CN203197925U - Mechanical arm device driven by soft magnetic mechanism - Google Patents
Mechanical arm device driven by soft magnetic mechanism Download PDFInfo
- Publication number
- CN203197925U CN203197925U CN 201320067850 CN201320067850U CN203197925U CN 203197925 U CN203197925 U CN 203197925U CN 201320067850 CN201320067850 CN 201320067850 CN 201320067850 U CN201320067850 U CN 201320067850U CN 203197925 U CN203197925 U CN 203197925U
- Authority
- CN
- China
- Prior art keywords
- finger
- hand
- movable finger
- soft magnetic
- mechanism driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a mechanical arm device driven by a soft magnetic mechanism. The mechanical arm device driven by the soft magnetic mechanism comprises a grabbing hand portion, a movable finger and a fixed finger are arranged on the grabbing hand portion. A finger head portion I at the upper end of the movable finger and a finger head portion II at the upper end of the fixed finger are oppositely arranged in a face to face mode, and soft magnets and coils for coiling the soft magnets are arranged on the upper end of the movable finger and the upper end of the fixed finger. The soft magnets and the coils are respectively arranged on the rear side of the finger head portion I and the rear side of the finger head portion II. A rotary pin is arranged at the lower end of the movable finger, and a spring is arranged on the rotary pin. The movable finger can rotate around the rotary pin, and the movable finger and the fixed finger are arranged on a grabbing seat. The grabbing hand portion is connected with the front end of a grabbing arm through the grabbing seat, and the rear end of the grabbing arm is connected with the head portion of a piston rod of a cylinder. The mechanical arm device driven by the soft magnetic mechanism is simple in structure, convenient to use and large in popularization value.
Description
Technical field
The utility model relates to the industry mechanical arm technical field, particularly a kind of soft magnetism mechanism driven mechanical hand device.
Background technology
At present, the type of drive of industry mechanical arm has four kinds: hydraulic drive, Pneumatic Transmission, Electric Drive and machine driving, wherein, the hydraulic machinery hand is to utilize the pressure of liquid to drive a class manipulator of executing agency as power source, this class manipulator requires very high to sealing device, require sealing device that the leakage of any can not be arranged, otherwise the service behaviour of manipulator will reduce greatly, simultaneously the manipulator of the type should not operation under too high and environment that temperature is low excessively, the Pneumatic Transmission manipulator is a kind of manipulator that drives executing agency's motion with the pressure of air as power source, this class manipulator operating rate stability is poor, impact bigger, grasp force is little, structure is big, the Electric Drive manipulator is a class manipulator that drives executing agency with electric power as drive source, it also is not very extensive that this class manipulator uses, machine driving machinery hand by mechanical transmission mechanism (as cam, gear and tooth bar, connecting rod, clearance mechanism etc.) a class manipulator of driving executing agency, such manipulator has bigger application prospect.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of soft magnetism mechanism driven mechanical hand device, has overcome existing hydraulic drive, Pneumatic Transmission to device seal request height, is not suitable for the shortcoming of abominable working environment such as high temperature, high pressure.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of soft magnetism mechanism driven mechanical hand device is provided, comprise the extracting hand, be furnished with movable finger and fixed finger on the described extracting hand, the finger head I of described movable finger upper end and the finger head II of fixed finger upper end are arranged face to face, described movable finger and fixed finger upper end are furnished with the coil of soft magnetic bodies and coiling soft magnetic bodies, described soft magnetic bodies and coil are arranged in the rear side of finger head I and finger head II, the lower end of described movable finger is furnished with rotating dog, be furnished with spring on the described rotating dog, described movable finger can rotate around rotating dog, described movable finger and fixed finger are arranged in and grasp on the seat, described extracting hand links to each other with extracting arm front end by grasping seat, described extracting arm rear end links to each other with the piston rod head of cylinder, described cylinder arrangement is in the front end bottom of forearm, described forearm rear end links to each other with big arm front end by the rotating shaft I, described big arm rear end is connected with the column upper end by the rotating shaft II, and described column lower end is arranged on the base.
When described extracting hand was implemented grasping movement, the coil on movable finger and the fixed finger inserted the opposite electric current of direction.
Described spring is compressed when carrying out grasping movement at the activity finger, and grasping movement is finished rear spring drive activity finger homing.
Described cylinder is regulated the upper-lower position that grasps hand by the stretching motion of piston rod.
Described big arm grasps the level angle position of hand by the coarse adjustment that rotatablely moves of II around the shaft.
Described forearm grasps the level angle position of hand by the fine setting that rotatablely moves of I around the shaft.
Beneficial effect
The utility model relates to a kind of soft magnetism mechanism driven mechanical hand device, simple structure, and easy to use, process improving is obvious, utilizes soft magnetic materials that externally-applied magnetic field high sensitivity reaction properties is come the driving device hand, and material therefor is pollution-free, and cost is low.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model;
Fig. 2 is the schematic perspective view that the utility model grasps hand.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only are used for explanation the utility model and are not used in the scope of the present utility model that limits.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Shown in Fig. 1-2, the utility model relates to a kind of soft magnetism mechanism driven mechanical hand device, comprise and grasp hand 8, be furnished with movable finger 10 and fixed finger 16 on the described extracting hand 8, the finger head I 13 of described movable finger 10 upper ends and the finger head II 15 of fixed finger 16 upper ends are arranged face to face, described movable finger 10 and fixed finger 16 upper ends are furnished with the coil 11 of soft magnetic bodies 12 and coiling soft magnetic bodies 12, described soft magnetic bodies 12 and coil 11 are arranged in the rear side of finger head I 13 and finger head II 15, the lower end of described movable finger 10 is furnished with rotating dog 9, be furnished with spring 14 on the described rotating dog 9, described movable finger 10 can rotate around rotating dog 9, described movable finger 10 and fixed finger 16 are arranged in and grasp on the seat 17, described extracting hand 8 links to each other with extracting arm 7 front ends by grasping seat 17, described extracting arm 7 rear ends link to each other with piston rod 5 heads of cylinder 6, described cylinder 6 is arranged in the front end bottom of forearm 4, described forearm 4 rear ends link to each other with big arm 3 front ends by rotating shaft I 19, described big arm 3 rear ends are connected with column 2 upper ends by rotating shaft II 18, described column 2 lower ends are arranged on the base 1, when described extracting hand 8 is implemented grasping movement, coil 11 on movable finger 10 and the fixed finger 16 inserts the opposite electric current of direction, described spring 14 is compressed when carrying out grasping movement at activity finger 10, grasping movement is finished rear spring 14 drive activities and is pointed 10 homings, described cylinder 6 is regulated the upper-lower position that grasps hand 8 by the stretching motion of piston rod 5, described big arm 3 grasps the level angle position of hand 8 by the coarse adjustment that rotatablely moves of II 18 around the shaft, and described forearm 4 grasps the level angle position of hand 8 by the fine setting that rotatablely moves of I 19 around the shaft.
at first by the rotation of II 18 around the shaft of large arm 3, the stretching motion of the piston rod 5 of forearm 4 rotation of I 19 around the shaft and cylinder 6, accurately be transported to pending object position with capturing hand 8, at this moment, object should be in the position between movable finger 10 and fixed finger 16, give to be arranged in finger head I 13 and to point head II 15 rear sides and be wound on the electric current of the coil 11 access opposite directions on soft magnetic bodies 12, make soft magnetic bodies 12 magnetization of movable finger 10 and fixed finger 16 rear sides, produce opposite magnetic fields, under the magnetic field force effect, movable finger 10 and fixed finger 16 attract each other, movable finger 10 starts to rotate around rotating dog 9 fixed finger 16 1 sides, this moment, spring 14 was compressed, make pending object be pointed head I 13 and 15 clampings of finger head II, again by the rotation of II 18 around the shaft of large arm 3, the stretching motion of the piston rod 5 of forearm 4 rotation of I 19 around the shaft and cylinder 6, the pending object that captures hand 8 grippings is sent to processing, after pending completing, by same method of shipment, object is delivered to memory location, stop the electric current of switch-on coil 11, magnetic field disappears, the magnetic field force that movable finger 10 and fixed finger 16 attract each other disappears, movable finger 10 is under spring 14 effects by compression, homing, unclamp object.
Claims (6)
1. soft magnetism mechanism driven mechanical hand device, comprise and grasp hand (8), it is characterized in that, be furnished with movable finger (10) and fixed finger (16) on the described extracting hand (8), the finger head II (15) of the finger head I (13) of described movable finger (10) upper end and fixed finger (16) upper end is arranged face to face, described movable finger (10) and fixed finger (16) upper end are furnished with the coil (11) of soft magnetic bodies (12) and coiling soft magnetic bodies (12), described soft magnetic bodies (12) and coil (11) are arranged in the rear side of finger head I (13) and finger head II (15), the lower end of described movable finger (10) is furnished with rotating dog (9), be furnished with spring (14) on the described rotating dog (9), described movable finger (10) can rotate around rotating dog (9), described movable finger (10) and fixed finger (16) are arranged in and grasp on the seat (17), described extracting hand (8) links to each other with extracting arm (7) front end by grasping seat (17), described extracting arm (7) rear end links to each other with piston rod (5) head of cylinder (6), described cylinder (6) is arranged in the front end bottom of forearm (4), described forearm (4) rear end links to each other with big arm (3) front end by rotating shaft I (19), described big arm (3) rear end is connected with column (2) upper end by rotating shaft II (18), and described column (2) lower end is arranged on the base (1).
2. a kind of soft magnetism according to claim 1 mechanism driven mechanical hand device is characterized in that, when described extracting hand (8) is implemented grasping movement, and the opposite electric current of coil (11) access direction on movable finger (10) and the fixed finger (16).
3. a kind of soft magnetism according to claim 1 mechanism driven mechanical hand device, it is characterized in that, described spring (14) is compressed when carrying out grasping movement at activity finger (10), and grasping movement is finished rear spring (14) drive activity finger (10) homing.
4. a kind of soft magnetism according to claim 1 mechanism driven mechanical hand device is characterized in that described cylinder (6) is regulated the upper-lower position that grasps hand (8) by the stretching motion of piston rod (5).
5. a kind of soft magnetism according to claim 1 mechanism driven mechanical hand device is characterized in that described big arm (3) grasps the level angle position of hand (8) by the coarse adjustment that rotatablely moves of II (18) around the shaft.
6. a kind of soft magnetism according to claim 1 mechanism driven mechanical hand device is characterized in that described forearm (4) grasps the level angle position of hand (8) by the fine setting that rotatablely moves of I (19) around the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320067850 CN203197925U (en) | 2013-02-05 | 2013-02-05 | Mechanical arm device driven by soft magnetic mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320067850 CN203197925U (en) | 2013-02-05 | 2013-02-05 | Mechanical arm device driven by soft magnetic mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203197925U true CN203197925U (en) | 2013-09-18 |
Family
ID=49142064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320067850 Expired - Fee Related CN203197925U (en) | 2013-02-05 | 2013-02-05 | Mechanical arm device driven by soft magnetic mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203197925U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253400A (en) * | 2015-11-06 | 2016-01-20 | 苏州亨通智能精工装备有限公司 | Automatic cable film coating system |
| CN109108472A (en) * | 2018-08-30 | 2019-01-01 | 江苏新光数控技术有限公司 | A kind of manipulator for marking machine |
-
2013
- 2013-02-05 CN CN 201320067850 patent/CN203197925U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253400A (en) * | 2015-11-06 | 2016-01-20 | 苏州亨通智能精工装备有限公司 | Automatic cable film coating system |
| CN105253400B (en) * | 2015-11-06 | 2017-10-24 | 江苏亨通智能科技有限公司 | A kind of automatic coating system of cable |
| CN109108472A (en) * | 2018-08-30 | 2019-01-01 | 江苏新光数控技术有限公司 | A kind of manipulator for marking machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203697022U (en) | Delicate manipulator gripper | |
| CN201604155U (en) | Control system for four-DOF (degree of freedom) flexible industrial taking manipulator | |
| CN203199561U (en) | Mechanical arm assembly | |
| CN204382271U (en) | Manipulator | |
| CN206702730U (en) | A kind of pivoting support machining manipulator | |
| CN207643173U (en) | A kind of stable type robot manipulator structure | |
| CN204161976U (en) | A kind of pneumatic bolt-type interval turntable | |
| CN202702238U (en) | Parallel sorting robot | |
| CN203197925U (en) | Mechanical arm device driven by soft magnetic mechanism | |
| CN203266641U (en) | Full-pneumatic control type material grabbing mechanical arm | |
| CN206465083U (en) | A kind of manipulator of good clamping effect | |
| CN202054453U (en) | Mechanical hand material catching device assembly of palletizing robot | |
| CN203062755U (en) | Vertical reciprocating working table | |
| CN207508056U (en) | A kind of mechanical processing stamping equipment | |
| CN205380677U (en) | Pneumatic manipulator device | |
| CN204868875U (en) | Unloading machinery arm | |
| CN207703432U (en) | A kind of speed Pneumatic immpacting testing equipment | |
| CN204511660U (en) | A kind of new type power driving mechanism of motor | |
| CN203527078U (en) | Positioning compression device | |
| CN106743522A (en) | A kind of high speed transfer manipulator | |
| CN106276289B (en) | Stamp the working method of device using the smart code of processor module | |
| CN207643157U (en) | A kind of pneumatic clamper formula manipulator | |
| CN202225217U (en) | Clamping manipulator driven by electromagnets | |
| CN202784815U (en) | Self-adaption holding power material taking equipment | |
| CN207903471U (en) | A kind of stand alone type manipulator two-pass material grasping manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130918 Termination date: 20160205 |