CN105127993A - Son-mother sliding block and guide plate mandril compound type manipulator - Google Patents
Son-mother sliding block and guide plate mandril compound type manipulator Download PDFInfo
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- CN105127993A CN105127993A CN201510662854.0A CN201510662854A CN105127993A CN 105127993 A CN105127993 A CN 105127993A CN 201510662854 A CN201510662854 A CN 201510662854A CN 105127993 A CN105127993 A CN 105127993A
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Abstract
The invention discloses a son-mother sliding block and guide plate mandril compound type manipulator. The two ends of an X-axis guide rail are respectively connected with an X-axis left end plate and an X-axis right end plate; an X-axis son guide rod is arranged on an X-axis mother sliding block; an X-axis limiting plate is arranged on an X-axis son sliding block; a mother sliding block left end plate and a mother sliding block right end plate are respectively connected to the two sides of the X-axis son guide rod; a Y-axis guide rod is arranged on an X-axis son sliding block; a Y-axis driving left mandril and a Y-axis driving right mandril are respectively arranged on the mother sliding block left end plate and the mother sliding block right end plate; one end of a Z-axis driving left mandril is connected to the mother sliding block left end plate in a sliding manner, and the other end of the Z-axis driving left mandril is connected to a Z-axis driving left mandril guide sleeve in a penetrating manner; one end of a Z-axis driving right mandril is connected to mother sliding block right end plate in a sliding manner, and the other end of the Z-axis driving right mandril is connected to a Z-axis driving right mandril guide sleeve in a penetrating manner; the Z-axis driving left mandril guide sleeve and the Z-axis driving right mandril guide sleeve are both arranged on a Y-axis sliding block; a Z-axis guide rod and a Y-axis driving guide plate are both connected to the Y-axis sliding block; a Z-axis driving guide plate and a clamp are both arranged on a Z-axis sliding block.
Description
technical field:
The present invention relates to a kind of primary and secondary slide block and guide plate push rod composite mechanical hand.
background technology:
At industrial automation, various manipulator is used widely.Manipulator is for the carrying of material and transposition on production equipment and production line, and in most cases manipulator is all multiaxis, and its motion mode is generally complicated three-dimensional motion.Current manipulator is generally form multivariant complicated machinery hand by multiple drive axle, the general three-dimensional motion adopting the drive motors of more than 2 could realize complexity.This manipulator generally adopts 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, is thus difficult to be generalizable on low and middle-end equipment.
Therefore, necessary the deficiency solving prior art is improved to prior art.
summary of the invention:
The present invention provides a kind of primary and secondary slide block and guide plate push rod composite mechanical hand to solve above-mentioned prior art Problems existing.
The technical solution adopted in the present invention has: a kind of primary and secondary slide block and guide plate push rod composite mechanical hand, comprise X-axis guide rail, X-axis first member plate, X-axis right end plate, the left push rod of X-axis, the right push rod of X-axis, the female slide block of X-axis, the sub-slide block of X-axis, the sub-guide rod of X-axis, female slide block first member plate, female slide block right end plate, Y-axis guide rod, Y-axis slide block, Z axis guide rod, Z axis slide block, X-axis limiting plate, Y-axis drives left push rod, Y-axis drives right push rod, Y-axis drives guide plate, Z axis drives left push rod, Z axis drives left push rod guide pin bushing, Z axis drives right push rod, Z axis drives right push rod guide pin bushing, Z axis drives guide plate and fixture,
The two ends, left and right of described X-axis guide rail are fixedly connected with X-axis right end plate with X-axis first member plate respectively, the female skid of X-axis is connected on X-axis guide rail, the sub-guide rod of X-axis is fixed on the female slide block of X-axis, the sub-skid of X-axis is connected on the sub-guide rod of X-axis, the left push rod of X-axis and the right push rod of X-axis are fixedly connected in X-axis first member plate and X-axis right end plate respectively, X-axis limiting plate is fixedly connected on the sub-slide block of X-axis, and female slide block first member plate and female slide block right end plate are fixedly connected on the sub-guide rod both sides of X-axis respectively;
Described Y-axis guide rod is fixedly connected on the sub-slide block of X-axis, Y-axis skid is connected on Y-axis guide rod, Y-axis drives left push rod and Y-axis to drive right push rod to be separately positioned in female slide block first member plate and female slide block right end plate, Z axis drives one end of left push rod to be slidably connected on female slide block first member plate, the other end is connected to Z axis and drives on left push rod guide pin bushing, Z axis drives one end of right push rod to be slidably connected in female slide block right end plate, the other end is connected to Z axis and drives on right push rod guide pin bushing, and described Z axis drives left push rod guide pin bushing and Z axis to drive right push rod guide pin bushing to be all fixedly connected on Y-axis slide block;
Z axis guide rod and Y-axis drive guide plate to be all fixedly connected on Y-axis slide block, and Z axis skid is connected on Z axis guide rod, and Z axis drives guide plate and fixture to be all fixedly connected on Z axis slide block.
Further, on the sub-guide rod of described X-axis and the both sides being positioned at the sub-slide block of X-axis are arranged with the sub-slide block back-moving spring of X-axis respectively.
Further, on described Y-axis guide rod and the both sides being positioned at Y-axis slide block are arranged with Y-axis back-moving spring respectively.
Further, on described Z axis guide rod and the both sides being positioned at Z axis slide block are arranged with Z axis back-moving spring respectively.
Further, the slip of the female slide block of described X-axis on X-axis guide rail is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors and X-axis screw mandrel, described X-axis screw mandrel is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors is connected with X-axis screw mandrel, and the threaded one end of the female slide block of X-axis is connected on X-axis screw mandrel.
Further, described female slide block first member plate and female slide block right end plate are fixedly connected with Z axis driving left support abutment guide rod and Z axis driving right support abutment guide rod respectively, Z axis drives left support abutment guide rod and Z axis to drive on right support abutment guide rod and slidably connects Z axis driving left support abutment slide block and Z axis driving right support abutment slide block respectively, and Z axis drives left support abutment slide block and Z axis to drive right support abutment slide block to drive left push rod and Z axis to drive right push rod to be connected respectively with Z axis.
Further, described Z axis drives the left and right sides of guide plate to be respectively equipped with left oblique surface and right oblique surface.
The present invention has following beneficial effect:
The present invention only adopts a motor to drive, reduce the complexity of manipulator, the control of manipulator is made to become simple, complete machine cost is reduced, and the control system programming of manipulator is simplified greatly, simultaneously because the control system of manipulator is simplified, the interference free performance of manipulator and reliability are largely increased.
accompanying drawing illustrates:
Fig. 1 is the top view of structure of the present invention.
Fig. 2 is the partial sectional view of Fig. 1 structure.
Wherein
1-drive motors, 2-shaft coupling, 3-X axis rail, 4-X axial filament bar, 5-X axle first member plate, 6-X axle right end plate, the left push rod of 7-X axle, the right push rod of 8-X axle, the female slide block of 9-X axle, 10-X roller slide block, 11-X roller guide rod, 12-X roller slide block back-moving spring, the female slide block first member plate of 13-, the female slide block right end plate of 14-, 15-XY axle transition plate, 16-Y spindle guide bar, 17-Y axle slide block, 18-Y axle back-moving spring, 19-Z axle bedplate, 20-Z spindle guide bar, 21-Z axle slide block, 22-Z axle back-moving spring, 23-X axle limiting plate, 24-X axle left limit top board, 25-X axle right limit top board, 26-Y axle drives left push rod, 27-guide wheel a, 28-Y axle drives right push rod, 29-guide wheel b, 30-Y axle drives guide plate, 31-Z axle drives left support abutment guide rod, 32-Z axle drives left support abutment slide block, 33-Z axle drives left push rod, 34-Z axle drives left push rod guide pin bushing, 35-guide wheel c, 36-Z axle drives right support abutment guide rod, 37-Z axle drives right support abutment slide block, 38-Z axle drives right push rod, 39-Z axle drives right push rod guide pin bushing, 40-guide wheel d, 41-Z axle drives guide plate, the left oblique surface of 410-, the right oblique surface of 411-, 101-fixture.
detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As Fig. 1 and Fig. 2, a kind of primary and secondary slide block of the present invention and guide plate push rod composite mechanical hand, comprise X-axis guide rail 3, X-axis first member plate 5, X-axis right end plate 6, the left push rod 7 of X-axis, the right push rod 8 of X-axis, the female slide block 9 of X-axis, the sub-slide block 10 of X-axis, the sub-guide rod 11 of X-axis, female slide block first member plate 13, female slide block right end plate 14, Y-axis guide rod 16, Y-axis slide block 17, Z axis guide rod 20, Z axis slide block 21, X-axis limiting plate 23, Y-axis drives left push rod 26, Y-axis drives right push rod 28, Y-axis drives guide plate 30, Z axis drives left push rod 33, Z axis drives left push rod guide pin bushing 34, Z axis drives right push rod 38, Z axis drives right push rod guide pin bushing 39, Z axis drives guide plate 41 and fixture 101, the two ends, left and right of X-axis guide rail 3 are fixedly connected with X-axis right end plate 6 with X-axis first member plate 5 respectively, the female slide block 9 of X-axis is slidably connected on X-axis guide rail 3, the sub-guide rod 11 of X-axis is fixed on the female slide block 9 of X-axis, the sub-slide block of X-axis 10 is slidably connected on the sub-guide rod 11 of X-axis, the left push rod of X-axis 7 and the right push rod 8 of X-axis are fixedly connected in X-axis first member plate 5 and X-axis right end plate 6 respectively, X-axis limiting plate 23 is fixedly connected with by the sub-slide block 10 of XY axle transition plate 15 and X-axis, is fixedly connected with X-axis left limit top board 24 and X-axis right limit top board 25 in the left and right sides of X-axis limiting plate 23 respectively.Female slide block first member plate 13 and female slide block right end plate 14 are fixedly connected on the both sides of the sub-guide rod 11 of X-axis respectively.
Y-axis guide rod 16 is fixedly connected with by the sub-slide block 10 of XY axle transition plate 15 and X-axis, Y-axis slide block 17 is slidably connected on Y-axis guide rod 16, Y-axis drives guide plate 30 to be fixedly connected on Y-axis slide block 17, Y-axis drives left push rod 26 and Y-axis to drive right push rod 28 to be separately positioned in female slide block first member plate 13 and female slide block right end plate 14, and Y-axis drives left push rod 26 and Y-axis to drive right push rod 28 to be positioned at the left and right sides of Y-axis driving guide plate 30.Drive left push rod 26 and Y-axis to drive on right push rod 28 in Y-axis and be respectively equipped with guide wheel a27 and guide wheel b29.Z axis drives one end of left push rod 33 to be slidably connected on female slide block first member plate 13, the other end is connected to Z axis and drives on left push rod guide pin bushing 34, Z axis drives one end of right push rod 38 to be slidably connected in female slide block right end plate 14, the other end is connected to Z axis and drives on right push rod guide pin bushing 39, and Z axis drives left push rod guide pin bushing 34 and Z axis to drive right push rod guide pin bushing 39 to be all fixedly connected on Y-axis slide block 17.Drive left push rod 33 and Z axis to drive on right push rod 38 at Z axis and be respectively equipped with guide wheel c35 and guide wheel d40.
Z axis guide rod 20 is fixedly connected on Y-axis slide block 17 by Z axis bedplate 19, and Z axis slide block 21 is slidably connected on Z axis guide rod 20, and Z axis drives guide plate 41 and fixture 101 to be all fixedly connected on Z axis slide block 21.Z axis drives guide plate 41 to drive left push rod 33 and Z axis to drive between right push rod 38 at Z axis, and drives the left and right sides of guide plate 41 to be respectively equipped with left oblique surface 410 and right oblique surface 411 at Z axis.
For ease of manipulator of the present invention reset in the X-axis direction, on the sub-guide rod of X-axis 11 and the both sides being positioned at the sub-slide block of X-axis 10 are arranged with the sub-slide block back-moving spring 12 of X-axis respectively.
For ease of manipulator of the present invention reset in the Y-axis direction, on Y-axis guide rod 16 and the both sides being positioned at Y-axis slide block 17 are arranged with Y-axis back-moving spring 18 respectively.
For ease of manipulator of the present invention reset in the Z-axis direction, on Z axis guide rod 20 and the both sides being positioned at Z axis slide block 21 are arranged with Z axis back-moving spring 22 respectively.
The slip of the female slide block 9 of X-axis in the present invention on X-axis guide rail 3 is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors 1 and X-axis screw mandrel 4, X-axis screw mandrel 4 is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors 1 is connected with X-axis screw mandrel 4 by shaft coupling 2, and the threaded one end of the female slide block 9 of X-axis is connected on X-axis screw mandrel.
Z axis in the present invention drives the slip of left push rod 33 on female slide block first member plate 13 and Z axis to drive the slip of right push rod 38 in female slide block right end plate 14 all to be realized by slide rail and slide block, namely, female slide block first member plate 13 and female slide block right end plate 14 be fixedly connected with respectively Z axis and drive left support abutment guide rod 31 and Z axis to drive right support abutment guide rod 36 stating, Z axis drives left support abutment guide rod 31 and Z axis to drive on right support abutment guide rod 36 and slidably connects Z axis driving left support abutment slide block 32 and Z axis driving right support abutment slide block 37 respectively, Z axis drives left support abutment slide block 32 and Z axis to drive right support abutment slide block 37 to drive left push rod 33 and Z axis to drive right push rod 38 to be connected respectively with Z axis.
Be described as follows to left movement along X-axis guide rail 3 for the female slide block 9 of X-axis:
When X-axis driving mechanism drives the female slide block 9 of X-axis along X-axis guide rail 3 to left movement, the fixture 101 in manipulator of the present invention is also in company with to left movement.When the left push rod 7 of X-axis left limit top board 24 and X-axis contacts, the stop motion of X-axis sub-slide block 10, the fixture 101 of manipulator stops to left movement.Along with the female slide block 9 of X-axis continues to left movement, the sub-slide block back-moving spring 12 of X-axis on right side is compressed, until Y-axis drives the guide wheel b29 of right push rod 28 and Y-axis to drive the right tilted surface of guide plate 30 to contact, after this female slide block 9 of X-axis continues to left movement, Y-axis slide block 17 moves along Y-axis guide rod 16 under Y-axis drives the right tilted surface of guide plate 30 and the guiding function of guide wheel 29, drive right push rod guide pin bushing 39 and Z axis to drive right push rod 38 to drive Z axis to drive right support abutment slide block 37 to drive right support abutment guide rod 36 to slide along Z axis by Z axis simultaneously, in the process, the fixture 101 of manipulator also starts to do Y-axis motion in company with Y-axis slide block 17.Along with the female slide block 9 of X-axis continues to left movement, the sub-slide block back-moving spring 12 of X-axis on right side continues to be compressed, until Z axis drives the guide wheel d40 of right push rod 38 and Z axis to drive the right oblique surface 411 of guide plate 41 to contact, after this female slide block 9 of X-axis continues to left movement, Z axis slide block 21 moves along Z axis guide rod 20 under Z axis drives the right oblique surface 411 of guide plate 41 and the guiding function of guide wheel d40, and the fixture 101 of manipulator also starts to do Z axis motion in company with Z axis slide block 21 in the process.Therefore.Fixture in manipulator of the present invention does echelon by the order of X-Y-Z axle and is connected motion.
Next, when drive system drives the female slide block 9 of X-axis to do return motion to the right along X-axis guide rail 3, under the effect of each axle guide and back-moving spring, reverse sequence by Z-Y-X axle is done echelon and is connected motion by the fixture of manipulator, until the sub-slide block 10 of X-axis gets back to the center of the female slide block 9 of X-axis.
When drive system drives the female slide block 9 of X-axis to move right along X-axis guide rail 3 and reply, the procedure of kinematic analysis of the fixture 101 of manipulator and aforementioned similar, therefore repeat no more.
The modes such as the X-axis driving mechanism in the present invention can also adopt that Timing Belt-synchronizing wheel drives, chain-sprocket drives, pneumatic or hydraulic-driven.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be considered as protection scope of the present invention.
Claims (7)
1. a primary and secondary slide block and guide plate push rod composite mechanical hand, it is characterized in that: comprise X-axis guide rail (3), X-axis first member plate (5), X-axis right end plate (6), the left push rod of X-axis (7), the right push rod of X-axis (8), the female slide block (9) of X-axis, the sub-slide block of X-axis (10), the sub-guide rod of X-axis (11), female slide block first member plate (13), female slide block right end plate (14), Y-axis guide rod (16), Y-axis slide block (17), Z axis guide rod (20), Z axis slide block (21), X-axis limiting plate (23), Y-axis drives left push rod (26), Y-axis drives right push rod (28), Y-axis drives guide plate (30), Z axis drives left push rod (33), Z axis drives left push rod guide pin bushing (34), Z axis drives right push rod (38), Z axis drives right push rod guide pin bushing (39), Z axis drives guide plate (41) and fixture (101),
The two ends, left and right of described X-axis guide rail (3) are fixedly connected with X-axis right end plate (6) with X-axis first member plate (5) respectively, the female slide block (9) of X-axis is slidably connected on X-axis guide rail (3), the sub-guide rod of X-axis (11) is fixed on the female slide block (9) of X-axis, the sub-slide block of X-axis (10) is slidably connected on the sub-guide rod of X-axis (11), the left push rod of X-axis (7) and the right push rod of X-axis (8) are fixedly connected in X-axis first member plate and X-axis right end plate respectively, X-axis limiting plate (23) is fixedly connected on the sub-slide block of X-axis (10), female slide block first member plate (13) and female slide block right end plate (14) are fixedly connected on the sub-guide rod of X-axis (11) both sides respectively,
Described Y-axis guide rod (16) is fixedly connected on the sub-slide block of X-axis (10), Y-axis slide block (17) is slidably connected on Y-axis guide rod (16), Y-axis drives left push rod (26) and Y-axis to drive right push rod (28) to be separately positioned in female slide block first member plate (13) and female slide block right end plate (14), Z axis drives one end of left push rod (33) to be slidably connected on female slide block first member plate (13), the other end is connected to Z axis and drives on left push rod guide pin bushing (34), Z axis drives one end of right push rod (38) to be slidably connected on female slide block right end plate (14), the other end is connected to Z axis and drives on right push rod guide pin bushing (39),
Described Z axis drives left push rod guide pin bushing (34) and Z axis to drive right push rod guide pin bushing (39) to be all fixedly connected on Y-axis slide block (17);
Z axis guide rod (20) and Y-axis drive guide plate (30) to be all fixedly connected on Y-axis slide block (17), and Z axis slide block (21) is slidably connected on Z axis guide rod (20), and Z axis drives guide plate (41) and fixture (101) to be all fixedly connected on Z axis slide block (21).
2. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, is characterized in that: the sub-guide rod of described X-axis (11) is gone up and the both sides being positioned at the sub-slide block of X-axis (10) are arranged with the sub-slide block back-moving spring (12) of X-axis respectively.
3. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, is characterized in that: described Y-axis guide rod (16) is gone up and the both sides being positioned at Y-axis slide block (17) are arranged with Y-axis back-moving spring (18) respectively.
4. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, is characterized in that: described Z axis guide rod (20) is gone up and the both sides being positioned at Z axis slide block (21) are arranged with Z axis back-moving spring (22) respectively.
5. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, it is characterized in that: female slide block (9) slip on X-axis guide rail (3) of described X-axis is driven by X-axis driving mechanism, this X-axis driving mechanism comprises drive motors (1) and X-axis screw mandrel (4), described X-axis screw mandrel (4) is rotatably connected between X-axis first member plate and X-axis right end plate, the rotating shaft of drive motors (1) is connected with X-axis screw mandrel (4), and the threaded one end of the female slide block (9) of X-axis is connected on X-axis screw mandrel.
6. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, it is characterized in that: described female slide block first member plate (13) and female slide block right end plate (14) are fixedly connected with Z axis driving left support abutment guide rod (31) and Z axis driving right support abutment guide rod (36) respectively, Z axis drives left support abutment guide rod (31) and Z axis to drive on right support abutment guide rod (36) and slidably connects Z axis driving left support abutment slide block (32) and Z axis driving right support abutment slide block (37) respectively, Z axis drives left support abutment slide block (32) and Z axis to drive right support abutment slide block (37) to drive left push rod (33) and Z axis to drive right push rod (38) to be connected respectively with Z axis.
7. primary and secondary slide block as claimed in claim 1 and guide plate push rod composite mechanical hand, is characterized in that: described Z axis drives the left and right sides of guide plate (41) to be respectively equipped with left oblique surface (410) and right oblique surface (411).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510662854.0A CN105127993A (en) | 2015-10-15 | 2015-10-15 | Son-mother sliding block and guide plate mandril compound type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510662854.0A CN105127993A (en) | 2015-10-15 | 2015-10-15 | Son-mother sliding block and guide plate mandril compound type manipulator |
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| Publication Number | Publication Date |
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| CN105127993A true CN105127993A (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510662854.0A Pending CN105127993A (en) | 2015-10-15 | 2015-10-15 | Son-mother sliding block and guide plate mandril compound type manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN105437223A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system spline guide shaft-cylindrical surface guide groove manipulator |
| CN105459099A (en) * | 2016-01-11 | 2016-04-06 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
-
2015
- 2015-10-15 CN CN201510662854.0A patent/CN105127993A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN105437223A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system spline guide shaft-cylindrical surface guide groove manipulator |
| CN105459099A (en) * | 2016-01-11 | 2016-04-06 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
| CN105459099B (en) * | 2016-01-11 | 2017-04-26 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
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Application publication date: 20151209 |