CN204868864U - Multi freedom rectangular coordinate manipulator - Google Patents
Multi freedom rectangular coordinate manipulator Download PDFInfo
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- CN204868864U CN204868864U CN201520575044.7U CN201520575044U CN204868864U CN 204868864 U CN204868864 U CN 204868864U CN 201520575044 U CN201520575044 U CN 201520575044U CN 204868864 U CN204868864 U CN 204868864U
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- sleeve
- lower edge
- baffle plate
- upper limb
- guide rail
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- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 210000001364 upper extremity Anatomy 0.000 claims description 44
- 238000013519 translation Methods 0.000 claims description 12
- 230000003467 diminishing effect Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Abstract
The utility model relates to a multi freedom rectangular coordinate manipulator, including a moving mechanism, a telescopic machanism and terminal mechanism, flexible moving mechanism fixes on other fixed equipment, can drive telescopic machanism realizes the removal in the horizontal plane, telescopic machanism connects one end and connects terminal mechanism, the other end is connected moving mechanism can drive terminal mechanism realizes the flexible of perpendicular to horizontal plane orientation to and the rotation in the horizontal plane. Design simply, rational in infrastructure, can use the simplest structure to realize the multi freedom motion in the rectangular coordinate system, convenient to detach, hierarchical tube -in -tube structure can let the maintenance become more convenient, can realize the maintenance as long as demolish the sleeve that is out of order, need not the whole dismantlements of all manipulators, save power, safe and reliable, unique telescopic machanism goes up reason, lower edge setting, has reduced the resistance, has saved the energy.
Description
Technical field
The utility model relates to automation equipment field, is specifically related to a kind of multiple degrees of freedom right angle coordinate manipulator.
Technical background
Domestic being at present is carried out among development course that production equipment automation grows out of nothing, and the equipment in original for factory production line mainly uses to save entreprise cost by current automation equipment as much as possible.So current automation equipment should meet non-customizedization, generalization more, can transplant easily, be only and meet current enterprise, especially tradition processing, manufacturing enterprise.
In the processing technology of current traditional processing and manufacturing type enterprise, have many procedure of processings still can not rely on automation equipment completely, manual monitoring, human assistance operate the part that is absolutely necessary.
Manipulator is a most important ring in automation equipment, it is integrated with the multiple steps in conventional machining process, such as lifting, displacement, fixing, transfer etc., but be convenient to mechanical automation work and be convenient to manually-operated robot manipulator structure and there is gap in essence, current equipment is difficult to accomplish this point.
In view of above-mentioned defect, the utility model creator obtains the utility model finally through long research and practice.
Utility model content
For solving above-mentioned technological deficiency, the technical solution adopted in the utility model is, provides 1, a kind of multiple degrees of freedom right angle coordinate manipulator, comprises a travel mechanism, a telescoping mechanism and terminal mechanism, it is characterized in that,
Telescopic moving mechanism is fixed on other permanent plants, can drive the movement that described telescoping mechanism realizes in horizontal plane;
Described telescoping mechanism connects one end and connects described terminal mechanism, and the other end connects described travel mechanism, and described terminal mechanism can be driven to realize stretching perpendicular to horizontal plane direction, and the rotation in horizontal plane.
Preferably, described travel mechanism comprises one first translation mechanism and one second translation mechanism;
Described first translation mechanism comprises one first guide rail and and is erected at the first action module on described first guide rail; Described second translation mechanism comprises one second guide rail and the second action module be erected on described second guide rail;
Described first action module can along described first guide rail rectilinear motion; Described second action module can along described second guide rail rectilinear motion;
Described first guide rail is vertical with described second guide rail direction.
Preferably, described second guide rail bracket is located in described first action module.
Preferably, described telescoping mechanism comprises a drive mechanism and a stretching structure, and described stretching structure connects described terminal mechanism and described drive mechanism and under the drive of described drive mechanism, draws described terminal mechanism action;
Described stretching structure comprises mutually nested, the diminishing upper sleeve of bore, some intermediate sleeves and a next sleeve, and described upper sleeve, described intermediate sleeve and described the next sleeve can slide along the sleeve be nested with it.
Preferably, described upper sleeve, described intermediate sleeve lower end extend internally and form ring-type lower edge, and described ring-type lower edge contacts with next stage sleeve outer wall, and can slide along it;
Described the next sleeve, described intermediate sleeve upper end stretch out and form ring-type upper limb, and described ring-type upper limb contacts with upper level sleeve lining, and can slide along it.
Preferably, described upper sleeve upper end is upper sleeve upper limb, and it can be fixed with external fixation device;
Described the next sleeve lower end is the next sleeve lower edge, described the next sleeve lower edge downwards and terminal fix, be upwards connected with described drive mechanism.
Preferably, described ring-type lower edge comprises a lower edge far-end baffle plate, a lower edge near-end baffle plate and some balls;
Described lower edge far-end baffle plate be sleeve lower end extend internally formed ring-shaped baffle structure;
Described lower edge near-end baffle plate is a ring-shaped baffle structure being fixed on sleeve lining;
Form cannelure between described lower edge far-end baffle plate and described lower edge near-end baffle plate, described ball to be placed in described cannelure and to offset with next stage sleeve outer wall.
Preferably, described ring-type upper limb comprises a upper limb far-end baffle plate, a upper limb near-end baffle plate and some balls;
Described upper limb far-end baffle plate be sleeve upper end stretch out formed ring-shaped baffle structure;
Described upper limb near-end baffle plate is a ring-shaped baffle structure being fixed on sleeve outer wall;
Form cannelure between described upper limb far-end baffle plate and described upper limb near-end baffle plate, described ball to be placed in described cannelure and to offset with upper level sleeve lining.
Preferably, described upper sleeve is the 3rd sleeve, and described the next sleeve is the first sleeve, and described intermediate sleeve quantity is the second sleeve.
Preferably, described 3rd sleeve and described second sleeve are provided with the stopping means limiting described ring-type upper limb.
Compared with prior art, the beneficial effects of the utility model are: simplicity of design, rational in infrastructure, and the heavy burden that the simplest structure can be used to realize manipulator is stretched; Be convenient to dismounting, classification tube-in-tube structure can allow maintenance become more convenient, as long as remove out of order sleeve can realize maintenance, without the need to all manipulators are all dismantled; Save power, safe and reliable, unique upper limb, lower edge structure, decrease resistance, save power.
Accompanying drawing explanation
Fig. 1 is the utility model perspective view;
Fig. 2 is the utility model front elevational schematic;
Fig. 3 is the utility model stretching structure schematic diagram;
Fig. 4 is the utility model stretching structure generalized section;
Fig. 5 is the utility model the 3rd lower edge structural representation.
Detailed description of the invention
Understand the technical solution of the utility model and beneficial effect for ease of those skilled in the art, spy describes as follows to detailed description of the invention by reference to the accompanying drawings.
Shown in Figure 1, it is the utility model structural representation.
Multiple degrees of freedom right angle coordinate manipulator described in the utility model comprises terminal mechanism 5, telescoping mechanism and travel mechanism 4.
Described travel mechanism 4 is fixed on higher support, can move in a horizontal plane by driving mechanical hand;
Described telescoping mechanism is connected with described travel mechanism 4, moves under the drive of described moving structure 4 in described horizontal plane, and described telescoping mechanism can be able to vertically stretch, and can rotate freely above in the horizontal direction;
Described terminal mechanism 5 is directly connected with described telescoping mechanism, and performs concrete process, such as, process the procedure on streamline.
Shown in Figure 1, described travel mechanism 4 comprises two parts: X-axis translation mechanism and Y-axis translation mechanism, described X-axis translation mechanism comprises one first guide rail 411 and one first action module 412, and described Y-axis panel for appraisal comprises one second guide rail 421 and one second action module 422.
For convenience of describing, the direction that described first guide rail 411 extends being become X-direction, the direction that described second guide rail 421 extends is become Y-direction, the direction that described telescoping mechanism extends is become Z-direction.
Described first guide rail is fixed in the space environment residing for this manipulator, the ceiling of such as workshop, and provides support power for whole manipulator.Described first action module 412 can move in X direction on described first guide rail 411.
Described second guide rail 421 is erected in described first action module 412, and described second action module 422 can move in the Y-axis direction along described second guide rail 421, and described telescoping mechanism is arranged in described second action module 422.
Described first guide rail 411 is vertical with described second guide rail 421 direction.
So the movement in the X-axis direction of described first action module 412 and described second action module 422 movement in the Y-axis direction all will conduct to described telescoping mechanism, described telescoping mechanism can translation in the Z-axis direction, and can turn at XY plane internal rotation.
Described terminal mechanism 5 is directly connected with described telescoping mechanism, so the action of described telescoping mechanism finally can conduct to described terminal mechanism 5, the multiple degrees of freedom rectangular coordinate system realizing described terminal mechanism 5 is interior mobile.
Shown in Figure 3, it is transmission mechanism structural representation described in the utility model.
Described telescoping mechanism comprises a transmission mechanism 6, also comprise one first mutually nested sleeve 1,1 second sleeve 2 and one the 3rd sleeve 3, described first sleeve connection terminal mechanism and described second sleeve 2, described second sleeve 2 connects described first sleeve 1 and described 3rd sleeve 3, described 3rd sleeve 3 connects described second sleeve 2 and described transmission mechanism, described transmission mechanism and described 3rd sleeve 3 are fixed, and be connected with described first sleeve 1, power directly can be sent to described first sleeve 1 and drive described first sleeve motion.
Connect described transmission mechanism and described terminal mechanism, under described transmission mechanism drives, draw described terminal mechanism 5 and carry out corresponding action.
In the present embodiment, comprise three nested sleeves, but this patent does not limit the quantity of sleeve, in fact, position go up most with under sleeve there is structural difference, be positioned at middle tube-in-tube structure all identical.Namely described transmission mechanism comprises a upper sleeve, a next sleeve and some intermediate sleeves, and in the present embodiment, described upper sleeve is described 3rd sleeve, and described the next sleeve is described first sleeve, and described intermediate sleeve quantity is 1, is described second sleeve.
Described first sleeve 1, described second sleeve 2 are similar to described 3rd sleeve 3 shape, be hollow cylinder barrel-like structure on the whole, described first sleeve 1 internal diameter, external diameter are minimum, and described 3rd sleeve diameter, external diameter are maximum, and described second sleeve 2 is between therebetween.Setting like this makes described 3rd sleeve 3 entangle described second sleeve 2, described second sleeve 2 entangles described first sleeve 1, and described first sleeve 1 can be retracted in described second sleeve 2, described second sleeve 2 can be withdrawn in described 3rd sleeve 3, described first sleeve 1 can be retracted in described 3rd sleeve 3 with described second sleeve 2 simultaneously, to realize the flexible of telescopic arm.
Be interconnected between sleeve, realize, in flexible process, the relative rotation between sleeve can also being realized at telescopic arm.
Shown in Figure 4, Fig. 4 is transmission mechanism cross-sectional view described in the utility model.
Described first sleeve 1 comprises the first upper limb 11 and the first lower edge 12.
Described first lower edge 12 is positioned at below described first sleeve, and it is a hermetically-sealed construction, it offers the terminal connecting structure for being connected with described terminal mechanism, such as screw.Described first lower edge 12 is also provided with the transmission connecting structure for being connected with described drive mechanism, such as, links up with.
Described first upper limb 11 is positioned at above described first sleeve 1, described second sleeve 2 is inner, itself and described second sleeve 2 contact internal walls, can ensure rotation relatively between sleeve, the completing of expanding-contracting action.
Similarly, described second sleeve 2 comprises second upper limb 21. similar with described first upper limb 11
Described second sleeve also comprises one second lower edge 22, and it is positioned at below described second sleeve 2, is flexibly connected with described first sleeve 1 outer wall, can be free to slide on described first sleeve 1 outer wall.
Similar, described 3rd sleeve 3 comprises three lower edge 32 similar with described second lower edge 22.
Described 3rd sleeve 3 also comprises one the 3rd upper limb 31, and described 3rd upper limb is connected with extraneous permanent plant, the devices such as such as furred ceiling guide rail, support.
Described second sleeve 2, described 3rd sleeve 3 also comprise the position limiting structure for limiting described second upper limb 21, described first upper limb 11, for described second upper limb 21, described second upper limb 21 can position limiting structure in described 3rd sleeve 3 and moving between described 3rd upper limb, but the position of described second upper limb 21 can not the described position limiting structure of low mistake.If the described position limiting structure of the low mistake of described second upper limb 21, the danger causing it to damage by there is described 3rd lower edge 32 of touching.
Shown in Figure 5, it is the structural representation of described 3rd lower edge 32.
Lower edge, the upper limb of described the next sleeve of described upper sleeve all adopt identical structure with the upper limb of described intermediate sleeve and lower edge, for described 3rd lower edge 32 explanation.
Described 3rd lower edge 32 comprises 1 on inwall 34 the 3rd near-end baffle plate 321, the 3rd far-end baffle plate 322, some balls 323.
Described 3rd far-end baffle plate 322 is structure as a whole with described 3rd sleeve 3, and it is the circular ring structure that described 3rd sleeve 3 extends to form to described inwall 34 direction in described second sleeve 2 direction distalmost end.It, for providing support upwards for described ball 323, makes it be fixed on the position of described 3rd lower edge.
Described 3rd near-end baffle plate 321 entirety is a circular ring structure being fixed on inwall 34, cannelure is formed between described 3rd near-end baffle plate 321 and described 3rd far-end baffle plate 322, for accommodating some described balls 323, thus formation slide construction, can on the outer wall of described second sleeve, move under the drive of described drive mechanism, to be specially between sleeve flexible bring along quill to slip, and between sleeve, rotate the brought slip along sleeve radial direction.
Described 3rd near-end baffle plate 321 entirety is a circular ring structure, and for the ease of installing, in the present embodiment, it is that two pieces of semicircle ring flat-plates are spliced, and is separately fixed on described inwall 34.
For the upper limb of upper sleeve and the upper limb of described intermediate sleeve, adopt and the identical structure of described 3rd lower edge.
For the upper limb of the next sleeve and the upper limb of intermediate sleeve, adopt the structure similar to described 3rd lower edge, its difference is, upper limb slide construction to stretch out formation along sleeve, and not with the equally inside formation of lower edge slide construction, and accordingly, described upper limb slide construction is resisted against on the inwall of upper level sleeve, instead of described lower edge slide construction is the same, is resisted against on the outer wall of next stage sleeve.
The foregoing is only preferred embodiment of the present utility model, is only illustrative for the utility model, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes and amendment in the spirit and scope that the utility model claim limits to it, even equivalence, but all will fall in protection domain of the present utility model.
Claims (10)
1. a multiple degrees of freedom right angle coordinate manipulator, comprises a travel mechanism, a telescoping mechanism and terminal mechanism, it is characterized in that,
Described telescopic moving mechanism is fixed on other permanent plants, can drive the movement that described telescoping mechanism realizes in horizontal plane;
Described telescoping mechanism connects one end and connects described terminal mechanism, and the other end connects described travel mechanism, and described terminal mechanism can be driven to realize stretching perpendicular to horizontal plane direction, and the rotation in horizontal plane.
2. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 1, it is characterized in that, described travel mechanism comprises one first translation mechanism and one second translation mechanism;
Described first translation mechanism comprises one first guide rail and and is erected at the first action module on described first guide rail; Described second translation mechanism comprises one second guide rail and the second action module be erected on described second guide rail;
Described first action module can along described first guide rail rectilinear motion; Described second action module can along described second guide rail rectilinear motion;
Described first guide rail is vertical with described second guide rail direction.
3. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 2, it is characterized in that, described second guide rail bracket is located in described first action module.
4. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 1, it is characterized in that, described telescoping mechanism comprises a drive mechanism and a stretching structure, and described stretching structure connects described terminal mechanism and described drive mechanism and under the drive of described drive mechanism, draws described terminal mechanism action;
Described stretching structure comprises mutually nested, the diminishing upper sleeve of bore, some intermediate sleeves and a next sleeve, and described upper sleeve, described intermediate sleeve and described the next sleeve can slide along the sleeve be nested with it.
5. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 4, is characterized in that, described upper sleeve, described intermediate sleeve lower end extend internally and form ring-type lower edge, and described ring-type lower edge contacts with next stage sleeve outer wall, and can slide along it;
Described the next sleeve, described intermediate sleeve upper end stretch out and form ring-type upper limb, and described ring-type upper limb contacts with upper level sleeve lining, and can slide along it.
6. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 5, it is characterized in that, described upper sleeve upper end is upper sleeve upper limb, and it can be fixed with external fixation device;
Described the next sleeve lower end is the next sleeve lower edge, described the next sleeve lower edge downwards and terminal fix, be upwards connected with described drive mechanism.
7. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 6, it is characterized in that, described ring-type lower edge comprises a lower edge far-end baffle plate, a lower edge near-end baffle plate and some balls;
Described lower edge far-end baffle plate be sleeve lower end extend internally formed ring-shaped baffle structure;
Described lower edge near-end baffle plate is a ring-shaped baffle structure being fixed on sleeve lining;
Form cannelure between described lower edge far-end baffle plate and described lower edge near-end baffle plate, described ball to be placed in described cannelure and to offset with next stage sleeve outer wall.
8. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 7, it is characterized in that, described ring-type upper limb comprises a upper limb far-end baffle plate, a upper limb near-end baffle plate and some balls;
Described upper limb far-end baffle plate be sleeve upper end stretch out formed ring-shaped baffle structure;
Described upper limb near-end baffle plate is a ring-shaped baffle structure being fixed on sleeve outer wall;
Form cannelure between described upper limb far-end baffle plate and described upper limb near-end baffle plate, described ball to be placed in described cannelure and to offset with upper level sleeve lining.
9. multiple degrees of freedom right angle coordinate manipulator as described in any of claims 8, is characterized in that, described upper sleeve is the 3rd sleeve, and described the next sleeve is the first sleeve, and described intermediate sleeve quantity is the second sleeve.
10. multiple degrees of freedom right angle coordinate manipulator as claimed in claim 9, it is characterized in that, described 3rd sleeve and described second sleeve are provided with the stopping means limiting described ring-type upper limb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520575044.7U CN204868864U (en) | 2015-07-31 | 2015-07-31 | Multi freedom rectangular coordinate manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520575044.7U CN204868864U (en) | 2015-07-31 | 2015-07-31 | Multi freedom rectangular coordinate manipulator |
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| CN204868864U true CN204868864U (en) | 2015-12-16 |
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| CN201520575044.7U Active CN204868864U (en) | 2015-07-31 | 2015-07-31 | Multi freedom rectangular coordinate manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN108609385A (en) * | 2018-05-09 | 2018-10-02 | 安徽华源物流有限责任公司 | A kind of sorting manipulator of anticollision |
-
2015
- 2015-07-31 CN CN201520575044.7U patent/CN204868864U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN105058374B (en) * | 2015-07-31 | 2016-11-02 | 广东省自动化研究所 | A kind of suspension type mechanical hand |
| CN108609385A (en) * | 2018-05-09 | 2018-10-02 | 安徽华源物流有限责任公司 | A kind of sorting manipulator of anticollision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 510070 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address after: 510070 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address before: 510070 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: Guangdong Institute of Automation |
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| CP01 | Change in the name or title of a patent holder |