CN209699144U - A kind of manipulator with overload protection function - Google Patents
A kind of manipulator with overload protection function Download PDFInfo
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- CN209699144U CN209699144U CN201920134842.4U CN201920134842U CN209699144U CN 209699144 U CN209699144 U CN 209699144U CN 201920134842 U CN201920134842 U CN 201920134842U CN 209699144 U CN209699144 U CN 209699144U
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- telescopic rod
- manipulator
- rotation
- welded
- setting terminal
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- 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 description 3
- 230000006870 function Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000004904 shortening Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of manipulators with overload protection function; including manipulator and rotating base; the rotating base top surface is welded with base connector; and the rotation of base connector top surface one end is connected with base shaft; other end rotation in the base connector top surface is connected with the second telescopic rod, and the base shaft surface rotation is connected with the first linking arm.In the utility model, provided with tension sensor and pressure sensor, pressure sensor is electrically connected by data line and pulling force setting terminal, pressure sensor is electrically connected by data line and pressure setting terminal, user can set corresponding flexible draw-bar pull limiting value by pulling force setting terminal, when pulling force is more than this limiting value, the present apparatus integrally stops working, user can also set corresponding telescopic rod pressure limit value by pressure setting terminal, when corresponding telescopic rod is more than this limiting value, the present apparatus integrally stops working.
Description
Technical field
The utility model relates to manipulator technical field more particularly to a kind of manipulators with overload protection function.
Background technique
Certain holding functions that manpower and arm can be imitated, to by fixed routine crawl, carrying object or operational instrument
Automatic pilot, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, it can replace people
Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus wide
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator move mode at this stage mostly uses the mode of electric rotation shaft, and this mode is although relatively advanced, still
Bearing capacity is bad, and power output is unstable, and larger by torque limit, for the overload monitoring instrument of electric rotation shaft torque
It is very accurate, it is often easy damage, causes frequently to replace component, while the mechanical arm being connected with manipulator is often not provided with overload
Defencive function is easier to cause danger, in view of the above problems, special propose a kind of manipulator with overload protection function.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and there is the one kind proposed overload to protect
The manipulator of protective function.
To achieve the goals above, the utility model adopts the technical scheme that a kind of with overload protection function
Manipulator, including manipulator and rotating base, the rotating base top surface are welded with base connector, and base connector top surface
One end rotation is connected with base shaft, and other end rotation in the base connector top surface is connected with the second telescopic rod, the pedestal
The rotation of shaft surface is connected with the first linking arm, and one side surface of the first linking arm is connected by shaft and the rotation of the second telescopic rod
It connects, the rotation of first linking arm one end is connected with third telescopic rod, and third telescopic rod top surface is connect by shaft with first
Another side surface rotation connection of arm, the first linking arm other end rotation is connected with first rotating shaft, and first rotating shaft surface is revolved
Turn to be connected with the second linking arm, is connected with the 4th by shaft rotation between first linking arm and the second linking arm and stretches
Bar, the second linking arm other end are connected with connector by the rotation of the second shaft, and between connector and the second linking arm
It is rotated and is connected by the first telescopic rod, the connector other end is welded with swivel head, and the swivel head other end is welded with connection
Disk, the terminal pad bottom surface is welded with fixed block, and the rotation of fixed block bottom surface is connected with pawl arm shaft, the pawl arm shaft surface
Rotation is connected with pawl arm, and is rotated and connected by manipulator telescopic rod between pawl arm and terminal pad, the manipulator telescopic rod one
End is welded with tension sensor, and the manipulator telescopic rod other end is welded with pressure sensor, the manipulator telescopic rod table
Face is welded with pulling force setting terminal, and pulling force setting terminal side is located at manipulator telescopic rod surface and is welded with pressure setting eventually
End.
It is as above-mentioned technical proposal to further describe:
The tension sensor is electrically connected by data line and pulling force setting terminal, and the pressure sensor passes through data
Line and pressure setting terminal are electrically connected.
It is as above-mentioned technical proposal to further describe:
First linking arm upper surface is equipped with buzzer, and buzzer input terminal and tension sensor output end and pressure
Sensor output is electrically connected.
It is as above-mentioned technical proposal to further describe:
Non-slip mat is pasted with inside the pawl arm, the pawl arm is to be unlikely to deform structure.
It is as above-mentioned technical proposal to further describe:
First telescopic rod, the second telescopic rod and third telescopic rod both ends are respectively welded tension sensor and pressure passes
Sensor, the 4th telescopic rod both ends are respectively welded tension sensor and pressure sensor.
It is as above-mentioned technical proposal to further describe:
First telescopic rod, the second telescopic rod and third telescopic rod surface is welded with pulling force setting terminal and pressure is set
Determine terminal, the 4th telescopic rod surface is welded with pulling force setting terminal and pressure setting terminal.
In the utility model, first be provided with tension sensor and pressure sensor, pressure sensor by data line with
Pulling force setting terminal is electrically connected, and pressure sensor is electrically connected by data line and pressure setting terminal, and user can pass through
Pulling force setting terminal sets corresponding flexible draw-bar pull limiting value, and when pulling force is more than this limiting value, the present apparatus is integrally stopped
It only works, user can also set corresponding telescopic rod pressure limit value by pressure setting terminal, when corresponding telescopic rod is super
When crossing this limiting value, the present apparatus integrally stops working, and is alarmed by buzzer, prevents object overload of taking in use process
And danger is generated, it protects operator safe while protecting equipment, is secondly provided with pawl arm shaft and manipulator telescopic rod,
Pawl arm is rotated along pawl arm shaft, is carried out opening and closing by manipulator telescopic rod telescopic band pawl arm, due to manipulator
Telescopic rod is fluid pressure type telescopic rod, and output power is stablized, and the difference engagement type pawl arm clamp device of conventional gears has more powerful
Chucking power, and slipping phenomenon will not be generated, robot work efficiency is improved, while simplifying manipulator mechanism, reduces machine
Tool failure rate is finally provided with the first telescopic rod, the second telescopic rod, third telescopic rod and the 4th telescopic rod, flexible by first
Bar and the 4th telescopic rod elongation and shortening realize manipulator and carry out angle adjustment in vertical angles, by the second telescopic rod with
The elongation of third telescopic rod and shortening realize manipulator and are raised and reduced, while swivel head and rotating base realize machinery
Hand carries out all-direction rotation, and the setting of the first telescopic rod, the second telescopic rod, third telescopic rod and the 4th telescopic rod realizes machinery
Hand all-around mobile increases manipulator crawl and moving range, enhances the practicability of manipulator, while the first telescopic rod, the
Two telescopic rods, third telescopic rod and the 4th telescopic rod are equipped with tension sensor and pressure sensor, can also grab to manipulator
Article carries out overload protection, and use is safer.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of manipulator with overload protection function structural schematic diagram；
Fig. 2 is the main view of the utility model manipulator；
Fig. 3 is the main view of the utility model manipulator telescopic rod.
In figure: 1, manipulator；2, swivel head；3, connector；4, the first telescopic rod；5, first rotating shaft；6, the first linking arm；
7, buzzer；8, the second telescopic rod；9, base connector；10, rotating base；11, base shaft；12, third telescopic rod；13,
4th telescopic rod；14, the second linking arm；15, the second shaft；16, terminal pad；17, tension sensor；18, manipulator telescopic rod；
19, pawl arm shaft；20, pressure sensor；21, pawl arm；22, pulling force setting terminal；23, pressure setting terminal；24, fixed block.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-3, a kind of manipulator with overload protection function, including manipulator 1 and rotating base 10 rotate bottom
10 top surfaces of seat are welded with base connector 9, and the rotation of 9 top surface one end of base connector is connected with base shaft 11, pedestal connection
The rotation of the 9 top surface other end of part is connected with the second telescopic rod 8, and the rotation of 11 surface of base shaft is connected with the first linking arm 6, and first
6 one side surface of linking arm is connected by shaft and the rotation of the second telescopic rod 8, and the rotation of 6 one end of the first linking arm is connected with third and stretches
Contracting bar 12, and 12 top surface of third telescopic rod is connected by shaft and another side surface rotation of the first linking arm 6, the first linking arm 6
Other end rotation is connected with first rotating shaft 5, and the rotation of 5 surface of first rotating shaft is connected with the second linking arm 14,6 He of the first linking arm
The 4th telescopic rod 13 is connected with by shaft rotation between second linking arm 14,14 other end of the second linking arm passes through the second shaft
15 rotations are connected with connector 3, and pass through the rotation connection of the first telescopic rod 4, connector between connector 3 and the second linking arm 14
3 other ends are welded with swivel head 2, and 2 other end of swivel head is welded with terminal pad 16, and 16 bottom surface of terminal pad is welded with fixed block
24, and the rotation of 24 bottom surface of fixed block is connected with pawl arm shaft 19, the rotation of 19 surface of pawl arm shaft is connected with pawl arm 21, and pawl arm 21
By the rotation connection of manipulator telescopic rod 18 between terminal pad 16,18 one end of manipulator telescopic rod is welded with tension sensor
17,18 other end of manipulator telescopic rod is welded with pressure sensor 20, and 18 surface of manipulator telescopic rod is welded with pulling force setting eventually
End 22, and 22 side of pulling force setting terminal is located at 18 surface of manipulator telescopic rod and is welded with pressure setting terminal 23.
Tension sensor 17 is electrically connected by data line and pulling force setting terminal 22, and pressure sensor 20 passes through data line
It is electrically connected with pressure setting terminal 23,6 upper surface of the first linking arm is equipped with buzzer 7, and 7 input terminal of buzzer and pulling force pass
17 output end of sensor and 20 output end of pressure sensor are electrically connected, and non-slip mat is pasted with inside pawl arm 21, and pawl arm 21 is to be not easy
Distressed structure, the first telescopic rod 4, the second telescopic rod 8 and 12 both ends of third telescopic rod are respectively welded tension sensor 17 and pressure
Force snesor 20,13 both ends of the 4th telescopic rod are respectively welded tension sensor 17 and pressure sensor 20, the first telescopic rod 4,
Second telescopic rod 8 and 12 surface of third telescopic rod are welded with pulling force setting terminal 22 and pressure setting terminal 23, and the 4th is flexible
13 surface of bar is welded with pulling force setting terminal 22 and pressure setting terminal 23.
First telescopic rod 4, the second telescopic rod 8, third telescopic rod 12 and 13 driving method of the 4th telescopic rod are to be driven by electricity,
18 driving method of manipulator telescopic rod is to be driven by electricity, and 6 shape of the first linking arm is " L " type.
Working principle: in use, the present apparatus is fixed on suitable position, power on for the present apparatus, set by pulling force
Terminal 22 and pressure setting terminal 23 set the first telescopic rod 4, the second telescopic rod 8, third telescopic rod 12,13 and of the 4th telescopic rod
Manipulator telescopic rod 18 can bear the limiting value of pulling force and pressure, be carried out by 18 telescopic band pawl arm 21 of manipulator telescopic rod
It is enterprising in vertical angles to realize manipulator 1 by the first telescopic rod 4 and the elongation of the 4th telescopic rod 13 and shortening for opening and closing
The adjustment of row angle, is extended by the second telescopic rod 8 and third telescopic rod 12 and shortening realizes manipulator 1 and increased and dropped
It is low, while swivel head 2 and rotating base 10 realize manipulator 1 and carry out all-direction rotation, the first telescopic rod 4, the second telescopic rod
8, the setting of third telescopic rod 12 and the 4th telescopic rod 13 realizes 1 all-around mobile of manipulator, after article grabs, is being promoted
During article, the first telescopic rod 4, the second telescopic rod 8, third telescopic rod 12, the 4th telescopic rod 13 and manipulator telescopic rod
When pulling force suffered by 18 or pressure over-limit condition, the present apparatus integrally stops working, and is alarmed by buzzer 7, prevents from making
It is overloaded with article of taking in the process and generates danger, protect operator safe while protecting equipment.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of manipulator with overload protection function, including manipulator (1) and rotating base (10), which is characterized in that institute
It states rotating base (10) top surface to be welded with base connector (9), and the rotation of base connector (9) top surface one end is connected with pedestal and turns
Axis (11), base connector (9) the top surface other end rotation are connected with the second telescopic rod (8), base shaft (11) table
Face rotation is connected with the first linking arm (6), and (6) one side surface of the first linking arm is rotated by shaft and the second telescopic rod (8)
Connection, the first linking arm (6) one end rotation is connected with third telescopic rod (12), and third telescopic rod (12) top surface is by turning
Axis and another side surface rotation of the first linking arm (6) connect, and the first linking arm (6) other end rotation is connected with first rotating shaft
(5), and the rotation of first rotating shaft (5) surface is connected with the second linking arm (14), first linking arm (6) and the second linking arm
(14) the 4th telescopic rod (13) is connected with by shaft rotation between, the second linking arm (14) other end passes through the second shaft
(15) rotation is connected with connector (3), and is rotated between connector (3) and the second linking arm (14) by the first telescopic rod (4)
Connection, connector (3) other end is welded with swivel head (2), and swivel head (2) other end is welded with terminal pad (16), institute
It states terminal pad (16) bottom surface to be welded with fixed block (24), and the rotation of fixed block (24) bottom surface is connected with pawl arm shaft (19), it is described
The rotation of pawl arm shaft (19) surface is connected with pawl arm (21), and passes through manipulator telescopic rod between pawl arm (21) and terminal pad (16)
(18) rotation connection, described manipulator telescopic rod (18) one end is welded with tension sensor (17), the manipulator telescopic rod
(18) other end is welded with pressure sensor (20), and manipulator telescopic rod (18) surface is welded with pulling force setting terminal
(22), and pulling force setting terminal (22) side is located at manipulator telescopic rod (18) surface and is welded with pressure setting terminal (23).
2. a kind of manipulator with overload protection function according to claim 1, which is characterized in that the pull sensing
Device (17) is electrically connected by data line and pulling force setting terminal (22), and the pressure sensor (20) passes through data line and pressure
Setting terminal (23) is electrically connected.
3. a kind of manipulator with overload protection function according to claim 1, which is characterized in that first connection
Arm (6) upper surface is equipped with buzzer (7), and buzzer (7) input terminal and tension sensor (17) output end and pressure sensor
(20) output end is electrically connected.
4. a kind of manipulator with overload protection function according to claim 1, which is characterized in that the pawl arm (21)
Inside is pasted with non-slip mat, and the pawl arm (21) is to be unlikely to deform structure.
5. a kind of manipulator with overload protection function according to claim 1, which is characterized in that described first is flexible
Bar (4), the second telescopic rod (8) and third telescopic rod (12) both ends are respectively welded tension sensor (17) and pressure sensor
(20), the 4th telescopic rod (13) both ends are respectively welded tension sensor (17) and pressure sensor (20).
6. a kind of manipulator with overload protection function according to claim 1, which is characterized in that described first is flexible
Bar (4), the second telescopic rod (8) and third telescopic rod (12) surface are welded with pulling force setting terminal (22) and pressure setting terminal
(23), the 4th telescopic rod (13) surface is welded with pulling force setting terminal (22) and pressure setting terminal (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920134842.4U CN209699144U (en) | 2019-01-26 | 2019-01-26 | A kind of manipulator with overload protection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920134842.4U CN209699144U (en) | 2019-01-26 | 2019-01-26 | A kind of manipulator with overload protection function |
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| Publication Number | Publication Date |
|---|---|
| CN209699144U true CN209699144U (en) | 2019-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920134842.4U Active CN209699144U (en) | 2019-01-26 | 2019-01-26 | A kind of manipulator with overload protection function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209699144U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103281A (en) * | 2021-01-20 | 2021-07-13 | 朱少强 | Flexible robot with overload protection device |
-
2019
- 2019-01-26 CN CN201920134842.4U patent/CN209699144U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103281A (en) * | 2021-01-20 | 2021-07-13 | 朱少强 | Flexible robot with overload protection device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Building 2, B span, Changsha Blue Machinery Supporting Industrial Park, No. 18, South Section of East 11th Road, Quantang Street, Changsha Area, China (Hunan) Pilot Free Trade Zone, Changsha City, Hunan Province Patentee after: Hunan Yimishen Technology Co.,Ltd. Country or region after: China Address before: 1st Floor, Building C2, Newman Industrial Park, 128 Lixiang East Road, Quantang Street, Changsha Economic and Technological Development Zone, Hunan Province Patentee before: Hunan imisen Machinery Technology Co.,Ltd. Country or region before: China |