CN205290941U - Rotary driving guide arm formula manipulator that floats - Google Patents
Rotary driving guide arm formula manipulator that floats Download PDFInfo
- Publication number
- CN205290941U CN205290941U CN201620018053.0U CN201620018053U CN205290941U CN 205290941 U CN205290941 U CN 205290941U CN 201620018053 U CN201620018053 U CN 201620018053U CN 205290941 U CN205290941 U CN 205290941U
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- China
- Prior art keywords
- axle
- axis
- guide
- rod
- push rod
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Abstract
The utility model discloses a rotary driving guide arm formula manipulator that floats, the utility model provides a drive slider is established on the arc guide rail and one end links to each other with unsteady guide, and a left side / right limit post rod establishes respectively on the arc guide rail, and on the guide arm that floats was located to the guide cover that floats, a floating lever left side right end board connected respectively in unsteady guide arm both ends, and R axle bed plate is established between floating lever left side right end board, and R axle sliding sleeve is established on R axle bed plate, and R shaft flange board is established on the leading pole of R axle, and the Z axle guide pole is established on R shaft flange board, a R spindle drive left side / right baffle is established respectively on the leading pole of R axle, and on Z axle left side slider guide arm was located respectively to Z axle left side slider guide pin bushing, Z spindle drive left side right ejector rod established respectively on the slider guide pin bushing of a Z axle left side, and Z axle left side right ejector rod guide pin bushing is established respectively in R shaft flange board both sides, and Z spindle drive left side right ejector rod alternates respectively in the right ejector rod guide pin bushing of a Z axle left side, and anchor clamps are installed in Z axle slider. The utility model discloses simple structure, the reliability is high.
Description
Technical field:
This utility model relates to a kind of rotation and drives floating guide rod type mechanical hand.
Background technology:
At industrial automation, various mechanical hands are used widely. Mechanical hand is for the carrying of material and transposition on the equipment of production and production line, and in most cases mechanical hand is all multiaxis, and its motion mode is usually the three-dimensional motion of complexity. Current mechanical hand is usually and is constituted multivariant complicated machinery hands by multiple independent driving axles, and the motor being generally adopted more than 2 could realize complicated three-dimensional motion. This mechanical hand is generally adopted multi-shaft interlocked complicated driving control system, thus have that running speed is slow, poor anti jamming capability, workCanThe shortcoming such as poor, expensive by property, thus be difficult to be generalizable on low and middle-end equipment.
Therefore, necessary prior art improves to solve the deficiency of prior art.
Summary of the invention:
The purpose of this utility model is to solve the defect existed in prior art, it is provided that a kind of simple in construction, running speed are high, capacity of resisting disturbance is strong, reliability is high, the rotation of highly versatile and cost economy drives floating guide rod type mechanical hand.
The technical scheme that this utility model adopts has: a kind of rotation drives floating guide rod type mechanical hand, including arc-shaped guide rail, left limit push rod, right limit push rod, drive slide block, floating guide, floating guide rod, floating lever first member plate, floating lever right end plate, R axle bedplate, R axle sliding sleeve, R axle pair guide rod, R axle leading rod, R shaft flange plate, Z axis guide rod, Z axis slide block, R axle drives left guide plate, R axle drives left push rod, R axle drives right guide plate, R axle drives right push rod, the left slide guide rod of Z axis, the left slide guide pin bushing of Z axis, Z axis drives left push rod, the left push rod guide pin bushing of Z axis, the right slide guide rod of Z axis, the right slide guide pin bushing of Z axis, Z axis drives right push rod, the right push rod guide pin bushing of Z axis, Z axis drives guide plate and fixture,
Described driving skid is connected on arc-shaped guide rail and one end is fixed with floating guide and is connected, left limit push rod and right limit push rod are fixedly connected on arc-shaped guide rail, and lay respectively at driving slide block both sides, floating guide is sheathed on floating guide rod, floating lever first member plate and floating lever right end plate are respectively fixedly connected with in floating guide rod two ends, R axle bedplate is fixedly connected between floating lever first member plate and floating lever right end plate, R axle sliding sleeve is fixedly connected on R axle bedplate, R axle pair guide rod and R axle leading rod slide and are interspersed in R axle sliding sleeve, R shaft flange plate is fixedly connected on the upper end of R axle leading rod, Z axis guide rod is installed vertically on R shaft flange plate, Z axis skid is located on Z axis guide rod,R axle drives left push rod and the left slide guide rod of Z axis to be fixedly connected on floating lever first member plate, R axle drives right push rod and the right slide guide rod of Z axis to be fixedly connected in floating lever right end plate, R axle drives left guide plate and R axle to drive right guide plate to be respectively fixedly connected with in both sides, R axle leading rod lower end, Z axis left slide guide pin bushing and Z axis right slide guide pin bushing slide respectively and are located on Z axis left slide guide rod and the right slide guide rod of Z axis, Z axis drives left push rod and Z axis to drive right push rod to be respectively fixedly connected with on the right slide guide pin bushing of Z axis left slide guide pin bushing and Z axis, Z axis left push rod guide pin bushing and the right push rod guide pin bushing of Z axis are respectively fixedly connected with in the left and right sides of R shaft flange plate, and Z axis drives left push rod and the Z axis right push rod of driving to slide respectively and be interspersed in Z axis left push rod guide pin bushing and the right push rod guide pin bushing of Z axis, Z axis drives guide plate to be fixedly connected on Z axis slide block, and fixture is installed on Z axis slide block.
Further, on described floating guide rod and be positioned at floating guide both sides and be arranged with floating lever back-moving spring respectively.
Further, described R axle pair guide rod being arranged with R axle back-moving spring, the two ends of R axle back-moving spring are respectively supported on R axle sliding sleeve and on R axle leading rod.
Further, on described Z axis guide rod and be positioned at Z axis slide block both sides and be arranged with Z axis back-moving spring respectively.
Further, the slip on arc-shaped guide rail of the described driving slide block is by a drive unit drives, and this driver element includes motor and turning arm, and one end of described turning arm is connected with driving slide block, and the other end is connected with motor.
This utility model has the advantages that
This utility model drives only with a motor, reduce the complexity of mechanical hand, the control making mechanical hand becomes simple, complete machine cost is reduced, and the control system program design making mechanical hand is greatly simplified, simultaneously because the control system of mechanical hand is simplified so that interference free performance and the reliability of mechanical hand are largely increased.
Accompanying drawing illustrates:
Fig. 1 is this utility model structure chart.
Fig. 2 is the partial sectional view of Fig. 1 structure.
Wherein
1-support, 2-motor, 3-turning arm, 4-arc-shaped guide rail, 5-left limit seat, 6-left limit push rod, 7-guide wheel a, 8-right limit seat, 9-right limit push rod, 10-guide wheel b, 11-drives slide block, 12-floating guide, 13-floating guide rod, 14-floating lever back-moving spring, 15-floating lever first member plate, 16-floating lever right end plate, 17-R axle bedplate, 18-R axle sliding sleeve, 19-R axle pair guide rod, 20-R axle back-moving spring, 21-R axle leading rod, 22-R shaft flange plate, 23-Z axle bedplate, 24-Z spindle guide bar, 25-Z axle back-moving spring, 26-Z axle slide block, 27-R axle drives left guide plate, 28-R axle drives left push rod, 29-guide wheel c, 30-R axle drives right guide plate, 31-R axle drives right push rod, 32-guide wheel d, the left slide guide rod of 33-Z axle, the left slide guide pin bushing of 34-Z axle, 35-Z axle drives left push rod, the left push rod guide pin bushing of 36-Z axle, 37-guide wheel e, the right slide guide rod of 38-Z axle, the right slide guide pin bushing of 39-Z axle, 40-Z axle drives right push rod, the right push rod guide pin bushing of 41-Z axle, 42-guide wheel f, 43-Z axle drives guide plate, 101-fixture.
Detailed description of the invention:
Below in conjunction with accompanying drawing, this utility model is further described.
Such as Fig. 1 and Fig. 2, this utility model one rotates and drives floating guide rod type mechanical hand, including arc-shaped guide rail 4, arc-shaped guide rail 4 is fixed on support 1, slide block 11 is driven to be slidingly disposed on arc-shaped guide rail 4, left limit push rod 6 and right limit push rod 9 are fixedly connected on the arc-shaped guide rail 4 driving slide block 11 both sides respectively through left limit seat 5 and right limit seat 8, and the top of left limit push rod 6 and right limit push rod 9 is respectively equipped with guide wheel a7 and guide wheel b10.
Floating guide 12 is fixedly connected on driving slide block 11, and floating guide rod 13 is interspersed in floating guide 12 slidably, on floating guide rod 13 and be positioned at the both sides of floating guide 12 and be arranged with floating lever back-moving spring 14 respectively. Floating guide rod 13 is supported in the two ends, left and right of floating guide 12 and floating guide rod 13 by two sections, left and right floating lever back-moving spring 14. Floating lever first member plate 15 and floating lever right end plate 16 are respectively fixedly connected with the two ends, left and right in floating guide rod 13, the two ends of R axle bedplate 17 are fixedly connected on the left/right end plate of floating lever, R axle sliding sleeve 18 is fixedly connected on R axle bedplate 17, R axle leading rod 21 and R axle pair guide rod 19 are interspersed in R axle sliding sleeve 18 slidably, R axle back-moving spring 20 be sheathed on R axle pair guide rod 19 and its two ends be respectively supported on R axle sliding sleeve 18 and R axle leading rod 21 on. R shaft flange plate 22 is fixedly connected on the upper end of R axle leading rod 21, Z axis guide rod 24 is installed vertically on R shaft flange plate 22 by Z axis bedplate 23, Z axis slide block 26 is slidingly disposed on Z axis guide rod 24, on Z axis guide rod 24 and be positioned at Z axis slide block 26 both sides and be arranged with Z axis back-moving spring 25 respectively.
R axle drives left push rod 28 and R axle to drive right push rod 31 to be respectively fixedly connected with on floating lever first member plate 15 and floating lever right end plate 16, and guide wheel c29 and guide wheel d32 is respectively arranged on R axle and drives left push rod 28 and R axle to drive the top of right push rod 31, R axle drives left guide plate 27 and R axle to drive right guide plate 30 to be respectively fixedly connected with in both sides, R axle leading rod 21 lower end, and R axle drives left guide plate 27 and R axle to drive right guide plate 30 correspondence to be respectively positioned at the R axle left push rod 28 of driving and R axle drives right push rod 31 side. Z axis left slide guide rod 33 and the right slide guide rod 38 of Z axis are respectively fixedly connected with on floating lever first member plate 15 and floating lever right end plate 16, Z axis left slide guide pin bushing 34 and Z axis right slide guide pin bushing 39 are respectively slidably located on Z axis left slide guide rod 33 and the right slide guide rod 38 of Z axis, Z axis drives left push rod 35 and Z axis to drive right push rod 40 to be respectively fixedly connected with on Z axis left slide guide pin bushing 34 and the right slide guide pin bushing 39 of Z axis, and Z axis drives left push rod 35 and Z axis to drive the top of right push rod 40 to be respectively equipped with guide wheel e37 and guide wheel f42, Z axis left push rod guide pin bushing 36 and the right push rod guide pin bushing 41 of Z axis are respectively fixedly connected with in the left and right sides of R shaft flange plate 22, and Z axis drives left push rod 35 and Z axis to drive right push rod 40 to be respectively slidably interspersed in Z axis left push rod guide pin bushing 36 and the right push rod guide pin bushing 41 of Z axis, Z axis drives guide plate 43 to be fixedly connected on Z axis slide block 26. fixture 101 is installed on Z axis slide block 26.
In this utility model drive the slide block 11 slip on arc-shaped guide rail 4 be by a drive unit drives, this driver element includes motor 2 and turning arm 3, the output shaft of motor 2 by turning arm 3 with drive slide block 11 be connected and drive its arcuately guide rail 4 move.
When motor 2 is driven by turning arm 3 and to drive slide block 11 arcuately guide rail 4 moves, under the effect that each axle guides mechanism and back-moving spring, the fixture of mechanical hand can realize the three-dimensional multiaxis echelon linking of cylindrical coordinate or compound motion.
To drive slide block 11 arcuately guide rail 4 to illustrate as follows to left movement:
When motor 2 is driven by turning arm 3 and to drive slide block 11 arcuately guide rail 4 is to left movement, the fixture 101 of mechanical hand also in company with floating guide-bar mechanism to left movement. Along with driving slide block 11 to drive floating guide 12 to left movement, when the guide wheel a7 of floating lever first member plate 15 with left limit push rod 6 top contacts, the fixture 101 of mechanical hand stops to left movement.Along with driving slide block 11 to drive floating guide 12 to continue to left movement, the floating lever back-moving spring 14 in left side is compressed, until R axle drives guide wheel c29 and the R axle on left push rod 28 top to drive left guide plate 27 to contact. Hereafter along with driving slide block 11 to continue to left movement, R axle leading rod 21 and R axle pair guide rod 19 move along R axle sliding sleeve 18 under the guiding function that R axle drives left guide plate 27 and guide wheel c29 together with R shaft flange plate 22, driving left/right push rod (35,40) to drive Z axis left/right slide guide pin bushing (34,39) to drive left/right slide guide rod (33,38) to slide along Z axis respectively by Z axis left/right push rod guide pin bushing (36,41) and Z axis, the fixture 101 of mechanical hand also moves along R direction of principal axis in company with R shaft flange plate 22 in the process simultaneously.
Continue to left movement along with driving slide block 11, the floating lever back-moving spring 14 in left side continues to be compressed, until the guide wheel e37 that Z axis drives left push rod 35 drives the left tilted surface of guide plate 43 to contact with Z axis, this rear drive slide block 11 continues to left movement, Z axis slide block 26 drives at Z axis and moves along Z axis guide rod 25 under the left tilted surface of guide plate 43 and the guiding function of guide wheel e37, and the fixture 101 of mechanical hand also moves along Z-direction in company with Z axis slide block 26 in the process. The above-mentioned fixture explaining mechanical hand does echelon linking or compound motion by the order of ��-R-Z axle.
Next, when arcuately guide rail 4 does return motion to the right to driven by motor driving slide block 11, under the effect that each axle guides mechanism and back-moving spring, the fixture of mechanical hand by doing echelon linking or compound motion by the reverse sequence of Z-R-�� axle, until floating guide rod 13 returns to the center of floating guide 12.
When arcuately guide rail 4 moves right and replys driven by motor driving slide block 11, the procedure of kinematic analysis of the fixture 101 of mechanical hand is similar with aforementioned, therefore repeats no more.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art, can also making some improvement under the premise without departing from this utility model principle, these improvement also should be regarded as protection domain of the present utility model.
Claims (5)
1. one kind rotates driving floating guide rod type mechanical hand, it is characterised in that: include arc-shaped guide rail (4), left limit push rod (6), right limit push rod (9), drive slide block (11), floating guide (12), floating guide rod (13), floating lever first member plate (15), floating lever right end plate (16), R axle bedplate (17), R axle sliding sleeve (18), R axle pair guide rod (19), R axle leading rod (21), R shaft flange plate (22), Z axis guide rod (24), Z axis slide block (26), R axle drives left guide plate (27), R axle drives left push rod (28), R axle drives right guide plate (30), R axle drives right push rod (31), the left slide guide rod (33) of Z axis, the left slide guide pin bushing (34) of Z axis, Z axis drives left push rod (35), the left push rod guide pin bushing (36) of Z axis, the right slide guide rod (38) of Z axis, the right slide guide pin bushing (39) of Z axis, Z axis drives right push rod (40), the right push rod guide pin bushing (41) of Z axis, Z axis drives guide plate (43) and fixture (101), described driving slide block (11) is slidably connected on arc-shaped guide rail (4) and one end is fixed with floating guide (12) and is connected, left limit push rod (6) and right limit push rod (9) are fixedly connected on arc-shaped guide rail (4), and lay respectively at driving slide block (11) both sides, floating guide (12) is sheathed on floating guide rod (13), floating lever first member plate (15) and floating lever right end plate (16) are respectively fixedly connected with in floating guide rod (13) two ends, R axle bedplate (17) is fixedly connected between floating lever first member plate (15) and floating lever right end plate (16), R axle sliding sleeve (18) is fixedly connected on R axle bedplate (17), R axle pair guide rod (19) and R axle leading rod (21) slides and is interspersed in R axle sliding sleeve (18), R shaft flange plate (22) is fixedly connected on the upper end of R axle leading rod (21), Z axis guide rod (24) is installed vertically on R shaft flange plate (22), Z axis slide block (26) slides and is located on Z axis guide rod (24),R axle drives left push rod (28) and the left slide guide rod (33) of Z axis to be fixedly connected on floating lever first member plate (15), R axle drives right push rod (31) and the right slide guide rod (38) of Z axis to be fixedly connected in floating lever right end plate (16), R axle drives left guide plate (27) and R axle to drive right guide plate (30) to be respectively fixedly connected with in R axle leading rod (21) both sides, lower end, Z axis left slide guide pin bushing (34) and Z axis right slide guide pin bushing (39) slide respectively and are located on Z axis left slide guide rod (33) and the right slide guide rod (38) of Z axis, Z axis drives left push rod (35) and Z axis to drive right push rod (40) to be respectively fixedly connected with on the right slide guide pin bushing (39) of Z axis left slide guide pin bushing (34) and Z axis, Z axis left push rod guide pin bushing (36) and the right push rod guide pin bushing (41) of Z axis are respectively fixedly connected with in the left and right sides of R shaft flange plate (22), and Z axis drives left push rod (35) and the Z axis right push rod of driving (40) to slide respectively and be interspersed in Z axis left push rod guide pin bushing (36) and the right push rod guide pin bushing (41) of Z axis, Z axis drives guide plate (43) and fixture (101) to be all located on Z axis slide block (26).
2. as claimed in claim 1 rotation drives floating guide rod type mechanical hand, it is characterised in that: described floating guide rod (13) is gone up and is positioned at floating guide (12) both sides and is arranged with floating lever back-moving spring (14) respectively.
3. as claimed in claim 1 rotation drives floating guide rod type mechanical hand, it is characterized in that: the two ends being arranged with R axle back-moving spring (20), R axle back-moving spring (20) on described R axle pair guide rod (19) are respectively supported on R axle sliding sleeve (18) and on R axle leading rod (21).
4. as claimed in claim 1 rotation drives floating guide rod type mechanical hand, it is characterised in that: described Z axis guide rod (24) is gone up and is positioned at Z axis slide block (26) both sides and is arranged with Z axis back-moving spring (25) respectively.
5. as claimed in claim 1 rotation drives floating guide rod type mechanical hand, it is characterized in that: the slip on arc-shaped guide rail (4) of the described driving slide block (11) is by a drive unit drives, this driver element includes motor (2) and turning arm (3), one end of described turning arm (3) is connected with driving slide block (11), and the other end is connected with motor (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018053.0U CN205290941U (en) | 2016-01-11 | 2016-01-11 | Rotary driving guide arm formula manipulator that floats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018053.0U CN205290941U (en) | 2016-01-11 | 2016-01-11 | Rotary driving guide arm formula manipulator that floats |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290941U true CN205290941U (en) | 2016-06-08 |
Family
ID=56486121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018053.0U Expired - Fee Related CN205290941U (en) | 2016-01-11 | 2016-01-11 | Rotary driving guide arm formula manipulator that floats |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290941U (en) |
-
2016
- 2016-01-11 CN CN201620018053.0U patent/CN205290941U/en not_active Expired - Fee Related
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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: 20160608 Termination date: 20190111 |