CN218747707U - A Clearance Elimination Mechanism for PPU Manipulator - Google Patents
A Clearance Elimination Mechanism for PPU Manipulator Download PDFInfo
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- CN218747707U CN218747707U CN202223260583.0U CN202223260583U CN218747707U CN 218747707 U CN218747707 U CN 218747707U CN 202223260583 U CN202223260583 U CN 202223260583U CN 218747707 U CN218747707 U CN 218747707U
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- ejector rod
- gap eliminating
- screw hole
- gap
- guide rail
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Abstract
The utility model discloses a clearance elimination mechanism for PPU manipulator, including cam, U type cam groove, transverse guide, horizontal slider, vertical guide rail and vertical slider, the cam slides and sets up in U type cam groove, the horizontal slider slides and sets up on transverse guide rail, vertical slider is fixed to be set up on horizontal slider, vertical guide rail slides and sets up on vertical slider, the upper end of vertical guide rail is connected with the cam; the first gap eliminating ejector rod and the second gap eliminating ejector rod are arranged in the left direction and the right direction of the transverse guide rail through a first ejector rod fixing seat and a second ejector rod fixing seat respectively, correspond to the left side and the right side of the transverse sliding block respectively, and abut against the left side or the right side when the transverse sliding block moves to a preset left side limit position or a preset right side limit position along the transverse guide rail; the influence of the fit clearance between the cam and the cam groove is eliminated mechanically.
Description
Technical Field
The utility model relates to a structure of PPU manipulator, in particular to clearance elimination mechanism for PPU manipulator.
Background
The PPU manipulator, also called PPU picking and placing manipulator, is a pure cam structure transplanting manipulator, and the executive component runs according to a preset track under the drive of a servo or stepping motor. The automatic part conveying device is mainly used for automatically conveying parts in a confined space. The cooperation of the cam and the cam groove is one of the core structures of the PPU pick-and-place manipulator. The cam groove is a U-shaped sliding groove and is required to slide in the cam groove in a reciprocating manner, so that the vertical sliding rail can reciprocate up and down on the vertical sliding block, and the transverse sliding block can reciprocate left and right on the transverse guide rail. In order to enable the cam to smoothly slide on the cam groove, the cam groove is in clearance fit with the cam. Due to the physical characteristic of the clearance fit between the cam groove and the cam, the accuracy of the transverse slide block moving to the leftmost side or the rightmost side on the transverse guide rail is affected when the cam of the PPU manipulator slides to the leftmost side or the rightmost side on the cam groove. In general, the clearance between the cam and the cam groove may cause the lateral slider of the PPU robot to move to the leftmost or rightmost side on the lateral guide rail by a slight distance, which may affect the accuracy of the lateral movement of the PPU robot.
SUMMERY OF THE UTILITY MODEL
To the above, an object of the utility model is to provide a clearance elimination mechanism for PPU manipulator, mechanical type eliminates the influence of fit clearance between cam and the cam groove to guarantee the precision when the horizontal slider of PPU manipulator moves leftmost side or rightmost side on transverse guide.
The utility model discloses a technical scheme do: a clearance elimination mechanism for a PPU manipulator comprises a cam, a U-shaped cam groove, a transverse guide rail, a transverse slide block, a vertical guide rail and a vertical slide block, wherein the cam is arranged in the U-shaped cam groove in a sliding manner, the transverse slide block is arranged on the transverse guide rail in a sliding manner, the vertical slide block is fixedly arranged on the transverse slide block, the vertical guide rail is arranged on the vertical slide block in a sliding manner, and the upper end of the vertical guide rail is connected with the cam;
the first gap eliminating ejector rod and the second gap eliminating ejector rod are arranged in the left direction and the right direction of the transverse guide rail respectively through the first ejector rod fixing seat and the second ejector rod fixing seat, correspond to the left side and the right side of the transverse sliding block respectively, and abut against the left side or the right side of a sliding block assembly formed by assembling the transverse sliding block and the vertical sliding block when the transverse sliding block moves to a preset left side limit position or a preset right side limit position along the transverse guide rail.
It should be noted that the above includes three schemes: first, only the left side is provided with a first gap eliminating ejector rod and a corresponding first ejector rod fixing seat. And in the second type, a second gap eliminating ejector rod and a corresponding second ejector rod fixing seat are arranged only on the right side. And thirdly, a first gap eliminating ejector rod and a second gap eliminating ejector rod are respectively arranged on the left side and the right side, and a corresponding first ejector rod fixing seat and a corresponding second ejector rod fixing seat are respectively arranged. In general, the third is the preferred option.
Further, the first gap eliminating ejector rod and the second gap eliminating ejector rod respectively comprise two ejector rods, one of the first gap eliminating ejector rods is a rigid ejector rod, the other first gap eliminating ejector rod is a spring glass bead ejector rod, one of the second gap eliminating ejector rods is a rigid ejector rod, the other second gap eliminating ejector rod is a spring glass bead ejector rod, the spring glass bead ejector rod comprises a rod body, a spring and glass beads, the rod body is provided with an accommodating cavity, the spring and the glass beads are arranged in the accommodating cavity of the rod body, and the front ends of the glass beads are exposed out of the opening end of the accommodating cavity under the action of the spring.
Further, the rod bodies of the first gap eliminating ejector rod and the second gap eliminating ejector rod are provided with threads, the first ejector rod fixing seat and the second ejector rod fixing seat are respectively provided with a first ejector rod screw hole and a second ejector rod screw hole, the first gap eliminating ejector rod and the second gap eliminating ejector rod are respectively arranged in the first ejector rod screw hole and the second ejector rod screw hole and are matched with the screw holes through the threads, and then the distances between the first gap eliminating ejector rod and the second gap eliminating ejector rod and the left side and the right side of the transverse sliding block are adjusted.
Furthermore, the first ejector rod fixing seat is provided with a first locking screw hole at the upper side of the first ejector rod screw hole, and the first ejector rod is locked and fixed by matching a first locking screw and the first locking screw hole and eliminating a first gap in the first ejector rod screw hole; and the second ejector rod fixing seat is provided with a second locking screw hole at the upper side of the second ejector rod screw hole, and the second ejector rod is locked and fixed by a second gap eliminating ejector rod in the second ejector rod screw hole through the matching of a second locking screw and the second locking screw hole.
Further, the first gap eliminating ejector rod and the second gap eliminating ejector rod can also respectively comprise two or even more than three. Correspondingly, the first ejector rod screw hole and the first locking screw hole in the first ejector rod fixing seat also comprise more than two. The second ejector rod screw hole and the second locking screw hole on the second ejector rod fixing seat also comprise more than two.
The utility model has the advantages of it is following: a first clearance eliminating ejector rod and a second clearance eliminating ejector rod are arranged in the left direction and the right direction of the transverse guide rail and respectively correspond to the left side and the right side of the transverse sliding block, and the transverse sliding block is propped against the preset left side limit position or the preset right side limit position of the transverse sliding block. Therefore, the influence of the fit clearance between the cam and the cam groove can be mechanically eliminated, and the accuracy of the PPU manipulator when the transverse sliding block moves to the leftmost side or the rightmost side on the transverse guide rail is ensured.
The present invention will be further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a first schematic view of the overall structure of a gap eliminating mechanism for a PPU robot;
FIG. 2 is a schematic view of the overall structure of a gap elimination mechanism for a PPU robot;
FIG. 3 is a schematic structural view after components such as a slide rail and a slider are hidden;
FIG. 4 is a schematic structural view after components such as a back plate are hidden;
FIG. 5 is a schematic structural view of the first and second gap eliminating push rods and the first and second push rod holders;
FIG. 6 is a schematic view of the structure of a spring bead ejector pin;
in the figure: a cam 1; a U-shaped cam groove 2; a transverse guide rail 3; a transverse slide block 4; a vertical guide rail 5; a vertical slide block 6; a first gap eliminating ejector rod 7; a second gap eliminating ejector rod 8; a rod body a; a glass bead b; a thread c; a first ejector rod fixing seat 9; a first ejector pin screw hole 91; a first locking screw hole 92; a second ejector rod fixing seat 10; a second ejector pin screw hole 101; a second locking screw hole 102; a left cam groove bottom plate 11; right cam groove bottom plate 12; a back plate 13.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 to 6, the clearance elimination mechanism for the PPU manipulator provided in this embodiment includes a cam 1, a U-shaped cam groove 2, a transverse guide rail 3, a transverse slider 4, a vertical guide rail 5, and a vertical slider 6, where the cam 1 is slidably disposed in the U-shaped cam groove 2, the transverse slider 4 is slidably disposed on the transverse guide rail 3, the vertical slider 6 is fixedly disposed on the transverse slider 4, the vertical guide rail 5 is slidably disposed on the vertical slider 6, and an upper end of the vertical guide rail 5 is connected to the cam 1;
the sliding block assembly further comprises a first gap eliminating ejector rod 7 and a second gap eliminating ejector rod 8 (in principle, only one side of the gap eliminating ejector rod is feasible, namely, only the gap on the side is eliminated; in the embodiment, the gap eliminating ejector rod is preferably arranged on two sides), the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 are respectively arranged in the left direction and the right direction of the transverse guide rail 3 through a first ejector rod fixing seat 9 and a second ejector rod fixing seat 10 and respectively correspond to the left side and the right side of the transverse sliding block 4, and when the transverse sliding block 4 moves to a preset left side limit position or a preset right side limit position along the transverse guide rail 3, the left side or the right side of the sliding block assembly formed by mutually assembling the transverse sliding block and the vertical sliding block is propped against. What need explain to "support the left side or the right side that horizontal slider and vertical slider mutually assembled formed sliding block set", horizontal slider 4 and vertical slider 6 can assemble each other and form a whole, consequently, first clearance eliminate ejector pin 7, second clearance eliminate ejector pin 8 support this whole can, that is to say, can support the left side or the right side of horizontal slider, also can support the left side or the right side of vertical slider, and its effect is unanimous.
In this way, the transverse slider can be prevented from moving for an over-limit distance due to the fit clearance between the cam and the U-shaped cam groove, namely, the transverse slider can be prevented from exceeding the left limit position or the right limit position due to the clearance between the cam and the U-shaped cam groove when moving leftwards or rightwards along the transverse guide rail.
It should be noted here that the first and second gap eliminating rams are provided as a core part of the gap eliminating mechanism for the PPU robot. The arrangement of the cam, the U-shaped cam groove, the transverse guide rail, the transverse slider, the vertical guide rail, and the vertical slider is not particularly limited herein. Generally speaking, U type cam groove is formed on the backplate by the setting of cam groove bottom plate, and transverse guide also sets up on the backplate, and in addition, the cam then cooperatees with the swing arm of PPU manipulator, and servo motor's output shaft drives the swing arm, and the swing arm drives the cam and moves on U type cam groove. As for first ejector pin fixing base, second ejector pin fixing base, it can set up alone on "the cam groove bottom plate that forms U type cam groove", also can set up on the backplate, can also set up with sensing component's mount pad is integrated, then set up again on "the left and right cam groove bottom plate 11, 12" that forms U type cam groove or backplate 13, it plays the fixed setting effect of ejector pin, the ejector pin is eliminated to first clearance, second clearance, does not do not specifically limit here. When the sensor assembly is integrated with the mounting seat of the sensor assembly, namely, a part (namely, the ejector rod fixing seat) of the mounting seat of the sensor assembly can be designed to be used for mounting and setting the gap eliminating ejector rod.
Specifically, the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 respectively include two, one of the first gap eliminating ejector rods is a rigid ejector rod, the other first gap eliminating ejector rod is a spring glass bead ejector rod, one of the second gap eliminating ejector rods is a rigid ejector rod, the other second gap eliminating ejector rod is a spring glass bead ejector rod, the spring glass bead ejector rod includes a rod body a, a spring (not shown in the attached drawing) and a glass bead b, the rod body a is provided with an accommodating cavity, the spring b and the glass bead are arranged in the accommodating cavity of the rod body, and the front end of the glass bead b is exposed out of the opening end of the accommodating cavity under the action of the spring.
It should be noted that, the basic effect can be satisfied by using one rigid first gap eliminating push rod 7 and one rigid second gap eliminating push rod 8, but the rigid first gap eliminating push rod 7 and the rigid second gap eliminating push rod 8 are consumed in the using process, and have poor buffering performance, and generate gaps after long time use, and the effect is not good. Therefore, the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 respectively adopt two, namely a hard ejector rod and a spring glass bead ejector rod, so that the effects of compensation and buffering can be achieved, the effect is excellent, and the service life is long.
Specifically, the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 are provided with threads c, the first ejector rod fixing seat 9 and the second ejector rod fixing seat 10 are respectively provided with a first ejector rod screw hole 91 and a second ejector rod screw hole 101, the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 are respectively arranged in the first ejector rod screw hole 91 and the second ejector rod screw hole 101 and are matched with the threads c, and accordingly the distances between the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 and the left side and the right side of the transverse slide block 4 are adjusted.
It should be noted here that the first gap eliminating ejector rod 7 and the second gap eliminating ejector rod 8 need to be adjusted correspondingly in the assembling or using process, and the arrangement mode of the threaded screw holes is adopted, so that the assembly is simple and reliable, and the subsequent adjustment is also convenient.
Specifically, the first ejector rod fixing seat 9 is provided with a first locking screw hole 92 on the upper side of the first ejector rod screw hole 91, and the first gap eliminating ejector rod 7 in the first ejector rod screw hole 91 is locked and fixed by matching a first locking screw (not shown in the drawing) with the first locking screw hole 92; the second ejector rod fixing seat 10 is provided with a second locking screw hole 102 on the upper side of the second ejector rod screw hole 101, and a second gap eliminating ejector rod 8 in the second ejector rod screw hole 101 is locked and fixed by matching a second locking screw (not shown in the drawing) with the second locking screw hole 102. So set up, can guarantee that first clearance eliminates the stability and the reliability that ejector pin, second clearance elimination ejector pin were fixed to be set up, prevent not hard up. Because the first gap eliminating ejector rod and the second gap eliminating ejector rod can collide with the left side and the right side of the transverse sliding block in the using process, the fixing stability and the fixing reliability of the transverse sliding block are necessary to be ensured, and the gaps can be effectively eliminated.
Specifically, the first and second gap eliminating push rods 7 and 8 may include two or more than three push rods, respectively. Correspondingly, the first ejector rod screw hole 91 and the first locking screw hole 92 on the first ejector rod fixing seat 9 also include more than two. The second mandril screw hole 101 and the second locking screw hole 102 on the second mandril fixing seat 10 also comprise more than two. In order to ensure the reliability of the first gap eliminating ejector rod and the second gap eliminating ejector rod and increase the contact surfaces between the first gap eliminating ejector rod and the left side and the right side of the transverse sliding block, a plurality of rods can be arranged.
The utility model discloses be not limited to above-mentioned embodiment, adopt and the utility model discloses the same or similar technical feature of above-mentioned embodiment, and other a clearance elimination mechanism for PPU manipulator that obtains is all within the protection scope of the utility model.
Claims (4)
1. The utility model provides a clearance elimination mechanism for PPU manipulator, includes cam, U type cam groove, transverse guide, horizontal slider, vertical guide rail and vertical slider, the cam slides and sets up in U type cam groove, horizontal slider slides and sets up on transverse guide, vertical slider is fixed to be set up on horizontal slider, vertical guide rail slides and sets up on vertical slider, vertical guide rail's upper end is connected with the cam, its characterized in that: the first gap eliminating ejector rod and the second gap eliminating ejector rod are arranged in the left direction and the right direction of the transverse guide rail respectively through the first ejector rod fixing seat and the second ejector rod fixing seat, correspond to the left side and the right side of the transverse sliding block respectively, and abut against the left side or the right side of a sliding block assembly formed by assembling the transverse sliding block and the vertical sliding block when the transverse sliding block moves to a preset left side limit position or a preset right side limit position along the transverse guide rail.
2. The gap elimination mechanism for a PPU robot of claim 1, wherein: the first gap eliminating ejector rod and the second gap eliminating ejector rod respectively comprise two first gap eliminating ejector rods, one first gap eliminating ejector rod is a rigid ejector rod, the other first gap eliminating ejector rod is a spring glass bead ejector rod, one second gap eliminating ejector rod is a rigid ejector rod, the other second gap eliminating ejector rod is a spring glass bead ejector rod, the spring glass bead ejector rod comprises a rod body, a spring and glass beads, the rod body is provided with an accommodating cavity, the spring and the glass beads are arranged in the accommodating cavity of the rod body, and the front ends of the glass beads are exposed out of the opening end of the accommodating cavity under the action of the spring.
3. The gap elimination mechanism for a PPU robot of claim 1 or 2, wherein: the first gap eliminating ejector rod and the second gap eliminating ejector rod are provided with screw threads, the first ejector rod fixing seat and the second ejector rod fixing seat are respectively provided with a first ejector rod screw hole and a second ejector rod screw hole, and the first gap eliminating ejector rod and the second gap eliminating ejector rod are respectively arranged in the first ejector rod screw hole and the second ejector rod screw hole and are matched with the screw holes through the screw threads, so that the distances between the first gap eliminating ejector rod and the second gap eliminating ejector rod and the left side and the right side of the transverse sliding block are adjusted.
4. The gap elimination mechanism for a PPU robot of claim 3, wherein: the first ejector rod fixing seat is provided with a first locking screw hole at the upper side of the first ejector rod screw hole, and the first ejector rod is locked and fixed by a first clearance eliminating ejector rod in the first ejector rod screw hole through the matching of a first locking screw and the first locking screw hole; and the second ejector rod fixing seat is provided with a second locking screw hole at the upper side of the second ejector rod screw hole, and the second gap eliminating ejector rod in the second ejector rod screw hole is locked and fixed by matching a second locking screw with the second locking screw hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223260583.0U CN218747707U (en) | 2022-12-06 | 2022-12-06 | A Clearance Elimination Mechanism for PPU Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223260583.0U CN218747707U (en) | 2022-12-06 | 2022-12-06 | A Clearance Elimination Mechanism for PPU Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218747707U true CN218747707U (en) | 2023-03-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223260583.0U Active CN218747707U (en) | 2022-12-06 | 2022-12-06 | A Clearance Elimination Mechanism for PPU Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218747707U (en) |
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2022
- 2022-12-06 CN CN202223260583.0U patent/CN218747707U/en active Active
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