CN208276912U - A kind of water conservancy machine for producing tool hand - Google Patents
A kind of water conservancy machine for producing tool hand Download PDFInfo
- Publication number
- CN208276912U CN208276912U CN201820926050.6U CN201820926050U CN208276912U CN 208276912 U CN208276912 U CN 208276912U CN 201820926050 U CN201820926050 U CN 201820926050U CN 208276912 U CN208276912 U CN 208276912U
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- China
- Prior art keywords
- oil cylinder
- sensor
- water conservancy
- telescopic
- piston rod
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 235000004443 Ricinus communis Nutrition 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 12
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 230000001105 regulatory effect Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 7
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of water conservancy machine for producing tool hands, its structure includes pedestal, support rod, rotary oil cylinder, cylinder piston rod, telescopic oil cylinder, telescopic arm, weight sensor, mechanical paw, grippers, rotary oil cylinder is movably connected on the upper end face of support rod, the right end face of rotary oil cylinder is connected with cylinder piston rod, the front-end surface of cylinder piston rod has telescopic oil cylinder by screw connection, the inner surface of telescopic oil cylinder has extended vertically through connection cross bar, the rear surface of cylinder piston rod is connected with telescopic arm, the outer surface of telescopic arm is by being electrically connected with weight sensor, the utility model can be during grasping, the weight of the grabbed material of the grippers of manipulator is incuded, and it is fed back to computer, the external equipments such as large screen display and regulated power supply, to which user can be accurate The progress for holding material transmission, effectively increases the intelligence degree of equipment.
Description
Technical field
The utility model is a kind of water conservancy machine for producing tool hand, belongs to automatic control technology field.
Background technique
Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
The component of part is such as clamped according to by the shape of grasping object, size, weight, material and job requirements and there are many structure type
Type, holding type and absorbent-type etc..Movement mechanism makes hand complete various rotations, movement or compound motion defined dynamic to realize
Make, changes by the position of grasping object and posture.The self-movements mode such as the lifting of movement mechanism, flexible, rotation, it is referred to as mechanical
The freedom degree of hand.In order to grab the object of any position and orientation in space, there need to be 6 freedom degrees.Freedom degree is that manipulator is set
The key parameter of meter.Freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.It is general dedicated
Manipulator has 2~3 freedom degrees.Control system be by the control of the motor to each freedom degree of manipulator, it is specific to complete
Movement.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.
Prior art published application number be CN201420139096.5 it is a kind of can quick fine rotational manipulator, packet
Include manipulator fixed jaw and manipulator rotary pawl, manipulator rotating cylinder, pedestal, pedestal and the fixed company of manipulator fixed jaw
It connects, there are a cavity in pedestal and manipulator fixed jaw junction, and manipulator rotating cylinder is just fixed on pedestal and manipulator is fixed
On the cavity of pawl, manipulator rotary pawl offers circular hole, and manipulator fixed jaw is equipped with to be inserted into for the circular hole of manipulator rotary pawl
Guide rod, manipulator rotating cylinder be equipped with manipulator guide rail, manipulator vertical sliding motion block and the horizontal sliding shoe of manipulator are just fallen
Enter on manipulator guide rail, can be slided up and down in manipulator guide rail, the utility model is its main feature is that gas source facilitates, is swift in motion, ties
Structure is simple, cost is lower, easy to maintenance, and precise control.But the prior art is due to can not be during grasping, to machinery
The weight for the material that the grippers of hand are grabbed is incuded and is fed back to the external equipments such as computer and regulated power supply, is led
Cause user that cannot accurately hold the progress of material transmission, intelligence degree is insufficient.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of water conservancy machine for producing tool hand, with solution
Certainly the prior art during grasping due to that can not incude the weight for the material that the grippers of manipulator are grabbed and be incited somebody to action
It feeds back to the external equipments such as computer and regulated power supply, causes user that cannot accurately hold the progress of material transmission, intelligence
The problem of change degree deficiency.
To achieve the goals above, the utility model is achieved through the following technical solutions: a kind of production of water conservancy is used
Manipulator, structure include pedestal, support rod, rotary oil cylinder, cylinder piston rod, telescopic oil cylinder, telescopic arm, weight sensing
Device, mechanical paw, grippers, the rear surface of the pedestal are vertically connected with castor, and the upper end face of the pedestal is vertical
It is welded with support rod, the rotary oil cylinder is movably connected on the upper end face of support rod, and the right end face of the rotary oil cylinder is living
Dynamic to be connected with cylinder piston rod, the front-end surface of the cylinder piston rod has telescopic oil cylinder, the flexible oil by screw connection
The inner surface of cylinder has extended vertically through connection cross bar, and the rear surface of the telescopic oil cylinder is connected with telescopic arm, described to stretch
It draws back one's hand and is electrically connected with weight sensor on arm, the weight sensor is made of sensor, connector, limiting slot, connecting line, institute
The outer surface that connector is embedded in sensor is stated, the limiting slot is distributed in the upper and lower end surface of sensor, the sensor
Upper end face is vertically connected with connecting line, and the weight sensor is connected by limiting slot with telescopic arm, the flexible hand
The rear surface of arm is vertically connected with mechanical paw, and the rear surface of the mechanical paw is welded with grippers.
Further, the rear end surface of the support rod is vertically connected with rotary cylinder, the left and right both ends of the support rod
Surface is fixedly connected with manipulator mounting plate.
Further, the shape of the manipulator mounting plate is rectangle, and quantity is 2.
Further, the quantity of the limiting slot is 4-6, they are uniformly equally spaced in the upper and lower end table of sensor
Face.
Further, the connector is the circular configuration that quantity is 3.
Further, the quantity of the castor is 4, they are respectively perpendicular four apex angles for being connected to pedestal rear surface
Place.
Further, the length of the cylinder piston rod is 180-220cm.
The utility model has the beneficial effects that can be grabbed during grasping to manipulator by being equipped with weight sensor
The weight for the material that pickup is grabbed is incuded, and it is outer to be fed back to computer, large screen display and regulated power supply etc.
Portion's equipment effectively increases the intelligence degree of equipment so that user can accurately hold the progress of material transmission.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of water conservancy machine for producing tool hand of the utility model.
Fig. 2 is the structural schematic diagram of the utility model weight sensor.
In figure: pedestal -1, support rod -2, rotary oil cylinder -3, cylinder piston rod -4, telescopic oil cylinder -5, telescopic arm -6, again
Quantity sensor -7, mechanical paw -8, grippers -9, castor -10, connection cross bar -50, sensor -70, connector -71, limit
Slot -72, connecting line -73, rotary cylinder -20, manipulator mounting plate -21.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Fig. 1-Fig. 2 is please referred to, the utility model provides a kind of water conservancy machine for producing tool hand, and structure includes pedestal 1, support
Bar 2, rotary oil cylinder 3, cylinder piston rod 4, telescopic oil cylinder 5, telescopic arm 6, weight sensor 7, mechanical paw 8, grippers 9,
The rear surface of the pedestal 1 is vertically connected with castor 10, and the upper end face of the pedestal 1 is vertically welded with support rod 2, institute
The upper end face that rotary oil cylinder 3 is movably connected on support rod 2 is stated, the right end face of the rotary oil cylinder 3 is connected with oil cylinder
The front-end surface of piston rod 4, the cylinder piston rod 4 has telescopic oil cylinder 5, the interior table of the telescopic oil cylinder 5 by screw connection
Face has extended vertically through connection cross bar 50, and the rear surface of the telescopic oil cylinder 5 is connected with telescopic arm 6, the flexible hand
By being electrically connected with weight sensor 7 on arm 6, the weight sensor 7 is by sensor 70, connector 71, limiting slot 72, connection
Line 73 forms, and the connector 71 is embedded in the outer surface of sensor 70, and the limiting slot 72 is distributed in the upper and lower of sensor 70
End surfaces, the upper end face of the sensor 70 are vertically connected with connecting line 73, the weight sensor 7 by limiting slot 72 with
Telescopic arm 6 is connected, and the rear surface of the telescopic arm 6 is vertically connected with mechanical paw 8, under the mechanical paw 8
End surfaces are welded with grippers 9, and the rear end surface of the support rod 2 is vertically connected with rotary cylinder 20, the support rod 2
Left and right two end surfaces are fixedly connected with manipulator mounting plate 21, and the shape of the manipulator mounting plate 21 is rectangle, and quantity is
2, the quantity of the limiting slot 72 is 4-6, they are uniformly equally spaced in the upper and lower end surface of sensor 70, the company
Fitting 71 is the circular configuration that quantity is 3, and the quantity of the castor 10 is 4, they, which are respectively perpendicular, is connected under pedestal 1
Four vertex of end surfaces, the length of the cylinder piston rod 4 are 180-220cm.
Weight sensor 7 described in this patent is a kind of dress that quality signal is changed into measurable electric signal output
It sets.It is first had to consider actual working environment locating for sensor with sensor, this point selects weight sensor 7 heavy to closing to correct
It wants, can it is related to sensor work normally and its safety and service life, or even the reliability and peace of entire machine
Quan Xing.
In use, first checking for whether each section is bonded, after confirming Plant in good condition, equipment is placed on suitably
The rotary oil cylinder 3 of equipment, telescopic oil cylinder 5 are adjusted to suitable angle, adjust the length of telescopic arm 6, this sets later by position
It is standby to start to work normally.
The pedestal -1, support rod -2, rotary oil cylinder -3, cylinder piston rod -4, telescopic oil cylinder -5, flexible hand of the utility model
Arm -6, weight sensor -7, mechanical paw -8, grippers -9, castor -10, connection cross bar -50, sensor -70, connector -
71, limiting slot -72, connecting line -73, rotary cylinder -20, manipulator mounting plate -21, component are universal standard part or this field
The component that technical staff knows, structure and principle are all that this technology personnel can be learnt by technical manual or by conventional real
Proved recipe method knows, it is the prior art due to can not crawl during grasping, to manipulator that the utility model, which solves the problems, such as,
The weight for the material that part is grabbed is incuded and is fed back to the external equipments such as computer and regulated power supply, leads to user
The progress of material transmission cannot be accurately held, intelligence degree is insufficient, and the utility model is combined with each other by above-mentioned component, leads to
It crosses and is equipped with weight sensor, the weight for the material that the grippers of manipulator are grabbed can be incuded during grasping,
And the external equipments such as computer, large screen display and regulated power supply are fed back to, so that user can accurately hold object
The progress for expecting transmission, effectively increases the intelligence degree of equipment, described in detail below:
The outer surface of the telescopic arm 6 is by being electrically connected with weight sensor 7, and the weight sensor 7 is by sensor
70, connector 71, limiting slot 72, connecting line 73 form, and the connector 71 is embedded in the outer surface of sensor 70, the limit
Slot 72 is distributed in the upper and lower end surface of sensor 70, and the upper end face of the sensor 70 is vertically connected with connecting line 73, described
Weight sensor 7 is connected by limiting slot 72 with telescopic arm 6.
In the embodiments of the present invention 1, the quantity of the limiting slot is 4, and the length of the cylinder piston rod is
180cm；
In the embodiments of the present invention 2, the quantity of the limiting slot is 6, and the length of the cylinder piston rod is
220cm。
| Embodiment 1 | Embodiment 2 | |
| Weight induction precision | Generally | It is high |
| Grasp flexibility | By force | It is very strong |
In conclusion the length of cylinder piston rod uses 220cm when the quantity of the limiting slot of the utility model uses 6
When, the weight induction precision of the utility model is higher, and grasping flexibility reaches optimum state.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are embraced therein.It should not treat any reference in the claims as limiting related right
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of water conservancy machine for producing tool hand, structure includes pedestal (1), support rod (2), rotary oil cylinder (3), cylinder piston rod
(4), telescopic oil cylinder (5), telescopic arm (6), weight sensor (7), mechanical paw (8), grippers (9), it is characterised in that:
The rear surface of the pedestal (1) is vertically connected with castor (10), and the upper end face of the pedestal (1) is vertically welded with
Support rod (2), the rotary oil cylinder (3) are movably connected on the upper end face of support rod (2), the right end of the rotary oil cylinder (3)
Surface activity is connected with cylinder piston rod (4)；
The front-end surface of the cylinder piston rod (4) has telescopic oil cylinder (5) by screw connection, the telescopic oil cylinder (5) it is interior
Surface has extended vertically through connection cross bar (50), and the rear surface of the telescopic oil cylinder (5) is connected with telescopic arm (6), institute
It states on telescopic arm (6) by being electrically connected with weight sensor (7)；
The weight sensor (7) is made of sensor (70), connector (71), limiting slot (72), connecting line (73), the company
Fitting (71) is embedded in the outer surface of sensor (70), and the limiting slot (72) is distributed in the upper and lower end surface of sensor (70),
The upper end face of the sensor (70) is vertically connected with connecting line (73), and the weight sensor (7) passes through limiting slot (72)
It is connected with telescopic arm (6)；
The rear surface of the telescopic arm (6) is vertically connected with mechanical paw (8), the rear surface of the mechanical paw (8)
It is welded with grippers (9).
2. a kind of water conservancy machine for producing tool hand according to claim 1, it is characterised in that: the rear end of the support rod (2)
Surface is vertically connected with rotary cylinder (20), and left and right two end surfaces of the support rod (2) are fixedly connected with manipulator mounting plate
(21)。
3. a kind of water conservancy machine for producing tool hand according to claim 2, it is characterised in that: the manipulator mounting plate (21)
Shape be rectangle, quantity be 2.
4. a kind of water conservancy machine for producing tool hand according to claim 1, it is characterised in that: the quantity of the limiting slot (72)
It is 4-6, they are uniformly equally spaced in the upper and lower end surface of sensor (70).
5. a kind of water conservancy machine for producing tool hand according to claim 1, it is characterised in that: the connector (71) is quantity
For 3 circular configurations.
6. a kind of water conservancy machine for producing tool hand according to claim 1, it is characterised in that: the quantity of the castor (10)
It is 4, they are respectively perpendicular four vertex for being connected to pedestal (1) rear surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820926050.6U CN208276912U (en) | 2018-06-14 | 2018-06-14 | A kind of water conservancy machine for producing tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820926050.6U CN208276912U (en) | 2018-06-14 | 2018-06-14 | A kind of water conservancy machine for producing tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208276912U true CN208276912U (en) | 2018-12-25 |
Family
ID=64699116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820926050.6U Expired - Fee Related CN208276912U (en) | 2018-06-14 | 2018-06-14 | A kind of water conservancy machine for producing tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208276912U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117948064A (en) * | 2024-03-22 | 2024-04-30 | 济南悦创液压机械制造有限公司 | Automatic feeding device for crank arm crane |
-
2018
- 2018-06-14 CN CN201820926050.6U patent/CN208276912U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117948064A (en) * | 2024-03-22 | 2024-04-30 | 济南悦创液压机械制造有限公司 | Automatic feeding device for crank arm crane |
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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 |
Granted publication date: 20181225 Termination date: 20200614 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |