CN204471399U - A kind of Three Degree Of Freedom magnetic control manipulator output - Google Patents
A kind of Three Degree Of Freedom magnetic control manipulator output Download PDFInfo
- Publication number
- CN204471399U CN204471399U CN201520154662.4U CN201520154662U CN204471399U CN 204471399 U CN204471399 U CN 204471399U CN 201520154662 U CN201520154662 U CN 201520154662U CN 204471399 U CN204471399 U CN 204471399U
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- electromagnet
- titanium alloy
- degree
- magnetic control
- fixed pulley
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Abstract
A kind of Three Degree Of Freedom magnetic control manipulator output, the iron take-off lever of this manipulator output is connected with titanium alloy sphere by screw thread, electromagnet is arranged on the installing hole of electromagnet supporter, electromagnet supporter is welded on ball support body, steel cable one end connects titanium alloy sphere, the other end is walked around fixed pulley and is connected with drive motors, and fixed pulley is connected with fixed pulley support by bearing pin, and each electromagnet is connected on PLC independently of each other.This manipulator output, by with the form control output controlling ball pair flexible rotating among a small circle, solves the problem that manipulator is difficult to be located by unitary rotation in little space.
Description
Technical field
The utility model relates to a kind of manipulator output design field, particularly a kind of Three Degree Of Freedom magnetic control manipulator output.
Background technology
In recent years, along with improving constantly of industrial automation level, manipulator also more and more applies in the middle of industrial production, whether manipulator can accurately locate and the flexibility of manipulator output always is a designer's difficult problem, much at present realize the rotation of manipulator in space by multiple revolute pair thus reach location, locate by the rotation of manipulator entirety so in theory, but when space is relatively narrow and small, the partial rotational of output just seems particularly important, therefore be necessary to design a kind of can the output of flexible rotating when realizing relatively narrow and small in space local flexible rotating to reach accurate location.
Have not yet to see the innovation design that a kind of form of rotating to control ball pair realizes the output of flexible rotating in relative narrow space, ball pair has three degree of freedom, its flexibility be revolute pair less than.
Summary of the invention
The purpose of this utility model is to provide a kind of Three Degree Of Freedom magnetic control manipulator output, makes manipulator can realize accurate location by the partial rotational of output in relative narrow space.
The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of Three Degree Of Freedom magnetic control manipulator output, the iron take-off lever of this manipulator output is connected with titanium alloy sphere by screw thread, electromagnet is arranged on the installing hole of electromagnet supporter, electromagnet supporter is welded on ball support body, steel cable one end connects titanium alloy sphere, the other end is walked around fixed pulley and is connected with drive motors, fixed pulley is connected with fixed pulley support by bearing pin, separate being connected on PLC of each electromagnet.
Described electromagnet supporter has for installing the installing hole of electromagnet, electromagnet will overlap an insulation rubber sleeve before inserting this installing hole, its objective is to allow the separate running of each electromagnet, and makes electromagnet and installing hole interference fit.
Have small through hole in the middle of described ball support body, make steel cable connect titanium alloy sphere by this small through hole.
Described titanium alloy sphere be milled with plane and be drilled with screwed hole in the plane, there is threaded rod iron take-off lever end, and iron take-off lever is connected with titanium alloy sphere by its end thread bar.
Outstanding advantages of the present utility model is:
1, ball pair has three degree of freedom in space, and its flexibility is that revolute pair is irreplaceable, and this enables manipulator output at relative narrow space energy flexible rotating, reaches pinpoint object.
2, this output end structure is simple, and the space taking manipulator is less, and control the rotation of ball pair with electromagnetic induction principle and use " tumbler " principle lifting the ball pair to get back to original position again, its controllability is very strong.
3, this output manufacture is simple, and cost is low and easy to maintenance, and applicability is strong, can apply to paint-spray robot, multiple fields such as robot of carving characters.
Accompanying drawing explanation
Fig. 1 is the structural representation of Three Degree Of Freedom magnetic control manipulator output described in the utility model.
Fig. 2 is the top view of Three Degree Of Freedom magnetic control manipulator output described in the utility model.
Fig. 3 is the schematic diagram of Three Degree Of Freedom magnetic control manipulator output electromagnet supporter described in the utility model.
Fig. 4 is the operating diagram of Three Degree Of Freedom magnetic control manipulator output described in the utility model.
Be labeled as in figure: 1. iron take-off lever; 2. titanium alloy sphere; 3. electromagnet; 4. ball support body; 5. electromagnet supporter; 6. fixed pulley; 7. fixed pulley support; 8. steel cable; 9.PLC; 10. bearing pin; 11. drive motors.
Detailed description of the invention:
Below in conjunction with drawings and Examples, the technical solution of the utility model is further described.
As illustrated in fig. 1 and 2, Three Degree Of Freedom magnetic control manipulator output described in the utility model, comprises iron take-off lever 1, titanium alloy sphere 2, electromagnet 3, ball support body 4, electromagnet supporter 5, fixed pulley 6, fixed pulley support 7, steel cable 8, PLC9, bearing pin 10 and drive motors 11.Concrete structure and connected mode are:
Iron take-off lever 1 is connected with titanium alloy sphere 2 by screw thread, electromagnet 3 is arranged on the installing hole of electromagnet supporter 5, electromagnet supporter 5 is welded on ball support body 4, steel cable 8 one end connects titanium alloy sphere 2, the other end is walked around fixed pulley 6 and is connected with drive motors 11, fixed pulley 6 is connected with fixed pulley support 7 by bearing pin 10, separate being connected on PLC9 of each electromagnet 3.
Operation principle of the present utility model is: the break-make being controlled electromagnet 3 coil current by PLC9, when electromagnet 3 obtains electric, electromagnet 3 attracts iron take-off lever 1 to move towards electromagnet 3 direction, when iron take-off lever 1 arrives the position needed, PLC9 disconnects the electric current of electromagnet 3 coil, now iron take-off lever 1 rests on this position, and location completes; When iron take-off lever 1 needs to reach another one orientation, drive motors 11 pulls steel cable 8 to make titanium alloy sphere 2 drive iron take-off lever 1 return, the coil being controlled the electromagnet 3 of particular orientation again by PLC9 obtains electric, iron take-off lever 1 is pulled to rotate toward that direction, after arriving ad-hoc location, striping loop current, location completes.
Claims (4)
1. a Three Degree Of Freedom magnetic control manipulator output, it is characterized in that, the iron take-off lever of this manipulator output is connected with titanium alloy sphere by screw thread, electromagnet is arranged on the installing hole of electromagnet supporter, electromagnet supporter is welded on ball support body, and steel cable one end connects titanium alloy sphere, and the other end is walked around fixed pulley and is connected with drive motors, fixed pulley is connected with fixed pulley support by bearing pin, separate being connected on PLC of each electromagnet.
2. Three Degree Of Freedom magnetic control manipulator output according to claim 1, it is characterized in that: described electromagnet supporter has the installing hole for installing electromagnet, electromagnet will overlap an insulation rubber sleeve before inserting this installing hole, its objective is and allow the separate running of each electromagnet, and make electromagnet and installing hole interference fit.
3. Three Degree Of Freedom magnetic control manipulator output according to claim 1, is characterized in that: have small through hole in the middle of described ball support body, makes steel cable connect titanium alloy sphere by this small through hole.
4. Three Degree Of Freedom magnetic control manipulator output according to claim 1, it is characterized in that: described titanium alloy sphere be milled with plane and be drilled with screwed hole in the plane, there is threaded rod iron take-off lever end, and iron take-off lever is connected with titanium alloy sphere by its end thread bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154662.4U CN204471399U (en) | 2015-03-18 | 2015-03-18 | A kind of Three Degree Of Freedom magnetic control manipulator output |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154662.4U CN204471399U (en) | 2015-03-18 | 2015-03-18 | A kind of Three Degree Of Freedom magnetic control manipulator output |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204471399U true CN204471399U (en) | 2015-07-15 |
Family
ID=53627169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520154662.4U Expired - Fee Related CN204471399U (en) | 2015-03-18 | 2015-03-18 | A kind of Three Degree Of Freedom magnetic control manipulator output |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204471399U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690742A (en) * | 2015-03-18 | 2015-06-10 | 广西大学 | Three-freedom-degree magnetic-control mechanical arm output end |
-
2015
- 2015-03-18 CN CN201520154662.4U patent/CN204471399U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690742A (en) * | 2015-03-18 | 2015-06-10 | 广西大学 | Three-freedom-degree magnetic-control mechanical arm output end |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 Termination date: 20170318 |