CN101637914A - High-rigidity multi-stage expansion mechanism - Google Patents
High-rigidity multi-stage expansion mechanism Download PDFInfo
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- CN101637914A CN101637914A CN200910091097A CN200910091097A CN101637914A CN 101637914 A CN101637914 A CN 101637914A CN 200910091097 A CN200910091097 A CN 200910091097A CN 200910091097 A CN200910091097 A CN 200910091097A CN 101637914 A CN101637914 A CN 101637914A
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Abstract
The invention discloses a high-rigidity multi-stage expansion mechanism, comprising at least two-stage expansion units. The expansion units are respectively provided with a motor which is connected with a lead screw by a coupler; the rotating output of the motor is converted into liner motion by a mechanism formed by the lead screws and nuts; a nut seat of the nut is connected with a guide rail sliding block installed at one side of a mounting vertical plate of the expansion unit of this stage and a mounting vertical plate of the expansion unit of next stage so as to realize the cascade connection of the expansion units. The expansion unit of each stage in the invention adopts two double sliding block ball guide rails respectively so as to increase loading force; the guide rails adopt wall-mounted type arrangement mode so as to increase the rigidity of the suspension beam. Besides, the system rigidity also can further improve the pretension of connecting screws by using fastening screws; therefore, the mechanism can realize liner expansion movement with large stroke and high rigidity.
Description
Technical field
The present invention relates to the industrial robot technical field, particularly relate to a kind of multi-stage expansion mechanism that is used for big stroke, big load.
Background technology
Often need use multi-stage expansion mechanism in the industrial robot field, multi-stage expansion mechanism mainly adopts cylinder, oil cylinder or motor-driven because cylinder and the oil cylinder accessory is many, from great, and seal request height is so the use of motor is more and more widely.Simultaneously, for the ease of the rotation of motor output is changed into rectilinear motion, screw-nut body is also adopted in a large number.At present, some telescoping mechanism has the sleeve part of internal and external screw thread by use, realized simple multi-stage expansion, but this mechanism precision and rigidity is all not high, and therefore, lead screw guide rails mechanism more and more comes into one's own.However, because the use of guide rail, installation and adjustment lack relative measures, the multi-stage expansion mechanism of big stroke, high rigidity still is difficult to realize.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of multi-stage expansion mechanism, to overcome the relatively poor defective of multi-stage expansion mechanism rigidity of available technology adopting leading screw, nut and guide rail.
For solving the problems of the technologies described above, the invention provides a kind of high-rigidity multi-stage expansion mechanism, comprise two-stage telescopic unit at least, described telescopic unit is provided with motor, motor connects leading screw by shaft joint, the rotation output of motor is changed into rectilinear motion in the mechanism that forms by leading screw and nut seat, and the nut seat of described nut is mounted on telescopic unit at the corresponding levels the guide rail slide block of riser one side and the installation riser of next stage telescopic unit are installed, to realize the cascade of described telescopic unit.
Wherein, telescopic unit can also comprise the spherical guide of two double-sliders.
Wherein, line slideway can be two double-slider spherical guides, and spherical guide has adopted wall-hanging layout, to improve the rigidity of described spherical guide.
Wherein, when the assembling telescopic unit, can adopt the low order in high earlier back that described spherical guide is installed, to improve the depth of parallelism of guide level and flexible direction.
Wherein, have attachment screw above the nut seat, can adopt trip bolt to regulate the pretightning force of attachment screw between slide block and the nut seat, with the rigidity of further this multi-stage expansion mechanism of raising.
Wherein, nut seat can be the U-shaped piece.
Compared with prior art, technical scheme of the present invention has following advantage: multi-stage expansion mechanism of the present invention can be realized flexible flexibly, and this mechanism has the advantage of big stroke, high rigidity simultaneously.
Description of drawings
Fig. 1 is the single-stage telescopic unit schematic diagram of the embodiment of the invention;
Fig. 2 is three grades of telescoping mechanism schematic diagrames of the embodiment of the invention;
Fig. 3 is the nut seat structural representation of the embodiment of the invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
The single-stage telescopic unit of the embodiment of the invention comprises motor 1, shaft joint 2, spherical guide 3, leading screw 4, nut seat 5, attachment screw 6, riser 7 and trip bolt 8 is installed as shown in Figure 1.Rotary electric machine 1 connects leading screws 4 by shaft joint 2, and the mechanism that forms by leading screw 4 and nut seat 5 is converted into the rectilinear motion of nut seat 5 along spherical guide 3 with the rotation output of motor 1, thereby realizes stretching motion.
The schematic diagram of three grades of telescoping mechanisms of the embodiment of the invention is defined as first, second and third grade telescopic unit as shown in Figure 2 from top to bottom successively.Because the multi-stage expansion mechanism of the embodiment of the invention can be used for the part of industrial robot, and this industrial robot has end effector.Three grades of telescoping mechanisms of Fig. 2 comprise the support 9 of end effector, support 9 is connected with the nut seat 10 of first order telescopic unit by screw, nut seat 10 is connected by the slide block of screw with the spherical guide 11 of this grade telescopic unit again simultaneously, and then realizes the rectilinear motion of nut seat 10 on the spherical guide 11 of first order telescopic unit.The spherical guide 11 of first order telescopic unit is fixed on first of this grade telescopic unit and installs above the riser 12, equally, first installs riser 12 also is connected by the nut seat of screw with next stage telescopic unit (being second level telescopic unit), the nut seat of next stage telescopic unit is connected by the slide block of screw with this grade telescopic unit again simultaneously, and the spherical guide that matches with slide block is installed in second of this grade telescopic unit and installs above the riser 13.The 3rd of third level telescopic unit is installed the frame that riser 14 is three grades of telescoping mechanisms.
Each of present embodiment grade telescopic unit adopts two double-slider spherical guides to increase bearing capacity; Spherical guide adopts wall-hanging layout type as shown in Figure 2, with respect to common horizontal layout mode, can obviously improve the rigidity of guide rail, promptly reduce the bending deformation quantity of cantilever beam, and the pretightning force of using trip bolt to regulate attachment screw, improved the rigidity of this multi-stage expansion mechanism, so this mechanism can realize the linear telescopic motion of big stroke, high rigidity.Nut seat can be the U-shaped piece.Each grade telescopic unit can be little matched in clearance with cooperating all of nut seat, the slide block of each grade telescopic unit with the mating surface of nut seat on all can design screwed hole.
The nut seat structure of the embodiment of the invention as shown in Figure 3, this nut seat is a trench structure, have two grooves, be used for installing the double-slider of spherical guide, in installation process, earlier two slide blocks of upper spheres guide rail are installed in the nut seat inside upper part with attachment screw, with attachment screw two slide blocks of lower spheres guide rail are installed in the nut seat lower inside then, should make slide block end face and nut seat mating surface keep good plane contact during installation as far as possible, at last, utilize trip bolt to regulate the pretightning force of attachment screw, with the contact stiffness of further raising system.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (6)
1, a kind of high-rigidity multi-stage expansion mechanism, it is characterized in that, comprise two-stage telescopic unit at least, described telescopic unit is provided with motor, motor connects leading screw by shaft joint, the rotation output of motor is changed into rectilinear motion in the mechanism that forms by leading screw and nut seat, and the nut seat of described nut is mounted on telescopic unit at the corresponding levels the guide rail slide block of riser one side and the installation riser of next stage telescopic unit are installed, to realize the cascade of described telescopic unit.
2, high-rigidity multi-stage expansion mechanism as claimed in claim 1 is characterized in that, described telescopic unit also comprises the spherical guide of two double-sliders.
3, high-rigidity multi-stage expansion mechanism as claimed in claim 2 is characterized in that, described spherical guide adopts wall-hanging layout, to improve the rigidity of described spherical guide.
4, as claim 2 or 3 described high-rigidity multi-stage expansion mechanisms, it is characterized in that, when the described telescopic unit of assembling, adopt the low order in high earlier back that described spherical guide is installed.
5, high-rigidity multi-stage expansion mechanism as claimed in claim 2, it is characterized in that, has attachment screw above the described nut seat, the pretightning force that adopts trip bolt to regulate described attachment screw between described slide block and the described nut seat is with the rigidity of the described high-rigidity multi-stage expansion mechanism of further raising.
6, as claim 1 or 2 or 3 or 5 described high-rigidity multi-stage expansion mechanisms, it is characterized in that described nut seat is the U-shaped piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910091097A CN101637914A (en) | 2009-08-24 | 2009-08-24 | High-rigidity multi-stage expansion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910091097A CN101637914A (en) | 2009-08-24 | 2009-08-24 | High-rigidity multi-stage expansion mechanism |
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| CN101637914A true CN101637914A (en) | 2010-02-03 |
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| CN200910091097A Pending CN101637914A (en) | 2009-08-24 | 2009-08-24 | High-rigidity multi-stage expansion mechanism |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804642A (en) * | 2010-04-08 | 2010-08-18 | 天津市中马骏腾精密机械制造有限公司 | Manipulator linear platform |
| CN102151893A (en) * | 2011-03-22 | 2011-08-17 | 无锡市方泰钢板网有限公司 | Punching and shearing mechanism for steel plate net punching and shearing machine |
| CN102166750A (en) * | 2011-05-16 | 2011-08-31 | 机械科学研究总院先进制造技术研究中心 | Positioning beam and robot linear motion unit with same |
| CN102490173A (en) * | 2011-11-14 | 2012-06-13 | 机械科学研究总院先进制造技术研究中心 | Modular linear movement unit |
| CN103029079A (en) * | 2012-12-31 | 2013-04-10 | 苏州金纬机械制造有限公司 | Telescopic resisting device |
| WO2013071477A1 (en) * | 2011-11-14 | 2013-05-23 | 机械科学研究总院先进制造技术研究中心 | Modularized rectilinear movement unit |
| CN103895014A (en) * | 2014-04-16 | 2014-07-02 | 苏州优点优唯医疗科技有限公司 | Intelligent carrying mechanical arm |
| CN104942799A (en) * | 2015-06-30 | 2015-09-30 | 佛山市新恒萃材料科技有限公司 | Compact-structure multifunctional robot |
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN104999461A (en) * | 2015-07-16 | 2015-10-28 | 苏州金牛精密机械有限公司 | Mechanical arm moving module mechanism |
| CN108529147A (en) * | 2017-03-03 | 2018-09-14 | 盟立自动化股份有限公司 | Processing equipment and telescoping device thereof |
| CN109333513A (en) * | 2018-11-29 | 2019-02-15 | 佛山职业技术学院 | A kind of movable machinery hand for Intelligent clothes cabinet |
| CN110945274A (en) * | 2017-10-23 | 2020-03-31 | 青岛海信激光显示股份有限公司 | Wall hanging support for projection screen |
| CN112996442A (en) * | 2018-11-19 | 2021-06-18 | 专用成像有限责任公司 | Translation drive system for imaging system |
| CN113305882A (en) * | 2021-05-28 | 2021-08-27 | 珠海格力电器股份有限公司 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
-
2009
- 2009-08-24 CN CN200910091097A patent/CN101637914A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804642A (en) * | 2010-04-08 | 2010-08-18 | 天津市中马骏腾精密机械制造有限公司 | Manipulator linear platform |
| CN102151893A (en) * | 2011-03-22 | 2011-08-17 | 无锡市方泰钢板网有限公司 | Punching and shearing mechanism for steel plate net punching and shearing machine |
| CN102166750A (en) * | 2011-05-16 | 2011-08-31 | 机械科学研究总院先进制造技术研究中心 | Positioning beam and robot linear motion unit with same |
| CN102490173A (en) * | 2011-11-14 | 2012-06-13 | 机械科学研究总院先进制造技术研究中心 | Modular linear movement unit |
| WO2013071477A1 (en) * | 2011-11-14 | 2013-05-23 | 机械科学研究总院先进制造技术研究中心 | Modularized rectilinear movement unit |
| CN103029079A (en) * | 2012-12-31 | 2013-04-10 | 苏州金纬机械制造有限公司 | Telescopic resisting device |
| CN103029079B (en) * | 2012-12-31 | 2015-06-17 | 苏州金纬机械制造有限公司 | Telescopic resisting device |
| CN103895014B (en) * | 2014-04-16 | 2015-12-09 | 苏州优点优唯医疗科技有限公司 | A kind of intelligent conveying robot |
| CN103895014A (en) * | 2014-04-16 | 2014-07-02 | 苏州优点优唯医疗科技有限公司 | Intelligent carrying mechanical arm |
| CN104942799A (en) * | 2015-06-30 | 2015-09-30 | 佛山市新恒萃材料科技有限公司 | Compact-structure multifunctional robot |
| CN104959978A (en) * | 2015-07-03 | 2015-10-07 | 佛山市新恒萃材料科技有限公司 | Pipe fitting operation robot |
| CN104999461A (en) * | 2015-07-16 | 2015-10-28 | 苏州金牛精密机械有限公司 | Mechanical arm moving module mechanism |
| CN108529147A (en) * | 2017-03-03 | 2018-09-14 | 盟立自动化股份有限公司 | Processing equipment and telescoping device thereof |
| CN110945274A (en) * | 2017-10-23 | 2020-03-31 | 青岛海信激光显示股份有限公司 | Wall hanging support for projection screen |
| CN110945274B (en) * | 2017-10-23 | 2021-07-30 | 青岛海信激光显示股份有限公司 | Wall hanging support for projection screen |
| CN112996442A (en) * | 2018-11-19 | 2021-06-18 | 专用成像有限责任公司 | Translation drive system for imaging system |
| CN109333513A (en) * | 2018-11-29 | 2019-02-15 | 佛山职业技术学院 | A kind of movable machinery hand for Intelligent clothes cabinet |
| CN113305882A (en) * | 2021-05-28 | 2021-08-27 | 珠海格力电器股份有限公司 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
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| C06 | Publication | ||
| C41 | Transfer of patent application or patent right or utility model | ||
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| TA01 | Transfer of patent application right |
Effective date of registration: 20100108 Address after: 100084-82 mailbox, Tsinghua Yuan, Haidian District, Beijing, Beijing Applicant after: Tsinghua University Co-applicant after: Chengdu aircraft industry (Group) Co., Ltd. Address before: 100084-82 mailbox, Tsinghua Yuan, Haidian District, Beijing, Beijing Applicant before: Tsinghua University |
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| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100203 |