CN204117591U - A kind of CD mobile manipulator mechanism - Google Patents
A kind of CD mobile manipulator mechanism Download PDFInfo
- Publication number
- CN204117591U CN204117591U CN201420627084.7U CN201420627084U CN204117591U CN 204117591 U CN204117591 U CN 204117591U CN 201420627084 U CN201420627084 U CN 201420627084U CN 204117591 U CN204117591 U CN 204117591U
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- China
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- briquetting
- connecting base
- transmission shaft
- riser
- upper connecting
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Abstract
A kind of CD mobile manipulator mechanism, it relates to a kind of manipulator mechanism.The problem that the utility model easily causes CD card to wear and tear to solve the artificial movement of existing CD between feed bin and recording optical driver.The utility model upper connecting base is fixedly connected with the actuating station of mechanical arm, direct current generator is fixedly mounted on upper connecting base, transmission shaft is fixedly connected on the output terminal of direct current generator, sleeve set is on transmission shaft, bearing seat is connected with transmission shaft, the lower end of transmission shaft is connected with cam, riser is fixedly connected with the lower end of bearing seat with cover plate, base plate is fixedly mounted on the lower end of riser and cover plate, sliding axle level is arranged on the madial wall of riser, first briquetting and the second briquetting Moveable-jacket are contained on sliding axle, cam is connected by the first steel ball and the second steel ball with between the first briquetting and the second briquetting, proximity switch is connected with upper connecting base by lower connecting base.The utility model is used for CD and moves.
Description
Technical field
The utility model relates to a kind of manipulator mechanism, is specifically related to a kind of CD mobile manipulator mechanism.
Background technology
At large data age, the expansion of data volume causes googol according to storage pressure, at present, is that the huge capacity compact discs memory technology of representative well solves this difficulty with Blu-ray Disc.Every 1000 optical disc storage abilities are 1024TB, and can save the memory space of 50% and the power consumption of 80% relative to traditional hard-disc storage, the holding time then extends to 50 years.But a large amount of data must bring the copy work of a large amount of CD, and are usually attended by the privacy requirements of inhuman operation.At present, CD adopts artificial mobile between feed bin and recording optical driver, easily causes the problem that CD card is worn and torn.
Utility model content
The purpose of this utility model is the problem easily causing CD card to wear and tear to solve the artificial movement of existing CD between feed bin and recording optical driver.And then a kind of CD mobile manipulator mechanism is provided.
The technical solution of the utility model is: a kind of CD mobile manipulator mechanism comprises direct current generator, flange, proximity switch, transmission shaft, sleeve, bearing seat, first steel ball, first briquetting, shaft coupling, upper connecting base, head bearing, lower bearing, riser, cover plate, base plate, lower connecting base, second steel ball, second briquetting, cam and two sliding axles, upper connecting base is fixedly connected with the actuating station of mechanical arm by shaft coupling, direct current generator is fixedly mounted on upper connecting base by flange, transmission shaft is fixedly connected on the output terminal of direct current generator, sleeve set is on transmission shaft, bearing seat is connected with transmission shaft with lower bearing by head bearing, the lower end of transmission shaft is connected with cam, riser is fixedly connected with the lower end of bearing seat with cover plate, the space structure that the lower end composition that base plate is fixedly mounted on riser and cover plate is closed, sliding axle level is arranged on the madial wall of riser, first briquetting and the second briquetting respectively Moveable-jacket are contained on a sliding axle, and cover plate is stretched out in the lower end of the first briquetting and the second briquetting, cam is connected by the first steel ball and the second steel ball with between the first briquetting and the second briquetting, proximity switch is connected with upper connecting base by lower connecting base.
The utility model compared with prior art has following effect:
The utility model provides CD mobile manipulator mechanism, realize the crawl of CD by controlling a direct current generator and unclasp operation, and there is good action movement characteristic and the stability of operation, and the precise positioning of mechanical arm and CD relative distance is ensure that by proximity switch, achieve the stable crawl of CD, improve the accuracy of Robot actions.This mechanism is light and handy, precision is high, and what coordinate Cartesian robot arm to can be good at realizing CD in certain space accurately picks and places task, and efficiency improves 50-60%, owing to avoiding as people moves, carries out realizing the not damaged to CD.
Accompanying drawing explanation
Fig. 1 is the first briquetting of the present utility model or the second briquetting one-piece construction schematic diagram.Fig. 2 is the left view of Fig. 1.Fig. 3 is the side view of Fig. 1.Fig. 4 is axonometric drawing of the present utility model.Fig. 5 is side view of the present utility model.Fig. 6 is cut-open view of the present utility model.
Embodiment
Embodiment one: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6 illustrates present embodiment, and a kind of CD mobile manipulator mechanism of present embodiment comprises direct current generator 1, flange 2, proximity switch 3, transmission shaft 4, sleeve 5, bearing seat 6, first steel ball 7, first briquetting 8, shaft coupling 9, upper connecting base 10, head bearing 11, lower bearing 12, riser 13, cover plate 14, base plate 15, lower connecting base 16, second steel ball 17, second briquetting 19, cam 20 and two sliding axles 21, upper connecting base 10 is fixedly connected with the actuating station of mechanical arm by shaft coupling 9, direct current generator 1 is fixedly mounted on upper connecting base 10 by flange 2, transmission shaft 4 is fixedly connected on the output terminal of direct current generator 1, sleeve 5 is sleeved on transmission shaft 4, bearing seat 6 is connected with transmission shaft 4 with lower bearing 12 by head bearing 11, the lower end of transmission shaft 4 is connected with cam 20, riser 13 is fixedly connected with the lower end of cover plate 14 with bearing seat 6, the space structure that the lower end composition that base plate 15 is fixedly mounted on riser 13 and cover plate 14 is closed, sliding axle 21 level is arranged on the madial wall of riser 13, first briquetting 8 and the second briquetting 19 respectively Moveable-jacket are contained on a sliding axle 21, and cover plate 14 is stretched out in the lower end of the first briquetting 8 and the second briquetting 19, cam 20 is connected by the first steel ball 7 and the second steel ball 17 with between the first briquetting 8 and the second briquetting 19, proximity switch 3 is connected with upper connecting base 10 by lower connecting base 16.
The mechanical arm of present embodiment is fixed on the actuating station of mechanical arm by shaft coupling, general with Cartesian robot arm with the use of, the positioning action of mechanical arm execution mechanical arm, thus realize the loading or unloading operation of CD in certain space.
The action of the mechanical arm of present embodiment is by a DC motor Driver, and motor is fixed on upper connecting base by ring flange, and transmission shaft is fixed on the output shaft of motor, and output shaft is fixed on bearing seat by head bearing and lower bearing, and the other end and cam are connected.Proximity switch is fixed on the right side of bearing seat, for the degree of closeness of perception actuating station and CD.Riser and cover plate are fixed on bearing seat bottom surface, and base plate is connected by screw and riser and cover plate, forms enclosed construction thus, makes this mechanical arm have good leakproofness.
Embodiment two: composition graphs 4 and Fig. 6 illustrate present embodiment, the CD mobile manipulator mechanism of present embodiment also comprises the first copper sheathing 18 and the second copper sheathing 22, first briquetting 8 and the second briquetting 19 are contained on sliding axle 21 respectively by the first copper sheathing 18 and the second copper sheathing 22 Moveable-jacket, and the first briquetting 8 is identical with the structure of the second briquetting 19.Setting like this, sliding axle is fixed on two cover plates, first copper sheathing 18 and the second copper sheathing 22 are embedded into the slip axis hole of the first briquetting 8 and the second briquetting 19 respectively, thus constitute the line slide rail of two briquettings, are realized the change of the spacing of two slide blocks by the slip on line slide rail.Other composition is identical with embodiment one with annexation.
Embodiment three: composition graphs 1, Fig. 2 and Fig. 3 illustrate present embodiment, the upper surface of the first briquetting 8 of present embodiment has ball orbit groove 23, the lower surface of the first briquetting 8 is provided with semi-circular boss 24, the thickness of described semi-circular boss 24 is 1mm, first briquetting 8 has slip axis hole 25, and slip axis hole 25 is vertical with ball orbit groove 23, between the first briquetting 8 between slip axis hole 25 and semi-circular boss 24, offer through hole 26.Setting like this, because the boss of briquetting will contact with CD as actuating station in Robot actions process, therefore base plate adopts hollow out design to make its semicircle boss expose base plate, avoids interferenceing with the motion of boss simultaneously.Other composition is identical with embodiment one or two with annexation.
The thickness of the semi-circular boss 24 of present embodiment is 1mm.When running into multiple CDs and being attached together, the lower surface of the first briquetting is provided with the thickness that semi-circular boss is less than a CD, and then has position-limiting action, ensures once to get a CD.
The quantity of the through hole 26 of present embodiment is 1 or 2.
Embodiment four: composition graphs 4 and Fig. 6 illustrate present embodiment, the proximity switch 3 of present embodiment is vertically connected with upper connecting base 10 by lower connecting base 16.Setting like this, the perception end of proximity switch is perpendicular to disc plane, and when arriving desired distance, proximity switch sends pulse command, thus accurately control the vertical range of Robot actions end and CD, only capture a CD while ensureing effectively to capture CD at every turn.Other composition and annexation and embodiment one, two or three identical.
Using method of the present utility model is as follows:
In this Robot actions process, the distance of sense operation end and CD is carried out by the proximity switch be fixed on mechanical arm, the perception end of proximity switch is perpendicular to disc plane, when arriving desired distance 2mm, proximity switch sends pulse command braking drive motor to controller, thus accurately control the vertical range of Robot actions end and CD, only capture a CD while ensureing effectively to capture CD at every turn.After the positioning action of mechanical arm terminates, then perform grasping manipulation.After receiving crawl instruction, direct current generator rotates corresponding angle, thus drives the angle that drive axis is identical, and the other end and the cam of driving shaft connect firmly, and therefore cam also rotates identical angle.Because the elliptical orbit groove of cam bottom surface and the linear pattern rail groove of the first briquetting and the second briquetting constitute the track that the first ball and the second ball roll respectively, and the relative position of the first ball and the second ball and two tracks are all relative to the axis centre symmetry of cam, therefore, drive the first ball and the second ball to be synchronized with the movement when cam rotates, and direction of motion is contrary, thus drive the first briquetting and the second briquetting to slide in the opposite direction along sliding axle, and it is equal relative to the size moment of the Distance geometry speed of camshaft line, thus, the relative motion of the first briquetting and the second briquetting is achieved by a motor, and motion has good synchronism, the size of Distance geometry speed has good consistance, not only reduce the quantity of motor, and ensure that paw operates good kinetic characteristic and the stability of operation, improve the performance that paw captures and unclasps.When paw performs grasping manipulation, on the basis that the first briquetting and the second briquetting prima facies are adjusted the distance, motion increases relative distance laterally simultaneously, when the endoporus close contact of two semi-circular boss and CD, then can be stable clamp CD, and only capture a CD because the accurate control of mechanical arm and CD position ensure that at every turn; When paw execution unclasps operation, on the basis that the first briquetting and the second briquetting prima facies are adjusted the distance, motion reduces relative distance to the inside simultaneously, when two semi-circular boss do not contact with the endoporus of CD, then can unclasp CD.
Although the utility model discloses as above with preferred embodiment; but and be not used to limit of the present utility model; those skilled in the art can also do other changes in the utility model spirit; and be applied in the NM field of the utility model; certainly, these changes done according to the utility model spirit all should be included in the utility model scope required for protection.
Claims (4)
1. a CD mobile manipulator mechanism, it is characterized in that: comprise direct current generator (1), flange (2), proximity switch (3), transmission shaft (4), sleeve (5), bearing seat (6), first steel ball (7), first briquetting (8), shaft coupling (9), upper connecting base (10), head bearing (11), lower bearing (12), riser (13), cover plate (14), base plate (15), lower connecting base (16), second steel ball (17), second briquetting (19), cam (20) and two sliding axles (21), upper connecting base (10) is fixedly connected with the actuating station of mechanical arm by shaft coupling (9), direct current generator (1) is fixedly mounted on upper connecting base (10) by flange (2), transmission shaft (4) is fixedly connected on the output terminal of direct current generator (1), sleeve (5) is sleeved on transmission shaft (4), bearing seat (6) is connected with transmission shaft (4) with lower bearing (12) by head bearing (11), the lower end of transmission shaft (4) is connected with cam (20), riser (13) is fixedly connected with the lower end of cover plate (14) with bearing seat (6), the space structure that the lower end composition that base plate (15) is fixedly mounted on riser (13) and cover plate (14) is closed, sliding axle (21) level is arranged on the madial wall of riser (13), first briquetting (8) and the second briquetting (19) respectively Moveable-jacket are contained on a sliding axle (21), and cover plate (14) is stretched out in the lower end of the first briquetting (8) and the second briquetting (19), cam (20) is connected by the first steel ball (7) and the second steel ball (17) with between the first briquetting (8) and the second briquetting (19), proximity switch (3) is connected with upper connecting base (10) by lower connecting base (16).
2. a kind of CD mobile manipulator mechanism according to claim 1, it is characterized in that: described CD mobile manipulator mechanism also comprises the first copper sheathing (18) and the second copper sheathing (22), first briquetting (8) and the second briquetting (19) are contained on sliding axle (21) respectively by the first copper sheathing (18) and the second copper sheathing (22) Moveable-jacket, and the first briquetting (8) is identical with the structure of the second briquetting (19).
3. a kind of CD mobile manipulator mechanism according to claim 1 and 2, it is characterized in that: the upper surface of described first briquetting (8) has ball orbit groove (23), the lower surface of the first briquetting (8) is provided with semi-circular boss (24), the thickness of described semi-circular boss (24) is 1mm, first briquetting (8) has slip axis hole (25), and slip axis hole (25) is vertical with ball orbit groove (23), through hole (26) is offered between the first briquetting (8) between slip axis hole (25) and semi-circular boss (24).
4. a kind of CD mobile manipulator mechanism according to claim 1, is characterized in that: described proximity switch (3) is vertically connected with upper connecting base (10) by lower connecting base (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420627084.7U CN204117591U (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420627084.7U CN204117591U (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204117591U true CN204117591U (en) | 2015-01-21 |
Family
ID=52334881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420627084.7U Withdrawn - After Issue CN204117591U (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204117591U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275697A (en) * | 2014-10-27 | 2015-01-14 | 哈尔滨众德合创智能装备有限责任公司 | Mechanical arm mechanism for moving compact disc (CD) |
-
2014
- 2014-10-27 CN CN201420627084.7U patent/CN204117591U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275697A (en) * | 2014-10-27 | 2015-01-14 | 哈尔滨众德合创智能装备有限责任公司 | Mechanical arm mechanism for moving compact disc (CD) |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150121 Effective date of abandoning: 20160622 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |