CN1562574A - Pendency type intelligent mechanical arm - Google Patents
Pendency type intelligent mechanical arm Download PDFInfo
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- CN1562574A CN1562574A CN 200410013655 CN200410013655A CN1562574A CN 1562574 A CN1562574 A CN 1562574A CN 200410013655 CN200410013655 CN 200410013655 CN 200410013655 A CN200410013655 A CN 200410013655A CN 1562574 A CN1562574 A CN 1562574A
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Abstract
A suspended intelligent manipulator able to automatically dodge obstacle is composed of hand-held remote controller, RF transceiver, antenna, central controller, horizontal transverse moving unit, horizontal longitudinal moving unit, vertical moving unit, wrist rotating unit, finger controlling unit, weight detector, grasp force detector, and horizontal ultrasonic transceiver.
Description
Technical field:
The present invention relates to the hanging type lifting device, specifically is a kind of hanging type puma manipulator that can dodge barrier automatically.
Background technology:
It is little that existing hanging type manipulator has a volume, do not take ground space, quick action, and flexibly movable, the advantage that the operating space is big can be widely used in many occasions.As carrying in factory building or complicated, the various small article of assembling, in family or ward the old,weak,sick and disabled's service etc. of inconvenient activity.But the manipulator poor stability of high-speed cruising, positioning performance are poor, and big inertia may cause serious injury to personnel in interval, has had a strong impact on the application of hanging type manipulator.
Summary of the invention:
The purpose of this invention is to provide a kind of hanging type puma manipulator.The present invention can solve existing hanging type manipulator tool when high-speed cruising, the problem that its poor stability, positioning performance difference and big inertia cause serious injury to personnel in interval.The present invention is made up of hand-held remote control circuit 1, RF transceiver 2, center control device 3, RF transceiver 4, horizontal cross mobile device 5, the device 6 that horizontally vertically moves, Weight detecting device 7, vertical lift mobile device 8, level tetradirection ultrasonic receiving device 9, wrist tumbler 10, finger coupling or uncoupling means 11, finger grip checkout gear 12; The data I/O of hand-held remote control circuit 1 connects the data input/output terminal of RF transceiver 2, RF transceiver 2 is by antenna 2-1, antenna 4-1 and RF transceiver 4 carry out the wireless data exchange, the data I/O of RF transceiver 4 connects the data input/output terminal of center control device 3, five of center control device 3 drive control end and connect horizontal cross mobile device 5 respectively, device 6 horizontally vertically moves, vertical lift mobile device 8, wrist tumbler 10, the controlled input/output terminal of finger coupling or uncoupling means 11, two signal input parts of center control device 3 connect Weight detecting device 7 respectively, the output of finger grip checkout gear 12, the signal input output end of center control device 3 connects level tetradirection ultrasonic receiving device 9 signal I/Os; The upper surface of horizontal cross mobile device 5 is connected on the ceiling 13, the horizontally vertically move upper surface of device 6 is connected on the lower surface of horizontal cross mobile device 5, the upper surface of Weight detecting device 7 is connected on the lower surface of the device 6 that horizontally vertically moves, the upper surface of vertical lift mobile device 8 is connected on the lower surface of Weight detecting device 7, the upper surface of level tetradirection ultrasonic receiving device 9 is connected on the lower surface of vertical lift mobile device 8, the upper surface of wrist tumbler 10 is connected on the lower surface of level tetradirection ultrasonic receiving device 9, the upper surface of finger coupling or uncoupling means 11 is connected on the lower surface of wrist tumbler 10, and a working face of two finger grip checkout gears 12 is connected to the end face 11-1 of finger coupling or uncoupling means 11, on the end face 11-2.The present invention has on a large scale, the characteristics of high-speed motion; can arrive fast service area, can hi-Fix, can be to the detection of being grabbed weight of object, can grab the grip that object applies to quilt and can adjust automatically, can hide the barrier on the running route, simultaneously the working site personnel are played the effect of safeguard protection.
Description of drawings:
Fig. 1 is an integrated circuit control system structural representation of the present invention, and Fig. 2 is an integral mechanical structure schematic diagram of the present invention, and Fig. 3 is the electrical block diagram of hand-held remote control circuit 1, and Fig. 4 is the electrical block diagram of center control device 3.
The specific embodiment:
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 present embodiment is described, present embodiment is made up of hand-held remote control circuit 1, RF transceiver 2, center control device 3, RF transceiver 4, horizontal cross mobile device 5, the device 6 that horizontally vertically moves, Weight detecting device 7, vertical lift mobile device 8, level tetradirection ultrasonic receiving device 9, wrist tumbler 10, finger coupling or uncoupling means 11, finger grip checkout gear 12; The data I/O of hand-held remote control circuit 1 connects the data input/output terminal of RF transceiver 2, RF transceiver 2 is by antenna 2-1, antenna 4-1 and RF transceiver 4 carry out the wireless data exchange, the data I/O of RF transceiver 4 connects the data input/output terminal of center control device 3, five of center control device 3 drive control end and connect horizontal cross mobile device 5 respectively, device 6 horizontally vertically moves, vertical lift mobile device 8, wrist tumbler 10, the controlled input/output terminal of finger coupling or uncoupling means 11, two signal input parts of center control device 3 connect Weight detecting device 7 respectively, the output of finger grip checkout gear 12, the signal input output end of center control device 3 connects level tetradirection ultrasonic receiving device 9 signal I/Os; The upper surface of horizontal cross mobile device 5 is connected on the ceiling 13, the horizontally vertically move upper surface of device 6 is connected on the lower surface of horizontal cross mobile device 5, the upper surface of Weight detecting device 7 is connected on the lower surface of the device 6 that horizontally vertically moves, the upper surface of vertical lift mobile device 8 is connected on the lower surface of Weight detecting device 7, the upper surface of level tetradirection ultrasonic receiving device 9 is connected on the lower surface of vertical lift mobile device 8, the upper surface of wrist tumbler 10 is connected on the lower surface of level tetradirection ultrasonic receiving device 9, the upper surface of finger coupling or uncoupling means 11 is connected on the lower surface of wrist tumbler 10, and a working face of two finger grip checkout gears 12 is connected to the end face 11-1 of finger coupling or uncoupling means 11, on the end face 11-2; Described hand-held remote control circuit 1 is made up of single-chip microcomputer 1-1, LED display lamp circuit 1-2, keyboard circuit 1-3; The demonstration output of single-chip microcomputer 1-1 connects the controlled input end of LED display lamp circuit 1-2, and the output of keyboard circuit 1-3 connects the input of single-chip microcomputer 1-1, and the data I/O of single-chip microcomputer 1-1 connects the data input/output terminal of RF transceiver 2; Center control device 3 is made up of master controller 3-1, driver 3-2, driver 3-3, weight signal converter 3-4, driver 3-5, shaping amplifier 3-6, driver 3-7, driver 3-8, finger grip signal adapter 3-9, audible-visual annunciator 3-10; Five driving data I/Os of master controller 3-1 connect driver 3-2 respectively, driver 3-3, driver 3-5, driver 3-7, the data input/output terminal of driver 3-8, two data-signal inputs of master controller 3-1 connect weight signal converter 3-4 respectively, the data output end of finger grip signal adapter 3-9, the data-signal I/O of master controller 3-1 connects the data-signal input/output terminal of shaping amplifier 3-6, the data output end of master controller 3-1 connects the data input pin of audible-visual annunciator 3-10, and the data I/O of master controller 3-1 connects the data I/O of RF transceiver 4.Operation principle: when operation, the three-dimensional motion instruction of manipulator, the wrist movement instruction of manipulator and deciliter instruction of manipulator are by keyboard circuit 1-3, single-chip microcomputer 1-1, RF transceiver 2, RF transceiver 4 is input in the center control device 3, center control device 3 is by Weight detecting device 7, the ultrasonic R-T unit 9 of level tetradirection, the data message that finger grip checkout gear 12 is accepted judges whether to accept above-mentioned various operating instructions, and by RF transceiver 4, RF transceiver 2, single-chip microcomputer 1-1 shows corresponding data information on LED display lamp circuit 1-2.RF transceiver 2, the model that RF transceiver 4 is selected for use is a F05c/J05c radio-frequency transmissions receiver module, the model that Weight detecting device 7 is selected for use is an AF2 type semi-conductor type foil gauge, the model that level tetradirection ultrasonic receiving device 9 is selected for use is the T40/R40 ultrasonic transceiver, the model that finger grip checkout gear 12 is selected for use is an AF2 type semi-conductor type foil gauge, the model that single-chip microcomputer 1-1 selects for use is EM78P54, the model that master controller 3-1 selects for use is the Atmega128 controller, driver 3-2, driver 3-3, the model that driver 3-5 selects for use is TLD132 entirely, the model that weight signal converter 3-4 selects for use is INA128, the model that shaping amplifier 3-6 selects for use is MC34082, driver 3-7, the model that driver 3-8 selects for use is Hms501J, the model that finger grip signal adapter 3-9 selects for use is INA128, horizontal cross mobile device 5, device 6 horizontally vertically moves, the model that AC servo motor in the vertical lift mobile device 8 is selected for use is DSM4, wrist tumbler 10, the model that AC servo motor in the finger coupling or uncoupling means 11 is selected for use is J90LYX01.
Claims (3)
1, hanging type puma manipulator is characterized in that it is made up of hand-held remote control circuit (1), RF transceiver (2), center control device (3), RF transceiver (4), horizontal cross mobile device (5), the device that horizontally vertically moves (6), Weight detecting device (7), vertical lift mobile device (8), level tetradirection ultrasonic receiving device (9), wrist tumbler (10), finger coupling or uncoupling means (11), finger grip checkout gear (12); The data I/O of hand-held remote control circuit (1) connects the data input/output terminal of RF transceiver (2), RF transceiver (2) is by antenna (2-1), antenna (4-1) carries out the wireless data exchange with RF transceiver (4), the data I/O of RF transceiver (4) connects the data input/output terminal of center control device (3), five of center control device (3) drive control end and connect horizontal cross mobile device (5) respectively, device (6) horizontally vertically moves, vertical lift mobile device (8), wrist tumbler (10), the controlled input/output terminal of finger coupling or uncoupling means (11), two signal input parts of center control device (3) connect Weight detecting device (7) respectively, the output of finger grip checkout gear (12), the signal input output end of center control device (3) connects level tetradirection ultrasonic receiving device (9) signal I/O; The upper surface of horizontal cross mobile device (5) is connected on the ceiling (13), the horizontally vertically move upper surface of device (6) is connected on the lower surface of horizontal cross mobile device (5), the upper surface of Weight detecting device (7) is connected on the lower surface of the device that horizontally vertically moves (6), the upper surface of vertical lift mobile device (8) is connected on the lower surface of Weight detecting device (7), the upper surface of level tetradirection ultrasonic receiving device (9) is connected on the lower surface of vertical lift mobile device (8), the upper surface of wrist tumbler (10) is connected on the lower surface of level tetradirection ultrasonic receiving device (9), the upper surface of finger coupling or uncoupling means (11) is connected on the lower surface of wrist tumbler (10), and a working face of two finger grip checkout gears (12) is connected to the end face (11-1) of finger coupling or uncoupling means (11), on the end face (11-2).
2, hanging type puma manipulator according to claim 1 is characterized in that hand-held remote control circuit (1) is made up of single-chip microcomputer (1-1), LED display lamp circuit (1-2), keyboard circuit (1-3); The demonstration output of single-chip microcomputer (1-1) connects the controlled input end of LED display lamp circuit (1-2), the output of keyboard circuit (1-3) connects the input of single-chip microcomputer (1-1), and the data I/O of single-chip microcomputer (1-1) connects the data input/output terminal of RF transceiver (2).
3, hanging type puma manipulator according to claim 1 is characterized in that center control device (3) is made up of master controller (3-1), driver (3-2), driver (3-3), weight signal converter (3-4), driver (3-5), shaping amplifier (3-6), driver (3-7), driver (3-8), finger grip signal adapter (3-9), audible-visual annunciator (3-10); Five driving data I/Os of master controller (3-1) connect driver (3-2) respectively, driver (3-3), driver (3-5), driver (3-7), the data input/output terminal of driver (3-8), two data-signal inputs of master controller (3-1) connect weight signal converter (3-4) respectively, the data output end of finger grip signal adapter (3-9), the data-signal I/O of master controller (3-1) connects the data-signal input/output terminal of shaping amplifier (3-6), the data output end of master controller (3-1) connects the data input pin of audible-visual annunciator (3-10), and the data I/O of master controller (3-1) connects the data I/O of RF transceiver (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410013655 CN1281384C (en) | 2004-03-31 | 2004-03-31 | Pendency type intelligent mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410013655 CN1281384C (en) | 2004-03-31 | 2004-03-31 | Pendency type intelligent mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1562574A true CN1562574A (en) | 2005-01-12 |
| CN1281384C CN1281384C (en) | 2006-10-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410013655 Expired - Fee Related CN1281384C (en) | 2004-03-31 | 2004-03-31 | Pendency type intelligent mechanical arm |
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| Country | Link |
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| CN (1) | CN1281384C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009030108A1 (en) * | 2007-08-27 | 2009-03-12 | Ferrie Luping Lau Li | Remote control moving device and the working system for the device |
| CN101213052B (en) * | 2006-01-13 | 2011-01-12 | 松下电器产业株式会社 | Control device for mechanical arm |
| CN105159196A (en) * | 2015-08-20 | 2015-12-16 | 宁波大红鹰学院 | Manipulator wireless control device |
| CN107336241A (en) * | 2017-08-08 | 2017-11-10 | 智造未来（北京）机器人系统技术有限公司 | Control device and its control method, the robot device of manipulator |
| CN108555949A (en) * | 2018-03-20 | 2018-09-21 | 徐州迈斯特机械科技有限公司 | A kind of automated machine pawl |
| CN110834335A (en) * | 2019-11-21 | 2020-02-25 | 广东弓叶科技有限公司 | Object clamping method and sorting equipment |
-
2004
- 2004-03-31 CN CN 200410013655 patent/CN1281384C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101213052B (en) * | 2006-01-13 | 2011-01-12 | 松下电器产业株式会社 | Control device for mechanical arm |
| CN101870112B (en) * | 2006-01-13 | 2011-09-28 | 松下电器产业株式会社 | Device for controlling robot arm |
| CN101870108B (en) * | 2006-01-13 | 2011-09-28 | 松下电器产业株式会社 | Device for controlling robot arm |
| WO2009030108A1 (en) * | 2007-08-27 | 2009-03-12 | Ferrie Luping Lau Li | Remote control moving device and the working system for the device |
| CN105159196A (en) * | 2015-08-20 | 2015-12-16 | 宁波大红鹰学院 | Manipulator wireless control device |
| CN107336241A (en) * | 2017-08-08 | 2017-11-10 | 智造未来（北京）机器人系统技术有限公司 | Control device and its control method, the robot device of manipulator |
| CN108555949A (en) * | 2018-03-20 | 2018-09-21 | 徐州迈斯特机械科技有限公司 | A kind of automated machine pawl |
| CN110834335A (en) * | 2019-11-21 | 2020-02-25 | 广东弓叶科技有限公司 | Object clamping method and sorting equipment |
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| Publication number | Publication date |
|---|---|
| CN1281384C (en) | 2006-10-25 |
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Granted publication date: 20061025 Termination date: 20110331 |