CN206066452U - A kind of telescoping mechanism of mechanical hand - Google Patents
A kind of telescoping mechanism of mechanical hand Download PDFInfo
- Publication number
- CN206066452U CN206066452U CN201620874426.4U CN201620874426U CN206066452U CN 206066452 U CN206066452 U CN 206066452U CN 201620874426 U CN201620874426 U CN 201620874426U CN 206066452 U CN206066452 U CN 206066452U
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- China
- Prior art keywords
- installing plate
- decelerator
- telescoping mechanism
- slide block
- connecting rod
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Abstract
The utility model discloses a kind of telescoping mechanism of mechanical hand includes ram, first motor, first decelerator, leading screw, feed screw nut, first installing plate and the second installing plate, first installing plate is fixedly connected with ram, first motor and the first decelerator are installed on the first installing plate, the input of first decelerator and first motor connection, the outfan of first decelerator is connected with the leading screw, the leading screw is provided with feed screw nut, the feed screw nut is connected with linkage, the bottom of the linkage is connected with plane on second installing plate, the lower plane of second installing plate is fixedly connected with handgrip component, the second installing plate Jing guide rods are connected with first installing plate.Using this utility model, the demand that beverage small lot prestowage loads in mixture big stroke is met, and saves space.
Description
Technical field
This utility model is related to a kind of mechanical hand, particularly a kind of telescoping mechanism of mechanical hand.
Background technology
With the development of Intelligent logistics and Industrial Robot Technology, robot road packaging, piling after drink beverage industry
And the application in logistics is also more and more extensive.The characteristics of truss robot is due to high speed, large span, big stroke, in drink
It is with a wide range of applications in material prestowage entrucking.When beverage is delivered, generally require in the different cultivars for carrying out some small lots
The combined shipment of beverage.Under the present situation based on China small batch distributor, the problem is by long-term generally existing.Truss machine
The application of people provides solution for multi items beverage small lot prestowage, but as entrucking limited space (longitudinal direction) and entrucking are imitated
Rate is limited, and proposes high requirement to the stroke and movement velocity of the mechanical hand of truss robot longitudinal direction.
At present, truss robot longitudinal direction mechanical hand makes mechanical hand stretching motion by the way of rack pinion engagement, if
Big stroke is realized, then needs the tooth bar grown very much, tooth bar to be typically mounted on column, the column for being so accomplished by growing thinks tooth very much
Bar provides enough installing spaces, wastes space；In addition, where for little space, it is impossible to when placing so big column,
The big stroke stretching motion of mechanical hand cannot then be realized.
Utility model content
The purpose of this utility model provides a kind of telescoping mechanism of mechanical hand, meets beverage small lot prestowage and loads in mixture big row
The demand of journey, and save space.
To solve the problems, such as prior art, this utility model provides a kind of telescoping mechanism of mechanical hand, including ram,
First motor, the first decelerator, leading screw, feed screw nut, the first installing plate and the second installing plate, first installing plate and ram
Be fixedly connected, the first motor and the first decelerator be installed on the first installing plate, the input of first decelerator with it is described
First motor connection, the outfan of first decelerator are connected with the leading screw, and the leading screw is provided with feed screw nut, described
Feed screw nut is connected with linkage, and the bottom of the linkage is connected with plane on second installing plate, and described second
The lower plane of installing plate is fixedly connected with handgrip component, and the second installing plate Jing guide rods are connected with first installing plate.
The linkage includes, multiple short connecting rods, multiple long connecting rods, lower carriage, two horizontal guide rods and slide block, it is described under
Support is fixedly connected with column, and the coaxial line that the two horizontal guide rod is spaced is installed on the lower carriage, two horizontal guide rods
On be respectively sleeved on slide block, one end of the slide block is connected with the feed screw nut by short connecting rod, the other end of the slide block
It is connected with the long connecting rod, tail end connecting rod is connected with the second connecting plate.
Sliding bearing is provided between the slide block and the horizontal guide rod.
The handgrip component includes grip bracket, sucker installing rack and absorption surface；One end of the grip bracket with
Second installing plate connection, the other end of the grip bracket be connecteds with the sucker installing rack, the sucker installing rack and
The absorption surface connection, the absorption surface is mandruka.
Also include contracting brake mechanism, the contracting brake mechanism is connected with the ram, is arranged on the output shaft of the contracting brake mechanism
Sprocket drive spindle, the gear shaft are engaged with tooth bar.
The leading screw is attached by shaft coupling with the output shaft of the decelerator.
The guide rod Jing sliding bearings are connected with second installing plate.
First decelerator is planetary reduction gear.
The input and the first motor connection of the first decelerator of this utility model, outfan are connected with leading screw, are set on leading screw
Feed screw nut is equipped with, feed screw nut is connected with linkage；Therefore rotated by Motor drive decelerator, and had decelerator
Drive leading screw to be rotated, and then drive feed screw nut to move up and down, so as to the upper and lower stretching motion of drivening rod mechanism, due to even
Linkage is not take up very big space when shrinking, but goes to realize big stroke when flexible, therefore has both realized big stroke
Stretching motion, save space again.
Description of the drawings
Fig. 1 is a kind of schematic diagram of the first embodiment of the telescoping mechanism of mechanical hand of this utility model；
Fig. 2 is a kind of schematic diagram of second embodiment of the telescoping mechanism of mechanical hand of this utility model；
Fig. 3 is a kind of signal of the one-level telescoping mechanism of second embodiment of the telescoping mechanism of mechanical hand of this utility model
Figure；
Fig. 4 is a kind of signal of two grades of telescoping mechanisms of second embodiment of the telescoping mechanism of mechanical hand of this utility model
Figure；
Fig. 5 is a kind of upper limit (UL) of second embodiment of the telescoping mechanism of mechanical hand of this utility model in vertical direction
The schematic diagram of position；
Fig. 6 be a kind of telescoping mechanism of mechanical hand of this utility model second in embodiment vertical direction lowest limit
The schematic diagram of position.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described in detail.
With reference to Fig. 1, the figure is a kind of schematic diagram of the first embodiment of the telescoping mechanism of mechanical hand of this utility model, should
The telescoping mechanism 100 of mechanical hand includes：Ram 101, the first motor 102, the first decelerator 103, leading screw 104, feed screw nut
105, the first installing plate 106 and the second installing plate 107, the first installing plate 106 are fixedly connected with ram 101, the first installing plate 106
On the first motor 102 and the first decelerator 103 are installed, the input of the first decelerator 103 is connected with the first motor 102,
The outfan of one speed reducer 103 is connected with leading screw 104, and leading screw 104 is provided with feed screw nut 105, feed screw nut 105 and connecting rod machine
Structure connects, and the bottom of linkage is connected with plane on the second installing plate 107, and the lower plane of the second installing plate 107 is fixedly connected
There is handgrip component, 107 Jing guide rods 108 of the second installing plate are connected with the first installing plate 106；Linkage is multi link telescopic machine
Structure, is attached by rotating pair between connecting rod.
Ram 101, can arrange multiple slide blocks 109, such as four, in the trunnion axis slide rail with truss robot (in figure
It is not shown) when being attached, the plurality of slide block 109 is slidably connected with slide rail, so as to realize the telescopic machine of whole mechanical hand
Structure movement in the horizontal direction.
Guide rod 108, can arrange multiple, and four guide rods 108 are arranged in the present embodiment, install in the first installing plate and second
The effect for supporting well and connecting is defined between plate.Sliding bearing is installed between guide rod 108 and the first installing plate 106
110, enhance the stability of the operation of whole device, less noise.
Motor 102 can adopt servomotor；First decelerator 103 can adopt precise planetary reducer；First decelerator 103
Output shaft is attached by shaft coupling with leading screw 104.
Linkage, including multiple short connecting rods 111, multiple long connecting rods 112, lower carriage 113, two horizontal guide rods 114 and cunning
Block 115, lower carriage 113 are fixedly connected with column 108, and the coaxial line that two horizontal guide rods are spaced is fixedly connected with lower carriage,
Slide block 115 is respectively sleeved on two horizontal guide rods, one end of slide block 115 is connected with feed screw nut 105 by short connecting rod 111, it is sliding
The other end of block 115 is connected with one end of long connecting rod 112, the other end of long connecting rod 112, is connected with second with long connecting rod tail end connecting rod
Fishplate bar 107 connects.When implementing, the horizontal guide rod 114 equipped with two axis collinears, two horizontal guide rods on lower carriage 113
114 are attached with lower carriage 113 by guide bar receiver 123.Slide block 115 is housed, in horizontal guide 126 in horizontal guide 114
Slide block 124 is set with, slide block 115 transversely guide rod 114 can be moved, and slide block 124 transversely guide rod 126 can be moved,
In addition, sliding bearing is equipped between slide block 115 and horizontal guide 114, between slide block 124 and horizontal guide rod 126, sliding axle is also equipped with
Hold.Below with short connecting rod as 4, as a example by long connecting rod 4, linkage is illustrated, and 4 short connecting rods and 4 long connecting rods are two-by-two
Combination, and slide block, horizontal guide rod are together, constitute a multi link telescoping mechanism, can relatively rotate between bar and bar.Wherein,
It is attached by short connecting rod 125 between feed screw nut 105 and slide block 115, by short between feed screw nut 105 and slide block 124
Connecting rod 111 is connected, and short connecting rod 111 and short connecting rod 125 can be planar relatively rotated around slide block and feed screw nut respectively, slide block
115 other ends are connected with one end of long connecting rod 112, the other end of long connecting rod 112 and one end of long connecting rod 127, long connecting rod 127
The other end is connected with one end of short connecting rod 129, and the other end of short connecting rod 129 passes through the upper table of nut 130 and the second installing plate 107
Face connects；Accordingly, carried out by short connecting rod 111 between the opposite side of linkage, feed screw nut 105 and slide block 126
Connection, the other end of slide block 126 is connected with one end of long connecting rod 128, the other end of long connecting rod 128 and one end of long connecting rod 121,
The other end of long connecting rod 121 is connected with one end of short connecting rod 122, and the other end of short connecting rod 122 is installed by nut 130 and second
The upper surface connection of plate 107；Wherein above-mentioned short connecting rod 122 and the connecting rod of 129 linkage ends of short connecting rod, implement
When, tail end connecting rod can also be long connecting rod.
Handgrip component, including grip bracket 116, sucker installing rack 117 and absorption surface 118；The one of grip bracket 116
End is connected with the second installing plate 107, and the other end of grip bracket 116 is connected with the sucker installing rack 117, sucker installing rack
117 are connected with absorption surface 118, and absorption surface can be mandruka layer.When implementing, handgrip component, for capturing beverage
Case.Grip bracket, bottom are connected sucker installing rack, install mandruka on sucker installing rack, can using external air pump as source of the gas,
Beverage case is drawn using vacuum principle.It is general once to draw two casees, such as box change in size or the change of case number is once captured, then
Can flexible combination sucker.Handgrip component passes through screw and 4 guide rod bottoms are connected, equipped with slip between the second installing plate and guide rod
Bearing.
With reference to Fig. 2-4, the figure is a kind of schematic diagram of second embodiment of the telescoping mechanism of mechanical hand of this utility model,
The embodiment includes second-grade lifting and secondary lifting mechanism, and the motor and decelerator of wherein second-grade lifting are referred to as one
Level motor (corresponding with the second motor) and first stage decelerator (corresponding with the second decelerator), one-level motor is servomotor, one-level
Decelerator is accurate worm type of reduction gearing；The motor of secondary lifting mechanism referred to as two grades of motors (corresponding with the first motor), two
Level elevating mechanism and decelerator become two stage reducer (corresponding with the first decelerator), wherein two grades of motors are servomotor,
Two stage reducer be precise planetary reducer as a example by illustrate.
Four slide blocks 16 of one-level lowering or hoisting gear are connected on mechanical hand ram 15, can be with truss robot trunnion axis slide rail
Connection, as mechanical hand and the connecting interface of truss robot.The accurate worm type of reduction gearing of one-level motor 12 and low back clearance
Connection, the driving as one-level mechanism are input into, and accurate worm type of reduction gearing is connected on mechanical hand ram 15.Tooth bar 11 uses spiral shell
Bolt is connected in 1 side of vertical rod, and first stage decelerator output shaft is engaged with tooth bar 11 by gear shaft, realizes that one-level servomotor 12 revolves
Transhipment is dynamic to be converted into the motion of 1 vertical direction of vertical rod.
Contracting brake mechanism 14, is fixed on ram 15, loads onto gear shaft, and engages with tooth bar 11, work as energization on its output shaft
When, contracting brake mechanism unclamps band-type brake, and output shaft is moved with tooth bar 11 and rotated；When emergency power off, 14 action of contracting brake mechanism will
Output gear shaft locking, tooth bar 11 are locked out, so as to prevent mechanical hand from integrally sliding.
Two grades of telescoping mechanisms, are connected with vertical rod 1 by the first installing plate 23 and lower carriage 27.Two grades of servomotors 21 and essence
Close planetary reduction gear 22 is arranged on the first installing plate 23, and 22 output shaft of precise planetary reducer passes through shaft coupling 24 with leading screw 25
It is connected.Handgrip component 3, for capturing Beverage case, grip bracket 33, the connected sucker installing rack 34 in bottom are pacified on sucker installing rack
Dress mandruka 35, using external air pump as source of the gas, draws Beverage case using vacuum principle.Two casees can be once drawn typically, such as
Box change in size once captures the change of case number, then can flexible combination sucker.Handgrip component 3 passes through spiral shell with handgrip installing plate 32
Nail is fixedly connected with 44 bottoms of guide rod, and sliding bearing 42 is housed between first installing plate 23 and guide rod 4.It is equipped with lower carriage 27
The horizontal guide rod 43 of two axis collinears, is connected by 4 guide bar receivers 28.Two slide blocks 44 are housed on guide rod laterally, can edge
Laterally guide rod axial movement, is equipped with sliding bearing 45 between slide block 44 and horizontal guide.
4 short connecting rods 29 and 4 46 combination of two of long connecting rod, and slide block 44, horizontal guide rod 43 are together, composition connects one more
Bar telescoping mechanism, can relatively rotate between bar and bar.It is connected by short connecting rod 29 between feed screw nut 26 and slide block 44, short company
Bar 29 can be planar relatively rotated around slide block 44 and feed screw nut 26 respectively.44 other end of slide block is connected with long connecting rod 46,
The end of bottom long connecting rod 46 is connected also by short connecting rod 29 with handgrip connecting seat 31, and they can also be connected with handgrip respectively
Seat 31 and slide block 44 are planar relatively rotated.
It can be seen that, when two grades of servomotors 21 are moved, you can drive leading screw 25 to rotate, so as to drive feed screw nut 26 along silk
Thick stick 25 moves up and down.As feed screw nut 26 is connected with the slide block 44 on horizontal guide rod 43 by short connecting rod 29, then feed screw nut
26 move up and down is converted into the horizontal movement of slide block 44 again.Laterally the other end of two slide blocks 44 on guide rod 43 two-by-two with length
46 end of connecting rod is connected, by two long connecting rods 46 and the multi-connecting-rod mechanism of two short connecting rods 29 composition, and by the water of slide block 44
Motion of the flat conversion of motion into handgrip component 3 vertically.Although transmitting through twice, the forms of motion of handgrip component 3
It is identical with feed screw nut 26, vertical direction motion is still, but as a result of multi link telescoping mechanism, feed screw nut 26 is passed
The displacement passed and speed, all by scaling.That is the low-speed motion of the little stroke of leading screw is converted into the high-speed motion of big stroke,
Detailed magnification ratio is as follows.
Below one, two two-step mechanisms are analyzed, if n1For one-level mechanism servomotor rotating speed, v1For one-level mechanism vertical rod phase
For the speed of ram, n2For one-level mechanism servomotor rotating speed, v2For handgrip relative to one-level mechanism's installing plate speed, v is
The reality output speed of speed of the handgrip relative to ram, i.e. mechanical hand.Understand：
v1=π dn1/60i1
In formula, d is one-level mechanism precision worm type of reduction gearing output gear shaft reference diameter, i1Subtract for worm and gear
Fast device speed reducing ratio.
v2=sn2i2′/60i2
In formula, s is guide screw lead, n2For motor speed, i2For the speed reducing ratio of secondary facility precise planetary reducer, i2' be
The magnification ratio of multi link telescoping mechanism.
According to multi link telescoping mechanism sketch, can obtain：
i2'=5
I.e. two grades telescoping mechanisms can make handgrip actual motion speed and displacement reach 5 times of feed screw nut speed and displacement,
The size that two grades of telescoping mechanisms are greatly reduced improves movement velocity.But due to the scaling work of multi link telescoping mechanism
With the inertia force acted on two grades of telescoping mechanisms also accordingly increases, accordingly, it would be desirable to comprehensive connecting rod, leading screw equal strength.
Then actual motion speed of the handgrip relative to ram：
V=v1+v2=π dn1/60i1+sn2/12i2
In the same manner, obtain the relativeness of acceleration and displacement to above formula derivation and by quadraturing respectively.
As two grades of telescoping mechanisms are connected in one-level telescoping mechanism tache motorice, thus the motion of last handgrip be one-level mechanism and
The compound fortune of secondary facility.Under the coordination of host computer motion controller, Collaborative Control two-stage servosystem is realized for beverage
Big stroke of the mechanical hand of prestowage under little longitudinal space, at high speed motion, specifically, in the high limit position of vertical direction
It is with reference to shown in Fig. 5, shown in Figure 6 in the lowest limit position of vertical direction.
The above is preferred implementation of the present utility model, it is noted that for the ordinary skill of the art
For personnel, on the premise of without departing from this utility model principle, some improvements and modifications can also be made, these improve and moisten
Decorations are also considered as protection domain of the present utility model.
Claims (8)
1. a kind of telescoping mechanism of mechanical hand, including ram, it is characterised in that also including the first motor, the first decelerator, silk
Thick stick, feed screw nut, the first installing plate and the second installing plate, first installing plate are fixedly connected with ram, on the first installing plate
First motor and the first decelerator, the input of first decelerator and first motor connection be installed, described first
The outfan of decelerator is connected with the leading screw, and the leading screw is provided with feed screw nut, and the feed screw nut is connected with linkage
Connect, the bottom of the linkage is connected with plane on second installing plate, the lower plane of second installing plate is fixed and connected
Handgrip component is connected to, the second installing plate Jing guide rods are connected with first installing plate.
2. telescoping mechanism according to claim 1, it is characterised in that the linkage includes, it is multiple short connecting rods, multiple
Long connecting rod, lower carriage, two horizontal guide rods and slide block, the lower carriage are fixedly connected with column, and the two horizontal guide rod is to each other
Every coaxial line be installed on the lower carriage, be respectively sleeved on slide block on two horizontal guide rods, one end of the slide block passes through short company
Bar is connected with the feed screw nut, and the other end of the slide block is connected with the long connecting rod, and tail end connecting rod is connected with the second connecting plate
Connect.
3. telescoping mechanism according to claim 2, it is characterised in that be provided between the slide block and the horizontal guide rod
Sliding bearing.
4. telescoping mechanism according to claim 1, it is characterised in that the handgrip component includes grip bracket, sucker peace
Shelve and absorption surface；One end of the grip bracket is connected with second installing plate, the other end of the grip bracket
It is connected with the sucker installing rack, the sucker installing rack is connected with the absorption surface, the absorption surface is mandruka.
5. telescoping mechanism according to claim 1, it is characterised in that also including contracting brake mechanism, the contracting brake mechanism and institute
Ram connection is stated, sprocket drive spindle is set on the output shaft of the contracting brake mechanism, the gear shaft is engaged with tooth bar.
6. the telescoping mechanism according to any one of claim 1-5, it is characterised in that the leading screw and the decelerator
Output shaft is attached by shaft coupling.
7. the telescoping mechanism according to any one of claim 1-5, it is characterised in that the guide rod Jing sliding bearings and institute
State the connection of the second installing plate.
8. the telescoping mechanism according to any one of claim 1-5, it is characterised in that first decelerator subtracts for planet
Fast device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874426.4U CN206066452U (en) | 2016-08-12 | 2016-08-12 | A kind of telescoping mechanism of mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620874426.4U CN206066452U (en) | 2016-08-12 | 2016-08-12 | A kind of telescoping mechanism of mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066452U true CN206066452U (en) | 2017-04-05 |
Family
ID=58425759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620874426.4U Expired - Fee Related CN206066452U (en) | 2016-08-12 | 2016-08-12 | A kind of telescoping mechanism of mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066452U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110034507A (en) * | 2019-05-31 | 2019-07-19 | 国网湖北省电力有限公司宜昌供电公司 | A kind of auxiliary dismounting platform of the current transformer suitable for cabinet |
-
2016
- 2016-08-12 CN CN201620874426.4U patent/CN206066452U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110034507A (en) * | 2019-05-31 | 2019-07-19 | 国网湖北省电力有限公司宜昌供电公司 | A kind of auxiliary dismounting platform of the current transformer suitable for cabinet |
| CN110034507B (en) * | 2019-05-31 | 2024-04-26 | 国网湖北省电力有限公司宜昌供电公司 | Auxiliary dismounting platform suitable for current transformer in electric switch cabinet |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170405 Termination date: 20190812 |