CN106737623A - Three dimensionality manipulator - Google Patents
Three dimensionality manipulator Download PDFInfo
- Publication number
- CN106737623A CN106737623A CN201710029217.9A CN201710029217A CN106737623A CN 106737623 A CN106737623 A CN 106737623A CN 201710029217 A CN201710029217 A CN 201710029217A CN 106737623 A CN106737623 A CN 106737623A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- frame
- column
- dimensionality
- slide plate
- 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.)
- Pending
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of three dimensionality manipulator, including handgrip, control system, it is characterised in that：Also include frame, column, the first Poewr transmission mechanism, the first Poewr transmission mechanism drives column that the linear motion of the first dimension is completed along frame；The bottom of column drives guide rail bracket component to rotate the rotary motion for completing the second dimension by changement；The guide rail bracket component includes slide plate, movable guiding rail frame, the handgrip is arranged on movable guiding rail frame, 3rd Poewr transmission mechanism is set between slide plate and movable guiding rail frame, and the 3rd Poewr transmission mechanism drives movable guiding rail frame that the linear motion of third dimension is completed along slide plate relative movement.The present invention is walked up and down by column, slide plate rotation commutation and guide rail bracket component are moved along X-direction relative to slide plate, so as to drive guide rail bracket component to realize three motions of dimension of mechanical gripper, completes the crawl of part, and robot manipulator structure is scientific and reasonable, easy to operate.
Description
Technical field：
The present invention relates to a kind of three dimensionality manipulator.
Background technology：
Manipulator refers to some holding functions that can imitate staff and arm, is used to by fixed routine crawl, carries object or behaviour
Make the automatic pilot of instrument.It can replace mechanization and automation of the heavy labor of people to realize producing, can be harmful
Operated under environment to protect personal safety, thus be widely used in machine industry.Manipulator is main by handgrip, motion
Mechanism and control system three parts are constituted.As its name suggests, handgrip is for grasping workpiece, according to by the shape of grasping object
Shape, size, weight, material and job requirements and have multiple structural forms.Motion makes handgrip complete diverse location
It is mobile, the self-movement mode such as motion is generally included to lift, translated, so that the movement of three dimensionality is completed, by control
System realizes the control of manipulator each free degree to complete specific action.However, manufactured currently used for auto parts and components going
The manipulator of industry often exist mechanism dote on greatly, manipulate inflexible shortcoming.
The content of the invention：
Take up an area little three dimensionality manipulator present invention aim at a kind of rational in infrastructure, manipulation convenience, activity space is provided, with
Overcome the deficiencies in the prior art.
To achieve the above object, the present invention is adopted the technical scheme that：A kind of three dimensionality manipulator, including handgrip, control
System, also including frame, column, the first Poewr transmission mechanism, the first Poewr transmission mechanism drives column to complete first along frame
The linear motion of dimension；The bottom of column drives guide rail bracket component to rotate the rotation fortune for completing the second dimension by changement
It is dynamic；The guide rail bracket component includes slide plate, movable guiding rail frame, and the handgrip is arranged on movable guiding rail frame, in slide plate and activity
3rd Poewr transmission mechanism is set between guide rail bracket, and the 3rd Poewr transmission mechanism drives movable guiding rail frame to be moved along slide plate is relative
The dynamic linear motion for completing third dimension.
The changement is set to meshed transmission gear mechanism.
First Poewr transmission mechanism is synchronous pulley mechanism.
3rd Poewr transmission mechanism is rack and pinion drive mechanism.
First motor mount, upper rail are set in frame, and column sidepiece sets guide rail slide block, and the guide rail slide block is upper
Slided in guide rail, the synchronous pulley mechanism is arranged in frame, Timing Belt pressing plate is fixed with Timing Belt, Timing Belt pressing plate connects
Connect column.
The bottom of frame sets limited block installing plate, the vertical columns stroke limit block on limited block installing plate.
Meshed transmission gear mechanism includes driving gear, turntable bearing, and driving gear is engaged with the outer knuckle-tooth of turntable bearing,
The bottom of column extends downwardly from jack-post, and turntable bearing is arranged on jack-post, and turntable bearing is fixedly connected with the slide plate.
The bottom of column sets motor mounting plate, and the second motor is installed on motor mounting plate, and the second motor drives reversing machine
The driving gear rotation of structure.
Movable guiding rail frame includes the first guide rail bracket, line slideway is set in the both sides track slot of the first guide rail bracket, in slide plate
Bottom two line slideways of correspondence set linear slider, and the tooth bar of rack and pinion drive mechanism is arranged on inner side, the gear of a track slot
Installed in slide plate bottom.
Beneficial effect：The present invention is walked up and down by column, slide plate rotation commutation and guide rail bracket component are relative along X-direction
Slide plate is moved, so as to drive guide rail bracket component to realize three motions of dimension of mechanical gripper, completes the crawl of part, manipulator knot
Structure is scientific and reasonable, easy to operate.Largely improve the automaticity of grabbing device work.
The inside relative movement mechanism of movable guiding rail frame makes the activity in the same direction synchronous with the second guide rail bracket of the first guide rail bracket, so that
Handgrip stroke is shortened or is stretched, realize larger range of mechanical grasping movement, mechanical flexibility reliability is designed ingenious.
The parameter such as the position of the workpiece that three dimensionality manipulator is captured according to required for and height is programmed sequence, control system
According to programming path drives Z axis, X-axis, R axles carry out front and rear up and down and 360 degree of rotations, and carry out material grasping or blowing action.Can
The travel parameters of completion:Z strokes 1000mm, the X positive and negative 1600mm of stroke, R360 degree, maximum load 500Kg.
Brief description of the drawings：
Fig. 1 is three dimensionality manipulator stereogram of the present invention.
Fig. 2 is three dimensionality robot manipulator structure schematic diagram of the present invention.
Fig. 3 is the A-A sectional views of Fig. 2.
Fig. 4 is the B-B sectional views of Fig. 3.
Specific embodiment：
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from start to finish
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " front and rear ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should broadly understood, for example, it may be being fixedly connected.Can also be detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
The concrete meaning of invention.
Fig. 1-4, a kind of three dimensionality manipulator, including handgrip 1, control system are referred to, also including frame, column 2, first
Poewr transmission mechanism, the first Poewr transmission mechanism drives column that the linear motion of the first dimension is completed along frame；The bottom of column
Guide rail bracket component is driven to rotate the rotary motion for completing the second dimension by changement；The guide rail bracket component include slide plate 5,
Movable guiding rail frame, the handgrip is arranged on movable guiding rail frame, and the transmission of the 3rd power is set between slide plate and movable guiding rail frame
Mechanism, the 3rd Poewr transmission mechanism drives movable guiding rail frame that the linear motion of third dimension is completed along slide plate relative movement.
First Poewr transmission mechanism is driven by the first motor 11, and changement is driven by the second motor 12, the 3rd Poewr transmission mechanism by
3rd motor 13 drives, and drives the gripping action of the clamp device completion three dimensions optional position part of handgrip.
The changement is set to meshed transmission gear mechanism.
First Poewr transmission mechanism is synchronous pulley mechanism 6.
3rd Poewr transmission mechanism is rack and pinion drive mechanism.
First motor mount 4, upper rail 3 are set in frame, and column sidepiece sets guide rail slide block, and the guide rail slide block exists
Slided in upper rail, the synchronous pulley mechanism 6 is arranged in frame, and Timing Belt pressing plate 16, Timing Belt are fixed with Timing Belt
Pressing plate connects column 2.
The bottom of frame sets limited block installing plate, the vertical columns stroke limit block 9 on limited block installing plate.
Meshed transmission gear mechanism includes driving gear 7, turntable bearing 8, and driving gear is nibbled with the outer knuckle-tooth of turntable bearing
Close, the bottom of column extends downwardly from jack-post, and turntable bearing is arranged on jack-post, and turntable bearing is fixedly connected with the slide plate.
The bottom of column sets motor mounting plate, and the second motor 12 is installed on motor mounting plate, and the second motor drives commutation
The driving gear rotation of mechanism.
Movable guiding rail frame includes the first guide rail bracket 14, and line slideway 17 is set in the both sides track slot of the first guide rail bracket,
Slide plate bottom two line slideways of correspondence set linear slider, and the tooth bar 18 of rack and pinion drive mechanism is arranged on the interior of a track slot
Side, gear are arranged on slide plate bottom.
Movable guiding rail frame also includes the second guide rail bracket 15, and finger grip mounts are fixed on the lower section of the second guide rail bracket, first and second
Guide rail bracket is connected by belt wheel mechanism 19：A pair of belt wheels are fixed in the first guide rail bracket, belt, the bottom of slide plate are set on two belt wheels
Portion sets contiguous block 20, and contiguous block is fixed on a certain fixed position of epimere of belt, and the hypomere of belt passes through contiguous block and second
Guide rail bracket is connected.When the first guide rail bracket is moved to the left under pinion and rack driving, belt wheel mechanism causes that belt wheel is rotated, and
The hypomere of belt is slided to epimere in the direction of the clock, the second guide rail bracket left lateral is pulled in moving process.
A pair of handgrips are symmetrical arranged on finger grip mounts, the clamp device of handgrip is arranged on finger grip mounts.Handgrip is pacified
The one end positioned at the second guide rail bracket away from column is shelved to set, therefore, when movable guiding rail frame left lateral, the distance of handgrip and column
Shorten, when movable guiding rail frame right lateral, first and second guide rail bracket makes handgrip and the distance of column cross to most while walk to the right
Greatly, so that handgrip stroke increases.
The invention is not limited in above-mentioned implementation method, if not departing from the present invention to various changes of the invention or deformation
Spirit and scope, if these are changed and within the scope of deformation belongs to claim of the invention and equivalent technologies, then this hair
It is bright to be also intended to comprising these changes and deform.
Claims (9)
1. a kind of three dimensionality manipulator, including handgrip, control system, it is characterised in that：Also include frame, column, the first power
Transmission mechanism, the first Poewr transmission mechanism drives column that the linear motion of the first dimension is completed along frame；The bottom of column passes through
Changement drives the rotation of guide rail bracket component to complete the rotary motion of the second dimension；The guide rail bracket component includes slide plate, activity
Guide rail bracket, the handgrip is arranged on movable guiding rail frame, and the 3rd Poewr transmission mechanism is set between slide plate and movable guiding rail frame,
3rd Poewr transmission mechanism drives movable guiding rail frame that the linear motion of third dimension is completed along slide plate relative movement.
2. three dimensionality manipulator according to claim 1, it is characterised in that：The changement is set to gear engagement and passes
Motivation structure.
3. three dimensionality manipulator according to claim 1, it is characterised in that：First Poewr transmission mechanism is Timing Belt
Wheel mechanism.
4. three dimensionality manipulator according to claim 1, it is characterised in that：3rd Poewr transmission mechanism is that rack-and-pinion is passed
Motivation structure.
5. according to any described three dimensionality manipulators of claim 1-3, it is characterised in that：The installation of first motor is set in frame
Seat, upper rail, column sidepiece set guide rail slide block, and the guide rail slide block is slided in upper rail, the synchronous pulley mechanism peace
Timing Belt pressing plate, Timing Belt pressing plate connection column are fixed with frame, on Timing Belt.
6. three dimensionality manipulator according to claim 5, it is characterised in that：The bottom of frame sets limited block installing plate,
The vertical columns stroke limit block on limited block installing plate.
7. three dimensionality manipulator according to claim 6, it is characterised in that：Meshed transmission gear mechanism includes driving tooth
Wheel, turntable bearing, driving gear are engaged with the outer knuckle-tooth of turntable bearing, and the bottom of column extends downwardly from jack-post, turntable bearing peace
On jack-post, turntable bearing is fixedly connected with the slide plate.
8. three dimensionality manipulator according to claim 7, it is characterised in that：The bottom of column sets motor mounting plate, electricity
Second motor is installed, the second motor drives the driving gear rotation of changement on machine installing plate.
9. three dimensionality manipulator according to claim 8, it is characterised in that：Movable guiding rail frame includes the first guide rail bracket,
Line slideway is set in the both sides track slot of the first guide rail bracket, two line slideways of correspondence set linear slider, gear in slide plate bottom
The tooth bar of rack gear is arranged on the inner side of a track slot, gear and is arranged on slide plate bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029217.9A CN106737623A (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029217.9A CN106737623A (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737623A true CN106737623A (en) | 2017-05-31 |
Family
ID=58945797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029217.9A Pending CN106737623A (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737623A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317575A (en) * | 2018-11-29 | 2019-02-12 | 深圳市忠发科技有限公司 | A kind of dual-arm robot collaboration automatic stamping molding special purpose machine tool |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN114290359A (en) * | 2022-01-14 | 2022-04-08 | 大连光洋自动化液压系统有限公司 | Gripper mechanism with stroke compensation and precision compensation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN202878311U (en) * | 2012-10-31 | 2013-04-17 | 苏州久工自动化科技有限公司 | Simple manipulator with two degrees of freedom |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN204433110U (en) * | 2015-02-09 | 2015-07-01 | 武汉市美奇斯机械设备有限公司 | A kind of single leg portal frame cantilever wrapping machine |
| CN204748611U (en) * | 2015-06-30 | 2015-11-11 | 长江武汉航道工程局 | Three degree of freedom manipulators |
| CN205466179U (en) * | 2016-04-17 | 2016-08-17 | 中山市振良自动化设备有限公司 | Panel transport automation equipment |
| CN206493315U (en) * | 2017-01-16 | 2017-09-15 | 广东富华重工制造有限公司 | Three dimensionality manipulator |
-
2017
- 2017-01-16 CN CN201710029217.9A patent/CN106737623A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN202878311U (en) * | 2012-10-31 | 2013-04-17 | 苏州久工自动化科技有限公司 | Simple manipulator with two degrees of freedom |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN204433110U (en) * | 2015-02-09 | 2015-07-01 | 武汉市美奇斯机械设备有限公司 | A kind of single leg portal frame cantilever wrapping machine |
| CN204748611U (en) * | 2015-06-30 | 2015-11-11 | 长江武汉航道工程局 | Three degree of freedom manipulators |
| CN205466179U (en) * | 2016-04-17 | 2016-08-17 | 中山市振良自动化设备有限公司 | Panel transport automation equipment |
| CN206493315U (en) * | 2017-01-16 | 2017-09-15 | 广东富华重工制造有限公司 | Three dimensionality manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317575A (en) * | 2018-11-29 | 2019-02-12 | 深圳市忠发科技有限公司 | A kind of dual-arm robot collaboration automatic stamping molding special purpose machine tool |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN114290359A (en) * | 2022-01-14 | 2022-04-08 | 大连光洋自动化液压系统有限公司 | Gripper mechanism with stroke compensation and precision compensation |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |