CN208697425U - A kind of compensation mechanism translating manipulator - Google Patents
A kind of compensation mechanism translating manipulator Download PDFInfo
- Publication number
- CN208697425U CN208697425U CN201821268736.7U CN201821268736U CN208697425U CN 208697425 U CN208697425 U CN 208697425U CN 201821268736 U CN201821268736 U CN 201821268736U CN 208697425 U CN208697425 U CN 208697425U
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- Prior art keywords
- compensation
- sliding seat
- screw rod
- shaft
- fixed
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- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 230000035515 penetration Effects 0.000 claims description 23
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The utility model relates to manipulator technical field, in particular to a kind of compensation mechanism for translating manipulator is fixed with compensation guide rail on the upper surface of support frame；Compensation sliding block is embedded on compensation guide rail；Compensation sliding seat is fixed on compensation sliding block；Compensation translational drive mechanism is provided on support frame；Compensation translational drive mechanism provides driving force for compensation sliding seat；Axial direction after the driving force of driving compensation sliding seat and compensation sliding block acquisition compensation translational drive mechanism along compensation guide rail slides；Shaft is provided on compensation sliding seat；Upper and lower end faces of the shaft through driving compensation sliding seat；Shaft and compensation sliding seat rotation connection；The bottom of compensation sliding seat is fixed with rotary drive mechanism；Rotary drive mechanism rotates on compensation sliding seat for drive shaft.When the utility model is used, the structure dismounting of the compensation mechanism is simple, and complete machine is at low cost and maintenance difficulty is few.
Description
Technical field
The utility model relates to manipulator technical field, in particular to a kind of compensation mechanism for translating manipulator.
Background technique
Existing manipulator is made up of two or more swing arms；Machine is realized by the aggregate motion between swing arm
Tool hand works in the plane；Wherein the movement of previous swing arm is exactly that the work of the adjustment centre of gyration is provided for latter swing arm on manipulator
With；Joint part between swing arm generally uses RV retarder to carry out reduction of speed while improving output torque；The transmission of RV speed reducer
Than accurate, so the when registration that manipulator is swung in the plane；But RV speed reducer higher cost, maintenance difficulty is larger, machine
The overall cost and maintenance cost of tool hand improve.
Utility model content
The purpose of this utility model is that in view of the drawbacks of the prior art and insufficient, provide a kind of easy to maintenance, cost compared with
The compensation mechanism of low translation manipulator.
In order to achieve the above purposes, the technical solution adopted by the utility model is:
A kind of compensation mechanism translating manipulator described in the utility model, it includes support frame；Support frame as described above
Compensation guide rail is fixed on upper surface；Compensation sliding block is embedded on the compensation guide rail；The compensation sliding block and compensation guide rail phase
Matching；Compensation sliding seat is fixed on the compensation sliding block；
Compensation translational drive mechanism is provided on support frame as described above；The compensation translational drive mechanism is that compensation sliding seat mentions
For driving force；Along compensation guide rail after the driving force of the driving compensation sliding seat and compensation sliding block acquisition compensation translational drive mechanism
Axial direction sliding；
Shaft is provided on the compensation sliding seat；Upper and lower end faces of the shaft through driving compensation sliding seat；Institute
State shaft and compensation sliding seat rotation connection；The bottom of the compensation sliding seat is fixed with rotary drive mechanism；The rotation is driven
Motivation structure rotates on compensation sliding seat for drive shaft.
Further, the compensation translational drive mechanism includes attachment base, screw rod penetration type motor and compensation screw rod；Institute
It is fixed on the support frame to state screw rod penetration type motor；The armature nut of the screw rod penetration type motor and the external screw thread of compensation screw rod
Match；The compensation screw rod is rotatablely connected after passing through screw rod penetration type motor with attachment base；The compensation screw rod is passed through with screw rod
The armature nut for wearing formula motor is mutually threadedly coupled；The attachment base is fixed on compensation sliding seat.
Further, the rotary drive mechanism includes steering motor, driven pulley, drive pulley and transmission skin
Band；The bottom of the compensation sliding seat is fixed with motor fixed rack；The shell of the steering motor and motor fixed rack phase
It is fixedly connected；The output end of the driven pulley is mutually fixedly connected with shaft；The input terminal of the drive pulley and steering
The input terminal of motor is mutually fixedly connected；The driving belt is stretched between driven pulley and drive pulley.
After adopting the above structure, the utility model has the beneficial effect that a kind of translation manipulator described in the utility model
Compensation mechanism is fixed with compensation guide rail on the upper surface of support frame；Compensation sliding block is embedded on compensation guide rail；It compensates sliding block and mends
Guide rail is repaid to match；Compensation sliding seat is fixed on compensation sliding block；Compensation translational drive mechanism is provided on support frame；Compensation is flat
It moves driving mechanism and provides driving force for compensation sliding seat；Driving compensation sliding seat and compensation sliding block obtain compensation translational drive mechanism
Driving force after along compensation guide rail axial direction sliding；Shaft is provided on compensation sliding seat；Shaft is slided through driving compensation
The upper and lower end faces of dynamic seat；Shaft and compensation sliding seat rotation connection；The bottom of compensation sliding seat is fixed with rotary drive mechanism；
Rotary drive mechanism rotates on compensation sliding seat for drive shaft.When the utility model is used, translation manipulator installation
It is fixed in shaft；Translational drive mechanism is compensated as power-driven mechanism, under the action of compensating sliding block, compensates sliding seat energy
It is enough to make along compensation guide rail oriented sliding, and by compensation translational drive mechanism control compensation sliding seat in the position of compensation guide rail
Rotary drive mechanism slides on the support frame, and shaft is adjusted in the position of support frame；In the revolution for realizing translation manipulator
The heart is adjusted, and the working range of manipulator is made to become face by line；Compensation mechanism dismounting is simple, and complete machine is at low cost and maintenance difficulty
It is few.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Description of symbols:
1, steering motor；2, support frame；3, guide rail is compensated；4, sliding block is compensated；5, shaft；
6, driven pulley；7, sliding seat is compensated；8, drive pulley；9, motor fixed rack；
10, attachment base；11, screw rod penetration type motor；12, screw rod is compensated；13, driving belt.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings.
As shown in Figure 1, a kind of compensation mechanism for translating manipulator described in the utility model, it includes support frame 2；Institute
It states and is fixed with compensation guide rail 3 on the upper surface of support frame 2；Compensation sliding block 4 is embedded on the compensation guide rail 3；The compensation is slided
Block 4 matches with compensation guide rail 3；Compensation sliding seat 7 is fixed on the compensation sliding block 4；Under the action of compensating sliding block 4, mend
Repaying sliding seat 7 can be along compensation 3 oriented sliding of guide rail.
Compensation translational drive mechanism is provided on support frame as described above 2；The compensation translational drive mechanism is compensation sliding seat 7
Driving force is provided；Along compensation after the driving force of the driving compensation sliding seat 7 and the compensation acquisition compensation translational drive mechanism of sliding block 4
The axial direction of guide rail 3 slides；Translational drive mechanism is compensated as power-driven mechanism, and passes through compensation translational drive mechanism control
System compensation sliding seat 7 is in the position of compensation guide rail 3.
Shaft 5 is provided on the compensation sliding seat 7；Upper and lower ends of the shaft 5 through driving compensation sliding seat 7
Face；The shaft 5 is rotatablely connected with compensation sliding seat 7；The bottom of the compensation sliding seat 7 is fixed with rotary drive mechanism；Institute
It states rotary drive mechanism and is rotated on compensation sliding seat 7 for drive shaft 5；It is solid to translate the installation of manipulator (not shown in FIG.)
It is scheduled in shaft 5；Clamping device (not shown in FIG.) is provided on translation manipulator；Changed by compensation translational drive mechanism
Sliding seat 7 is compensated in the position of compensation guide rail 3, rotary drive mechanism is slided on support frame 2, shaft 5 is adjusted and is propping up
The position of support 2 realizes that the centre of gyration of translation manipulator is adjusted, the working range of manipulator is made to become face by line；The compensation
Mechanism dismounting is simple, and complete machine is at low cost and maintenance difficulty is few.
As a kind of preferred embodiment of the utility model, the compensation translational drive mechanism includes attachment base 10, screw rod
Penetration type motor 11 and compensation screw rod 12；The screw rod penetration type motor 11 is fixed on support frame 2；The screw rod penetration type electricity
The armature nut of machine 11 and the external screw thread of compensation screw rod 12 match；After the compensation screw rod 12 passes through screw rod penetration type motor 11
It is rotatablely connected with attachment base 10；The compensation screw rod 12 is mutually threadedly coupled with the armature nut of screw rod penetration type motor 11；It is described
Attachment base 10 is fixed on compensation sliding seat 7；Control 11 upper rotor part of screw rod penetration type motor is carried out by external control circuit
The angle of circumference that nut is rotated makes to compensate the identical angle of circumference of the corresponding rotation of screw rod 12, since screw rod penetration type motor 11 is solid
It is scheduled on support frame 2, so driving compensation screw rod 12 in screw rod penetration type electricity during screw rod penetration type motor 11 rotates
Along moving on machine 11, compensation screw rod 12 pushes compensation sliding seat 7 to slide.
As a kind of preferred embodiment of the utility model, the rotary drive mechanism includes steering motor 1, follower belt
Wheel 6, drive pulley 8 and driving belt 13；The bottom of the compensation sliding seat 7 is fixed with motor fixed rack 9；The steering
The shell of motor 1 is fixedly connected with 9 phase of motor fixed rack；The output end of the driven pulley 6 and the fixed company of 5 phase of shaft
It connects；The input terminal of the drive pulley 8 is mutually fixedly connected with the input terminal of steering motor 1；The driving belt 13 is stretched in
Between driven pulley 6 and drive pulley 8；Under steering motor 1 drives, 8 rotation of drive pulley is driven, driving belt 13 is made
For the transmission mechanism of two belt pulleys, drive pulley 8 is rotated by driven pulley 6, realizes 5 rotation of shaft, the shaft 5 of rotation
Translation manipulator is driven 5 to swing around the shaft.
When the utility model is used, translation manipulator is fixed in shaft；Under steering motor driving, drive actively
Belt pulley rotation, transmission mechanism of the driving belt as two belt pulleys, drive pulley are rotated by driven pulley, are realized and are turned
Axis rotation, the shaft of rotation drive translation manipulator to swing around the shaft；Control screw rod is carried out by external control circuit to run through
The angle of circumference that formula motor upper rotor part nut is rotated makes to compensate the identical angle of circumference of the corresponding rotation of screw rod, due to screw rod penetration type
Motor is to fix on the support frame, so driving compensation screw rod in screw rod penetration type during the rotation of screw rod penetration type motor
Along moving on motor, compensation screw rod pushes compensation sliding seat sliding, and control compensation sliding seat makes to rotate in the position of compensation guide rail
Driving mechanism is slided on the support frame, and shaft is adjusted in the position of support frame；Steering motor and screw rod penetration type motor are matched
It closes under use, realizes that the centre of gyration of translation manipulator is adjusted, the working range of manipulator is made to become face by line；The compensation mechanism
It is made up of parts such as motor, screw rod, sliding block and guide rails, dismounting is simple, and complete machine is at low cost and maintenance difficulty is few.
The above description is only a preferred embodiment of the present invention, therefore all according to described in the utility model patent application range
The equivalent change or modification done of structure, feature and principle, be included in the scope of the utility model patent application.
Claims (3)
1. a kind of compensation mechanism for translating manipulator, it is characterised in that: it includes support frame (2)；Support frame as described above (2) it is upper
Compensation guide rail (3) is fixed on surface；Compensation sliding block (4) is embedded on the compensation guide rail (3)；The compensation sliding block (4) with
Compensation guide rail (3) matches；Compensation sliding seat (7) is fixed on the compensation sliding block (4)；
Support frame as described above is provided with compensation translational drive mechanism on (2)；The compensation translational drive mechanism is compensation sliding seat (7)
Driving force is provided；Driving compensation sliding seat (7) and compensation sliding block (4) obtain edge after the driving force for compensating translational drive mechanism
Compensate the axial direction sliding of guide rail (3)；
Shaft (5) are provided on the compensation sliding seat (7)；The shaft (5) through driving compensation sliding seat (7) up and down two
End face；The shaft (5) and compensation sliding seat (7) rotation connection；The bottom of compensation sliding seat (7) is fixed with rotation driving
Mechanism；The rotary drive mechanism rotates in compensation sliding seat (7) for drive shaft (5).
2. a kind of compensation mechanism for translating manipulator according to claim 1, it is characterised in that: the compensation driven in translation
Mechanism includes attachment base (10), screw rod penetration type motor (11) and compensation screw rod (12)；The screw rod penetration type motor (11)
It is fixed on support frame (2)；The external screw thread phase of the armature nut of the screw rod penetration type motor (11) and compensation screw rod (12)
Match；The compensation screw rod (12) passes through screw rod penetration type motor (11) and is rotatablely connected afterwards with attachment base (10)；The compensation screw rod
(12) it is mutually threadedly coupled with the armature nut of screw rod penetration type motor (11)；The attachment base (10) is fixed on compensation sliding seat
(7) on.
3. a kind of compensation mechanism for translating manipulator according to claim 1, it is characterised in that: the rotary drive mechanism
It include steering motor (1), driven pulley (6), drive pulley (8) and driving belt (13)；The compensation sliding seat (7)
Bottom be fixed with motor fixed rack (9)；The shell of the steering motor (1) is mutually fixedly connected with motor fixed rack (9)；
The output end of the driven pulley (6) is mutually fixedly connected with shaft (5)；The input terminal of the drive pulley (8) and steering
The input terminal of motor (1) is mutually fixedly connected；The driving belt (13) is stretched in driven pulley (6) and drive pulley (8)
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821268736.7U CN208697425U (en) | 2018-08-08 | 2018-08-08 | A kind of compensation mechanism translating manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821268736.7U CN208697425U (en) | 2018-08-08 | 2018-08-08 | A kind of compensation mechanism translating manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208697425U true CN208697425U (en) | 2019-04-05 |
Family
ID=65940993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821268736.7U Expired - Fee Related CN208697425U (en) | 2018-08-08 | 2018-08-08 | A kind of compensation mechanism translating manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208697425U (en) |
-
2018
- 2018-08-08 CN CN201821268736.7U patent/CN208697425U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20190405 |