CN204123398U - Actuating unit and comprise its robot device - Google Patents
Actuating unit and comprise its robot device Download PDFInfo
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- CN204123398U CN204123398U CN201420561315.9U CN201420561315U CN204123398U CN 204123398 U CN204123398 U CN 204123398U CN 201420561315 U CN201420561315 U CN 201420561315U CN 204123398 U CN204123398 U CN 204123398U
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- 238000004519 manufacturing process Methods 0.000 abstract description 6
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Abstract
The utility model discloses a kind of actuating unit, it comprises: swing unit, and it is installed on the output shaft of driver element; First sliding unit, it is slidably connected on sliding surface, and this sliding surface is positioned at the bottom of this first sliding unit; Second sliding unit, it is installed on swing unit, and this second sliding unit is also slidably connected with the first sliding unit simultaneously, the glide direction of this second sliding unit and the glide direction of the first sliding unit perpendicular.The utility model additionally provides a kind of robot device comprising this actuating unit simultaneously.The utility model is compared to prior art, and it improves the synchronism of multi-direction motion effectively, and the kinematic accuracy of parts and sport efficiency are also all improved; Structure of the present utility model is also comparatively simple simultaneously, mainly includes three large parts, no matter is manufacturing cost in earlier stage or the maintenance cost in later stage, can be reduced compared to traditional mechanism.
Description
Technical field
The utility model relates to the actuating unit for driver part motion in a kind of mechanical field, is specifically related to a kind of actuating unit and comprises its robot device.
Background technology
During modern industry is produced, along with popularizing of automation equipment, the automaticity of production is also just more and more higher.
Producing the factors such as pollution to the impact of product fraction defective to reduce artificial contact product, mostly adopting some manipulators or miscellaneous part to replace staff in current production and carrying out feeding.For the power resources of these parts, be all mostly adopt the driver element such as motor, cylinder multi-direction in conjunction with some on slide mechanism to drive the motion on these parts different directions, thus coordinate and form the operation such as feeding, discharging.
The weak point of the mechanism of current this kind of formation power resources is mainly manifested in 2 points: first, parts motion in all directions is all independently carried out, vertically rise as first allowed parts, slide along horizontal direction again, so just cause the synchronism that parts move in a plurality of directions poor, the problem of this synchronism then directly can cause the kinematic accuracy problem of parts, and also can affect the sport efficiency of parts; Secondly, in order to form the motion of multiple directions, current mechanism is constructively general all comparatively complicated, and complicated structure not only makes manufacturing cost increase, and too increases the maintenance cost in later stage simultaneously.
Utility model content
In order to solve the problems of the technologies described above, the utility model provide a kind of improve the multi-direction motion of parts synchronism and the simple actuating unit of structure, the utility model additionally provides a kind of robot device comprising this actuating unit simultaneously.
In order to achieve the above object, the technical solution of the utility model is as follows:
Actuating unit, comprises driver element, and this actuating unit also comprises:
Swing unit, it is installed on the output shaft of driver element;
First sliding unit, it is slidably connected on sliding surface, and this sliding surface is positioned at the bottom of this first sliding unit;
Second sliding unit, it is installed on swing unit, and this second sliding unit is also slidably connected with the first sliding unit simultaneously, the glide direction of this second sliding unit and the glide direction of the first sliding unit perpendicular.
Actuating unit of the present utility model mainly comprises driver element, swing unit, first sliding unit and several large part of the second sliding unit, by the driving effect of driver element, as stretched by the rotating of motor or the piston rod of cylinder, swing arm unit is driven to do circular motion (when being namely similar to, hand of a clock is the same swings to both sides), the circular motion of swing arm unit drives the second sliding unit to slide along the first sliding unit, while second sliding unit slides along the first sliding unit, because swing arm unit is to the swing effect of both sides, the first sliding unit also can be driven to slidably reciprocate along the sliding surface bottom it.The slip of the first sliding unit and the second sliding unit is all brought by the swing effect of swing unit, and swing unit, between the second sliding unit and the first sliding unit, define the effect be in transmission connection successively, finally make multidirectional motion focus on the second sliding unit, thus it is synchronous that multidirectional motion is formed.
By above-mentioned operation principle, can see, swing unit, the first sliding unit and the second sliding unit have been carried out organic assembling and integration by the utility model, use the swing effect of swing unit, multidirectional motion is formed synchronously, makes the combination of swing unit, the first sliding unit and the second sliding unit create beyond thought effect.
Therefore, the utility model is compared to prior art, and it improves the synchronism of multi-direction motion effectively, and the kinematic accuracy of parts and sport efficiency are also all improved; Structure of the present utility model is also comparatively simple simultaneously, mainly includes three large parts, no matter is manufacturing cost in earlier stage or the maintenance cost in later stage, can be reduced compared to traditional mechanism.
On the basis of technique scheme, the utility model can also do following improvement:
As preferred scheme, the first above-mentioned sliding unit has body and is connected to the bending part on this body, and this body and the second sliding unit are slidably connected, and this bending part and sliding surface are slidably connected.
Adopt above-mentioned preferred scheme, the first sliding unit is made to form the structure of " L " shape, the area that is slidably connected of itself and sliding surface is made to be able to larger, this technical scheme can make the connection of the second sliding unit more firm on the surface, but its better effect is, by the structure of this " L " shape, the slip of the first sliding unit and the second sliding unit is independent of each other, guarantee motion synchronicity while, can also make multi-direction on sport efficiency be able to further raising.
As preferred scheme, above-mentioned sliding surface and/or the first sliding unit are provided with sensing unit, for when the first sliding unit and/or the second sliding unit move to this sensing unit, form the induced signal stopping for controlling driver element or start.
Adopt above-mentioned preferred scheme, by the drived control effect that sensing unit stops driver element or starts, make the motion of this actuating unit can form origin position or the extreme position of multi-direction motion with virtual form, by this technical scheme, make this actuating unit effectively spacing without the need to what arrange that any stopping means can form driver element and each sliding unit.
As preferred scheme, above-mentioned sensing unit is the reeded structure of tool, the first sliding unit and/or the second sliding unit coordinates this groove to be provided with protuberance, when this protuberance enters this groove, forms the triggering of above-mentioned induced signal.
Adopt above-mentioned preferred scheme, by means of the contact action of groove and protuberance, the triggering of induced signal is able to more rapid and effective.
As preferred scheme, above-mentioned sensing unit comprises multiple, and it is divided into the two ends of the first sliding unit and/or the second sliding unit sliding stroke.
Adopt above-mentioned preferred scheme, can be formed in a plurality of directions simultaneously to driver element and each sliding unit motion origin position and extreme position.
Robot device, it comprises actuating unit as above, and the first sliding unit and/or described second sliding unit are provided with mechanical arm.
Robot device of the present utility model is owing to have employed actuating unit of the present utility model, it has the good and simple advantage of structure of the multi-direction motion synchronicity the same with actuating unit equally, by the slip effect of the first sliding unit and described second sliding unit, the power source that mechanical arm is moved in a plurality of directions just can be formed.
Accompanying drawing explanation
Fig. 1 is the front view of robot device of the present utility model (comprising actuating unit).
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the stereogram of Fig. 1 under an angle.
Fig. 5 is the enlarged drawing at A place in Fig. 4.
Fig. 6 is the stereogram of Fig. 1 under another angle.
Fig. 7 is the enlarged drawing at B place in Fig. 6.
Wherein, 1. frame 2. driver element 21. output shaft 3. swing unit 4. first sliding unit 41. protuberance 42. slide rail 43. body 44. bending part 5. second sliding unit 6. sliding surface 61. slide rail 7. sensing unit 71. groove 8. mechanical arm 81. material grasping hand.
Detailed description of the invention
Preferred embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.
In order to reach the purpose of this utility model, as shown in figs. 1-7, in some embodiments of actuating unit of the present utility model, it comprises: frame 1, its in the present embodiment not as shown in the figure include two blocks of perpendicular plates and some reinforcements; Driver element 2, it can be the drive unit that motor or cylinder etc. are known.The structure of this frame 1 generally uses in some actuating units, and the utility model it can be used as example to apply to come in come together to be specifically described the utility model.Certainly, for other some actuating units, some differences may be there are in the structure of its frame, those skilled in the art just by improvement application of the present utility model in these actuating units, no longer can carry out specific description one by one to the rack construction of these actuating units at this when not paying creative work.
As improvement part, as shown in figs. 1-7, in these embodiments, this actuating unit also comprises: swing unit 3, and it is installed on the output shaft 21 of driver element 2; First sliding unit 4, it is slidably connected on sliding surface 6 by slide rail 61, this sliding surface 6 is positioned at the bottom of this first sliding unit 4, sliding surface 6 can for the plate body be arranged in frame 1 as shown in the figure, also can for being directly arranged on the bottom surface etc. of bottom surface, table top or frame 1, and as alternative scheme, the connected mode arranging chute and projection also can replace slide rail to realize the object be slidably connected; Second sliding unit 5, it is installed on swing unit 3, this second sliding unit 5 is also slidably connected by slide rail 42 with the first sliding unit 4 simultaneously, the glide direction of this second sliding unit 5 and the glide direction of the first sliding unit 4 perpendicular, as alternative scheme, the connected mode arranging chute and projection also can replace slide rail to realize the object be slidably connected.
Shown in composition graphs 1-7, actuating unit of the present utility model mainly comprises driver element 2, swing unit 3, first sliding unit 4 and the large part of the second sliding unit more than 5, by the driving effect of driver element 2, as stretched by the rotating of motor or the piston rod of cylinder, swing arm unit 3 is driven to do circular motion (when being namely similar to, hand of a clock is the same swings to both sides), the circular motion of swing arm unit 3 drives the second sliding unit 5 to slide along the first sliding unit 4, while second sliding unit 5 slides along the first sliding unit 4, because swing arm unit 3 is to the swing effect of both sides, also can drive the first sliding unit 4 along its bottom sliding surface 6 slidably reciprocate.The slip of the first sliding unit 4 and the second sliding unit 5 is all brought by the swing effect of swing unit 3, and define the effect be in transmission connection successively between swing unit 3, second sliding unit 4 and the first sliding unit 5, finally make multidirectional motion focus on the second sliding unit, thus it is synchronous that multidirectional motion is formed.
By above-mentioned operation principle, can see, swing unit, the first sliding unit and the second sliding unit have been carried out organic assembling and integration by the utility model, use the swing effect of swing unit, multidirectional motion is formed synchronously, makes the combination of swing unit, the first sliding unit and the second sliding unit create beyond thought effect.
Therefore, this actuating unit is compared to prior art, and it improves the synchronism of multi-direction motion effectively, and the kinematic accuracy of parts and sport efficiency are also all improved; The structure of this actuating unit is also comparatively simple simultaneously, mainly includes three large parts, no matter is manufacturing cost in earlier stage or the maintenance cost in later stage, can be reduced compared to traditional mechanism.
In order to optimize implementation result of the present utility model further, as shown in Fig. 1,5 and 7, in other embodiments of actuating unit of the present utility model, on the basis of foregoing teachings, the first above-mentioned sliding unit 4 has body 43 and is connected to the bending part 44 on this body, this body 43 and the second sliding unit 5 are slidably connected, and this bending part 44 is slidably connected with sliding surface 6.Adopt the scheme of this embodiment, the first sliding unit is made to form the structure of " L " shape, the area that is slidably connected of itself and sliding surface is made to be able to larger, this technical scheme can make the connection of the second sliding unit more firm on the surface, but its better effect is, by the structure of this " L " shape, the slip of the first sliding unit and the second sliding unit is independent of each other, guarantee motion synchronicity while, can also make multi-direction on sport efficiency be able to further raising.
In order to optimize implementation result of the present utility model further, as shown in Fig. 1,4 and 6, in other embodiments of actuating unit of the present utility model, on the basis of foregoing teachings, above-mentioned sliding surface 6 is provided with sensing unit 7, for when the first sliding unit 4 moves to this sensing unit, form the induced signal stopping for controlling driver element 2 or start.Adopt the scheme of this embodiment, by the drived control effect that sensing unit stops driver element or starts, make the motion of this actuating unit can form origin position or the extreme position of multi-direction motion with virtual form, by this technical scheme, make this actuating unit effectively spacing without the need to what arrange that any stopping means can form driver element and each sliding unit.And this sensing unit 7 can adopt the sensor that photoelectric sensor or limit switch etc. are known, will not enumerate at this, and for the electrical connection between itself and control unit, driver element and control planning, those skilled in the art just can be known according to prior art and common practise, and in this not go into detail.
As a kind of replacement scheme of this embodiment, we can also arrange sensing unit on the first sliding unit, for when the second sliding unit moves to this sensing unit, form the induced signal stopping for controlling driver element or start.
As the another kind of replacement scheme of this embodiment, we can also arrange sensing unit on sliding surface and the first sliding unit simultaneously, for when the first sliding unit and the second sliding unit move to this sensing unit, form the induced signal stopping for controlling driver element or start.
In order to optimize implementation result of the present utility model further, as shown in Fig. 2,4 and 6, in other embodiments of actuating unit of the present utility model, on the basis of foregoing teachings, above-mentioned sensing unit 7 is for having the structure of groove 71, first sliding unit 4 coordinates this groove to be provided with protuberance 41, when this protuberance 41 enters this groove 71, forms the triggering of induced signal.Adopt the scheme of this embodiment, by means of the contact action of groove and protuberance, the triggering of induced signal is able to more rapid and effective.
As a kind of replacement scheme of this embodiment, we fit can also be provided with protuberance on the second sliding unit, when this protuberance enters this groove, form the triggering of above-mentioned induced signal.
As the another kind of replacement scheme of this embodiment, we can also simultaneously on the first sliding unit and the second sliding unit fit be provided with protuberance, when this protuberance enters this groove, form the triggering of above-mentioned induced signal.
In order to optimize implementation result of the present utility model further, as shown in Fig. 1,4 and 6, in other embodiments of actuating unit of the present utility model, on the basis of foregoing teachings, above-mentioned sensing unit 7 comprises two, and it is divided into the two ends of the first sliding unit 4 sliding stroke.Adopt the scheme of this embodiment, can be formed in a plurality of directions simultaneously to driver element and each sliding unit motion origin position and extreme position.
As a kind of replacement scheme of this embodiment, two sensing units can also be divided into the two ends of the second sliding unit sliding stroke by us.
As the another kind of replacement scheme of this embodiment, four sensing units can also be divided into the two ends of the first sliding unit and the second sliding unit sliding stroke by us.
In order to reach the purpose of this utility model, as shown in figs. 1-7, in some embodiments of actuating unit of the present utility model,
In order to reach the purpose of this utility model, as shown in figs. 1-7, in some embodiments of robot device of the present utility model, it comprises actuating unit as above, and the second sliding unit 5 is provided with mechanical arm 8.Because the second sliding unit 5 is under the common driving effect of swing unit 3 and the first sliding unit 4, the motion (as horizontal movement) of another vertical direction can also be formed while work direction motion (as moving both vertically), therefore preferably mechanical arm can be installed on the second sliding unit 5, make mechanical arm 8 synchronously can realize lifting and move left and right.As further embodiment, mechanical arm 8 can be provided with manipulator 81 further, and this manipulator 81 can be sucker pawl as shown in the figure, and also can be the known mechanical hand of other types, in order to realize different functions, this is no longer going to repeat them.
This robot device is owing to have employed actuating unit of the present utility model, it has the good and simple advantage of structure of the multi-direction motion synchronicity the same with actuating unit equally, by the slip effect of the second sliding unit, the power source that mechanical arm is moved in a plurality of directions just can be formed.
And as a kind of replacement scheme of this embodiment, mechanical arm can also be installed on the first sliding unit by we, for only needing the situation doing a direction motion.
And as the another kind of replacement scheme of this embodiment, two mechanical arms can also be installed on the first sliding unit and the second sliding unit by we simultaneously, improve working (machining) efficiency.
Introduce the course of work of the present utility model below: shown in composition graphs 1-7, driver element 2 drives swing arm unit 3 to do circular motion, the circular motion of swing arm unit 3 drives the second sliding unit 5 to slide along the first sliding unit 4, second sliding unit 5 along first sliding unit 4 slide while, swing arm unit 3 also drive the first sliding unit 4 along its bottom sliding surface 6 slidably reciprocate; Mechanical arm 8, under the drive of the first sliding unit 4 and the second sliding unit 5, forms the movement of lifting and left and right.
Above-described is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (6)
1. actuating unit, comprises driver element, it is characterized in that, also comprises:
Swing unit, it is installed on the output shaft of described driver element;
First sliding unit, it is slidably connected on sliding surface, and described sliding surface is positioned at the bottom of described first sliding unit;
Second sliding unit, it is installed on described swing unit, and simultaneously described second sliding unit is also slidably connected with described first sliding unit, the glide direction of described second sliding unit and the glide direction of described first sliding unit perpendicular.
2. actuating unit according to claim 1, it is characterized in that, described first sliding unit has body and is connected to the bending part on described body, and described body and described second sliding unit are slidably connected, and described bending part and described sliding surface are slidably connected.
3. actuating unit according to claim 1, it is characterized in that, described sliding surface and/or the first sliding unit are provided with sensing unit, for when described first sliding unit and/or the second sliding unit move to described sensing unit, form the induced signal stopping for controlling described driver element or start.
4. actuating unit according to claim 3, it is characterized in that, described sensing unit is the reeded structure of tool, and described first sliding unit and/or the second sliding unit coordinate described groove to be provided with protuberance, when described protuberance enters described groove, form the triggering of described induced signal.
5. the actuating unit according to claim 3 or 4, is characterized in that, described sensing unit comprises multiple, and it is divided into the two ends of described first sliding unit and/or the second sliding unit sliding stroke.
6. robot device, is characterized in that, comprise as arbitrary in claim 1-5 as described in actuating unit, described first sliding unit and/or described second sliding unit are provided with mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420561315.9U CN204123398U (en) | 2014-09-26 | 2014-09-26 | Actuating unit and comprise its robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420561315.9U CN204123398U (en) | 2014-09-26 | 2014-09-26 | Actuating unit and comprise its robot device |
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| Publication Number | Publication Date |
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| CN204123398U true CN204123398U (en) | 2015-01-28 |
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| CN201420561315.9U Expired - Lifetime CN204123398U (en) | 2014-09-26 | 2014-09-26 | Actuating unit and comprise its robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500374A (en) * | 2014-09-26 | 2016-04-20 | 苏州光舵微纳科技有限公司 | Power mechanism and manipulator device comprising same |
-
2014
- 2014-09-26 CN CN201420561315.9U patent/CN204123398U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500374A (en) * | 2014-09-26 | 2016-04-20 | 苏州光舵微纳科技有限公司 | Power mechanism and manipulator device comprising same |
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| C14 | Grant of patent or utility model | ||
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Address after: 215513 Jiangsu city of Suzhou province Changshou City Changshu economic and Technological Development Zone (four Road No. 11) Branch Chong Park Building No. 2 102 Patentee after: SUZHOU GUANGDUO MICRO, NANO-DEVICE Co.,Ltd. Address before: 215513 Jiangsu city of Suzhou province Changshou City Changshu economic and Technological Development Zone (four Road No. 11) Branch Chong Park Building No. 2 102 Patentee before: SUZHOU GUANGDUO MICRO, NANO-DEVICE Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20150128 |