CN104690742A - Three-freedom-degree magnetic-control mechanical arm output end - Google Patents

Three-freedom-degree magnetic-control mechanical arm output end Download PDF

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Publication number
CN104690742A
CN104690742A CN201510121689.8A CN201510121689A CN104690742A CN 104690742 A CN104690742 A CN 104690742A CN 201510121689 A CN201510121689 A CN 201510121689A CN 104690742 A CN104690742 A CN 104690742A
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CN
China
Prior art keywords
electromagnet
titanium alloy
fixed pulley
degree
freedom
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510121689.8A
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Chinese (zh)
Inventor
王汝贵
廖益丰
张成东
郑安平
杨洲
吴晓波
陈辉庆
李烨勋
邹清明
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Guangxi University
Original Assignee
Guangxi University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201510121689.8A priority Critical patent/CN104690742A/en
Publication of CN104690742A publication Critical patent/CN104690742A/en
Pending legal-status Critical Current

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Abstract

A three-freedom-degree magnetic-control mechanical arm output end is characterized in the iron output rod of the mechanical arm output end is connected with a titanium alloy ball in a threaded manner, electromagnets are mounted on the mounting holes of an electromagnet support which is welded to a ball support, one end of a steel rope is connected with the titanium alloy ball, the other end of the steel rope winds around a fixed pulley to be connected with a drive motor, the fixed pulley is connected with a fixed pulley support through a pin, and each electromagnet is independently connected to a PLC. The three-freedom-degree magnetic-control mechanical arm output end has the advantages that the output end can be controlled to flexibly rotate in a small range by a ball pair control form, and the problem that a mechanical arm is hard to position in small space through integral rotation.

Description

A kind of Three Degree Of Freedom magnetic control manipulator output
Technical field
The present invention relates to a kind of manipulator output design field, particularly a kind of Three Degree Of Freedom magnetic control manipulator output.
Background technology
In recent years, along with improving constantly of industrial automation level, manipulator also more and more applies in the middle of industrial production, whether manipulator can accurately locate and the flexibility of manipulator output always is a designer's difficult problem, much at present realize the rotation of manipulator in space by multiple revolute pair thus reach location, locate by the rotation of manipulator entirety so in theory, but when space is relatively narrow and small, the partial rotational of output just seems particularly important, therefore be necessary to design a kind of can the output of flexible rotating when realizing relatively narrow and small in space local flexible rotating to reach accurate location.
Have not yet to see the innovation design that a kind of form of rotating to control ball pair realizes the output of flexible rotating in relative narrow space, ball pair has three degree of freedom, its flexibility be revolute pair less than.
Summary of the invention
The object of this invention is to provide a kind of Three Degree Of Freedom magnetic control manipulator output, make manipulator can realize accurate location by the partial rotational of output in relative narrow space.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of Three Degree Of Freedom magnetic control manipulator output, the iron take-off lever of this manipulator output is connected with titanium alloy sphere by screw thread, electromagnet is arranged on the installing hole of electromagnet supporter, electromagnet supporter is welded on ball support body, steel cable one end connects titanium alloy sphere, the other end is walked around fixed pulley and is connected with drive motors, and fixed pulley is connected with fixed pulley support by bearing pin, separate being connected on PLC of each electromagnet.
Described electromagnet supporter has for installing the installing hole of electromagnet, electromagnet will overlap an insulation rubber sleeve before inserting this installing hole, its objective is to allow the separate running of each electromagnet, and makes electromagnet and installing hole interference fit.
Have small through hole in the middle of described ball support body, make steel cable connect titanium alloy sphere by this small through hole.
Described titanium alloy sphere be milled with plane and be drilled with screwed hole in the plane, there is threaded rod iron take-off lever end, and iron take-off lever is connected with titanium alloy sphere by its end thread bar.
Outstanding advantages of the present invention is:
1, ball pair has three degree of freedom in space, and its flexibility is that revolute pair is irreplaceable, and this enables manipulator output at relative narrow space energy flexible rotating, reaches pinpoint object.
2, this output end structure is simple, and the space taking manipulator is less, and control the rotation of ball pair with electromagnetic induction principle and use " tumbler " principle lifting the ball pair to get back to original position again, its controllability is very strong.
3, this output manufacture is simple, and cost is low and easy to maintenance, and applicability is strong, can apply to paint-spray robot, multiple fields such as robot of carving characters.
Accompanying drawing explanation
Fig. 1 is the structural representation of Three Degree Of Freedom magnetic control manipulator output of the present invention.
Fig. 2 is the top view of Three Degree Of Freedom magnetic control manipulator output of the present invention.
Fig. 3 is the schematic diagram of Three Degree Of Freedom magnetic control manipulator output electromagnet supporter of the present invention.
Fig. 4 is the operating diagram of Three Degree Of Freedom magnetic control manipulator output of the present invention.
Be labeled as in figure: 1. iron take-off lever; 2. titanium alloy sphere; 3. electromagnet; 4. ball support body; 5. electromagnet supporter; 6. fixed pulley; 7. fixed pulley support; 8. steel cable; 9.PLC; 10. bearing pin; 11. drive motors.
Detailed description of the invention:
Below in conjunction with drawings and Examples, technical scheme of the present invention is further described.
As illustrated in fig. 1 and 2, Three Degree Of Freedom magnetic control manipulator output of the present invention, comprises iron take-off lever 1, titanium alloy sphere 2, electromagnet 3, ball support body 4, electromagnet supporter 5, fixed pulley 6, fixed pulley support 7, steel cable 8, PLC9, bearing pin 10 and drive motors 11.Concrete structure and connected mode are:
Iron take-off lever 1 is connected with titanium alloy sphere 2 by screw thread, electromagnet 3 is arranged on the installing hole of electromagnet supporter 5, electromagnet supporter 5 is welded on ball support body 4, steel cable 8 one end connects titanium alloy sphere 2, the other end is walked around fixed pulley 6 and is connected with drive motors 11, fixed pulley 6 is connected with fixed pulley support 7 by bearing pin 10, separate being connected on PLC 9 of each electromagnet 3.
Operation principle of the present invention is: the break-make being controlled electromagnet 3 coil current by PLC 9, when electromagnet 3 obtains electric, electromagnet 3 attracts iron take-off lever 1 to move towards electromagnet 3 direction, when iron take-off lever 1 arrives the position needed, PLC 9 disconnects the electric current of electromagnet 3 coil, now iron take-off lever 1 rests on this position, and location completes; When iron take-off lever 1 needs to reach another one orientation, drive motors 11 pulls steel cable 8 to make titanium alloy sphere 2 drive iron take-off lever 1 return, the coil being controlled the electromagnet 3 of particular orientation again by PLC 9 obtains electric, iron take-off lever 1 is pulled to rotate toward that direction, after arriving ad-hoc location, striping loop current, location completes.

Claims (4)

1. a Three Degree Of Freedom magnetic control manipulator output, it is characterized in that, the iron take-off lever of this manipulator output is connected with titanium alloy sphere by screw thread, electromagnet is arranged on the installing hole of electromagnet supporter, electromagnet supporter is welded on ball support body, and steel cable one end connects titanium alloy sphere, and the other end is walked around fixed pulley and is connected with drive motors, fixed pulley is connected with fixed pulley support by bearing pin, separate being connected on PLC of each electromagnet.
2. Three Degree Of Freedom magnetic control manipulator output according to claim 1, it is characterized in that: described electromagnet supporter has the installing hole for installing electromagnet, electromagnet will overlap an insulation rubber sleeve before inserting this installing hole, its objective is and allow the separate running of each electromagnet, and make electromagnet and installing hole interference fit.
3. Three Degree Of Freedom magnetic control manipulator output according to claim 1, is characterized in that: have small through hole in the middle of described ball support body, makes steel cable connect titanium alloy sphere by this small through hole.
4. Three Degree Of Freedom magnetic control manipulator output according to claim 1, it is characterized in that: described titanium alloy sphere be milled with plane and be drilled with screwed hole in the plane, there is threaded rod iron take-off lever end, and iron take-off lever is connected with titanium alloy sphere by its end thread bar.
CN201510121689.8A 2015-03-18 2015-03-18 Three-freedom-degree magnetic-control mechanical arm output end Pending CN104690742A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510121689.8A CN104690742A (en) 2015-03-18 2015-03-18 Three-freedom-degree magnetic-control mechanical arm output end

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510121689.8A CN104690742A (en) 2015-03-18 2015-03-18 Three-freedom-degree magnetic-control mechanical arm output end

Publications (1)

Publication Number Publication Date
CN104690742A true CN104690742A (en) 2015-06-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510121689.8A Pending CN104690742A (en) 2015-03-18 2015-03-18 Three-freedom-degree magnetic-control mechanical arm output end

Country Status (1)

Country Link
CN (1) CN104690742A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3210466A1 (en) * 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Method and device for carrying out handling processes
CN2032283U (en) * 1988-03-04 1989-02-08 陈汉长 Automatic position-adjusting lighting lamp for vehicle
JPH01164813A (en) * 1987-12-21 1989-06-28 Nec Home Electron Ltd Ball joint
CN101527491A (en) * 2009-04-21 2009-09-09 安徽大学 Three-degree-of-freedom-motion permanent magnetic spherical step motor
CN101777851A (en) * 2010-03-17 2010-07-14 天津大学 Three degree of freedom spherical motor with multiple physical field mixing driving
CN103780041A (en) * 2013-10-08 2014-05-07 何国华 Spherical hinge universal rotary motor, and manufacturing method and operating method thereof
CN204471399U (en) * 2015-03-18 2015-07-15 广西大学 A kind of Three Degree Of Freedom magnetic control manipulator output

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3210466A1 (en) * 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Method and device for carrying out handling processes
JPH01164813A (en) * 1987-12-21 1989-06-28 Nec Home Electron Ltd Ball joint
CN2032283U (en) * 1988-03-04 1989-02-08 陈汉长 Automatic position-adjusting lighting lamp for vehicle
CN101527491A (en) * 2009-04-21 2009-09-09 安徽大学 Three-degree-of-freedom-motion permanent magnetic spherical step motor
CN101777851A (en) * 2010-03-17 2010-07-14 天津大学 Three degree of freedom spherical motor with multiple physical field mixing driving
CN103780041A (en) * 2013-10-08 2014-05-07 何国华 Spherical hinge universal rotary motor, and manufacturing method and operating method thereof
CN204471399U (en) * 2015-03-18 2015-07-15 广西大学 A kind of Three Degree Of Freedom magnetic control manipulator output

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Application publication date: 20150610