CN105437222A - Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator - Google Patents
Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator Download PDFInfo
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- CN105437222A CN105437222A CN201610012803.8A CN201610012803A CN105437222A CN 105437222 A CN105437222 A CN 105437222A CN 201610012803 A CN201610012803 A CN 201610012803A CN 105437222 A CN105437222 A CN 105437222A
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- guide
- axle
- rod
- axis
- floating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator. In the cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator, left/right limiting ejector rods are arranged on two sides of a driving slider, respectively; a floating guide cylinder is connected with the driving slider; a floating guide rod is arranged in the floating guide cylinder in a sliding manner; left/right floating rod end plates are arranged on two ends of the floating guide rod, respectively; an R-axis sliding sleeve is arranged on an R-axis base plate and primary/secondary R-axis guide rods are arranged on the R-axis sliding sleeve in a sliding manner; a cylindrical surface guide plate is fixedly connected to a base and a cylindrical surface guide groove is designed in the cylindrical surface guide plate; a Z-axis guide rod is fixed on a slider adapter plate; a Z-axis driving pin rod is fixedly connected to a Z-axis slider and arranged in the cylindrical surface guide groove in a sliding manner; left/right R-axis driving ejector rods are arranged on the left/right floating rod end plates, respectively; left/right R-axis driving guide plates both are fixed on the primary R-axis guide rod; and a clamp is fixedly connected to the primary R-axis guide rod. The cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator has the advantages of simple structure, high running speed, high anti-jamming ability and high reliability.
Description
Technical field:
The present invention relates to a kind of cylindrical coordinate to float guide rod and cylinder guide type manipulator.
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 motor 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 object of the invention is to solve the defect existed in prior art, providing that a kind of structure is simple, running speed is high, antijamming capability is strong, reliability is high, highly versatile and the cylindrical coordinate of economical floats guide rod and cylinder guide type manipulator.
The technical solution adopted in the present invention has: a kind of cylindrical coordinate floats guide rod and cylinder guide type manipulator, comprise support, motor, turning arm, arc-shaped guide rail, left limit push rod, right limit push rod, drive slide block, Z axis guide rod, Z axis slide block, Z axis drives pin rod, cylinder guide plate, float guide, float guide rod, floating lever first member plate, floating lever right end plate, R axle bedplate, R axle sliding sleeve, R axle leading rod, the secondary guide rod of R axle, R axle drives left push rod, R axle drives left guide plate, R axle drives right push rod, R axle drives right guide plate and fixture, described arc-shaped guide rail is fixed on support, skid is driven to be located on arc-shaped guide rail, the output shaft of motor is connected with driving slide block by turning arm, left limit push rod and right limit push rod are located at respectively and are driven slide block both sides, the guide that floats is fixedly connected with driving slide block, floating guide rod is connected in floating guide slidably, floating lever first member plate and floating lever right end plate are individually fixed in the two ends, left and right of floating guide rod, R axle bedplate is fixedly connected between floating lever first member plate and floating lever right end plate, R axle sliding sleeve is located on R axle bedplate, and R axle leading rod and the secondary guide rod of R axle are connected on R axle sliding sleeve slidably, cylinder guide plate is fixedly connected on support, cylinder guide plate is designed with cylinder guide groove, Z axis guide rod is fixedly connected on slide block keyset, Z axis skid is located on Z axis guide rod, Z axis drives pin rod to be fixedly connected on Z axis slide block, and Z axis drives the slip of pin rod one end to be located in the cylinder guide groove of cylinder guide plate, R axle drives left push rod and R axle to drive right push rod to be located in floating lever first member plate and floating lever right end plate respectively, and R axle drives left guide plate and R axle to drive right guide plate to be all fixed on R axle leading rod, and fixture is fixedly connected on the upper end of R axle leading rod.
Further, on described floating guide rod and the both sides being positioned at floating guide are arranged with floating lever back-moving spring respectively.
Further, the secondary guide rod of described R axle is arranged with R axle back-moving spring.
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 structure chart of the present invention.
Fig. 2 is broken section structure chart of the present invention.
Wherein
1-support, 2-motor, 3-turning arm, 4-arc-shaped guide rail, 5-left limit seat, 6-left limit push rod, 7-guide wheel a, 8-right limit seat, 9-right limit push rod, 10-guide wheel b, 11-drives slide block, 12-slide block keyset, 13-Z spindle guide bar, 14-Z axle slide block, 15-Z axle drives pin rod, 16-cylinder guide plate, 17-cylinder guide groove, 18-floats guide, 19-floats guide rod, 20-floating lever back-moving spring, 21-floating lever first member plate, 22-floating lever right end plate, 23-R axle bedplate, 24-R axle sliding sleeve, 25-R axle leading rod, the secondary guide rod of 26-R axle, 27-R axle back-moving spring, 28-R axle drives left push rod, 29-guide wheel c, 30-R axle drives left guide plate, 31-R axle drives right push rod, 32-guide wheel d, 33-R axle drives right guide plate, 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 cylindrical coordinate of the present invention floats guide rod and cylinder guide type manipulator, comprise arc-shaped guide rail 4, arc-shaped guide rail 4 is fixed on support 1, drive slide block 11 to be located on arc-shaped guide rail 4 slidably, the output shaft of motor 2 to be connected with driving slide block 11 by turning arm 3 and drive its arcuately guide rail 4 move.Left limit seat 5 and right limit seat 8 are installed on the arc-shaped guide rail 4 of driving slide block 11 both sides respectively, left limit push rod 6 and right limit push rod 9 are divided on left limit seat 5 and right limit seat 8, and guide wheel a7 and guide wheel b10 is located at the top of left limit push rod 6 and right limit push rod 9 respectively.
The guide 18 that floats is fixedly connected with driving slide block 11 by slide block keyset 12, the guide rod 19 that floats is connected in floating guide 18 slidably, floating lever first member plate 21 and floating lever right end plate 22 are individually fixed in the two ends, left and right of floating guide rod 19, to float on guide rod 19 and the both sides being positioned at floating guide 18 are arranged with floating lever back-moving spring 20 respectively, the two ends of left section of floating lever back-moving spring 20 are supported on floating guide 18 and floating lever first member plate 21, and the two ends of right section of floating lever back-moving spring 20 are supported in floating guide 18 and floating lever right end plate 22.
The two ends of R axle bedplate 23 are fixedly connected in floating lever first member plate 21 and floating lever right end plate 22 respectively, R axle sliding sleeve 24 is located on R axle bedplate 23, R axle leading rod 25 and the secondary guide rod 26 of R axle are connected in R axle sliding sleeve 24 slidably, the two ends secondary guide rod 26 of R axle being arranged with R axle back-moving spring 27, R axle back-moving spring 27 are supported on R axle sliding sleeve 24 and R axle leading rod 25 respectively.
Cylinder guide plate 16 is fixedly connected on support 1, cylinder guide plate 16 is designed with cylinder guide groove 17; Z axis guide rod 13 is fixedly connected on slide block keyset 12, and Z axis slide block 14 is slidably mounted on Z axis guide rod 13, and Z axis drives pin rod 15 to be fixedly connected on Z axis slide block 14, and Z axis drives pin rod 15 to be arranged in slidably in the cylinder guide groove 17 of cylinder guide plate 16.
R axle drives left push rod 28 and R axle to drive right push rod 31 to be located in floating lever first member plate 21 and floating lever right end plate 22 respectively, and guide wheel c29 and guide wheel d32 is located at R axle respectively and drives left push rod 28 and R axle to drive on right push rod 31.Both sides, R axle leading rod 25 lower end be respectively equipped with R axle drive left guide plate 30 and R axle drive right guide plate 33, R axle drive left guide plate 30 and R axle drive right guide plate 33 respectively correspondence be positioned at R axle and drive left push rod 28 side and R axle to drive right push rod 31 side.Fixture 101 is installed on the end of R axle leading rod 25.
When motor 2 by turning arm 3 drive drive slide block 11 arcuately guide rail 4 move time, under the effect of each axle guide and back-moving spring, the fixture of manipulator can realize the three-dimensional multiaxis echelon of cylindrical coordinate and be connected or compound motion.
For drive slide block 11 arcuately guide rail 4 be described as follows to left movement:
When arcuately guide rail 4 is to left movement by turning arm 3 drive driving slide block 11 for motor 2, the Z axis guide rod 13 that slide block keyset 12 is fixedly connected with is also in company with driving Z axis slide block 14 to left movement, the Z axis be fixedly connected on Z axis slide block 14 moves in cylinder guide groove 17 according to the θ-Z function curve track of design under driving the cylinder guide groove 17 of pin rod 15 on cylinder guide plate 16 to guide, and the floating guide-bar mechanism thus slide block keyset 12 is fixedly connected with and fixture 101 are also with the θ-Z move in plane that coexists.Along with driving slide block 11 drives the guide-bar mechanism that floats to continue to left movement, when floating lever first member plate 21 contacts with the guide wheel a7 of left limit push rod 6, the fixture 101 of manipulator stops to left movement.After this along with driving slide block 11 drives the guide 18 that floats to continue to left movement, the floating lever back-moving spring 20 in left side is compressed, until R axle drives the guide wheel c29 of left push rod 28 and R axle to drive left guide plate 30 to contact.After this along with driving slide block 11 continues to left movement, R axle leading rod 25 and the secondary guide rod 26 of R axle move along R axle sliding sleeve 24 under R axle drives left guide plate 30 and the guiding of guide wheel c29, and the fixture 101 of manipulator also does the motion of R axle in company with R axle leading rod 25 in the process.The above-mentioned order explaining the fixture θ-Z-R axle of manipulator is done echelon and is connected or compound motion.
Next, when arcuately return motion done to the right by guide rail 4 to driven by motor driving slide block 11, under the effect of each axle guide and back-moving spring, reverse sequence by R-Z-θ axle is done echelon and is connected or compound motion by the fixture of manipulator, until the center of floating guide 18 got back to by the guide rod 19 that floats.
When driven by motor drives slide block 11 arcuately guide rail 4 moves right and replys, the procedure of kinematic analysis of the fixture 101 of manipulator and aforementioned similar.
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 (3)
1. cylindrical coordinate floats guide rod and a cylinder guide type manipulator, it is characterized in that: comprise support (1), motor (2), turning arm (3), arc-shaped guide rail (4), left limit push rod (6), right limit push rod (9), drive slide block (11), Z axis guide rod (13), Z axis slide block (14), Z axis drives pin rod (15), cylinder guide plate (16), float guide (18), float guide rod (19), floating lever first member plate (21), floating lever right end plate (22), R axle bedplate (23), R axle sliding sleeve (24), R axle leading rod (25), the secondary guide rod (26) of R axle, R axle drives left push rod (28), R axle drives left guide plate (30), R axle drives right push rod (31), R axle drives right guide plate (33) and fixture (101), described arc-shaped guide rail (4) is fixed on support (1), driving slide block (11) to slide is located on arc-shaped guide rail (4), the output shaft of motor (2) is connected with driving slide block (11) by turning arm (3), and left limit push rod (6) and right limit push rod (9) are located at respectively and are driven slide block (11) both sides, the guide (18) that floats is fixedly connected with driving slide block (11), the guide rod (19) that floats slides and is connected in floating guide (18), floating lever first member plate (21) and floating lever right end plate (22) are individually fixed in the two ends, left and right of floating guide rod (19), R axle bedplate (23) is fixedly connected between floating lever first member plate (21) and floating lever right end plate (22), R axle sliding sleeve (24) is located on R axle bedplate (23), and R axle leading rod (25) and secondary guide rod (26) slip of R axle are located on R axle sliding sleeve (24), cylinder guide plate (16) is fixedly connected on support (1), cylinder guide plate (16) is designed with cylinder guide groove (17), Z axis guide rod (13) is fixedly connected on slide block keyset (12), Z axis slide block (14) slides and is located on Z axis guide rod (13), Z axis drives pin rod (15) to be fixedly connected on Z axis slide block (14), and Z axis drives the slip of pin rod (15) one end to be located in the cylinder guide groove (17) of cylinder guide plate (16), R axle drives left push rod (28) and R axle to drive right push rod (31) to be located in floating lever first member plate (21) and floating lever right end plate (22) respectively, R axle drives left guide plate (30) and R axle to drive right guide plate (33) to be all fixed on R axle leading rod (25), and fixture (101) is fixedly connected on the upper end of R axle leading rod (25).
2. cylindrical coordinate as claimed in claim 1 floats guide rod and cylinder guide type manipulator, it is characterized in that: described floating guide rod (19) is gone up and the both sides being positioned at floating guide (18) are arranged with floating lever back-moving spring (20) respectively.
3. cylindrical coordinate as claimed in claim 1 floats guide rod and cylinder guide type manipulator, it is characterized in that: described R axle pair guide rod (26) is arranged with R axle back-moving spring (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012803.8A CN105437222B (en) | 2016-01-11 | 2016-01-11 | A kind of cylindrical coordinate floating guide rod and cylinder guide type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012803.8A CN105437222B (en) | 2016-01-11 | 2016-01-11 | A kind of cylindrical coordinate floating guide rod and cylinder guide type manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105437222A true CN105437222A (en) | 2016-03-30 |
| CN105437222B CN105437222B (en) | 2017-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610012803.8A Active CN105437222B (en) | 2016-01-11 | 2016-01-11 | A kind of cylindrical coordinate floating guide rod and cylinder guide type manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974427A (en) * | 2018-09-21 | 2018-12-11 | 辛集市源森企业管理咨询服务有限公司 | A kind of Bao Xiangji perfume (or spice) beam catching robot |
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| US4264266A (en) * | 1979-04-20 | 1981-04-28 | Tl Systems Corporation | Manipulator apparatus |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
| CN204585211U (en) * | 2015-03-27 | 2015-08-26 | 南京工业职业技术学院 | A kind of echelon interlock multi-spindle machining hand |
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| CN105127994A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Primary-secondary slider and floating guide rod compound manipulator |
| CN105127993A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Son-mother sliding block and guide plate mandril compound type manipulator |
| CN205290950U (en) * | 2016-01-11 | 2016-06-08 | 南京工业职业技术学院 | Unsteady guide arm of cylindrical coordinates system and cylinder guidance channel manipulator |
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2016
- 2016-01-11 CN CN201610012803.8A patent/CN105437222B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4264266A (en) * | 1979-04-20 | 1981-04-28 | Tl Systems Corporation | Manipulator apparatus |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN204585211U (en) * | 2015-03-27 | 2015-08-26 | 南京工业职业技术学院 | A kind of echelon interlock multi-spindle machining hand |
| CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
| CN105128001A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Multistage floating guide rod type manipulator |
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| CN105127994A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Primary-secondary slider and floating guide rod compound manipulator |
| CN105127993A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Son-mother sliding block and guide plate mandril compound type manipulator |
| CN205290950U (en) * | 2016-01-11 | 2016-06-08 | 南京工业职业技术学院 | Unsteady guide arm of cylindrical coordinates system and cylinder guidance channel manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974427A (en) * | 2018-09-21 | 2018-12-11 | 辛集市源森企业管理咨询服务有限公司 | A kind of Bao Xiangji perfume (or spice) beam catching robot |
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| Publication number | Publication date |
|---|---|
| CN105437222B (en) | 2017-09-05 |
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