CN205290951U - Cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator - Google Patents
Cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator Download PDFInfo
- Publication number
- CN205290951U CN205290951U CN201620018039.0U CN201620018039U CN205290951U CN 205290951 U CN205290951 U CN 205290951U CN 201620018039 U CN201620018039 U CN 201620018039U CN 205290951 U CN205290951 U CN 205290951U
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- axle
- guide
- rod
- floating
- plate
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Abstract
The utility model discloses a cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator, the utility model discloses on well motor and cylinder baffle are fixed in the frame, and the output shaft of motor and spline guide shaft fixed connection, hub splines and Z axle driving pin rod fixed connection, Z axle driving pin rod wears to locate in the cylinder guide slot, cylinder baffle both ends are located to a left side / right limit post rod branch, and on Z axle driving pin rod was located to unsteady guide, unsteady guide arm cross -under was in the guide that floats, and floating lever left side right end board locates the guide arm both ends of floating respectively, R axle bed plate is located between the right end board of a floating lever left side, and on R axle bed plate was located to R axle sliding sleeve, leading pole of R axle and R axle vice guide -bar slided to establish and connect in R axle sliding sleeve, on R spindle drive left side right ejector rod located floating lever left side right end board respectively, the lower extreme of the leading pole of R axle, anchor clamps fixed connection in the upper end of the leading pole of R axle were all located to a R spindle drive left side / right baffle. The utility model discloses simple structure, the reliability is high.
Description
Technical field:
This utility model relates to a kind of cylindrical coordinate spline guide shaft and cylinder 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 spline guide shaft of highly versatile and cost economy and cylinder guide type mechanical hand.
The technical scheme that this utility model adopts has: a kind of cylindrical coordinate spline guide shaft and cylinder 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, floating guide, floating guide rod, floating lever first member plate, floating lever right end plate, R axle bedplate, R axle sliding sleeve, R axle leading rod, R axle pair guide rod, R axle back-moving spring, R axle drives left push rod, R axle drives left guide plate, R axle drives right push rod, R axle drives right guide plate and fixture, described motor and cylinder guide plate are fixed on support, and the output shaft of motor and spline guide shaft are fixing is 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, 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, floating guide is fixedly connected on Z axis and drives on pin rod, floating guide rod slides and is connected in floating guide, and 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; R axle bedplate is fixedly connected between floating lever first member plate and floating lever right end plate, and R axle sliding sleeve is located on R axle bedplate, and R axle leading rod and R axle pair guide rod slide to set and be connected in R axle sliding sleeve; R axle drives left push rod and R axle to drive right push rod to be respectively arranged in floating lever first member plate and floating lever right end plate, and R axle drives left guide plate and R axle to drive right guide plate to be all located at the lower end of R axle leading rod, and fixture is fixedly connected on the upper end of R axle leading rod.
Further, on described floating guide rod and be positioned at the both sides of floating guide and be arranged with floating lever back-moving spring respectively.
Further, described R axle pair guide rod is arranged with R axle back-moving spring, and the two ends of R axle back-moving spring are respectively supported on R axle sliding sleeve and on R axle leading rod.
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-floating guide, 14-floating guide rod, 15-floating lever back-moving spring, 16-floating lever first member plate, 17-floating lever right end plate, 18-R axle bedplate, 19-R axle sliding sleeve, 20-R axle leading rod, 21-R axle pair guide rod, 22-R axle back-moving spring, 23-R axle drives left push rod, 24-guide wheel c, 25-R axle drives left guide plate, 26-R axle drives right push rod, 27-guide wheel d, 28-R axle drives right guide plate, 101-fixture.
Detailed description of the invention:
Below in conjunction with accompanying drawing, this utility model is further described.
As depicted in figs. 1 and 2, this utility model one cylindrical coordinate spline guide shaft and cylinder guide type mechanical hand, there is motor 2 and cylinder guide plate 7, motor 2 and cylinder guide plate 7 and be fixed on support 1, the output shaft of motor 2 is fixed with spline guide shaft 3 and is 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.
Floating guide 13 is fixedly connected on Z axis and drives on pin rod 6, floating guide rod 14 slides and is connected in floating guide 13, floating lever first member plate 16 and floating lever right end plate 17 are individually fixed in the two ends, left and right of floating guide rod 14, on floating guide rod 14 and be positioned at the both sides of floating guide 13 and be arranged with floating lever back-moving spring 15 respectively, the two ends of left side floating lever back-moving spring 15 are supported on floating guide 13 and on floating lever first member plate 16, and the two ends of right side floating lever back-moving spring 15 are supported on floating guide 13 and in floating lever right end plate 17.
The two ends of R axle bedplate 18 are respectively fixedly connected with on floating lever first member plate 16 and in floating lever right end plate 17, R axle sliding sleeve 19 is located on R axle bedplate 18, R axle leading rod 20 and R axle pair guide rod 21 all slide and are connected in R axle sliding sleeve 19, R axle pair guide rod 21 is arranged with R axle back-moving spring 22, and the two ends of R axle back-moving spring 22 are respectively supported on R axle sliding sleeve 19 and on R axle leading rod 20. R axle drives left push rod 23 and R axle to drive right push rod 26 to be respectively arranged in floating lever first member plate 16 and floating lever right end plate 17, and guide wheel c24 and guide wheel d27 is respectively arranged on R axle and drives left push rod 23 and R axle to drive right push rod 26; R axle leading rod 20 lower end is respectively provided on two sides with R axle and drives left guide plate 25 and R axle to drive right guide plate 28. Fixture 101 is installed on the end of R axle leading rod 20.
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 multiaxis 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 3 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-direction) according to the ��-Z function curve track of design, be fixedly connected on Z axis and drive the floating guide-bar mechanism of pin rod 6 end also to move with in the ��-Z plane that coexists with fixture 101.
Turning arm 5 continues to left movement, and when floating lever first member plate 16 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 turning arm 5 drives floating guide 13 to continue to left movement, the floating lever back-moving spring 15 in left side is compressed, until R axle drives guide wheel c24 and the R axle of left push rod 23 to drive left guide plate 25 to contact. Hereafter along with turning arm 5 continues to move along R axle sliding sleeve 19 under the guiding that R axle drives left guide plate 25 and guide wheel c24 to left movement, R axle leading rod 20 and R axle pair guide rod 21, the fixture 101 of mechanical hand also does the motion of R axle in company with R axle leading rod 20 in the process. The order of the above-mentioned fixture ��-Z-R axle explaining mechanical hand does echelon linking or compound motion.
Next, when motor 2 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 R-Z-�� axle, until floating guide rod 14 returns to the center of floating guide 13.
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 (3)
1. a cylindrical coordinate spline guide shaft and cylinder 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), floating guide (13), floating guide rod (14), floating lever first member plate (16), floating lever right end plate (17), R axle bedplate (18), R axle sliding sleeve (19), R axle leading rod (20), R axle pair guide rod (21), R axle back-moving spring (22), R axle drives left push rod (23), R axle drives left guide plate (25), R axle drives right push rod (26), R axle drives right guide plate (28) and fixture (101), described motor (2) and cylinder guide plate (7) are fixed on support (1), and the output shaft of motor (2) and spline guide shaft (3) are fixing is connected, hub splines (4) is sheathed on spline guide shaft (3), 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), floating guide (13) is fixedly connected on Z axis and drives on pin rod (6), floating guide rod (14) slides and is connected in floating guide (13), and floating lever first member plate (16) and floating lever right end plate (17) are individually fixed in the two ends, left and right of floating guide rod (14); R axle bedplate (18) is fixedly connected between floating lever first member plate (16) and floating lever right end plate (17), R axle sliding sleeve (19) is located on R axle bedplate (18), and R axle leading rod (20) and R axle pair guide rod (21) slides to set and is connected in R axle sliding sleeve (19); R axle drives left push rod (23) and R axle to drive right push rod (26) to be respectively arranged in floating lever first member plate (16) and floating lever right end plate (17), R axle drives left guide plate (25) and R axle to drive right guide plate (28) to be all located at the lower end of R axle leading rod (20), and fixture (101) is fixedly connected on the upper end of R axle leading rod (20).
2. cylindrical coordinate spline guide shaft as claimed in claim 1 and cylinder guide type mechanical hand, it is characterised in that: described floating guide rod (14) is upper and is positioned at the both sides of floating guide (13) and is arranged with floating lever back-moving spring (15) respectively.
3. cylindrical coordinate spline guide shaft as claimed in claim 1 and cylinder guide type mechanical hand, it is characterized in that: described R axle pair guide rod (21) is arranged with R axle back-moving spring (22), and the two ends of R axle back-moving spring (22) are respectively supported on R axle sliding sleeve (19) and on R axle leading rod (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018039.0U CN205290951U (en) | 2016-01-11 | 2016-01-11 | Cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018039.0U CN205290951U (en) | 2016-01-11 | 2016-01-11 | Cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290951U true CN205290951U (en) | 2016-06-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018039.0U Withdrawn - After Issue CN205290951U (en) | 2016-01-11 | 2016-01-11 | Cylindrical coordinates is spline guide shaft and cylinder guidance channel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290951U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437223A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system spline guide shaft-cylindrical surface guide groove manipulator |
-
2016
- 2016-01-11 CN CN201620018039.0U patent/CN205290951U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437223A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system spline guide shaft-cylindrical surface guide groove manipulator |
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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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160608 Effective date of abandoning: 20171121 |