CN110900574A - Intelligent limiting mechanical arm - Google Patents
Intelligent limiting mechanical arm Download PDFInfo
- Publication number
- CN110900574A CN110900574A CN201911236101.8A CN201911236101A CN110900574A CN 110900574 A CN110900574 A CN 110900574A CN 201911236101 A CN201911236101 A CN 201911236101A CN 110900574 A CN110900574 A CN 110900574A
- Authority
- CN
- China
- Prior art keywords
- limiting
- arm
- manipulator
- large arm
- screw rod
- 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
Links
Images
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention relates to a manipulator, in particular to an intelligent limiting manipulator. The invention comprises a base, a large arm, a small arm, a screw rod, a vertical shaft, a clamp, a nut, a fixing piece, a connecting piece and a limiting piece, wherein the large arm and the small arm are horizontally arranged, one end of the large arm is rotatably connected to the base, the other end of the large arm is connected with the small arm, the small arm is connected with the screw rod and the vertical shaft positioned on one side of the screw rod, the lowest end of the vertical shaft is connected with the clamp, the screw rod and the vertical shaft are both vertically arranged, the screw rod is sleeved with the nut, the vertical shaft is connected with the fixing piece, the connecting piece is connected between the nut and the fixing piece, and the limiting. The invention can provide an intelligent limiting manipulator which is provided with a position-adjustable limiting piece to partially limit the stroke of the manipulator and prevent the manipulator from over-stroke operation, thereby improving the safety factor of the manipulator in use.
Description
Technical Field
The invention relates to a manipulator, in particular to an intelligent limiting manipulator.
Background
The manipulator is a device simulating the functions of a human hand and an arm and grabbing and carrying objects or operating tools according to a fixed program, and the existing manipulator is widely applied to the industries of mechanical manufacturing, electronics and the like due to high-strength working capacity and high-efficiency working efficiency. The manipulator often appears the precision reduction problem after using a period, if not in time debug, the condition of overtravel will appear for the manipulator contacts with the object outside the stroke, thereby takes place accident such as industrial injury.
Disclosure of Invention
The invention aims to provide an intelligent limiting manipulator which is provided with a position-adjustable limiting piece to partially limit the stroke of the manipulator and prevent the manipulator from over-stroke operation, so that the safety factor of the manipulator is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent limiting manipulator comprises a base, a large arm, a small arm, a lead screw, a vertical shaft, a clamp, a nut, a fixing part, a connecting part and a limiting part, wherein the large arm and the small arm are horizontally arranged, one end of the large arm is rotatably connected onto the base, the other end of the large arm is connected with the small arm, the small arm is connected with the lead screw and the vertical shaft positioned on one side of the lead screw, the lowest end of the vertical shaft is connected with the clamp, the lead screw and the vertical shaft are both vertically arranged, the lead screw is sleeved with the nut, the vertical shaft is connected with the fixing part, the connecting part is connected between the nut and the fixing part, the limiting part is arranged on the base and comprises a limiting cylinder, a double-sided rack, a gear and a limiting rod, two gears are rotatably connected onto the base through a rotating shaft, a double-sided rack is arranged between the gears, the two gears are fixedly connected with horizontally arranged limiting rods, and the large arm is located between the two limiting rods.
Aforementioned spacing manipulator of intelligence, the connecting piece is including connecting the A board and connecting the B board, connect the A board and connect between the B board through bolt group fixed connection, the one end of connecting the B board is kept away from to the A board is connected with the nut through the bolt, the one end and the mounting fixed connection of connecting the A board are kept away from to the B board.
According to the intelligent limiting manipulator, the end, away from the gear, of the limiting rod is further provided with the contact element, the large arm is located between the two contact elements, and the soft cushion layer is arranged on one side, facing the large arm, of the contact element.
According to the intelligent limiting manipulator, the limiting rod is provided with the pressure sensor.
In the intelligent limiting manipulator, the soft cushion layer is provided with anti-skid lines.
Compared with the prior art, the invention has the advantages that:
1) according to the intelligent limiting manipulator, the limiting piece capable of adjusting the position is arranged, so that the stroke of the manipulator is partially limited, the manipulator is prevented from running beyond the stroke, and the safety factor of the manipulator is improved;
2) the connecting piece is detachably connected with the plate A and the plate B, so that the mechanical arm is simpler and more convenient to mount and dismount, and the maintenance of the mechanical arm and the maintenance of the precision of the mechanical arm are facilitated;
3) the contact piece and the soft cushion layer are arranged on the limiting rod, so that when the manipulator exceeds the range, the large arm is firstly contacted with the soft cushion layer, the soft cushion layer is made of materials such as soft plastics and rubber, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the range exceeding limit is carried out on the manipulator, the precision of the manipulator is prevented from being further reduced, the anti-skid grains are arranged on the soft cushion layer, the phenomenon that the soft cushion layer is deformed and torn can be reduced, the soft cushion layer is more durable, and the protection effect of soft points on the large arm in the manipulator is ensured;
4) through set up pressure sensor on the gag lever post to make pressure sensor and control system link to each other, make the gag lever post can regard as the spacing and positioning mechanism use of big arm in the manipulator, promptly big arm is through removing the back with the gag lever post contact, pressure sensor feedback signal gives control system, thereby can brake the removal of big arm, and this can be applied to the mobile location and spacing of big arm, thereby make the locate mode of big arm more diversified, needn't keep the precision through frequent debugging.
Drawings
FIG. 1 is a front view of the present invention;
fig. 2 is a top view of the present invention.
The meaning of the reference numerals: 1. a base; 2. a large arm; 3. a small arm; 4. a screw rod; 5. a vertical axis; 6. a clamp; 7. a nut; 8. a fixing member; 9. a connecting member; 10. a limiting member; 11. a limiting cylinder; 12. a double-sided rack; 13. a gear; 14. a limiting rod; 15. connecting the A board; 16. connecting the board B; 17. a contact member; 18. a soft cushion layer; 19. a pressure sensor; 20. anti-skid lines; 21. a first steering engine; 22. a second steering engine; 23. a servo motor.
The invention is further described with reference to the following figures and detailed description.
Detailed Description
Example 1 of the invention: an intelligent limiting manipulator comprises a base 1, a large arm 2, a small arm 3, a screw rod 4, a vertical shaft 5, a clamp 6, a nut 7, a fixing part 8, a connecting part 9 and a limiting part 10, wherein the large arm 2 and the small arm 3 are horizontally arranged, one end of the large arm 2 is rotatably connected onto the base 1, the other end of the large arm 2 is connected with the small arm 3, the small arm 3 is connected with the screw rod 4 and the vertical shaft 5 positioned on one side of the screw rod 4, the lowest end of the vertical shaft 5 is connected with the clamp 6, the screw rod 4 and the vertical shaft 5 are both vertically arranged, the screw rod 4 is sleeved with the nut 7, the vertical shaft 5 is connected with the fixing part 8, the connecting part 9 is connected between the nut 7 and the fixing part 8, the limiting part 10 is arranged on the base 1, and the limiting part 10 comprises a limiting cylinder 11, a double-sided rack 12, a gear 13 and a limiting rod, the base 1 is connected with two gears 13 through the axis of rotation, be provided with two-sided rack 12 between gear 13, the one end of two-sided rack 12 and the output shaft of spacing cylinder 11, fixed connection has the gag lever post 14 of level setting on two gears 13, big arm 2 is located between two gag lever posts 14.
In the intelligent limiting manipulator, a first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
Example 2: an intelligent limiting manipulator comprises a base 1, a large arm 2, a small arm 3, a screw rod 4, a vertical shaft 5, a clamp 6, a nut 7, a fixing part 8, a connecting part 9 and a limiting part 10, wherein the large arm 2 and the small arm 3 are horizontally arranged, one end of the large arm 2 is rotatably connected onto the base 1, the other end of the large arm 2 is connected with the small arm 3, the small arm 3 is connected with the screw rod 4 and the vertical shaft 5 positioned on one side of the screw rod 4, the lowest end of the vertical shaft 5 is connected with the clamp 6, the screw rod 4 and the vertical shaft 5 are both vertically arranged, the screw rod 4 is sleeved with the nut 7, the vertical shaft 5 is connected with the fixing part 8, the connecting part 9 is connected between the nut 7 and the fixing part 8, the limiting part 10 is arranged on the base 1, and the limiting part 10 comprises a limiting cylinder 11, a double-sided rack 12, a gear 13 and a limiting rod, the base 1 is connected with two gears 13 through the axis of rotation, be provided with two-sided rack 12 between gear 13, the one end of two-sided rack 12 and the output shaft of spacing cylinder 11, fixed connection has the gag lever post 14 of level setting on two gears 13, big arm 2 is located between two gag lever posts 14.
In the intelligent limiting manipulator, a first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
Connecting piece 9 is including connecting A board 15 and connecting B board 16, connect between A board 15 and the connection B board 16 through bolt group fixed connection, connect the one end that A board 15 kept away from and connect B board 16 and be connected with nut 7 through the bolt, connect the one end and the mounting 8 fixed connection that A board 15 was kept away from to B board 16, be provided with the through-hole that supplies lead screw 4 to pass on the connection A board 15, be provided with the through-hole that supplies vertical axis 5 to pass on the connection B board 16, through setting up connecting piece 9 to including the detachable form of connecting A board 15 with connection B board 16 for the installation and the dismantlement of manipulator are simpler and convenient, also are favorable to the maintenance of manipulator.
In the intelligent limiting manipulator, one end of the limiting rod 14 far away from the gear 13 is also provided with a contact piece 17, the big arm 2 is positioned between two contact pieces 17, one side of the contact piece 17 facing the big arm 2 is provided with a soft cushion layer 18, the soft cushion layer 18 is provided with anti-skid grains 20, by arranging the contact piece 17 and the soft cushion layer 18 on the limiting rod 14, when the manipulator exceeds the stroke, the big arm 2 contacts with the soft cushion layer 18 firstly, the soft cushion layer 18 is made of soft plastics, rubber and other materials, thereby avoiding the damage of rigid contact or collision to the manipulator, protecting the manipulator while performing over travel limit on the manipulator and avoiding the further reduction of the precision of the manipulator, and by arranging the anti-skid grains 20 on the soft cushion layer 18, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced, so that the soft cushion layer 18 is more durable, and the protection effect of the soft point on the large arm 2 in the mechanical arm is ensured.
Example 3: an intelligent limiting manipulator comprises a base 1, a large arm 2, a small arm 3, a screw rod 4, a vertical shaft 5, a clamp 6, a nut 7, a fixing part 8, a connecting part 9 and a limiting part 10, wherein the large arm 2 and the small arm 3 are horizontally arranged, one end of the large arm 2 is rotatably connected onto the base 1, the other end of the large arm 2 is connected with the small arm 3, the small arm 3 is connected with the screw rod 4 and the vertical shaft 5 positioned on one side of the screw rod 4, the lowest end of the vertical shaft 5 is connected with the clamp 6, the screw rod 4 and the vertical shaft 5 are both vertically arranged, the screw rod 4 is sleeved with the nut 7, the vertical shaft 5 is connected with the fixing part 8, the connecting part 9 is connected between the nut 7 and the fixing part 8, the limiting part 10 is arranged on the base 1, and the limiting part 10 comprises a limiting cylinder 11, a double-sided rack 12, a gear 13 and a limiting rod, the base 1 is connected with two gears 13 through the axis of rotation, be provided with two-sided rack 12 between gear 13, the one end of two-sided rack 12 and the output shaft of spacing cylinder 11, fixed connection has the gag lever post 14 of level setting on two gears 13, big arm 2 is located between two gag lever posts 14.
In the intelligent limiting manipulator, a first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
The limiting rod 14 is provided with the pressure sensor 19, the pressure sensor 19 is arranged on the limiting rod 14, and the pressure sensor 19 is connected with the control system, so that the limiting rod 14 can be used as a limiting and positioning mechanism of the large arm 2 in the manipulator, namely, after the large arm 2 is moved to be in contact with the limiting rod 14, the pressure sensor 19 feeds back a signal to the control system, so that the movement of the large arm 2 can be braked, the limiting and positioning mechanism can be applied to the moving positioning and limiting of the large arm 2, the positioning mode of the large arm 2 is diversified, and the precision is not required to be maintained through frequent debugging.
Example 4: an intelligent limiting manipulator is shown in figures 1 and 2 and comprises a base 1, a large arm 2, a small arm 3, a screw rod 4, a vertical shaft 5, a clamp 6, a nut 7, a fixing part 8, a connecting part 9 and a limiting part 10, wherein the large arm 2 and the small arm 3 are horizontally arranged, one end of the large arm 2 is rotatably connected onto the base 1, the other end of the large arm 2 is connected with the small arm 3, the small arm 3 is connected with the screw rod 4 and the vertical shaft 5 positioned on one side of the screw rod 4, the lowest end of the vertical shaft 5 is connected with the clamp 6, the clamp 6 can use a multi-finger chuck driven by an air cylinder, an electromagnet and a sucking disc with negative pressure, the screw rod 4 and the vertical shaft 5 are both vertically arranged, the screw rod 4 is sleeved with the nut 7, the vertical shaft 5 is connected with the fixing part 8, the connecting part 9 is connected between the nut 7 and the fixing part 8, the limiting part 10 is, the locating part 10 includes spacing cylinder 11, two-sided rack 12, gear 13 and gag lever post 14, it is connected with two gears 13 to rotate through the axis of rotation on the base 1, be provided with two-sided rack 12 between the gear 13, the one end of two-sided rack 12 and the output shaft of spacing cylinder 11, the gag lever post 14 that the level set up is connected with to fixed connection on two gears 13, big arm 2 is located between two gag lever posts 14.
In the intelligent limiting manipulator, a first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
Connecting piece 9 is including connecting A board 15 and connecting B board 16, connect between A board 15 and the connection B board 16 through bolt group fixed connection, connect the one end that A board 15 kept away from and connect B board 16 and be connected with nut 7 through the bolt, connect the one end and the mounting 8 fixed connection that A board 15 was kept away from to B board 16, be provided with the through-hole that supplies lead screw 4 to pass on the connection A board 15, be provided with the through-hole that supplies vertical axis 5 to pass on the connection B board 16, through setting up connecting piece 9 to including the detachable form of connecting A board 15 with connection B board 16 for the installation and the dismantlement of manipulator are simpler and convenient, also are favorable to the maintenance of manipulator.
In the intelligent limiting manipulator, one end of the limiting rod 14 far away from the gear 13 is also provided with a contact piece 17, the big arm 2 is positioned between two contact pieces 17, one side of the contact piece 17 facing the big arm 2 is provided with a soft cushion layer 18, the soft cushion layer 18 is provided with anti-skid grains 20, by arranging the contact piece 17 and the soft cushion layer 18 on the limiting rod 14, when the manipulator exceeds the stroke, the big arm 2 contacts with the soft cushion layer 18 firstly, the soft cushion layer 18 is made of soft plastics, rubber and other materials, thereby avoiding the damage of rigid contact or collision to the manipulator, protecting the manipulator while performing over travel limit on the manipulator and avoiding the further reduction of the precision of the manipulator, and by arranging the anti-skid grains 20 on the soft cushion layer 18, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced, so that the soft cushion layer 18 is more durable, and the protection effect of the soft point on the large arm 2 in the mechanical arm is ensured.
The limiting rod 14 is provided with the pressure sensor 19, the pressure sensor 19 is arranged on the limiting rod 14, and the pressure sensor 19 is connected with the control system, so that the limiting rod 14 can be used as a limiting and positioning mechanism of the large arm 2 in the manipulator, namely, after the large arm 2 is moved to be in contact with the limiting rod 14, the pressure sensor 19 feeds back a signal to the control system, so that the movement of the large arm 2 can be braked, the limiting and positioning mechanism can be applied to the moving positioning and limiting of the large arm 2, the positioning mode of the large arm 2 is diversified, and the precision is not required to be maintained through frequent debugging.
The intelligent limiting manipulator further comprises a control system, the control system comprises a control module, a display module, an operation module and various sensors, the control module is in signal connection with a pressure sensor 19, a servo motor 23, a first steering engine 21, a second steering engine 22, a limiting cylinder 11, the display module, the operation module and other various sensors, and the control module can select processors of different types according to motion complexity and comprises a single chip microcomputer, a PLC, a dragon core and the like.
The working principle of the invention is as follows:
the intelligent limiting manipulator is organically assembled by the base 1, the large arm 2, the small arm 3, the screw rod 4, the vertical shaft 5, the clamp 6, the nut 7, the fixing piece 8, the connecting piece 9, the limiting piece 10 and the like, so that the intelligent limiting manipulator is provided, the limiting piece 10 with an adjustable position is arranged, the stroke of the manipulator is partially limited, the manipulator is prevented from overtravel operation, and the safety factor of the manipulator is improved. According to the invention, the connecting piece 9 is detachably connected with the plate A15 and the plate B16, so that the manipulator is simpler and more convenient to mount and dismount, and the manipulator is also facilitated to overhaul; the contact piece 17 and the soft cushion layer 18 are arranged on the limiting rod 14, so that when the manipulator exceeds the range, the large arm 2 is firstly contacted with the soft cushion layer 18, the soft cushion layer 18 is made of soft plastics, rubber and other materials, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the manipulator is limited by exceeding the range, the precision of the manipulator is prevented from being further reduced, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced by arranging the anti-skid grains 20 on the soft cushion layer 18, the soft cushion layer 18 is more durable, and the protection effect of soft points on the large arm 2 in the manipulator is ensured; through set up pressure sensor 19 on gag lever post 14 to make pressure sensor 19 link to each other with control system, make gag lever post 14 can regard as the spacing and positioning mechanism use of big arm 2 in the manipulator, promptly big arm 2 is through removing after contacting with gag lever post 14, pressure sensor 19 feedback signal gives control system, thereby can brake the removal of big arm 2, this can be applied to the mobile location and spacing of big arm 2, thereby make the locate mode of big arm 2 more diversified, needn't keep the precision through frequent debugging.
Claims (5)
1. The intelligent limiting manipulator is characterized by comprising a base (1), a large arm (2), a small arm (3), a screw rod (4), a vertical shaft (5), a clamp (6), a nut (7), a fixing part (8), a connecting part (9) and a limiting part (10), wherein the large arm (2) and the small arm (3) are horizontally arranged, one end of the large arm (2) is rotatably connected onto the base (1), the other end of the large arm (2) is connected with the small arm (3), the small arm (3) is connected with the screw rod (4) and the vertical shaft (5) positioned on one side of the screw rod (4), the lowest end of the vertical shaft (5) is connected with the clamp (6), the screw rod (4) and the vertical shaft (5) are both vertically arranged, the screw rod (4) is sleeved with the nut (7), the vertical shaft (5) is connected with the fixing part (8), and the connecting part (9) is connected between the nut (7) and the fixing part (8), the locating part (10) sets up on base (1), locating part (10) are including spacing cylinder (11), two-sided rack (12), gear (13) and gag lever post (14), be connected with two gear (13) through axis of rotation on base (1), be provided with two-sided rack (12) between gear (13), the one end of two-sided rack (12) and the output shaft of spacing cylinder (11), fixed connection has gag lever post (14) that the level set up on two gear (13), big arm (2) are located between two gag lever posts (14).
2. The intelligent limiting manipulator according to claim 1, wherein the connecting piece (9) comprises a connecting A plate (15) and a connecting B plate (16), the connecting A plate (15) and the connecting B plate (16) are fixedly connected through a bolt group, one end of the connecting A plate (15), far away from the connecting B plate (16), is connected with the nut (7) through a bolt, and one end of the connecting B plate (16), far away from the connecting A plate (15), is fixedly connected with the fixing piece (8).
3. The intelligent limiting manipulator according to claim 2, wherein one end of the limiting rod (14) far away from the gear (13) is further provided with a contact piece (17), the large arm (2) is located between the two contact pieces (17), and one side of the contact piece (17) facing the large arm (2) is provided with a soft cushion layer (18).
4. An intelligent limiting manipulator according to claim 1 or 3, wherein a pressure sensor (19) is arranged on the limiting rod (14).
5. The intelligent limiting manipulator according to claim 3, wherein the soft cushion layer (18) is provided with anti-skid lines (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911236101.8A CN110900574A (en) | 2019-12-05 | 2019-12-05 | Intelligent limiting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911236101.8A CN110900574A (en) | 2019-12-05 | 2019-12-05 | Intelligent limiting mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110900574A true CN110900574A (en) | 2020-03-24 |
Family
ID=69822515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911236101.8A Pending CN110900574A (en) | 2019-12-05 | 2019-12-05 | Intelligent limiting mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110900574A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60123906A (en) * | 1983-12-08 | 1985-07-02 | Mitsubishi Electric Corp | Industrial robot controller |
| CN102717390A (en) * | 2011-03-29 | 2012-10-10 | 厦门金鹭特种合金有限公司 | An adjustable manipulator suction nozzle jacket |
| CN203779506U (en) * | 2014-04-03 | 2014-08-20 | 吴秀春 | Sucking disc type manipulator |
| CN204505273U (en) * | 2015-01-15 | 2015-07-29 | 成都金大立科技有限公司 | A kind of for PCB processing and the sucker manipulator of checkout equipment |
| CN105904477A (en) * | 2016-07-04 | 2016-08-31 | 天津蓝新石油化工有限公司 | Double-armed type lubricating oil packaging barrel gripping and sending manipulator |
| CN106272401A (en) * | 2016-08-30 | 2017-01-04 | 浙江琦星电子有限公司 | Mechanical hand, the installation of mechanical hand and method for dismounting |
| CN206534011U (en) * | 2017-02-27 | 2017-10-03 | 广东万士发饼业有限公司 | One kind shovel cake mechanical arm hand rotational structure |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN108436960A (en) * | 2018-05-25 | 2018-08-24 | 浙江力工机械科技有限公司 | A kind of assembling and disassembling manipulator jaw-adjusting rod |
| CN208423174U (en) * | 2018-07-09 | 2019-01-22 | 江苏三和欣创通信科技有限公司 | A kind of antenna surface rotating limit device of Shipborne satellite antenna |
| CN208598517U (en) * | 2017-09-29 | 2019-03-15 | 重庆金山医疗器械有限公司 | The rotary position-limit mechanism of operating robot driving wheel |
| CN208812128U (en) * | 2018-07-10 | 2019-05-03 | 湖南莱塞智能装备有限公司 | A kind of pcb board suction disc manipulator and pcb board handling equipment |
| CN110430975A (en) * | 2017-03-07 | 2019-11-08 | 库卡德国有限公司 | Robots arm with mechanical arresting device |
-
2019
- 2019-12-05 CN CN201911236101.8A patent/CN110900574A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60123906A (en) * | 1983-12-08 | 1985-07-02 | Mitsubishi Electric Corp | Industrial robot controller |
| CN102717390A (en) * | 2011-03-29 | 2012-10-10 | 厦门金鹭特种合金有限公司 | An adjustable manipulator suction nozzle jacket |
| CN203779506U (en) * | 2014-04-03 | 2014-08-20 | 吴秀春 | Sucking disc type manipulator |
| CN204505273U (en) * | 2015-01-15 | 2015-07-29 | 成都金大立科技有限公司 | A kind of for PCB processing and the sucker manipulator of checkout equipment |
| CN105904477A (en) * | 2016-07-04 | 2016-08-31 | 天津蓝新石油化工有限公司 | Double-armed type lubricating oil packaging barrel gripping and sending manipulator |
| CN106272401A (en) * | 2016-08-30 | 2017-01-04 | 浙江琦星电子有限公司 | Mechanical hand, the installation of mechanical hand and method for dismounting |
| CN206534011U (en) * | 2017-02-27 | 2017-10-03 | 广东万士发饼业有限公司 | One kind shovel cake mechanical arm hand rotational structure |
| CN110430975A (en) * | 2017-03-07 | 2019-11-08 | 库卡德国有限公司 | Robots arm with mechanical arresting device |
| CN208598517U (en) * | 2017-09-29 | 2019-03-15 | 重庆金山医疗器械有限公司 | The rotary position-limit mechanism of operating robot driving wheel |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN108436960A (en) * | 2018-05-25 | 2018-08-24 | 浙江力工机械科技有限公司 | A kind of assembling and disassembling manipulator jaw-adjusting rod |
| CN208423174U (en) * | 2018-07-09 | 2019-01-22 | 江苏三和欣创通信科技有限公司 | A kind of antenna surface rotating limit device of Shipborne satellite antenna |
| CN208812128U (en) * | 2018-07-10 | 2019-05-03 | 湖南莱塞智能装备有限公司 | A kind of pcb board suction disc manipulator and pcb board handling equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204700882U (en) | Based on the PCB module gripping inserting apparatus of three-axis moving parametric controller | |
| CN101707181A (en) | Chip pick-and-place control method and device | |
| CN210081283U (en) | Automatic grabbing mechanical arm | |
| CN203816995U (en) | Turnover device | |
| CN110900574A (en) | Intelligent limiting mechanical arm | |
| CN203622435U (en) | Precise single-axis mechanical arm | |
| CN107511844A (en) | A kind of modularization aero tyre grabbing device | |
| CN110900571A (en) | Novel manipulator | |
| CN205129855U (en) | Multifunctional mechanical hand | |
| CN210414578U (en) | Clamping device for wax sheet processing robot | |
| CN106985069A (en) | A kind of automatic replacing grinding head device | |
| CN111656881A (en) | Gripping device and attachment device | |
| CN110900572A (en) | Manipulator capable of carrying special-shaped plate | |
| CN213796545U (en) | Clamping jaw with vision and force feedback control function | |
| CN205629989U (en) | Frock clamp suitable for fixed processing of wide pipeline of multipath | |
| CN210189781U (en) | Vertical floating mechanism of arm | |
| CN203853746U (en) | Automatic assembling machine for transparent cover plate of flat-plate solar collector | |
| CN101653945A (en) | Mechanical arm failure protecting device | |
| CN112372657A (en) | Clamping jaw with vision and force feedback control function | |
| CN206982699U (en) | A kind of microlight-type clamping device | |
| CN205341826U (en) | System shell machine of full angle type | |
| CN220922412U (en) | Robot manipulator with protective structure | |
| CN203779259U (en) | Stereoscopic workbench deburring device of camshaft cleaning machine | |
| CN218639166U (en) | Positioning device of high-precision manipulator clamping mechanism | |
| CN212371664U (en) | Rapid precision clamp for cutting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200324 |
|
| WD01 | Invention patent application deemed withdrawn after publication |