CN105127994B - Primary-secondary slider and floating guide rod compound manipulator - Google Patents
Primary-secondary slider and floating guide rod compound manipulator Download PDFInfo
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- CN105127994B CN105127994B CN201510663227.9A CN201510663227A CN105127994B CN 105127994 B CN105127994 B CN 105127994B CN 201510663227 A CN201510663227 A CN 201510663227A CN 105127994 B CN105127994 B CN 105127994B
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Abstract
The invention discloses a primary-secondary slider and floating guide rod compound manipulator. The manipulator is characterized in that the two ends of an X-axis guide rail are respectively connected with an X-axis left end plate and an X-axis right end plate fixedly; an X-axis secondary guide rod is fixed on an X-axis primary slider; an X-axis stop plate is connected on an X-axis secondary slider; a Y-axis guide rod is connected on the X-axis secondary slider; a Y-axis driving left pin and a Y-axis driving right pin are connected on a Y-axis slider; a Y-axis driving left guide plate and a Y-axis driving right guide plate are respectively and fixedly connected at the two sides of the X-axis secondary guide rod; an opening end of a Y-axis driving left guide slot is arranged at one side of the Y-axis driving left pin; an opening end of a Y-axis driving right guide slot is arranged at one side of the Y-axis driving right pin; a floating guide drum is fixedly connected on the Y-axis slider; a floating guide rod is connected in the floating guide drum in a penetrating manner; a Z-axis guide rod is fixedly connected on the Y-axis slider; a Z-axis driving left guide plate and a Z-axis driving right guide plate are respectively arranged at the left and right sides of a Z-axis slider; and a clamp is fixedly connected on the Z-axis slider. The manipulator has a simple structure and is convenient to maintain.
Description
Technical field:
The present invention relates to a kind of primary and secondary slide block and floating guide rod composite mechanical hand.
Background technology:
In industrial automation, various manipulators have been used widely.Manipulator is in production equipment and production line
The upper carrying being used for material and transposition, in most cases manipulator is all multiaxis, and its motion mode is usually complicated three-dimensional
Action.Current manipulator is usually to constitute multivariant complicated machinery hand by multiple independent drive shafts, typically adopt 2 with
On motor just enable complexity three-dimensional motion.This manipulator typically adopts multi-shaft interlocked complicated drive control system
System, thus there is the shortcomings of running speed is slow, poor anti jamming capability, functional reliability are poor, expensive, thus set in low and middle-end
Standby above it is difficult to be generalizable.
Therefore, it is necessory to improve prior art to solve the deficiency of prior art.
Content of the invention:
The present invention is to provide a kind of primary and secondary slide block multiple with floating guide rod to solve the problems, such as above-mentioned prior art
Box-like manipulator.
The technical solution adopted in the present invention has: a kind of primary and secondary slide block and floating guide rod composite mechanical hand, leads including x-axis
Rail, x-axis first member plate, x-axis right end plate, the left push rod of x-axis, the right push rod of x-axis, x-axis mother's slide block, the sub- slide block of x-axis, the sub- guide rod of x-axis, x-axis
Limiting plate, y-axis guide rod, y-axis slide block, y-axis drive left guide plate, y-axis to drive left pin, y-axis to drive right guide plate, y-axis to drive right pin
Nail, floating guide, floating guide rod, female left push rod of slide block, z-axis drive left push rod, z-axis to drive left guide plate, female right push rod of slide block, z
Axle drives right push rod, z-axis to drive right guide plate, z-axis guide rod, z-axis slide block and fixture, and the two ends of described x-axis guide rail are left with x-axis respectively
End plate is fixedly connected with x-axis right end plate, and x-axis mother's slide block is slidably connected on x-axis guide rail, and the sub- guide rod of x-axis is fixed on x-axis mother's slide block
On, the sub- slide block of x-axis is slidably connected on the sub- guide rod of x-axis, and the left push rod of x-axis and the right push rod of x-axis are respectively fixedly connected with x-axis first member plate
In x-axis right end plate, x-axis limiting plate is fixedly connected on the sub- slide block of x-axis；
Described y-axis guide rod is fixedly connected on the sub- slide block of x-axis, and y-axis slide block is slidably connected on y-axis guide rod, and y-axis drives left
Pin and y-axis drive right pin to be fixedly connected with y-axis slide block, and y-axis drives left guide plate and y-axis to drive right guide plate to fix respectively
It is connected to x-axis sub- guide rod both sides, and drives located at y-axis the y-axis on left guide plate to drive the openend of left guide groove to be located at y-axis and drive a left side
Pin side, drives located at y-axis the y-axis on right guide plate to drive the openend of right guide groove to be located at y-axis and drives right pin side；
Floating guide is fixedly connected on y-axis slide block, and floating guide rod is connected in floating guide, and z-axis drives left push rod and z
Axle drives right push rod to be respectively fixedly connected with floating guide rod both sides, and female left push rod of slide block and female right push rod of slide block are respectively fixedly connected with
Y-axis drives left guide plate and y-axis to drive on right guide plate；
Z-axis guide rod is fixedly connected on y-axis slide block, and z-axis slide block is slidably connected on z-axis guide rod, z-axis drive left guide plate and
Z-axis drives right guide plate to be separately positioned on the left and right sides of z-axis slide block, and fixture is fixedly connected on z-axis slide block.
Further, on the sub- guide rod of described x-axis and be located at the both sides of the sub- slide block of x-axis and be arranged with the sub- slide block of x-axis respectively and reset
Spring.
Further, it is arranged with y-axis back-moving spring respectively on described y-axis guide rod and positioned at the both sides of y-axis slide block.
Further, it is arranged with z-axis back-moving spring respectively on described z-axis guide rod and positioned at the both sides of z-axis slide block.
Further, described x-axis mother's slip on x-axis guide rail for the slide block is to be driven by x-axis drive mechanism, and this x-axis is driven
Motivation structure includes motor and x-axis screw mandrel, and described x-axis screw mandrel is rotatably connected between x-axis first member plate and x-axis right end plate, drives
The rotating shaft of dynamic motor is connected with x-axis screw mandrel, and the threaded one end of x-axis mother's slide block is connected on x-axis screw mandrel.
Further, described z-axis drives left guide plate and z-axis to drive right guide plate to be triangle.
The invention has the following beneficial effects:
The present invention, only with a Motor drive, reduces the complexity of manipulator so that the control of manipulator becomes letter
Single, whole machine cost is reduced, and the control system programming of manipulator is greatly simplified, simultaneously because manipulator
Control system is simplified so that the interference free performance of manipulator and reliability are largely increased.
Brief description:
Fig. 1 is the top view of present configuration.
Fig. 2 is the partial sectional view of Fig. 1 structure.
Wherein
1- motor, 2- shaft coupling, 3-x axis rail, 4-x axial filament bar, 5-x axle first member plate, 6-x axle right end plate, 7-x axle
Left push rod, the right push rod of 8-x axle, 9-x axle mother's slide block, 10-x roller slide block, 11-x roller guide rod, 12-x roller slide block reset bullet
Spring, 13-xy axle transition plate, 14-x axle limiting plate, 15-x axle left limit top board, 16-x axle right limit top board, 17-y spindle guide bar,
18-y axle slide block, 19-y axle back-moving spring, 20- mother's slide block first member plate, 21-y axle drives left guide plate, and 22-y axle drives left guide groove,
23-y axle drives left pin, 24- mother's slide block right end plate, and 25-y axle drives right guide plate, and 26-y axle drives right guide groove, and 27-y axle drives
Right pin, 28- floating guide, 29- floating guide rod, 30- floating lever back-moving spring, 31- mother's left push rod of slide block, 32- guide wheel a, 33-
Floating lever first member plate, 34-z axle drives left push rod, 35- guide wheel c, and 36-z axle drives left guide plate, 37- mother's right push rod of slide block, and 38- leads
Wheel b, 39- floating lever right end plate, the 40-z axle right push rod of driving, 41- guide wheel d, the 42-z axle right guide plate of driving, 43-z axle bedplate,
44-z spindle guide bar, 45-z axle slide block, 46-z axle back-moving spring, 101- fixture.
Specific embodiment:
The present invention is further illustrated below in conjunction with the accompanying drawings.
As Fig. 1 and Fig. 2, a kind of present invention primary and secondary slide block and floating guide rod composite mechanical hand, including x-axis guide rail 3, x-axis
First member plate 5, x-axis right end plate 6, the left push rod of x-axis 7, the right push rod of x-axis 8, x-axis mother's slide block 9, the sub- slide block of x-axis 10, the sub- guide rod of x-axis 11, x
Axle limiting plate 14, y-axis guide rod 17, y-axis slide block 18, y-axis drive left guide plate 21, y-axis to drive left pin 23, y-axis to drive right guide plate
25th, y-axis drives right pin 27, floating guide 28, floating guide rod 29, female left push rod of slide block 31, z-axis to drive left push rod 34, z-axis to drive
Move left guide plate 36, female right push rod of slide block 37, the z-axis right push rod 40 of driving, the z-axis right guide plate 42 of driving, z-axis guide rod 44, z-axis slide block 45
With fixture 101, the left and right two ends of x-axis guide rail 3 are fixedly connected with x-axis first member plate 5 and x-axis right end plate 6 respectively, and x-axis mother's slide block 9 is sliding
It is dynamically connected on x-axis guide rail 3, the sub- guide rod of x-axis 11 is fixedly connected on x-axis mother's slide block 9, and the sub- slide block of x-axis 10 is slidably connected to x-axis
On sub- guide rod 11, the left push rod of x-axis 7 and the right push rod of x-axis 8 are respectively fixedly connected with x-axis first member plate 5 and x-axis right end plate 6.In x-axis
Xy axle transition plate 13 is fixedly connected with sub- slide block 10, it is fixing with the sub- slide block of x-axis 10 that x-axis limiting plate 14 passes through xy axle transition plate 13
Connect, be respectively fixedly connected with x-axis left limit top board 15 and x-axis right limit top board 16 in the left and right sides of x-axis limiting plate 14.
Y-axis guide rod 17 is fixedly connected by xy axle transition plate 13 slide block 10 sub- with x-axis, and y-axis slide block 18 is slidably connected to y-axis
On guide rod 17, y-axis drives left pin 23 and y-axis to drive right pin 27 to be fixedly connected with y-axis slide block 18, in the sub- guide rod of x-axis
11 left and right sides has been respectively fixedly connected with female slide block first member plate 20 and female slide block right end plate 24, and y-axis drives left guide plate 21 and y-axis
Drive right guide plate 25 to pass through female slide block first member plate 20 respectively and be fixedly connected on the sub- guide rod of x-axis 11 both sides with female slide block right end plate 24,
Drive in y-axis and the y-axis left guide groove 22 of driving is provided with left guide plate 21, it is left that this y-axis drives the openend of left guide groove 22 to be located at y-axis driving
Pin 23 side.Drive in y-axis and the y-axis right guide groove 26 of driving is provided with right guide plate 25, this y-axis drives the openend position of right guide groove 26
Drive right pin 27 side in y-axis.
Floating guide 28 is fixedly connected on y-axis slide block 18, and floating guide rod 29 is connected in floating guide 28, leads in floating
The left and right sides of bar 29 has been respectively fixedly connected with floating lever first member plate 33 and floating lever right end plate 39, and z-axis drives left push rod 34 and z
Axle drives right push rod 40 to be fixedly connected on a left side for floating guide rod 29 respectively by floating lever first member plate 33 and floating lever right end plate 39
Right both sides.Z mother's left push rod of slide block 31 and female right push rod of slide block 37 pass through female slide block first member plate 20 and female slide block right end plate 24 respectively
Being fixedly connected on y-axis drives left guide plate 21 and y-axis to drive on right guide plate 25.
Z mother's left push rod of slide block 31 and female right push rod of slide block 37 have been respectively fixedly connected with guide wheel a32 and guide wheel b38.In z
Axle drives left push rod 34 and z-axis to drive and be respectively fixedly connected with guide wheel c35 and guide wheel d41 on right push rod 40.
Z-axis guide rod 44 is fixedly connected with y-axis slide block 18 by z-axis bedplate 43, and z-axis slide block 45 is slidably connected at z-axis and leads
On bar 44, z-axis drives left guide plate 36 and z-axis to drive right guide plate 42 to be separately positioned on the left and right sides of z-axis slide block 45, fixture 101
It is fixedly connected on z-axis slide block 45.Z-axis in the present invention drives left guide plate 36 and z-axis to drive right guide plate 42 to be triangle.
For ease of manipulator of the present invention reset in the direction of the x axis, on the sub- guide rod of x-axis 11 and positioned at the sub- slide block of x-axis 10
Both sides be arranged with x-axis sub- slide block back-moving spring 12 respectively.
For ease of manipulator of the present invention reset in the y-axis direction, on y-axis guide rod 17 and be located at the two of y-axis slide block 18
Side is arranged with y-axis back-moving spring 19 respectively.
For ease of manipulator of the present invention reset in the z-axis direction, on z-axis guide rod 44 and be located at the two of z-axis slide block 45
Side is arranged with z-axis back-moving spring 46 respectively.
In the present invention, x-axis mother slip on x-axis guide rail 3 for the slide block 9 is to be driven by x-axis drive mechanism, this x-axis driving machine
Structure includes motor 1 and x-axis screw mandrel 4, and x-axis screw mandrel 4 is rotatably connected between x-axis first member plate 20 and x-axis right end plate 24, drives
The rotating shaft of motor 1 is connected with x-axis screw mandrel 4 by shaft coupling 2, and the threaded one end of x-axis mother's slide block 9 is connected on x-axis screw mandrel.
So that x-axis mother's slide block 9 is along x-axis guide rail 3 to left movement as a example it is described as follows:
When x-axis drive mechanism drives x-axis mother's slide block 9 along x-axis guide rail 3 to left movement, the fixture in manipulator of the present invention
101 also in company with to left movement.When x-axis left limit top board 15 push rod 7 left with x-axis contacts, the sub- slide block of x-axis 10 stop motion, machine
The fixture 101 of tool hand stops to left movement.Hereafter continue to left movement with x-axis mother's slide block 9, the sub- slide block of x-axis on right side resets
Spring 12 is compressed, and drives the y-axis on right guide plate 25 to drive in right guide groove 26 until y-axis drives right pin 27 to enter y-axis, hereafter
X-axis mother's slide block 9 continues to left movement, and y-axis slide block 18 drives right guide groove 26 and y-axis to drive the guiding of right pin 27 in y-axis simultaneously
Effect lower edge y-axis guide rod 17 moves.The fixture 101 of manipulator also starts to make y-axis motion in company with y-axis slide block 18 in the process；
Continue to left movement with x-axis mother's slide block 9, the x-axis sub- slide block back-moving spring 12 on right side continues to be compressed, until the right top of female slide block
The guide wheel b38 of bar 37 is contacted with floating lever right end plate 39.Continue to left movement with x-axis mother's slide block 9, the floating lever on right side resets
Spring 30 is compressed, until z-axis drives the guide wheel d41 of right push rod 40 and z-axis to drive right guide plate 42 to contact；Hereafter female with x-axis
Slide block 9 continues to left movement, and z-axis slide block 45 drives the guiding function lower edge z-axis guide rod 44 of right guide plate 42 and guide wheel d41 in z-axis
Motion, also companion z-axis slide block 45 starts to make z-axis motion the fixture 101 of manipulator in the process.Therefore, manipulator of the present invention
Fixture by the order of x-y-z axle do echelon linking motion.
Next, when drive system drives x-axis slide block 9 to make return motion to the right along x-axis guide rail 3, in each axle vectoring aircraft
In the presence of structure and back-moving spring, the fixture of manipulator will do echelon linking compound motion by the reverse sequence of z-y-x axle, until
The sub- slide block of x-axis 10 returns to the center of x-axis mother's slide block 9, and floating guide rod 29 returns to the center of floating guide 28 simultaneously.
When drive system drives x-axis mother's slide block 9 to move right and reply along x-axis guide rail 3, the fixture 101 of manipulator
Procedure of kinematic analysis is similar with aforementioned, therefore repeats no more.
X-axis drive mechanism in the present invention can also using Timing Belt-synchronization wheel drive, chain-sprocket driving, pneumatic or
The modes such as hydraulic-driven.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (6)
1. a kind of primary and secondary slide block and floating guide rod composite mechanical hand it is characterised in that: include x-axis guide rail (3), x-axis first member plate
(5), x-axis right end plate (6), the left push rod of x-axis (7), the right push rod of x-axis (8), x-axis mother's slide block (9), the sub- slide block of x-axis (10), x-axis are led
Bar (11), x-axis limiting plate (14), y-axis guide rod (17), y-axis slide block (18), y-axis drive left guide plate (21), y-axis to drive left pin
(23), y-axis drives right guide plate (25), y-axis to drive right pin (27), floating guide (28), floating guide rod (29), female left top of slide block
Bar (31), z-axis drive left push rod (34), z-axis to drive left guide plate (36), the female right push rod of slide block (37), z-axis to drive right push rod
(40), the z-axis right guide plate of driving (42), z-axis guide rod (44), z-axis slide block (45) and fixture (101), the two of described x-axis guide rail (3)
End is fixedly connected with x-axis first member plate (5) and x-axis right end plate (6) respectively, and x-axis mother's slide block (9) is slidably connected to x-axis guide rail (3)
On, the sub- guide rod of x-axis (11) is fixed in x-axis mother's slide block (9), and the sub- slide block of x-axis (10) is slidably connected in the sub- guide rod of x-axis (11), x
The left push rod of axle (7) and the right push rod of x-axis (8) are respectively fixedly connected with x-axis first member plate and x-axis right end plate, and x-axis limiting plate (14) is solid
Surely it is connected in the sub- slide block of x-axis (10)；
Described y-axis guide rod (17) is fixedly connected in the sub- slide block of x-axis (10), and y-axis slide block (18) is slidably connected to y-axis guide rod (17)
On, y-axis drives left pin (23) and y-axis to drive right pin (27) to be fixedly connected with y-axis slide block (18), and y-axis drives a left side to lead
Plate (21) and y-axis drive right guide plate (25) to be respectively fixedly connected with x-axis sub- guide rod (11) both sides, and drive left guide plate located at y-axis
(21) y-axis on drives the openend of left guide groove (22) to be located at y-axis and drives left pin (23) side, drives right guide plate located at y-axis
(25) y-axis on drives the openend of right guide groove (26) to be located at y-axis and drives right pin (27) side；
Floating guide (28) is fixedly connected on y-axis slide block (18), and floating guide rod (29) is connected in floating guide (28), z-axis
Left push rod (34) and z-axis is driven to drive right push rod (40) to be respectively fixedly connected with floating guide rod (29) both sides, the left push rod of female slide block
(31) it is respectively fixedly connected with and drives left guide plate (21) and y-axis to drive on right guide plate (25) in y-axis with the female right push rod of slide block (37)；
Z-axis guide rod (44) is fixedly connected on y-axis slide block (18), and z-axis slide block (45) is slidably connected on z-axis guide rod (44), z-axis
Left guide plate (36) and z-axis is driven to drive right guide plate (42) to be separately positioned on the left and right sides of z-axis slide block (45), fixture (101) is solid
Surely it is connected on z-axis slide block (45).
2. primary and secondary slide block as claimed in claim 1 and floating guide rod composite mechanical hand it is characterised in that: described x-axis is led
Bar (11) above and positioned at the both sides of the sub- slide block of x-axis (10) is arranged with x-axis sub- slide block back-moving spring (12) respectively.
3. primary and secondary slide block as claimed in claim 1 and floating guide rod composite mechanical hand it is characterised in that: described y-axis guide rod
(17) both sides that are upper and being located at y-axis slide block (18) are arranged with y-axis back-moving spring (19) respectively.
4. primary and secondary slide block as claimed in claim 1 and floating guide rod composite mechanical hand it is characterised in that: described z-axis guide rod
(44) both sides that are upper and being located at z-axis slide block (45) are arranged with z-axis back-moving spring (46) respectively.
5. primary and secondary slide block as claimed in claim 1 and floating guide rod composite mechanical hand it is characterised in that: described x-axis is female sliding
Slip on x-axis guide rail (3) for the block (9) is to be driven by x-axis drive mechanism, this x-axis drive mechanism include motor (1) and
X-axis screw mandrel (4), described x-axis screw mandrel (4) is rotatably connected between x-axis first member plate and x-axis right end plate, the rotating shaft of motor (1)
It is connected with x-axis screw mandrel (4), the threaded one end of x-axis mother's slide block (9) is connected on x-axis screw mandrel.
6. primary and secondary slide block as claimed in claim 1 and floating guide rod composite mechanical hand it is characterised in that: described z-axis drives
Left guide plate (36) and z-axis drive right guide plate (42) to be triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510663227.9A CN105127994B (en) | 2015-10-15 | 2015-10-15 | Primary-secondary slider and floating guide rod compound manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510663227.9A CN105127994B (en) | 2015-10-15 | 2015-10-15 | Primary-secondary slider and floating guide rod compound manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN105127994A CN105127994A (en) | 2015-12-09 |
| CN105127994B true CN105127994B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510663227.9A Active CN105127994B (en) | 2015-10-15 | 2015-10-15 | Primary-secondary slider and floating guide rod compound manipulator |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437222B (en) * | 2016-01-11 | 2017-09-05 | 南京工业职业技术学院 | A kind of cylindrical coordinate floating guide rod and cylinder guide type manipulator |
| CN110921592B (en) * | 2019-11-15 | 2022-02-08 | 兰州万里航空机电有限责任公司 | Sliding block assembly for umbrella belt recovery electric equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6634515B2 (en) * | 2000-12-05 | 2003-10-21 | Demag Cranes & Components Gmbh | Lifting apparatus for implementing a rectilinear movement of a handling device |
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| CN103707294B (en) * | 2013-12-18 | 2015-12-02 | 哈尔滨工程大学 | Perforating bullet assembly manipulator |
| CN203993874U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
| CN204295684U (en) * | 2014-12-05 | 2015-04-29 | 重庆朗正科技有限公司 | A kind of Cartesian robot transverse axis floating connection mechanism |
| CN104723325B (en) * | 2015-03-17 | 2016-04-20 | 南京理工大学 | A kind of feeding mechanical hand for automatic production line |
| CN205033201U (en) * | 2015-10-15 | 2016-02-17 | 南京工业职业技术学院 | Primary and secondary slider and unsteady guide arm combined type manipulator |
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