CN109866246A - Electromagnetic mechanical hand - Google Patents
Electromagnetic mechanical hand Download PDFInfo
- Publication number
- CN109866246A CN109866246A CN201910214608.7A CN201910214608A CN109866246A CN 109866246 A CN109866246 A CN 109866246A CN 201910214608 A CN201910214608 A CN 201910214608A CN 109866246 A CN109866246 A CN 109866246A
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- Prior art keywords
- absorption member
- magnetic absorption
- mechanical hand
- electromagnetic mechanical
- main body
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- 238000010521 absorption reaction Methods 0.000 claims abstract description 57
- 230000007704 transition Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000000274 adsorptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
This application discloses a kind of electromagnetic mechanical hand, which includes: hand-held part main body and carries out the magnetic absorption member that article suction is put for the on-off by magnetic force；The magnetic absorption member is fixed in the hand-held part main body for grabbing object side.Achieve the purpose that be realized object correlation crawl by the object of magnetic by magnetic-adsorption, to realize stable technical effect when object precisely grabs and guarantee crawl, the application structure is simple simultaneously, and manufacturing cost is lower, is easy to marketing use.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of electromagnetic mechanical hand.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator in the prior art for target item crawl it is difficult to ensure that accuracy；And it is precisely grabbed if to realize
It takes, the component of manipulator in the prior art is extremely various, and structure is complicated, and manufacturing cost is extremely high, and to cooperate accurately
Algorithm can realize and accurately grab.
For many technical problems present in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of stabilization that can be realized when object precisely grabs and guarantee crawl
The electromagnetic mechanical hand of property, to solve at least one technical problem present in background technique.
To achieve the goals above, according to the one aspect of the application, a kind of electromagnetic mechanical hand, the electromagnetic type are provided
Manipulator includes:
Hand-held part main body and the magnetic absorption member put for the on-off progress article suction by magnetic force；
The magnetic absorption member is fixed in the hand-held part main body for grabbing object side.
Further, electromagnetic mechanical hand as the aforementioned, the magnetic absorption member include: electromagnet P1 and for controlling the electricity
The controller U1 of magnet P1 power on/off, the controller U1 are electrically connected with the electromagnet P1.
Further, electromagnetic mechanical hand as the aforementioned, further includes: photoelectrical coupler U2, resistance R1, resistance R2, two poles
Pipe D1, diode D2, triode Q1 and relay P3；
The controller U1 is connected to 2 mouthfuls of the photoelectrical coupler；One end of the resistance R1 is connected to the photoelectric coupling
1 mouthful of device U2, other end ground connection；One end of the resistance R2 is connected to 3 mouthfuls of the photoelectrical coupler U2, and the other end is connected to described
The base stage of triode Q1；The relay P3 cathode and anode, electricity with the collector of the triode Q1, diode D2 respectively
The cathode connection of the anode and diode D1 of magnet P1；The positive and negative anodes of the electromagnet P1 respectively with the diode D1 just
Cathode connection, the cathode connect and ground of the cathode of the electromagnet P1 and the diode D1；The 4 of the photoelectrical coupler U2
Mouth ground connection.
Further, electromagnetic mechanical hand as the aforementioned, further includes: LED light；The LED light is set to the controller U1
And between 2 mouthfuls of the photoelectrical coupler.
Further, electromagnetic mechanical hand as the aforementioned, the hand-held part main body are that two sides are set equipped with the U-shaped of postive stop baffle
It sets, and the magnetic absorption member is set to the bottom of the hand-held part main body, and towards the opening direction of U-shaped mouth.
Further, the top of electromagnetic mechanical hand as the aforementioned, the postive stop baffle is equipped with inclined transition outward
Baffle.
Further, electromagnetic mechanical hand as the aforementioned, the hand-held part bottom part body are equipped with a columned magnetic absorption member
Placing groove, the magnetic absorption member are the cylinder with the shape adaptation of empty slot inside the magnetic absorption member placing groove.
Further, electromagnetic mechanical hand as the aforementioned, magnetic absorption member placing groove rear end lower section are additionally provided with a cable and go out
Mouthful, for the cable of the magnetic absorption member to be drawn out of described magnetic absorption member placing groove.
Further, electromagnetic mechanical hand as the aforementioned, the rear end of the magnetic absorption member placing groove be equipped with the first bolt hole and
Second bolt hole, the magnetic absorption member are equipped with the screw hole that be adapted to first bolt hole, for by by bolt across described the
The magnetic absorption member is fixed on the magnetic absorption member placing groove by one bolt hole after being threadedly coupled with the screw hole；Second bolt
Hole is equipped with one or more, for the hand-held part main body to be fixed on mechanical arm.
Further, electromagnetic mechanical hand as the aforementioned, the hand-held part main body are the integration obtained by 3D printing
Setting.
In the embodiment of the present application, by the way of providing a kind of electromagnetic mechanical hand, which includes: hand
It holds portion's main body and carries out article for the on-off by magnetic force and inhale the magnetic absorption member put；The magnetic absorption member is fixed at the hand-held part
For grabbing object side in main body.Object correlation can be realized by the object of magnetic by magnetic-adsorption by having reached
The purpose of crawl, thus realize object precisely grab and guarantee crawl when stable technical effect, and then solve by
In manipulator in the prior art for target item crawl it is difficult to ensure that accuracy；It is existing and if to realize accurate crawl
Have the component of the manipulator in technology it is extremely various caused by apparatus structure it is complicated, manufacturing cost is extremely high, and to cooperate standard
True algorithm can realize the technical issues of accurately grabbing.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the apparatus structure main view according to a kind of electromagnetic mechanical hand of embodiment of the application；
Fig. 2 is the apparatus structure rearview according to a kind of electromagnetic mechanical hand of embodiment of the application；And
Fig. 3 is according to a kind of electrical block diagram of the magnetic absorption member of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this application involves a kind of electromagnetic mechanical hand, which includes:
Hand-held part main body 1 and the magnetic absorption member 2 put for the on-off progress article suction by magnetic force；
The magnetic absorption member 2 is fixed in the hand-held part main body 1 for grabbing object side.
In general, it is magnetic or can be by magnetic adsorptive material (such as: iron, magnetic etc.) by having that the application, which is suitable for crawl,
Manufactured article；The crawl to relative article can be thus realized when the electromagnetic mechanical hand of the application has magnetic,
And after the relative article is moved to target position, carrying out demagnetization can be realized the placement of relative article, to realize
Object precisely grabs and guarantees stable technical effect when crawl.
As shown in figure 3, in some embodiments, electromagnetic mechanical hand as the aforementioned, the magnetic absorption member 2 includes: electromagnet
P1 and controller U1 for controlling the electromagnet P1 power on/off, the controller U1 are electrically connected with the electromagnet P1.
Specifically, can realize the magnetism of electromagnet P1 by power on/off by using electromagnet P1 and controller U1
Generation and disappearance, and then realize article pick-and-place, and with this configuration setting can be realized pick and place performance stabilization, and tie
Structure is simply easily achieved.
As shown in figure 3, in some embodiments, electromagnetic mechanical hand as the aforementioned, further includes: photoelectrical coupler U2, electricity
Hinder R1, resistance R2, diode D1, diode D2, triode Q1 and relay P3；
The controller U1 is connected to 2 mouthfuls of the photoelectrical coupler；One end of the resistance R1 is connected to the photoelectric coupling
1 mouthful of device U2, other end ground connection；One end of the resistance R2 is connected to 3 mouthfuls of the photoelectrical coupler U2, and the other end is connected to described
The base stage of triode Q1；The relay P3 cathode and anode, electricity with the collector of the triode Q1, diode D2 respectively
The cathode connection of the anode and diode D1 of magnet P1；The positive and negative anodes of the electromagnet P1 respectively with the diode D1 just
Cathode connection, the cathode connect and ground of the cathode of the electromagnet P1 and the diode D1；The 4 of the photoelectrical coupler U2
Mouth ground connection.
This circuit design is novel, and the function of control can be realized with less component, can ensure the steady of circuit operation
Fixed, structure is simple, can effectively control cost, easily fabricated use and the popularization of product.
As shown in figure 3, in some embodiments, electromagnetic mechanical hand as the aforementioned, further includes: LED light；The LED light
Between the controller U1 and 2 mouthfuls of the photoelectrical coupler.
By the way that the LED light is arranged, the present apparatus can be enable to provide a lamp by LED light when power on/off
The prompt of light on and off, to operator one intuitive displaying.
As shown in Figure 1, in some embodiments, electromagnetic mechanical hand as the aforementioned, the hand-held part main body 1 sets for two sides
There is a U-shaped setting of postive stop baffle 3, and the magnetic absorption member 2 is set to the bottom of the hand-held part main body 1, and towards the opening of U-shaped mouth
Direction.
Specifically, crawl can be made by being U-shaped setting of the two sides equipped with postive stop baffle 3 by the hand-held part main body 1
Article is arranged between the postive stop baffle 3 that two sides are equipped with, and further increases the stability of article crawl.
As shown in Figure 1, in some embodiments, the top of electromagnetic mechanical hand as the aforementioned, the postive stop baffle 3 is equipped with
Inclined transition baffle 4 outward.
It, can be during carrying out article crawl by the way that the transition baffle 4 inclined outward is arranged, it is easier to will
Article is placed between the postive stop baffle 3 that two sides are equipped with, and can effectively improve the efficiency of crawl.
As shown in Figure 1, in some embodiments, electromagnetic mechanical hand as the aforementioned, 1 bottom of hand-held part main body is equipped with
One columned magnetic absorption member placing groove 6, the magnetic absorption member 2 are and the shape adaptation of the 6 inside empty slot of magnetic absorption member placing groove
It is cylindrical.
Specifically, can firmly place the magnetic absorption member 2, and both set by the way that the magnetic absorption member placing groove 6 is arranged
It is more convenient when can make to install for cylinder；And it is preferred, magnetic absorption member 2 described in the present embodiment is and the magnetic absorption member
The cylinder of the shape adaptation of 6 inside empty slot of placing groove, are as follows: the diameter of the magnetic absorption member 2 is interior with the magnetic absorption member placing groove 6
Diameter is consistent, and the height of the magnetic absorption member 2 is consistent with the depth of the magnetic absorption member placing groove 6.
As shown in Fig. 2, in some embodiments, electromagnetic mechanical hand as the aforementioned, under 6 rear end of magnetic absorption member placing groove
Side is additionally provided with a cable exits 8, for drawing the cable of the magnetic absorption member 2 out of described magnetic absorption member placing groove 6.
It, can be dexterously by cable from the rear end of the magnetic absorption member placing groove 6 specifically, by the way that the cable exits are arranged
Situations such as drawing, cabling can be made more hidden, reducing fly line, reduces the probability of cable damage, improves the whole of device and uses
Service life.
As shown in Fig. 2, in some embodiments, electromagnetic mechanical hand as the aforementioned, the rear end of the magnetic absorption member placing groove 6
Equipped with the first bolt hole 7 and the second bolt hole 5, the magnetic absorption member 2 is equipped with the screw hole being adapted to first bolt hole 7, is used for
The magnetic absorption member 2 is fixed on the magnetic after first bolt hole 7 is threadedly coupled with the screw hole by passing through bolt
On part placing groove 6；Second bolt hole 5 is equipped with one or more, for the hand-held part main body 1 to be fixed on mechanical arm
On, it is preferred that there are four second bolt hole 5 is set, thus the company between the hand-held part main body 1 and mechanical arm can be made
Relationship is connect more to fasten.
By the first bolt hole 7 and screw hole and relevant bolt, the magnetic absorption member 2 can be made to place with the magnetic absorption member
Connection relationship between slot 6 more fastens.
In some embodiments, electromagnetic mechanical hand as the aforementioned, the hand-held part main body 1 are obtained by 3D printing
Integrated setting.By using the hand-held part main body 1 for the integrated setting that 3D printing obtains, the stability of device can be made
More preferably, while it can be improved the service life of product.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of electromagnetic mechanical hand characterized by comprising hand-held part main body (1) and the on-off for passing through magnetic force carry out
Article inhales the magnetic absorption member (2) put；
The magnetic absorption member (2) is fixed in the hand-held part main body (1) for grabbing object side.
2. electromagnetic mechanical hand according to claim 1, which is characterized in that the magnetic absorption member (2) include: electromagnet P1 and
For controlling the controller U1 of the electromagnet P1 power on/off, the controller U1 is electrically connected with the electromagnet P1.
3. electromagnetic mechanical hand according to claim 2, which is characterized in that further include: photoelectrical coupler U2, resistance R1,
Resistance R2, diode D1, diode D2, triode Q1 and relay P3；
The controller U1 is connected to 2 mouthfuls of the photoelectrical coupler；One end of the resistance R1 is connected to the photoelectrical coupler U2
1 mouthful, the other end ground connection；One end of the resistance R2 is connected to 3 mouthfuls of the photoelectrical coupler U2, and the other end is connected to three pole
The base stage of pipe Q1；The relay P3 cathode and anode, electromagnet with the collector of the triode Q1, diode D2 respectively
The cathode connection of the anode and diode D1 of P1；The positive and negative anodes of electromagnet P1 positive and negative anodes with the diode D1 respectively
Connection, the cathode connect and ground of the cathode of the electromagnet P1 and the diode D1；4 mouthfuls of the photoelectrical coupler U2 connect
Ground.
4. electromagnetic mechanical hand according to claim 3, which is characterized in that further include: LED light；The LED light is set to institute
It states between controller U1 and 2 mouthfuls of the photoelectrical coupler.
5. electromagnetic mechanical hand according to claim 1, which is characterized in that the hand-held part main body (1) is equipped with for two sides
The U-shaped setting of postive stop baffle (3), and the magnetic absorption member (2) is set to the bottom of the hand-held part main body (1), and towards U-shaped mouth
Opening direction.
6. electromagnetic mechanical hand according to claim 5, which is characterized in that the top of the postive stop baffle (3) be equipped with to
The inclined transition baffle (4) in outside.
7. electromagnetic mechanical hand according to claim 5, which is characterized in that hand-held part main body (1) bottom is equipped with one
Columned magnetic absorption member placing groove (6), the magnetic absorption member (2) are suitable with the shape of the internal empty slot of the magnetic absorption member placing groove (6)
The cylinder matched.
8. electromagnetic mechanical hand according to claim 7, which is characterized in that below magnetic absorption member placing groove (6) rear end
A cable exits (8) are additionally provided with, for drawing the cable of the magnetic absorption member (2) out of described magnetic absorption member placing groove (6).
9. electromagnetic mechanical hand according to claim 7, which is characterized in that the rear end of the magnetic absorption member placing groove (6) is set
There are the first bolt hole (7) and the second bolt hole (5), the magnetic absorption member (2) is equipped with the spiral shell being adapted to first bolt hole (7)
Hole, for after first bolt hole (7) is threadedly coupled with the screw hole that the magnetic absorption member (2) are fixed by passing through bolt
On the magnetic absorption member placing groove (6)；Second bolt hole (5) is equipped with one or more, is used for the hand-held part main body
(1) it is fixed on mechanical arm.
10. electromagnetic mechanical hand according to claim 6, which is characterized in that the hand-held part main body (1) is to be beaten by 3D
Print obtained integrated setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214608.7A CN109866246A (en) | 2019-03-20 | 2019-03-20 | Electromagnetic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214608.7A CN109866246A (en) | 2019-03-20 | 2019-03-20 | Electromagnetic mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866246A true CN109866246A (en) | 2019-06-11 |
Family
ID=66920910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910214608.7A Pending CN109866246A (en) | 2019-03-20 | 2019-03-20 | Electromagnetic mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109866246A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815275A (en) * | 2019-11-29 | 2020-02-21 | 惠州市洛河科技有限公司 | Adsorption manipulator and feeding conveying equipment |
| CN112173710A (en) * | 2019-10-31 | 2021-01-05 | 广州鑫娄山模具有限公司 | Magnetic force type carrying device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112173710A (en) * | 2019-10-31 | 2021-01-05 | 广州鑫娄山模具有限公司 | Magnetic force type carrying device |
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Application publication date: 20190611 |
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