CN208100412U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN208100412U CN208100412U CN201820625861.2U CN201820625861U CN208100412U CN 208100412 U CN208100412 U CN 208100412U CN 201820625861 U CN201820625861 U CN 201820625861U CN 208100412 U CN208100412 U CN 208100412U
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- CN
- China
- Prior art keywords
- fingerboard
- fixed
- movable
- palm
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A kind of manipulator is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；The palm body has one or more parallel strip-shaped holes, the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body, the electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard is on slapping the nut for being fixed on electric threaded shaft nut body by strip-shaped hole inside body；After the motor to electric threaded shaft nut body is powered, lead screw rotates and nut is made to move along a straight line, and movable fingerboard just moves along a straight line with nut, and the distance between movable fingerboard and fixed fingerboard just change, for clamping and decontroling appropriately sized article.
Description
Technical field
The invention belongs to robot devices, are related to a kind of manipulator of clamping article that can be automatically controlled.
Background technique
In robot technology and equipment, manipulator is one as the important component for executing equipment.Existing manipulator
It is broadly divided into two classes.The first kind is the manipulator of apery hand class, has plenty of the overall structure using whole similar manpower, simply
But grasping parameter cannot be changed, also some is made of the hand of apery hand structure multiple joints, but structure and control are more multiple
It is miscellaneous；Second class is dedicated manipulator, mainly the manipulator in industrial production, often related with concrete technology, is not had
Versatility.In certain scenes, in household, general and uncomplicated manipulator is needed, thus proposes a kind of new manipulator
With control method.
Summary of the invention
A kind of manipulator invented is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；Institute
The palm body stated has one or more parallel strip-shaped holes, and the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body,
The electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard passes through inside palm body
Strip-shaped hole is fixed on the nut of electric threaded shaft nut body；After the motor to electric threaded shaft nut body is powered, lead screw
It rotates and nut is made to move along a straight line, movable fingerboard just moves along a straight line with nut, and the distance between movable fingerboard and fixed fingerboard are just
It changes, for clamping and decontroling appropriately sized article.
According to a kind of manipulator above-mentioned, more specific situation is:Fixed fingerboard and movable fingerboard are vertical with inside palm body.
It further include finger tip plate according to a kind of manipulator above-mentioned；Fixed fingerboard and movable fingerboard not with slap body and be connected
Edge connect finger tip plate；This finger tip plate is vertical with fixed fingerboard and movable fingerboard, and the external direction stretching, extension of thenad；Finger tip
Plate is used to clamp in article the plane contact of environment where with article, or when carrying out object clamping between two manipulators with
The contact surface of article.
According to a kind of manipulator above-mentioned, fixed fingerboard, movable fingerboard and finger tip plate have gap, form the effect more referred to.
According to a kind of manipulator above-mentioned, in the inside setting clamping touch sensor of fixed fingerboard and movable fingerboard；Folder
The case where touch sensor touches fixed fingerboard and movable fingerboard for detection object is held, has been clamped to article convenient for determination.
According to a kind of manipulator above-mentioned, the setting palm body touch sensor inside palm body；Palm body touch sensor is used to
Detection object touches the case where palm body, has placed or clamped article convenient for determination.
According to a kind of manipulator above-mentioned, finger tip touch sensor is set on the face of palm body in finger tip plate；Finger tip
Touch sensor is used to the case where detection object touches finger tip plate.
According to a kind of manipulator above-mentioned, range sensor is positioned proximate to inside palm body；It is used to close to range sensor
Detection object is close to the case where slapping body.
According to a kind of manipulator above-mentioned, clamping touch sensor, palm body touch sensor and finger tip touch sensor is
Pressure sensor is infrared sensor close to range sensor.
It further include control section according to a kind of manipulator above-mentioned；The motor of electric threaded shaft nut body and clamping touching
Bump sensor is connected with control section；When needing to clamp article, control section first controls motor running, makes electric threaded shaft spiral shell
Parent agency drive activity fingerboard is mobile to the direction far from fixed fingerboard, and movable fingerboard is greater than article at a distance from fixed fingerboard
The maximum length of holding portion；Then make robot movement again, when article is located between movable fingerboard and fixed fingerboard, control
System part controls motor and runs toward opposite direction, keeps movable fingerboard mobile to the direction of fixed fingerboard, when movable fingerboard and admittedly
The clamping touch sensor for determining fingerboard detects when having touched article, and electric threaded shaft nut body is out of service, is clamped to object
Product；If decontroling article, the nut of electric threaded shaft nut body is controlled to moving movable fingerboard far from the direction of fixed fingerboard.
A kind of the advantages of manipulator invented is：Mechanical structure is simple, and electric control function is comprehensive, reliable performance.
Detailed description of the invention
Attached drawing 1 is a kind of schematic diagram of a specific structure of manipulator of the present invention.
Specific embodiment
Embodiment one
Illustrate present embodiment referring to attached drawing 1, a kind of manipulator invented is by palm body 1, fixed fingerboard 2, electric threaded shaft
Nut body 3, movable fingerboard 4, finger tip plate 5 and control section composition；The palm body 1 has one or more parallel strip-shaped holes
1-1, the fixation fingerboard 2 are fixed on one end of the strip-shaped hole 1-1 of 1 the inside of palm body, and the electric threaded shaft nut body 3 is put
In 1 outside of palm body for corresponding to strip-shaped hole 1-1, the movable fingerboard 4 is fixed on electricity by strip-shaped hole 1-1 inside palm body 1
On the nut 3-1 of dynamic leadscrew-nut mechanism 3；Fixed fingerboard 2 and movable fingerboard 4 are vertical with 1 the inside of palm body；In fixed 1 He of fingerboard
The edge of movable fingerboard 4 not being connected with palm body 1 connects finger tip plate 5；This finger tip plate 5 and fixed fingerboard 2 and movable fingerboard 4 hang down
Directly, and 1 outside direction of thenad body stretches；The setting clamping touch sensor 7 inside fixed fingerboard 2, movable fingerboard 4, palm body 1
Finger tip touch sensor 9 is arranged in finger tip plate 5 in setting palm body sensor 8 in the inside on the face of palm body 1, in 1 the inside of palm body
It is positioned proximate to range sensor；Clamping touch sensor 7, palm body sensor 8 and finger tip touch sensor 9 is pressure sensor,
Proximity sensor is infrared sensor；The motor 3-2 of electric threaded shaft nut body 3, clamping touch sensor 7, palm body sensing
Device 8, finger tip touch sensor 9 are connected with control section；
When needing to clamp article, control section first controls motor 3-2 operation, drives electric threaded shaft nut body 3
Movable fingerboard 4 is mobile to the direction far from fixed fingerboard 2, and movable fingerboard 4 is greater than the clamped of article at a distance from fixed fingerboard 2
Partial maximum length；Then again robot movement, when determining or proximity sensor detect article be located at movable fingerboard 4 with
When between fixed fingerboard 2, or when palm body touch sensor 8 detects article, control section controls motor 3-2 toward phase negative side
To operation, keep movable fingerboard 4 mobile to the direction of fixed fingerboard 2, when sensing is touched in the clamping of movable fingerboard 4 and fixed fingerboard 2
Device 7 detects when having touched article, and electric threaded shaft nut body 3 is out of service, is clamped to article；If decontroling article, control
The nut 3-1 of electric threaded shaft nut body 3 processed is moved far from the direction of fixed fingerboard 2 to making movable fingerboard 4.
Claims (10)
1. a kind of manipulator, it is characterised in that:It is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；Institute
The palm body stated has one or more parallel strip-shaped holes, and the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body,
The electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard passes through inside palm body
Strip-shaped hole is fixed on the nut of electric threaded shaft nut body.
2. a kind of manipulator according to claim 1, it is characterised in that:It hangs down inside fixed fingerboard and movable fingerboard and palm body
Directly.
3. according to claim 1 or a kind of manipulator as claimed in claim 2, it is characterised in that：It further include finger tip plate；In fixation
The edge of fingerboard and movable fingerboard not being connected with palm body connects finger tip plate；This finger tip plate and fixed fingerboard and movable fingerboard hang down
Directly, and the external direction of thenad is stretched.
4. a kind of manipulator according to claim 3, fixed fingerboard, movable fingerboard and finger tip plate have gap, are formed and are referred to more
Effect.
5. a kind of manipulator according to claim 4, it is characterised in that:It is arranged in the inside of fixed fingerboard and movable fingerboard
Clamp touch sensor.
6. a kind of manipulator according to claim 5, it is characterised in that:The setting palm body touch sensor inside palm body.
7. a kind of manipulator according to claim 6, it is characterised in that:Refer in being arranged on the face of palm body for finger tip plate
Sharp touch sensor.
8. according to claim 1 or a kind of manipulator as claimed in claim 7, it is characterised in that：It is positioned proximate to inside palm body
Range sensor.
9. a kind of manipulator according to claim 8, it is characterised in that：Clamp touch sensor, palm body touch sensor
It is pressure sensor with finger tip touch sensor, is infrared sensor close to range sensor.
10. a kind of manipulator according to claim 9, it is characterised in that：It further include control section；Electric threaded shaft nut machine
Motor, the clamping touch sensor of structure are connected with control section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820625861.2U CN208100412U (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820625861.2U CN208100412U (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208100412U true CN208100412U (en) | 2018-11-16 |
Family
ID=64114913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820625861.2U Expired - Fee Related CN208100412U (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208100412U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326884A (en) * | 2018-04-28 | 2018-07-27 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator and control method |
-
2018
- 2018-04-28 CN CN201820625861.2U patent/CN208100412U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326884A (en) * | 2018-04-28 | 2018-07-27 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20181116 Termination date: 20190428 |