CN205290959U - Unsteady guide arm of rotary driving and guidance channel manipulator - Google Patents
Unsteady guide arm of rotary driving and guidance channel manipulator Download PDFInfo
- Publication number
- CN205290959U CN205290959U CN201620018045.6U CN201620018045U CN205290959U CN 205290959 U CN205290959 U CN 205290959U CN 201620018045 U CN201620018045 U CN 201620018045U CN 205290959 U CN205290959 U CN 205290959U
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- guide
- axis
- axle
- rod
- floating
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Abstract
The utility model discloses an unsteady guide arm of rotary driving and guidance channel manipulator, the utility model provides a left side / right limit post rod locates on the arc guide rail, unsteady guide is established on the drive slider, unsteady guide arm is pegged graft in the guide that floats, a floating lever left side right end board establish respectively at unsteady guide arm both ends, the main vice guide -bar slip cross -under of R axle is in R axle sliding sleeve, the upper end of the leading pole of R axle is located to R shaft flange board, the Z axle guide pole is located on the R shaft flange board, the R axle driving guide plate locate on the arc guide rail, the round pin axle is located on the leading pole of R axle, Z axle left side slider guide arm is located respectively on the right end board of a floating lever left side, Z axle left side slider guide pin bushing is located respectively on the slider guide arm of a Z axle left side, Z spindle drive left side right ejector rod locates respectively on the slider guide pin bushing of a Z axle left side, Z axle left side right ejector rod guide pin bushing is located respectively on the R shaft flange board, Z axle driving guide plate and anchor clamps all are fixed in on the 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 and 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 rotation of highly versatile and cost economy drives floating guide rod and guide type mechanical hand.
The technical scheme that this utility model adopts has: a kind of rotation drives floating guide rod and guide type mechanical hand, including motor, turning arm, 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 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 guide plate, bearing pin, 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 located on arc-shaped guide rail, the output shaft of motor is connected with driving slide block by turning arm, left limit push rod and right limit push rod are fixedly connected on arc-shaped guide rail, and it is positioned at driving slide block both sides,
Floating guide is fixedly connected on driving slide block, floating guide rod is plugged in floating guide, floating lever first member plate and floating lever right end plate are respectively fixedly connected with at floating guide rod two ends, R axle sliding sleeve is fixedly connected between floating lever first member plate and floating lever right end plate, R axle leading rod and R axle pair guide rod slide and are connected in R axle sliding sleeve, R shaft flange plate is fixedly installed in the upper end of R axle leading rod, and Z axis guide rod is vertical on R shaft flange plate, and Z axis skid is located on Z axis guide rod;
R axle drives guide plate to be fixedly connected on arc-shaped guide rail, and R axle drives guide plate to be provided with R axle and drives guide groove, and bearing pin is fixedly connected on R axle leading rod and guide groove can be driven to slide along R axle, Z axis left slide guide rod and the right slide guide rod of Z axis are individually fixed in floating lever first member plate and floating lever right end plate, 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 arranged on Z axis left slide guide pin bushing and the right slide guide pin bushing of Z axis, Z axis left push rod guide pin bushing and the right push rod guide pin bushing of Z axis are individually fixed in the left and right sides of R shaft flange plate, and Z axis drives left push rod and Z axis to drive right push rod to be respectively slidably plugged 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 and fixture to be both secured on Z axis slide block.
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 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 R axle leading rod.
Further, on described Z axis guide rod and be positioned at the both sides of Z axis slide block and be arranged with Z axis 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-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 spindle guide plate left support abutment, 28-R spindle guide plate right support abutment, 29-R axle drives guide plate, 30-R axle drives guide groove, 31-bearing pin, 32-roller, 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 c, 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 d, 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 and guide type mechanical hand, including arc-shaped guide rail 4, arc-shaped guide rail 4 is fixed on support 1, drive slide block 11 be slidingly disposed on arc-shaped guide rail 4, 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; 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, floating guide rod 13 is interspersed on 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 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 it is fixedly connected with at the two ends, left and right of floating guide rod 13, R axle sliding sleeve 18 is fixedly connected in floating lever first member plate 15 and floating lever right end plate 16 by R axle bedplate 17, R axle leading rod 21 and R axle pair guide rod 19 are connected in R axle sliding sleeve 18 slidably, R axle back-moving spring 20 is sheathed on R axle pair guide rod 19, and R axle back-moving spring 20 two ends are respectively supported on R axle sliding sleeve 18 and R axle leading rod 21.
R shaft flange plate 22 is fixedly installed in 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 slidably mounted on Z axis guide rod 24, on Z axis guide rod 24 and be positioned at the both sides of Z axis slide block 26 and be arranged with Z axis back-moving spring 25 respectively.
Z axis left slide guide rod 33 and the right slide guide rod 38 of Z axis are individually fixed in floating lever first member plate 15 and the floating lever right end plate 16 of floating guide rod 13, Z axis left slide guide pin bushing 34 and Z axis right slide guide pin bushing 39 are respectively slidably installed 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 arranged 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 c33 and guide wheel d42. Z axis left push rod guide pin bushing 36 and the right push rod guide pin bushing 41 of Z axis are individually fixed 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 fixed on Z axis slide block 26, and fixture 101 is installed on Z axis slide block 26.
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. drive floating guide 12 to left movement along with driving slide block 11, roller 32 on bearing pin 31 drives the R axle of guide plate 29 to drive guide groove 30, under guiding, moving along R axle occurs at R axle, also R shaft flange plate 22 moving along R axle is driven with the fixing R axle leading rod 21 being connected of bearing pin 31, simultaneously by Z axis left/right push rod guide pin bushing (36, 41) and Z axis drive left/right push rod (35, 40) Z axis left/right slide guide pin bushing (34 is driven respectively, 39) along Z axis left/right slide guide rod (33, 38) slide, the fixture 101 of mechanical hand also produces to move along R is axial in company with R shaft flange plate 22 in the process, until floating lever first member plate 15 contacts with the guide wheel a7 on left limit push rod 6 top.
Continue to left movement along with driving slide block 11, the floating lever back-moving spring 14 in left side is compressed, until the guide wheel e37 that Z axis drives left push rod 35 top 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 (4)
1. one kind rotates driving floating guide rod and guide type mechanical hand, it is characterised in that: include motor (2), turning arm (3), 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 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 guide plate (29), bearing pin (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 slided and is located on arc-shaped guide rail (4), the output shaft of motor (2) is connected with driving slide block (11) by turning arm (3), left limit push rod (6) and right limit push rod (9) are fixedly connected on arc-shaped guide rail (4), and are positioned at driving slide block (11) both sides,
Floating guide (12) is fixedly connected in driving slide block (11), floating guide rod (13) is plugged in floating guide (12), floating lever first member plate (15) and floating lever right end plate (16) are respectively fixedly connected with at floating guide rod (13) two ends, R axle sliding sleeve (18) is fixedly connected between floating lever first member plate (15) and floating lever right end plate (16), R axle leading rod (21) and R axle pair guide rod (19) slides and is connected in R axle sliding sleeve (18), R shaft flange plate (22) is fixedly installed in the upper end of R axle leading rod (21), Z axis guide rod (24) is vertical on R shaft flange plate (22), Z axis slide block (26) slides and is located on Z axis guide rod (24),
R axle drives guide plate (29) to be fixedly connected on arc-shaped guide rail (4), and R axle drives guide plate (29) to be provided with R axle and drives guide groove (30), and bearing pin (31) is fixedly connected on R axle leading rod (21) and above and drives guide groove (30) to slide along R axle;
Z axis left slide guide rod (33) and the right slide guide rod (38) of Z axis are individually fixed in 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) 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 arranged on Z axis left slide guide pin bushing (34) and the right slide guide pin bushing (39) of Z axis, Z axis left push rod guide pin bushing (36) and the right push rod guide pin bushing (41) of Z axis are individually fixed 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) sliding plug respectively in the right push rod guide pin bushing (41) of Z axis left push rod guide pin bushing (36) and Z axis, Z axis drives guide plate (43) and fixture (101) to be both secured on Z axis slide block (26).
2. as claimed in claim 1 rotation drives floating guide rod and guide type mechanical hand, it is characterised in that: described floating guide rod (13) is upper and is positioned at the both sides of floating guide (12) and is arranged with floating lever back-moving spring (14) respectively.
3. as claimed in claim 1 rotation drives floating guide rod and guide 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 R axle leading rod (21).
4. as claimed in claim 1 rotation drives floating guide rod and guide type mechanical hand, it is characterised in that: described Z axis guide rod (24) is upper and is positioned at the both sides of Z axis slide block (26) and is arranged with Z axis back-moving spring (25) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018045.6U CN205290959U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of rotary driving and guidance channel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018045.6U CN205290959U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of rotary driving and guidance channel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290959U true CN205290959U (en) | 2016-06-08 |
Family
ID=56484680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018045.6U Expired - Fee Related CN205290959U (en) | 2016-01-11 | 2016-01-11 | Unsteady guide arm of rotary driving and guidance channel manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290959U (en) |
-
2016
- 2016-01-11 CN CN201620018045.6U patent/CN205290959U/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 |
Granted publication date: 20160608 Termination date: 20190111 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |