CN101234703A - Double rubberbands four sliding rails arrow type ejection mechanism - Google Patents
Double rubberbands four sliding rails arrow type ejection mechanism Download PDFInfo
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- CN101234703A CN101234703A CNA2008100640642A CN200810064064A CN101234703A CN 101234703 A CN101234703 A CN 101234703A CN A2008100640642 A CNA2008100640642 A CN A2008100640642A CN 200810064064 A CN200810064064 A CN 200810064064A CN 101234703 A CN101234703 A CN 101234703A
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- rubberbands
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- ejection mechanism
- sliding rails
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Abstract
The invention provides an ejection mechanism of bow type with two rubber bands and four slides, essentially comprising a chassis 5, an orbit of an ejection cabin base 10, an ejection orbit 9, an angel adjusting device 6, a triggering device 3, a line withdrawing and setting device 4 and a turning manipulator 1. A line rolling motor 17 passes through a line rolling wheel 18 through a coupling 20; the other side uses a screw to connect an end cover 19 and the lien rolling wheel into a whole through a bolt; the other end of the coupling is fixed on a bearing block 21; an end of a pin 24 is provided with a screw thread and is connected with an ejection cabin base 2; the other end of the pin 24 is connected with a steel wire 15; the other end of the ejection cabin base is connected with a front end on the chassis through two rubber bands 8; a motor 14 is connected with a cam structure 12 and is fixed on a support board 23; a manipulator 1 is fixed at a corresponding position on the chassis 5 through two aluminum rods; an aiming device 7 is fixed on a centre line at the front end of the chassis. The mechanism of the invention can eject various shapes, automatically grab objects, present positioning of high precision, have the function of instant triggering of elastic potential energy, and be reused.
Description
(1) technical field
The present invention relates to a kind of robot construction, specifically a kind of mechanical type feedway.
(2) background technology
Along with the continuous variation of modern industry operating condition, relate to the mode that non-contact type transmits object more and more, therefore designing a kind of ejection mechanism that can adapt to various working becomes a kind of trend.It is the energy storage trigger-type that the design philosophy of mechanical type object ejection mechanism derives from traditional impelling mode, domestic The Research of Relevant Technology is also fewer, relatively be typically " three elastic band rail gun barrel type launching mechanism " (number of patent application: 200610150950.8), this scheme is the barrel type emission principle, can only launch the small-sized spherical body of simple shape, and the weight of emission object is lighter, the mode of placing in the source district when object to be launched and the position of pre-launch requirements can't not regulated the position of object to be launched simultaneously, so just limited to its field of application greatly, application is narrower.
(3) summary of the invention
The object of the present invention is to provide a kind ofly can launch difformity, grasp that object, high fix, straight line launch automatically, the physical construction of elastic potential energy instantaneous trigger, the two-orbit bow and crossbow formula ejection mechanism that can reuse.
The object of the present invention is achieved like this:
It mainly comprises frame 5, rack-mounted emission storehouse seat track 10, launching trajectory 9, angular adjustment apparatus 6, flip flop equipment 3, take-up actinobacillus device 4 and turning manipulator 1, the spiral motor 17 of described take-up actinobacillus device passes reel 18 by coupler 20, the opposite side of reel is connected as a single entity end cap 19 and reel with bolt, the other end of coupler is fixed on the bearing seat 21, one end of pin 24 is attacked screw thread and is linked together with emission storehouse seat 2, the other end of pin 24 connects steel wire 15, the other end of emission storehouse seat 2 is connected with frame 5 front ends by two bungees 8, the motor 14 of described flip flop equipment 3 connects cam mechanism 12 and is fixed on the stay bearing plate 23, manipulator 1 is fixed on the relevant position of frame 5 by two aluminium bars, and sighting device 7 is fixed on the front end line of centers of frame 5.
The present invention can also comprise following architectural feature:
1. it comprises two emission storehouse seat guide rails 10 and two object shoes 9, and emission storehouse seat guide rail 10 separates with object shoe 9, and four track pipes are formed parallel mechanism.
2. described manipulator 1 is by leading screw 27 transmissions, and the two ends of leading screw 27 are dextrorotation and derotation screw thread, and leading screw 27 drives by motor 29, and upset motor 31 connects manipulator 1 by coupler 30, and angular adjustment apparatus 6 is fixed on the downside of frame 5.
3. described emission storehouse seat 2 is with the short pipe of two aluminium matter and emission storehouse seat guide rail 10 cooperates.
4. described ejection mechanism comprises the bungee 8 that elastic potential energy is provided, and an end of bungee is fixed on the frame, and the spider that the other end is fixed on catapult-launching gear launches on the cross bar on plane.
5. in the described flip flop equipment 3, the motor 14 of pulling pin connects cam mechanism 12, and an end of bayonet lock 15 connects with cam mechanism 12 by steel wire 13, and the other end penetrates emission bearing 23, and bayonet lock 15 is coated with spring 13 between the adapter plate of emission bearing 23.
6. motor 35 connects leading screw 34 by coupler in the described angular adjustment apparatus 6, and nut sleeve 33 and angle aluminium constitute revolute pair with hinge 32 and top.
7. post the toughening rubber that to change behind the described emission bearing 25.
8. described sighting device 7 is a laser pen, and laser pen is fixed on the center of frame front end with thermosol, is close on the frame front end cross bar.
9. described bearing pin 24 and bayonet lock 15 materials are No. 45 steel, diameter 8mm, the screw thread that an end of pin 22 is attacked M8.
Pin 22 launches the plane by the nut that is embedded in emission storehouse seat 2 with spider and links to each other, the other end links to each other with steel wire 16, because steel wire 16 flexibilities are not enough, can go wrong when being connected with bearing pin 24, we twine with copper wire at bound fraction, pour into scolding tin then, like this with regard to the fine Joint strenght problem that solved.
Bearing pin 24 heads that are connected on the emission storehouse seat 2 have webge slot, the other end of bayonet lock 15 is a lozenges, have tapped bore in the middle of the bayonet lock 15, tapped bore links to each other with bolt, bayonet lock 15 is coated with the moderate spring of elasticity modulus 13 between the adapter plate of emission bearing 23, thrust is provided, makes that the lozenges at bayonet lock 15 is in the pin-and-hole of emission bearing 23 all the time.When the elastic force that overcomes spring 13 when bearing pin 24 backs down bayonet lock 15, bayonet lock 15 under spring 13 effect to left movement, when moving the reservation position to, lozenges on vee-cut on the bearing pin 24 and the bayonet lock 15 is combined together, when triggering, the motor 14 of pulling pin drives cam mechanism 12 pulling steel wires 13, and bayonet lock 15 is pulled out, discharge bearing pin 24, finish emission.
When adjusting angle, motor 35 is fixed on the whole frame, rotates by driven by motor leading screw 34, and leading screw 34 and nut sleeve 33 form the feed screw nut transmission, drive frame 5 by hinge 32 and carry out small-angle movement, under the cooperation of laser pen 7, realize the adjustment in angle and orientation.
Object shoe 9 can change the position according to the difformity and the size of emission object, so just can adapt to different emission objects.
The concrete principle of work of double rubberbands four sliding rails arrow type ejection mechanism is such:
Spiral motor 17 drives reel 18 by steel wire 16 pulling emission storehouse seats 2, move to when subscribing the position, bayonet lock 15 by flip flop equipment 3 snaps in the webge slot of the bearing pin 24 on the emission storehouse seat 2, emission storehouse seat is because the pulling force of two bungees 8 of front end, the savings elastic potential energy, this moment, turning manipulator 1 drove palm 24 extracting objects by leading screw 27, object is placed on the ejection orbit, the counter-rotating of extracting motor, unclamp this object, spiral motor 17 counter-rotatings in this process drive reel 18 and discharge steel rope 16, then after the coordination realization high fix by angular adjustment apparatus 6 and sighting device 7, the motor 12 of pulling pin is just changeing, the torque of motor overcomes the elastic force of spring, and bayonet lock 15 is extracted, emission storehouse seat 2 abrupt releases, fast object is launched away, the motor 12 of pulling pin stops operating, and bayonet lock 15 is pushed back in the emission bearing 25 again in the effect of spring 13, finishes once emission.
The present invention not only can be used in robot sports field, but also can be used for goods or loading and unloading and the transmission (such as under situation that boats and ships can't pull in to shore) of article in certain distance, can also be used for launching fast of life etc., finish some specific tasks.
(4) description of drawings
Fig. 1 is an assembling scheme drawing of the present invention;
Fig. 2 is flip flop equipment of the present invention and take-up actinobacillus device scheme drawing;
Fig. 3 is the present invention's catching robot structural scheme of mechanism that overturns;
Fig. 4 is an angular adjustment apparatus scheme drawing of the present invention.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The present invention includes frame 5, emission storehouse seat track 10, launching trajectory 9, angular adjustment apparatus 6, flip flop equipment 3, take-up actinobacillus device 4 and turning manipulator 1.Wherein reel 18 links to each other with bearing seat 21 by coupler 20 1 ends, and an end links to each other with spiral motor 17, is fixed on the frame 5, makes axis parallel with frame by the height of regulating cushion block 22; The motor 14 of flip flop equipment 3 is fixed on the stay bearing plate 23 by angle aluminium, and stay bearing plate 23 connects with frame 5 below by 4 aluminum alloy square tubes, and the motor 14 of pulling pin drives cam mechanism 12 pulling steel wires 13, and steel wire 13 other ends link to each other with bayonet lock 15; Manipulator 1 needs to realize grasping and two degree of freedom that overturn, therefore adopt two motors, motor 29 is fixed on the manipulator sliding rail by angle aluminium, motor 29 connects with the leading screw 27 with positive and reverse return, leading screw 27 constitutes the feed screw nut transmission device with pair of nut 28, mechanical arm is by linking to each other with pair of nut 28, realize the extracting of object and unclamp by motor positive and inverse, upset motor 31 links to each other with sliding rail by coupler 30, the sliding rail other end links to each other with bearing seat 26 by coupler 25, constitutes revolute pair; Angular adjustment apparatus 6 drives leading screws 34 by motor 35 and rotates, and leading screw 34 and nut sleeve 33 are in conjunction with the angle that realizes adjustment and frame (wherein nut sleeve 33 and frame 5 link to each other by hinge); The track of double rubberbands four sliding rails arrow type ejection mechanism is Siping City's row linkage, wherein launching trajectory 9 is a supporting track, for being launched the tracks of object, emission storehouse seat track 10 is the location ejection orbit of emission storehouse seat 2, cross launches the plane and is connected with steel wire 16 by bearing pin 24, by using the short pipe realization slip in orbit that cooperates with emission storehouse seat track 10.Consider weight and processibility, above mechanism we all adopt aluminium to make.
Detail design to basic system:
Because the match request precision is very high, the ejection orbit design is the greatest problem that we run into.
We once also attempted being similar to the spider ejection mechanism of three elastic band rail gun barrel type launching mechanism, but they only are confined to launching of ball object, and were fairly simple, considered the space of grasping object and launched precision, and we have abandoned this scheme.We will launch the scheme that storehouse seat track and object launching trajectory combine again afterwards, emphasis launches the design on plane to emission storehouse seat, originally adopt " ⊥ ", can in experimentation, find, contact bad with object because object contacts friction force and " ⊥ " plane of producing with track, can there be flop phenomenon in object in ejection process, rather than straight line is got.
Finally we adopt two rubber band four orbit shot mechanisms, and this mechanism has higher relatively stationarity and accuracy rate, are launched object with quilt and contact well, but advantages such as straight line emission, can manually adjust simultaneously the length of rubber band, realize the raising of the distance and the precision of catapulting distance, be easy to realize.The parallelism that needs to guarantee four aluminium matter pipes in the process of making, and assembly precision can realize high-precision launching.
Manipulator also is one of difficult point of the present invention in addition, for practical application, needs to grasp object and place it on the ejection orbit, so need the manipulator of at least two degree of freedom of design, grasps and upset with realization.Originally we also considered other type of drive, but considered the self-lock force and the reliability of extracting, had finally still adopted the feed screw nut auxiliary driving.Though driving efficiency is lower, can provide larger clamping force.For the space of bigger extracting object is provided, we have designed the slideway that can move for the mechanical arm straight line.Mechanical arm is under the drive of motor, and straight line moves in slideway, and aluminium flake is posted in the slideway both sides, in order to avoid mechanical arm is stuck when mobile, plays the effect of guiding.Motor is fixed by angle aluminium and slideway, and leading screw is the positive and reverse return pattern, makes motor when rotating, and mechanical arm is medial movement or mobile laterally simultaneously in the same way.The mechanical arm Front-end Design has the arcuation manipulator, certain angle of can swaying, easier self-centering in gripping.The upset motor is connected with manipulator by coupler and is fixed on the support.
In order to simplify take-up actinobacillus device 4, we are only by adopting reel 18 positive and negative tension and the releases that transfer realization steel wire 16.The spiral motor is fixed on the frame by angle aluminium, for expendable weight, reel 18 adopts plastic material, bore an aperture at reel 18 circumference, steel wire 16 1 ends are passed aperture, flatten nut it is stuck, steel wire 16 other ends pass from the hole of bearing pin 24, tightly wrap with copper wire, with scolding tin that its weldering is dead then, do finishing slightly and get final product.
Claims (10)
1, a kind of double rubberbands four sliding rails arrow type ejection mechanism, it mainly comprises frame 5, rack-mounted emission storehouse seat track 10, launching trajectory 9, angular adjustment apparatus 6, flip flop equipment 3, take-up actinobacillus device 4 and turning manipulator 1, it is characterized in that: the spiral motor 17 of described take-up actinobacillus device passes reel 18 by coupler 20, the opposite side of reel is connected as a single entity end cap 19 and reel with bolt, the other end of coupler is fixed on the bearing seat 21, one end of pin 24 is attacked screw thread and is linked together with emission storehouse seat 2, the other end of pin 24 connects steel wire 15, the other end of emission storehouse seat 2 is connected with frame 5 front ends by two bungees 8, the motor 14 of described flip flop equipment 3 connects cam mechanism 12 and is fixed on the stay bearing plate 23, manipulator 1 is fixed on the relevant position of frame 5 by two aluminium bars, and sighting device 7 is fixed on the front end line of centers of frame 5.
2, double rubberbands four sliding rails arrow type ejection mechanism according to claim 1, it is characterized in that: it comprises two emission storehouse seat guide rails 10 and two object shoes 9, emission storehouse seat guide rail 10 separates with object shoe 9, and four track pipes are formed parallel mechanism.
3, double rubberbands four sliding rails arrow type ejection mechanism according to claim 2, it is characterized in that: described manipulator 1 is by leading screw 27 transmissions, the two ends of leading screw 27 are dextrorotation and derotation screw thread, leading screw 27 drives by motor 29, upset motor 31 connects manipulator 1 by coupler 30, and angular adjustment apparatus 6 is fixed on the downside of frame 5.
4, double rubberbands four sliding rails arrow type ejection mechanism according to claim 3 is characterized in that: described emission storehouse seat 2 is with the short pipe of two aluminium matter and emission storehouse seat guide rail 10 cooperates.
5, double rubberbands four sliding rails arrow type ejection mechanism according to claim 4, it is characterized in that: described ejection mechanism comprises the bungee 8 that elastic potential energy is provided, one end of bungee is fixed on the frame, and the spider that the other end is fixed on catapult-launching gear launches on the cross bar on plane.
6, double rubberbands four sliding rails arrow type ejection mechanism according to claim 5, it is characterized in that: in the described flip flop equipment 3, the motor 14 of pulling pin connects cam mechanism 12, one end of bayonet lock 15 connects with cam mechanism 12 by steel wire 13, the other end penetrates emission bearing 23, and bayonet lock 15 is coated with spring 13 between the adapter plate of emission bearing 23.
7, double rubberbands four sliding rails arrow type ejection mechanism according to claim 6 is characterized in that: motor 35 connects leading screw 34 by coupler in the described angular adjustment apparatus 6, and nut sleeve 33 and angle aluminium constitute revolute pair with hinge 32 and top.
8, double rubberbands four sliding rails arrow type ejection mechanism according to claim 7 is characterized in that: post the toughening rubber that can change behind the described emission bearing 25.
9, double rubberbands four sliding rails arrow type ejection mechanism according to claim 8 is characterized in that: described sighting device 7 is laser pen, and laser pen is fixed on the center of frame front end with thermosol, is close on the frame front end cross bar.
10, double rubberbands four sliding rails arrow type ejection mechanism according to claim 9 is characterized in that: described bearing pin 24 and bayonet lock 15 materials are No. 45 steel, diameter 8mm, the screw thread that an end of pin 22 is attacked M8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100640642A CN101234703B (en) | 2008-03-03 | 2008-03-03 | Double rubberbands four sliding rails arrow type ejection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100640642A CN101234703B (en) | 2008-03-03 | 2008-03-03 | Double rubberbands four sliding rails arrow type ejection mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101234703A true CN101234703A (en) | 2008-08-06 |
| CN101234703B CN101234703B (en) | 2010-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100640642A Expired - Fee Related CN101234703B (en) | 2008-03-03 | 2008-03-03 | Double rubberbands four sliding rails arrow type ejection mechanism |
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| CN (1) | CN101234703B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774476B (en) * | 2009-12-31 | 2011-09-21 | 中国人民解放军国防科学技术大学 | Permanent magnet linear motor-based throwing platform |
| CN101726215B (en) * | 2009-11-17 | 2013-09-11 | 哈尔滨工程大学 | Adjustable pitching rubber band ejection robot |
| CN104261063A (en) * | 2014-07-10 | 2015-01-07 | 西南交通大学 | Robot ejection mechanism |
| CN104842359A (en) * | 2015-05-28 | 2015-08-19 | 江南大学 | Catapulting type fast grabbing robot |
| CN106836121A (en) * | 2017-02-24 | 2017-06-13 | 济南思拓新源医药科技有限公司 | A kind of flood control sandbag catapult-launching gear |
| CN113525801A (en) * | 2021-07-26 | 2021-10-22 | 郑州铁路职业技术学院 | Railway logistics quick goods picking equipment |
-
2008
- 2008-03-03 CN CN2008100640642A patent/CN101234703B/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101726215B (en) * | 2009-11-17 | 2013-09-11 | 哈尔滨工程大学 | Adjustable pitching rubber band ejection robot |
| CN101774476B (en) * | 2009-12-31 | 2011-09-21 | 中国人民解放军国防科学技术大学 | Permanent magnet linear motor-based throwing platform |
| CN104261063A (en) * | 2014-07-10 | 2015-01-07 | 西南交通大学 | Robot ejection mechanism |
| CN104842359A (en) * | 2015-05-28 | 2015-08-19 | 江南大学 | Catapulting type fast grabbing robot |
| CN104842359B (en) * | 2015-05-28 | 2016-10-05 | 江南大学 | A kind of ejection type quickly captures robot |
| CN106836121A (en) * | 2017-02-24 | 2017-06-13 | 济南思拓新源医药科技有限公司 | A kind of flood control sandbag catapult-launching gear |
| WO2018152851A1 (en) * | 2017-02-24 | 2018-08-30 | 李兆勇 | Flood-control sandbag ejection device |
| CN113525801A (en) * | 2021-07-26 | 2021-10-22 | 郑州铁路职业技术学院 | Railway logistics quick goods picking equipment |
| CN113525801B (en) * | 2021-07-26 | 2023-10-27 | 郑州铁路职业技术学院 | Railway logistics quick goods picking equipment |
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| Publication number | Publication date |
|---|---|
| CN101234703B (en) | 2010-12-01 |
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Granted publication date: 20101201 Termination date: 20170303 |