WO2020147576A1 - 一种机械手装置 - Google Patents
一种机械手装置 Download PDFInfo
- Publication number
- WO2020147576A1 WO2020147576A1 PCT/CN2019/130371 CN2019130371W WO2020147576A1 WO 2020147576 A1 WO2020147576 A1 WO 2020147576A1 CN 2019130371 W CN2019130371 W CN 2019130371W WO 2020147576 A1 WO2020147576 A1 WO 2020147576A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- fixed
- support frame
- swing arm
- double
- telescopic
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Definitions
- the invention relates to a manipulator device.
- manipulator devices currently on the market are relatively single, with only 1-2 There is no linkage function, so the efficiency of the existing manipulator device is very low.
- the present invention provides a manipulator device, including a lifting structure, a rotating structure, a telescopic structure, a pitching structure, and a support frame, wherein the lifting structure includes a sliding rail and a first support column, the support frame and the first support column A swing arm is provided in between. One end of the swing arm is fixed to the first support column, and the other end is fixed to the support frame.
- the first support column is provided with double pulleys and is slidably mounted on the slide rail Middle Israel drives the support frame to move up and down;
- the rotating structure includes a second double groove wheel, an upper fixed tube and a lower fixed tube.
- the upper fixed tube and the lower fixed tube extend into the slide rail and are fixedly connected to the inner wall of the slide rail.
- the double groove wheel is fixedly connected with the upper fixed pipe, and the second double groove wheel drives the slide rail to rotate to realize the rotation movement of the support frame;
- the telescopic structure is installed on the swing arm and drives the swing arm to perform a telescopic movement, so that the support frame is close to or away from the first support column;
- the pitch structure includes a fourth cable and a fifth double sheave, the fourth cable is wound around the fifth double sheave and fixed to the support frame, and the fourth cable pulls the support frame Achieve pitch movement.
- the telescopic structure includes a telescopic rod and a telescopic tube
- the telescopic tube is sleeved on the telescopic rod
- the swing arm is a separate first part and a second part
- the telescopic tube is fixed to the first part, so
- the telescopic rod is fixed to the second part, and the telescopic rod makes a telescopic movement relative to the telescopic tube, so that the support frame is close to or away from the first support column.
- the telescopic structure includes a pair of the swing arms, a plurality of hinge shafts and a first fixing plate, the first fixing plate is fixedly installed on the first support column, and the swing arm includes a front swing arm and The rear swing arm, the front swing arm and the rear swing arm are rotatably mounted on the hinge shaft to realize the telescopic movement of the swing arm, and the swing arm telescopically moves relative to the first fixed plate to drive the The support frame does telescopic movement.
- the telescopic structure further includes a third motor, a third cable, a pair of tensioners and a fourth double sheave
- the third motor is fixedly connected to the fourth double sheave and fixed to the first fixed
- the tensioner includes a first tensioner and a second tensioner
- the first tensioner is fixedly installed on the rear swing arm
- the second tensioner is fixedly installed on the support
- one end of the third cable is fixed to the hinge shaft, and the other end is fixed to the hinge shaft, the first tensioner, the fourth double sheave, and the second tensioner in turn.
- the support frame, the third motor drives the fourth double-grooved wheel to pull the third cable, and then pulls the swing arm to move back and forth to realize the telescopic movement of the support frame.
- the telescopic structure further includes a second support column, a pair of positioning members and a pair of balance components
- the second support column is fixed to the support frame
- the second tensioner is fixed to the second support Column
- the rear swing arm is provided with U Shaped slot
- the first tensioner is fixed to the U Shaped groove
- a pair of the positioning members are symmetrically fixed on the first fixing plate and are respectively arranged between the first support column and the rear swing arm
- one end of each of the balance components is fixed to the
- the other end of the front swing arm is fixed to the support frame
- each of the balance components includes an elastic member and a pair of limit posts, one of the limit posts is fixed to the front swing arm, and the other of the limit posts
- the column is fixed to the support frame, and the elastic member is sleeved on the limiting column.
- the lifting structure further includes a first motor, a first double groove wheel, a first cable and a circulating guide wheel, and the first motor is fixedly connected to the first double groove wheel and installed on the slide rail.
- the circulating guide wheel is installed in the bottom end of the slide rail, and the first cable is fixed to the double pulley and is wound around the first double groove wheel and the circulating guide wheel in sequence.
- the first motor drives the first double grooved wheel to pull the double pulley to slide in the slide rail, thereby driving the support frame to achieve a lifting movement.
- the rotating structure further includes a sliding rail upper fixing bracket and a sliding rail lower fixing bracket
- the sliding rail lower fixing bracket is equipped with a thrust ball bearing
- the upper fixing tube and the lower fixing tube are respectively connected with the sliding rail upper fixing bracket
- the inner circle of the lower fixing bracket of the sliding rail is in clearance fit
- the lower end surface of the lower fixing tube is matched with the upper end surface of the thrust ball bearing.
- the rotating structure further includes a second motor, a third double groove wheel and a second cable
- the second cable is wound around the second double groove wheel and the third double groove wheel
- the second motor It is fixedly connected with the third double groove wheel and drives the third double groove wheel to rotate to drive the second double groove wheel to rotate, thereby driving the sliding rail to rotate to realize the rotation movement of the support frame.
- the pitch structure further includes a guide post and a pipe
- the support frame includes a second fixed plate and a support structure
- the support structure includes a fixed end and a sliding end
- the fixed end is fixed to the second fixed plate
- One end of the guide post is fixed to the sliding end
- one end of the guide tube is sleeved on the other end of the guide post and slidably fitted
- the other end of the guide tube is fixed to the sliding end
- the second fixing plate A perforation is provided
- the fourth cable passes through the perforation and is connected to the conduit
- the fourth motor drives the fourth cable to pull the conduit, which in turn pulls the sliding end to slide up and down to realize the support frame The pitch movement.
- the fixed end is horizontally adjustable along the second fixed plate, the fixed end is provided with an arc-shaped limiting groove, and the sliding end slides within a sliding range of the arc-shaped limiting groove.
- the manipulator device of the present invention uses remote control or intelligent control of the motor, and then linkage controls the manipulator device to perform lifting, rotating, telescopic and pitching movements, which is more convenient to use, simple in structure and low in cost, and has a wide application range.
- Figure 1 It is a schematic diagram of the structure of the first embodiment of the manipulator device
- Figure 2 Is a picture 1 Part of the enlarged view in
- Figure 3 Is a picture 1 Part of the enlarged view in
- Figure 4 It is a schematic structural diagram from another perspective of the first embodiment of the manipulator device
- Figure 5 Is a picture 4 Part of the enlarged view in
- Figure 6 It is a schematic diagram of the structure of the second embodiment of the manipulator device.
- Figure 7 Is a picture 6 Part of the enlarged view in
- Figure 8 Is a picture 6 Part of the enlarged view in
- Figure 9 Is a picture 6 Part of the enlarged view in
- Figure 10 Is a schematic diagram of the telescopic structure of the second embodiment of the manipulator device
- Figure 11 Is a picture 10 Part of the enlarged view in
- Figure 12 It is a schematic diagram of the structure of the support frame of the second embodiment of the manipulator device.
- Figure 13 It is a schematic diagram of the structure of the annular elastic sheet installed on the corresponding double groove wheel
- Figure 14 Is a schematic diagram of the structure of the first support column
- Figure 15 It is a schematic diagram of the structure of the circulating guide wheel
- Figure 16 It is a schematic diagram of the structure of the lower fixed pipe
- Figure 17 It is the structural diagram of the fixed bracket on the slide rail and the fixed bracket under the slide rail;
- Figure 18 It is the schematic diagram of the thrust ball bearing
- Figure 19 It is a schematic diagram of the manipulator device of the present invention installed in a mobile device.
- connection can be a fixed connection, a detachable connection, or a whole; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
- connection can be a fixed connection, a detachable connection, or a whole; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless specifically defined otherwise.
- first, second, etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features.
- the features defined as “first” and “second” may include at least one of the features either explicitly or implicitly.
- the present invention provides a manipulator device 100 , Including lifting structure 10 , Rotating structure 20 , Telescopic structure 30 , Pitch structure 40 And support frame 70 , Wherein the lifting structure 10 Including slide 11 And the first support column 13 , The support frame 70 With the first support column 13 Swing arm 31 , The swing arm 31 One end is fixed to the first support column 13 , The other end is fixed to the support frame 70 , The first support column 13 With double pulley 131 And slidably mounted on the slide rail 11 The support frame 70 Do lifting exercises;
- the rotating structure 20 Including the second double groove wheel twenty one , Upper fixed tube 221 And lower fixed tube 222 , The upper fixed tube 221 And lower fixed tube 222 Reach into the slide rail 11 And the slide rail 11
- the inner wall is fixedly connected, the second double groove wheel twenty one With upper fixed tube 221 Fixed connection, the second double groove wheel twenty one Drive the slide 11 Rotate to achieve support frame 70 Rotational movement;
- the telescopic structure 30 Mounted on the swing arm 31 And drive the swing arm 31 Perform telescopic movement to make the support frame 70 Close to or away from the first support column 13 ;
- the pitch structure 40 Including the fourth cable 42 And fifth double groove wheel 43 , The fourth cable 42 Wound on the fifth double groove wheel 43 And fixed to the support frame 70 , The fourth cable 42 Pull the support frame 70 Achieve pitch movement;
- the lifting structure 10 , Rotating structure 20 , Telescopic structure 30 And pitch structure 40 It can be controlled by one-key linkage of the intelligent controller or separated independently to make the support frame 70 Run to the desired location.
- the starting point, middle point, and end position can be set for the stroke of each structure operation.
- the middle point position here refers to the commonly used position of any point between the strokes, not the middle point of the stroke; during use, if you need to adjust the support frame 70
- the angle and position of each stroke can be adjusted by the remote control until the desired position.
- Manipulator device of the present invention 100 The lifting structure can be controlled by the remote control 10 , Rotating structure 20 , Telescopic structure 30 And pitch structure 40 One-key linkage runs to the starting point, or one-key linkage to the end point and then back.
- the manipulator device of the present invention 100 Support frame 70 When the TV is installed, the viewing direction of the viewer can be fixed and the screen can be adjusted by motor control, which is very convenient to use and improves the comfort of the viewer.
- the manipulator device 100 Mainly used in home and building decoration, such as bedrooms, lobbies and meeting rooms.
- the manipulator device of the present invention 100 It can also be applied to industries such as logistics and transportation.
- the present invention provides a manipulator device 100
- the first embodiment, the telescopic structure 30 Includes telescopic pole 332 And telescopic tube 331 , The telescopic tube 331 Telescopic rod 332 , The swing arm 31 For the first part 313 And the second part 314 , The telescopic tube 331 Fixed to the first part 313 , The telescopic rod 332 Fixed to the second part 314 , The telescopic rod 332 Relative to the telescopic tube 331 Do telescopic exercise to make the support frame 70 Close to or away from the first support column 13 , Such as support frame 70 When installing LCD screens of different sizes, you can adjust the telescopic rod 332 Movement to make the display close to the first support column 13 , Thereby saving space.
- the present invention provides a manipulator device 100
- the second embodiment wherein the telescopic structure 30 Includes a pair of said swing arms 31 , Multiple hinge axes 34 And the first fixing plate 32 , The first fixing plate 32 Fixedly installed on the first support column 13 Up, the swing arm 31 Including front swing arm 311 And swing arm 312 , The front swing arm 311 And swing arm 312 Rotatably mounted on the hinge shaft 34 To achieve the swing arm 31 Telescopic movement, the swing arm 31 Relative to the first fixing plate 32 Do telescopic movement to drive the support frame 70 Do telescopic exercises.
- the telescopic structure 30 also includes the third motor 39 Third cable 35 , A pair of tensioners and the fourth double groove wheel 37 , The third motor 39 With the fourth double groove wheel 37 Fixedly connected and fixed to the first fixing plate 32
- the tensioner includes a first tensioner 361 And the second tensioner 362 , The first tensioner 361 Fixedly mounted on the rear swing arm 312 , The second tensioner 362 Fixedly installed on the support frame 70 The surface of the third cable 35 One end is fixed to the hinge shaft 34 , The other end passes through another hinge axis in turn 34 , The first tensioner 361 , The fourth double groove wheel 37 , The second tensioner 362 Fixed to the support frame 70 , The third motor 39 Drive the fourth double groove wheel 37 Pull the third cable 35 , And then pull the swing arm 31 Move back and forth to achieve the support frame 70 Telescopic movement.
- the third cable 35 After the second tensioner 362 The back is divided into two lines and fixed horizontally to the support frame 70 Up, at this time the third cable 35 With the support frame 70 to make" Y ”-Shaped connection, which is beneficial to the manipulator device 100 Can perform telescopic movement smoothly.
- the first tensioner 361 Including side panels 3611 , The first elastic 3612 , The first hanging wheel 3613 And a pair of first fixed pulleys 3614 , The first elastic 3612 With the first hanging wheel 3613 Fixed connection, the first hanging wheel 3613 And a pair of first fixed pulleys 3614 Fixed to the side panel 3611 On the side panel 3611 Fixed to the rear swing arm 312 ⁇ ,The first hanging wheel 3613 Set on the first fixed pulley 3614 Above, the first fixed pulley 3614 Horizontally symmetrically arranged, the third cable 35 Pass through a first fixed pulley 3614 , The first hanging wheel 3613 And another first fixed pulley 3614 .
- the rear swing arm 312 Is arranged in parallel up and down, the rear swing arm 312 With U Shaped slot, the side plate 3611 There are card slots on both sides of the U The groove is fixed and sleeved to fix the first tensioner 361 .
- the telescopic structure 30 also includes a second support column 38 , The second support column 38 Fixed to support frame 70 On, the second tensioner 362 Fixed to the second support column 38 .
- the second support column 38 With extension column 381 With protruding board 382 , The second tensioner 362 Including the second elastic 3621 , The second hanging wheel 3622 And a pair of second fixed pulleys 3623 , The second elastic 3621 One end is fixed to the extension post 381 The other end and the second hanging wheel 3622 Fixed connection, a pair of second fixed pulley 3623 Fixed to the extension plate 382 ⁇ ,The second fixed pulley 3623 Horizontally symmetrically arranged, the third cable 35 Pass through a second fixed pulley 3623 , The second hanging wheel 3622 And another second fixed pulley 3623 .
- first direction and the second direction are opposite directions, for example, the first direction is a clockwise direction, and the second direction is a counterclockwise direction.
- the telescopic structure can be controlled by a remote control 30 The start and stop position can be stopped at any position to meet the needs of viewers.
- the telescopic structure 30 also includes a pair of positioning parts and a pair of balance components 302 , A pair of the positioning members are symmetrically fixed to the first fixing plate 32 And are respectively arranged on the first support column 13 And the back swing arm 312 Between, in this embodiment, the positioning member and the rear swing arm 312 On the first fixing plate 32 The fixing places are adjacent, the positioning member is a cube or a rectangular parallelepiped structure, and faces the rear swing arm 312 One side is a wedge-shaped surface, when the telescopic structure 30 During the unfolding movement, the two rear swing arms 312 Move towards each other, and due to the presence of the positioning member, the rear swing arm 312 When running to the wedge-shaped surface of the positioning member, it cannot continue to move forward, which ensures that the front swing arm 311 With the back swing arm 312 The angle between is less than 180 °C to prevent the two rear swing arms 312 In case of collision, the telescopic structure is guaranteed 30 Normal operation.
- Each of the balancing components 302 One end is fixed to the front swing arm 311 , The other end is fixed to the support frame 70 ,
- Each of the balance components 302 It includes an elastic member and a pair of limit posts, one of the limit posts is fixed to the front swing arm 311 , The other one of the limit posts is fixed to the support frame 70 , The elastic piece is sleeved on the limiting post.
- the support plate 70 There will be shaking left and right, when the support plate 70 When offset to one side, the balance component located in the offset direction 302 The elastic part is in a compressed state, and the other balance component 302 The elastic member is in a stretched state, when the support plate 70 When the offset reaches a certain limit, the balance component located in the offset direction 302 The two limit posts in the middle will abut to prevent the support plate 70 Continue to offset to one side, so that the support plate 70 Achieve dynamic balance and improve the telescopic structure 30 Stability of operation.
- the support plate 70 The offset limit is determined by the distance between the two limit posts, the smaller the distance between the two limit posts, the support plate 70 The lower the offset limit.
- the lifting structure 10 also includes the first motor 16 , The first double groove wheel 12 The first cable 14 And circulation guide wheel 142 , The first motor 16 With the first double groove wheel 12 Fixedly connected and installed on the slide rail 11 Above, the loop guide wheel 142 Installed on the slide rail 11 In the bottom end of the first cable 14 Fixed to the connecting part 132 And wound on the first double groove wheel in turn 12 And the circulating guide wheel 142 , The first motor 16 Drive the first double groove wheel 12 , Wound on the first double groove wheel 12 The first cable 141 Pull the first support column 13 On the slide 11 Slide in the middle, thereby driving the support frame 70 Realize lifting movement.
- the first support column 13 Connected with a pair of double pulleys 131 , The double pulley 131 With the first support column 13 Connecting part 132 To connect the double pulley 131 With the first support column 13 , The connecting part 132 With pin holes 1321 , The first cable 14 Fixed to the pin hole 1321 , The first cable 14 Pull the double pulley 131 Sliding on the slide 11 The support frame 70 slide.
- the rotating structure 20 also includes the fixing bracket on the slide rail 25a And the fixed bracket under the slide rail 25 , The fixed bracket under the slide rail 25 Built-in thrust ball bearings 251 , The upper fixed tube 221 , Lower fixed tube 222 Respectively with the fixed bracket on the slide rail 25a , Fixed bracket under the slide rail 25 Inner circle clearance fit, lower fixed pipe 222 The lower end face of the thrust ball bearing 251 The upper end face is matched.
- Fixing bracket on upper slide rail 25a For through holes, make sure that the upper fixed pipe 221 Able to pass through the fixed bracket on the slide rail 25a With the slide 11 Fixed; fixed to the slide rail 11
- the lower fixing bracket of the lower slide rail 25 Blind hole, lower fixed tube 222 End face and thrust ball bearing 251 The upper end of the match, thrust ball bearing 251 The lower end is fixedly matched with the blind hole.
- the sliding rail 11 It is a double-layer structure with a sandwich, and the fixed bracket on the slide 25a And the fixed bracket under the slide rail 25 First hole 252 , The upper fixed tube 221 A second small hole is penetrated, and the first cable 14 Wound on the first double groove wheel 12 Go down into the slide rail 11 In, and then through the loop guide wheel 142 Go up into the interlayer, after passing through the interlayer, from the first small hole 252 And the second small hole enters the upper fixed pipe 221 , And finally wound on the first double groove wheel 12 , Making the first cable 14 Can be hidden in the slide rail 11 Medium, beautiful appearance.
- the lifting structure 10 It can be concealed or semi-concealed in the wall without affecting the appearance; it can also be mounted on the surface, in which the bracket is fixed on the slide rail 25a , Fixed bracket under the slide rail 25 Install on the wall, slide rail 11 Off the wall 10-15mm .
- the rotating structure 20 also includes the second motor 27 , The third double groove wheel twenty four And the second cable twenty three , The second cable twenty three Wound on the second double groove wheel twenty one With the third double groove wheel twenty four , The second motor 27 With the third double groove wheel twenty four Fixedly connect and drive the third double groove wheel twenty four Rotate to drive the second double groove wheel twenty one Rotate to drive the slide 11 Rotate to achieve support frame 70 Rotation movement.
- the rotating structure 20 also includes transitional double groove wheels 26 , The transition double groove wheel 26 On the second double groove wheel twenty one With the third double groove wheel twenty four Between, the transition double groove wheel 26 Fixed on the wall by bolts, the second cable twenty three Sequentially wound on the second double groove wheel twenty one , Transition double groove wheel 26 And the third double groove wheel twenty four , The transition double groove wheel 26
- the setting makes the second motor 27 Able to be parallel to the first motor 16 , Does not affect the structural layout and aesthetics.
- the pitch structure 40 Including the fourth motor 44 , The fourth cable 42 And fifth double groove wheel 43 , The fourth cable 42 Wound on the fifth double groove wheel 43 , The fourth motor 44 With the fifth double groove wheel 43 Fixedly connect and drive the fifth double groove wheel 43 Pull the fourth cable 42 , And then pull the support frame 70 Achieve pitch movement.
- the pitch structure 40 also includes the rotating end 90 , The fourth cable 42 Pull the support frame 70 Around the rotating end 90 Rotate up and down to realize the support frame 70 The pitch movement.
- the pitch structure 40 also includes guide posts 45 And catheter 41 ,
- the support frame 70 Including the second fixing plate 71 And support structure 72 ,
- the support structure 72 Including fixed end 721 And sliding end 722 ,
- the fixed end 721 Fixed to the second fixing plate 71 ,
- the guide post 45 One end is fixed to the sliding end 722 ,
- the catheter 41 One end is sleeved on the guide post 45 The other end and sliding fit, the catheter 41 The other end is fixed to the sliding end 722 ,
- the fourth cable 72 Through the perforation 711 With the catheter 41 Connection, the fourth motor 44 Driving the fourth cable 42 Pull the catheter 41 , And then pull the sliding end 422 Slide up and down to achieve support frame 70 The pitch movement.
- the fourth motor 44 Installed on the second support column 38 And placed on the protruding board 382 The lower end, and pad with a cushion block and the second fixing plate 71 Parallel, the fifth double groove wheel 43 With the fourth motor 44 Fixed connection.
- the fixed end 721 Along the second fixed plate 71 Horizontally adjustable, at this time the catheter 41 Relative to the guide post 45 Sliding, after adjustment, it can be fixed by a tightening screw to make the support frame 70 Able to install LCD screens of different sizes; the fixed end 721 Equipped with curved limit slot 7211 , The sliding end 722 In the arc limit slot 7211 Slide within the sliding range.
- the first double groove wheel 12 The third double groove wheel twenty four And fifth double groove wheel 43 Connected with ring elastic sheet 611 , Ring elastic sheet 611
- the setting acts as a buffer to prevent the support frame 70 The phenomenon of vibration caused by sudden force.
- this manipulator device 100 There is also a spiral telescopic hose 80 , For wrapping and installing on the support frame 70 The power cord and network cable of the TV and other devices on the 100 The operation interferes.
- the first motor 16 , The second motor 27 , The third motor 39 And the fourth motor 44 The tubular automatic motor is not only small in size and large in tension, but also can be hidden and installed in the ceiling.
- One of the first motor 16 The outer tube diameter is 35mm , The torque is 6N.M ;
- the second motor 27 , The third motor 39 And the fourth motor 44 The outer tube diameter is 25mm ,
- the torque is 2N.M .
- the motor of the present invention can be 5
- the channel is controlled by the remote control, and the same remote control can control multiple motors at the same time, and can also control each motor independently.
- the stroke of each motor can be different or the same, and the motor can stop at any point of the stroke.
- the motor When in use, the motor is controlled by the remote control or the display panel. If the lifting movement is required, the first motor 16 Drive the first double groove wheel 12 Rotate, and wind around the first double groove wheel at this time 12 The first cable 13 Pull the first support column 13 Slide, and then pull the support frame 70 For lifting movement; if rotating movement is required, the second motor 27 Drive the third double groove wheel twenty four Rotate, and wind around the third double groove wheel at this time twenty four Second cable twenty three Pull the transition double groove wheel 26 And the second double groove wheel twenty one Rotate through the upper fixed tube 221 With the second double groove wheel twenty one Fixedly connected slide rail 11 Also follow the rotation to realize the support frame 70 Rotation movement; if telescopic movement is required, the third motor 39 Drive the fourth double groove wheel 37 When rotating in the first direction, it is now wound on the fourth double groove wheel 37 Third lasso 35 Pull the second fixing plate 71 To the first fixing plate 32 Approaching, carrying out a retracting movement, the third motor 39 Drive the fourth double groove wheel 37 When rotating in the second direction, it is
- Manipulator device of the technical scheme of the present invention 100 It can be fixed on the wall (exposed installation) or on the slotted facade (concealed installation).
- the manipulator device of the technical solution of the present invention can also be used 100 Fixed on mobile device 300 Decorative fixing plate 200 , It becomes a movable manipulator device (as shown in the figure 19 Shown) to facilitate the manipulator device of the present invention 100 Can be moved to different occasions.
- the motor used in the technical scheme of the present invention is an ordinary tubular motor, which can be controlled by a handheld remote controller or a wireless remote control with a panel attached at will, or can be controlled by mobile phone Bluetooth; WiFi When the tubular motor is used, it can be controlled remotely, or intelligently controlled by voice and face.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
一种机械手装置(100)，包括升降结构(10)、旋转结构(20)、伸缩结构(30)、俯仰结构(40)及支撑架(70)。升降结构(10)包括滑轨(11)和第一支撑柱(13)；支撑架(70)与第一支撑柱(13)之间设有摆臂(31)，摆臂(31)的一端固定于第一支撑柱(13)，另一端固定于支撑架(70)；第一支撑柱(13)设有双滑轮(131)并滑动地安装于滑轨(11)中以带动支撑架(70)做升降运动；旋转结构(20)安装于滑轨(11)的两端以带动滑轨(11)旋转，进而带动支撑架(70)旋转；伸缩结构(30)安装于摆臂(31)并带动摆臂(31)进行伸缩运动，使支撑架(70)靠近或远离第一支撑柱(13)；俯仰结构(40)安装于支撑架(70)的表面以拉动支撑架(70)实现俯仰运动。这种机械手装置可以利用遥控器联动控制，使用方便而且结构简单。
Description
本发明涉及一种机械手装置。
目前市场上的机械手装置的功能比较单一，只有
1-2
个动作且没有联动功能，因此现有机械手装置的效率很低。
虽然工业机器人也能实现联动功能，但是由于该结构复杂，成本高昂，占用空间大，因此难以推广实现产业化。
本发明提供了一种机械手装置，包括升降结构、旋转结构、伸缩结构、俯仰结构及支撑架，其中所述升降结构包括滑轨和第一支撑柱，所述支撑架与所述第一支撑柱之间设有摆臂，所述摆臂的一端固定于所述第一支撑柱，另一端固定于所述支撑架，所述第一支撑柱设有双滑轮并滑动地安装于所述滑轨中以带动所述支撑架做升降运动；
所述旋转结构包括第二双槽轮、上固定管及下固定管，所述上固定管及下固定管伸入所述滑轨中并与所述滑轨的内壁固定连接，所述第二双槽轮与上固定管固定连接，所述第二双槽轮带动所述滑轨旋转以实现支撑架的旋转运动；
所述伸缩结构安装于所述摆臂并带动所述摆臂进行伸缩运动，使支撑架靠近或远离第一支撑柱；
所述俯仰结构包括第四拉索和第五双槽轮，所述第四拉索缠绕于所述第五双槽轮并固定于所述支撑架，所述第四拉索拉动所述支撑架实现俯仰运动。
其中，所述伸缩结构包括伸缩杆和伸缩管，所述伸缩管套于所述伸缩杆，所述摆臂为分开的第一部分和第二部分，所述伸缩管固定于所述第一部分，所述伸缩杆固定于第二部分，所述伸缩杆相对于所述伸缩管做伸缩运动，使支撑架靠近或远离所述第一支撑柱。
其中，所述伸缩结构包括一对所述摆臂、多个铰链轴和第一固定板，所述第一固定板固定安装于所述第一支撑柱上，所述摆臂包括前摆臂和后摆臂，所述前摆臂和后摆臂转动地安装于所述铰链轴以实现所述摆臂的伸缩运动，所述摆臂相对于所述第一固定板做伸缩运动以带动所述支撑架做伸缩运动。
其中，所述伸缩结构还包括第三电机、第三拉索、一对张紧器和第四双槽轮，所述第三电机与所述第四双槽轮固定连接并固定于第一固定板上，所述张紧器包括第一张紧器和第二张紧器，所述第一张紧器固定安装于所述后摆臂，所述第二张紧器固定安装于所述支撑架的表面，所述第三拉索的一端固定于所述铰链轴，另一端依次经过另一个铰链轴、第一张紧器、第四双槽轮、第二张紧器后固定于所述支撑架，所述第三电机驱动第四双槽轮拉动第三拉索，进而拉动所述摆臂前后运动以实现支撑架的伸缩运动。
其中，所述伸缩结构还包括第二支撑柱、一对定位件和一对平衡组件，所述第二支撑柱固定于所述支撑架，所述第二张紧器固定于所述第二支撑柱，所述后摆臂设有
U
形槽，所述第一张紧器固定于所述
U
形槽，一对所述定位件对称固定于所述第一固定板上并分别设置于所述第一支撑柱和所述后摆臂之间，每一所述平衡组件的一端固定于所述前摆臂，另一端固定于所述支撑架，每一所述平衡组件包括弹性件和一对限位柱，其中一个所述限位柱固定于所述前摆臂，另外一个所述限位柱固定于所述支撑架，所述弹性件套设于所述限位柱。
其中，所述升降结构还包括第一电机、第一双槽轮、第一拉索和循环导轮，所述第一电机与所述第一双槽轮固定连接并安装于所述滑轨的上面，所述循环导轮安装于所述滑轨的底端内，所述第一拉索固定于所述双滑轮并依次缠绕于所述第一双槽轮和所述循环导轮，所述第一电机驱动所述第一双槽轮以拉动所述双滑轮在所述滑轨中滑动，从而带动所述支撑架实现升降运动。
其中，所述旋转结构还包括滑轨上固定支架和滑轨下固定支架，所述滑轨下固定支架内装有推力球轴承，所述上固定管、下固定管分别与滑轨上固定支架、滑轨下固定支架的内圆间隙配合，下固定管的下端面与所述推力球轴承的上端面配合。
其中，所述旋转结构还包括第二电机、第三双槽轮和第二拉索，所述第二拉索缠绕于所述第二双槽轮与第三双槽轮，所述第二电机与所述第三双槽轮固定连接并驱动所述第三双槽轮旋转以带动所述第二双槽轮旋转，从而带动所述滑轨旋转以实现支撑架的旋转运动。
其中，所述俯仰结构还包括导柱和导管，所述支撑架包括第二固定板和支座结构，所述支座结构包括固定端和滑动端，所述固定端固定于第二固定板，所述导柱的一端固定于所述滑动端，所述导管的一端套于所述导柱的另一端并滑动配合，所述导管的另一端固定于所述滑动端，所述第二固定板设有穿孔，所述第四拉索穿过所述穿孔与所述导管连接，所述第四电机驱动所述第四拉索拉动所述导管，进而拉动所述滑动端上下滑动以实现支撑架的俯仰运动。
其中，所述固定端沿着第二固定板横向可调节，所述固定端设有弧形限位槽，所述滑动端在所述弧形限位槽滑动的范围内滑动。
本发明的机械手装置通过遥控或智能控制电机，进而联动控制机械手装置进行升降、旋转、伸缩及俯仰运动，使用更加方便，而且结构简单及成本低，适用范围广。
图
1
是机械手装置的第一种实施例的结构示意图；
图
2
是图
1
中的部分放大图；
图
3
是图
1
中的部分放大图；
图
4
是机械手装置的的第一种实施例另一视角的结构示意图；
图
5
是图
4
中的部分放大图；
图
6
是机械手装置的第二种实施例的结构示意图；
图
7
是图
6
中的部分放大图；
图
8
是图
6
中的部分放大图；
图
9
是图
6
中的部分放大图；
图
10
是机械手装置的第二种实施例的伸缩结构的示意图；
图
11
是图
10
中的部分放大图；
图
12
是机械手装置的第二种实施例的支撑架的结构示意图；
图
13
是环形弹性片装在对应双槽轮的结构示意图；
图
14
是第一支撑柱的结构示意图；
图
15
是循环导轮的结构示意图；
图
16
是下固定管的结构示意图；
图
17
是滑轨上固定支架、滑轨下固定支架的结构示意图；
图
18
是推力球轴承的结构示意图；
图
19
是本发明机械手装置安装在移动装置的示意图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
请参考图
1-5
和图
15-18
，本发明提供了一种机械手装置
100
，包括升降结构
10
、旋转结构
20
、伸缩结构
30
、俯仰结构
40
及支撑架
70
，其中，所述升降结构
10
包括滑轨
11
和第一支撑柱
13
，所述支撑架
70
与所述第一支撑柱
13
之间设有摆臂
31
，所述摆臂
31
的一端固定于所述第一支撑柱
13
，另一端固定于所述支撑架
70
，所述第一支撑柱
13
设有双滑轮
131
并滑动地安装于所述滑轨
11
中以带动所述支撑架
70
做升降运动；
所述旋转结构
20
包括第二双槽轮
21
、上固定管
221
及下固定管
222
，所述上固定管
221
及下固定管
222
伸入所述滑轨
11
中并与所述滑轨
11
的内壁固定连接，所述第二双槽轮
21
与上固定管
221
固定连接，所述第二双槽轮
21
带动所述滑轨
11
旋转以实现支撑架
70
的旋转运动；
所述伸缩结构
30
安装于所述摆臂
31
并带动所述摆臂
31
进行伸缩运动，使支撑架
70
靠近或远离第一支撑柱
13
；
所述俯仰结构
40
包括第四拉索
42
和第五双槽轮
43
，所述第四拉索
42
缠绕于所述第五双槽轮
43
并固定于所述支撑架
70
，所述第四拉索
42
拉动所述支撑架
70
实现俯仰运动；
所述升降结构
10
、旋转结构
20
、伸缩结构
30
及俯仰结构
40
可通过智能控制器一键联动控制或者分开独立控制，使支撑架
70
运行到所需位置。每个结构运行的行程可设置起点位置、中间点位置及终点位置，这里的中间点位置是指行程之间任一点常用的位置，不是行程中点位置；使用时，如需要调整支撑架
70
的角度和位置，可以通过遥控器控制每个行程键进行调整，直到所需位置。本发明的机械手装置
100
可以通过遥控器控制升降结构
10
、旋转结构
20
、伸缩结构
30
和俯仰结构
40
一键联动运行到起点位置点，也可以一键联动到终点再往回操作。当本发明的机械手装置
100
的支撑架
70
安装电视机时，可以使得观赏人观看方向不动而屏幕通过电机控制进行调整，使用非常方便，并且提高了观赏人观看的舒适感。
在本实施方式中，机械手装置
100
主要应用于家居和建筑装饰中，如卧室、大堂及会议室。当然，本发明的机械手装置
100
也可以应用于物流运输等行业。
请参考图
1
至图
5
，本发明提供了一种机械手装置
100
的第一种实施例，所述伸缩结构
30
包括伸缩杆
332
和伸缩管
331
，所述伸缩管
331
套于所述伸缩杆
332
，所述摆臂
31
为分开的第一部分
313
和第二部分
314
，所述伸缩管
331
固定于所述第一部分
313
，所述伸缩杆
332
固定于第二部分
314
，所述伸缩杆
332
相对于所述伸缩管
331
做伸缩运动，使支撑架
70
靠近或远离所述第一支撑柱
13
，如支撑架
70
安装不同尺寸的液晶显示屏时，可通过调整伸缩杆
332
的运动，使显示屏靠近第一支撑柱
13
，从而节省使用空间。
请参考图
6
至图
18
，本发明提供了一种机械手装置
100
的第二种实施例，其中，所述伸缩结构
30
包括一对所述摆臂
31
、多个铰链轴
34
和第一固定板
32
，所述第一固定板
32
固定安装于所述第一支撑柱
13
上，所述摆臂
31
包括前摆臂
311
和后摆臂
312
，所述前摆臂
311
和后摆臂
312
转动地安装于所述铰链轴
34
以实现所述摆臂
31
的伸缩运动，所述摆臂
31
相对于所述第一固定板
32
做伸缩运动以带动所述支撑架
70
做伸缩运动。
进一步，请参考图
9-11
，所述伸缩结构
30
还包括第三电机
39
、第三拉索
35
、一对张紧器和第四双槽轮
37
，所述第三电机
39
与所述第四双槽轮
37
固定连接并固定于第一固定板
32
上，所述张紧器包括第一张紧器
361
和第二张紧器
362
，所述第一张紧器
361
固定安装于所述后摆臂
312
，所述第二张紧器
362
固定安装于所述支撑架
70
的表面，所述第三拉索
35
的一端固定于所述铰链轴
34
，另一端依次经过另一个铰链轴
34
、第一张紧器
361
、第四双槽轮
37
、第二张紧器
362
后固定于所述支撑架
70
，所述第三电机
39
驱动第四双槽轮
37
拉动第三拉索
35
，进而拉动所述摆臂
31
前后运动以实现支撑架
70
的伸缩运动。
优选地，所述第三拉索
35
经过第二张紧器
362
后分开为两条线水平固定于所述支撑架
70
上，此时第三拉索
35
与所述支撑架
70
成“
Y
”形连接，有利于本机械手装置
100
能够平稳地进行伸缩运动。
进一步，位于所述前摆臂
311
和后摆臂
312
中间位置的铰链轴
34
设有导向轮
341
，所述第三拉索
35
绕过所述导向轮
341
。另外，所述导向轮
341
与所述第四双槽轮
37
不在同一水平上，因此所述第三拉索
35
经过导向轮
341
、第一张紧器
361
、第四双槽轮
37
、第二张紧器
362
时并无交叉接触，避免了摆臂
31
前后运动时因所述第三拉索
35
交叉缠绕在一起而导致停滞不动的情况。
进一步，请参考图
9
，所述第一张紧器
361
包括侧板
3611
、第一松紧件
3612
、第一吊轮
3613
及一对第一定滑轮
3614
，所述第一松紧件
3612
与所述第一吊轮
3613
固定连接，所述第一吊轮
3613
和一对第一定滑轮
3614
固定于所述侧板
3611
上，所述侧板
3611
固定于所述后摆臂
312
上，所述第一吊轮
3613
设于第一定滑轮
3614
的上方，所述第一定滑轮
3614
水平对称设置，所述第三拉索
35
依次经过一个第一定滑轮
3614
、第一吊轮
3613
和另一个第一定滑轮
3614
。
优选地，所述后摆臂
312
为上下平行设置，所述后摆臂
312
设有
U
形槽，所述侧板
3611
的两侧设有卡槽，所述卡槽与所述
U
形槽固定套合以固定所述第一张紧器
361
。
请参考图
10
和图
11
，所述伸缩结构
30
还包括第二支撑柱
38
，所述第二支撑柱
38
固定于支撑架
70
上，所述第二张紧器
362
固定于所述第二支撑柱
38
。所述第二支撑柱
38
设有伸出柱
381
与伸出板
382
，所述第二张紧器
362
包括第二松紧件
3621
、第二吊轮
3622
及一对第二定滑轮
3623
，所述第二松紧件
3621
的一端固定于所述伸出柱
381
上，另一端与所述第二吊轮
3622
固定连接，一对第二定滑轮
3623
固定于所述伸出板
382
上，所述第二定滑轮
3623
水平对称设置，所述第三拉索
35
依次经过一个第二定滑轮
3623
、第二吊轮
3622
和另一个第二定滑轮
3623
。如需要收拢所述伸缩结构
30
时，通过遥控器控制第三电机
39
驱动第四双槽轮
37
沿着第一方向转动，此时缠绕于第四双槽轮
37
的第三拉索
35
拉动支撑架
70
往所述第一固定板
32
靠近，当达到终点时，支撑架
70
离第一固定板
32
距离最近，此时能够节省本发明的机械手装置
100
占用的空间；如需要展开所述伸缩结构
30
时，通过遥控器控制第三电机
39
驱动第四双槽轮
37
沿着第二方向转动，此时缠绕于第四双槽轮
37
的第三拉索
35
拉动支撑架
70
往所述第一固定板
32
远离，当达到终点时，支撑架
70
离第一固定板
32
距离最远，前摆臂
311
与后摆臂
312
平行并与所述第一固定板
32
垂直。其中，第一方向和第二方向的方向相反，比如第一方向为顺时针方向，第二方向为逆时针方向。另外，可以通过遥控器控制所述伸缩结构
30
的启停位置，即可在任意位置停止运动以满足观赏人的需要。
优选地，所述伸缩结构
30
还包括一对定位件和一对平衡组件
302
，一对所述定位件对称固定于所述第一固定板
32
上并分别设置于所述第一支撑柱
13
和所述后摆臂
312
之间，在本实施方式，所述定位件与所述后摆臂
312
于所述第一固定板
32
固定处相邻，所述定位件为正方体或者长方体结构，并且朝向所述后摆臂
312
的一面为楔形面，当所述伸缩结构
30
在进行展开运动时，两个后摆臂
312
相向运行，而由于所述定位件的存在，所述后摆臂
312
运行到与所述定位件的楔形面抵接时无法继续向前运行，保证了所述前摆臂
311
与所述后摆臂
312
之间的夹角小于
180
℃，防止两个所述后摆臂
312
出现相碰的情况，从而保障所述伸缩结构
30
的正常运行。每一所述平衡组件
302
的一端固定于所述前摆臂
311
，另一端固定于所述支撑架
70
，每一所述平衡组件
302
包括弹性件和一对限位柱，其中一个所述限位柱固定于所述前摆臂
311
，另外一个所述限位柱固定于所述支撑架
70
，所述弹性件套设于所述限位柱。在实际运行中，所述支撑板
70
会出现左右晃动的情况，当所述支撑板
70
往一边偏移时，位于该偏移方向上的平衡组件
302
中的弹性件处于压缩状态，而另外一个平衡组件
302
中的弹性件处于拉伸状态，当所述支撑板
70
偏移到一定限度时，位于该偏移方向上的平衡组件
302
中的两个限位柱将会抵接，防止所述支撑板
70
继续往一边偏移，从而使得所述支撑板
70
达到动态平衡，提高了所述伸缩结构
30
运行的稳定性。其中，所述支撑板
70
的偏移限度由两个限位柱之间的距离决定，两个限位柱之间的距离越小，所述支撑板
70
的偏移限度越低。
请参考图
2-3
、图
7-8
和图
15
，所述升降结构
10
还包括第一电机
16
、第一双槽轮
12
、第一拉索
14
和循环导轮
142
，所述第一电机
16
与所述第一双槽轮
12
固定连接并安装于所述滑轨
11
的上面，所述循环导轮
142
安装于所述滑轨
11
的底端内，所述第一拉索
14
固定于所述连接部
132
并依次缠绕于所述第一双槽轮
12
和所述循环导轮
142
，所述第一电机
16
驱动所述第一双槽轮
12
，缠绕在第一双槽轮
12
的第一拉索
141
拉动所述第一支撑柱
13
在所述滑轨
11
中滑动，从而带动所述支撑架
70
实现升降运动。
优选地，请参考图
14
，所述第一支撑柱
13
连接有一对双滑轮
131
，所述双滑轮
131
与所述第一支撑柱
13
之间设有连接部
132
以连接所述双滑轮
131
与所述第一支撑柱
13
，所述连接部
132
设有销孔
1321
，所述第一拉索
14
固定于所述销孔
1321
，所述第一拉索
14
拉动所述双滑轮
131
滑动于所述滑轨
11
中以带动所述支撑架
70
滑动。
进一步，所述双滑轮
131
两个轮子之间的轴向距离大于所述滑轨
11
的开口，从而在使用过程中，双滑轮
131
不会意外脱离滑轨
11
，进而保证装置沿着滑轨
11
运动，避免了因所述双滑轮
131
意外脱离滑轨
11
而导致装置被损害的情况发生。进一步，所述旋转结构
20
还包括滑轨上固定支架
25a
和滑轨下固定支架
25
，所述滑轨下固定支架
25
内装有推力球轴承
251
，所述上固定管
221
、下固定管
222
分别与滑轨上固定支架
25a
、滑轨下固定支架
25
的内圆间隙配合，下固定管
222
的下端面与所述推力球轴承
251
上端面配合。
其中，固定于滑轨
11
上端的滑轨上固定支架
25a
为通孔，确保所述上固定管
221
能够穿过所述滑轨上固定支架
25a
与所述滑轨
11
固定；固定于滑轨
11
下端的滑轨下固定支架
25
为盲孔，下固定管
222
的端面与推力球轴承
251
的上端配合，推力球轴承
251
的下端与盲孔固定配合。
优选地，所述滑轨
11
为带有夹层的双层结构，所述滑轨上固定支架
25a
和滑轨下固定支架
25
穿设有第一小孔
252
，所述上固定管
221
穿设有第二小孔，所述第一拉索
14
缠绕于第一双槽轮
12
后往下进入所述滑轨
11
中，然后经过循环导轮
142
往上进入夹层中，通过夹层后由第一小孔
252
和第二小孔进入到所述上固定管
221
，最后缠绕于所述第一双槽轮
12
，使得第一拉索
14
能够隐藏于所述滑轨
11
中，外观美观。在本实施方式中，所述升降结构
10
可隐蔽或半隐蔽在墙内，不影响美观；也可以明装，其中滑轨上固定支架
25a
、滑轨下固定支架
25
安装在墙面，滑轨
11
离墙面
10-15mm
。
请参考图
2
和图
7
，所述旋转结构
20
还包括第二电机
27
、第三双槽轮
24
和第二拉索
23
，所述第二拉索
23
缠绕于所述第二双槽轮
21
与第三双槽轮
24
，所述第二电机
27
与所述第三双槽轮
24
固定连接并驱动所述第三双槽轮
24
旋转以带动所述第二双槽轮
21
旋转，从而带动所述滑轨
11
旋转以实现支撑架
70
的旋转运动。
当第二电机
27
驱动所述第三双槽轮
24
时，所述第二拉索
23
拉动第二双槽轮
21
，进而拉动与所述第二双槽轮
23
固定连接的上固定管
221
，进而带动所述滑轨
11
旋转，同时，滑轨
11
带动下固定管
222
，推力球轴承
251
的上端也跟着一起旋转。
优选地，所述旋转结构
20
还包括过渡双槽轮
26
，所述过渡双槽轮
26
位于所述第二双槽轮
21
与第三双槽轮
24
之间，所述过渡双槽轮
26
通过螺栓固定于所述墙面上，所述第二拉索
23
依次缠绕于所述第二双槽轮
21
、过渡双槽轮
26
及第三双槽轮
24
，所述过渡双槽轮
26
的设置使得所述第二电机
27
能够平行于第一电机
16
，不影响结构布置及美观。
进一步，所述下固定管
222
设有槽口
2221
，所述循环导轮
142
的支架收容于所述槽口
2221
上。
请参考图
5
、图
10-12
，所述俯仰结构
40
包括第四电机
44
、第四拉索
42
及第五双槽轮
43
，所述第四拉索
42
缠绕于所述第五双槽轮
43
，所述第四电机
44
与所述第五双槽轮
43
固定连接并驱动所述第五双槽轮
43
拉动所述第四拉索
42
，进而拉动所述支撑架
70
实现俯仰运动。
在第一种实施例中，请参考图
5
，所述俯仰结构
40
还包括转动端
90
，第四拉索
42
拉动支撑架
70
绕着转动端
90
进行上下转动，从而实现支撑架
70
的俯仰运动。
在第二种实施例中，请参考图
10-12
，所述俯仰结构
40
还包括导柱
45
和导管
41
，所述支撑架
70
包括第二固定板
71
和支座结构
72
，所述支座结构
72
包括固定端
721
和滑动端
722
，所述固定端
721
固定于第二固定板
71
，所述导柱
45
的一端固定于所述滑动端
722
，所述导管
41
的一端套于所述导柱
45
的另一端并滑动配合，所述导管
41
的另一端固定于所述滑动端
722
，所述第二固定板
71
设有穿孔
711
，所述第四拉索
72
穿过所述穿孔
711
与所述导管
41
连接，所述第四电机
44
驱动所述第四拉索
42
拉动所述导管
41
，进而拉动所述滑动端
422
上下滑动以实现支撑架
70
的俯仰运动。
进一步，所述第四电机
44
安装于所述第二支撑柱
38
并置于所述伸出板
382
的下端，而且垫有垫块与所述第二固定板
71
平行，所述第五双槽轮
43
与第四电机
44
固定连接。
优选地，所述固定端
721
沿着第二固定板
71
横向可调节，此时所述导管
41
相对于所述导柱
45
滑动，调节后可由紧定螺丝固定，使支撑架
70
能够安装不同尺寸的液晶显示屏；所述固定端
721
设有弧形限位槽
7211
，所述滑动端
722
在所述弧形限位槽
7211
滑动的范围内滑动。
进一步，请参考图
13
，所述第一双槽轮
12
、第三双槽轮
24
及第五双槽轮
43
接有环形弹性片
611
，环形弹性片
611
的设置起缓冲的作用，防止支撑架
70
突然受力而产生震动的现象。
进一步，本机械手装置
100
还设有螺旋伸缩软管
80
，用于包裹安装于所述支撑架
70
上的电视机等装置的电源线、网线，以防止本机械手装置
100
的运行干涉。
在本实施方式中，因第一拉索
141
、第二拉索
23
、第三拉索
35
及第四拉索
42
均为线，因此本机械手装置
100
的结构简单，制造成本低、适用范围广。
在本实施方式中，所述第一电机
16
、第二电机
27
、第三电机
39
及第四电机
44
采用管状的自动电机，不仅体积小巧、拉力大，还可隐藏安装在天花板内。其中第一电机
16
的外管直径为
35mm
，扭矩为
6N.M
；第二电机
27
、第三电机
39
及第四电机
44
的外管直径为
25mm
，扭矩为
2N.M
。本发明的电机可以通过具有
5
通道的遥控器控制，而且同一个遥控器可以同时控制多个电机，也可以独立控制每个电机。每一个电机的行程可以不同，也可以相同，同时电机可以在行程的任意点停止。
使用时，通过遥控器或者显示面板控制电机，如需进行升降运动，第一电机
16
驱使所述第一双槽轮
12
转动，此时缠绕于所述第一双槽轮
12
的第一拉索
13
拉动所述第一支撑柱
13
滑动，进而拉动所述支撑架
70
进行升降运动；如需进行旋转运动，第二电机
27
驱使所述第三双槽轮
24
转动，此时缠绕于所述第三双槽轮
24
的第二拉索
23
拉动所述过渡双槽轮
26
及第二双槽轮
21
转动，通过上固定管
221
与所述第二双槽轮
21
固定连接的所述滑轨
11
也跟着转动，从而实现支撑架
70
的旋转运动；如需进行伸缩运动，第三电机
39
驱使所述第四双槽轮
37
沿着第一方向转动时，此时缠绕于第四双槽轮
37
的第三拉索
35
拉动第二固定板
71
往所述第一固定板
32
靠近，进行收拢运动，第三电机
39
驱使所述第四双槽轮
37
沿着第二方向转动时，此时缠绕于第四双槽轮
37
的第三拉索
35
拉动第二固定板
71
往所述第一固定板
32
远离，进行伸开运动；如需进行俯仰运动，第四电机
44
驱使所述第五双槽轮
42
转动，此时缠绕于所述第五双槽轮
43
的第四拉索
42
拉动所述导管
41
进行上下滑动，进而拉动支撑架
70
的滑动端
72
进行俯仰运动。
本发明技术方案的机械手装置
100
可以固定在墙面（明装），也可以固定在墙面开槽立面（暗装）。除此之外，也可以把本发明技术方案的机械手装置
100
固定在移动装置
300
上的装饰固定板
200
上，成为可移动的机械手装置（如图
19
所示），便于本发明机械手装置
100
能够移动至不同场合。
本发明技术方案所使用的电机为普通管状电机，可用手持遥控器或随意贴面板式无线遥控，也可用手机蓝牙控制；使用
WiFi
管状电机时，可远程控制，也可语音、人脸等智能控制。
本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无法对所有的实施方式予以穷举。凡是属于本发明的技术方案所引伸出的显而易见的变化或变动仍处于本发明的保护范围之列。
Claims (10)
- 一种机械手装置，其特征在于，所述机械手装置包括升降结构、旋转结构、伸缩结构、俯仰结构及支撑架，其中所述升降结构包括滑轨和第一支撑柱，所述支撑架与所述第一支撑柱之间设有摆臂，所述摆臂的一端固定于所述第一支撑柱，另一端固定于所述支撑架，所述第一支撑柱设有双滑轮并滑动地安装于所述滑轨中以带动所述支撑架做升降运动；所述旋转结构包括第二双槽轮、上固定管及下固定管，所述上固定管及下固定管伸入所述滑轨中并与所述滑轨的内壁固定连接，所述第二双槽轮与上固定管固定连接，所述第二双槽轮带动所述滑轨旋转以实现支撑架的旋转运动；所述伸缩结构安装于所述摆臂并带动所述摆臂进行伸缩运动，使支撑架靠近或远离第一支撑柱；所述俯仰结构包括第四拉索和第五双槽轮，所述第四拉索缠绕于所述第五双槽轮并固定于所述支撑架，所述第四拉索拉动所述支撑架实现俯仰运动。
- 根据权利要求1所述的机械手装置，其特征在于，所述伸缩结构包括伸缩杆和伸缩管，所述伸缩管套于所述伸缩杆，所述摆臂为分开的第一部分和第二部分，所述伸缩管固定于所述第一部分，所述伸缩杆固定于第二部分，所述伸缩杆相对于所述伸缩管做伸缩运动，使支撑架靠近或远离所述第一支撑柱。
- 根据权利要求1所述的机械手装置，其特征在于，所述伸缩结构包括一对所述摆臂、多个铰链轴和第一固定板，所述第一固定板固定安装于所述第一支撑柱上，所述摆臂包括前摆臂和后摆臂，所述前摆臂和后摆臂转动地安装于所述铰链轴以实现所述摆臂的伸缩运动，所述摆臂相对于所述第一固定板做伸缩运动以带动所述支撑架做伸缩运动。
- 根据权利要求3所述的机械手装置，其特征在于，所述伸缩结构还包括第三电机、第三拉索、一对张紧器和第四双槽轮，所述第三电机与所述第四双槽轮固定连接并固定于第一固定板上，所述张紧器包括第一张紧器和第二张紧器，所述第一张紧器固定安装于所述后摆臂，所述第二张紧器固定安装于所述支撑架的表面，所述第三拉索的一端固定于所述铰链轴，另一端依次经过另一个铰链轴、第一张紧器、第四双槽轮、第二张紧器后固定于所述支撑架，所述第三电机驱动第四双槽轮拉动第三拉索，进而拉动所述摆臂前后运动以实现支撑架的伸缩运动。
- 根据权利要求4所述的机械手装置，其特征在于，所述伸缩结构还包括第二支撑柱、一对定位件和一对平衡组件，所述第二支撑柱固定于所述支撑架，所述第二张紧器固定于所述第二支撑柱，所述后摆臂设有U形槽，所述第一张紧器固定于所述U形槽，一对所述定位件对称固定于所述第一固定板上并分别设置于所述第一支撑柱和所述后摆臂之间，每一所述平衡组件的一端固定于所述前摆臂，另一端固定于所述支撑架，每一所述平衡组件包括弹性件和一对限位柱，其中一个所述限位柱固定于所述前摆臂，另外一个所述限位柱固定于所述支撑架，所述弹性件套设于所述限位柱。
- 根据权利要求2或5所述的机械手装置，其特征在于，所述升降结构还包括第一电机、第一双槽轮、第一拉索和循环导轮，所述第一电机与所述第一双槽轮固定连接并安装于所述滑轨的上面，所述循环导轮安装于所述滑轨的底端内，所述第一拉索固定于所述双滑轮并依次缠绕于所述第一双槽轮和所述循环导轮，所述第一电机驱动所述第一双槽轮以拉动所述双滑轮在所述滑轨中滑动，从而带动所述支撑架实现升降运动。
- 根据权利要求2或5所述的机械手装置，其特征在于，所述旋转结构还包括滑轨上固定支架和滑轨下固定支架，所述滑轨下固定支架内装有推力球轴承，所述上固定管、下固定管分别与滑轨上固定支架、滑轨下固定支架的内圆间隙配合，下固定管的下端面与所述推力球轴承的上端面配合。
- 根据权利要求7所述的机械手装置，其特征在于，所述旋转结构还包括第二电机、第三双槽轮和第二拉索，所述第二拉索缠绕于所述第二双槽轮与第三双槽轮，所述第二电机与所述第三双槽轮固定连接并驱动所述第三双槽轮旋转以带动所述第二双槽轮旋转，从而带动所述滑轨旋转以实现支撑架的旋转运动。
- 根据权利要求5所述的机械手装置，其特征在于，所述俯仰结构还包括导柱和导管，所述支撑架包括第二固定板和支座结构，所述支座结构包括固定端和滑动端，所述固定端固定于第二固定板，所述导柱的一端固定于所述滑动端，所述导管的一端套于所述导柱的另一端并滑动配合，所述导管的另一端固定于所述滑动端，所述第二固定板设有穿孔，所述第四拉索穿过所述穿孔与所述导管连接，所述第四电机驱动所述第四拉索拉动所述导管，进而拉动所述滑动端上下滑动以实现支撑架的俯仰运动。
- 根据权利要求9所述的机械手装置，其特征在于，所述固定端沿着第二固定板横向可调节，所述固定端设有弧形限位槽，所述滑动端在所述弧形限位槽滑动的范围内滑动。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044634.X | 2019-01-17 | ||
| CN201910044634.XA CN109605346B (zh) | 2019-01-17 | 2019-01-17 | 一种机械手装置 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020147576A1 true WO2020147576A1 (zh) | 2020-07-23 |
Family
ID=66020029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2019/130371 WO2020147576A1 (zh) | 2019-01-17 | 2019-12-31 | 一种机械手装置 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109605346B (zh) |
| WO (1) | WO2020147576A1 (zh) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8724037B1 (en) | 2010-06-04 | 2014-05-13 | Kurt William Massey | Mounting system |
| US10281080B1 (en) | 2010-06-04 | 2019-05-07 | Kurt William Massey | Adjustable mounting systems for televisions |
| US10859201B2 (en) | 2018-04-10 | 2020-12-08 | Manehu Product Alliance, Llc | Display mount assembly |
| CN109605346B (zh) * | 2019-01-17 | 2020-08-04 | 深圳市福隆智能科技发展有限公司 | 一种机械手装置 |
| CN110253534B (zh) * | 2019-06-05 | 2021-07-02 | 北京英鸿光大科技有限公司 | 一种纳米纤维生产用巡查机器人上下楼装置 |
| WO2021127552A1 (en) | 2019-12-19 | 2021-06-24 | Manehu Product Alliance, Llc, D/B/A | Adjustable display mounting system |
| CN116697240A (zh) * | 2020-02-10 | 2023-09-05 | 显示器产品联盟Dba曼特尔蒙特有限责任公司 | 多方向显示器安装件 |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007142778A (ja) * | 2005-11-17 | 2007-06-07 | Sony Corp | テレビジョン装置 |
| CN201255292Y (zh) * | 2008-09-09 | 2009-06-10 | 谭迎建 | 一种平板电视、显示器视角调整装置 |
| CN102419632A (zh) * | 2011-11-04 | 2012-04-18 | 上海大学 | 可调节的视线跟踪人机交互装置 |
| CN102748569A (zh) * | 2012-07-23 | 2012-10-24 | 宁波乐歌视讯科技股份有限公司 | 一种显示器升降装置 |
| CN203416346U (zh) * | 2013-09-03 | 2014-01-29 | 青岛海信电器股份有限公司 | 液晶显示屏可调架体 |
| CN103796056A (zh) * | 2013-12-30 | 2014-05-14 | 天津三星电子有限公司 | 一种电视视角自动调整方法及装置 |
| CN106949349A (zh) * | 2017-04-19 | 2017-07-14 | 复旦大学 | 一种预防颈椎病的自移动屏幕架 |
| CN107120508A (zh) * | 2017-04-07 | 2017-09-01 | 宁波西尼液晶支架制造有限公司 | 一种加长型可活动支架 |
| CN206817087U (zh) * | 2017-04-26 | 2017-12-29 | 上海工程技术大学 | 一种智能多关节显示器支撑调节装置 |
| CN108247619A (zh) * | 2017-12-31 | 2018-07-06 | 柳州福能机器人开发有限公司 | 用于抓取的机器人及其工作方法 |
| CN109027626A (zh) * | 2018-08-20 | 2018-12-18 | 淮阴工学院 | 一种多自由度电视支架 |
| CN109605346A (zh) * | 2019-01-17 | 2019-04-12 | 深圳市福隆智能科技发展有限公司 | 一种机械手装置 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4600355A (en) * | 1984-08-29 | 1986-07-15 | Cybot, Inc. | Modular robotics system with basic interchangeable parts |
| CN202991058U (zh) * | 2012-10-23 | 2013-06-12 | 游天月 | 隧道专用自动喷浆机械臂 |
| CN104440901B (zh) * | 2014-10-23 | 2016-03-23 | 重庆交通大学 | 高精度大负载装配机器人 |
| CN108972519A (zh) * | 2017-06-05 | 2018-12-11 | 广西合臻泰商务有限公司 | 一种教学机械手 |
| CN107830383B (zh) * | 2017-12-07 | 2024-02-02 | 昆山泓杰电子股份有限公司 | 桌上型支架 |
| CN207953922U (zh) * | 2018-01-23 | 2018-10-12 | 江西理工大学南昌校区 | 一种用于工业机器人的机器人手臂 |
-
2019
- 2019-01-17 CN CN201910044634.XA patent/CN109605346B/zh active Active
- 2019-12-31 WO PCT/CN2019/130371 patent/WO2020147576A1/zh active Application Filing
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007142778A (ja) * | 2005-11-17 | 2007-06-07 | Sony Corp | テレビジョン装置 |
| CN201255292Y (zh) * | 2008-09-09 | 2009-06-10 | 谭迎建 | 一种平板电视、显示器视角调整装置 |
| CN102419632A (zh) * | 2011-11-04 | 2012-04-18 | 上海大学 | 可调节的视线跟踪人机交互装置 |
| CN102748569A (zh) * | 2012-07-23 | 2012-10-24 | 宁波乐歌视讯科技股份有限公司 | 一种显示器升降装置 |
| CN203416346U (zh) * | 2013-09-03 | 2014-01-29 | 青岛海信电器股份有限公司 | 液晶显示屏可调架体 |
| CN103796056A (zh) * | 2013-12-30 | 2014-05-14 | 天津三星电子有限公司 | 一种电视视角自动调整方法及装置 |
| CN107120508A (zh) * | 2017-04-07 | 2017-09-01 | 宁波西尼液晶支架制造有限公司 | 一种加长型可活动支架 |
| CN106949349A (zh) * | 2017-04-19 | 2017-07-14 | 复旦大学 | 一种预防颈椎病的自移动屏幕架 |
| CN206817087U (zh) * | 2017-04-26 | 2017-12-29 | 上海工程技术大学 | 一种智能多关节显示器支撑调节装置 |
| CN108247619A (zh) * | 2017-12-31 | 2018-07-06 | 柳州福能机器人开发有限公司 | 用于抓取的机器人及其工作方法 |
| CN109027626A (zh) * | 2018-08-20 | 2018-12-18 | 淮阴工学院 | 一种多自由度电视支架 |
| CN109605346A (zh) * | 2019-01-17 | 2019-04-12 | 深圳市福隆智能科技发展有限公司 | 一种机械手装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109605346B (zh) | 2020-08-04 |
| CN109605346A (zh) | 2019-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020147576A1 (zh) | 一种机械手装置 | |
| JP7085771B2 (ja) | 伸縮板 | |
| CN108861818A (zh) | 一种方便调节的市政工程用电缆收卷装置 | |
| CN112788162A (zh) | 一种折叠屏弯折机构及移动终端 | |
| CN111503452B (zh) | 一种楼宇智能监控系统 | |
| CN112038981B (zh) | 一种电力桥架敷设装置 | |
| CN112128591A (zh) | 一种投影展示装置多方位移动装置 | |
| KR102168409B1 (ko) | 이동식 대형 스크린 장치 | |
| CN101232593B (zh) | 平板电视挂架 | |
| CN208779082U (zh) | 一种升降多媒体设备 | |
| CN111348566A (zh) | 一种用于变频器的智能控制吊装装置 | |
| CN213513095U (zh) | 一种基于物联网的教室管理系统 | |
| CN207486404U (zh) | 一种投影仪伸缩架 | |
| CN210857636U (zh) | 一种便于调整光照范围的建筑幕墙 | |
| CN205594293U (zh) | 一种投影仪智能支座 | |
| KR100666329B1 (ko) | 벽걸이형 텔레비젼의 시청각 조절장치 | |
| KR200358014Y1 (ko) | Ｔｖ의 위치조절장치, 및 위치조절장치가 장착된 ｔｖ | |
| US20240142048A1 (en) | Electric television bracket | |
| CN217610334U (zh) | 一种可移动智能家具展览用展示台 | |
| WO2023159493A1 (zh) | 支撑架、显示器装置及升降桌 | |
| CN214474401U (zh) | 一种表演的升降折叠纱幕 | |
| CN214700204U (zh) | 一种单杆电动伸缩吊架 | |
| CN220539004U (zh) | 一种建筑专用连接构件 | |
| CN221060153U (zh) | 一种隐藏式双层折叠床 | |
| CN221004382U (zh) | 投影设备及云台支架 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19909757 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/12/2021) |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19909757 Country of ref document: EP Kind code of ref document: A1 |