CN201089162Y - Force variable mechanical arm - Google Patents
Force variable mechanical arm Download PDFInfo
- Publication number
- CN201089162Y CN201089162Y CNU2007200256210U CN200720025621U CN201089162Y CN 201089162 Y CN201089162 Y CN 201089162Y CN U2007200256210 U CNU2007200256210 U CN U2007200256210U CN 200720025621 U CN200720025621 U CN 200720025621U CN 201089162 Y CN201089162 Y CN 201089162Y
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- CN
- China
- Prior art keywords
- inductor
- mechanical arm
- connecting rod
- spring
- fixed disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a variable force manipulator, comprising a spring, a mechanical arm, an inductor, a fixation disk, a front finger, a back finger, a connecting rod joint and a single-chip microcomputer, wherein the spring is arranged in the mechanical arm, one end of the spring is fixed on the manipulator, the other end of the spring is connected with a connecting rod, the other end of the connecting rod is connected with the fixation disk, the inductor is arranged on the connecting rod, the back finger is integrated with the lower end of the mechanical arm, the front finger and the back finger are connected via a joint which is provided with a stepping motor which together with the inductor and the manipulator is connected with the single-chip microcomputer. The utility model has a simple structure and multiple functions, is convenient to operate, can adjust the force applied and is suitable for clamping fragile goods.
Description
Technical field
The utility model relates to a kind of manipulator, specifically is exactly the manipulator of big I according to weight of object, coefficient of friction change of exerting oneself.
Background technology
In the modern production life, it is laborsaving, efficient that people pursue, and makes machine replace the requirement of people's work to improve constantly; Many work all need the participation of manipulator in the industrial or agricultural, but the existing mechanical hand is simple in structure, and function is few, and it is firmly uncontrollable, are easy to article are crushed.Still lack a kind of manipulator that can change the size of exerting oneself in the industrial and agricultural production according to weight of object, coefficient of friction.
The utility model content
At above-mentioned the deficiencies in the prior art, the utility model provides a kind of simple in structure, easy to operate, function power variable mechanical hand how.
The utility model is realized by following technology:
A kind of power variable mechanical hand, by spring, mechanical arm, inductor, fixed disk, preceding finger, after refer to, connecting rod joint, single-chip microcomputer form, spring is installed in the mechanical arm, and spring one end and mechanical arm are fixed, and the other end is extension bar in succession, another termination fixed disk of connecting rod, connecting rod is provided with inductor, after refer to be integral with the mechanical arm lower end, preceding finger, after refer to link together by the joint, joint is equipped with a stepper motor, and stepper motor, inductor, mechanical arm all are connected with single-chip microcomputer.
Described inductor comprises inductor A and inductor B, and inductor A fixed cover is on connecting rod, and inductor B passes connecting rod, but does not contact with connecting rod, and inductor B is below inductor A, and inductor B and mechanical arm lower edge are fixed.
Be provided with a strong magnet in the described fixed disk, or fixed disk is connected with vavuum pump.
The inboard that refers to before described is rough.
During application, manipulator moves down after moving to the object upper end.When fixed disk touched object, fixed disk was fixed object; The preceding finger, clutch under the control of single-chip microcomputer, and beginning is only with a very little power.Preceding finger moves on the mechanical arm after finishing and mediating action.The kneading power that refers to before supposing can be mentioned object, and object and preceding finger keep former and contact constantly, and object is raised smoothly.The kneading power that refers to before supposing can not be mentioned object, and object and preceding finger are subjected to displacement.And still with object fix owing to fixed disk this moment, just makes inductor A contact and produce a signal with inductor B.This signal is passed to single-chip microcomputer, and single-chip microcomputer just refers to open before the control, and the control mechanical arm moves down; And refer to before the control strengthen kneading power, pick up object once more.So circulation is up to object is mentioned.The utlity model has simple in structure, easy to operate, function is many, the adjustable power of saving size, be suitable for pinching advantages such as breakables.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the vertical view of Fig. 1;
Wherein, 1, spring, 2, mechanical arm, 3, inductor A, 4 inductor B, 5, fixed disk, 6, preceding finger, 7, connecting rod, 8, the joint, 9, after refer to.
The specific embodiment
Among embodiment: Fig. 1, Fig. 2, spring 1 is installed in 2 li of mechanical arms, and spring 1 one ends and mechanical arm 2 are fixing, and the other end is extension bar 7 in succession, and connecting rod 7 another termination fixed disks 5 be provided with a strong magnet in the fixed disk 5, or fixed disk are connected with vavuum pump.Connecting rod 7 is provided with inductor.After refer to that 9 are integral with mechanical arm 2 lower ends, preceding finger 6, after refer to that 9 link together by joint 8, the inboard of preceding finger 6 is rough.8 places, joint are equipped with a stepper motor, and stepper motor, inductor, mechanical arm 2 all are connected with single-chip microcomputer.
Inductor comprises inductor A3 and inductor B4, and inductor A3 fixed cover is on connecting rod 7, and inductor B4 passes connecting rod 7, but does not contact with connecting rod 7, and inductor B4 is below inductor A3, and inductor B3 and mechanical arm 2 lower edges are fixed.
During application, manipulator moves down after moving to the object upper end.When fixed disk 5 touched object, fixed disk 5 was fixed object; Preceding finger 6 is clutched under the control of single-chip microcomputer, and beginning is only with a very little power.Preceding finger 6 moves on the mechanical arm 2 after finishing and mediating action.Refer to before supposing that 6 kneading power can mention object, object and preceding finger keep former and contact constantly, and object is raised smoothly.The kneading power of finger 6 can not be mentioned object before supposing, object and preceding finger 6 are subjected to displacement.And still with object fix owing to fixed disk 5 this moment, just makes inductor A3 contact and produce a signal with inductor B4.This signal is passed to single-chip microcomputer, and single-chip microcomputer just refers to that 6 open before the control, and control mechanical arm 2 moves down, and refers to before the control that 6 strengthen kneading power, picks up object once more.So circulation is up to object is mentioned.
Claims (4)
1. power variable mechanical hand, by spring, mechanical arm, inductor, fixed disk, preceding finger, after refer to, connecting rod joint, single-chip microcomputer form, it is characterized in that: spring is installed in the mechanical arm, spring one end and mechanical arm are fixed, the other end is extension bar in succession, another termination fixed disk of connecting rod, connecting rod is provided with inductor, after refer to be integral with the mechanical arm lower end, before refer to, after refer to link together by the joint, joint is equipped with a stepper motor, and stepper motor, inductor, mechanical arm all are connected with single-chip microcomputer.
2. a kind of power variable mechanical hand according to claim 1, it is characterized in that: described inductor comprises inductor A and inductor B, inductor A fixed cover is on connecting rod, inductor B passes connecting rod, but do not contact with connecting rod, inductor B is below inductor A, and inductor B and mechanical arm lower edge are fixed.
3. a kind of power variable mechanical hand according to claim 1 is characterized in that: be provided with a strong magnet in the described fixed disk, or fixed disk is connected with vavuum pump.
4. a kind of power variable mechanical hand according to claim 1 is characterized in that: the inboard that refers to before described is rough.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200256210U CN201089162Y (en) | 2007-07-30 | 2007-07-30 | Force variable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200256210U CN201089162Y (en) | 2007-07-30 | 2007-07-30 | Force variable mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201089162Y true CN201089162Y (en) | 2008-07-23 |
Family
ID=39860921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200256210U Expired - Fee Related CN201089162Y (en) | 2007-07-30 | 2007-07-30 | Force variable mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201089162Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI666098B (en) * | 2017-05-18 | 2019-07-21 | 日商Ｓｍｃ股份有限公司 | Workpiece holding device |
-
2007
- 2007-07-30 CN CNU2007200256210U patent/CN201089162Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI666098B (en) * | 2017-05-18 | 2019-07-21 | 日商Ｓｍｃ股份有限公司 | Workpiece holding device |
| US11279046B2 (en) | 2017-05-18 | 2022-03-22 | Smc Corporation | Workpiece holding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080723 Termination date: 20090831 |