CN105128001A - Multistage floating guide rod type manipulator - Google Patents

Multistage floating guide rod type manipulator Download PDF

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Publication number
CN105128001A
CN105128001A CN201510663423.6A CN201510663423A CN105128001A CN 105128001 A CN105128001 A CN 105128001A CN 201510663423 A CN201510663423 A CN 201510663423A CN 105128001 A CN105128001 A CN 105128001A
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CN
China
Prior art keywords
axis
guide
plate
level
drives
Prior art date
Application number
CN201510663423.6A
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Chinese (zh)
Inventor
白顺科
彭复明
崔群
Original Assignee
南京工业职业技术学院
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.)
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Publication date
Application filed by 南京工业职业技术学院 filed Critical 南京工业职业技术学院
Priority to CN201510663423.6A priority Critical patent/CN105128001A/en
Publication of CN105128001A publication Critical patent/CN105128001A/en

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Abstract

The invention discloses a multistage floating guide rod type 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; a Y-axis guide rod and a Y-stage floating guide drum are fixed on an X-axis slider; a Y-axis driving left pin and a Y-axis driving right pin are fixed on a Y-axis slider; a Y-stage floating guide rod is connected in the Y-stage floating guide drum in a penetrating manner; a Y-axis driving left guide plate and a Y-axis driving right guide plate are arranged at the two ends of the Y-stage floating 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 Z-stage floating guide drum is fixed on the Y-axis slider; a Z-stage floating guide rod is connected in the Z-stage floating guide drum in a penetrating manner; a Z-axis driving left ejector rod and a Z-axis driving right ejector rod are connected at the two ends of the Z-stage floating guide rod; a Z-axis guide rod is fixed on the Y-axis slider; a Z-axis driving left guide plate and a Z-axis driving right guide plate are arranged at the two sides of a Z-axis slider; and a clamp is arranged on the Z-axis slider. The manipulator has a simple structure and is convenient to maintain.

Description

A kind of multistage floating guide rod type manipulator

technical field:

The present invention relates to a kind of multistage floating guide rod type manipulator.

background technology:

At industrial automation, various manipulator is used widely.Manipulator is for the carrying of material and transposition on production equipment and production line, and in most cases manipulator is all multiaxis, and its motion mode is generally complicated three-dimensional motion.Current manipulator is generally form multivariant complicated machinery hand by multiple drive axle, the general three-dimensional motion adopting the drive motors of more than 2 could realize complexity.This manipulator generally adopts multi-shaft interlocked complicated driving control system, thus there is the shortcomings such as running speed is slow, poor anti jamming capability, functional reliability are poor, expensive, is thus difficult to be generalizable on low and middle-end equipment.

Therefore, necessary the deficiency solving prior art is improved to prior art.

summary of the invention:

The present invention provides a kind of multistage floating guide rod type manipulator to solve above-mentioned prior art Problems existing.

The technical solution adopted in the present invention has: a kind of multistage floating guide rod type manipulator, comprise X-axis guide 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 slide block, Y-axis guide rod, Y-axis slide block, Y level is floated guide, Y level is floated guide rod, Y-axis drives left guide plate, Y-axis drives left pin, Y-axis drives right guide plate, Y-axis drives right pin, Z level is floated guide, Z level is floated guide rod, Z axis drives left limit bar, Z axis drives left push rod, Z axis drives left guide plate, Z axis drives right limit bar, Z axis drives right push rod, Z axis drives right guide plate, Z axis bedplate, Z axis guide rod, Z axis slide block and fixture, the two ends of described X-axis guide rail are fixedly connected with X-axis right end plate with X-axis first member plate respectively, X-axis skid is connected on X-axis guide rail, the left push rod of X-axis and the right push rod of X-axis are fixedly connected in X-axis first member plate and X-axis right end plate respectively,

Y-axis guide rod and the Y level guide that floats all is fixedly connected on X-axis slide block, Y-axis skid is connected on Y-axis guide rod, Y-axis drives left pin and Y-axis to drive right pin to be all fixedly connected on Y-axis slide block, the Y level guide rod that floats is connected to Y level and floats in guide, Y-axis drives left guide plate and Y-axis to drive right guide plate to be fixedly connected on Y level respectively and to float guide rod two ends, and be located at Y-axis and drive the Y-axis on left guide plate to drive the openend of left guide groove to be positioned at Y-axis to drive left pin side, be located at Y-axis and drive the Y-axis on right guide plate to drive the openend of right guide groove to be positioned at Y-axis to drive right pin side;

The Z level guide that floats is fixedly connected on Y-axis slide block, the Z level guide rod that floats is connected to Z level and floats in guide, Z axis drives left push rod and Z axis to drive right push rod to be fixedly connected on Z level respectively and to float guide rod two ends, and Z axis drives left limit bar and Z axis to drive right limit bar to be fixedly connected on Y-axis respectively to drive 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 skid is connected on Z axis guide rod, and Z axis drives left guide plate and Z axis to drive right guide plate to be located at the left and right sides of Z axis slide block respectively, and fixture is fixedly connected on Z axis slide block.

Further, Y level to be floated on guide rod and is positioned at Y level guide both sides of floating and is arranged with Y level floating lever back-moving spring respectively.

Further, Y-axis guide rod is positioned at Y-axis slide block both sides and is arranged with Y-axis back-moving spring respectively.

Further, Z axis guide rod is positioned at Z axis slide block both sides and is arranged with Z axis back-moving spring respectively.

Further, the slip of X-axis slide block on X-axis guide rail is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors and X-axis screw mandrel, described X-axis screw mandrel is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors is connected with X-axis screw mandrel, and the threaded one end of X-axis slide block is connected on X-axis screw mandrel.

Further, Z axis drives left guide plate and Z axis to drive right guide plate to be triangle.

The present invention has following beneficial effect:

The present invention only adopts a motor to drive, reduce the complexity of manipulator, the control of manipulator is made to become simple, complete machine cost is reduced, and the control system programming of manipulator is simplified greatly, simultaneously because the control system of manipulator is simplified, the interference free performance of manipulator and reliability are largely increased.

accompanying drawing illustrates:

Fig. 1 is the top view of structure of the present invention.

Fig. 2 is the partial sectional view of Fig. 1 structure.

Wherein

1-drive motors, 2-shaft coupling, 3-X axis rail, 4-X axial filament bar, 5-X axle first member plate, 6-X axle right end plate, the left push rod of 7-X axle, the right push rod of 8-X axle, 9-X axle slide block, 10-XY axle transition plate, 11-Y spindle guide bar, 12-Y axle slide block, 13-Y axle back-moving spring, 14-Y level is floated guide, 15-Y level is floated guide rod, 16-Y level floating lever back-moving spring, 17-Y level floating lever first member plate, 18-Y axle drives left guide plate, 19-Y axle drives left guide groove, 20-Y axle drives left pin, 21-Y level floating lever right end plate, 22-Y axle drives right guide plate, 23-Y axle drives right guide groove, 24-Y axle drives right pin, 25-Z level is floated guide, 26-Z level is floated guide rod, 27-Z level floating lever back-moving spring, 28-Z axle drives left limit bar, 29-guide wheel a, 30-Z level floating lever first member plate, 31-Z axle drives left push rod, 32-guide wheel c, 33-Z axle drives left guide plate, 34-Z axle drives right limit bar, 35-guide wheel b, 36-Z level floating lever right end plate, 37-Z axle drives right push rod, 38-guide wheel d, 39-Z axle drives right guide plate, 40-Z axle bedplate, 41-Z spindle guide bar, 42-Z axle slide block, 43-Z axle back-moving spring, 101-fixture.

detailed description of the invention:

Below in conjunction with accompanying drawing, the present invention is further illustrated.

As depicted in figs. 1 and 2, a kind of multistage floating guide rod type manipulator of the present invention, comprise X-axis guide rail 3, X-axis first member plate 5, X-axis right end plate 6, the left push rod 7 of X-axis, the right push rod 8 of X-axis, X-axis slide block 9, Y-axis guide rod 11, Y-axis slide block 12, Y level is floated guide 14, Y level is floated guide rod 15, Y-axis drives left guide plate 18, Y-axis drives left pin 20, Y-axis drives right guide plate 22, Y-axis drives right pin 24, Z level is floated guide 25, Z level is floated guide rod 26, Z axis drives left limit bar 28, Z axis drives left push rod 31, Z axis drives left guide plate 33, Z axis drives right limit bar 34, Z axis drives right push rod 37, Z axis drives right guide plate 39, Z axis bedplate 40, Z axis guide rod 41, Z axis slide block 42 and fixture 101, the two ends, left and right of X-axis guide rail 3 are fixedly connected with X-axis right end plate 6 with X-axis first member plate 5 respectively, X-axis slide block 9 is slidably connected on X-axis guide rail 3, the left push rod of X-axis 7 and the right push rod 8 of X-axis are fixedly connected in X-axis first member plate 5 and X-axis right end plate 6 respectively.

X-axis slide block 9 is fixedly connected with XY axle transition plate 10, Y-axis guide rod 11 is fixedly connected with X-axis slide block 9 by this XY axle transition plate 10, Y-axis slide block 12 is slidably connected on Y-axis guide rod 11, and Y-axis drives left pin 20 and Y-axis to drive right pin 24 to be all fixedly connected on Y-axis slide block 12.

The Y level guide 14 that floats is fixedly connected in XY axle transition plate 10, the Y level guide rod 15 that floats is connected to Y level and floats in guide 14, Y level floating lever first member plate 17 and Y level floating lever right end plate 21 is fixedly connected with respectively in the float left and right sides of guide rod 15 of Y level, Y-axis drives left guide plate 18 and Y-axis to drive right guide plate 22 to be fixedly connected in Y level floating lever first member plate 17 and Y level floating lever right end plate 21 respectively, drive in Y-axis and left guide plate 18 is provided with Y-axis drives left guide groove 19, this Y-axis drives the openend of left guide groove 19 to be positioned at Y-axis and drives left pin 20 side.Drive in Y-axis and right guide plate 22 is provided with Y-axis drives right guide groove 23, this Y-axis drives the openend of right guide groove 23 to be positioned at Y-axis and drives right pin 24 side.

Z axis drives left limit bar 28 to drive left guide plate 18 to be fixedly connected with by Y level floating lever first member plate 17 and Y-axis, and Z axis drives right limit bar 34 to drive right guide plate 22 to be fixedly connected with by Y level floating lever right end plate 21 and Y-axis.Drive left limit bar 28 and Z axis to drive on right limit bar 34 at Z axis and be fixedly connected with guide wheel a29 and guide wheel b35 respectively.

The Z level guide 25 that floats is fixedly connected on Y-axis slide block 12, the Z level guide rod 26 that floats is connected to Z level and floats in guide 25, be fixedly connected with Z level floating lever first member plate 30 and Z level floating lever right end plate 36 respectively in Z level guide rod 26 left and right sides of floating, Z axis drives left push rod 31 and Z axis to drive right push rod 37 to be fixedly connected on Z level respectively by Z level floating lever first member plate 30 and Z level floating lever right end plate 36 and to float the left and right sides of guide rod 26.Drive left push rod 31 and Z axis to drive on right push rod 37 at Z axis and be fixedly connected with guide wheel c32 and guide wheel d38 respectively.

Y-axis slide block 12 is fixedly connected with Z axis bedplate 40, and Z axis guide rod 41 is fixedly connected on this Z axis bedplate 40, and Z axis guide rod 41 is perpendicular with Y-axis slide block 12.Z axis slide block 42 is slidably connected on Z axis guide rod 41, and Z axis drives left guide plate 33 and Z axis to drive right guide plate 39 to be separately positioned on the left and right sides of Z axis slide block 42, and fixture 101 is fixedly connected on Z axis slide block 42.Z axis drives left guide plate 33 and Z axis to drive right guide plate 39 to be triangle.

For ease of manipulator of the present invention reset in the X-axis direction, be positioned at Y level guide 14 both sides of floating and be arranged with Y level floating lever back-moving spring 16 respectively on Y level floats guide rod 15.

For ease of manipulator of the present invention reset in the Y-axis direction, Y-axis guide rod 11 is positioned at Y-axis slide block 12 both sides and is arranged with Y-axis back-moving spring 13 respectively.

For ease of manipulator of the present invention reset in the Z-axis direction, Z axis guide rod 41 is positioned at Z axis slide block 42 both sides and is arranged with Z axis back-moving spring 43 respectively.

The slip of X-axis slide block 9 on X-axis guide rail 3 in the present invention is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors 1 and X-axis screw mandrel 4, X-axis screw mandrel 4 is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors 1 is connected with X-axis screw mandrel 4 by shaft coupling 2, and the threaded one end of X-axis slide block 9 is connected on X-axis screw mandrel 4.

Be described as follows to left movement along X-axis guide rail 3 for X-axis slide block 9:

When X-axis driving mechanism drives X-axis slide block 9 along X-axis guide rail 3 to left movement, the fixture 101 in manipulator of the present invention is also in company with to left movement.Along with X-axis slide block 9 drives Y level to float guide 14 to left movement, when Y level floating lever first member plate 17 contacts with the left push rod 7 of X-axis, Y level is floated guide rod 15 stop motion.After this along with X-axis slide block 9 drives the Y level guide 14 that floats to continue to left movement, the Y level floating lever back-moving spring 16 in left side is compressed, and drives the Y-axis of left guide plate 18 to drive in left guide groove 19 until Y-axis drives left pin 20 to enter Y-axis.After this along with X-axis slide block 9 continues to left movement, the Y level floating lever back-moving spring 16 in left side is further compressed, Y-axis slide block 12 moves along Y-axis guide rod 11 under Y-axis drives left guide groove 19 to drive the guiding function of left pin 20 with Y-axis, and the fixture 101 of manipulator also makes X-Y axle compound motion in company with Y-axis slide block 12 in the process.Along with X-axis slide block 9 continues to left movement, the Y level floating lever back-moving spring 16 in left side continues to be compressed, until Z axis drives the guide wheel a29 of left limit bar 28 to contact with Z level floating lever first member plate 30.Along with X-axis slide block 9 continues to drive Z level to float guide 25 to left movement, the Z level floating lever back-moving spring 27 in left side is compressed, until Z axis drives the guide wheel c32 of left push rod 31 and Z axis to drive left guide plate 33 to contact; After this along with X-axis slide block 9 continues to left movement, Z axis slide block 42 moves along Z axis guide rod 41 under Z axis drives left guide plate 33 and the guiding function of guide wheel c32, and the fixture 101 of manipulator also makes X-Y-Z axle compound motion in company with Z axis slide block 42 in the process.Therefore, the fixture of manipulator of the present invention does echelon linking compound motion by the order of X, Y, Z axis.

Next, when drive system drives X-axis slide block 9 to do return motion to the right along X-axis guide rail 3, under the effect of each axle guide and back-moving spring, reverse sequence by Z-Y-X axle is done echelon and is connected compound motion by the fixture of manipulator, until Y level is floated, guide rod 15 is got back to Y level and to be floated the center of guide 14, and the Z level guide rod 26 that floats is got back to Z level and to be floated the center of guide 25 simultaneously.

When drive system drives X-axis slide block 9 to move right along X-axis guide rail 3 and reply, the procedure of kinematic analysis of the fixture 101 of manipulator and aforementioned similar, therefore repeat no more.

The modes such as the X-axis driving mechanism in the present invention can also adopt that Timing Belt-synchronizing wheel drives, chain-sprocket drives, pneumatic or hydraulic-driven.

The above is only the preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art next, can also make some improvement under the premise without departing from the principles of the invention, these improvement also should be considered as protection scope of the present invention.

Claims (6)

1. a multistage floating guide rod type manipulator, is characterized in that: comprise 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 slide block (9), Y-axis guide rod (11), Y-axis slide block (12), Y level is floated guide (14), Y level is floated guide rod (15), Y-axis drives left guide plate (18), Y-axis drives left pin (20), Y-axis drives right guide plate (22), Y-axis drives right pin (24), Z level is floated guide (25), Z level is floated guide rod (26), Z axis drives left limit bar (28), Z axis drives left push rod (31), Z axis drives left guide plate (33), Z axis drives right limit bar (34), Z axis drives right push rod (37), Z axis drives right guide plate (39), Z axis bedplate (40), Z axis guide rod (41), Z axis slide block (42) and fixture (101), the two ends of described X-axis guide rail (3) are fixedly connected with X-axis right end plate (6) with X-axis first member plate (5) respectively, X-axis slide block (9) is slidably connected on X-axis guide rail (3), and the left push rod of X-axis (7) and the right push rod of X-axis (8) are fixedly connected in X-axis first member plate (5) and X-axis right end plate (6) respectively,
Y-axis guide rod (11) and the Y level guide (14) that floats all is fixedly connected on X-axis slide block (9), Y-axis slide block (12) is slidably connected on Y-axis guide rod (11), Y-axis drives left pin (20) and Y-axis to drive right pin (24) to be all fixedly connected on Y-axis slide block (12), the Y level guide rod (15) that floats is connected to Y level and floats in guide (14), Y-axis drives left guide plate (18) and Y-axis to drive right guide plate (22) to be fixedly connected on Y level respectively and to float guide rod (15) two ends, and be located at Y-axis and drive the Y-axis on left guide plate (18) to drive the openend of left guide groove (19) to be positioned at Y-axis to drive left pin (20) side, be located at Y-axis to drive the Y-axis on right guide plate (22) to drive the openend of right guide groove (23) to be positioned at Y-axis to drive right pin (24) side,
The Z level guide (25) that floats is fixedly connected on Y-axis slide block (12), the Z level guide rod (26) that floats is connected to Z level and floats in guide (25), Z axis drives left push rod (31) and Z axis to drive right push rod (37) to be fixedly connected on Z level respectively and to float guide rod (26) two ends, and Z axis drives left limit bar (28) and Z axis driving right limit bar (34) to be fixedly connected on Y-axis respectively to drive left guide plate (18) and Y-axis to drive on right guide plate (22);
Z axis guide rod (41) is fixedly connected on Y-axis slide block (12), Z axis slide block (42) is slidably connected on Z axis guide rod (41), Z axis drives left guide plate (33) and Z axis to drive right guide plate (39) to be located at the left and right sides of Z axis slide block (42) respectively, and fixture (101) is fixedly connected on Z axis slide block (42).
2. multistage floating guide rod type manipulator as claimed in claim 1, is characterized in that: the described Y level guide rod (15) that floats is upper and be positioned at Y level guide (14) both sides of floating and be arranged with Y level floating lever back-moving spring (16) respectively.
3. multistage floating guide rod type manipulator as claimed in claim 1, is characterized in that: described Y-axis guide rod (11) is gone up and is positioned at Y-axis slide block (12) both sides and is arranged with Y-axis back-moving spring (13) respectively.
4. multistage floating guide rod type manipulator as claimed in claim 1, is characterized in that: described Z axis guide rod (41) is gone up and is positioned at Z axis slide block (42) both sides and is arranged with Z axis back-moving spring (43) respectively.
5. multistage floating guide rod type manipulator as claimed in claim 1, it is characterized in that: the slip of described X-axis slide block (9) on X-axis guide rail (3) is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors (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 drive motors (1) is connected with X-axis screw mandrel (4), and the threaded one end of X-axis slide block (9) is connected on X-axis screw mandrel.
6. multistage floating guide rod type manipulator as claimed in claim 1, is characterized in that: described Z axis drives left guide plate (33) and Z axis to drive right guide plate (39) to be triangle.
CN201510663423.6A 2015-10-15 2015-10-15 Multistage floating guide rod type manipulator CN105128001A (en)

Priority Applications (1)

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CN201510663423.6A CN105128001A (en) 2015-10-15 2015-10-15 Multistage floating guide rod type manipulator

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Application Number Priority Date Filing Date Title
CN201510663423.6A CN105128001A (en) 2015-10-15 2015-10-15 Multistage floating guide rod type manipulator

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437222A (en) * 2016-01-11 2016-03-30 南京工业职业技术学院 Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator
CN105459099A (en) * 2016-01-11 2016-04-06 南京工业职业技术学院 Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand

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EP0111565A1 (en) * 1982-05-12 1984-06-27 Matsushita Electric Industrial Co., Ltd. Industrial robot
US5100286A (en) * 1989-09-08 1992-03-31 Robotic Originals, Inc. Robotic apparatus
CN203426606U (en) * 2013-06-25 2014-02-12 泰安万捷智能机器有限公司 Universal welding robot
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
CN104723326A (en) * 2015-03-27 2015-06-24 南京工业职业技术学院 Echelon linkage multi-axis manipulator
CN204589535U (en) * 2015-03-30 2015-08-26 南京工业职业技术学院 A kind of self-feeding Sewing machines
CN205033209U (en) * 2015-10-15 2016-02-17 南京工业职业技术学院 Multistage unsteady guide arm formula manipulator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0111565A1 (en) * 1982-05-12 1984-06-27 Matsushita Electric Industrial Co., Ltd. Industrial robot
US5100286A (en) * 1989-09-08 1992-03-31 Robotic Originals, Inc. Robotic apparatus
CN203426606U (en) * 2013-06-25 2014-02-12 泰安万捷智能机器有限公司 Universal welding robot
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
CN104723326A (en) * 2015-03-27 2015-06-24 南京工业职业技术学院 Echelon linkage multi-axis manipulator
CN204589535U (en) * 2015-03-30 2015-08-26 南京工业职业技术学院 A kind of self-feeding Sewing machines
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437222A (en) * 2016-01-11 2016-03-30 南京工业职业技术学院 Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator
CN105459099A (en) * 2016-01-11 2016-04-06 南京工业职业技术学院 Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand
CN105459099B (en) * 2016-01-11 2017-04-26 南京工业职业技术学院 Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand

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Application publication date: 20151209

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