CN207983408U - A kind of manipulator identifying hazardous activity range using laser projection - Google Patents
A kind of manipulator identifying hazardous activity range using laser projection Download PDFInfo
- Publication number
- CN207983408U CN207983408U CN201820322093.3U CN201820322093U CN207983408U CN 207983408 U CN207983408 U CN 207983408U CN 201820322093 U CN201820322093 U CN 201820322093U CN 207983408 U CN207983408 U CN 207983408U
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- Prior art keywords
- connecting rod
- manipulator
- connected components
- laser projection
- rectangle
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Abstract
The utility model discloses a kind of manipulators identifying hazardous activity range using laser projection,It is provided with circular groove one including mounting seat and the upper end and is equipped with rotary electric machine one,Top is equipped with driving gear and disc workbench,It is by electric rotating machine that disc workbench upper end, which can be equipped with lift work rack device and its,,Lead screw one,Vertical guide rod,Travelling nut,Connected components one,Elongated sliding block and rectangle falsework composition,It is by rectangle sliding slot that the rectangle falsework one side, which is equipped with position electric adjusting device and its,,Slide,Round straight slot,Lead screw two,Circular groove two,Connected components two,Round nut,Micromotor and clamp device composition,The clamp device is by work head,T shape hollow grooves,Telescopic cylinder,Cross link component,Lateral guide rod,Arch connector,Gripper and connecting rod composition.The utility model has the beneficial effects that of simple structure and strong practicability.
Description
Technical field
The utility model is related to manipulator field, especially a kind of machinery identifying hazardous activity range using laser projection
Hand.
Background technology
For shop equipment in running, working range region is typically set to danger zone, the mark of traditional danger zone
Method is by manually going to identify, and this identification method not only heavy workload increases the burden of worker, and due to shop equipment
Running there are stationarity and flexibility two ways, the mark to realize danger zone is very difficult；Now in factory
Generally use manipulator grips the mark that projection device carries out danger zone, although this mode significantly reduces the negative of worker
Load, but this kind of gripping manipulator structure is too simple, old stuff, and achieved function is fewer, therefore needs a kind of profit now
The manipulator that hazardous activity range is identified with laser projection is carried out the gripping of projection device using manipulator, mitigates worker significantly
Burden, this kind of manipulator can realize circular-rotation, height adjust, the multiple functions such as back and forth movement and simple gripping, be equipped with
Position electric adjusting device and clamp device structure novel, it is easy to operate.
Utility model content
Purpose of the utility model is to solve the above problems, devise a kind of utilization laser projection mark hazardous activity
The manipulator of range.
Realize that above-mentioned purpose the technical solution of the utility model is, it is a kind of to identify hazardous activity range using laser projection
Manipulator, including mounting seat, mounting seat upper end side is provided with the circular groove one of certain depth and the circle is recessed
It is equipped with the rotary electric machine one of rotary shaft straight up in slot one, driving gear and the sliding tooth are equipped with above the mounting seat
Take turns the rotation axis connection of center-side and the rotary electric machine one, above the mounting seat and the correspondence driving gear position is another
Side is equipped with disc workbench, the disc workbench lateral surface circumferencial direction and corresponding driving gear position is uniform
Several tooth sockets one are provided with, disc workbench upper end can be equipped with lift work rack device, and the lift work is rack-mounted
To set be the rotary shaft that is fixed with by disc workbench upper center electric rotating machine straight up, is revolved with electric rotating machine
Lead screw one that shaft is connected by shaft coupling, disc workbench upper end and being respectively equipped with positioned at one both sides of lead screw are led vertically
Bar, the travelling nut that one outside of lead screw can be cased with, the connected components one and connected components being placed on outside travelling nut
The rectangle falsework composition that the elongated sliding block of one connection and elongated sliding block side are fixed with, it is solid that the rectangle falsework corresponds to it
End position another side is equipped with position electric adjusting device, and the position electric adjusting device is by the rectangle falsework
What is be equipped in the rectangle sliding slot of portion and the certain length that is provided with along its length, rectangle sliding slot can freely move along its length
Dynamic slide, slide inner cavity and the round straight slot being provided with along its length, be set to along rectangle track length direction its inner cavity and
Lead screw two, the slide stretched out through round straight slot slides along the certain depth that direction one end and corresponding round straight slot position are provided with
Circular groove two, the connected components two that are equipped in circular groove two, two inner ring of connected components can be fixed with set
Round nut, slide inner cavity outside lead screw two and the rotation axis horizontal being equipped with by two position side of circular groove is overhanging
The clamp device composition that micromotor and slide outer end are equipped with, the clamp device is the work by being arranged with the slide activity
Telescopic cylinder, the T shapes hollow groove two that top is fixed in the middle part of T shapes hollow groove that head, work head inner cavity are provided with, T shapes hollow grooves
Holding the cross link component, the cross link component that are respectively equipped with to correspond to telescopic cylinder installation position other end end, activity is set respectively
The lateral guide rod set, the arch that work head corresponds to its position fixed ends another side and both ends are respectively equipped with along its length connect
The connection being movably equipped with respectively between fitting, the gripper being flexibly connected respectively with arch connector and gripper and lateral guide rod
Bar forms, and the slide outer end can be equipped with rotary electric machine two, and the work head is set in the rotary shaft of the rotary electric machine two.
The gear teeth of the driving gear exterior can be intermeshed with the tooth socket one, disc workbench lower end center
Moveable support member can be equipped between portion and the mounting seat upper end, one top end part of the lead screw and bottom end outer surface are set as
It is smooth.
The elongated sliding block both sides and vertical guide rod position is corresponded to respectively being provided with circular through hole, the vertical guide rod can be distinguished
It is stretched out through the circular through hole, the connected components one are by the steel that is connect with the travelling nut external stability
If the dry milling that radians are uniformly provided between circle, the steel outer ring being connect with the elongated sliding block and steel inner ring and steel outer ring etc.
Pearl forms.
The connected components two are identical as one structure of the connected components, the steel of the connected components two
Inner ring processed is fixedly connected with the round nut, and its steel outer ring is fixedly connected with bottom end in the circular groove two, described
Round nut thickness is more than two steel inner ring thickness of the connected components.
The round nut corresponds to the overhanging certain length in steel inner ring position of the connected components two, and the circle
On the outside of shape nut overhanging end and along the circumferential direction equal radians are uniformly provided with several tooth sockets two, in the micromotor rotary shaft and right
Answer two position of tooth socket that can be equipped with rotate gear, the gear teeth outside the rotate gear can be intermeshed with the tooth socket two.
The horizontal both ends open of T shapes hollow groove, the cross link component are by even number root elongated connecting rod one, a root long
Two, two short shape connecting rods one of shape connecting rod and one short shape connecting rod two composition, one middle part of the elongated connecting rod are hinged to form friendship
Fork-shaped, the other end that is hinged between described short one one end of shape connecting rod is hinged with one overhanging end end of elongated connecting rod respectively, described
The end that is hinged of short shape connecting rod one is connected with the lateral guide rod, two upper end of the elongated connecting rod and the telescopic cylinder
Piston rod is flexibly connected, and lower end and one overhanging end end of underlying elongated connecting rod are hinged, short two one end of shape connecting rod with it is elongated
Two middle part of connecting rod is hinged, and the other end is hinged with one overhanging end end of elongated connecting rod.
The gripper can be set as arch, laser-projector can be gripped between the gripper, the work head inner cavity can
Equipped with wireless signal module, control device, signal receiver and information processing terminal chip.
The control device signal input part passes through the wireless signal module, signal receiver and information processing terminal core
Piece and the operation panel signal output end communication for being set as the external world connect, and prior-warning device is additionally provided in the work head.
The prior-warning device includes induction module, alarm and alarm lamp, and the induction module is used for the laser
The monitoring in projector region.
It is equipped with PLC system in the control device and controls the rotary electric machine one, rotary electric machine two, electric rotating respectively
The control module of machine, micromotor, telescopic cylinder, laser-projector, prior-warning device.
The manipulator that hazardous activity range is identified using laser projection made using the technical solution of the utility model, is adopted
The gripping of projection device is carried out with manipulator, mitigates the burden of worker significantly, this kind of manipulator can realize that circular-rotation, height are adjusted
Multiple functions, the position electric adjusting device being equipped with and the clamp device structure novels such as section, back and forth movement and simple gripping, operation
It is easy.
Description of the drawings
Fig. 1 is lift falsework setting position structural schematic diagram described in the utility model；
Fig. 2 is elongated sliding block planar structure schematic diagram described in the utility model；
Fig. 3 is electric adjusting device front view in position described in the utility model；
Fig. 4 is electric adjusting device side view in position described in the utility model；
Fig. 5 is clamp device structural schematic diagram described in the utility model；
Fig. 6 is T shapes hollow groove inner-cavity structure schematic diagram described in the utility model；
In figure, 1, mounting seat；2, circular groove one；3, rotary electric machine one；4, gear is driven；5, disc workbench；
6, tooth socket one；7, lift work rack device；8, electric rotating machine；9, lead screw one；10, vertical guide rod；11, travelling nut；12, living
Dynamic connection component one；13, elongated sliding block；14, rectangle falsework；15, position electric adjusting device；16, rectangle sliding slot；17, sliding
Seat；18, round straight slot；19, lead screw two；20, circular groove two；21, connected components two；22, round nut；23, miniature
Motor；24, clamp device；25, work head；26, T shapes hollow groove；27, telescopic cylinder；28, cross link component；29, it laterally leads
Bar；30, arch connector；31, gripper；32, connecting rod；33, rotary electric machine two；34, moveable support member；35, round logical
Hole；36, tooth socket two；37, rotate gear.
Specific implementation mode
The utility model is specifically described below in conjunction with the accompanying drawings, it is as shown in figures 1 to 6, a kind of to be identified using laser projection
The manipulator of hazardous activity range, including mounting seat 1, the circle that 1 upper end side of the mounting seat is provided with certain depth are recessed
The rotary electric machine 1 of rotary shaft straight up is equipped in slot 1 and the circular groove 1,1 top of the mounting seat is equipped with
Drive the rotation axis connection of gear 4 and driving 4 center-side of gear and the rotary electric machine 1,1 top of the mounting seat
And the corresponding 4 position other side of driving gear is equipped with disc workbench 5,5 lateral surface circumference side of the disc workbench
To and corresponding 4 position of driving gear be uniformly provided with several tooth sockets 1,5 upper end of disc workbench can be equipped with and lift
Formula work rack device 7, the lift work rack device 7 is the rotation being fixed with by 5 upper center of disc workbench
Shaft electric rotating machine 8 straight up, the lead screw 1 being connect by shaft coupling with 8 rotary shaft of electric rotating machine, the disc work
Make 5 upper end of platform and is respectively equipped with vertical guide rod 10 positioned at one 9 both sides of lead screw, travelling nut 11, the set that one 9 outside of lead screw can be cased with
Connected components 1 outside travelling nut 11, the elongated sliding block 13 being connect with connected components 1 and elongated cunning
The rectangle falsework 14 that 13 side of block is fixed with forms, and the rectangle falsework 14 corresponds to its position fixed ends another side and sets
It is by the middle part of the rectangle falsework 14 and along its length to have position electric adjusting device 15, the position electric adjusting device 15
What is be equipped in the rectangle sliding slot 16 of the certain length that direction is provided with, rectangle sliding slot 16 can free-moving slide along its length
17,17 inner cavity of slide and be provided with along its length round straight slot 18, along 16 length direction of rectangle sliding slot be set to its inner cavity and
Lead screw 2 19, the slide 17 stretched out through round straight slot 18 slides along direction one end and corresponds to what 18 position of round straight slot was provided with
Connected components 2 21, the connected components 2 21 being equipped in the circular groove 2 20 of certain depth, circular groove 2 20
Inner ring can be fixed with the round nut 22 being placed on outside lead screw 2 19,17 inner cavity of slide and be located at 2 20 position side of circular groove
The clamp device 24 that rotation axis horizontal that side is equipped with overhanging micromotor 23 and 17 outer end of slide are equipped with forms, and the gripping fills
It is that the T shapes hollow groove 26 being provided with by the work head 25 with the activity setting of the slide 17,25 inner cavity of work head, T shapes are hollow to set 24
Cross link component 28 that telescopic cylinder 27 that 26 middle part top of slot is fixed with, 26 both ends of T shapes hollow groove are respectively equipped with intersects
Link assembly 28 corresponds to 27 installation position other end end of telescopic cylinder, and the lateral guide rod 29 of activity setting, work head 25 are right respectively
It answers its position fixed ends another side and both ends are respectively equipped with along its length arch connector 30, connect respectively with arch
The connecting rod 32 being movably equipped with respectively between gripper 31 and gripper 31 and lateral guide rod 29 that part 30 is flexibly connected forms, institute
Rotary electric machine 2 33 can be equipped with by stating 17 outer end of slide, and the work head 25 is set in the rotary shaft of the rotary electric machine 2 33；Institute
Stating the gear teeth outside driving gear 4 can be intermeshed with the tooth socket 1,5 lower end central part of the disc workbench and institute
Moveable support member 34 can be equipped between 1 upper end of mounting seat by stating, and one 9 top end part of the lead screw and bottom end outer surface are set as light
It is sliding；13 both sides of elongated sliding block and 10 position of vertical guide rod is corresponded to respectively being provided with circular through hole 35, the vertical guide rod 10 can
The stretching of the circular through hole 35 is extended through, the connected components 1 are by connecting with 11 external stability of the travelling nut
Radians are uniform between the steel inner ring that connects, the steel outer ring being connect with the elongated sliding block 13 and steel inner ring and steel outer ring etc.
Several balls composition being equipped with；The connected components 2 21 are identical as one 12 structure of the connected components, the work
The steel inner ring of dynamic connection component 2 21 is fixedly connected with the round nut 22, and its steel outer ring and the circular groove two
Bottom end is fixedly connected in 20, and 22 thickness of the round nut is more than 2 21 steel inner ring thickness of the connected components；It is described
Round nut 22 corresponds to the overhanging certain length in steel inner ring position of the connected components 2 21, and the round nut 22
On the outside of overhanging end and along the circumferential direction equal radians are uniformly provided with several tooth sockets 2 36, in 23 rotary shaft of the micromotor and corresponding
2 36 position of tooth socket can be equipped with rotate gear 37, and the gear teeth outside the rotate gear 37 can mutually be nibbled with the tooth socket 2 36
It closes；The 26 horizontal both ends open of T shapes hollow groove, the cross link component 28 are by even number root elongated connecting rod one, a root long
Two, two short shape connecting rods one of shape connecting rod and one short shape connecting rod two composition, one middle part of the elongated connecting rod are hinged to form friendship
Fork-shaped, the other end that is hinged between described short one one end of shape connecting rod is hinged with one overhanging end end of elongated connecting rod respectively, described
The end that is hinged of short shape connecting rod one is connected with the lateral guide rod 29, two upper end of the elongated connecting rod and the telescopic cylinder
27 piston rod flexible connection, lower end and one overhanging end end of underlying elongated connecting rod are hinged, short two one end of shape connecting rod with
Two middle part of elongated connecting rod is hinged, and the other end is hinged with one overhanging end end of elongated connecting rod；The gripper 31 can be set as arch, institute
Laser-projector can be gripped between gripper 31 by stating, and 25 inner cavity of the work head can be equipped with wireless signal module, control device, letter
Number receiver and information processing terminal chip；The control device signal input part is connect by the wireless signal module, signal
It receives device and information processing terminal chip and is set as extraneous operation panel signal output end communication connection, it is another in the work head 25
Equipped with prior-warning device；The prior-warning device includes induction module, alarm and alarm lamp, and the induction module is for described
The monitoring of laser-projector view field；PLC system is equipped in the control device and control respectively the rotary electric machine 1,
The control module of rotary electric machine 2 33, electric rotating machine 8, micromotor 23, telescopic cylinder 27, laser-projector, prior-warning device.
The characteristics of the utility model is a kind of manipulator identifying hazardous activity range using laser projection, including installation
Pedestal, mounting seat upper end side are provided in the circular groove one of certain depth and circular groove one and are equipped with rotary shaft straight up
Rotary electric machine one, driving gear is equipped with above mounting seat and gear center-side and the rotary shaft of rotary electric machine one is driven to connect
It connects, above the mounting seat and corresponding driving gear position other side is equipped with disc workbench, disc workbench lateral surface circle
Circumferential direction and corresponding driving gear position is uniformly provided with several tooth sockets one, disc workbench upper end can be equipped with lift falsework
Device, lift work rack device are the electric rotating of the rotary shaft that is fixed with by disc workbench upper center straight up
Machine, the lead screw one being connect by shaft coupling with electric rotating machine rotary shaft, disc workbench upper end and positioned at one both sides of lead screw point
Not She You vertical guide rod, the travelling nut that the outside of lead screw one can be cased with, the connected components one being placed on outside travelling nut, with
The rectangle falsework composition that the elongated sliding block and elongated sliding block side that connected components one connect are fixed with, rectangle falsework
Its corresponding position fixed ends another side is equipped with position electric adjusting device, and position electric adjusting device is by rectangle falsework
What is be equipped in the rectangle sliding slot of portion and the certain length that is provided with along its length, rectangle sliding slot can freely move along its length
Dynamic slide, slide inner cavity and the round straight slot being provided with along its length, be set to along rectangle track length direction its inner cavity and
Lead screw two, the slide stretched out through round straight slot slides along the certain depth that direction one end and corresponding round straight slot position are provided with
Circular groove two, the connected components two that are equipped in circular groove two, two inner ring of connected components can be fixed with set
Round nut, slide inner cavity outside lead screw two and the rotation axis horizontal being equipped with by two position side of circular groove is overhanging
Clamp device that micromotor and slide outer end are equipped with composition, clamp device be by be arranged with slide activity work head, work
Top is fixed in the middle part of T shapes hollow groove that head inner cavity is provided with, T shapes hollow grooves telescopic cylinder, T shape hollow grooves both ends are set respectively
Some cross link components, cross link component correspond to the telescopic cylinder installation position other end end transverse direction that activity is arranged respectively
Guide rod, work head correspond to its position fixed ends another side and both ends are respectively equipped with along its length arch connector, point
The connecting rod being movably equipped with respectively between the gripper and gripper and lateral guide rod that are not flexibly connected with arch connector forms,
Slide outer end can be equipped with rotary electric machine two, and work head is set in the rotary shaft of rotary electric machine two, and carrying out projection using manipulator sets
Standby gripping, mitigates the burden of worker significantly, this kind of manipulator can realize circular-rotation, height adjust, back and forth movement and simple
Multiple functions, the position electric adjusting device being equipped with and the clamp device structure novels such as gripping, it is easy to operate.
In the present invention, at mounting seat installation and one, control device controls rotary electric machine one and operates, rotary electric machine
One rotary shaft can drive sliding tooth wheel rotate, by drive gear exterior the gear teeth and tooth socket one intermeshing so as to
Drive the rotation of disc workbench.Control device controls electric rotating machine running, and electric rotating machine drives lead screw one to rotate, is placed on lead screw
Travelling nut realization outside one moves up and down, and travelling nut drives elongated sliding block to realize rising-falling tone by connected components one
Section.Control device can control micromotor running, and being placed on the gear teeth outside the rotate gear in micromotor rotary shaft can be with
It is placed on the two mutual gear motion of tooth socket being provided on the outside of the round nut outside lead screw two, round nut can be along two length side of lead screw
To back and forth movement is done, round nut can drive slide back and forth movement by connected components two.Slide outer end is equipped with gripping
Device when retractable air cylinder piston bar moves down, can be made by cross link component, lateral guide rod, connecting rod and arch connector
It obtains gripper and grips laser-projector；When the piston rod in telescopic cylinder moves up, can gripper be opened.Rotation electricity
Machine two can adjust the angle of rotation of work head.Alarm of the prior-warning device being equipped with for laser projection mark danger zone.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solutions of the utility model, the technology of the art
Personnel embody the principles of the present invention to some variations that some of which part may be made, and belong to the utility model
Protection domain within.
Claims (10)
1. a kind of manipulator identifying hazardous activity range using laser projection, including mounting seat (1), which is characterized in that institute
It states mounting seat (1) upper end side and is provided with to be equipped in the circular groove one (2) and the circular groove one (2) of certain depth and rotate
The rotary electric machine one (3) of axis straight up, mounting seat (1) top are equipped with driving gear (4) and the driving gear (4)
The rotation axis connection of center-side and the rotary electric machine one (3), mounting seat (1) top and the corresponding driving gear
(4) the position other side is equipped with disc workbench (5), disc workbench (5) the lateral surface circumferencial direction and it is corresponding described in
Driving gear (4) position is uniformly provided with several tooth sockets one (6), and disc workbench (5) upper end can be equipped with lift and work
Rack device (7), the lift work rack device (7) is the rotation being fixed with by disc workbench (5) upper center
Shaft electric rotating machine (8) straight up, lead screw one (9), the circle being connect by shaft coupling with electric rotating machine (8) rotary shaft
It dish type workbench (5) upper end and is respectively equipped with vertical guide rod (10) positioned at lead screw one (9) both sides, can be cased with outside lead screw one (9)
Travelling nut (11), be placed on the external connected components one (12) of travelling nut (11), with connected components one (12)
Rectangle falsework (14) composition that the elongated sliding block (13) and elongated sliding block (13) side of connection are fixed with, the rectangle work
Its corresponding position fixed ends another side of frame (14) is equipped with position electric adjusting device (15), the position electric adjusting device
(15) be the certain length by being provided in the middle part of the rectangle falsework (14) and along its length rectangle sliding slot (16), rectangle
What is be equipped in sliding slot (16) free-moving slide (17), slide (17) inner cavity and can open along its length along its length
The round straight slot (18) having, the lead screw for being set to its inner cavity along rectangle sliding slot (16) length direction and being stretched out through round straight slot (18)
Two (19), slide (17) slide along the circular groove for the certain depth that direction one end and corresponding round straight slot (18) position are provided with
Two (20), the interior connected components two (21) being equipped with of circular groove two (20), connected components two (21) inner ring can be fixed
Equipped with being placed on the external round nut (22) of lead screw two (19), slide (17) inner cavity and by circular groove two (20) position side
Clamp device (24) composition that the rotation axis horizontal that is equipped with overhanging micromotor (23) and slide (17) outer end are equipped with, the folder
It is hollow by the T shapes being provided with the movable work head (25) being arranged of the slide (17), work head (25) inner cavity to take device (24)
Slot (26), the telescopic cylinder (27) that top is fixed in the middle part of T shapes hollow groove (26), T shapes hollow groove (26) both ends are respectively equipped with
Cross link component (28), corresponding telescopic cylinder (27) the installation position other end end of cross link component (28) lives respectively
Its corresponding position fixed ends another side of the lateral guide rod (29) of dynamic setting, work head (25) and along its length both ends difference
The arch connector (30) that is equipped with, the gripper (31) being flexibly connected respectively with arch connector (30) and gripper (31) with it is horizontal
To connecting rod (32) composition being movably equipped with respectively between guide rod (29), slide (17) outer end can be equipped with rotary electric machine two
(33), the work head (25) is set in the rotary shaft of the rotary electric machine two (33).
2. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
The external gear teeth of the driving gear (4) can be intermeshed with the tooth socket one (6), in disc workbench (5) lower end
Moveable support member (34), the lead screw one (9) top end part and bottom end can be equipped between center portion and the mounting seat (1) upper end
Portion outer surface is set as smooth.
3. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
Elongated sliding block (13) both sides and vertical guide rod (10) position is corresponded to respectively be provided with circular through hole (35), the vertical guide rod
(10) can extend through the circular through hole (35) stretching, the connected components one (12) be by with the travelling nut
(11) outside the steel inner ring of external stability connection, the steel outer ring that is connect with the elongated sliding block (13) and steel inner ring and steel
Several balls composition that equal radians are uniformly provided between circle.
4. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
The connected components two (21) are identical as the connected components one (12) structure, the connected components two (21)
Steel inner ring be fixedly connected with the round nut (22), and its steel outer ring and the interior bottom end of the circular groove two (20) are solid
Fixed connection, round nut (22) thickness are more than the connected components two (21) steel inner ring thickness.
5. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
The overhanging certain length in steel inner ring position of the corresponding connected components two (21) of the round nut (22), and the circle
On the outside of shape nut (22) overhanging end and along the circumferential direction radians is waited uniformly to be provided with several tooth sockets two (36), the micromotor (23)
In rotary shaft and corresponding two (36) position of tooth socket can be equipped with rotate gear (37), and the external gear teeth of the rotate gear (37) can be with
The tooth socket two (36) is intermeshed.
6. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
The horizontal both ends open of the T shapes hollow groove (26), the cross link component (28) are by even number root elongated connecting rod one, a root long
Two, two short shape connecting rods one of shape connecting rod and one short shape connecting rod two composition, one middle part of the elongated connecting rod are hinged to form friendship
Fork-shaped, the other end that is hinged between described short one one end of shape connecting rod is hinged with one overhanging end end of elongated connecting rod respectively, described
The end that is hinged of short shape connecting rod one is connected with the lateral guide rod (29), two upper end of the elongated connecting rod and the flexible gas
The piston rod of cylinder (27) is flexibly connected, and lower end is hinged with one overhanging end end of underlying elongated connecting rod, short shape connecting rod 21
End and two middle part of elongated connecting rod are hinged, and the other end is hinged with one overhanging end end of elongated connecting rod.
7. a kind of manipulator identifying hazardous activity range using laser projection according to claim 1, which is characterized in that
The gripper (31) can be set as arch, and laser-projector can be gripped between the gripper (31), and the work head (25) is interior
Chamber can be equipped with wireless signal module, control device, signal receiver and information processing terminal chip.
8. a kind of manipulator identifying hazardous activity range using laser projection according to claim 7, which is characterized in that
The signal input part of the control device by the wireless signal module, signal receiver and information processing terminal chip with set
Connection is communicated for extraneous operation panel signal output end, prior-warning device is additionally provided on the work head (25).
9. a kind of manipulator identifying hazardous activity range using laser projection according to claim 8, which is characterized in that
The prior-warning device includes induction module, alarm and alarm lamp, and the induction module is for the laser-projector
The monitoring of view field.
10. a kind of manipulator being identified hazardous activity range using laser projection according to claim 9, feature are existed
In the control device is interior to be equipped with PLC system and control the rotary electric machine one (3), rotary electric machine two (33), electric rotating respectively
The control module of machine (8), micromotor (23), telescopic cylinder (27), laser-projector, prior-warning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322093.3U CN207983408U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator identifying hazardous activity range using laser projection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322093.3U CN207983408U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator identifying hazardous activity range using laser projection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983408U true CN207983408U (en) | 2018-10-19 |
Family
ID=63826609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820322093.3U Expired - Fee Related CN207983408U (en) | 2018-03-09 | 2018-03-09 | A kind of manipulator identifying hazardous activity range using laser projection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983408U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146668A (en) * | 2021-05-11 | 2021-07-23 | 清华大学 | Self-adjusting end effector, mechanical arm and robot |
-
2018
- 2018-03-09 CN CN201820322093.3U patent/CN207983408U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146668A (en) * | 2021-05-11 | 2021-07-23 | 清华大学 | Self-adjusting end effector, mechanical arm and robot |
| CN113146668B (en) * | 2021-05-11 | 2023-03-14 | 清华大学 | Self-adjusting end effector, mechanical arm and robot |
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Granted publication date: 20181019 Termination date: 20190309 |