CN205033198U - Primary and secondary slider and guide slot combined type manipulator - Google Patents
Primary and secondary slider and guide slot combined type manipulator Download PDFInfo
- Publication number
- CN205033198U CN205033198U CN201520794565.1U CN201520794565U CN205033198U CN 205033198 U CN205033198 U CN 205033198U CN 201520794565 U CN201520794565 U CN 201520794565U CN 205033198 U CN205033198 U CN 205033198U
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Abstract
The utility model discloses a primary and secondary slider and guide slot combined type manipulator, the both ends of the X axle guide rail in this manipulator link to each other with X axle left end board and X axle right end board respectively, X roller guide arm is fixed on the female slider of X axle, X axle left side ejector pin and X axle right ejector rod respectively fixed connection on X axle left end board and X axle right end board, female slider left end board and the both ends of female slider right end board difference fixed connection at X roller guide arm, in the one end sliding connection Y spindle drive guide slot of Y spindle drive pin, the other end links to each other with Y axle slider, and Y axle guide pole fixed connection is on X roller slider, and the Z axle guide pole is connected perpendicularly on Y axle slider, and fixed connection is in Z axle slider both sides respectively for Z spindle drive left side baffle and Z spindle drive right side baffle, and fixture set is on Z axle slider. The utility model discloses simple structure, it is convenient to maintain.
Description
technical field:
The utility model relates to a kind of primary and secondary slide block and guide groove composite mechanical hand.
background technology:
At industrial automation, various manipulator is used widely.Manipulator is for the carrying of material and transposition on production equipment and production line, and in most cases manipulator is all multiaxis, and its motion mode is generally complicated three-dimensional motion.Current manipulator is generally form multivariant complicated machinery hand by multiple drive axle, the general three-dimensional motion adopting the drive motors of more than 2 could realize complexity.This manipulator generally adopts multi-shaft interlocked complicated driving control system, thus there is the shortcomings such as running speed is slow, poor anti jamming capability, functional reliability are poor, expensive, is thus difficult to be generalizable on low and middle-end equipment.
Therefore, necessary the deficiency solving prior art is improved to prior art.
summary of the invention:
The utility model provides a kind of primary and secondary slide block and guide groove composite mechanical hand to solve above-mentioned prior art Problems existing.
The technical scheme that the utility model adopts has: a kind of primary and secondary slide block and guide groove composite mechanical hand, comprises X-axis guide rail, X-axis first member plate, X-axis right end plate, the left push rod of X-axis, the right push rod of X-axis, the female slide block of X-axis, the sub-slide block of X-axis, the sub-guide rod of X-axis, X-axis limiting plate, Y-axis guide rod, Y-axis slide block, Y-axis drives the driving of guide plate, Y-axis pin, female slide block first member plate, Z axis drives left push rod, Z axis drives left guide plate, female slide block right end plate, Z axis drive right push rod, Z axis drives right guide plate, Z axis guide rod, Z axis slide block and fixture;
The two ends of described X-axis guide rail are fixedly connected with X-axis right end plate with X-axis first member plate respectively, the female skid of X-axis is connected on X-axis guide rail, the sub-guide rod of X-axis is fixed on the female slide block of X-axis, the sub-skid of X-axis is connected on the sub-guide rod of X-axis, the left push rod of X-axis and the right push rod of X-axis are fixedly connected in X-axis first member plate and X-axis right end plate respectively, X-axis limiting plate is fixedly connected on the sub-slide block of X-axis, female slide block first member plate and female slide block right end plate are fixedly connected on the two ends of the sub-guide rod of X-axis respectively, Z axis drives left push rod and Z axis to drive right push rod to be fixedly connected in female slide block first member plate and female slide block right end plate respectively,
Y-axis drives two ends, guide plate left and right to be fixedly connected with X-axis right end plate with X-axis first member plate respectively, Y-axis drives one end of pin to be slidably connected at, and the Y-axis be located on Y-axis driving guide plate drives in guide groove, Y-axis drives the other end of pin to be fixedly connected with Y-axis slide block, Y-axis skid is connected on Y-axis guide rod, Y-axis guide rod is fixedly connected on the sub-slide block of X-axis
Z axis guide rod is vertically connected on Y-axis slide block, and Z axis skid is connected on Z axis guide rod, and Z axis drives left guide plate and Z axis to drive right guide plate to be fixedly connected on Z axis slide block both sides respectively, and fixture is fixedly connected on Z axis slide block.
Further, the sub-guide rod of described X-axis is positioned at X-axis sub-slide block both sides and is arranged with the sub-slide block back-moving spring of X-axis respectively.
Further, described Y-axis guide rod is positioned at Y-axis slide block both sides and is arranged with Y-axis back-moving spring respectively.
Further, described Z axis guide rod is positioned at Z axis slide block both sides and is arranged with Z axis back-moving spring respectively.
Further, the slip of the female slide block of described X-axis on X-axis guide rail is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors and X-axis screw mandrel, described X-axis screw mandrel is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors is connected with X-axis screw mandrel, and the threaded one end of the female slide block of X-axis is connected on X-axis screw mandrel.
Further, described Z axis drives left guide plate and Z axis to drive right guide plate to be triangle.
The utility model has following beneficial effect:
The utility model only adopts a motor to drive, reduce the complexity of manipulator, the control of manipulator is made to become simple, complete machine cost is reduced, and the control system programming of manipulator is simplified greatly, simultaneously because the control system of manipulator is simplified, the interference free performance of manipulator and reliability are largely increased.
accompanying drawing illustrates:
Fig. 1 is the top view of the utility model structure.
Fig. 2 is the sectional view of Fig. 1 structure.
Wherein
1-drive motors, 2-shaft coupling, 3-X axis rail, 4-X axial filament bar, 5-X axle first member plate, 6-X axle right end plate, the left push rod of 7-X axle, the right push rod of 8-X axle, the female slide block of 9-X axle, 10-X roller slide block, 11-X roller guide rod, 12-X roller slide block back-moving spring, 13-XY axle transition plate, 14-X axle limiting plate, 15-X axle left limit top board, 16-X axle right limit top board, 17-Y spindle guide bar, 18-Y axle slide block, 19-Y axle back-moving spring, 20-Y axle drives guide plate, 21-Y axle drives guide groove, 22-Y axle drives pin, the female slide block first member plate of 23-, 24-Z axle drives left push rod, 25-guide wheel a, 26-Z axle drives left guide plate, the female slide block right end plate of 27-, 28-Z axle drives right push rod, 29-guide wheel b, 30-Z axle drives right guide plate, 31-Z axle bedplate, 32-Z spindle guide bar, 33-Z axle slide block, 34-Z axle back-moving spring, 101-fixture.
detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is further described.
As Fig. 1 and Fig. 2, a kind of primary and secondary slide block of the utility model and guide groove composite mechanical hand, comprise X-axis guide rail 3, X-axis first member plate 5, X-axis right end plate 6, the left push rod 7 of X-axis, the right push rod 8 of X-axis, the female slide block 9 of X-axis, the sub-slide block 10 of X-axis, the sub-guide rod 11 of X-axis, X-axis limiting plate 14, Y-axis guide rod 17, Y-axis slide block 18, Y-axis drives guide plate 20, Y-axis drives pin 22, female slide block first member plate 23, Z axis drives left push rod 24, Z axis drives left guide plate 26, female slide block right end plate 27, Z axis drives right push rod 28, Z axis drives right guide plate 30, Z axis guide rod 32, Z axis slide block 33 and fixture 101,
The two ends, left and right of X-axis guide rail 3 are fixedly connected with X-axis right end plate 6 with X-axis first member plate 5 respectively, and the female slide block 9 of X-axis is slidably connected on X-axis guide rail 3, and the sub-guide rod 11 of X-axis is fixedly connected on the female slide block 9 of X-axis, and the sub-slide block of X-axis 10 is slidably connected on the sub-guide rod 11 of X-axis.The sub-slide block 10 of X-axis is fixedly connected with X-axis limiting plate 14, the two ends, left and right of this X-axis limiting plate 14 are fixedly connected with X-axis left limit top board 15 and X-axis right limit top board 16 respectively, and X-axis first member plate 5 and X-axis right end plate 6 are fixedly connected with the left push rod of X-axis 7 and the right push rod 8 of X-axis respectively.Be fixedly connected with female slide block first member plate 23 and female slide block right end plate 27 respectively at the two ends, left and right of the sub-guide rod of X-axis 11, Z axis drives left push rod 24 and Z axis to drive right push rod 28 to be fixedly connected on respectively in female slide block first member plate 23 and female slide block right end plate 27.Drive left push rod 24 and Z axis to drive on right push rod 28 at Z axis and be respectively equipped with guide wheel a25 and guide wheel b29.
Y-axis drives guide plate about 20 two ends to be fixedly connected with X-axis right end plate 7 with X-axis first member plate 5 respectively, drive on guide plate 20 in Y-axis and be provided with Y-axis driving guide groove 21, Y-axis drives one end of pin 22 to be slidably connected in this Y-axis driving guide groove 21, Y-axis drives the other end of pin 22 to be fixedly connected with Y-axis slide block 18, Y-axis slide block 18 is slidably connected on Y-axis guide rod 17, the sub-slide block 10 of X-axis is fixedly connected with XY axle transition plate 13, and Y-axis guide rod 17 is fixedly installed in XY axle transition plate 13.
Y-axis slide block 18 is vertically connected with Z axis bedplate 31, Z axis guide rod 32 is fixedly connected on Z axis bedplate 31, and Z axis guide rod 32 is perpendicular with Y-axis slide block 18, Z axis slide block 33 is slidably connected on Z axis guide rod 32, Z axis drives left guide plate 26 and Z axis to drive right guide plate 30 to be fixedly connected on the both sides of Z axis slide block 33 respectively, and fixture 101 is fixedly connected on Z axis slide block 33.Z axis in the utility model drives left guide plate 26 and Z axis to drive right guide plate 30 to be triangle.
For ease of the reset in the X-axis direction of the utility model manipulator, the sub-guide rod of X-axis 11 is positioned at X-axis sub-slide block 10 both sides and is arranged with the sub-slide block back-moving spring 12 of X-axis respectively.
For ease of the reset in the Y-axis direction of the utility model manipulator, Y-axis guide rod 17 is positioned at Y-axis slide block 18 both sides and is arranged with Y-axis back-moving spring 19 respectively.
For ease of the reset in the Z-axis direction of the utility model manipulator, Z axis guide rod 32 is positioned at Z axis slide block 33 both sides and is arranged with Z axis back-moving spring 34 respectively.
The slip of the female slide block 9 of X-axis in the utility model on X-axis guide rail 3 is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors 1 and X-axis screw mandrel 4, X-axis screw mandrel 4 is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors 1 is connected with X-axis screw mandrel 4 by shaft coupling 2, and the threaded one end of the female slide block 9 of X-axis is connected on X-axis screw mandrel.
Be described as follows to left movement along X-axis guide rail 3 for the female slide block 9 of X-axis:
When X-axis driving mechanism drives the female slide block 9 of X-axis along X-axis guide rail 3 to left movement, Y-axis drives pin 22 Y-axis on guide plate 20 can be driven to drive guide groove 21 to slide along Y-axis, and drive Y-axis slide block, 18 move along Y-axis guide rod 17, and the fixture 101 in the process in the utility model also makes X-Y axle compound motion in company with Y-axis slide block 18.When the left push rod 7 of X-axis left limit top board 15 and X-axis contacts, the stop motion of X-axis sub-slide block 10, the fixture 101 of manipulator is also no longer to left movement.After this along with the female slide block 9 of X-axis continues to left movement, the sub-slide block back-moving spring 12 of X-axis on right side is compressed, until Z axis drives the guide wheel b29 of right push rod 28 and Z axis to drive right guide plate 30 to contact.After this along with the female slide block 9 of X-axis continues to left movement, drive right guide plate 30 with under the guiding function of guide wheel b29 at Z axis, Z axis slide block 33 moves along Z axis guide rod 32, and the fixture 101 of manipulator also makes Y-Z axle compound motion in company with Z axis slide block 33 in the process.Therefore, the fixture in the utility model does echelon by the order of X-Y-Z axle and is connected compound motion.
Next, when drive system drives the female slide block 9 of X-axis to do return motion to the right along X-axis guide rail 3, under the effect of each axle guide and back-moving spring, reverse sequence by Z-Y-X axle is done echelon and is connected compound motion by the fixture of manipulator, until the sub-slide block 10 of X-axis gets back to the center of the female slide block 9 of X-axis.
When drive system drives the female slide block 9 of X-axis to move right along X-axis guide rail 3 and reply, the procedure of kinematic analysis of the fixture 101 of manipulator and aforementioned similar, therefore repeat no more.
The modes such as the X-axis driving mechanism in the utility model can also adopt that Timing Belt-synchronizing wheel drives, chain-sprocket drives, pneumatic or hydraulic-driven.
The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art, can also make some improvement under the prerequisite not departing from the utility model principle, these improvement also should be considered as protection domain of the present utility model.
Claims (6)
1. a primary and secondary slide block and guide groove composite mechanical hand, it is characterized in that: comprise X-axis guide rail (3), X-axis first member plate (5), X-axis right end plate (6), the left push rod of X-axis (7), the right push rod of X-axis (8), the female slide block (9) of X-axis, the sub-slide block of X-axis (10), the sub-guide rod of X-axis (11), X-axis limiting plate (14), Y-axis guide rod (17), Y-axis slide block (18), Y-axis drives guide plate (20), Y-axis drives pin (22), female slide block first member plate (23), Z axis drives left push rod (24), Z axis drives left guide plate (26), female slide block right end plate (27), Z axis drives right push rod (28), Z axis drives right guide plate (30), Z axis guide rod (32), Z axis slide block (33) and fixture (101),
The two ends of described X-axis guide rail (3) are fixedly connected with X-axis right end plate (6) with X-axis first member plate (5) respectively, the female slide block (9) of X-axis is slidably connected on X-axis guide rail (3), the sub-guide rod of X-axis (11) is fixed on the female slide block (9) of X-axis, the sub-slide block of X-axis (10) is slidably connected on the sub-guide rod of X-axis (11), the left push rod of X-axis (7) and the right push rod of X-axis (8) are fixedly connected in X-axis first member plate and X-axis right end plate respectively, X-axis limiting plate (14) is fixedly connected on the sub-slide block of X-axis (10), female slide block first member plate (23) and female slide block right end plate (27) are fixedly connected on the two ends of the sub-guide rod of X-axis (11) respectively, Z axis drives left push rod (24) and Z axis to drive right push rod (28) to be fixedly connected in female slide block first member plate (23) and female slide block right end plate (27) respectively,
Y-axis drives guide plate (20) two ends, left and right to be fixedly connected with X-axis right end plate with X-axis first member plate respectively, Y-axis drives one end of pin (22) to be slidably connected at, and the Y-axis be located on Y-axis driving guide plate drives in guide groove (21), Y-axis drives the other end of pin (22) to be fixedly connected with Y-axis slide block (18), Y-axis slide block (18) is slidably connected on Y-axis guide rod (17), Y-axis guide rod (17) is fixedly connected on the sub-slide block of X-axis (10)
Z axis guide rod (32) is vertically connected on Y-axis slide block (18), Z axis slide block (33) is slidably connected on Z axis guide rod (32), Z axis drives left guide plate (26) and Z axis to drive right guide plate (30) to be fixedly connected on Z axis slide block (33) both sides respectively, and fixture (101) is fixedly connected on Z axis slide block (33).
2. primary and secondary slide block as claimed in claim 1 and guide groove composite mechanical hand, is characterized in that: the sub-guide rod of described X-axis (11) is gone up and is positioned at the sub-slide block of X-axis (10) both sides and is arranged with the sub-slide block back-moving spring (12) of X-axis respectively.
3. primary and secondary slide block as claimed in claim 1 and guide groove composite mechanical hand, is characterized in that: described Y-axis guide rod (17) is gone up and is positioned at Y-axis slide block (18) both sides and is arranged with Y-axis back-moving spring (19) respectively.
4. primary and secondary slide block as claimed in claim 1 and guide groove composite mechanical hand, is characterized in that: described Z axis guide rod (32) is gone up and is positioned at Z axis slide block (33) both sides and is arranged with Z axis back-moving spring (34) respectively.
5. primary and secondary slide block as claimed in claim 1 and guide groove composite mechanical hand, it is characterized in that: female slide block (9) slip on X-axis guide rail (3) of described X-axis is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors (1) and X-axis screw mandrel (4), described X-axis screw mandrel (4) is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors (1) is connected with X-axis screw mandrel (4), and the threaded one end of the female slide block (9) of X-axis is connected on X-axis screw mandrel.
6. primary and secondary slide block as claimed in claim 1 and guide groove composite mechanical hand, is characterized in that: described Z axis drives left guide plate (26) and Z axis to drive right guide plate (30) to be triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794565.1U CN205033198U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and guide slot combined type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794565.1U CN205033198U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and guide slot combined type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205033198U true CN205033198U (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520794565.1U Expired - Fee Related CN205033198U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and guide slot combined type manipulator |
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| CN (1) | CN205033198U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106489439A (en) * | 2016-11-09 | 2017-03-15 | 苏州荣凯克精密机械有限公司 | The shell inversion mechanism of hay mover handpiece case charging equipment |
-
2015
- 2015-10-15 CN CN201520794565.1U patent/CN205033198U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106489439A (en) * | 2016-11-09 | 2017-03-15 | 苏州荣凯克精密机械有限公司 | The shell inversion mechanism of hay mover handpiece case charging equipment |
| CN106489439B (en) * | 2016-11-09 | 2018-11-23 | 扬州市飞马汽油机厂 | The shell inversion mechanism of grass trimmer handpiece case charging equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 Termination date: 20181015 |