CN107322577A - A kind of telescopic shaft for robot - Google Patents
A kind of telescopic shaft for robot Download PDFInfo
- Publication number
- CN107322577A CN107322577A CN201710772016.8A CN201710772016A CN107322577A CN 107322577 A CN107322577 A CN 107322577A CN 201710772016 A CN201710772016 A CN 201710772016A CN 107322577 A CN107322577 A CN 107322577A
- Authority
- CN
- China
- Prior art keywords
- wear
- resistant block
- installation set
- robot
- telescopic 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
Links
- 238000009434 installation Methods 0.000 claims abstract description 51
- 239000000463 material Substances 0.000 claims abstract description 13
- 239000004809 Teflon Substances 0.000 claims abstract description 7
- 229920006362 Teflon® Polymers 0.000 claims abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Installation set is connected with the invention provides a kind of telescopic shaft for robot, including outer bar, inside it, the inside of installation set is removably connected with least one set of wear-resistant block；Interior bar, it is placed in inside outer bar, and the cross section of interior bar is polygon, and each side wall of interior bar is slidably connected with least one wear-resistant block；Wear-resistant block, it is placed between installation set and interior bar.Telescopic shaft of the present invention for robot, by least one set of wear-resistant block, while secure support interior bar, has effectively eliminated the friction between interior bar and outer bar.The wear-resistant block madial wall contacted with interior bar is provided with groove, can reduce the friction between wear-resistant block and interior bar.The material selection Teflon of wear-resistant block, because material price is cheap, component structural is simple and material self-lubricating property in itself, while can realize that linear bearing can achieve the effect that, maintenance cost is greatly reduced, the dependable with function of the present invention is improved.
Description
Technical field
The invention belongs to parallel robot field, more particularly, to a kind of telescopic shaft.
Background technology
In light industries such as food, medicine and electronic products, the technology contents such as substantial amounts of sorting, pickup are there is relatively low
Repetitive operation.With continuing to develop for robot technology, some producers begin attempt to be substituted with parallel robot and manually gone
Complete above-mentioned work.
Rotary shaft includes telescopic shaft in the middle of used in existing parallel robot, and telescopic shaft passes through universal connector
It is connected respectively with motor and moving platform.Due to the gradually maturation of control system, existing slave arm translational speed is up to 120
Beat/min, and slave arm is moved each time, telescopic shaft is accomplished by completing the process for once extending and shortening.Due to for a long time
High speed stretching motion, the two bars abrasion being slidably connected in telescopic shaft is very serious.In the prior art, typically using linear axis
Hold the abrasion between the bar that reduction two is slidably connected.Although install linear bearing after effect substantially, linear bearing it is effective
Usage cycles are also not satisfactory；Further, since the cost of linear bearing is higher, if parallel robot entirety can be reduced by being used for a long time
Practicality.
The content of the invention
In view of this, the present invention is directed to propose a kind of telescopic shaft for robot, to solve in the prior art, telescopic shaft
In between two bars for being slidably connected due to high speed slides and produces heavy wear problem.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of telescopic shaft for robot, including outer bar, are connected with installation set inside it, the inside of installation set is detachable
It is connected with least one set of wear-resistant block；Interior bar, it is placed in inside outer bar, and the cross section of interior bar is polygon, and interior bar each
Side wall is slidably connected with least one wear-resistant block；Wear-resistant block, it is placed between installation set and interior bar.
Further, the cross section of the interior bar is square；The quantity of wear-resistant block described in every group is four, and around interior bar
Axis it is uniform.
Further, it is axially arranged with two groups of wear-resistant blocks along it inside the installation set.
Further, the installation set is provided with least one set of jack, and the lateral wall of the wear-resistant block is wear-resisting provided with projection
Block passes through raised and jack grafting.
Further, with the jack in group, position is identical in the axial direction of installation set.
Further, stopper slot is additionally provided with the madial wall of the installation set, stopper slot is located at two adjacent jacks of group
Between；The lateral wall of the wear-resistant block is provided with the spacing raised line coordinated with stopper slot grafting.
Further, the madial wall of each wear-resistant block is provided with some grooves, groove along the axially extending of installation set, and
Laid out in parallel.
Further, four screwed holes are evenly equipped with around its axis in the installation set, installation set by with screwed hole screw thread
The fastener of connection and the outer bar are affixed.
Further, one end of the installation set is provided with the positioning edge for stretching out the outer boom end.
Further, the material of the wear-resistant block is Teflon.
Relative to prior art, the telescopic shaft of the present invention for robot has the advantage that：
Telescopic shaft of the present invention for robot, service life is long, safeguards simple and convenient.It is resistance to by least one set
Abrading block, while secure support interior bar, has effectively eliminated the friction between interior bar and outer bar.The wear-resistant block contacted with interior bar
Madial wall is provided with groove, can reduce the friction between wear-resistant block and interior bar.The material selection Teflon of wear-resistant block, due to material
The cheap, component structural of material is simple and material self-lubricating property in itself, can realize what linear bearing can reach
While effect, maintenance cost is greatly reduced, the dependable with function of the present invention is improved.Pass through wear-resistant block and installation set
Between plug-in mounting structure, simplify the present invention maintenance process.
Brief description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the axonometric drawing of the telescopic shaft for robot described in the embodiment of the present invention；
Fig. 2 is the axle side explosive view of the telescopic shaft for robot described in the embodiment of the present invention；
Fig. 3 is the enlarged drawing of I parts in Fig. 2；
Fig. 4 is the main view of the installation set of the telescopic shaft for robot described in the embodiment of the present invention to sectional view.
Description of reference numerals：
1- outer bars；2- interior bars；3- wear-resistant blocks；301- grooves；The spacing raised lines of 302-；303- is raised；4- installation sets；401- determines
Position edge；402- screwed holes；403- jacks；404- stopper slots.
Embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark
Specific orientation must be had, with specific azimuth configuration and operation by showing the device or element of meaning, therefore it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Such as Fig. 1-4, the present invention proposes a kind of telescopic shaft for robot, including outer bar 1, is connected with installation set inside it
4, the inside of installation set 4 is removably connected with least one set of wear-resistant block 3；Interior bar 2, it is placed in inside outer bar 1, interior bar 2 it is transversal
Face is polygon, and each side wall of interior bar 2 is slidably connected with least one wear-resistant block 3；Wear-resistant block 3, it is placed in installation
Between set 4 and interior bar 2.
The cross section of above-mentioned interior bar 2 is square；The quantity of every group of above-mentioned wear-resistant block 3 is four, and around the axle of interior bar 2
Line is uniform.
It is axially arranged with two groups of wear-resistant blocks 3 along it inside such as Fig. 2, above-mentioned installation set 4.The structure can increase interior bar 2 and stretch
When stability, it is to avoid in the course of the work produce rock.
Such as Fig. 3,4, above-mentioned installation set 4 is provided with least one set of jack 403, and the lateral wall of above-mentioned wear-resistant block 3 is provided with convex
303 are played, wear-resistant block 3 passes through projection 303 and the grafting of jack 403.
With the above-mentioned jack 403 in group, position is identical in the axial direction of installation set 4.The structure cause in same group each is resistance to
Abrading block 3 is highly equal with the bonding position of interior bar 2, contributes to the stable movement of interior bar 2.
Stopper slot 404 is additionally provided with such as Fig. 3,4, the madial wall of above-mentioned installation set 4, stopper slot 404 is located at two phases of group
Between adjacent jack 403；The lateral wall of above-mentioned wear-resistant block 3 is provided with the spacing raised line 302 coordinated with the grafting of stopper slot 404.Enter
One step strengthens the degree of being connected firmly between wear-resistant block 3 and installation set 4, it is to avoid both move axially after installation is complete.
Such as Fig. 3, the madial wall of each above-mentioned wear-resistant block 3 is provided with some grooves 301, axial direction of the groove 301 along installation set 4
Extension, and laid out in parallel.The structure helps to reduce wear-resistant block 3 and the contact area of interior bar 2, reduces friction between the two；
Meanwhile, it also can guarantee that the intensity of wear-resistant block 3.
Such as Fig. 4, four screwed holes 402 are evenly equipped with around its axis in above-mentioned installation set 4, installation set 4 by with screwed hole
The fastener of 402 thread connections and above-mentioned outer bar 1 are affixed.The threaded portion of fastener passes through outer bar by the through hole in outer bar 1
1, then with the above-mentioned thread connection of screwed hole 402.
Such as Fig. 4, one end of above-mentioned installation set 4 is provided with stretching out the positioning of the above-mentioned end of outer bar 1 along 401.The structure can be
When installation set 4 does not install fastener, make axial restraint between installation set 4 and outer bar 1, facilitate the installation of fastener.
The material of above-mentioned wear-resistant block 3 is Teflon.The characteristics of Teflon has Wear-resistant, high-temperature resistant, while working as is used for two phases
During between the parts of motion, the also effect with lubrication reduce further the maintenance cost of the present invention.
In the present invention, the interior bar 2 of stretching motion is only contacted with wear-resistant block 3, by caused by friction in its motion process
Infringement be also only embodied in madial wall (wear-resistant block 3 and the grafting of installation set 4, lateral wall and the installation set 4 of wear-resistant block 3 of wear-resistant block 3
Madial wall geo-stationary) on.
When operation a period of time after, it is necessary to which when being safeguarded to wear-resistant block 3, first interior bar 2 is extracted out from outer bar 1.By work
Tool or finger are extend into installation set 4, and wear-resistant block 3 is pulled up into replacing from installation set 4 one by one.After replacing, by the weight of interior bar 2
Newly it is inserted into installation set 4.
Telescopic shaft of the present invention for robot, service life is long, safeguards simple and convenient.It is resistance to by least one set
Abrading block 3, while secure support interior bar 2, has effectively eliminated the friction between interior bar 2 and outer bar 1.Contacted with interior bar 2
The madial wall of wear-resistant block 3 is provided with groove 301, can reduce the friction between wear-resistant block 3 and interior bar 2.The material selection of wear-resistant block 3
Teflon, because material price is cheap, component structural is simple and material self-lubricating property in itself, can realize linear axis
While holding can achieve the effect that, maintenance cost is greatly reduced, the dependable with function of the present invention is improved.By resistance to
Plug-in mounting structure between abrading block 3 and installation set 4, simplifies the maintenance process of the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of telescopic shaft for robot, it is characterised in that including：
Outer bar (1), is connected with installation set (4) inside it, the inside of installation set (4) is removably connected with least one set of wear-resistant block
(3)；
Interior bar (2), it is placed in, and outer bar (1) is internal, and the cross section of interior bar (2) is polygon, and each side wall of interior bar (2) is equal
It is slidably connected with least one wear-resistant block (3)；
Wear-resistant block (3), it is placed between installation set (4) and interior bar (2).
2. the telescopic shaft according to claim 1 for robot, it is characterised in that：The cross section of the interior bar (2) is
Square；The quantity of wear-resistant block (3) described in every group is four, and uniform around the axis of interior bar (2).
3. the telescopic shaft according to claim 1 for robot, it is characterised in that：The installation set (4) is internal along it
It is axially arranged with two groups of wear-resistant blocks (3).
4. the telescopic shaft for robot according to claim any one of 1-3, it is characterised in that：The installation set (4)
Provided with least one set of jack (403), the lateral wall of the wear-resistant block (3) is provided with raised (303), and wear-resistant block (3) is by convex
Play (303) and jack (403) grafting.
5. the telescopic shaft according to claim 4 for robot, it is characterised in that：With the jack (403) in group
Position is identical in the axial direction of installation set (4).
6. the telescopic shaft according to claim 4 for robot, it is characterised in that：The madial wall of the installation set (4)
On be additionally provided with stopper slot (404), stopper slot (404) is located at between two adjacent jacks (403) of group；
The lateral wall of the wear-resistant block (3) is provided with the spacing raised line (302) coordinated with stopper slot (404) grafting.
7. the telescopic shaft according to claim 4 for robot, it is characterised in that：Each the wear-resistant block (3) is interior
Side wall is provided with some grooves (301), and groove (301) is axially extending along installation set (4), and laid out in parallel.
8. the telescopic shaft according to claim 1 for robot, it is characterised in that：It is surrounded on the installation set (4)
Axis is evenly equipped with four screwed holes (402), installation set (4) by the fastener with screwed hole (402) thread connection with it is described outer
Bar (1) is affixed.
9. the telescopic shaft for robot according to claim 1 or 8, it is characterised in that：One end of the installation set (4)
Provided with the positioning edge (401) for stretching out outer bar (1) end.
10. the telescopic shaft according to claim 1 for robot, it is characterised in that：The material of the wear-resistant block (3) is
Teflon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772016.8A CN107322577B (en) | 2017-08-31 | 2017-08-31 | Telescopic shaft for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772016.8A CN107322577B (en) | 2017-08-31 | 2017-08-31 | Telescopic shaft for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107322577A true CN107322577A (en) | 2017-11-07 |
| CN107322577B CN107322577B (en) | 2023-11-03 |
Family
ID=60204233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772016.8A Active CN107322577B (en) | 2017-08-31 | 2017-08-31 | Telescopic shaft for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322577B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6213672B1 (en) * | 1997-10-21 | 2001-04-10 | George J. Varga | Telescoping pole & cleaning tool |
| CN101178087A (en) * | 2006-11-08 | 2008-05-14 | 久鼎金属实业股份有限公司 | Device capable of moving relatively without relative rotation |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN203161745U (en) * | 2013-04-08 | 2013-08-28 | 鹭谱达（厦门）户外用品有限公司 | Inner guide plunger of inner pipe of expansion pipe and expansion pipe using inner guide plunger |
| CN204419785U (en) * | 2015-01-23 | 2015-06-24 | 刘小群 | A kind of telescopic locking device |
| CN205858884U (en) * | 2016-08-02 | 2017-01-04 | 广东欧珀移动通信有限公司 | A kind of stepless retractable tubular construction |
| CN207139793U (en) * | 2017-08-31 | 2018-03-27 | 天津超众机器人科技有限公司 | A kind of telescopic shaft for robot |
-
2017
- 2017-08-31 CN CN201710772016.8A patent/CN107322577B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6213672B1 (en) * | 1997-10-21 | 2001-04-10 | George J. Varga | Telescoping pole & cleaning tool |
| CN101178087A (en) * | 2006-11-08 | 2008-05-14 | 久鼎金属实业股份有限公司 | Device capable of moving relatively without relative rotation |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN203161745U (en) * | 2013-04-08 | 2013-08-28 | 鹭谱达（厦门）户外用品有限公司 | Inner guide plunger of inner pipe of expansion pipe and expansion pipe using inner guide plunger |
| CN204419785U (en) * | 2015-01-23 | 2015-06-24 | 刘小群 | A kind of telescopic locking device |
| CN205858884U (en) * | 2016-08-02 | 2017-01-04 | 广东欧珀移动通信有限公司 | A kind of stepless retractable tubular construction |
| CN207139793U (en) * | 2017-08-31 | 2018-03-27 | 天津超众机器人科技有限公司 | A kind of telescopic shaft for robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107322577B (en) | 2023-11-03 |
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