CN105150200A - Mother-child slide block and floating guide groove combined type mechanical arm - Google Patents
Mother-child slide block and floating guide groove combined type mechanical arm Download PDFInfo
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- CN105150200A CN105150200A CN201510662855.5A CN201510662855A CN105150200A CN 105150200 A CN105150200 A CN 105150200A CN 201510662855 A CN201510662855 A CN 201510662855A CN 105150200 A CN105150200 A CN 105150200A
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Abstract
The invention discloses a mother-child slide block and floating guide groove combined type mechanical arm. The two ends of an X-axis guide rail in the mechanical arm are connected with an X-axis left end plate and an X-axis right end plate respectively, an X-axis guide rod is fixed to an X-axis mother slide block, an X-axis left push rod and an X-axis right push rod are connected to the X-axis left end plate and the X-axis right end plate respectively, and an X-axis limiting plate is connected to an X-axis child slide block; a Y-axis guide rod is connected to the X-axis child slide block, a Y-axis driving left pin and a Y-axis driving right pin are both connected to a Y-axis slide block, a Y-axis driving left guide plate and a Y-axis driving right guide plate are connected to the two sides of an X-axis child guide rod respectively, the opening end of a Y-axis driving left guide groove is located at one side of the Y-axis driving left pin, and the opening end of a Y-axis driving right guide groove is located at one side of the Y-axis driving right pin; one end of a Z-axis driving pin is slidably connected into a Z-axis driving guide groove, the other end of the Z-axis driving pin is connected with a Z-axis slide block, a Z-axis guide rod is connected to the Y-axis sliding block, and a clamp is connected to the Z-axis slide block. The mechanical arm is simple in structure and convenient to maintain.
Description
technical field:
The present invention relates to a kind of primary and secondary slide block and floating guide groove 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 floating guide groove 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 floating guide groove 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, X-axis limiting plate, Y-axis guide rod, Y-axis slide block, Y-axis drives left guide plate, Y-axis drives left pin, Y-axis drives right guide plate, Y-axis drives right pin, Z axis drives guide plate, Z axis drives pin, Z axis guide rod, Z axis slide block and fixture, the two ends 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,
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 pin and Y-axis to drive right pin to be all fixedly connected on Y-axis slide block, Y-axis drives left guide plate and Y-axis to drive right guide plate to be fixedly connected on the sub-guide rod both sides of X-axis respectively, and be located at Y-axis and drive the Y-axis on left guide plate to drive the openend of left guide groove to be positioned at Y-axis to drive left pin side, be located at Y-axis and drive the Y-axis on right guide plate to drive the openend of right guide groove to be positioned at Y-axis to drive right pin side;
Z axis drives the two ends of guide plate to be slidably connected to respectively on X-axis first member plate with in X-axis right end plate, Z axis drives one end of pin to be slidably connected at, and the Z axis be located on Z axis driving guide plate drives in guide groove, the other end is fixedly connected with Z axis slide block, Z axis skid is connected on Z axis guide rod, Z axis guide rod is vertically connected on Y-axis slide block, and fixture is fixedly connected on Z axis slide block.
Further, the sub-guide rod of described X-axis is positioned at X-axis sub-slide block both sides and is arranged with the sub-slide block back-moving spring of X-axis respectively.
Further, described Y-axis guide rod is positioned at Y-axis slide block both sides and is arranged with Y-axis back-moving spring respectively.
Further, described Z axis guide rod is positioned at Z axis slide block both sides and is arranged with Z axis back-moving spring respectively.
Further, described X-axis first member plate and X-axis right end plate are respectively equipped with left floating support saddle guide rod and right floating support saddle guide rod, drive the two ends, left and right of guide plate to be respectively equipped with left floating support saddle slide block and right floating support saddle slide block at Z axis.
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.
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 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, 13-XY axle transition plate, 14-X axle limiting plate, 15-X axle left limit top board, 16-X axle right limit top board, 17-Y spindle guide bar, 18-Y axle slide block, 19-Y axle back-moving spring, the female slide block first member plate of 20-, 21-Y axle drives left guide plate, 22-Y axle drives left guide groove, 23-Y axle drives left pin, the female slide block right end plate of 24-, 25-Y axle drives right guide plate, 26-Y axle drives right guide groove, 27-Y axle drives right pin, the left floating support saddle guide rod of 28-, the left floating support saddle slide block of 29-, the right floating support saddle guide rod of 30-, the right floating support saddle slide block of 31-, 32-Z axle drives guide plate, 33-Z axle drives guide groove, 34-Z axle drives pin, 35-Z axle bedplate, 36-Z spindle guide bar, 37-Z axle slide block, 38-Z axle back-moving spring, 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 floating guide groove 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 of X-axis 7, the right push rod of X-axis 8, X-axis female slide block 9, the sub-slide block of X-axis 10, the sub-guide rod of X-axis 11, X-axis limiting plate 14, Y-axis guide rod 17, Y-axis slide block 18, Y-axis drives left guide plate 21, Y-axis drives left pin 23, Y-axis drives right guide plate 25, Y-axis drives right pin 27, Z axis to drive guide plate 32, Z axis to drive pin 34, Z axis guide rod 36, Z axis slide block 37 and fixture 101
The left and right sides of X-axis guide rail 3 is 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 fixedly connected 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 1 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 14 is fixedly connected on the sub-slide block 10 of X-axis, is fixedly connected with X-axis left limit top board 15 and X-axis right limit top board 16 in the left and right sides of X-axis limiting plate 14 respectively.
The sub-slide block 10 of X-axis is fixedly connected with XY axle transition plate 13, and Y-axis guide rod 17 is fixedly connected in this XY axle transition plate 13, and Y-axis slide block 18 is slidably connected on Y-axis guide rod 17.Y-axis slide block 18 is fixedly connected with Y-axis drives left pin 23 and Y-axis to drive right pin 27, be fixedly connected with female slide block first member plate 20 and female slide block right end plate 24 in the left and right sides of the sub-guide rod of X-axis 11, Y-axis drives left guide plate 21 and Y-axis to drive right guide plate 25 to be fixedly connected on respectively in female slide block first member plate 20 and female slide block right end plate 24.Drive in Y-axis and left guide plate 21 is provided with Y-axis drives left guide groove 22, this Y-axis drives the openend of left guide groove 22 to be positioned at Y-axis and drives left pin 23 side.Drive in Y-axis and right guide plate 25 is provided with Y-axis drives right guide groove 26, this Y-axis drives the openend of right guide groove 26 to be positioned at Y-axis and drives right pin 27 side.
Z axis drives the two ends of guide plate 32 to be slidably connected to respectively on X-axis first member plate 5 with in X-axis right end plate 6, drive on guide plate 32 at Z axis and be provided with Z axis driving guide groove 33, Z axis drives one end of pin 34 to be slidably connected in Z axis driving guide groove 33, the other end is fixedly connected with Z axis slide block 37, Z axis slide block 37 is slidably connected on Z axis guide rod 36, Z axis guide rod 36 is fixedly connected on Z axis bedplate 35, Z axis bedplate 35 is fixedly connected on Y-axis slide block 18, and Z axis guide rod 36 and Z axis bedplate 35 are all perpendicular with Y-axis slide block 18.Fixture 101 is fixedly connected on Z axis slide block 37.
Z axis drives the slip of guide plate 32 on X-axis first member plate 5 and X-axis right end plate 6 to be realized by slide block slide rail, namely, X-axis first member plate 5 and X-axis right end plate 6 are respectively equipped with left floating support saddle guide rod 28 and right floating support saddle guide rod 30, the two ends, left and right of guide plate 32 are driven to be respectively equipped with left floating support saddle slide block 29 and right floating support saddle slide block 31 at Z axis, left floating support saddle slide block 29 is slidably arranged on left floating support saddle guide rod 28, and right floating support saddle slide block 31 is slidably arranged on right floating support saddle guide rod 30.
For ease of manipulator of the present invention reset in the X-axis direction, the sub-guide rod of X-axis 11 is positioned at X-axis sub-slide block 10 both sides and is 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, Y-axis guide rod 17 is positioned at Y-axis slide block 18 both sides and is arranged with Y-axis back-moving spring 19 respectively.
For ease of manipulator of the present invention reset in the Z-axis direction, Z axis guide rod 36 is positioned at Z axis slide block 37 both sides and is arranged with Z axis back-moving spring 38 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.
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, Z axis drives pin 34 to drive the Z axis on guide plate 32 to drive guide groove 33 slide and drive Z axis slide block 37 to move along Z axis guide rod 36 along Z axis, and the fixture 101 in the process in manipulator of the present invention also makes X-Z axle compound motion in company with Z axis slide block 37.When the left push rod 7 of X-axis left limit top board 15 and X-axis contacts, the stop motion of X-axis sub-slide block 10, the fixture 101 of manipulator stops to left movement.After this 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, and drives the Y-axis of right guide plate 25 to drive in right guide groove 26 until Y-axis drives right pin 27 to enter Y-axis.After this along with the female slide block 9 of X-axis continues to left movement, Y-axis slide block 18 moves along Y-axis guide rod 17 under Y-axis drives right guide groove 26 to drive the guiding function of right pin 27 with Y-axis, and driving Z axis to drive guide plate 32 to move, the fixture 101 of manipulator also makes Y-Z axle compound motion in company with Z axis slide block 37 in the process.Therefore, the fixture of manipulator of the present invention does echelon linking compound motion by the order of X-Z-Y axle.
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 Y-Z-X axle is done echelon and is connected compound 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 (6)
1. a primary and secondary slide block and floating guide groove 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), X-axis limiting plate (14), Y-axis guide rod (17), Y-axis slide block (18), Y-axis drives left guide plate (21), Y-axis drives left pin (23), Y-axis drives right guide plate (25), Y-axis drives right pin (27), Z axis drives guide plate (32), Z axis drives pin (34), Z axis guide rod (36), Z axis slide block (37) and fixture (101),
The two ends 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 (5) and X-axis right end plate (6) respectively, and X-axis limiting plate (14) is fixedly connected on the sub-slide block of X-axis (10);
Described Y-axis guide rod (17) is fixedly connected on the sub-slide block of X-axis (10), Y-axis slide block (18) is slidably connected on Y-axis guide rod (17), Y-axis drives left pin (23) and Y-axis to drive right pin (27) to be all fixedly connected on Y-axis slide block (18), Y-axis drives left guide plate (21) and Y-axis to drive right guide plate (25) to be fixedly connected on the sub-guide rod of X-axis (11) both sides respectively, and be located at Y-axis and drive the Y-axis on left guide plate (21) to drive the openend of left guide groove (22) to be positioned at Y-axis to drive left pin (23) side, be located at Y-axis to drive the Y-axis on right guide plate (25) to drive the openend of right guide groove (26) to be positioned at Y-axis to drive right pin (27) side,
Z axis drives the two ends of guide plate (32) to be slidably connected on X-axis first member plate (5) and in X-axis right end plate (6) respectively, Z axis drives one end of pin (34) to be slidably connected at, and the Z axis be located on Z axis driving guide plate (32) drives in guide groove (33), the other end is fixedly connected with Z axis slide block (37), Z axis slide block (37) is slidably connected on Z axis guide rod (36), Z axis guide rod (36) is vertically connected on Y-axis slide block (18), and fixture (101) is fixedly connected on Z axis slide block (37).
2. primary and secondary slide block as claimed in claim 1 and floating guide groove composite mechanical hand, is characterized in that: the sub-guide rod of described X-axis (11) is gone up and is positioned at the sub-slide block of X-axis (10) both sides and is 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 floating guide groove composite mechanical hand, is characterized in that: described Y-axis guide rod (17) is gone up and is positioned at Y-axis slide block (18) both sides and is arranged with Y-axis back-moving spring (19) respectively.
4. primary and secondary slide block as claimed in claim 1 and floating guide groove composite mechanical hand, is characterized in that: described Z axis guide rod (36) is gone up and is positioned at Z axis slide block (37) both sides and is arranged with Z axis back-moving spring (38) respectively.
5. primary and secondary slide block as claimed in claim 1 and floating guide groove composite mechanical hand, it is characterized in that: described X-axis first member plate (5) and X-axis right end plate (6) are respectively equipped with left floating support saddle guide rod (28) and right floating support saddle guide rod (30), drive the two ends, left and right of guide plate (32) to be respectively equipped with left floating support saddle slide block (29) and right floating support saddle slide block (31) at Z axis.
6. primary and secondary slide block as claimed in claim 1 and floating guide groove 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510662855.5A CN105150200A (en) | 2015-10-15 | 2015-10-15 | Mother-child slide block and floating guide groove combined type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510662855.5A CN105150200A (en) | 2015-10-15 | 2015-10-15 | Mother-child slide block and floating guide groove combined type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105150200A true CN105150200A (en) | 2015-12-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510662855.5A Pending CN105150200A (en) | 2015-10-15 | 2015-10-15 | Mother-child slide block and floating guide groove combined type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105150200A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 CN201510662855.5A patent/CN105150200A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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: 20151216 |
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| RJ01 | Rejection of invention patent application after publication |