CN204913890U - A transmission structure for manipulator - Google Patents
A transmission structure for manipulator Download PDFInfo
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- CN204913890U CN204913890U CN201520573390.1U CN201520573390U CN204913890U CN 204913890 U CN204913890 U CN 204913890U CN 201520573390 U CN201520573390 U CN 201520573390U CN 204913890 U CN204913890 U CN 204913890U
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Abstract
The utility model relates to a transmission structure for manipulator. Its X axle including horizontal setting, vertical Y axle that sets up and the Z axle of vertical setting, Y position of axle in the epaxial side of X is equipped with horizontal slide between Y axle and the X axle, horizontal slide respectively with Y axle, X axle sliding connection, the front end of Y axle is equipped with vertical slide, the Z axle includes upper segment axle and hypomere axle, vertical slide and upper segment axle sliding connection, and hypomere axle and upper segment axle swing joint and hypomere axle upper segment axle relatively reciprocate. The utility model discloses a X axle, Y axle are connected through horizontal slide, and the Y axle is horizontal, the longitudinal movement of X axle relatively, and secondly the flexible operation, has still set up horizontal rotary mechanism, vertical rotary mechanism, has formed 5 mechanisms, but not only linear movement but also curvilinear motion, the position changes very in a flexible way.
Description
Technical field
The utility model relates to manipulator technical field, specifically, relates to a kind of drive mechanism for manipulator.
Background technology
Along with industrial intelligentization development, process equipment more and more uses automation equipment, artificial to substitute; In automation equipment, the longest is robot device workpiece being carried out displacement, three-dimensional drive mechanism in robot device generally adopts " frame-type " structure at present, in this structure, manipulator is arranged on the below of three-dimensional drive mechanism, and when the volume of product is larger, product is along with in manipulator moving process, the restriction of frame can be subject to, therefore need to improve drive mechanism.
Summary of the invention
The purpose of this utility model is to solve in prior art, there is pickup inconvenience and limited defect in three-dimensional drive mechanism, provide a kind of drive mechanism for manipulator, this drive mechanism is Open architecture, do not limit by local and affect, product is unrestricted in moving process.
For achieving the above object, the technical solution adopted in the utility model is:
For a drive mechanism for manipulator, comprising: the X-axis of horizontally set, the Y-axis longitudinally arranged and the Z axis vertically arranged, Y-axis is positioned at above X-axis, is provided with horizontal slide between Y-axis and X-axis; Horizontal slide is slidably connected with Y-axis, X-axis respectively; The front end of Y-axis is provided with vertical slide, and described Z axis comprises epimere axle and hypomere axle, and vertical slide and epimere axle are slidably connected, and hypomere axle is flexibly connected with epimere axle and hypomere axle can move up and down by relative epimere axle.
Further, the lower end of hypomere axle is connected with vertical rotating mechanism, and the length direction of the vertical output shaft of vertical rotating mechanism is vertical direction.
Again further, the vertical output shaft of vertical rotating mechanism is connected with the transverse rotation mechanism of horizontally set, the side of transverse rotation mechanism is provided with connecting plate, transverse rotation mechanism is provided with the horizontal output shaft of horizontally set, contiguous block is provided with between horizontal output shaft and connecting plate, one end of contiguous block is connected with horizontal output shaft, and the other end of contiguous block is fixed on connecting plate.
Further, the upper surface of X-axis is provided with cross slide way, and the below of horizontal slide is provided with the transverse slider matched with cross slide way.
Again further, cross slide way comprises some guide pads, and transverse slider takes the shape of the letter U and arranges and be placed on outside guide pad.
Further, the side of guide pad is provided with draw-in groove, and the medial surface of transverse slider is provided with the fixture block matched with draw-in groove.
Further, the lower surface of Y-axis is provided with longitudinal rail, and the upper surface of horizontal slide is provided with the longitudinal slide matched with longitudinal rail.
Further, epimere axle is provided with upright guide rail, and vertical slide is provided with the vertical slide matched with upright guide rail.
Further, the side of epimere axle is provided with guide groove, hypomere axle is provided with the guide pad matched with guide groove, and guide pad is positioned at guide groove and can moves by opposed guide slots.
The utility model obtains beneficial effect: X-axis of the present utility model, Y-axis are connected by horizontal slide, Y-axis can relatively X-axis laterally, vertically move, operation is more flexible, and Z axis is arranged at one end of Y-axis, and in the vertical direction can flexible operating more.Secondly, be also provided with cross motor, vertically motor, define 5 axis mechanisms, both can do linear change, also can do arc Orientation differences; Very flexible.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of structure of the present utility model.
Fig. 2 is the schematic diagram at another visual angle in Fig. 1.
Reference numeral:
1---X-axis; 2---Y-axis; 3---horizontal slide; 11---cross slide way; 21---longitudinal rail; 4---Z axis; 411---upright guide rail; 5---vertically slide; 6---vertically rotating mechanism; 7---transverse rotation mechanism; 8-connecting plate; 9---contiguous block; 41---epimere axle; 42---hypomere axle; 421---guide pad; 412---guide groove.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, book is described further to the utility model.
Implement: 1: see Fig. 1 to Fig. 2.
For a drive mechanism for manipulator, comprising: the X-axis 1 of horizontally set, the Y-axis 2 longitudinally arranged and the Z axis 4 vertically arranged, Y-axis 2 is positioned at above X-axis 1, is provided with horizontal slide 3 between Y-axis 2 and X-axis 1; Horizontal slide 3 is slidably connected with Y-axis 2, X-axis 1 respectively; The front end of Y-axis 2 is provided with vertical slide 5, and described Z axis 4 comprises epimere axle 41 and hypomere axle 42, and vertical slide 5 is slidably connected with epimere axle 41, and hypomere axle 42 is flexibly connected with epimere axle 41 and hypomere axle 42 can move up and down by relative epimere axle 41.
In the technical program, horizontal slide 3 is slidably connected with Y-axis 2, X-axis 1 respectively; Make when moving horizontally, can directly by the relative movement of horizontal slide 3, Y-axis 2 both can have been done laterally, also can do longitudinal moving relative to X-axis 1, and the position adjustment in level orientation is more convenient; Secondly Z axis 4 is slidably connected to one end of Y-axis 2, make the moving range of Z axis 4 larger, former Z axis 4 is arranged on above Y-axis 2, and the lower end of Z axis 4 generally can not move to below X-axis 1, and now, the lower end of Z axis 4 can move to below X-axis 1; Simultaneously Z axis 4 is divided into epimere axle 41 and lower end axle, and the top thus reach that lower end axle can move to epimere axle 41 moves to above Y-axis 2.The interval of the structure or article displacement being fixed on Z axis 4 lower end is made to become large, more flexibly.
For improving serviceability, the lower end of hypomere axle 42 is connected with vertical rotating mechanism 6, and the length direction of the vertical output shaft of vertical rotating mechanism 6 is vertical direction.
After vertical rotating mechanism 6 is set, the article be connected with vertical rotating mechanism 6 except carry out traditional 3 tie up mobile except, can also rotation process be carried out, form 4 axial displacements, rotate in the horizontal direction, carry out adjustment orientation.Wherein, vertical rotating mechanism 6 comprises vertical motor, directly externally exports by vertical motor; In order to control speed, vertical motor is connected with vertical reductor, is externally exported by vertical reductor.
Again further, the vertical output shaft of vertical rotating mechanism 6 is connected with the transverse rotation mechanism 7 of horizontally set, the side of transverse rotation mechanism 7 is provided with connecting plate 8, transverse rotation mechanism 7 is provided with the horizontal output shaft of horizontally set, connecting plate 8 is connected with a contiguous block 9, one end of contiguous block 9 is connected with horizontal output shaft, and the other end of contiguous block 9 is fixed on connecting plate 8.
Wherein, transverse rotation mechanism 7 comprises cross motor, and preferably, cross motor is connected with transversal deceleration machine.Horizontal output speed is controlled by transversal deceleration machine.
Under the drive of horizontal output shaft, this connecting plate 8 can revolve turnback around transverse rotation mechanism 7.Connecting plate 8 is for mounting article or tool, and object or tool can rotate by the vertical direction, and adjustment orientation, uses convenient.Realize 5 axles to move.
As a kind of mode be slidably connected, cross slide way 11 comprises some guide pads, and transverse slider takes the shape of the letter U and arranges and be placed on outside guide pad.
As equivalent variations, the side of guide pad is provided with draw-in groove, and the medial surface of transverse slider is provided with the fixture block matched with draw-in groove.
Transverse slider is connected in guide pad by fixture block, and is slidably connected with guide pad.When specifically arranging, cross slide way 11 is provided with two guide pads, and every bar guide pad is configured with block slide block.
For the ease of arranging, draw-in groove is swallow-tail form or T-shaped.When fixture block coordinates with draw-in groove, can be firm slide block be connected with track.
As equivalent variations, cross slide way 11 comprises some gathering sills, and transverse slider inserts gathering sill and is slidably connected with gathering sill.
Further, the lower surface of Y-axis 2 is provided with longitudinal rail 21, and the upper surface of horizontal slide 3 is provided with the longitudinal slide matched with longitudinal rail 21.
Longitudinal rail 21, longitudinal slide can adopt the structure of cross slide way 11, cross slide.
Further, the epimere axle 41 of Z axis 4 is provided with upright guide rail 411, and vertical slide 5 is provided with the vertical slide 5 matched with upright guide rail 411.
Upright guide rail 411, vertically slide 5 can adopt the structure of cross slide way 11, cross slide.
When epimere axle 41 is flexibly connected with hypomere axle 42, the side of epimere axle 41 is provided with guide groove 412, hypomere axle 42 is provided with the guide pad 421 matched with guide groove 412, and guide pad 421 is positioned at guide groove 412 and can moves by opposed guide slots 412.
As equivalent variations, guide groove can be arranged on hypomere axle 42, guide pad is arranged on epimere axle 41.
Another kind of distortion: epimere axle 41 is provided with storage tank, the upper end of hypomere axle 42 is positioned at storage tank and can relatively moves up and down by storage tank.
Below be only the preferred embodiment of the application, equivalent technical solutions on this basis still falls into application protection domain.
Claims (9)
1. for a drive mechanism for manipulator, comprising: the X-axis of horizontally set, the Y-axis longitudinally arranged and the Z axis vertically arranged, Y-axis is positioned at above X-axis, it is characterized in that: be provided with horizontal slide between Y-axis and X-axis; Horizontal slide is slidably connected with Y-axis, X-axis respectively; The front end of Y-axis is provided with vertical slide, and described Z axis comprises epimere axle and hypomere axle, and vertical slide and epimere axle are slidably connected, and hypomere axle is flexibly connected with epimere axle and hypomere axle can move up and down by relative epimere axle.
2. a kind of drive mechanism for manipulator according to claim 1, is characterized in that: the lower end of hypomere axle is connected with vertical rotating mechanism, the length direction of the vertical output shaft of vertical rotating mechanism is vertical direction.
3. a kind of drive mechanism for manipulator according to claim 2, it is characterized in that: vertically the vertical output shaft of rotating mechanism is connected with the transverse rotation mechanism of horizontally set, the side of transverse rotation mechanism is provided with connecting plate, transverse rotation mechanism is provided with the horizontal output shaft of horizontally set, contiguous block is provided with between horizontal output shaft and connecting plate, one end of contiguous block is connected with horizontal output shaft, and the other end of contiguous block is fixed on connecting plate.
4. a kind of drive mechanism for manipulator according to claim 1, is characterized in that: the upper surface of X-axis is provided with cross slide way, and the below of horizontal slide is provided with the transverse slider matched with cross slide way.
5. a kind of drive mechanism for manipulator according to claim 4, is characterized in that: cross slide way comprises some guide pads, and transverse slider takes the shape of the letter U and arranges and be placed on outside guide pad.
6. a kind of drive mechanism for manipulator according to claim 5, is characterized in that: the side of guide pad is provided with draw-in groove, and the medial surface of transverse slider is provided with the fixture block matched with draw-in groove.
7. a kind of drive mechanism for manipulator according to claim 1, is characterized in that: the lower surface of Y-axis is provided with longitudinal rail, and the upper surface of horizontal slide is provided with the longitudinal slide matched with longitudinal rail.
8. a kind of drive mechanism for manipulator according to claim 1, is characterized in that: epimere axle is provided with upright guide rail, and vertical slide is provided with the vertical slide matched with upright guide rail.
9. a kind of drive mechanism for manipulator according to claim 1, it is characterized in that: the side of epimere axle is provided with guide groove, hypomere axle is provided with the guide pad matched with guide groove, guide pad is positioned at guide groove and can moves by opposed guide slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520573390.1U CN204913890U (en) | 2015-08-03 | 2015-08-03 | A transmission structure for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520573390.1U CN204913890U (en) | 2015-08-03 | 2015-08-03 | A transmission structure for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204913890U true CN204913890U (en) | 2015-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520573390.1U Active CN204913890U (en) | 2015-08-03 | 2015-08-03 | A transmission structure for manipulator |
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| CN (1) | CN204913890U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157473A1 (en) * | 2017-02-28 | 2018-09-07 | 南通壹选工业设计有限公司 | Bending robot |
| CN110034507A (en) * | 2019-05-31 | 2019-07-19 | 国网湖北省电力有限公司宜昌供电公司 | A kind of auxiliary dismounting platform of the current transformer suitable for cabinet |
-
2015
- 2015-08-03 CN CN201520573390.1U patent/CN204913890U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157473A1 (en) * | 2017-02-28 | 2018-09-07 | 南通壹选工业设计有限公司 | Bending robot |
| CN110034507A (en) * | 2019-05-31 | 2019-07-19 | 国网湖北省电力有限公司宜昌供电公司 | A kind of auxiliary dismounting platform of the current transformer suitable for cabinet |
| CN110034507B (en) * | 2019-05-31 | 2024-04-26 | 国网湖北省电力有限公司宜昌供电公司 | Auxiliary dismounting platform suitable for current transformer in electric switch cabinet |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |