CN106335077B - Guiding device on a kind of robot lifting shaft - Google Patents
Guiding device on a kind of robot lifting shaft Download PDFInfo
- Publication number
- CN106335077B CN106335077B CN201610846811.2A CN201610846811A CN106335077B CN 106335077 B CN106335077 B CN 106335077B CN 201610846811 A CN201610846811 A CN 201610846811A CN 106335077 B CN106335077 B CN 106335077B
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- CN
- China
- Prior art keywords
- fulcrum
- fixing sleeve
- positioning framework
- lifting shaft
- plugged
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- 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.)
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Classifications
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- 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 guiding devices on a kind of robot lifting shaft, its pilot unit includes the positioning framework of triangle, fixing sleeve is formed on three face lateral walls of the positioning framework, guide groove is formed on fixing sleeve lateral wall, fulcrum is plugged in the fixing sleeve of positioning framework, one end of fulcrum is plugged in positioning framework and is fixedly connected with ball connector, and the head of ball connector is equipped with ball, the other end of fulcrum is plugged in adjusting set, and adjusting set is screwed on fixing sleeve；Gag lever post has been plugged and fixed on the fulcrum, the both ends of gag lever post pass through the guide groove of fixing sleeve and are pressed against and adjust on ring, ring is adjusted to be screwed on fixing sleeve, the shaft shoulder is formed on the fulcrum, fulcrum upper sleeve has pressure spring, one end of pressure spring is pressed against on the shaft shoulder of fulcrum, the other end is pressed against and adjusts on plug, is adjusted plug and is screwed onto adjusting set.The positioning accuracy of lifting shaft can be improved in the present invention, reduces the abrasion that lifting shaft lifting process generates.
Description
Technical field：
The present invention relates to the technical fields of robot, more specifically to guiding device on a kind of robot lifting shaft.
Background technique：
Automation equipment is gradually passed through to replace traditional manual operations in current some industrial productions, is exactly some automatic
Change the impossible movement of equipment, can also by the mechanical arm of robot realize operate, thus robot gradually manually at
For industrial main productivity.Common for multi-axis robot in industrial production, multi-axis robot is also known as manipulator, work
Industry mechanical arm etc., some manipulators have person's lifting arm or lifting shaft, and lifting shaft is typically secured to the head of manipulator, generally
Lifting is gradually realized by screw rod to realize by connecting screw, but should be in lifting shaft lifting process screw rod be connected
Thread bush between exist reduce, so that there are subtle shakings for its bottom end in lifting process for lifting shaft, for some high-precision
Then there is error in the positioning of degree, so that lifting shaft be needed to need to configure guiding device in lifting process, improves positioning accuracy.
Summary of the invention：
The purpose of the present invention is to the deficiencies of the prior art, and provide and be oriented to dress on a kind of robot lifting shaft
It sets, improves the positioning accuracy of lifting shaft, while can be reduced the abrasion of lifting shaft lifting process generation.
Guiding device on a kind of robot lifting shaft, including the pilot unit that several are distributed vertically, pilot unit includes
The positioning framework of triangle, the triangle of positioning framework are plugged with bolt, and the bolt upper sleeve between adjacent positioned frame has spacer,
Externally threaded fixing sleeve is formed on three face lateral walls of the positioning framework, is formed on two opposite lateral walls of fixing sleeve
Guide groove, fulcrum is plugged in the fixing sleeve of positioning framework, and one end of fulcrum is plugged in positioning framework and is fixedly connected with rolling
Pearl connector, the head of ball connector stretch out the inner sidewall of positioning framework and are equipped with ball, and the other end of fulcrum is plugged on
In the adjusting set of internal screw thread, adjusting set is screwed on fixing sleeve；It has been plugged and fixed gag lever post on the fulcrum, the two of gag lever post
It holds the guide groove across fixing sleeve and is pressed against and adjust on ring, adjust ring and be screwed on fixing sleeve, formed on the fulcrum
The shaft shoulder, fulcrum upper sleeve have pressure spring, and one end of pressure spring is pressed against on the shaft shoulder of fulcrum, the other end is pressed against and adjusts on plug, adjust
Section plug is screwed onto adjusting set.
The pilot unit is at least provided with a, the thickness of all positioning frameworks and all spacers on pilot unit
The sum of length is less than the length of bolt threaded shank.
The triangle that the positioning framework is in is equilateral triangle, and fixing sleeve is located at the middle part of positioning framework lateral wall,
The jack of fulcrum is formed in the middle part of positioning framework lateral wall.
The central axis of guide groove and fixing sleeve on the fixing sleeve is parallel.
The diameter of the 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
Diameter.
The length of guide groove is not less than the limiting value of pressure spring compression on the fixing sleeve.
The beneficial effects of the present invention are：
1, it provides a kind of lifting of lifting shaft on guiding device auxiliary robot flexible, is improving determining for lifting shaft
While the precision of position, contact of the guiding device with lifting shaft is Elastic Contact, and is to roll with the friction of lifting shaft lifting process
Friction can effectively reduce the abrasion of lifting shaft lifting process generation.
2, the guiding device that it is used can be adjusted, and the guiding of the lifting shaft suitable for various thicknesses uses.
Detailed description of the invention：
Fig. 1 is the three-dimensional structural schematic diagram of invention；
Fig. 2 is the structural schematic diagram that invention is looked up；
Fig. 3 is the schematic cross-sectional view of invention side-looking direction.
In figure：1, pilot unit；11, positioning framework；111, fixing sleeve；112, guide groove；12, fulcrum；121, the shaft shoulder；
13, ball connector；14, ball；15, adjusting set；16, gag lever post；17, ring is adjusted；18, pressure spring；19, plug is adjusted；2, spiral shell
Bolt；3, spacer.
Specific embodiment：
Embodiment：As shown in Fig. 1 to 3, guiding device on a kind of robot lifting shaft is led including what several were distributed vertically
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
2 upper sleeve of bolt between frame 11 has spacer 3, forms on three face lateral walls of the positioning framework 11 externally threaded solid
Surely 111 are covered, guide groove 112, grafting in the fixing sleeve 111 of positioning framework 11 are formed on two opposite lateral walls of fixing sleeve 111
There is fulcrum 12, one end of fulcrum 12 is plugged in positioning framework 11 and is fixedly connected with ball connector 13, ball connector 13
Head stretch out the inner sidewall of positioning framework 11 and be equipped with ball 14, the other end of fulcrum 12 is plugged on the adjusting set of internal screw thread
In 15, adjusting set 15 is screwed on fixing sleeve 111；It has been plugged and fixed gag lever post 16 on the fulcrum 12, the two of gag lever post 16
It holds the guide groove 112 across fixing sleeve 111 and is pressed against and adjust on ring 17, adjust ring 17 and be screwed on fixing sleeve 111, it is described
The shaft shoulder 121 is formed on fulcrum 12,12 upper sleeve of fulcrum has pressure spring 18, and one end of pressure spring 18 is pressed against the shaft shoulder 121 of fulcrum 12
The upper, other end, which is pressed against, to be adjusted on plug 19, is adjusted plug 19 and is screwed onto adjusting set 15.
The pilot unit 1 is at least provided with 2, the thickness of all positioning frameworks 11 and all on pilot unit 1
The sum of length of spacer 3 is less than the length of 2 threaded shank of bolt.
The triangle that the positioning framework 11 is in is equilateral triangle, and fixing sleeve 111 is located at 11 lateral wall of positioning framework
Middle part, the jack of fulcrum 12 is formed in the middle part of 11 lateral wall of positioning framework.
Guide groove 112 on the fixing sleeve 111 is parallel with the central axis of fixing sleeve 111.
The diameter of the fulcrum 12 is less than the diameter of 111 inner hole of fixing sleeve, and the diameter of 111 inner hole of fixing sleeve is equal to fulcrum 12
The diameter of the upper shaft shoulder 121.
The length of guide groove 112 is not less than the limiting value that pressure spring 18 compresses on the fixing sleeve 111.
Working principle：The present invention is the guiding device applied to robot mechanical arm lifting shaft, by adjusting ring
It 17 and adjusts plug 19 to be able to achieve fulcrum 12 mobile, so that 14 position of ball on 12 head of fulcrum is adjustable, and when being oriented to, lead to
It crosses ball 14 and contacts realization guiding, 2 points one lines with lifting shaft, the ball 14 on multiple pilot units 1 controls lifting shaft vertical
Straight line on, to guarantee positioning accuracy, while when lifting shaft is gone up and down, ball 14 is rolled, and the contact with lifting shaft is to roll
Friction, while ball 14 and lifting shaft are Elastic Contact again, so that frictional dissipation caused by during lifting shaft is small.
Claims (5)
1. guiding device on a kind of robot lifting shaft, the pilot unit being distributed vertically including several (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), and adjacent determines
Bolt (2) upper sleeve between position frame (11) has spacer (3), forms on three face lateral walls of the positioning framework (11)
Fixing sleeve (111) forms guide groove (112) on two opposite lateral walls of fixing sleeve (111), the fixing sleeve of positioning framework (11)
(111) it is plugged with fulcrum (12) in, one end of fulcrum (12) is plugged in positioning framework (11) and is fixedly connected with ball connection
Head (13), the head of ball connector (13) stretch out the inner sidewall of positioning framework (11) and are equipped with ball (14), fulcrum (12)
The other end be plugged in adjusting set (15), adjusting set (15) is screwed on fixing sleeve (111)；Grafting on the fulcrum (12)
It is fixed with gag lever post (16), the both ends of gag lever post (16) pass through the guide groove (112) of fixing sleeve (111) and are pressed against adjusting ring
(17) on, ring (17) is adjusted and are screwed on fixing sleeve (111), are formed on the fulcrum (12) shaft shoulder (121), fulcrum (12)
Upper sleeve has pressure spring (18), and it is stifled that one end of pressure spring (18) is pressed against on the shaft shoulder (121) of fulcrum (12), the other end is pressed against adjusting
On head (19), adjusts plug (19) and be screwed onto adjusting set (15)；
The triangle that the positioning framework (11) is in is equilateral triangle, and fixing sleeve (111) is located on the outside of positioning framework (11)
The middle part of wall forms the jack of fulcrum (12) in the middle part of positioning framework (11) lateral wall.
2. guiding device on a kind of robot lifting shaft according to claim 1, it is characterised in that：The pilot unit
(1) at least provided with 2, the sum of the length of the thickness of all positioning frameworks (11) and all spacers (3) on pilot unit (1)
Less than the length of the threaded shank of bolt (2).
3. guiding device on a kind of robot lifting shaft according to claim 1, it is characterised in that：The fixing sleeve
(111) central axis of guide groove (112) and fixing sleeve (111) on is parallel.
4. guiding device on a kind of robot lifting shaft according to claim 1, it is characterised in that：The fulcrum (12)
Diameter is less than the diameter of fixing sleeve (111) inner hole, and the diameter of fixing sleeve (111) inner hole is equal to the shaft shoulder (121) on fulcrum (12)
Diameter.
5. guiding device on a kind of robot lifting shaft according to claim 1, it is characterised in that：The fixing sleeve
(111) length of guide groove (112) is not less than the limiting value of pressure spring (18) compression on.
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 CN106335077A (en) | 2017-01-18 |
| CN106335077B true CN106335077B (en) | 2018-11-23 |
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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 |
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| Country | Link |
|---|---|
| CN (1) | CN106335077B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110561404B (en) * | 2019-09-12 | 2021-08-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
| CN112720560B (en) * | 2020-12-11 | 2022-03-29 | 深圳市优必选科技股份有限公司 | Biax output steering wheel and robot |
Family Cites Families (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 |
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2016
- 2016-09-23 CN CN201610846811.2A patent/CN106335077B/en active Active
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| Publication number | Publication date |
|---|---|
| CN106335077A (en) | 2017-01-18 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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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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