CN205290949U - Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator - Google Patents
Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator Download PDFInfo
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- CN205290949U CN205290949U CN201620018014.0U CN201620018014U CN205290949U CN 205290949 U CN205290949 U CN 205290949U CN 201620018014 U CN201620018014 U CN 201620018014U CN 205290949 U CN205290949 U CN 205290949U
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- guide
- axle
- floating
- rod
- plate
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Abstract
The utility model discloses an unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator, the utility model discloses well motor links to each other with the spline guide shaft, and the hub splines links to each other with Z axle driving pin rod, Z axle driving pin rod wears to locate in the cylinder guide slot on the cylinder baffle, on Z axle driving pin rod was located to the frame support, on the frame support was located to R axle sliding sleeve, during R axle sliding sleeve was worn to locate by the R axle guide pole, R axle driving pin rod located on the R axle guide pole and one end wears to locate in the R axle guide groove on the R axle guide board, on the R axle guide pole was located to unsteady guide, unsteady guide arm slided and wears to locate to float in the guide, and floating lever left side right end board divides and locates the guide arm both ends of floating, and the gyration is supported the bedplate and is all located between the right end board of a floating lever left side with the swing drives rack, and the gyration axle sleeve is located on the gyration supports the bedplate, and the cross -under of gyration guide shaft is in turning round the axle sleeve, and rotary guide shaft both ends are located respectively to swing drives gear and anchor clamps, and swing drives gear and swing drives rack toothing. The utility model discloses simple structure, the reliability is high.
Description
Technical field:
This utility model relates to a kind of cylindrical coordinate floating guide rod and twin-stage guide 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 there is the shortcomings such as running speed is slow, poor anti jamming capability, functional reliability are poor, expensive, thus is 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 cylindrical coordinate floating guide rod of highly versatile and cost economy and twin-stage guide type mechanical hand.
The technical scheme that this utility model adopts has: a kind of cylindrical coordinate floating guide rod and twin-stage guide type mechanical hand, including support, motor, spline guide shaft, hub splines, turning arm, Z axis drives pin rod, cylinder guide plate, left limit push rod, right limit push rod, R spindle guide plate, R axle drives pin rod, frame support, R axle sliding sleeve, R spindle guide bar, floating guide, floating guide rod, floating lever back-moving spring, floating lever first member plate, floating lever right end plate, revolving support seat board, revolution drives tooth bar, revolution drives gear, swivel sleeve, revolution guide shaft and fixture, described motor and cylinder guide plate are fixed on support, the output shaft of motor is fixing with spline guide shaft to be connected, hub splines is sheathed on spline guide shaft, hub splines is connected by turning arm is fixing with Z axis driving pin rod,On cylinder guide plate, design has cylinder guide groove, and Z axis drives pin rod to be arranged in cylinder guide groove; Left limit push rod and right limit push rod are divided into the two ends, left and right of cylinder guide plate; R spindle guide plate is fixed on support, R spindle guide plate is provided with R axle guide, frame support is fixedly connected on Z axis and drives the end of pin rod, R axle sliding sleeve is fixedly connected on frame support, R spindle guide bar is arranged in R axle sliding sleeve, and R axle drives pin rod to be fixedly connected on the lower end of R spindle guide bar and R axle drives pin rod to be arranged in the R axle guide on R spindle guide plate; Floating guide is fixedly connected on the upper end of R spindle guide bar, floating guide rod slides and is arranged in floating guide, floating lever first member plate and floating lever right end plate are individually fixed in the two ends, left and right of floating guide rod, revolving support seat board and revolution drive tooth bar to be all located between floating lever first member plate and floating lever right end plate, swivel sleeve is located on revolving support seat board, revolution guide shaft is connected in swivel sleeve, revolution drives gear and fixture to be respectively fixedly connected with in the two ends of revolution guide shaft, and revolution drives gear to drive tooth bar to engage with revolution.
Further, on described floating guide rod and be positioned at floating guide both sides and be arranged with floating lever back-moving spring respectively.
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 this utility model partial sectional view.
Wherein
1-support, 2-motor, 3-spline guide shaft, 4-hub splines, 5-turning arm, 6-Z axle drives pin rod, 7-cylinder guide plate, 8-cylinder guide groove, 9-left limit push rod, 10-guide wheel a, 11-right limit push rod, 12-guide wheel b, 13-R spindle guide plate, 14-R axle guide, 15-R axle drives pin rod, 16-frame support, 17-R axle sliding sleeve, 18-R spindle guide bar, 19-floating guide, 20-floating guide rod, 21-floating lever back-moving spring, 22-floating lever first member plate, 23-floating lever right end plate, 24-revolving support seat board, 25-revolution drives tooth bar, 26-revolution drives gear, 27-swivel sleeve, 28-turns round guide shaft, 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 cylindrical coordinate floating guide rod and twin-stage guide type mechanical hand, including motor 2 and cylinder guide plate 7, motor 2 and cylinder guide plate 7 are fixed on support 1, the output shaft of motor 2 is fixing with spline guide shaft 3 to be connected, hub splines 4 is sheathed on spline guide shaft 3, and hub splines 4 can slide along the axial direction of spline guide shaft 3, and hub splines 4 is connected by turning arm 5 is fixing with Z axis driving pin rod 6. On cylinder guide plate 7, design has cylinder guide groove 8, and Z axis drives pin rod 6 to be arranged in the cylinder guide groove 8 on cylinder guide plate 7. Left limit push rod 9 and right limit push rod 11 are divided into the two ends, left and right of cylinder guide plate 7, guide wheel a10 and guide wheel b12 and are respectively arranged on left limit push rod 9 and the top of right limit push rod 11.
R spindle guide plate 13 is fixed on support 1, R spindle guide plate 13 is provided with R axle guide 14, frame support 16 is fixedly connected on Z axis and drives the end of pin rod 6, R axle sliding sleeve 17 is fixedly connected on frame support 16, R spindle guide bar 18 is arranged in R axle sliding sleeve 17, R axle drives pin rod 15 to be fixedly connected on the lower end of R spindle guide bar 18, and R axle drives pin rod 15 to be arranged in the R axle guide 14 on R spindle guide plate 13.
Floating guide 19 is fixedly connected on the upper end of R spindle guide bar 18, floating guide rod 20 slides and is connected in floating guide 19, floating lever first member plate 22 and floating lever right end plate 23 are individually fixed in the two ends, left and right of floating guide rod 20, on floating guide rod 20 and be positioned at floating guide 19 both sides and be arranged with floating lever back-moving spring 21 respectively, the two ends of left side floating lever back-moving spring 21 are respectively supported on floating guide 19 and on floating lever first member plate 22, and the two ends of right side floating lever back-moving spring 21 are respectively supported on floating guide 19 and in floating lever right end plate 23.
The two ends of revolving support seat board 24 are respectively fixedly connected with on floating lever first member plate 22 and in floating lever right end plate 23, swivel sleeve 27 is located on revolving support seat board 24, revolution guide shaft 28 is connected in swivel sleeve 27, revolution drives the two ends of tooth bar 25 to be respectively fixedly connected with on floating lever first member plate 22 and in floating lever right end plate 23, revolution drives gear 26 and fixture 101 to be respectively fixedly connected with in revolution guide shaft 28 two ends, and revolution drives gear 26 to drive tooth bar 25 to engage with revolution.
When motor 2 drives Z axis to drive the pin rod 6 cylinder guide groove 8 along cylinder guide plate 7 to move by spline guide shaft 3, hub splines 4 and turning arm 5, under the effect that each axle guides mechanism and back-moving spring, the fixture of mechanical hand can realize the three-dimensional four-degree-of-freedom echelon linking of cylindrical coordinate or compound motion.
The pin rod 6 cylinder guide groove 8 along cylinder guide plate 7 is driven to illustrate as follows to left movement for Z axis:
When motor 2 drives Z axis to drive the pin rod 6 cylinder guide groove 8 along cylinder guide plate 7 to left movement by spline guide shaft 3, hub splines 4 and turning arm 5, it is fixedly connected under the Z axis on turning arm 5 drives the pin rod 6 cylinder guide groove 8 on cylinder guide plate 7 to guide and moves in cylinder guide groove 8 (namely Z axis drives pin rod 6 to slide along spline guide shaft 3 along the drive hub splines 4 that moves of Z axis) according to the ��-Z function curve track of design, be fixedly connected on Z axis and drive the frame support 16 of pin rod 6 end also to move with in the ��-Z plane that coexists.
Along with frame support 16 is to left movement, R axle drives pin rod 15 to move in the R axle guide 14 of R spindle guide plate 13, and R axle drives pin rod 15 to drive R spindle guide bar 18 to move in R axle sliding sleeve 17. Along with R spindle guide bar 18 continues to left movement, when floating lever first member plate 22 contacts with the guide wheel a10 of left limit push rod 9, the fixture 101 of mechanical hand stops to left movement. Hereafter along with R spindle guide bar 18 drives floating guide 19 to continue to left movement, left side floating lever back-moving spring 21 compressed, revolution drive tooth bar 25 drive revolution drive gear 26 rotate and pass through turn round guide shaft 28 driving mechanical hands fixture 101 do the rotary motion (W direction) around R axle. The order of the above-mentioned fixture ��-Z-R-W axle explaining mechanical hand does the linking of four-degree-of-freedom echelon or compound motion.
Next, when motor by spline guide shaft 3, hub splines 4 and turning arm 5 be rotated arm 5 do return motion to the right time, 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 W-R-Z-�� axle, until floating guide rod 20 returns to the center of floating guide 19.
When motor by spline guide shaft 3, hub splines 4 and turning arm 5 be rotated arm 5 move right and reply time, 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 (2)
1. a cylindrical coordinate floating guide rod and twin-stage guide type mechanical hand, it is characterised in that: include support (1), motor (2), spline guide shaft (3), hub splines (4), turning arm (5), Z axis drives pin rod (6), cylinder guide plate (7), left limit push rod (9), right limit push rod (11), R spindle guide plate (13), R axle drives pin rod (15), frame support (16), R axle sliding sleeve (17), R spindle guide bar (18), floating guide (19), floating guide rod (20), floating lever back-moving spring (21), floating lever first member plate (22), floating lever right end plate (23), revolving support seat board (24), revolution drives tooth bar (25), revolution drives gear (26), swivel sleeve (27), revolution guide shaft (28) and fixture (101), described motor (2) and cylinder guide plate (7) are fixed on support (1), the output shaft of motor (2) is fixing with spline guide shaft (3) to be connected, hub splines (4) is sheathed on spline guide shaft (3), and hub splines (4) is connected by turning arm (5) and Z axis driving pin rod (6) are fixing, the upper design of cylinder guide plate (7) has cylinder guide groove (8), and Z axis drives pin rod (6) to be arranged in cylinder guide groove (8), left limit push rod (9) and right limit push rod (11) are divided into the two ends, left and right of cylinder guide plate (7), R spindle guide plate (13) is fixed on support (1), R spindle guide plate (13) is provided with R axle guide (14), frame support (16) is fixedly connected on Z axis and drives the end of pin rod (6), R axle sliding sleeve (17) is fixedly connected on frame support (16), R spindle guide bar (18) is arranged in R axle sliding sleeve (17), and R axle drives pin rod (15) to be fixedly connected on the lower end of R spindle guide bar (18) and R axle drives pin rod (15) to be arranged in the R axle guide (14) on R spindle guide plate (13), floating guide (19) is fixedly connected on the upper end of R spindle guide bar (18), floating guide rod (20) slides and is arranged in floating guide (19), floating lever first member plate (22) and floating lever right end plate (23) are individually fixed in the two ends, left and right of floating guide rod (20), revolving support seat board (24) and revolution drive tooth bar (25) to be all located between floating lever first member plate (22) and floating lever right end plate (23), swivel sleeve (27) is located on revolving support seat board (24), revolution guide shaft (28) is connected in swivel sleeve (27), revolution drives gear (26) and fixture (101) to be respectively fixedly connected with in the two ends of revolution guide shaft (28), and revolution drives gear (26) to drive tooth bar (25) to engage with revolution.
2. cylindrical coordinate floating guide rod as claimed in claim 1 and twin-stage guide type mechanical hand, it is characterised in that: described floating guide rod (20) is gone up and is positioned at floating guide (19) both sides and is arranged with floating lever back-moving spring (21) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018014.0U CN205290949U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018014.0U CN205290949U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290949U true CN205290949U (en) | 2016-06-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018014.0U Withdrawn - After Issue CN205290949U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of cylindrical coordinates system and doublestage guidance channel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290949U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459099A (en) * | 2016-01-11 | 2016-04-06 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
-
2016
- 2016-01-11 CN CN201620018014.0U patent/CN205290949U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459099A (en) * | 2016-01-11 | 2016-04-06 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
| CN105459099B (en) * | 2016-01-11 | 2017-04-26 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160608 Effective date of abandoning: 20170426 |
|
| AV01 | Patent right actively abandoned |