CN106335077A - Guide device on robot lifting shaft - Google Patents
Guide device on robot lifting shaft Download PDFInfo
- Publication number
- CN106335077A CN106335077A CN201610846811.2A CN201610846811A CN106335077A CN 106335077 A CN106335077 A CN 106335077A CN 201610846811 A CN201610846811 A CN 201610846811A CN 106335077 A CN106335077 A CN 106335077A
- Authority
- CN
- China
- Prior art keywords
- fixed cover
- positioning framework
- fulcrum
- lifting shaft
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a guide device on a robot lifting shaft. A guide unit of the guide device comprises a triangular positioning framework, and fixing sleeves are formed on the three outer side walls of the positioning framework. A guide slot is formed in the outer side wall of each fixing sleeve. Supporting shafts are inserted in the fixing sleeves of the positioning framework. One end of each supporting shaft is inserted in the positioning framework and fixedly connected with a ball connector. A ball is embedded in the head portion of each ball connector. The other end of each supporting shaft is inserted in an adjusting sleeve which is in threaded connection with the corresponding fixing sleeve. A limiting rod is inserted in and fixed to each supporting shaft. The two ends of each limiting rod penetrate through the guide slot of the corresponding fixing sleeve and abut against an adjusting ring in a pressing mode, and each adjusting ring is in threaded connection with the corresponding fixing sleeve. As for each supporting shaft, a shaft shoulder is formed on the supporting shaft, a compression spring is inserted in the supporting shaft in a sleeved mode, one end of the compression spring abuts against the shaft shoulder of the supporting shaft in a pressing mode, the other end of the compression spring abuts against an adjusting plug in a pressing mode, and the adjusting plug is connected in the corresponding adjusting sleeve in a threaded mode. The guide device can improve the positioning precision of the lifting shaft and reduce abrasion to the lifting shaft in the lifting process.
Description
Technical field:
The present invention relates to the technical field of robot, more specifically to guider on a kind of robot lifting shaft.
Background technology:
Gradually pass through automation equipment to replace traditional manual operations it is simply that some are automatic in some commercial production at present
The action that change equipment cannot complete is it is also possible to realize operation by the mechanical arm of robot, thus robot gradually manually becomes
For the industrial main productivity.In commercial production common for multi-axis robot, multi-axis robot is also called mechanical hand, work
Industry mechanical arm etc., some mechanical hands carry person's lifting arm or lifting shaft, and its lifting shaft is typically secured to the head of mechanical hand, typically
By connecting screw rod thus realizing gradually realizing lifting by screw rod, but should be screw rod in lifting shaft lifting process and be connected
Thread bush between exist reduce, thus lifting shaft its bottom in lifting process has trickle rocking, high-precision for some
Then error in the positioning of degree, thus needing lifting shaft to need to configure guider in lifting process, improves positioning precision.
Content of the invention:
The purpose of the present invention is aiming at the deficiency of prior art, and provides guiding dress on a kind of robot lifting shaft
Put, it improves the positioning precision of lifting shaft, the abrasion of lifting shaft lifting process generation can be reduced simultaneously.
Guider on a kind of robot lifting shaft, the pilot unit being vertically distributed including several, pilot unit includes
The positioning framework of triangle, the triangle of positioning framework is plugged with bolt, and the bolt upper sleeve between adjacent positioned framework has spacer,
Externally threaded fixed cover is all formed, fixed cover forms on two relative lateral walls on three face lateral walls of described positioning framework
Gathering sill, is plugged with fulcrum in the fixed cover of positioning framework, one end of fulcrum is plugged in positioning framework and is fixedly connected with rolling
Pearl union joint, the head of ball union joint stretches out the medial wall of positioning framework and is equipped with ball, and the other end of fulcrum is plugged on
In the adjusting set of female thread, adjusting set is screwed onto on fixed cover；Grafting on described fulcrum is fixed with gag lever post, and the two of gag lever post
Hold the gathering sill through fixed cover and be pressed against in regulation ring, regulation ring is screwed onto on fixed cover, and described fulcrum forms
The shaft shoulder, fulcrum upper sleeve has stage clip, and one end of stage clip is pressed against on the shaft shoulder of fulcrum, the other end is pressed against on regulation plug, adjusts
Section plug is screwed onto in adjusting set.
Described pilot unit at least provided with individual, the thickness of all of positioning framework and all of spacer on pilot unit
Length sum is less than the length of bolt threaded shank.
The triangle that described positioning framework is in is equilateral triangle, and fixed cover is located at the middle part of positioning framework lateral wall,
The middle part of positioning framework lateral wall forms the jack of fulcrum.
The central axis of the gathering sill on described fixed cover and fixed cover is parallel.
The diameter of described fulcrum is less than the diameter of fixed cover endoporus, and the diameter of fixed cover endoporus is equal to the straight of the shaft shoulder on fulcrum
Footpath.
On described fixed cover, the length of gathering sill is not less than the ultimate value of stage clip compression.
The beneficial effects of the present invention is:
1st, it provides a kind of lifting of lifting shaft on guider auxiliary robot of flexibility, is improving determining of lifting shaft
While the precision of position, the contact with lifting shaft for the guider is Elastic Contact, and is rolling with the friction of lifting shaft lifting process
Friction, can effectively reduce the abrasion of lifting shaft lifting process generation.
2nd, the guider that it adopts can be adjusted it is adaptable to the guiding of the lifting shaft of various thickness uses.
Brief description:
Fig. 1 is the three-dimensional structural representation of invention；
Fig. 2 is the structural representation that invention is looked up；
Fig. 3 is the cross-sectional schematic of invention side-looking direction.
In figure: 1, pilot unit；11st, positioning framework；111st, fixed cover；112nd, gathering sill；12nd, fulcrum；121st, the shaft shoulder；
13rd, ball union joint；14th, ball；15th, adjusting set；16th, gag lever post；17th, regulation ring；18th, stage clip；19th, adjust plug；2nd, spiral shell
Bolt；3rd, spacer.
Specific embodiment:
Embodiment: as shown in Fig. 1 to 3, guider on a kind of robot lifting shaft, including leading that several are vertically distributed
To unit 1, pilot unit 1 includes the positioning framework 11 of triangle, and the triangle of positioning framework 11 is plugged with bolt 2, adjacent positioned
Bolt 2 upper sleeve between framework 11 has spacer 3, three face lateral walls of described positioning framework 11 all forms externally threaded solid
Surely cover 111, two relative lateral walls of fixed cover 111 form gathering sill 112, grafting in the fixed cover 111 of positioning framework 11
There is fulcrum 12, one end of fulcrum 12 is plugged in positioning framework 11 and is fixedly connected with ball union joint 13, ball union joint 13
Head stretch out the medial wall of positioning framework 11 and be equipped with ball 14, the other end of fulcrum 12 is plugged on the adjusting set of female thread
In 15, adjusting set 15 is screwed onto on fixed cover 111；Grafting on described fulcrum 12 is fixed with gag lever post 16, and the two of gag lever post 16
Hold the gathering sill 112 through fixed cover 111 and be pressed against in regulation ring 17, regulation ring 17 is screwed onto on fixed cover 111, described
The shaft shoulder 121 is formed on fulcrum 12, fulcrum 12 upper sleeve has stage clip 18, one end of stage clip 18 is pressed against the shaft shoulder 121 of fulcrum 12
The upper, other end is pressed against on regulation plug 19, adjusts plug 19 and is screwed onto in adjusting set 15.
Described pilot unit 1 at least provided with 2, the thickness of all of positioning framework 11 and all of on pilot unit 1
The length sum of spacer 3 is less than the length of bolt 2 threaded shank.
The triangle that described positioning framework 11 is in is equilateral triangle, and fixed cover 111 is located at positioning framework 11 lateral wall
Middle part, the middle part of positioning framework 11 lateral wall forms the jack of fulcrum 12.
The central axis of the gathering sill 112 on described fixed cover 111 and fixed cover 111 is parallel.
The diameter of described fulcrum 12 is less than the diameter of fixed cover 111 endoporus, and the diameter of fixed cover 111 endoporus is equal to fulcrum 12
The diameter of the upper shaft shoulder 121.
On described fixed cover 111, the length of gathering sill 112 is not less than the ultimate value of stage clip 18 compression.
Operation principle: the present invention is to be applied to the guider of robot mechanical arm lifting shaft, it passes through to adjust regulation ring
17 enable fulcrum 12 with regulation plug 19 moves, thus ball 14 position of fulcrum 12 head can be adjusted, and when guiding, leads to
Cross ball 14 and contact realization guiding, 2 points one lines with lifting shaft, the ball 14 on multiple pilot units 1 controls lifting shaft vertical
Straight line on, thus ensureing positioning precision, simultaneously lifting shaft lifting when, its ball 14 rolls, the contact with lifting shaft be roll
Friction, ball 14 and lifting shaft are Elastic Contact again simultaneously, thus the frictional dissipation causing during lifting shaft is little.
Claims (6)
1. guider on a kind of robot lifting shaft, including several vertically distribution pilot units (1) it is characterised in that:
Pilot unit (1) includes the positioning framework (11) of triangle, and the triangle of positioning framework (11) is plugged with bolt (2), adjacent positioned
Bolt (2) upper sleeve between framework (11) has spacer (3), three face lateral walls of described positioning framework (11) all forms outer
The fixed cover (111) of screw thread, two relative lateral walls of fixed cover (111) form gathering sill (112), positioning framework (11)
It is plugged with fulcrum (12), one end of fulcrum (12) is plugged in positioning framework (11) and is fixedly connected with rolling in fixed cover (111)
Pearl union joint (13), the head of ball union joint (13) stretches out the medial wall of positioning framework (11) and is equipped with ball (14),
The other end of axle (12) is plugged in the adjusting set (15) of female thread, and adjusting set (15) is screwed onto on fixed cover (111)；Described
The upper grafting of fulcrum (12) is fixed with gag lever post (16), the two ends of gag lever post (16) pass through fixed cover (111) gathering sill (112) and
It is pressed against in regulation ring (17), regulation ring (17) is screwed onto on fixed cover (111), described fulcrum (12) forms the shaft shoulder
(121), fulcrum (12) upper sleeve has a stage clip (18), and the shaft shoulder (121) that one end of stage clip (18) is pressed against fulcrum (12) is upper, another
Side pressure leans against in regulation plug (19), adjusts plug (19) and is screwed onto in adjusting set (15).
2. on a kind of robot according to claim 1 lifting shaft guider it is characterised in that: described pilot unit
(1) at least provided with 2, pilot unit (1) the above thickness of all of positioning framework (11) and the length sum of all of spacer (3)
Length less than bolt (2) threaded shank.
3. on a kind of robot according to claim 1 lifting shaft guider it is characterised in that: described positioning framework
(11) triangle being in is equilateral triangle, and fixed cover (111) is located at the middle part of positioning framework (11) lateral wall, positioning framework
(11) middle part of lateral wall forms the jack of fulcrum (12).
4. on a kind of robot according to claim 1 lifting shaft guider it is characterised in that: described fixed cover
(111) central axis of the gathering sill (112) on and fixed cover (111) is parallel.
5. on a kind of robot according to claim 1 lifting shaft guider it is characterised in that: described fulcrum (12)
Diameter is less than the diameter of fixed cover (111) endoporus, and the diameter of fixed cover (111) endoporus is equal to the upper shaft shoulder (121) of fulcrum (12)
Diameter.
6. on a kind of robot according to claim 1 lifting shaft guider it is characterised in that: described fixed cover
(111) ultimate value that the length of upper gathering sill (112) is compressed not less than stage clip (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610846811.2A CN106335077B (en) | 2016-09-23 | 2016-09-23 | Guiding device on a kind of robot lifting shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610846811.2A CN106335077B (en) | 2016-09-23 | 2016-09-23 | Guiding device on a kind of robot lifting shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106335077A true CN106335077A (en) | 2017-01-18 |
| CN106335077B CN106335077B (en) | 2018-11-23 |
Family
ID=57840247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610846811.2A Active CN106335077B (en) | 2016-09-23 | 2016-09-23 | Guiding device on a kind of robot lifting shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106335077B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110306894A (en) * | 2019-05-14 | 2019-10-08 | 北京戴纳实验科技有限公司 | A kind of laboratory hood glass door guide rail mechanism and device |
| CN110561404A (en) * | 2019-09-12 | 2019-12-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
| CN112720560A (en) * | 2020-12-11 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Biax output steering wheel and robot |
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| JP2001163277A (en) * | 1999-12-03 | 2001-06-19 | Kazumori Ide | Rotating drive unit for sphere |
| CN201807906U (en) * | 2010-07-27 | 2011-04-27 | 卫华集团有限公司 | Winding drum processing tooling |
| CN203045347U (en) * | 2012-12-26 | 2013-07-10 | 宁波大学 | Detection and control device for long and thin rod turning vibration |
| CN203210021U (en) * | 2013-03-08 | 2013-09-25 | 王越敏 | Locating supporting device for lathe |
| CN104999298A (en) * | 2015-05-29 | 2015-10-28 | 天津沃尔德泰克机电有限公司 | Automatic control clamping tool |
| CN204725356U (en) * | 2015-03-05 | 2015-10-28 | 重庆延锋江森汽车部件系统有限公司 | Working of plastics cubing centering positioning fixture |
| CN204770758U (en) * | 2015-07-14 | 2015-11-18 | 常州东吴链传动制造有限公司 | Tight type three -jaw chuck |
-
2016
- 2016-09-23 CN CN201610846811.2A patent/CN106335077B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001163277A (en) * | 1999-12-03 | 2001-06-19 | Kazumori Ide | Rotating drive unit for sphere |
| CN201807906U (en) * | 2010-07-27 | 2011-04-27 | 卫华集团有限公司 | Winding drum processing tooling |
| CN203045347U (en) * | 2012-12-26 | 2013-07-10 | 宁波大学 | Detection and control device for long and thin rod turning vibration |
| CN203210021U (en) * | 2013-03-08 | 2013-09-25 | 王越敏 | Locating supporting device for lathe |
| CN204725356U (en) * | 2015-03-05 | 2015-10-28 | 重庆延锋江森汽车部件系统有限公司 | Working of plastics cubing centering positioning fixture |
| CN104999298A (en) * | 2015-05-29 | 2015-10-28 | 天津沃尔德泰克机电有限公司 | Automatic control clamping tool |
| CN204770758U (en) * | 2015-07-14 | 2015-11-18 | 常州东吴链传动制造有限公司 | Tight type three -jaw chuck |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110306894A (en) * | 2019-05-14 | 2019-10-08 | 北京戴纳实验科技有限公司 | A kind of laboratory hood glass door guide rail mechanism and device |
| CN110306894B (en) * | 2019-05-14 | 2021-01-01 | 北京戴纳实验科技有限公司 | Glass door guide rail mechanism and device for laboratory ventilation cabinet |
| CN110561404A (en) * | 2019-09-12 | 2019-12-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
| CN110561404B (en) * | 2019-09-12 | 2021-08-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
| CN112720560A (en) * | 2020-12-11 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Biax output steering wheel and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106335077B (en) | 2018-11-23 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20181010 Address after: 402660 Chongqing Tongnan District Zitong Subdistrict Office, No. 225, Shi Yuan Street. Applicant after: CHONGQING EVERGREEN DUCTILE IRON MANUFACTURING CO., LTD. Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |