CN207018457U - A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement - Google Patents
A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement Download PDFInfo
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- CN207018457U CN207018457U CN201720293900.9U CN201720293900U CN207018457U CN 207018457 U CN207018457 U CN 207018457U CN 201720293900 U CN201720293900 U CN 201720293900U CN 207018457 U CN207018457 U CN 207018457U
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- rotary
- straight line
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- fast
- bearing
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Abstract
The utility model discloses a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement, one rotary-type servomotor driving ball-screw makes spigot nut be moved along a straight line along the pilot sleeve with straight-line groove, this rotary-type servomotor is fixed by fixed mount and pilot sleeve, and it is built in quill, quill is fixed with pilot sleeve, another rotary-type servomotor drive sleeve axle is rotated, relevant parameter when being run by two rotary-type servomotor of control, make straight line and rotary motion synchronization or alternately regular operation, the purpose of fast and accurate transfer compound motion can be reached.
Description
Technical field
It the utility model is related to a kind of motion mode combined mechanism, and in particular to a kind of to be driven by two rotary-type servomotors
The dynamic mechanism for being capable of fast and accurate transfer straight line and rotary composite movement, category robot application field.
Background technology
In engineering practice, generally requiring one kind can either realize that simultaneously regular realize of linear motion and can rotates fortune
Dynamic mechanism, for example, in industrial robot application, often need a kind of vertical mechanical hand to be picked up target item,
Conveying, the reciprocating action accurately placed, then just need a kind of device to complete the linear motion control machinery of above-below direction
Hand is picked up to object, while and can is enough regular realizes that rotary motion carries out conveying to target item and accurate placed.
Can quickly transmit the function of straight reciprocating motion and rotational motion mechanism to realize, frequently with design and application
Mode has electromagnetic clutch mechanism, cam sliding bar mechanism, ball screw framework, crank and sliding bar mecbanism, or straight line is rotary-type watches
Electric machine structure is taken, and need the pneumatic structure of power supply, compressed air source simultaneously etc..The common disadvantage of these mechanisms is to be used for together
When transmit the motion of linear reciprocation short distance and the organization volume of rotary motion is larger, Design of Mechanical Structure is complicated, or can not use single
The shortcomings that one mains power.It is miniature, small-sized for either simultaneously or alternately regular accurate quick transmission linear reciprocation for needing
Motion and the electromechanical controlling organization of rotary motion, can not all meet related application.
The content of the invention
The utility model is in order to solve the above problems, it is proposed that a kind of can lead to by two rotary-type servomotors drivings
Cross control straight line and rotary motion quickly pinpoint mechanism, the rotary motion that mechanism passes through two rotary-type servomotors
Associated components are driven, synchronous or the regular straight line of alternating and rotary reciprocating motion can be produced, there is easy to use, Ke Yijing
The characteristics of really controlling and manufacturing low simple economical and practical, operating structure, application device small volume, processing cost, low energy.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement, it is characterized in that：By linear motion unit
Formed with rotary motion unit, linear motion unit includes：Nut fixing axle (1), end cap (2), ball-screw (3), guide sleeve
Cylinder (4), spigot nut (5), taper roll bearing (6), bearing (ball) cover I (7), the fixed mount of rotary-type servomotor I (8), rotation
Type servomotor I (11)；Rotary motion unit includes：Quill (9), deep groove ball bearing (12), bearing fixed pedestal (13), axle
Socket end lid II (14), shaft coupling (15) and rotary-type servomotor II (16)；Unit two can either simultaneously or alternately be realized respective
Motion, i.e., straight line and rotary composite movement, rotary-type servomotor I (11) are fixed with pilot sleeve (4) by fixed mount, and interior
Quill (9) is placed in, pilot sleeve inwall is provided with straight-line guidance chute, it is coordinated with spigot nut (5) gap and installs,
During rotary-type servomotor I (11) work, spigot nut (5) and nut fixing axle (1) is set to be oppositely oriented sleeve (4) and realize straight line
Motion, quill (9) are bolted connection with pilot sleeve (4), and by deep groove ball bearing (12) and bearing fixed base
Seat (13) provides supporting, and rotary-type servomotor II (16) is coupled by shaft coupling (15) with quill (9), rotary-type servo
When motor II (16) works, quill (9) and linear motion unit integral-rotation are realized, that is, passes through the rotary-type servo electricity of control two
The rotation of machine, makes straight line and rotary motion synchronous or alternately.
Described pilot sleeve (4) inwall is provided with straight-line guidance chute, and spigot nut (5) is for linear motion along its.
Described ball-screw (3) end is provided with step, is easily installed taper roll bearing (6).
Described rotary-type servomotor I (11) is fixed by the rotary-type fixed mount of servomotor I (8) and pilot sleeve (4)
Connection, and be joined directly together with ball-screw (3), it is built in quill (9).Bearing (ball) cover I (7) and quill (9) are direct
It is fixedly connected with pilot sleeve (4).
Hole is distributed with the outside of described quill (9) upper end, beneficial to the radiating of rotary-type servomotor I (11), quill
(9) end is provided with step, is easily installed deep groove ball bearing (12).
The end of described quill (9), which makes, the less axle of diameter, by shaft coupling (15) by quill with rotating
Type servomotor II (16) couples.
Described quill (9) provides supporting by deep groove ball bearing (12) and bearing fixed pedestal (13), is fixed on frame
On.
Described nut fixing axle (1) is fastenedly connected integrally with nut, i.e., the mechanism relies primarily on nut fixing axle (1)
Straight line and the rotary motion relative to frame, drive the end effector that is connected with nut fixing axle (1) to realize straight line and rotation
The dynamic compound motion of transhipment.
The beneficial effects of the utility model are：Mechanism realizes that straight line and rotation are same by ball-screw and rotary-type servomotor
Step or alternately quick accurate compound motion, it is middle that mechanical drive train is not present, fast accurate control can be achieved, mechanical structure is more
Simply.Avoid the problem of organization volume is big, Design of Mechanical Structure is complicated, manufacture difficulty is big.
Brief description of the drawings
Fig. 1 is the axonometric drawing of mechanism.
Fig. 2 is mechanism front view.
Fig. 3 is mechanism top view.
Fig. 4 expressions are the sectional views of the Section A-A shown in Fig. 3.
Fig. 5 is mechanism quill position assembly magnification diagram.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to specification " content of the invention " part
Technical scheme, and with reference to accompanying drawing and reference, the shape and construction of utility model are described.
It is used for device that is synchronous or alternately realizing straight line and compound motion shown in Fig. 4, such as industrial machine can be used for
People, whole device are fastenedly connected by bearing fixed pedestal with frame with bolt and nut, vertical placement.It has rotation rotary-type
Servomotor I and II, both drive linear motion and rotary motion, and the two rotary-type mutual not shadows of servomotor operation respectively
Ring, we can control relevant parameter during rotary-type servomotor operating, make robotic end effector according to different roads
Footpath is moved, and object is picked up, convey and placed.And it can be analyzed by calculation optimization and draw optimal path and required
Shortest time, reach and quickly accurately realize corresponding experiment purpose.
Claims (8)
1. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement, it is characterized in that：By linear motion unit and
Rotary motion unit forms, and linear motion unit includes：Nut fixing axle (1), end cap (2), ball-screw (3), pilot sleeve
(4), spigot nut (5), taper roll bearing (6), bearing (ball) cover I (7), the fixed mount of rotary-type servomotor I (8), rotary-type
Servomotor I (11)；Rotary motion unit includes：Quill (9), deep groove ball bearing (12), bearing fixed pedestal (13), bearing
End cap II (14), shaft coupling (15) and rotary-type servomotor II (16)；Unit two can either simultaneously or alternately realize respective fortune
Dynamic, i.e., straight line and rotary composite movement, rotary-type servomotor I (11) are fixed with pilot sleeve (4) by fixed mount, and built-in
In quill (9), pilot sleeve inwall is provided with straight-line guidance chute, it is coordinated with spigot nut (5) gap and installs, rotation
When type servomotor I (11) works, spigot nut (5) and nut fixing axle (1) is set to be oppositely oriented sleeve (4) and realize that straight line is transported
Dynamic, quill (9) is bolted connection with pilot sleeve (4), and by deep groove ball bearing (12) and bearing fixed pedestal
(13) supporting is provided, rotary-type servomotor II (16) is coupled by shaft coupling (15) with quill (9), rotary-type servomotor
When II (16) work, quill (9) and linear motion unit integral-rotation are realized, i.e., by controlling two rotary-type servomotors
Rotation, makes straight line and rotary motion synchronous or alternately.
2. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is that described pilot sleeve (4) inwall is provided with straight-line guidance chute, spigot nut (5) is for linear motion along its.
3. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is that described ball-screw (3) end is provided with step, is easily installed taper roll bearing (6).
4. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is that described rotary-type servomotor I (11) is fixedly connected by the rotary-type fixed mount of servomotor I (8) with pilot sleeve (4),
And it is joined directly together, is built in quill (9) with ball-screw (3)；Bearing (ball) cover I (7) and quill (9) directly with guiding
Sleeve (4) is fixedly connected.
5. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is hole is distributed with the outside of described quill (9) upper end, beneficial to the radiating of rotary-type servomotor I (11), quill (9) end
End is provided with step, is easily installed deep groove ball bearing (12).
6. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
Being the end making of described quill (9) has the less axle of diameter, is watched quill with rotary-type by shaft coupling (15)
Take motor II (16) connection.
7. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is that described quill (9) provides supporting by deep groove ball bearing (12) and bearing fixed pedestal (13), is fixed in frame.
8. a kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement according to claim 1, its feature
It is that described nut fixing axle (1) is fastenedly connected integrally with nut, i.e., the mechanism relies primarily on the straight of nut fixing axle (1)
Line and the rotary motion relative to frame, the end effector being connected with nut fixing axle (1) is driven to realize straight line and rotation fortune
Dynamic compound motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720293900.9U CN207018457U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720293900.9U CN207018457U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207018457U true CN207018457U (en) | 2018-02-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720293900.9U Expired - Fee Related CN207018457U (en) | 2017-03-24 | 2017-03-24 | A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207018457U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106763604A (en) * | 2017-03-24 | 2017-05-31 | 石河子大学 | A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement |
-
2017
- 2017-03-24 CN CN201720293900.9U patent/CN207018457U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106763604A (en) * | 2017-03-24 | 2017-05-31 | 石河子大学 | A kind of mechanism for being capable of fast and accurate transfer straight line and rotary composite movement |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180216 Termination date: 20190324 |
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| CF01 | Termination of patent right due to non-payment of annual fee |