CN111660283A - Manipulator base of two dimension of high stability motion - Google Patents

Abstract

The application discloses a high-stability two-dimensional motion manipulator base, which includes a cylinder base plate, a concave lift plate, a motor, a cylinder fixed on the cylinder base plate, and two cylinder side baffles. A cylinder top plate is set between the top and inner sides of the baffles, and a fixed ball slider is fixedly installed on the inner side of each cylinder side baffle, and a sliding rod is threaded through the fixed ball slider; the hollow rotary table of the motor is fixedly installed in the concave The piston rod of the cylinder passes upward through the piston rod sliding hole of the cylinder top plate and is fixedly connected with the bottom of the concave lifting plate, and the sliding rod passes upward through the sliding rod through hole of the cylinder top plate and is fixedly connected to the bottom of the concave lifting plate. . In the manipulator base with two-dimensional motion of the present application, when the air inlet of the cylinder is ventilated, the piston rod of the cylinder moves upward and simultaneously drives the concave lift plate to move upward, and the hollow rotary table on the motor can realize circumferential rotation, It is a simple and stable manipulator base.

Description

A high-stability two-dimensional motion manipulator base

technical field

The invention relates to a high-stability two-dimensional movement manipulator base, which belongs to the field of mechanical automation.

Background technique

Generally speaking, the manipulator moves in three dimensions, which can be roughly divided into three modes: (1) movement using xyz three-axis coordinates, (2) movement using cylindrical coordinate system, (3) movement using spherical coordinate system . Among them, the first two are the most commonly used, in which the movement of the cylindrical coordinate system tends to generate large torque when it rotates in the axial direction, which causes the structure to shake.

SUMMARY OF THE INVENTION

In view of the above-mentioned technical problems existing in the prior art, the purpose of the present application is to provide a manipulator base with two-dimensional motion. The manipulator base of the present application has a stable structure, can control the manipulator to realize two-dimensional motion, and greatly improves the accuracy and stability of the manipulator operation. .

The manipulator base for high-stability two-dimensional motion is characterized in that it includes a cylinder base plate, a concave lift plate, a motor, a cylinder and two cylinder side baffles fixed on the cylinder base plate, and the two cylinder side baffles. The cylinder side baffles are symmetrically installed on both sides of the cylinder, and a cylinder top plate is fixedly installed between the top inner edges of the two cylinder side baffles. The ball slider is fixed with a sliding rod through the ball slider; the hollow rotary table of the motor is fixedly installed on the concave lifting plate;

The cylinder top plate is provided with a piston rod sliding hole matching the piston rod of the cylinder, and the cylinder top plate is also provided with a sliding rod through hole matching the sliding rod, and the number of the sliding rod through holes is the same as the number of the sliding rods; At the same time that the piston rod of the cylinder passes upwards through the piston rod sliding hole of the cylinder top plate and is fixedly connected with the bottom of the concave lift plate, the sliding rod slid through the fixed ball slider upwards passes through the sliding rod through hole of the cylinder top plate and is connected with the concave lifting plate. The bottom of the shaped lifting plate is fixedly connected, and the concave lifting plate is horizontally fixed and installed directly above the top plate of the cylinder;

When the piston rod of the cylinder drives the concave lift plate to move up and down, the sliding rod fixedly connected at the bottom of the concave lift plate moves up and down smoothly in the slide rod through hole of the cylinder top plate and the fixed ball slider to ensure the concave lift The stability of the plate movement process.

The manipulator base with high stability and two-dimensional motion is characterized in that a first cylinder limit block and a second cylinder limit block are fixedly arranged on the cylinder bottom plate, and the first cylinder limit block Both the limit block and the second cylinder have an L-shaped structure. The first cylinder limit block and the second cylinder limit block are enclosed on the cylinder bottom plate to form a square limit frame that matches the shape of the bottom of the cylinder; the bottom of the cylinder It is tightly inserted in the square limit frame to realize the fixed installation of the cylinder on the cylinder bottom plate; an opening is also provided on one side of the square limit frame, so that the cylinder is connected to the intake pipe.

The manipulator base with high stability and two-dimensional motion is characterized in that a stepped groove is provided on the inner edge of the top of each cylinder side baffle plate, and the cylinder top plate is placed horizontally on the inner side of the two cylinder side baffle plates. between the stepped grooves, and the cylinder top plate and the two cylinder side baffles are connected and fixed by bolts.

The manipulator base with high stability and two-dimensional motion is characterized in that a sliding rod bearing is fixedly installed under each sliding rod through hole of the cylinder top plate, and the inner diameter of the sliding rod bearing is the same as the inner diameter of the fixed ball slider and the sliding rod. The diameters of the through holes are the same. After the sliding rod slidably penetrated in the fixed ball slider is fitted upward through the sliding rod bearing, it passes upward through the sliding rod through hole of the cylinder top plate and is fixedly connected with the bottom of the concave lifting plate.

The manipulator base with high stability two-dimensional movement is characterized in that the upper end of the sliding rod is provided with male threads, the concave lifting plate is provided with matching threaded holes, and the upper end of the sliding rod is provided with the threaded holes on the concave lifting plate. Fit the threaded connection and fix it with the matching nut.

The manipulator base with high stability and two-dimensional motion is characterized in that the cylinder top plate is an I-shaped plate structure, and the I-shaped plate includes four corner ends; the center of the cylinder top plate is provided with the piston rod sliding hole. , the cylinder top plate is provided with 4 sliding rod through holes, each sliding rod through hole is provided with a sliding rod, and the 4 sliding rod through holes are respectively arranged on the 4 corner ends of the cylinder top plate, And the four sliding rod through holes are arranged and distributed in four vertices of a regular quadrilateral.

The manipulator base with high stability and two-dimensional motion is characterized in that two fixed ball sliders that are close to each other are pierced through each sliding rod.

The manipulator base with high stability and two-dimensional motion is characterized in that a concave groove is provided on the upper surface of the concave lifting plate, and the hollow rotary table of the motor is matched and clamped in the concave groove on the upper surface of the concave lifting plate, And the hollow rotary table of the motor is provided with threaded holes, and the hollow rotary table of the motor is fixedly installed in the concave groove on the upper surface of the concave lifting plate by matching bolts.

In the high-stability two-dimensional motion manipulator base provided by the present application, when the air inlet of the cylinder is ventilated, the piston rod of the cylinder moves upward, and the piston rod moves upward at the same time as it drives the concave lift plate to move upward to realize the movement in the Z direction . At the same time, the hollow rotary table of the motor can be clamped on the concave lifting plate and fixed by bolts, and the hollow rotary table on the motor can realize circumferential rotation, which is a simple and stable manipulator base.

Description of drawings

1 is a perspective view of a manipulator base for high-stability two-dimensional motion of the present invention;

Fig. 2 is the front view of the manipulator base of the high stability two-dimensional movement of the present invention;

Fig. 3 is the side view of the manipulator base of the high stability two-dimensional movement of the present invention;

In the picture: 1- Cylinder base plate, 2- First cylinder limit stop, 3- Second cylinder limit stop, 4- Cylinder, 5- Cylinder side baffle, 6- Slide rod, 7- Fixed ball slide block, 8-slide rod bearing, 9-cylinder top plate, 10-concave lift plate, 11-motor.

Detailed ways

In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the embodiments and the accompanying drawings, and the content mentioned in the embodiments does not limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

Example: Compare Figures 1-3

A high-stability two-dimensional motion manipulator base includes a cylinder base plate 1 , a concave lift plate 10 , a motor 11 , a cylinder 4 and two cylinder side baffles 5 fixedly arranged on the cylinder base plate 1 . 1, two cylinder side baffles 5 are symmetrically installed on the left and right sides of the cylinder 4, a cylinder top plate 9 is fixedly installed between the top inner edges of the two cylinder side baffles 5, and each cylinder side baffle 5. A fixed ball slider 7 is fixedly installed on the inner side near the top plate 9 of the cylinder, and a sliding rod 6 is threaded through the fixed ball slider 7, that is, the fixed ball slider 7 is provided with a sliding rod 6. Through holes, the sliding rod 6 is fitted through the through holes of the fixed ball slider 7 .

The cylinder top plate 9 is provided with a piston rod sliding hole that matches the piston rod of the cylinder 4, and the cylinder top plate 9 is also provided with a sliding rod through hole matching the sliding rod 6, and the number of sliding rod through holes is the same as that of the sliding rod 6. The number is the same; while the piston rod of the cylinder 4 passes upward through the piston rod sliding hole of the cylinder top plate 9 and is fixedly connected to the bottom of the concave lift plate 10, the sliding rod 6 that slides through the fixed ball slider 7 passes upward through the cylinder top plate. The sliding rod through hole of The hollow rotary table of the motor 11 is fitted into the concave groove on the upper surface of the concave lifting plate 10, and the hollow rotary table of the motor 11 is provided with threaded holes, and the hollow rotary table of the motor 11 is fixedly installed on the concave lifting plate by matching bolts. 10 in the concave groove on the upper surface.

1 and 2, the cylinder base plate 1 is provided with a plurality of threaded holes, and the first cylinder limit block 2 and the second cylinder limit block 3 can be connected to the cylinder base plate 1 by bolts. The shape of the bottom of the cylinder 4 is square. In order to fix the cylinder 4 on the cylinder base plate 1, the following methods can be used: the first cylinder limit stop 2 and the second cylinder limit stop 3 are both L-shaped structures. The first cylinder limit block 2 and the second cylinder limit block 3 are enclosed on the cylinder bottom plate 1 to form a square limit frame that matches the shape of the bottom of the cylinder 4; the bottom of the cylinder 4 is tightly inserted into the square limit. In the frame, the fixed installation of the cylinder 4 on the cylinder base plate 1 is realized.

In addition, in order to facilitate the connection of the lower air inlet of the cylinder 4 to the air intake pipe, an opening needs to be punched on the first cylinder limit stop 2 or the second cylinder limit stop 3, so that an opening of the square limit frame is formed. The sides are also provided with openings. The intake pipe can be connected to the lower intake port of the cylinder 4 through the opening on one side of the square limit frame.

As mentioned, the cylinder 4 has two upper and lower ports, namely the upper air inlet and the lower air inlet. The intake air at the lower intake port of cylinder 4 pushes the piston rod up, and the intake air at the upper intake port of cylinder 4 pushes the piston rod down, which controls the rise and fall of the cylinder piston rod.

A stepped groove is provided on the top inner edge of each cylinder side baffle plate 5, and the cylinder top plate 9 is placed horizontally between the stepped grooves on the inner side of the two cylinder lateral baffle plates 5, which can effectively prevent the piston rod of the cylinder 4 from falling to the ground. At the lowest point, the motor interferes with the cylinder top plate. The cylinder top plate 9 and the two cylinder side baffles 5 are connected and fixed by bolts.

1, the cylinder top plate 9 is an I-shaped plate structure, and the I-shaped plate includes 4 corner ends; the cylinder top plate 9 is provided with a piston rod sliding hole in the center, and the cylinder top plate 9 is provided with 4 described piston rods. Each of the sliding rod through holes is provided with a sliding rod 6, and the 4 sliding rod through holes are respectively arranged on the 4 corner ends of the cylinder top plate 9, and the 4 sliding rod through holes are connected to each other. The holes are distributed at the 4 vertices of a regular quadrilateral.

A sliding rod bearing 8 is fixedly installed under each sliding rod through hole of the cylinder top plate 9. The inner diameter of the sliding rod bearing 8 is the same as the inner diameter of the fixed ball slider 7 and the diameter of the sliding rod through hole. The fixed ball sliding block 7 slides through it. After the sliding rod 6 is fitted upward through the sliding rod bearing 8 , it passes upward through the sliding rod through hole of the cylinder top plate 9 and is fixedly connected with the bottom of the concave lifting plate 10 . The sliding rod bearing 8 can resist the reaction torque caused by driving the entire mechanism when the motor rotates, and enhance the stability of the entire mechanism. 1, the four sliding rod bearings 8 can be respectively installed and fixed under the four corner ends of the cylinder top plate by means of bolts.

3, the upper end of the sliding rod 6 is provided with a male thread, the concave lifting plate 10 is provided with a matching threaded hole, the upper end of the sliding rod 6 is threadedly connected with the threaded hole on the concave lifting plate 10, and is threaded through the adapted The nut is fixed to prevent the connection between the sliding rod 6 and the concave lifting plate 10 from loosening.

1-2, each sliding rod 6 is provided with two fixed ball sliders 7 that are close to each other.

When the piston rod of the cylinder 4 drives the concave lift plate 10 to move up and down, the sliding rod 6 fixedly connected at the bottom of the concave lift plate 10 is in the slide rod through hole of the cylinder top plate 9, the slide rod bearing 8 and the fixed ball slider 7. Smooth up and down sliding is performed to ensure the stability of the moving process of the concave lift plate 10 .

The hollow rotary table of the motor is to convert the original motor into the rotation of the inner ring of the rotary table through the reducer, and the hollow rotary table of the motor can be connected with the manipulator structure that moves in another dimension, so the present invention can be used as other manipulator structures. The carrier greatly enhances the developability and interchangeability of the manipulator structure.

The content described in this specification is only an enumeration of the realization forms of the inventive concept, and the protection scope of the present invention should not be regarded as being limited to the specific forms stated in the embodiments.

Claims (8)

1. The manipulator base is characterized by comprising a cylinder bottom plate (1), a concave lifting plate (10), a motor (11), a cylinder (4) and two cylinder side baffles (5), wherein the cylinder (4) and the two cylinder side baffles (5) are fixedly arranged on the cylinder bottom plate (1), the two cylinder side baffles (5) are symmetrically arranged on two sides of the cylinder (4), a cylinder top plate (9) is fixedly arranged between the inner side edges of the tops of the two cylinder side baffles (5), a fixed ball sliding block (7) is fixedly arranged on the inner side of each cylinder side baffle (5) close to the cylinder top plate (9), and a sliding rod (6) is arranged in the fixed ball sliding block (7) in a matched and sliding mode; a hollow rotating platform of a motor (11) is fixedly arranged on the concave lifting plate (10);

a piston rod sliding hole matched with a piston rod of the air cylinder (4) is formed in the air cylinder top plate (9), slide rod through holes matched with the slide rods (6) are further formed in the air cylinder top plate (9), and the number of the slide rod through holes is the same as that of the slide rods (6); a piston rod of the air cylinder (4) upwards penetrates through a piston rod sliding hole of an air cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10), meanwhile, a sliding rod (6) which is slidably arranged in the fixed ball sliding block (7) in a penetrating way upwards penetrates through a sliding rod through hole of the air cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10), and the concave lifting plate (10) is horizontally and fixedly arranged right above the air cylinder top plate (9);

when a piston rod of the air cylinder (4) drives the concave lifting plate (10) to move up and down, a slide rod (6) fixedly connected with the bottom of the concave lifting plate (10) slides up and down stably in a slide rod through hole of an air cylinder top plate (9) and a fixed ball slide block (7), so that the stability of the moving process of the concave lifting plate (10) is ensured.

2. The manipulator base with high stability and two-dimensional motion is characterized in that a first cylinder limit stop (2) and a second cylinder limit stop (3) are fixedly arranged on a cylinder base plate (1), the first cylinder limit stop (2) and the second cylinder limit stop (3) are both in an L-shaped structure, and the first cylinder limit stop (2) and the second cylinder limit stop (3) are arranged on the cylinder base plate (1) in a surrounding manner to form a square limit frame matched with the shape of the bottom of a cylinder (4); the bottom of the air cylinder (4) is matched and tightly inserted into the square limiting frame, so that the air cylinder (4) is fixedly installed on the air cylinder bottom plate (1); one side of the square limiting frame is also provided with an opening so that the air cylinder (4) is connected with an air inlet pipe.

3. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein 1 step groove is formed in the inner edge of the top of each cylinder side baffle (5), the cylinder top plate (9) is horizontally placed between the step grooves in the inner sides of the two cylinder side baffles (5), and the cylinder top plate (9) and the two cylinder side baffles (5) are fixedly connected through bolts.

4. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein a slide rod bearing (8) is fixedly installed below each slide rod through hole of the cylinder top plate (9), the inner diameter of the slide rod bearing (8) is the same as the inner diameter of the fixed ball slide block (7) and the diameter of the slide rod through hole, and the slide rod (6) which is slidably inserted in the fixed ball slide block (7) upwards penetrates through the slide rod bearing (8) in a matched manner, then upwards penetrates through the slide rod through hole of the cylinder top plate (9) and is fixedly connected with the bottom of the concave lifting plate (10).

5. The manipulator base with high stability and two-dimensional motion is characterized in that the upper end of the slide rod (6) is provided with male threads, the concave lifting plate (10) is provided with matched threaded holes, and the upper end of the slide rod (6) is in matched threaded connection with the threaded holes in the concave lifting plate (10) and is fixed through matched nuts.

6. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein the cylinder top plate (9) is of an I-shaped plate structure, and the I-shaped plate comprises 4 angular ends; the center of the cylinder top plate (9) is provided with one piston rod slide hole, 4 slide rod through holes are formed in the cylinder top plate (9), 1 slide rod (6) is arranged on each slide rod through hole in a penetrating mode, 4 slide rod through holes are arranged at 4 corners of the cylinder top plate (9) respectively, and the 4 slide rod through holes are arranged on 4 vertexes of a regular quadrangle.

7. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein each slide rod (6) is externally provided with 2 fixed ball sliders (7) closely adjacent to each other.

8. The manipulator base with high stability and two-dimensional motion as claimed in claim 1, wherein the concave lifting plate (10) has a concave groove on its upper surface, the hollow rotating platform of the motor (11) is engaged and clamped in the concave groove on the upper surface of the concave lifting plate (10), and the hollow rotating platform of the motor (11) has a threaded hole, and the hollow rotating platform of the motor (11) is fixedly mounted in the concave groove on the upper surface of the concave lifting plate (10) by means of a mating bolt.

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