and adapter sleeve two.
In above-mentioned mechanical hand, described support member one is set on support, and the both sides up and down of described support member one are divided
Not being provided with adapter sleeve one and adapter sleeve two, described adapter sleeve one and adapter sleeve two are all fixed on support by bolt is sheathed.
In like manner, when needing the position regulating support member one, the direction along support regulates adapter sleeve one and adapter sleeve two
Position, thus the position of regulation support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned mechanical hand, described Hall element two is fixed on support；Or described Hall element two
It is fixed in mounting seat.
In both schemes, Hall element two plays the effect of sensing working shaft position the most in the robot.
According to the purpose of the present invention, the present invention additionally proposes a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand, including base and the forearm that is connected with base, described forearm be provided with the screw mandrel being vertically arranged and with
The working shaft that screw mandrel be arranged in parallel, is provided with connector between working shaft and screw mandrel, described working shaft is axially fixed on connector,
Described 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
Being characterised by, described forearm is provided with mounting seat, described mounting seat is fixed with and be arranged in parallel with working shaft and in shaft-like
Support, described support is provided with Magnet one；Mechanical hand also includes the Hall element one being correspondingly arranged with Magnet one, described Hall
Sensor one is fixedly installed relative to connector.
During mechanical hand runs, screw mandrel action, the connector that band is automatically connected on screw mandrel moves up and down, so that
Connector drives working shaft to move up and down, and completes the action request of mechanical hand.Owing to being provided with hall sensing in this mechanical hand
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 mechanical hand obtains the position that working shaft is current.Working shaft current location
Acquisition can be used for the stroke of working shaft being calibrated it can also be used to the movement to working shaft is spacing, say, that work as work
When axle moves to the position that Hall element one senses Magnet one, mechanical hand obtains signal, controls working shaft and stops mobile, because of
This so that mechanical hand is stable.Further, since be provided with the support for arranging Magnet one, Magnet can be arranged as required to
The position of one so that the setting of Magnet one is the most flexible.
In above-mentioned mechanical hand, described Magnet one is positioned at the upper end of connector stroke.
Owing to working shaft is axially fixed on connector, therefore, the stroke of the connector i.e. stroke of working shaft.Due to typically
Robot work object is positioned at below working shaft, and therefore, the space below working shaft is less, and in this structure, working shaft moves
Moving to higher position, Hall element one senses Magnet one, and when this position is for the calibration of working shaft, target is difficult to
Affect the calibration of working shaft so that working shaft calibration is more convenient.
In above-mentioned mechanical hand, 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 all 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,
Obtain a working shaft current location respectively.In like manner, the acquisition of working shaft current location can be used for calibration or spacing.
In above-mentioned mechanical hand, also include the Hall element two being fixedly installed relative to connector, also include relatively
In the Magnet two that support is fixedly installed, Hall element two is correspondingly arranged with Magnet two.
In this programme, the corresponding Magnet one of Hall element one is arranged, and the corresponding Magnet two of Hall element two is arranged so that
It is the most flexible that Hall element one, Hall element two, Magnet one and Magnet two arrange position.
In above-mentioned mechanical hand, described Magnet one is positioned at the upper end of connector stroke, and described Magnet two is positioned at
The lower end of connector stroke.
In this structure, can determine that when Hall element one is sensed working shaft current location, Hall element one connect
Collect mail number can be used for working shaft position being calibrated or working shaft is continued to move up carry out spacing, it is ensured that working shaft
Move not overtravel, ensure that mechanical hand is stable；Equally, Hall element two receives signal and can be used for entering working shaft position
Row calibration or continue working shaft to move down carry out spacing.
In above-mentioned mechanical hand, described support is 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 at mechanical hand
In weight distribute the most evenly and symmetrically so that mechanical hand is stable.
In above-mentioned mechanical hand, described support is between working shaft and screw mandrel, and described support passes connector
And the upper end of support passes connector.
Owing to working shaft needs to rotate, screw mandrel is also required to rotate, general two power 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 mechanical hand is the compactest.It addition, the upper end that support passes connector and support passes connection
Part so that the setting of support, the structural strength for connector affects less；It addition, support is also played certain by connector
Position-limiting action, facilitates the installation of support.
In above-mentioned mechanical hand, including support member one, described Magnet one is connected on support member one, described support member one
It is fixed on support along position, stent length direction is adjustable.
It is arranged on adjustable for Magnet one position on support so that the setting of Magnet one is more flexible, can adjust as required
The position of joint Magnet one.It addition, be used for carrying the regulation direction of the support member one of Magnet one along stent length direction so that
During support member one position adjustments, Magnet one position in the horizontal direction is the most stable, it is ensured that at support member one
After position adjustments, Magnet one remains able to be relatively easy to be sensed by Hall element one, so that mechanical hand runs steady
Fixed.
In above-mentioned mechanical hand, described support member one is set on support, and described support has threaded portion, institute
That states support member one is respectively provided on two sides with adapter sleeve one and adapter sleeve two, described adapter sleeve one and adapter sleeve two screw thread even up and down
It is connected on the threaded portion of support.
When needing the position regulating support member one, the axis direction of threaded portion on support, regulate adapter sleeve one He
The position of adapter sleeve two, thus the position of the support member one that regulation is between adapter sleeve one and adapter sleeve two.
In above-mentioned mechanical hand, described support member one is set on support, and the both sides up and down of described support member one are divided
It is not provided with adapter sleeve one and adapter sleeve two, adapter sleeve one and adapter sleeve two sidepiece and is equipped with bolt, described adapter sleeve one and connection
Set two is all fixed on support by bolt is sheathed.
In like manner, when needing the position regulating support member one, the direction along support regulates adapter sleeve one and adapter sleeve two
Position, thus the position of regulation support member one between adapter sleeve one and adapter sleeve two.
In above-mentioned mechanical hand, described Magnet two is fixed on support；Or described Magnet two is fixed on mounting seat
On.
In both schemes, Hall element two plays the effect of sensing working shaft position the most in the robot.
According to the purpose of the present invention, the present invention additionally proposes a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand, including forearm, described forearm is provided with the working shaft being vertically arranged, it is characterised in that machinery handbag
Include Magnet five ringwise that is fixing and that be set on working shaft, described mechanical hand also include corresponding with Magnet five and relative to
The Hall element one that forearm is fixedly installed.
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 course of action, 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, also include that the support being vertically arranged on forearm, described Hall element one are fixed
On support.
Support serves supporting role to Hall element one, makes Hall element arrange structure more stable.
In above-mentioned mechanical hand, 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, 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, described Hall element one and Hall element two are 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,
Connector 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 working shaft stroke upper end.
Hall element one is positioned at the sidepiece of connector 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 working shaft stroke lower end.
Hall element two is positioned at the sidepiece of connector 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 this mechanical hand, owing to being provided with Magnet one or the Magnet five of Hall element one and corresponding setting, make
Obtain mechanical hand stable.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of mechanical hand；
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 the structural representation of a kind of embodiment of mechanical hand；
Fig. 5 is the structural representation of a kind of embodiment of mechanical hand；
Fig. 6 is the structural representation of a kind of embodiment of mechanical hand；
Fig. 7 is the structural representation of a kind of embodiment of mechanical hand；
Fig. 8 is the structural representation of a kind of embodiment of mechanical hand；
Fig. 9 is the structural representation of a kind of embodiment of mechanical hand；
Figure 10 is the structural representation 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；6, install
Seat；7, support；7a, tube；7b, threaded portion；8, Hall element one；9, Magnet one；10, Hall element two；11, Magnet
Two；12, support member one；13, adapter sleeve one；14, adapter sleeve two；15, nut；16, support member two；17, adapter sleeve three；18, even
Female connector four；19, support member three；20, Magnet five；21, Hall element three；22, Hall element four；23, Magnet three；24, magnetic
Ferrum four.
Detailed description of the invention
Embodiment one
As it is shown in figure 1, mechanical hand includes base 1 and the forearm 2 being connected with base 1.Concrete, base 1 includes fixing seat
1a and large arm 1b, forearm 2 is connected in large arm 1b.In mechanical hand running, large arm 1b is rotatable relative to fixing seat 1a
Arranging, 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,
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 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
Being correspondingly provided with a nut 15, connector 5 is fixed on nut 15, when screw mandrel 3 rotates, drives nut 15 to move up and down, from
And drive working shaft 4 to move up and down by connector 5.The another kind of replacement scheme arranged as screw mandrel 3, screw mandrel 3 axial restraint
On connector 5, nut 15 rotates, and drives screw mandrel 3 to move up and down, thus drives working shaft 4 to move up and down by connector 5.
It is additionally provided with mounting seat 6 on forearm 2, mounting seat 6 is fixed with and be arranged in parallel with working shaft 4 and in shaft-like support
7, concrete, 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 flat
Face so that working shaft 4, support 7 and screw mandrel 3 weight in the robot is distributed the most evenly and symmetrically, so that mechanical hand
Stable.Support 7 is between working shaft 4 and screw mandrel 3, and support 7 passes connector through the upper end of connector 5 and support 7
5。
Owing to 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 mechanical hand is the compactest.It addition, support 7 is through connector 5 and support 7
Upper end pass connector 5 so that the setting of support 7, for connector 5 structural strength affect less；It addition, connector 5
Also support 7 is played certain position-limiting action, facilitate the installation of support 7.
Mechanical hand includes that support member 1, Hall element 1 are connected on support member 1, and support member 1 is along support
7 lengthwise location are adjustable to be fixed on support 7.In the present embodiment, support member 1 is circuit board, Hall element one
Fix on the board.
It is arranged on adjustable for Hall element 1 position on support 7 so that the setting of Hall element 1 is the cleverest
Live, the position of Hall element 1 can be regulated as required.It addition, for the support member 1 carrying Hall element 1
Regulation direction is along support 7 length direction so that during support member 1 position adjustments, Hall element 1 is in level
Position on direction is the most stable, it is ensured that after support member 1 position adjustments, Hall element 1 remains able to relatively
For readily sensing Magnet 1, so that mechanical hand is stable.
A kind of scheme being arranged on support 7 as support member about one 12 scalable, as in figure 2 it is shown, support member 1
Be set on support 7, support 7 have threaded portion 7b, support member 1 be 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 needs regulate support member one
12 position time, the direction of screw thread on support 7, regulation the adapter sleeve 1 and position of adapter sleeve 2 14, thus regulate position
The position of the support member 1 between adapter sleeve 1 and adapter sleeve 2 14.
The another kind of scheme being arranged on support 7 as support member about one 12 scalable, support member 1 is set in and props up
On frame 7, support member 1 be 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 all fixed on support 7 by bolt is sheathed.In like manner, when needing the position regulating support member 1, along the side of support 7
To regulation adapter sleeve 1 and the position of adapter sleeve 2 14, thus regulation propping up between adapter sleeve 1 and adapter sleeve 2 14
The position of support member 1.
Mechanical hand 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.Concrete, Magnet 1 built-in connector 5.?
In the present embodiment, Hall element 1 is positioned at the upper end of support 7, and Hall element 1 connects live wire, and electric wire is along propping up
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.
Needing electric wire owing to the signal of Hall element 1 transmits, in this mechanical hand, support 7 is for as electric wire
Carrier so that arranging of electric wire is more stable.
Concrete, 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 as the carrier of electric wire, it is also possible to play a protective role electric wire.Replace as another kind
For scheme, the outside of support 7 has wire casing, and electric wire passes wire casing, and this scheme also is able to play a protective role electric wire.
Being additionally provided with support member 2 16 on support 7, the mode that support member 2 16 is arranged on support 7 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 this electricity
On the plate of road.
As it is shown on figure 3, support member 2 16 is set in the lower end of support 7, the lower end of support 7 has lower threaded portion,
Support member 2 16 be respectively provided on two sides with adapter sleeve 3 17 and adapter sleeve 4 18, adapter sleeve 3 17 and the equal screw thread of adapter sleeve 4 18 up and down
It is connected on the lower threaded portion of support 7 lower end.In like manner, it is arranged on support 7 as support member about 2 16 scalable
Kind of scheme, support member 2 16 is set on support 7, support member 2 16 be 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 all fixed on support 7 by bolt is sheathed.
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 corresponding Magnet 1 of Hall element 1 is arranged, and the corresponding Magnet 2 11 of Hall element 2 10 is arranged so that Hall
It is the most flexible that sensor 1, Hall element 2 10, Magnet 1 and Magnet 2 11 arrange position.Concrete, 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 positioned at the upper end of connector 5 stroke, and Hall element 2 10 is positioned at
The lower end of connector 5 stroke.
In this structure, be can determine that working shaft 4 current location, Hall element 1 when Hall element 1 senses
Receive signal can be used for working shaft 4 position is calibrated or to working shaft 4 continue to move up carry out spacing, it is ensured that work
Make axle 4 to move not overtravel, ensure that mechanical hand is stable；Equally, Hall element 2 10 reception signal can be used for work
Axle 4 position carry out calibrating or to working shaft 4 continue to move down carry out spacing.
During mechanical hand runs, screw mandrel 3 action, the connector 5 that band is automatically connected on screw mandrel 3 moves up and down, from
And make connector 5 drive working shaft 4 to move up and down, complete the action request of mechanical hand.Owing to being provided with suddenly in this mechanical hand
That sensor 1 and the Magnet 1 being correspondingly arranged with Hall element 1, when driving hall sensing in connector 5 moving process
Device 1 is near Magnet 1 and when sensing, mechanical hand obtains the position that working shaft 4 is current.The acquisition of working shaft 4 current location
Can be used for the stroke of working shaft 4 is calibrated it can also be used to the movement to working shaft 4 is spacing, say, that when working shaft 4
When moving to the position that Hall element 1 senses Magnet 1, mechanical hand obtains signal, controls working shaft 4 and stops mobile,
Therefore so that mechanical hand is stable.Further, since be provided with the support 7 for arranging Hall element 1, can be according to need
The position of Hall element 1 to be arranged so that the setting of Hall element 1 is the most flexible.
As the present embodiment another kind scheme, support member one is additionally provided with Hall element three, connector be provided with suddenly
The Magnet three that your sensor three is correspondingly arranged；Being additionally provided with Hall element four on support member two, connector is provided with and passes with Hall
The Magnet four that sensor four is correspondingly arranged.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as it is shown in figure 5, Hall
Sensor 2 10 is correspondingly arranged with Magnet 1.In this programme, Hall element 1 and Hall element 2 10 are all and Magnet
One 9 are correspondingly arranged, and two Hall elements share a Magnet 1, and its structure is relatively simple.Concrete, Magnet about one 9 passes through
Wear and be arranged on connector 5.When Hall element 1 and Hall element 2 10 are respectively induced Magnet 1, obtain one respectively
Individual working shaft 4 current location.In like manner, the acquisition of working shaft 4 current location can be used for calibration or spacing.
Embodiment three
The present embodiment is roughly the same with embodiment two, and different places is, in the present embodiment, as it is shown in figure 9, support
7 outsides being positioned at connector 5.In the present embodiment, Magnet 1 is positioned at connector 5 sidepiece, is positioned at the hall sensing on support 7
Device 1 and Hall element 2 10 are positioned at the sidepiece of connector 5.Hall sensing is moved to when connector 5 moves band moving magnet 1
During device one 8 sidepiece, Hall element 1 senses Magnet 1；And move to Hall biography when connector 5 moves band moving magnet 1
During sensor 2 10 sidepiece, Hall element 2 10 senses Magnet 1.
Embodiment four
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in Figure 6, installs
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, and different places is, in the present embodiment, as it is shown in fig. 7, Hall
Sensor 1 and Hall element 2 10 are separately positioned on the upper and lower sides of connector 5, Magnet 1 and Magnet 2 11 and are arranged at
On support 7, and Magnet 1 is positioned at the upside of Hall element 1, and Magnet 2 11 is positioned at the downside of Hall element 2 10.
Embodiment six
The present embodiment is roughly the same with embodiment five, and different places is, in the present embodiment, as shown in Figure 10,
Frame 7 is positioned 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 all correspondingly arranged with Magnet 1, Magnet 2 11；In other words, move when connector 5
When driving Hall element 1 to move to Magnet one 9 sidepiece, Hall element 1 senses Magnet 1；And when connector 5 moves
When dynamic drive Hall element 1 moves to Magnet 2 11 sidepiece, Hall element 1 senses Magnet 2 11.In this enforcement
In example, the corresponding Magnet 1 of Hall element 1 and Magnet 2 11 so that the structure of mechanical hand is relatively simple.
Embodiment seven
As shown in Figure 8, mechanical hand, 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 is that the meaning of spline screw structure is, the lateral surface of working shaft 4 has spline lines and screw mandrel simultaneously
Lines so that working shaft 4 can rotate around own axes under the effect of other mechanism, also can vertically move up and down.Working shaft 4
For spline screw 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.Mechanical hand also includes and Magnet
5 20 Hall elements that are corresponding and that be 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 arrange structure
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 in order to determine working shaft 4.Working shaft 4 current location is really
Fixed, may be used to the position of working shaft 4 is calibrated, make mechanical hand run the most accurate；The determination of working shaft 4 current location,
Can also be used for carrying out spacing to the position of working shaft 4, make mechanical hand run safer.
Hall element 1 is positioned at the sidepiece of working shaft 4 stroke upper end, and Hall element 2 10 is positioned at working shaft 4 row
The sidepiece of journey lower end.Hall element 1 is positioned at the sidepiece of connector 5 stroke upper end, when working shaft 4 is moved upwards up to row
Journey end, Hall element 1 senses Magnet 5 20, may be configured as mechanical hand and calibrates the position of working shaft 4.One
As, the workpiece that working shaft 4 is pointed to below forearm is processed, and when this position correction, the space below forearm is relatively
Greatly so that the interference that calibration is caused by the workpiece below forearm is less so that the convenient calibration of mechanical hand.Hall element 2 10
In the sidepiece of connector 5 stroke lower end, when working shaft 4 is moved down at end of travel, and 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 of end on working shaft 4 not
Just, or having other reason, this structure just makes mechanical hand conveniently calibrate the position of working shaft 4.
In mechanical hand running, working shaft 4 rotates as required and moves up and down.Magnet 5 20 is set to annular,
Make working shaft 4 in course of action, it is also possible to be sensed by Hall element.In like manner, Magnet 5 20 is set in the robot
And Hall element so that mechanical hand runs relatively stable safety.
Claims (10)
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, is provided with connector (5), described working shaft (4) company of being axially fixed between working shaft (4) and screw mandrel (3)
On fitting (5), described connector (5) is connected on screw mandrel (3) and connector (5) can be started building by band under the drive of screw mandrel (3)
Make axle (4) to move axially along working shaft (4), it is characterised in that described forearm (2) is provided with mounting seat (6), described mounting seat
(6) being fixed with support (7) on, described support (7) is provided with Hall element one (8)；Mechanical hand also includes and hall sensing
The Magnet one (9) that device one (8) is correspondingly arranged, described Magnet one (9) is fixedly installed relative to connector (5).
Mechanical hand the most according to claim 1, it is characterised in that described Hall element one (8) is positioned at connector (5)
The upper end of stroke.
Mechanical hand the most according to claim 1 and 2, it is characterised in that described Hall element one (8) is positioned at support
(7) upper end, described Hall element one (8) connects live wire, and described electric wire is arranged along support (7).
Mechanical hand the most according to claim 3, it is characterised in that there is on described support (7) tube (7a), described
Electric wire is through the tube (7a) of support (7)；Or the outside of described support (7) has wire casing, described electric wire passes wire casing.
Mechanical hand the most 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) is correspondingly arranged with Magnet one (9).
Mechanical hand the most 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
Ferrum two (11) is correspondingly arranged.
Mechanical hand the most according to claim 1, it is characterised in that described Hall element one (8) is positioned at connector (5)
The upper end of stroke, described Hall element two (10) is positioned at the lower end of connector (5) stroke.
8. according to the mechanical hand described in claim 1 or 2 or 7, it is characterised in that described support (7) is in shaft-like and vertically set
Putting, the axis of described working shaft (4), support (7) and screw mandrel (3) is generally in same plane.
9. according to the mechanical hand described in claim 1 or 2 or 7, it is characterised in that described support (7) be positioned at working shaft (4) and
Between screw mandrel (3), described support (7) passes connector (5) through the upper end of connector (5) and support (7).
10., according to the mechanical hand described in claim 1 or 2 or 7, it is characterised in that include support member one (12), described Hall passes
Sensor one (8) is connected on support member one (12), and described support member one (12) is adjustable fixing along support (7) lengthwise location
On support (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610767321.3A CN106181972A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610767321.3A CN106181972A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106181972A true CN106181972A (en) | 2016-12-07 |
Family
ID=58089177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610767321.3A Pending CN106181972A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181972A (en) |
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| CN205009259U (en) * | 2015-08-27 | 2016-02-03 | 李有明 | Screw drive's spraying manipulator's stand mechanism adopts |
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|---|---|---|---|---|
| US5162713A (en) * | 1989-10-20 | 1992-11-10 | Hitachi, Ltd. | Structural error correction method for SCARA robot |
| KR100230604B1 (en) * | 1997-05-21 | 1999-11-15 | 김종국 | Scara robot system |
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| EP2551068A1 (en) * | 2011-07-25 | 2013-01-30 | Yamaha Hatsudoki Kabushiki Kaisha | SCARA robot with a hollow spindle which moves vertically |
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Application publication date: 20161207 |
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