CN108714888A - A kind of right angle coordinate manipulator of high speed fine positioning - Google Patents
A kind of right angle coordinate manipulator of high speed fine positioning Download PDFInfo
- Publication number
- CN108714888A CN108714888A CN201810543825.6A CN201810543825A CN108714888A CN 108714888 A CN108714888 A CN 108714888A CN 201810543825 A CN201810543825 A CN 201810543825A CN 108714888 A CN108714888 A CN 108714888A
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- Prior art keywords
- ordinate
- vertical
- pair
- rail
- rectangular
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of right angle coordinate manipulators of high speed fine positioning, including vertical and straight movement pair servo motor, circle rail rectangular co-ordinate kinematic pair, circle rail kinematic pair servo motor, horizontal movement pair servo motor, square rail rectangular co-ordinate vertical and straight movement pair, square rail rectangular co-ordinate horizontal movement pair, mobile platform, bank is fixed in horizontal movement, vertical and straight movement fixes bank, square rail rectangular co-ordinate slider bar, vertical and straight movement slider bar, circle rail rectangular co-ordinate sliding bar, in the straight horizontal kinematic pair side of being fixed on rail rectangular co-ordinate vertical and straight movement pair, in the circle rail linear motion pair side of being fixed on rail rectangular co-ordinate vertical and straight movement pair.Using square rail rectangular co-ordinate horizontal movement, secondary, square rail rectangular co-ordinate vertical and straight movement is secondary and three big component of circle rail rectangular co-ordinate kinematic pair, increase object horizontal vertical movement speed and object multiple spot position precision, improve the production efficiency of object assembling, while realizing distance movement of the position to multiple positions.
Description
Technical field
The present invention relates to a kind of manipulator technical field, specially a kind of right angle coordinate manipulator of high speed fine positioning.
Background technology
Currently, known factory using manually or it is semi-automatic fetch and deliver material, position, which is placed, deviation precisely.Meanwhile
It is existing manually or semi-automatic to fetch and deliver that the supplies consumption time is relatively more, and whole work efficiency is very low.
Invention content
(1) technical problems to be solved
The purpose of the present invention is exactly to overcome existing material movement speed slower, and position movement is inaccurate, multi-point
The deficiency of mobile inaccuracy is set, the present invention provides a kind of right angle coordinate manipulator of high speed fine positioning, the manipulator horizontal vertical
It is mobile to use, production efficiency is increased, human cost is saved.It solves in this way and existing manually or semi-automatic fetches and delivers supplies consumption
Time is relatively more, and whole work efficiency is low, and precisely problem devious is placed not in position.
To achieve the above object, the present invention provides the following technical solutions：A kind of right angle coordinate manipulator of high speed fine positioning,
Including vertical and straight movement pair servo motor, circle rail rectangular co-ordinate kinematic pair, circle rail kinematic pair servo motor, horizontal movement pair servo electricity
Bank is fixed in machine, square rail rectangular co-ordinate vertical and straight movement pair, square rail rectangular co-ordinate horizontal movement pair, mobile platform, horizontal movement, vertically
The fixed bank of movement, square rail rectangular co-ordinate slider bar, vertical and straight movement slider bar, circle rail rectangular co-ordinate sliding bar, square rail rectangular co-ordinate
In the horizontal movement pair side of being fixed on rail rectangular co-ordinate vertical and straight movement pair, the circle rail linear motion pair side of being fixed on rail rectangular co-ordinate is vertical
On kinematic pair, on the vertical and straight movement pair servo motor side of being fixed on rail right-angled vertical kinematic pair, circle rail kinematic pair servo motor is fixed
In circle rail linear motion pair, in the horizontal movement pair servo motor side of being fixed on rail rectangular co-ordinate horizontal movement pair, mobile platform
It is connected on round rail rectangular co-ordinate sliding bar, the both ends of the uper side surface of square rail rectangular co-ordinate horizontal movement pair are fixed with horizontal fortune
Dynamic fixed bank, vertical and straight movement are fixed in the bank side of being connected to rail rectangular co-ordinate vertical and straight movement pair, and square rail rectangular co-ordinate slider bar is fixed
At the both ends of square rail rectangular co-ordinate horizontal movement pair, the two of the vertical and straight movement slider bar side of being fixed on rail rectangular co-ordinate vertical and straight movement pair
End.
(2) technical solution
To achieve the above object, the present invention provides the following technical solutions：
Further, the connection type of the vertical and straight movement pair servo motor and square rail rectangular co-ordinate vertical and straight movement pair is to fix
Connection, and square rail right-angled vertical kinematic pair is made up of with square rail rectangular co-ordinate horizontal movement pair square rail rectangular co-ordinate slider bar and slides
Dynamic structure.
Further, the round rail rectangular co-ordinate kinematic pair passes through vertical and straight movement slider bar and square rail rectangular co-ordinate vertical and straight movement
Pair constitutes slide construction, and circle rail rectangular co-ordinate kinematic pair constitutes sliding knot by circle rail rectangular co-ordinate sliding bar and mobile platform
Structure.
Further, it is fixed connect that bank and the connection type of square rail rectangular co-ordinate horizontal movement pair are fixed in the horizontal movement
It connects.
Further, it is to be fixedly connected that institute's vertical and straight movement, which fixes bank with the connection type of circle rail rectangular co-ordinate kinematic pair,.
Further, the connection type of the vertical and straight movement slider bar and square rail rectangular co-ordinate vertical and straight movement pair is fixed connects
It connects.
(3) advantageous effect
Compared with prior art, the beneficial effects of the invention are as follows：Secondary, the square rail right angle using square rail rectangular co-ordinate horizontal movement
The secondary and round three big component of rail rectangular co-ordinate kinematic pair of coordinate vertical and straight movement, increases object horizontal vertical movement speed, and
The precision of the multiple spot position of object, improves the production efficiency of object assembling, while realizing a position to multiple positions
Distance movement.
Description of the drawings
Fig. 1 is overlooking structure diagram of the present invention；
Fig. 2 is side structure schematic view of the present invention.
In figure：1, vertical and straight movement pair servo motor, 2, circle rail rectangular co-ordinate kinematic pair, 3, circle rail kinematic pair servo motor,
4, horizontal movement pair servo motor, 5, square rail rectangular co-ordinate vertical and straight movement pair, 6, square rail rectangular co-ordinate horizontal movement pair, 7, mobile
Platform, 8, horizontal movement fix bank, 9, vertical and straight movement fix bank, 9, vertical and straight movement fix bank, 10, square rail rectangular co-ordinate sliding
Item, 11, vertical and straight movement slider bar, 12, circle rail rectangular co-ordinate sliding bar.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, technical solution in the embodiment of the present invention carry out it is clear, complete
Site preparation description, obvious, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
It is embodiment in the present invention, obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1-2, present invention and a kind of technical solution is provided：A kind of right angle coordinate manipulator of high speed fine positioning, packet
Include vertical and straight movement pair servo motor 1, circle rail rectangular co-ordinate kinematic pair 2, circle rail kinematic pair servo motor 3, horizontal movement pair servo
Motor 4, square rail rectangular co-ordinate vertical and straight movement pair 5, square rail rectangular co-ordinate horizontal movement pair 6, mobile platform 7, horizontal movement is fixed
Bank 8, vertical and straight movement fix bank 9, square rail rectangular co-ordinate slider bar 10, vertical and straight movement slider bar 11, circle rail rectangular co-ordinate sliding bar
12, in 6 side's of being fixed on rail rectangular co-ordinate vertical and straight movement pair 5 of square rail rectangular co-ordinate horizontal movement pair, circle rail linear motion pair 2 is fixed
In square rail rectangular co-ordinate vertical and straight movement pair, on 1 side's of being fixed on rail right-angled vertical kinematic pair 5 of vertical and straight movement pair servo motor, circle
Rail kinematic pair servo motor 3 is fixed in round rail linear motion pair 2, and 4 side of being fixed on rail right angle of horizontal movement pair servo motor is sat
It marks in horizontal movement pair 6, mobile platform 7 is connected on round rail rectangular co-ordinate sliding bar 12, square rail rectangular co-ordinate horizontal movement pair 6
Uper side surface both ends be fixed with horizontal movement fix bank 8, vertical and straight movement fix 9 side's of being connected to rail rectangular co-ordinate of bank transport vertically
In dynamic pair 5, the both ends of 10 side's of being fixed on rail rectangular co-ordinate horizontal movement pair 6 of square rail rectangular co-ordinate slider bar, vertical and straight movement sliding
The both ends of 11 side's of being fixed on rail rectangular co-ordinate vertical and straight movement pair 5 of item.
Operation principle：In use, right angle coordinate manipulator captures material from warehouse, circle rail kinematic pair servo motor 3 drives
Dynamic circle rail rectangular co-ordinate kinematic pair 2 captures material from shelf, and mobile platform 7 is along the 12 horizontal shifting of circle rail rectangular co-ordinate sliding bar
Dynamic, the driving circle rail rectangular co-ordinate of vertical and straight movement pair servo motor 1 kinematic pair 2 is moved down along vertical and straight movement slider bar 11, by object
Material is moved to above belt feeder, is placed on belt feeder, and circle rail rectangular co-ordinate kinematic pair 2 and 5 zeros of square rail vertical and straight movement pair are multiple
Position prepares the mobile next material of crawl, and 4 side's of driving rail rectangular co-ordinate vertical and straight movement pair 5 of horizontal movement pair servo motor is along side
Rail rectangular co-ordinate slider bar 10 moves horizontally, and the movement of drive side's rail rectangular co-ordinate vertical and straight movement pair 5 captures next material,
Horizontal movement is fixed bank 8 and can be limited with the moving range of other side's rail rectangular co-ordinate vertical and straight movement pair 5, and vertical and straight movement fixes bank
9 can limit the upward movement of round rail rectangular co-ordinate kinematic pair 2, repeat the above action, and circle rail rectangular co-ordinate kinematic pair 2 is horizontal to be moved
Dynamic crawl, square rail vertical and straight movement pair 5 move down placement material.
Beneficial effects of the present invention：Using square rail rectangular co-ordinate horizontal movement secondary, square rail rectangular co-ordinate vertical and straight movement pair with
And circle rail rectangular co-ordinate kinematic pair three big component, the multiple spot position for increasing object horizontal vertical movement speed and object
Precision, the production efficiency for improving object assembling, while the distance for realizing a position to multiple positions moves.
In summary, the above embodiment is not the restricted embodiment for being the present invention, all those skilled in the art
On the basis of the substantive content of the present invention modification that is carried out or equivalent deformation, in the technology scope of the present invention.
Claims (6)
1. a kind of right angle coordinate manipulator of high speed fine positioning, including vertical and straight movement pair servo motor (1), circle rail rectangular co-ordinate fortune
Dynamic pair (2), circle rail kinematic pair servo motor (3), horizontal movement pair servo motor (4), square rail rectangular co-ordinate vertical and straight movement pair
(5), square rail rectangular co-ordinate horizontal movement is secondary (6), mobile platform (7), and bank (8) is fixed in horizontal movement, and vertical and straight movement fixes bank
(9), square rail rectangular co-ordinate slider bar (10), vertical and straight movement slider bar (11) and circle rail rectangular co-ordinate sliding bar (12), straight line
On horizontal movement pair (6) side of being fixed on rail rectangular co-ordinate vertical and straight movement secondary (5), secondary (2) side of the being fixed on rail of circle rail linear motion is straight
On angular coordinate vertical and straight movement secondary (5), on vertical and straight movement pair servo motor (1) side's of being fixed on rail right-angled vertical kinematic pair (5), circle rail
Kinematic pair servo motor (3) is fixed on round rail linear motion secondary (2), and horizontal movement pair servo motor (4) side of being fixed on rail is straight
In angular coordinate horizontal movement secondary (6), mobile platform (7) is connected on round rail rectangular co-ordinate sliding bar (12), square rail rectangular co-ordinate
The both ends of the uper side surface of horizontal movement pair (6) are fixed with horizontal movement and fix bank (8), and vertical and straight movement is fixed bank (9) and is connected to
On square rail rectangular co-ordinate vertical and straight movement secondary (5), the rail rectangular co-ordinate horizontal movement of square rail rectangular co-ordinate slider bar (10) side of being fixed on
The both ends of secondary (6), the both ends of vertical and straight movement slider bar (11) side of being fixed on rail rectangular co-ordinate vertical and straight movement pair (5).
2. a kind of right angle coordinate manipulator of high speed fine positioning according to claim 1, it is characterised in that：The vertical fortune
Dynamic pair servo motor (1) is fixedly connected with the connection type of side's rail rectangular co-ordinate vertical and straight movement pair (5), and square rail right-angled vertical
Kinematic pair (5) constitutes slide construction by square rail rectangular co-ordinate slider bar (10) and square rail rectangular co-ordinate horizontal movement secondary (6).
3. a kind of right angle coordinate manipulator of high speed fine positioning according to claim 1, it is characterised in that：The round rail is straight
Angular coordinate kinematic pair (2) constitutes slide construction by vertical and straight movement slider bar (11) and square rail rectangular co-ordinate vertical and straight movement secondary (5),
And circle rail rectangular co-ordinate kinematic pair (2) constitutes slide construction by circle rail rectangular co-ordinate sliding bar (12) and mobile platform (7).
4. a kind of right angle coordinate manipulator of high speed fine positioning according to claim 1, it is characterised in that：The horizontal fortune
Dynamic fixed bank (8) is to be fixedly connected with the connection type of square rail rectangular co-ordinate horizontal movement secondary (6).
5. a kind of right angle coordinate manipulator of high speed fine positioning according to claim 1, it is characterised in that：The vertical fortune
Dynamic fixed bank (9) is to be fixedly connected with the connection type of circle rail rectangular co-ordinate kinematic pair (2).
6. a kind of right angle coordinate manipulator of high speed fine positioning according to claim 1, it is characterised in that：The vertical fortune
Dynamic slider bar (11) is to be fixedly connected with the connection type of square rail rectangular co-ordinate vertical and straight movement secondary (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810543825.6A CN108714888A (en) | 2018-05-31 | 2018-05-31 | A kind of right angle coordinate manipulator of high speed fine positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810543825.6A CN108714888A (en) | 2018-05-31 | 2018-05-31 | A kind of right angle coordinate manipulator of high speed fine positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108714888A true CN108714888A (en) | 2018-10-30 |
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ID=63912525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810543825.6A Pending CN108714888A (en) | 2018-05-31 | 2018-05-31 | A kind of right angle coordinate manipulator of high speed fine positioning |
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| Country | Link |
|---|---|
| CN (1) | CN108714888A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3921820A (en) * | 1974-03-04 | 1975-11-25 | Alpha Machine & Tool Corp | Picker |
| JPS5255164A (en) * | 1975-10-31 | 1977-05-06 | Hitachi Ltd | Apparatus for grasping nuts or bolts |
| JPH09194036A (en) * | 1996-01-17 | 1997-07-29 | Canon Inc | Device and method for transferring tray |
| CN204976628U (en) * | 2015-07-03 | 2016-01-20 | 同济大学 | Five degree of freedom industrial robot |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205817867U (en) * | 2016-06-30 | 2016-12-21 | 苏州永耀电子有限公司 | Multiple-project mould mechanical hand |
| CN106272368A (en) * | 2016-09-07 | 2017-01-04 | 三峡大学 | A kind of the most quickly test tube stopper removing machine device people and take lid method |
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
-
2018
- 2018-05-31 CN CN201810543825.6A patent/CN108714888A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3921820A (en) * | 1974-03-04 | 1975-11-25 | Alpha Machine & Tool Corp | Picker |
| JPS5255164A (en) * | 1975-10-31 | 1977-05-06 | Hitachi Ltd | Apparatus for grasping nuts or bolts |
| JPH09194036A (en) * | 1996-01-17 | 1997-07-29 | Canon Inc | Device and method for transferring tray |
| CN204976628U (en) * | 2015-07-03 | 2016-01-20 | 同济大学 | Five degree of freedom industrial robot |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205817867U (en) * | 2016-06-30 | 2016-12-21 | 苏州永耀电子有限公司 | Multiple-project mould mechanical hand |
| CN106272368A (en) * | 2016-09-07 | 2017-01-04 | 三峡大学 | A kind of the most quickly test tube stopper removing machine device people and take lid method |
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181030 |