CN109434824A - A kind of the simple motion mechanism and its working method of the changeable direction of motion - Google Patents
A kind of the simple motion mechanism and its working method of the changeable direction of motion Download PDFInfo
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- CN109434824A CN109434824A CN201910022314.4A CN201910022314A CN109434824A CN 109434824 A CN109434824 A CN 109434824A CN 201910022314 A CN201910022314 A CN 201910022314A CN 109434824 A CN109434824 A CN 109434824A
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- China
- Prior art keywords
- pedestal
- swing arm
- screw
- motion
- sliding block
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of simple motion mechanism of changeable direction of motion and its working methods, including pedestal, the lower end of the pedestal sets that there are two drive the sliding block that transversely moves back and forth in opposite directions by straight line driving mechanism, the left and right both ends in the lower surface of the sliding block are fixedly connected with slide bar respectively, the arranged on left and right sides of sliding block is symmetrically arranged with swing arm, the swing arm is hinged with pedestal, is equipped with close to one end of sliding block to accommodate sliding slot slide bar and with slide bar composition sliding pair in swing arm.The configuration of the present invention is simple, rationally, is easy to implement the direction of motion transformation for swing arm connect with clamper, and swing arm be it is removable, be not only convenient for assembling from different pedestal, but also can assemble from different clampers as needed, realization multifunctional use.
Description
Technical field:
The present invention relates to a kind of simple motion mechanism of changeable direction of motion and its working methods.
Background technique:
With social development, various industries all realize mechanization to a certain extent, and consequent is that robot is needed various
It works in the case where various kinds, and multi-function robot becomes hot topic.And now most of robot be merely able to handle it is single
In the case of thing, for example, clamping hand on the market can only clamp single shape due to limitation of movement now, single size
Article.But demand of today is that one kind is needed to be capable of handling multiple types, the clamping hand of more sizes, so can change if there is a
The mechanism for becoming the direction of motion cooperates with clamper, it will be able to realize multiple types, the clamping of more sizes.
Summary of the invention:
The present invention has made improvements in view of the above-mentioned problems of the prior art, i.e., technical problem to be solved by the invention is to provide
A kind of the simple motion mechanism and its working method of the changeable direction of motion, are not only simple in structure, rationally, and easy to use.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of simple motion of the changeable direction of motion
Mechanism, including pedestal, the lower end of the pedestal set that there are two drive the cunning that transversely moves back and forth in opposite directions by straight line driving mechanism
Block, the left and right both ends in the lower surface of the sliding block are fixedly connected with slide bar respectively, and the arranged on left and right sides of sliding block is symmetrically arranged with swing arm, the pendulum
Arm is hinged with pedestal, is equipped with close to one end of sliding block to accommodate cunning slide bar and with slide bar composition sliding pair in swing arm
Slot.
Further, the straight line driving mechanism includes being horizontally set with pair in pedestal lower end and by Power Component driving rotation
To screw rod, the Bidirectional-screw includes two sections of oppositely oriented screw threads, and two sections of screw thread difference screw threads run through the middle part of two sliding blocks,
The arranged on left and right sides of two-way lead screw is symmetrically arranged with lateral guide rod, and the transverse direction guide rod is slided respectively through two sliding blocks.
Further, the Power Component includes power motor, synchronous toothed belt, active synchronization belt wheel and driven synchronization
Belt wheel, the power motor are mounted on the top surface rear end of pedestal, and the output shaft of power motor is fixedly connected with active synchronization belt wheel, described
Driven synchronous pulley, which is connected firmly, passes through synchronous toothed belt between the rear end of Bidirectional-screw, driven synchronous pulley and active synchronization belt wheel
Transmission connection, to drive Bidirectional-screw to rotate.
Further, it is fixedly connected with bearing fixed seat, the Bidirectional-screw respectively in the middle part of the bottom surface front and rear ends of the pedestal
Both ends be rotatablely connected respectively through angular contact ball bearing and bearing fixed seat；The both ends of the transverse direction guide rod are fixed with bearing respectively
Seat connects firmly.
Further, the swing arm includes connecting plate, the connecting plate in close to sliding block one end be fixedly connected with bending plate, in
Be fixedly connected with the mounting plate to installing holder far from one end of sliding block, opened up on the bending plate to accommodate slide bar and with
Slide bar constitutes the sliding slot of sliding pair, is hinged in the middle part of the bending part between bending plate and connecting plate with pedestal.
Further, shaft is fixedly connected with by screw in the middle part of bending part between the bending plate and connecting plate, described turn
Axis extends vertically through pedestal, is rotatablely connected between shaft and pedestal by needle roller thrust bearing.
Further, the top of the pedestal is equipped with pedestal end cap in parallel, the base end cover offer it is multiple to
The connecting hole being connected with other instruments, it is circumferentially distributed via several between the bottom surface of pedestal end cap and the top surface of pedestal
Connecting rod connection.
Another technical solution of the invention is: a kind of working method of the simple motion mechanism of the changeable direction of motion,
When work: Power Component driving Bidirectional-screw is rotated, and Bidirectional-screw driving is respectively at two sections of oppositely oriented screw threads
The synchronous transversely opposite reciprocating motion of two sliding blocks, the sliding slot on slide bar and swing arm that each sliding block passes through its lower surface, which slides, to be connected
It connects and swing arm is driven to rotate around pedestal, realize the transformation of swing arm motion direction.
Compared with prior art, the present invention have the effect that the configuration of the present invention is simple, rationally, be easy to implement and clamp
The direction of motion transformation of the swing arm of device connection, and swing arm be it is removable, be not only convenient for assembling from different pedestal, but also can
It is assembled as needed from different clampers, realizes multifunctional use.
Detailed description of the invention:
Fig. 1 is the D structure schematic diagram one of the embodiment of the present invention；
Fig. 2 is the D structure schematic diagram two of the embodiment of the present invention；
Fig. 3 is the D structure schematic diagram three of the embodiment of the present invention；
Fig. 4 is the main view diagrammatic cross-section of the embodiment of the present invention；
Fig. 5 is the side elevational cross-section schematic diagram of the embodiment of the present invention；
Fig. 6 is that the embodiment of the present invention looks up organigram；
Fig. 7 is the main view organigram of the embodiment of the present invention；
Fig. 8 is the assembling structure schematic diagram of swing arm and shaft in the embodiment of the present invention；
Fig. 9 is the use state diagram one of the embodiment of the present invention；
Figure 10 is the use state diagram two of the embodiment of the present invention；
Figure 11 is the use state diagram three of the embodiment of the present invention.
In figure:
1- pedestal；2- sliding block；3- slide bar；4- swing arm；5- sliding slot；6- Bidirectional-screw；7- Power Component；8- screw thread；9- is laterally led
Bar；10- power motor；11- synchronous toothed belt；12- active synchronization belt wheel；The driven synchronous pulley of 13-；14- bearing fixed seat；
15- angular contact ball bearing；16- connecting plate；17- bending plate；18- mounting plate；19- avoid holes；20- mounting hole；21- shaft；22-
Pedestal end cap；23- connecting hole；24- connecting rod.
Specific embodiment:
In order to more clearly explain the present invention, the present invention will be further described with embodiment with reference to the accompanying drawing, it is clear that
Ground, draw figures listed below are only some specific embodiments of the present invention.
As shown in Fig. 1~11, a kind of simple motion mechanism of the changeable direction of motion of the present invention, including pedestal 1, the base
The lower end of seat 1 sets that there are two drive the sliding block 2 that transversely moves back and forth in opposite directions, the following table of the sliding block 2 by straight line driving mechanism
The left and right both ends in face are fixedly connected with slide bar 3 respectively, and the arranged on left and right sides of sliding block 2 is symmetrically arranged with to installing holder (such as clamping hand, wheel
Son etc.) swing arm 4, the swing arm 4 is hinged with pedestal 1, is equipped with close to one end of sliding block 2 to accommodate slide bar 3 in swing arm 4
And the sliding slot 5 of sliding pair is constituted with slide bar 3.When the transversely opposite reciprocating motion of two sliding blocks 2, the slide bar 3 of 2 lower surface of sliding block
It is slidably connected with the sliding slot 5 in swing arm 4 and swing arm 4 is driven to rotate around pedestal 1, realize the transformation of 4 direction of motion of swing arm.
In the present embodiment, the straight line driving mechanism includes being horizontally set in 1 lower end of pedestal and driving rotation by Power Component 7
Bidirectional-screw 6, the Bidirectional-screw 6 includes two sections of oppositely oriented screw threads 8, and two sections of screw threads 8 distinguish screw threads and run through two cunnings
The middle part of block 2, the arranged on left and right sides of two-way lead screw 6 are symmetrically arranged with lateral guide rod 9, and the transverse direction guide rod 9 is slided respectively through two
Sliding block 2.Due to two sliding blocks 2 screw thread 8 bolt oppositely oriented with two sections on Bidirectional-screw 6 respectively, therefore work as Power Component 7
When Bidirectional-screw 6 being driven to rotate, Bidirectional-screw 6 can drive two sliding blocks 2 to move along a straight line in opposite directions.Preferably, in order to realize sliding block
With being threadedly engaged on Bidirectional-screw, the middle part of sliding block is equipped with the threaded hole extended transversely through, the threaded hole point in the middle part of two sliding blocks
It is not matched with two sections of screw threads on Bidirectional-screw；And in order to realize being slidably matched for sliding block and lateral guide rod, the left and right of sliding block
Both ends are respectively equipped with the sliding through hole extended transversely through, and lateral guide rod is through sliding through hole and constitutes sliding pair.
In the present embodiment, the Power Component 7 include power motor 10, synchronous toothed belt 11, active synchronization belt wheel 12 with
And driven synchronous pulley 13, the power motor 10 are mounted on the top surface rear end of pedestal 1, the output shaft of power motor 10 is fixedly connected with
Active synchronization belt wheel 12, the driven synchronous pulley 13 are connected firmly in the rear end of Bidirectional-screw 6, and driven synchronous pulley 13 and active are same
It is sequentially connected between step belt wheel 12 by synchronous toothed belt 11, to drive Bidirectional-screw 10 to rotate.
In the present embodiment, bearing fixed seat 14 is fixedly connected in the middle part of the bottom surface front and rear ends of the pedestal 1 respectively, it is described double
It is rotatablely connected respectively through angular contact ball bearing 15 and bearing fixed seat 14 to the both ends of screw rod 6；The both ends point of the transverse direction guide rod 9
It is not connected firmly with bearing fixed seat 14.Preferably, the bearing fixed seat positioned at pedestal front end is connected by screw to pedestal, is located at base
The bearing fixed seat of base rear end is integrally formed with pedestal.
In the present embodiment, the swing arm 4 includes connecting plate 16, and the connecting plate 16 is fixedly connected in one end close to sliding block 2
Bending plate 17 is fixedly connected with the mounting plate 18 to installing holder in one end far from sliding block 2, opens up use on the bending plate 17
With sliding slot 5 that is accommodating slide bar 3 and being constituted with slide bar sliding pair, the sliding slot 5 is strip, bending plate 17 and connecting plate 16 it
Between bending part in the middle part of be hinged with pedestal 1；The 18 semicircular in shape shape of mounting plate, the middle part of mounting plate 18 offers avoid holes
19, the edge of mounting plate 18 is equipped with the mounting hole 20 to assemble with clamper.Preferably, connecting plate, bending plate and installation
Plate is integrally formed.
In the present embodiment, shaft is fixedly connected with by screw in the middle part of the bending part between the bending plate 17 and connecting plate 16
21, the shaft 21 extends vertically through pedestal 1, is rotatablely connected between shaft and pedestal by needle roller thrust bearing.Preferably, institute
It states pedestal to be equipped in favor of the perforative ladder hole of shaft, the shaft is T-type shape, the horizontal segment bottom surface of the shaft and rank
It is equipped with gasket between the cascaded surface of terraced through-hole, is connected firmly in the middle part of the vertical section bottom surface of shaft by screw and bending part middle part.Due to
Swing arm is to realize releasable connection by screw and shaft, is not only convenient for assembling from different pedestals, but also can as needed with
Different clamper assembly, realizes multifunctional use.
In the present embodiment, the top of the pedestal 1 is equipped with pedestal end cap 22 in parallel, offers on the pedestal end cap 22 more
The aperture of a connecting hole 23 to be connected with other instruments (such as mechanical arm), multiple connecting holes can be difference, pedestal end cap
It is connected between 22 bottom surface and the top surface of pedestal 1 via several circumferentially distributed connecting rods 24.
In the present embodiment, the pedestal 1 and pedestal end cap 22 are octagonal shape.
In the present embodiment, when work, power motor 10 passes through active synchronization belt wheel 12, synchronous toothed belt 11 and driven same
Walking belt wheel 13 drives Bidirectional-screw 6 to rotate, and Bidirectional-screw 6 drives two sliding blocks 2 for being respectively at two sections of oppositely oriented screw threads 8
Synchronous transversely opposite reciprocating motion, each sliding block 2 are slidably connected simultaneously by the sliding slot 5 in the slide bar 3 of its lower surface and swing arm 4
Swing arm 4 is driven to rotate around pedestal 1, since there are four swing arms 1, and each swing arm 1 can be rotated by 90 °, and then can be realized 360
Spend all standing.
Another technical solution of the invention is: a kind of working method of the simple motion mechanism of the changeable direction of motion,
When work: Power Component driving Bidirectional-screw is rotated, and Bidirectional-screw driving is respectively at two sections of oppositely oriented screw threads
The synchronous transversely opposite reciprocating motion of two sliding blocks, the sliding slot on slide bar and swing arm that each sliding block passes through its lower surface, which slides, to be connected
It connects and swing arm is driven to rotate around pedestal, realize the transformation of swing arm motion direction.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (8)
1. a kind of simple motion mechanism of the changeable direction of motion, it is characterised in that: including pedestal, the lower end of the pedestal is equipped with
Two drive the sliding block transversely moved back and forth in opposite directions, the left and right both ends difference in the lower surface of the sliding block by straight line driving mechanism
It is fixedly connected with slide bar, the arranged on left and right sides of sliding block is symmetrically arranged with swing arm, and the swing arm is hinged with pedestal, close to sliding block in swing arm
One end is equipped with to accommodate sliding slot slide bar and with slide bar composition sliding pair.
2. a kind of simple motion mechanism of changeable direction of motion according to claim 1, it is characterised in that: the straight line
Driving mechanism includes being horizontally set with Bidirectional-screw in pedestal lower end and by Power Component driving rotation, and the Bidirectional-screw includes two
The oppositely oriented screw thread of section, two sections of screw thread difference screw threads run through the middle part of two sliding blocks, and the arranged on left and right sides of two-way lead screw is symmetrically set
There is lateral guide rod, the transverse direction guide rod is slided respectively through two sliding blocks.
3. a kind of simple motion mechanism of changeable direction of motion according to claim 2, it is characterised in that: the power
Component includes power motor, synchronous toothed belt, active synchronization belt wheel and driven synchronous pulley, and the power motor is mounted on base
The top surface rear end of seat, the output shaft of power motor are fixedly connected with active synchronization belt wheel, and the driven synchronous pulley is connected firmly in two-way silk
The rear end of bar is connected between driven synchronous pulley and active synchronization belt wheel by Synchronous Belt Drives, to drive Bidirectional-screw
Rotation.
4. a kind of simple motion mechanism of changeable direction of motion according to claim 2, it is characterised in that: the pedestal
Bottom surface front and rear ends in the middle part of be fixedly connected with bearing fixed seat respectively, the both ends of the Bidirectional-screw are respectively through angular contact ball bearing
It is rotatablely connected with bearing fixed seat；The both ends of the transverse direction guide rod are connected firmly with bearing fixed seat respectively.
5. a kind of simple motion mechanism of changeable direction of motion according to claim 1, it is characterised in that: the swing arm
Including connecting plate, the connecting plate in close to sliding block one end be fixedly connected with bending plate, in far from sliding block one end be fixedly connected with to
The mounting plate of installing holder opens up on the bending plate to sliding slot that is accommodating slide bar and constituting with slide bar sliding pair, curved
It is hinged in the middle part of bending part between folded plate and connecting plate with pedestal.
6. a kind of simple motion mechanism of changeable direction of motion according to claim 5, it is characterised in that: the bending
Shaft is fixedly connected with by screw in the middle part of bending part between plate and connecting plate, the shaft extends vertically through pedestal, shaft and base
It is rotatablely connected between seat by needle roller thrust bearing.
7. a kind of simple motion mechanism of changeable direction of motion according to claim 1, it is characterised in that: the pedestal
Top be equipped with pedestal end cap in parallel, the base end, which covers, offers multiple connecting holes to be connected with other instruments,
It is connected between the bottom surface of pedestal end cap and the top surface of pedestal via several circumferentially distributed connecting rods.
8. a kind of working method of the simple motion mechanism of the changeable direction of motion, it is characterised in that: including being wanted using such as right
Seek a kind of 1~7 described in any item simple motion mechanisms of the changeable direction of motion, when work: Power Component drives two-way silk
Bar is rotated, and two sliding blocks that Bidirectional-screw driving is respectively at two sections of oppositely oriented screw threads are synchronous transversely opposite reciprocal
Movement, the sliding slot on slide bar and swing arm that each sliding block passes through its lower surface are slidably connected and swing arm are driven to rotate around pedestal, real
Existing swing arm motion direction transformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910022314.4A CN109434824A (en) | 2019-01-10 | 2019-01-10 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910022314.4A CN109434824A (en) | 2019-01-10 | 2019-01-10 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
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| Publication Number | Publication Date |
|---|---|
| CN109434824A true CN109434824A (en) | 2019-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910022314.4A Pending CN109434824A (en) | 2019-01-10 | 2019-01-10 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
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| CN (1) | CN109434824A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817681A (en) * | 2019-11-27 | 2020-02-21 | 利辛县天鑫玻璃制品有限公司 | Former piece production hoisting structure of glass |
| CN111874245A (en) * | 2020-07-28 | 2020-11-03 | 深圳职业技术学院 | Unmanned aerial vehicle mounting device and unmanned aerial vehicle |
| CN113414727A (en) * | 2021-07-15 | 2021-09-21 | 嘉善逸林智能科技有限公司 | Locking stable clamping structure for machining of automobile tool |
| CN113501109A (en) * | 2021-07-30 | 2021-10-15 | 杭州电子科技大学 | Dock of active guiding unmanned ship and docking method |
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| JPH08282840A (en) * | 1995-04-15 | 1996-10-29 | Sankyo Seisakusho:Kk | Conveying device |
| CN108406734A (en) * | 2018-03-22 | 2018-08-17 | 海门协盈美术图案设计有限公司 | A kind of track machine people device |
| CN207837868U (en) * | 2017-09-29 | 2018-09-11 | 贵阳中医学院第一附属医院 | A kind of tcm internal medicine is into needle device |
| CN208133002U (en) * | 2017-12-13 | 2018-11-23 | 深圳市光速达机器人科技有限公司 | A kind of grasping mechanism and six axis robot |
| CN209380742U (en) * | 2019-01-10 | 2019-09-13 | 福州大学 | A kind of simple motion mechanism of the changeable direction of motion |
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2019
- 2019-01-10 CN CN201910022314.4A patent/CN109434824A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08282840A (en) * | 1995-04-15 | 1996-10-29 | Sankyo Seisakusho:Kk | Conveying device |
| CN207837868U (en) * | 2017-09-29 | 2018-09-11 | 贵阳中医学院第一附属医院 | A kind of tcm internal medicine is into needle device |
| CN208133002U (en) * | 2017-12-13 | 2018-11-23 | 深圳市光速达机器人科技有限公司 | A kind of grasping mechanism and six axis robot |
| CN108406734A (en) * | 2018-03-22 | 2018-08-17 | 海门协盈美术图案设计有限公司 | A kind of track machine people device |
| CN209380742U (en) * | 2019-01-10 | 2019-09-13 | 福州大学 | A kind of simple motion mechanism of the changeable direction of motion |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817681A (en) * | 2019-11-27 | 2020-02-21 | 利辛县天鑫玻璃制品有限公司 | Former piece production hoisting structure of glass |
| CN111874245A (en) * | 2020-07-28 | 2020-11-03 | 深圳职业技术学院 | Unmanned aerial vehicle mounting device and unmanned aerial vehicle |
| CN113414727A (en) * | 2021-07-15 | 2021-09-21 | 嘉善逸林智能科技有限公司 | Locking stable clamping structure for machining of automobile tool |
| CN113501109A (en) * | 2021-07-30 | 2021-10-15 | 杭州电子科技大学 | Dock of active guiding unmanned ship and docking method |
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