CN203779504U - Intelligent manipulator - Google Patents
Intelligent manipulator Download PDFInfo
- Publication number
- CN203779504U CN203779504U CN201420181128.8U CN201420181128U CN203779504U CN 203779504 U CN203779504 U CN 203779504U CN 201420181128 U CN201420181128 U CN 201420181128U CN 203779504 U CN203779504 U CN 203779504U
- Authority
- CN
- China
- Prior art keywords
- joint
- copper sheet
- flexibly connected
- base pitch
- tooth bar
- 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
An intelligent manipulator belongs to the field of machinery and sensing and solves the problem of self power failure and self locking of manipulator intelligence. The position above the middle of a base joint (1) is movably connected with one end of a middle joint (2), the position above the middle of the middle joint (2) is movably connected with one end of a tail joint (3), the position above the middle of the tail joint (3) is movably connected with one end of a tip joint (4), one end of a pull line (6) is movably connected with the top of the base joint (1), the other end of the pull line is movably connected to the position under the middle of the tail joint (3), one end of a pull line (5) is movably connected to the position under the middle of the base joint (1), the other end of the pull line (5) is connected with a rack (8), a copper sheet stationary contact (13) and a T-shaped copper sheet movable contact (14) are fixedly connected to the base joint, and the rack (8) is arranged on the base joint (1) to enable the rack (8) to move up and down and be prevented from sliding down. The intelligent manipulator can be applied to production of all industries or used for imitating human action.
Description
Technical field
A puma manipulator, belongs to machinery, sensory field.
Background technology
Current manipulator, can not auto-breaking, can not be motionless from pinning manipulator when motor stalling.
Summary of the invention
A kind of puma manipulator is provided here, and energy auto-breaking while making manipulator catch object body can certainly pin manipulator and the wide ranges grasping when motor stalling.
This utility model is such: base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), copper sheet movable contact touches mutually with copper sheet stationary contact, and grasp switch (10) and decontrol switch (11) and connect.Above base pitch, middle joint, periproct and slightly joint form a mechanical finger, and plural mechanical finger forms manipulator.It is upper that tooth bar (8) is arranged on base pitch (1), and tooth bar (8) can be moved up and down and not landing.One end of tooth bar (8) is flexibly connected with bracing wire (5).One end of cover fork (9) is fixedly connected with motor (12).Cover fork (9) is overlapping a rib tooth on tooth bar (8).
During work, electric machine rotation, just drives cover fork to rotate.The rotation of cover fork promotes again tooth bar and moves up and down.Because tooth bar is flexibly connected with bracing wire (5), bracing wire (5) moves up and down, and can make base pitch, middle joint, periproct, slightly save interlock.Because a bracing wire is located to be flexibly connected on the upper side with periproct middle part in base pitch top, a bracing wire is located to be also connected on the upper side with joint middle part slightly in middle joint top, when mobile under bracing wire (5), periproct middle part is located on the upper side and slightly in the middle part of joint, is located on the upper side, than He Zhongjie top, base pitch top, move soon, thereby its spacing is from increasing, but the length of bracing wire can not change, when the moving down of bracing wire (5), can make periproct and slightly joint gradually draw song.Meanwhile, moving down of bracing wire (5), makes again base pitch bent by stretch bending.Thereby as the finger of a hand, gradually curve one.Otherwise while moving in bracing wire (5), base pitch is by top is straight gradually, other bracing wire also gradually push up that straight periproct middle part is located on the upper side and slightly joint middle part locate on the upper side, until as people's finger stretches.
As above, when manipulator is crooked, crawled object just pushes copper sheet movable contact, makes it distortion, and shift position, and like this, copper sheet movable contact just disconnects with stationary contact, motor power-off stall.When pressing relieving switch, motor reverse rotation, manipulator stretches, and just object has been decontroled.When again pressing grasping switch, motor is just rotated in the forward object is caught.And oppress the power-off of copper sheet movable contact.When motor stops operating, cover fork is parallel-laid into yi word pattern with tooth bar, and manipulator is just lockable.
Owing to adopting above-mentioned design, make manipulator energy auto-breaking when grasping, can be automatically locked, capture wide scope.
Accompanying drawing explanation
Fig. 1 is puma manipulator full figure, and Fig. 2 is Self-disconnecting circuit diagram.
The specific embodiment
In Fig. 1, base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), copper sheet movable contact touches mutually with copper sheet stationary contact, and grasp switch (10) and decontrol switch (11) and connect.It is upper that tooth bar (8) is arranged on base pitch (1), and tooth bar (8) can be moved up and down and not landing.One end of tooth bar (8) is flexibly connected with bracing wire (5).One end of cover fork (9) is fixedly connected with motor (13).Cover fork (9) is overlapping a rib tooth on tooth bar (8).
In Fig. 2, copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected to copper sheet movable contact (14) upper, copper sheet movable contact touches mutually with copper sheet stationary contact, and grasps switch (10) and decontrol switch (11) and connect.
Claims (3)
1. a puma manipulator, it is characterized in that: base pitch (1) bottom is movably attached on supporter, base pitch (1) middle part is located on the upper side, one end of joint (2) in flexible connection, middle joint (2) middle part is located on the upper side, be flexibly connected one end of periproct (3), the middle part of periproct (3) is located on the upper side, be flexibly connected slightly one end of joint (4), bracing wire (6) one end is flexibly connected the top of base pitch (1), the other end is flexibly connected the middle part of periproct (3) and locates on the lower side, the top of joint (2) during one end of bracing wire (7) is flexibly connected, its other end is flexibly connected the slightly middle part of joint (4) and locates on the lower side, bracing wire (5) one end is located to be flexibly connected with the middle part of base pitch (1) on the lower side, its other end connects one end of tooth bar (8), copper sheet stationary contact (13) is fixedly connected on base pitch with T shape copper sheet movable contact (14), copper sheet stationary contact (13) connected a Battery pack group, connected grasping switch (10), connected again a motor (12), be connected on copper sheet movable contact (14), tooth bar (8) is arranged on base pitch (1), tooth bar (8) can be moved up and down and not landing, one end of tooth bar (8) is flexibly connected with bracing wire (5), one end of cover fork (9) is fixedly connected with motor (12), cover fork (9) is overlapping a rib tooth on tooth bar (8).
2.
puma manipulator according to claim 1, is characterized in that:grasp switch (10) and decontrol switch (11) and connect.
3.
puma manipulator according to claim 1, is characterized in that:copper sheet movable contact touches mutually with copper sheet stationary contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420181128.8U CN203779504U (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420181128.8U CN203779504U (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203779504U true CN203779504U (en) | 2014-08-20 |
Family
ID=51315729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420181128.8U Expired - Fee Related CN203779504U (en) | 2014-04-15 | 2014-04-15 | Intelligent manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203779504U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921278A (en) * | 2014-04-15 | 2014-07-16 | 王光树 | Intelligent manipulator |
-
2014
- 2014-04-15 CN CN201420181128.8U patent/CN203779504U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921278A (en) * | 2014-04-15 | 2014-07-16 | 王光树 | Intelligent manipulator |
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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 |
Granted publication date: 20140820 Termination date: 20150415 |
|
| EXPY | Termination of patent right or utility model |