CN205290966U - Rotary driving primary and secondary slider formula manipulator - Google Patents
Rotary driving primary and secondary slider formula manipulator Download PDFInfo
- Publication number
- CN205290966U CN205290966U CN201620018042.2U CN201620018042U CN205290966U CN 205290966 U CN205290966 U CN 205290966U CN 201620018042 U CN201620018042 U CN 201620018042U CN 205290966 U CN205290966 U CN 205290966U
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- CN
- China
- Prior art keywords
- axis
- axle
- slide block
- guide
- push rod
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a rotary driving primary and secondary slider formula manipulator, the utility model provides a left side / right limit post rod establishes respectively on the arc guide rail, and female slider left side right end board establish respectively at female slider both ends, and just both ends were continuous with female slider left side right end board respectively on female slider was located to sub - guide arm, and rotatory limit baffle establishes on sub - slider, R axle sliding sleeve is established on sub - slider, and the main vice guide -bar of R axle all alternates in R axle sliding sleeve, and on R shaft flange board was located to the Z axle guide pole, R spindle drive left side right ejector rod located respectively on the right end board of female slider left side, Z axle left side slider guide arm is established respectively on female slider left side right end board, and on Z axle left side slider guide arm was located respectively to Z axle left side slider guide pin bushing, on Z spindle drive left side right ejector rod located Z axle left side slider guide pin bushing respectively, Z axle left side right ejector rod guide pin bushing was established respectively on R shaft flange board, and Z axle driving guide plate and anchor clamps are all located 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 primary and secondary slide block 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 primary and secondary slide block type mechanical hand.
The technical scheme that this utility model adopts has: a kind of rotation drives primary and secondary slide block type mechanical hand, including motor, turning arm, arc-shaped guide rail, left limit push rod, right limit push rod, female slide block, sub-guide rod, sub-slide block, rotary stopper baffle plate, female slide block first member plate, female slide block 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 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 female skid is located on arc-shaped guide rail, the output shaft of motor is connected with female slide block by turning arm, left limit push rod and right limit push rod are respectively fixedly connected with on arc-shaped guide rail and are positioned at female slide block both sides, female slide block first member plate and female slide block right end plate are respectively fixedly connected with in the two ends of female slide block, sub-guide rod is located on female slide block and two ends are fixed be connected with female slide block first member plate and female slide block right end plate respectively, sub-skid is located on sub-guide rod, and rotary stopper baffle plate is fixedly connected on sub-slide block, R axle sliding sleeve is fixedly connected on sub-slide block, R axle leading rod and R axle pair guide rod are interspersed in R axle sliding sleeve, R shaft flange plate is fixed 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 R axle to drive right push rod to be respectively arranged in female slide block first member plate and female slide block right end plate, and R axle drives left guide plate and R axle to drive right guide plate to be fixedly connected with on R axle leading rod,Z axis left slide guide rod and the right slide guide rod of Z axis are fixedly installed in female slide block first member plate and female slide block right end plate respectively, 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 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 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 located on Z axis slide block.
Further, the left and right of described rotary stopper baffle plate is respectively arranged at two ends with spacing right baffle-plate and spacing right baffle plate.
Further, on described sub-guide rod and be positioned at the left and right sides of sub-slide block and be arranged with sub-slide block 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.
Further, on described Z axis guide rod and be positioned at the two ends up and down 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 A-A sectional view in Fig. 1.
Fig. 3 is B-B sectional view in Fig. 1.
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, mother's 11-slide block, 12-guide rod, 13-guide rod back-moving spring, 14-slide block, 15-rotary stopper baffle plate, the spacing right baffle-plate of 16-, the spacing right baffle plate of 17-, mother's 18-slide block first member plate, mother's 19-slide block right end plate, 20-R axle bedplate, 21-R axle sliding sleeve, 22-R axle pair guide rod, 23-R axle back-moving spring, 24-R axle leading rod, 25-R shaft flange plate, 26-Z axle bedplate, 27-Z spindle guide bar, 28-Z axle back-moving spring, 29-Z axle slide block, 30-R axle drives left guide plate, 31-R axle drives left push rod, 32-guide wheel c, 33-R axle drives right guide plate, 34-R axle drives right push rod, 35-guide wheel d, the left slide guide rod of 36-Z axle, the left slide guide pin bushing of 37-Z axle, 38-Z axle drives left push rod, the left push rod guide pin bushing of 39-Z axle, 40-guide wheel e, the right slide guide rod of 41-Z axle, the right slide guide pin bushing of 42-Z axle, 43-Z axle drives right push rod, the right push rod guide pin bushing of 44-Z axle, 45-guide wheel f, 46-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 primary and secondary slide block type mechanical hand, including arc-shaped guide rail 4, arc-shaped guide rail 4 is fixed on support 1, female slide block 11 is slidingly disposed on arc-shaped guide rail 4, the output shaft of motor 2 be connected with female slide block 11 by turning arm 3 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 of female 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 guide wheel b10.
Female slide block first member plate 18 and female slide block right end plate 19 are respectively fixedly connected with in the two ends, left and right of female slide block 11, sub-guide rod 12 is located on female slide block 11, and the two ends of sub-guide rod 12 fix be connected with female slide block first member plates 18 and female slide block right end plate 19 respectively, sub-slide block 14 is slidingly disposed on sub-guide rod 12, on sub-guide rod 12 and be positioned at the left and right sides of sub-slide block 14 and be arranged with sub-slide block back-moving spring 13 respectively, sub-slide block 14 is supported in the two ends, left and right of female slide block 11 by the sub-slide block back-moving spring 13 in left and right two. Being fixedly connected with rotary stopper baffle plate 15 on sub-slide block 14, the left and right of rotary stopper baffle plate 15 is respectively arranged at two ends with spacing right baffle-plate 16 and spacing right baffle plate 17.
R axle sliding sleeve 21 is fixedly connected on sub-slide block 14 by R axle bedplate 20, R axle leading rod 24 and R axle pair guide rod 22 are interspersed in R axle sliding sleeve 21 slidably, R axle back-moving spring 23 is sheathed on R axle pair guide rod 22, and the two ends of R axle back-moving spring 23 be respectively supported on R axle sliding sleeve 21 and R axle leading rod 24 on. R shaft flange plate 25 is fixedly installed in the upper end of R axle leading rod 24, Z axis guide rod 27 is installed vertically on R shaft flange plate 25 by Z axis bedplate 26, Z axis slide block 29 is slidingly disposed on Z axis guide rod 27, on Z axis guide rod 27 and be positioned at the two ends up and down of Z axis slide block 29 and be arranged with Z axis back-moving spring 28 respectively.
R axle drives left push rod 31 and R axle to drive right push rod 34 to be divided in female slide block first member plate 18 and female slide block right end plate 19, and R axle drives left push rod 31 and R axle to drive the top of right push rod 34 to be respectively equipped with guide wheel c32 and guide wheel d35,
R axle leading rod 24 both sides have been respectively fixedly connected with R axle and have driven left guide plate 30 and R axle to drive right guide plate 33; Z axis left slide guide rod 36 and the right slide guide rod 41 of Z axis are fixedly installed in female slide block first member plate 18 and female slide block right end plate 19 respectively, Z axis left slide guide pin bushing 37 and Z axis right slide guide pin bushing 42 are respectively slidably located on Z axis left slide guide rod 36 and the right slide guide rod 41 of Z axis, Z axis drives left push rod 38 and Z axis to drive right push rod 43 to be respectively fixedly connected with on Z axis left slide guide pin bushing 37 and the right slide guide pin bushing 42 of Z axis, and Z axis drives left push rod 38 and Z axis to drive the top of right push rod 43 to be respectively equipped with guide wheel e40 and guide wheel f45. Z axis left push rod guide pin bushing 39 and the right push rod guide pin bushing 44 of Z axis are individually fixed in the left and right sides of R shaft flange plate 25, and Z axis drives left push rod 38 and Z axis to drive right push rod 43 to be respectively slidably interspersed in Z axis left push rod guide pin bushing 39 and the right push rod guide pin bushing 44 of Z axis; Z axis drives guide plate 46 to be fixedly connected on Z axis slide block 29. Fixture 101 is installed on Z axis slide block 29.
When motor 2 drives female slide block 11 by turning arm 3 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.
Illustrate as follows to left movement for female slide block 11 arcuately guide rail 4:
When motor 2 drives female slide block 11 by turning arm 3 arcuately guide rail 4 is to left movement, the fixture 101 of mechanical hand also in company with primary and secondary slide block mechanism to left movement. Along with female slide block 11 band mover slide block 14 and rotary stopper baffle plate 15 are to left movement, when the spacing right baffle-plate 16 of rotary stopper baffle plate 15 contacts with the guide wheel a7 on left limit push rod 6 top, the fixture 101 of mechanical hand also stops to left movement. Along with female slide block 11 continues to left movement, the sub-guide rod back-moving spring 13 in left side is compressed, until R axle drives guide wheel c32 and the R axle on left push rod 31 top to drive left guide plate 30 to contact;Hereafter along with female slide block 11 continues to left movement, R axle leading rod 24 and R axle pair guide rod 22 move along R axle sliding sleeve 21 under the guiding function that R axle drives left guide plate 30 and guide wheel c32 together with R shaft flange plate 25, driving left/right push rod (38,43) to drive Z axis left/right slide guide pin bushing (37,42) to slide along Z axis left/right slide guide rod (36,41) respectively by Z axis left/right push rod guide pin bushing (39,44) and Z axis, the fixture 101 of mechanical hand also moves along R direction of principal axis in company with R shaft flange plate 25 in the process simultaneously.
Along with female slide block 11 continues to left movement, the floating lever back-moving spring 13 in left side continues to be compressed, until the guide wheel e40 that Z axis drives left push rod 38 top drives the left tilted surface of guide plate 46 to contact with Z axis, this stepmother's slide block 11 continues to left movement, Z axis slide block 29 drives at Z axis and moves along Z axis guide rod 27 under the left tilted surface of guide plate 46 and the guiding function of guide wheel e40, and the fixture 101 of mechanical hand also moves along Z-direction in company with Z axis slide block 29 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 mother's 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 sub-slide block 14 returns to the center of sub-guide rod 12.
When arcuately guide rail 4 moves right and replys driven by motor mother's 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 primary and secondary slide block 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), female slide block (11), sub-guide rod (12), sub-slide block (14), rotary stopper baffle plate (15), female slide block first member plate (18), female slide block right end plate (19), R axle sliding sleeve (21), R axle pair guide rod (22), R axle leading rod (24), R shaft flange plate (25), Z axis guide rod (27), Z axis slide block (29), R axle drives left guide plate (30), R axle drives left push rod (31), R axle drives right guide plate (33), R axle drives right push rod (34), the left slide guide rod (36) of Z axis, the left slide guide pin bushing (37) of Z axis, Z axis drives left push rod (38), the left push rod guide pin bushing (39) of Z axis, the right slide guide rod (41) of Z axis, the right slide guide pin bushing (42) of Z axis, Z axis drives right push rod (43), the right push rod guide pin bushing (44) of Z axis, Z axis drives guide plate (46) and fixture (101), described female slide block (11) is slided and is located on arc-shaped guide rail (4), the output shaft of motor (2) is connected with female slide block (11) by turning arm (3), and left limit push rod (6) and right limit push rod (9) are respectively fixedly connected with upper in arc-shaped guide rail (4) and are positioned at female slide block (11) both sides,
Female slide block first member plate (18) and female slide block right end plate (19) are respectively fixedly connected with in the two ends of female slide block (11), sub-guide rod (12) is located at that female slide block (11) is upper and two ends are fixed be connected with female slide block first member plate (18) and female slide block right end plate (19) respectively, sub-slide block (14) slides and is located on sub-guide rod (12), and rotary stopper baffle plate (15) is fixedly connected on sub-slide block (14);R axle sliding sleeve (21) is fixedly connected on sub-slide block (14), R axle leading rod (24) and R axle pair guide rod (22) is interspersed in R axle sliding sleeve (21), R shaft flange plate (25) is fixed on the upper end of R axle leading rod (24), Z axis guide rod (27) is installed vertically on R shaft flange plate (25), Z axis slide block (29) slides and is located on Z axis guide rod (27), R axle drives left push rod (31) and R axle to drive right push rod (34) to be respectively arranged on female slide block first member plate (18) and female slide block right end plate (19), R axle drives left guide plate (30) and R axle to drive right guide plate (33) to be fixedly connected with on R axle leading rod (24), Z axis left slide guide rod (36) and the right slide guide rod (41) of Z axis are fixedly installed on female slide block first member plate (18) and female slide block right end plate (19) respectively, Z axis left slide guide pin bushing (37) and Z axis right slide guide pin bushing (42) slide respectively and are located on Z axis left slide guide rod (36) and the right slide guide rod (41) of Z axis, Z axis drives left push rod (38) and Z axis to drive right push rod (43) to be respectively fixedly connected with on the right slide guide pin bushing (42) of Z axis left slide guide pin bushing (37) and Z axis, Z axis left push rod guide pin bushing (39) and the right push rod guide pin bushing (44) of Z axis are individually fixed in the left and right sides of R shaft flange plate (25), and Z axis drives left push rod (38) and the Z axis right push rod of driving (43) to slide respectively and be interspersed in Z axis left push rod guide pin bushing (39) and the right push rod guide pin bushing (44) of Z axis, Z axis drives guide plate (46) fixing connection to be all located on Z axis slide block (29) with fixture (101).
2. as claimed in claim 1 rotation drives primary and secondary slide block type mechanical hand, it is characterised in that: the left and right of described rotary stopper baffle plate (15) is respectively arranged at two ends with spacing right baffle-plate (16) and spacing right baffle plate (17).
3. as claimed in claim 1 rotation drives primary and secondary slide block type mechanical hand, it is characterised in that: described sub-guide rod (12) is upper and is positioned at the left and right sides of sub-slide block (14) and is arranged with sub-slide block back-moving spring (13) respectively.
4. as claimed in claim 1 rotation drives primary and secondary slide block type mechanical hand, it is characterized in that: described R axle pair guide rod (22) is arranged with R axle back-moving spring (23), and the two ends of R axle back-moving spring (23) are respectively supported on R axle sliding sleeve (21) and on R axle leading rod (24).
5. as claimed in claim 1 rotation drives primary and secondary slide block type mechanical hand, it is characterised in that: described Z axis guide rod (27) is upper and is positioned at the two ends up and down of Z axis slide block (29) and is arranged with Z axis back-moving spring (28) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018042.2U CN205290966U (en) | 2016-01-11 | 2016-01-11 | Rotary driving primary and secondary slider formula manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018042.2U CN205290966U (en) | 2016-01-11 | 2016-01-11 | Rotary driving primary and secondary slider formula manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290966U true CN205290966U (en) | 2016-06-08 |
Family
ID=56484732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018042.2U Expired - Fee Related CN205290966U (en) | 2016-01-11 | 2016-01-11 | Rotary driving primary and secondary slider formula manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290966U (en) |
-
2016
- 2016-01-11 CN CN201620018042.2U patent/CN205290966U/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 |