CN206029874U - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN206029874U CN206029874U CN201621013688.8U CN201621013688U CN206029874U CN 206029874 U CN206029874 U CN 206029874U CN 201621013688 U CN201621013688 U CN 201621013688U CN 206029874 U CN206029874 U CN 206029874U
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- hall element
- working shaft
- mechanical hand
- magnet
- support
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Abstract
The utility model discloses a manipulator belongs to manipulator technical field, and it has solved the comparatively unsafe problem of present manipulator operation. Manipulator, including the forearm, be equipped with on the forearm vertical setting the lead screw and with lead screw parallel arrangement's working shaft, be equipped with the connecting piece between working shaft and the lead screw, working shaft axial fixity is on the connecting piece, the connecting piece connects that the connecting piece can drive working shaft edge working shaft axial displacement on the lead screw and under the drive of lead screw. In this manipulator, owing to set up hall sensor no. 1 and hall sensor no. 2, insurable effect has been played to the spacing of working shaft removal with the calibration for manipulator moves stably.
Description
Technical field
This utility model belongs to mechanical hand technical field.
Background technology
It is that the position rotated by software monitors motor is spacing to carry out to working shaft in existing level joint Manipulator, but
In this approach, working shaft is easily caused when running software mistake and runs more than stroke, damage the structure of mechanical hand, therefore make
Mechanical hand operation is more dangerous.
Utility model content
This utility model is directed to the problems referred to above, it is proposed that a kind of mechanical hand of operation safety.
Mechanical hand, including forearm, described forearm is provided with the screw mandrel being vertically arranged and the work be arrangeding in parallel with screw mandrel
Axle, is provided with connector between working shaft and screw mandrel, the working shaft is axially fixed on connector, and the connector is connected to silk
Connector can drive working shaft to move axially along working shaft on bar and under the drive of screw mandrel, it is characterised in that mechanical handbag
Include relative to the Magnet one and Magnet two that one of them is fixedly installed in both connector and forearm, the mechanical hand also includes phase
For Hall element one and Hall element two that in both connector and forearm, another is fixedly installed, described Hall is passed
Sensor one is correspondingly arranged with Magnet one, and described Hall element two is correspondingly arranged with Magnet two, and Hall element one is sensed
When the position of Magnet a period of time working shaft and Hall element two sense Magnet two, the position of working shaft is suitable.
In this mechanical hand, Hall element one is correspondingly arranged with Magnet one and is meant, in mechanical hand running,
When Magnet one is near Hall element a period of time, Hall element one can sense Magnet one.In the same manner, Hall element two and magnetic
Ferrum two is correspondingly arranged and means, in mechanical hand running, when Magnet two is near Hall element two, Hall element
Two can sense Magnet two.The meaning that certain Hall element for occurring elsewhere herein is correspondingly arranged with certain Magnet
Also it is identical with this.
During mechanical hand runs, screw mandrel action drives the connector being connected on screw mandrel to move up and down, so that
Connector drives working shaft to move up and down, therefore, connector is moved relative to forearm.In the process, Magnet one is relative to Hall
One relative movement of sensor, Magnet two are moved relative to Hall element two.When Hall element one senses Magnet for the moment, suddenly
That one output signal of sensor；Also, when Hall element two senses Magnet two, two output signal of Hall element.
In this mechanical hand, Hall element one senses two sensing of the position of Magnet a period of time working shaft and Hall element
Position to working shaft during Magnet two is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind arrange in, when the one of damage in Hall element one and Hall element 2 two, working shaft movement compared with
, without the need for movement, another in Hall element one and Hall element 2 two remains able to sense for a small range or working shaft
Correspondence Magnet output signal should be arrived, therefore so that mechanical hand operation safety.And work as Hall element one and Hall element two
During for spacing or calibration function being played to the movement of working shaft, be prevented from working shaft movement more than stroke, so as to prevent work
The other structures in mechanical hand are impacted after making axle movement overtravel so that mechanical hand operation is safer.
In above-mentioned mechanical hand, mechanical hand also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall element two are arranged on support.
It is provided in the robot supporting the support of Hall element one and Hall element two so that Hall element
One and Hall element two setting it is more flexible.
In above-mentioned mechanical hand, on the Hall element one and Hall element two, connect live wire, described electricity
Line is arranged along support.
In this structure, support not only acts as the effect for supporting Hall element one and Hall element two, and, it is also right
The setting of electric wire serves supporting function so that electric wire arranges more convenient.
In above-mentioned mechanical hand, there is on described support tube, described electric wire is located in tube.
As electric wire is located in the tube of support, support can play a protective role to electric wire, also so that electric wire
Arrange more convenient.
In above-mentioned mechanical hand, described support is provided with support member one, and described Hall element one and Hall are passed
Sensor two is arranged on support member one, on the support of the described adjustable setting in one in the vertical direction position of support member.
When one position adjustments on support of support member, Hall element one and Hall element two are also with support member one by one
Rise and have adjusted position so that Hall element one and Hall element two are arranged flexibly.
In above-mentioned mechanical hand, there is on described support the threaded portion being vertically arranged, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two is threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, adapter sleeve one and adapter sleeve two is rotated relative to threaded portion so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.As the adapter sleeve one and adapter sleeve two for securing supports one is threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned mechanical hand, Hall element one senses the position of Magnet a period of time working shaft and Hall element two
When sensing Magnet two, the position of working shaft is different.
Due to both position differences, when Hall element one and Hall element two are carried out for the movement to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense Magnet one when
Between sense time of Magnet two earlier than Hall element two, wherein, Hall element one plays normal spacing or calibration and makees
With Hall element two plays safety effect.It is such arrange cause in mechanical hand normal course of operation, when need it is spacing or
During calibration, only Hall element is for a moment in running order, and Hall element two is not at working condition, so that suddenly
You are the shelf life of sensor two longer so that Hall element two more efficiently can play safety effect.
In above-mentioned mechanical hand, cover lid on described forearm, is fixed with, described screw mandrel and working shaft are located at cover lid
At inner side, described Hall element one and Hall element two are arranged on cover and cover.
As screw mandrel and working shaft are at the inner side of cover lid, cover on the side wall of lid with along the extension of working shaft length direction
The part of setting, cover lid is used as support Hall element one and the structure of Hall element two so that Hall element one and suddenly
Your setting of sensor two is more convenient.
In this mechanical hand, due to being provided with Hall element one and Hall element two, to the spacing of working shaft movement
Safety effect is served with calibration so that mechanical hand is stable.
According to the purpose of this utility model, this utility model proposes a kind of design identical mechanical hand, its scheme in addition
It is as follows：
Mechanical hand, including forearm, described forearm is provided with the screw mandrel being vertically arranged and the work be arrangeding in parallel with screw mandrel
Axle, is provided with connector between working shaft and screw mandrel, the working shaft is axially fixed on connector, and the connector is connected to silk
Connector can drive working shaft to move axially along working shaft on bar and under the drive of screw mandrel, it is characterised in that mechanical handbag
Include relative to the Magnet one that one of them is fixedly installed in both connector and forearm, the mechanical hand is also included relative to connection
Hall element one and Hall element two that in both part and forearm, another is fixedly installed, Hall element one and Hall are passed
Sensor two is correspondingly arranged with Magnet one and Hall element one and Hall element two are disposed adjacent, in working shaft vertical shift
Direction on, Hall element one senses that the position of Magnet a period of time working shaft and Hall element two sense Magnet a period of time work
The position for making axle is suitable.
During mechanical hand runs, screw mandrel action drives the connector being connected on screw mandrel to move up and down, so that
Connector drives working shaft to move up and down, therefore, connector is moved relative to forearm.In the process, Magnet one is relative to Hall
Sensor one and Hall element two are moved.When Hall element one senses Magnet for the moment, one output signal of Hall element；
Also, when Hall element two senses Magnet for the moment, two output signal of Hall element.
In this mechanical hand, Hall element one senses two sensing of the position of Magnet a period of time working shaft and Hall element
Position to Magnet a period of time working shaft is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind arrange in, when the one of damage in Hall element one and Hall element 2 two, working shaft movement compared with
, without the need for movement, another in Hall element one and Hall element 2 two remains able to sense for a small range or working shaft
Correspondence Magnet output signal should be arrived, therefore so that mechanical hand operation safety.And work as Hall element one and Hall element two
During for spacing or calibration function being played to the movement of working shaft, be prevented from working shaft movement more than stroke, so as to prevent work
The other structures in mechanical hand are impacted after making axle movement overtravel so that mechanical hand operation is safer.
In addition, in this mechanical hand, arranging a correspondence Hall element one of Magnet one and Hall element two so that machine
The structure of tool handss is more simple.
In above-mentioned mechanical hand, mechanical hand also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall element two are arranged on support.
It is provided in the robot supporting the support of Hall element one and Hall element two so that Hall element
One and Hall element two setting it is more flexible.
In above-mentioned mechanical hand, on the Hall element one and Hall element two, connect live wire, described electricity
Line is arranged along support.
In this structure, support not only acts as the effect for supporting Hall element one and Hall element two, and, it is also right
The setting of electric wire serves supporting function so that electric wire arranges more convenient.
In above-mentioned mechanical hand, there is on described support tube, described electric wire is located in tube.
As electric wire is located in the tube of support, support can play a protective role to electric wire, also so that electric wire
Arrange more convenient.
In above-mentioned mechanical hand, described support is provided with support member one, and described Hall element one and Hall are passed
Sensor two is arranged on support member one, on the support of the described adjustable setting in one in the vertical direction position of support member.
When one position adjustments on support of support member, Hall element one and Hall element two are also with support member one by one
Rise and have adjusted position so that Hall element one and Hall element two are arranged flexibly.
In above-mentioned mechanical hand, there is on described support the threaded portion being vertically arranged, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two is threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, adapter sleeve one and adapter sleeve two is rotated relative to threaded portion so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.As the adapter sleeve one and adapter sleeve two for securing supports one is threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned mechanical hand, Hall element one senses the position of Magnet a period of time working shaft and Hall element two
Sense that the position of Magnet a period of time working shaft is different.
Due to both position differences, when Hall element one and Hall element two are carried out for the movement to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense Magnet one when
Between sense time of Magnet two earlier than Hall element two, wherein, Hall element one plays normal spacing or calibration and makees
With Hall element two plays safety effect.It is such arrange cause in mechanical hand normal course of operation, when need it is spacing or
During calibration, only Hall element is for a moment in running order, and Hall element two is not at working condition, so that suddenly
You are the shelf life of sensor two longer so that Hall element two more efficiently can play safety effect.
In above-mentioned mechanical hand, cover lid on described forearm, is fixed with, described screw mandrel and working shaft are located at cover lid
At inner side, described Hall element one and Hall element two are arranged on cover and cover.
As screw mandrel and working shaft are at the inner side of cover lid, cover on the side wall of lid with along the extension of working shaft length direction
The part of setting, cover lid is used as support Hall element one and the structure of Hall element two so that Hall element one and suddenly
Your setting of sensor two is more convenient.
In this mechanical hand, due to being provided with Hall element one and Hall element two, to the spacing of working shaft movement
Safety effect is served with calibration so that mechanical hand is stable.
According to the purpose of this utility model, this utility model proposes a kind of design identical mechanical hand, its scheme in addition
It is as follows：
Mechanical hand, including forearm, described forearm is provided with and is vertically arranged working shaft, it is characterised in that the working shaft
On be fixed with one in circular Magnet five, the Magnet five is coaxial with working shaft, and mechanical hand includes consolidating relative to forearm
Hall element one that is arranging calmly and being correspondingly arranged with Magnet five and Hall element two, in the side of working shaft vertical shift
Upwards, the working shaft when position of working shaft and Hall element two sense Magnet five when Hall element one senses Magnet five
Position it is suitable.
During mechanical hand runs, due to being fixed with working shaft in circular Magnet five, therefore, except work
Outside axle is moved up and down, even if working shaft is in own axes rotary course, Hall element one and Hall element two
Magnet five can be sensed.
In this mechanical hand, Hall element one senses two sensing of the position of Magnet a period of time working shaft and Hall element
Position to working shaft during Magnet five is suitable, that is to say, that the two positions are at a distance of identical compared near or the two positions.At this
Kind arrange in, when the one of damage in Hall element one and Hall element 2 two, working shaft movement compared with
, without the need for movement, another in Hall element one and Hall element 2 two remains able to sense for a small range or working shaft
Correspondence Magnet output signal should be arrived, therefore so that mechanical hand operation safety.And work as Hall element one and Hall element two
During for spacing or calibration function being played to the movement of working shaft, be prevented from working shaft movement more than stroke, so as to prevent work
The other structures in mechanical hand are impacted after making axle movement overtravel so that mechanical hand operation is safer.
In addition, in this mechanical hand, arranging a correspondence Hall element one of Magnet five and Hall element two so that machine
The structure of tool handss is more simple.
In above-mentioned mechanical hand, mechanical hand also includes the support being fixedly installed relative to forearm, described hall sensing
Device one and Hall element two are arranged on support.
It is provided in the robot supporting the support of Hall element one and Hall element two so that Hall element
One and Hall element two setting it is more flexible.
In above-mentioned mechanical hand, on the Hall element one and Hall element two, connect live wire, described electricity
Line is arranged along support.
In this structure, support not only acts as the effect for supporting Hall element one and Hall element two, and, it is also right
The setting of electric wire serves supporting function so that electric wire arranges more convenient.
In above-mentioned mechanical hand, there is on described support tube, described electric wire is located in tube.
As electric wire is located in the tube of support, support can play a protective role to electric wire, also so that electric wire
Arrange more convenient.
In above-mentioned mechanical hand, described support is provided with support member one, and described Hall element one and Hall are passed
Sensor two is arranged on support member one, on the support of the described adjustable setting in one in the vertical direction position of support member.
When one position adjustments on support of support member, Hall element one and Hall element two are also with support member one by one
Rise and have adjusted position so that Hall element one and Hall element two are arranged flexibly.
In above-mentioned mechanical hand, there is on described support the threaded portion being vertically arranged, be arranged simultaneously on the threaded portion
Adapter sleeve one and adapter sleeve two is threaded with, described support member one is set on threaded portion and support member one is located at adapter sleeve
Between one and adapter sleeve two.
When needing to adjust the position of support member one, adapter sleeve one and adapter sleeve two is rotated relative to threaded portion so that even
Female connector one and adapter sleeve two change position on support, so that the support member one between adapter sleeve one and adapter sleeve two
Change position.As the adapter sleeve one and adapter sleeve two for securing supports one is threaded in threaded portion, adapter sleeve
One and adapter sleeve two more firmly support member one can be fixed on threaded portion.
In above-mentioned mechanical hand, Hall element one senses the position of Magnet a period of time working shaft and Hall element two
Sense that the position of Magnet a period of time working shaft is different.
Due to both position differences, when Hall element one and Hall element two are carried out for the movement to working shaft
When spacing, in the course of the work, for example, on a moving direction of working shaft, hall sensing one sense Magnet one when
Between sense time of Magnet two earlier than Hall element two, wherein, Hall element one plays normal spacing or calibration and makees
With Hall element two plays safety effect.It is such arrange cause in mechanical hand normal course of operation, when need it is spacing or
During calibration, only Hall element is for a moment in running order, and Hall element two is not at working condition, so that suddenly
You are the shelf life of sensor two longer so that Hall element two more efficiently can play safety effect.
In above-mentioned mechanical hand, cover lid on described forearm, is fixed with, described screw mandrel and working shaft are located at cover lid
At inner side, described Hall element one and Hall element two are arranged on cover and cover.
As screw mandrel and working shaft are at the inner side of cover lid, cover on the side wall of lid with along the extension of working shaft length direction
The part of setting, cover lid is used as support Hall element one and the structure of Hall element two so that Hall element one and suddenly
Your setting of sensor two is more convenient.
In this mechanical hand, due to being provided with Hall element one and Hall element two, to the spacing of working shaft movement
Safety effect is served with calibration so that mechanical hand is stable.
Description of the drawings
Fig. 1 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 2 is the enlarged drawing in Fig. 1 at A；
Fig. 3 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 4 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 5 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 6 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 7 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 8 is the structural representation in a kind of embodiment of mechanical hand；
Fig. 9 is the structural representation in a kind of embodiment of mechanical hand；
Figure 10 is the structural representation in a kind of embodiment of mechanical hand；
Figure 11 is the structural representation in a kind of embodiment of mechanical hand；
Figure 12 is the structural representation in a kind of embodiment of mechanical hand；
Figure 13 is the structural representation in a kind of embodiment of mechanical hand；
Figure 14 is the structural representation in a kind of embodiment of mechanical hand；
In figure, 1, base；1a, fixed seat；1b, large arm；2nd, forearm；3rd, screw mandrel；4th, working shaft；5th, connector；6th, install
Seat；7th, support；7a, tube；7b, threaded portion；8th, Hall element one；9th, Magnet one；10th, Hall element two；11st, Magnet
Two；12nd, support member one；13rd, adapter sleeve one；14th, adapter sleeve two；15th, nut；20th, Magnet five；25th, cover lid.
Specific embodiment
Embodiment one
According to the purpose of this utility model, this utility model proposes a kind of design identical mechanical hand, its scheme in addition
It is as follows：
As shown in figure 1, manipulator base 1 and the forearm 2 being connected on base 1, wherein, base 1 include fixed seat 1a and
Large arm 1b, large arm 1b are spindle rotationally arranged in fixed seat 1a, and forearm 2 is spindle rotationally arranged in large arm 1b.Specifically, it is fixed
The motor for driving large arm 1b to rotate relative to fixed seat 1a is provided between seat 1a and large arm 1b, between large arm 1b and forearm 2
It is provided with the motor for driving forearm 2 to rotate relative to large arm 1b.
Forearm 2 is provided with the screw mandrel 3 being vertically arranged and the working shaft 4 be arrangeding in parallel with screw mandrel 3, working shaft 4 and screw mandrel 3 it
Between be provided with connector 5, working shaft 4 is axially fixed on connector 5, and connector 5 is connected on screw mandrel 3 and in the drive of screw mandrel 3
Lower connector 5 can drive working shaft 4 to move axially along working shaft 4.
In the present embodiment, nut 15 is connected with screw mandrel 3, and connector 5 is fixed on nut 15.When screw mandrel 3 is rotated,
Screw mandrel 3 drives nut 15 to move up and down, so as to band follower link 5 is moved up and down, so that the drive working shaft of connector 5 is about 4
It is mobile, therefore, connector 5 is moved relative to forearm 2.Used as another kind of replacement scheme that screw mandrel 3 is arranged, screw mandrel 3 is axially fixed in
On connector 5, nut 15 is rotated, and drives screw mandrel 3 to move up and down, and drives working shaft 4 to move up and down so as to pass through connector 5.
Mechanical hand also includes the support 7 being fixedly installed relative to forearm 2, and in the present embodiment, forearm 2 is provided with mounting seat
6, support 7 is fixed in mounting seat 6, and support 7 in a tubular form and is vertically arranged, and support 7 is located between screw mandrel 3 and working shaft 4, and
Frame 7, the axis of 4 three of screw mandrel 3 and working shaft are generally aligned in the same plane so that the distribution of weight on mechanical hand is more uniform, so as to
Make mechanical hand stable.
Mechanical hand is included relative to the Magnet 1 and Magnet two that one of them is fixedly installed in both connector 5 and forearm 2
11, mechanical hand is also included relative to the Hall element 1 and Hall that another is fixedly installed in both connector 5 and forearm 2
Sensor 2 10, Hall element 1 are correspondingly arranged with Magnet 1, and Hall element 2 10 is correspondingly arranged with Magnet 2 11.Suddenly
The working shaft when position of working shaft 4 and Hall element 2 10 sense Magnet 2 11 when your sensor 1 senses Magnet 1
4 position is suitable.
In the present embodiment, Hall element 1 is identical with the specification of Hall element 2 10, Magnet 1 and Magnet two
11 dimensions is identical, and in the upper side of 2 11 built-in connector 5 of Magnet 1 and Magnet, Magnet 1 and Magnet 2 11 exist
On vertical direction, sustained height is generally in.
In this mechanical hand, Hall element 1 is correspondingly arranged with Magnet 1 and is meant, in mechanical hand running
In, when Magnet 1 is near Hall element 1, Hall element 1 can sense Magnet 1.In the same manner, hall sensing
Device 2 10 is correspondingly arranged with Magnet 2 11 and is meant, in mechanical hand running, when Magnet 2 11 is near Hall element
When 2 10, Hall element 2 10 can sense Magnet 2 11.Certain Hall element for occurring elsewhere herein with
The meaning that certain Magnet is correspondingly arranged is also identical with this.
In the present embodiment, as shown in Fig. 2 support 7 is provided with support member 1, Hall element 1 and hall sensing
Device 2 10 is arranged on support member 1.When the position adjustments on support 7 of support member 1, Hall element 1 and Hall
Sensor 2 10 also have adjusted position together with support member 1 so that Hall element 1 and Hall element 2 10 are arranged
Flexibly.
In the present embodiment, support member 1 is horizontally disposed circuit board, and support member 1 is located at the upper of connector 5
Side.
Connect live wire on Hall element 1 and Hall element 2 10, electric wire is arranged along support 7.In this structure,
Support 7 not only acts as the effect for supporting Hall element 1 and Hall element 2 10, and, the also setting to electric wire is played
Supporting function so that electric wire arranges more convenient.Specifically, there is on support 7 tube 7a, electric wire is located in tube 7a
It is interior.As electric wire is located in the tube 7a of support 7, support 7 can play a protective role to electric wire, also so that electric wire sets
Put more convenient.
On the support 7 of the adjustable setting in one 12 in the vertical direction position of support member, specifically, it is vertical to have on support 7
The threaded portion 7b of setting, is arranged and is threaded with adapter sleeve 1 and adapter sleeve 2 14, one 12 sets of support member on the 7b of threaded portion
It is located on the 7b of threaded portion and support member 1 is located between adapter sleeve 1 and adapter sleeve 2 14.
When needing to adjust the position of support member 1, adapter sleeve 1 and adapter sleeve two is rotated relative to threaded portion 7b
14 so that adapter sleeve 1 and adapter sleeve 2 14 change position on support 7, so that being located at adapter sleeve 1 and adapter sleeve
Support member 1 between 2 14 changes position.Due to for securing supports 1 adapter sleeve 1 and adapter sleeve 2 14 it is equal
It is threaded on the 7b of threaded portion, support member 1 more firmly can be fixed on spiral shell by adapter sleeve 1 and adapter sleeve 2 14
On stricture of vagina portion 7b.
When Hall element 1 senses Magnet 1, the position of working shaft 4 and Hall element 2 10 sense Magnet two
When 11, the position of working shaft 4 is different.In the present embodiment, Hall element 1 is located at the upper side of support member 1, and Hall is passed
Sensor 2 10 is located at the downside of support member 1.
During mechanical hand runs, 3 action of screw mandrel drives the connector 5 being connected on screw mandrel 3 to move up and down,
During this, Magnet 1 is moved relative to Hall element 2 10 relative to one 8 relative movement of Hall element, Magnet 2 11.
When Hall element 1 senses Magnet 1, one 8 output signal of Hall element；Also, when Hall element 2 10 is felt
When should arrive Magnet 2 11,2 10 output signal of Hall element.
On a moving direction of working shaft 4, hall sensing one senses that the time of Magnet 1 is later than Hall element
2 10 times for sensing Magnet 2 11, wherein, Hall element 2 10 plays normal spacing or calibration function, hall sensing
Device 1 plays safety effect.Such setting is caused in mechanical hand normal course of operation, when spacing or calibration is needed, only
There is Hall element 2 10 in running order, Hall element 1 is not at working condition, so that hall sensing
The service life of device 1 is longer so that Hall element 1 more efficiently can play safety effect.
In this mechanical hand, the position of working shaft 4 and Hall element two when Hall element 1 senses Magnet 1
The position of 10 working shafts 4 when sensing Magnet 2 11 is suitable, that is to say, that the two positions are at a distance of relatively near or the two positions
It is identical.In this set, when the one of damage in Hall element 1 and Hall element 2 10 two, in work
Make in the smaller range of the movement of axle 4 or working shaft 4 is without the need for movement, in Hall element 1 and Hall element 2 10 two
Another remain able to sense correspondence Magnet output signal, therefore so that mechanical hand operation safety.And work as hall sensing
When device 1 and Hall element 2 10 are for playing spacing or calibration function to the movement of working shaft 4, working shaft 4 is prevented from
It is mobile to exceed stroke, so as to impact to the other structures in mechanical hand after preventing the movement overtravel of working shaft 4 so that machinery
Handss operation is safer.
Embodiment two
The present embodiment is roughly the same with embodiment one, is, in the present embodiment, as shown in figure 4, Hall where difference
Sensor 1 and Hall element 2 10 are respectively positioned on the downside of support member 1.In the present embodiment, due to Hall element
1 and Hall element 2 10 it is highly roughly the same, Hall element 1 senses Magnet 1 and Hall element 2 10
Magnet 2 11 is sensed substantially while occurring.In mechanical hand running, one of sensing can be set effectively, another sense
Should be effective when one of Hall element is damaged.In the present embodiment, Hall element 1 and Hall element 2 10
Arrange more convenient.
Certainly, Hall element 1 and Hall element 2 10 can be arranged on the upper side of support member 1 simultaneously.
Embodiment three
The present embodiment is roughly the same with embodiment one, is, in the present embodiment, as shown in figure 5, forearm where difference
Cover lid 25 is fixed with 2, and screw mandrel 3 and working shaft 4 are located at place, Hall element 1 and Hall element two on the inside of cover lid 25
10 are arranged on cover lid 25.In Fig. 5, Magnet 2 11 is not shown.
As screw mandrel 3 and working shaft 4 are located at the inner side of cover lid 25, with along 4 length of working shaft on the side wall of cover lid 25
The part that direction is extended, cover lid 25 is used as the structure for supporting Hall element 1 and Hall element 2 10 so that Hall
The setting of sensor 1 and Hall element 2 10 is more convenient.
In the present embodiment, Magnet 1 and Magnet 2 11 are arranged on connector 5 at the side of 25 side wall of cover lid,
The 2 10 neighbouring setting of Hall element 1 and Hall element.Alternatively, Hall element 1 and Hall
Sensor 2 10 is arranged side by side.
Example IV
The present embodiment is roughly the same with embodiment one, where difference is, in the present embodiment, as shown in figure 6 above, machine
Tool handss include relative to connector 5 and forearm 2 Magnet 1 that one of them is fixedly installed in both, Hall element 1 and suddenly
You are correspondingly arranged with Magnet 1 sensor 2 10 and Hall element 1 and Hall element 2 10 are disposed adjacent.
Specifically, Hall element 1 and Hall element 2 10 are respectively positioned at the both sides up and down of support member 1.
As shown in Figure 7 and Figure 8, Hall element 1 and Hall element 2 10 may also be arranged on the same of support member 1
On side.In Fig. 7, Hall element 1 and Hall element 2 10 are arranged side by side；In Fig. 8, Hall element 1 and Hall
Sensor lamination setting about 2 10.
Embodiment five
The present embodiment is roughly the same with example IV, is, in the present embodiment, such as Fig. 9 and Figure 10 institutes where difference
Show, be fixed with cover lid 25 on forearm 2, screw mandrel 3 and working shaft 4 are located on the inside of cover lid 25 and locate, and Hall element 1 and Hall are passed
Sensor 2 10 is arranged on cover lid 25.In Fig. 9, Hall element 1 and Hall element 2 10 are arranged above and below and are disposed adjacent.Figure
In 10, Hall element 1 and 2 10 or so lamination of Hall element are arranged.
Embodiment six
The present embodiment is roughly the same with embodiment one, where difference is, in the present embodiment, as shown in figure 11, little
Arm 2 is provided with and is vertically arranged working shaft 4, it is characterised in that be fixed with one on working shaft 4 in circular Magnet 5 20,
Magnet 5 20 is coaxial with working shaft 4.
During mechanical hand runs, due to being fixed with working shaft 4 in circular Magnet 5 20, therefore, except
Outside working shaft 4 is moved up and down, even if working shaft 4 is in own axes rotary course, Hall element 1 and hall sensing
Device 2 10 can also sense Magnet 5 20.
In the present embodiment, Hall element 1 and Hall element 2 10 are respectively positioned at up and down the two of support member 1
Side.
Alternatively, as shown in figure 12, Hall element 1 and Hall element 2 10 are respectively positioned on support member one
12 downside and lamination setting, certainly, Hall element 1 and Hall element 2 10 may also be arranged on support member 1
Upper side and lamination setting.
Embodiment seven
The present embodiment is roughly the same with embodiment six, is, in the present embodiment, such as Figure 13 and Figure 14 institutes where difference
Show, be fixed with cover lid 25 on forearm 2, screw mandrel 3 and working shaft 4 are located on the inside of cover lid 25 and locate, and Hall element 1 and Hall are passed
Sensor 2 10 is arranged on cover lid 25, and support member 1 is arranged on the medial wall of cover lid 25, and Hall element 1 and Hall are passed
Electric wire on sensor 2 10 is arranged along the medial wall of cover lid 25.In Figure 13, Hall element 1 and Hall element 2 10 are distinguished
It is arranged on the both sides up and down of support member 1.In Figure 14, Hall element 1 and Hall element 2 10 are arranged on support member one
12 downside and lamination setting.Alternatively, Hall element 1 and Hall element 2 10 are arranged on support member
One 12 upper side and lamination setting.
As two parts of Hall element and Magnet are arranged as a pair of parts, therefore, in embodiment one to embodiment
In seven, the position of Hall element and Magnet mutually can be exchanged.
Claims (8)
1. mechanical hand, including forearm (2), described forearm (2) is provided with the screw mandrel (3) that is vertically arranged and parallel with screw mandrel (3)
The working shaft (4) of setting, is provided with connector (5), working shaft (4) company of being axially fixed between working shaft (4) and screw mandrel (3)
On fitting (5), connector (5) be connected on screw mandrel (3) and under the drive of screw mandrel (3) connector (5) can band start building
Make axle (4) to move axially along working shaft (4), it is characterised in that mechanical hand is included relative to both connector (5) and forearm (2)
In one of them Magnet one (9) for being fixedly installed and Magnet two (11), the mechanical hand also includes relative to connector (5) and little
Hall element one (8) and Hall element two (10) that in both arms (2), another is fixedly installed, described Hall element
One (8) is correspondingly arranged with Magnet one (9), and described Hall element two (10) is correspondingly arranged with Magnet two (11), hall sensing
The work when position of working shaft (4) and Hall element two (10) sense Magnet two (11) when device one (8) senses Magnet one (9)
The position for making axle (4) is suitable.
2. mechanical hand according to claim 1, it is characterised in that mechanical hand also includes being fixedly installed relative to forearm (2)
Support (7), described Hall element one (8) and Hall element two (10) are arranged on support (7).
3. mechanical hand according to claim 2, it is characterised in that the Hall element one (8) and Hall element two
(10) connect live wire on, described electric wire is arranged along support (7).
4. mechanical hand according to claim 3, it is characterised in that there is on described support (7) tube (7a), it is described
Electric wire be located in tube (7a).
5. the mechanical hand according to Claims 2 or 3 or 4, it is characterised in that described support (7) is provided with support member one
(12), described Hall element one (8) and Hall element two (10) are arranged on support member one (12), described support member
On the support (7) of the adjustable setting in one (12) in the vertical direction position.
6. mechanical hand according to claim 5, it is characterised in that there is on described support (7) screw thread being vertically arranged
Portion (7b), is arranged and is threaded with adapter sleeve one (13) and adapter sleeve two (14), described support on threaded portion (7b)
Part one (12) is set on threaded portion (7b) and support member one (12) is located between adapter sleeve one (13) and adapter sleeve two (14).
7. the mechanical hand according to claim 1 or 2 or 3 or 4, it is characterised in that Hall element one (8) senses Magnet
When one (9), the position of working shaft (4) and Hall element two (10) sense Magnet two (11), the position of working shaft (4) is not
Together.
8. mechanical hand according to claim 1, it is characterised in that be fixed with cover lid (25), institute on described forearm (2)
The screw mandrel (3) stated and working shaft (4) are located at place, described Hall element one (8) and Hall element two on the inside of cover lid (25)
(10) it is arranged on cover lid (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621013688.8U CN206029874U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621013688.8U CN206029874U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029874U true CN206029874U (en) | 2017-03-22 |
Family
ID=58301252
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621013688.8U Active CN206029874U (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029874U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775631A (en) * | 2016-08-30 | 2018-03-09 | 浙江琦星电子有限公司 | Manipulator |
-
2016
- 2016-08-30 CN CN201621013688.8U patent/CN206029874U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775631A (en) * | 2016-08-30 | 2018-03-09 | 浙江琦星电子有限公司 | Manipulator |
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Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |