CN109848953B - Manipulator mechanism capable of realizing door-shaped movement track and use method - Google Patents
Manipulator mechanism capable of realizing door-shaped movement track and use method Download PDFInfo
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- CN109848953B CN109848953B CN201910194026.7A CN201910194026A CN109848953B CN 109848953 B CN109848953 B CN 109848953B CN 201910194026 A CN201910194026 A CN 201910194026A CN 109848953 B CN109848953 B CN 109848953B
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Abstract
The invention discloses a manipulator mechanism capable of realizing a door-shaped movement track and a use method thereof, wherein first vertical sliding rails are symmetrically fixed on the side wall of a base, a horizontal sliding rail bottom plate is installed on each horizontal sliding rail through sliding fit, a horizontal sliding rail is fixed on each horizontal sliding rail bottom plate, a vertical sliding rail bottom plate is installed on each horizontal sliding rail through sliding fit, a second vertical sliding rail is symmetrically installed on each vertical sliding rail bottom plate, an annular gear ring supporting plate is installed on each second vertical sliding rail through sliding fit, an annular gear ring is fixedly installed on each annular gear ring supporting plate, and the annular gear rings are connected with a gear mechanism for driving the annular gear rings to move; the vertical sliding rail bottom plate is matched with a cam mechanism for driving the vertical sliding rail bottom plate to move up and down; the bottom of the vertical sliding rail bottom plate is fixedly provided with a manipulator executing end. The device can be used for automatically conveying, feeding, moving, picking up and placing small parts and the like in a small range according to different actual engineering requirements.
Description
Technical Field
The invention relates to a manipulator mechanism capable of realizing a door-shaped motion track, belonging to a manipulator structure.
Background
At present, the industrial automation degree is higher and higher, so that the working efficiency can be improved, and the labor intensity is saved. The existing automatic assembly line is also provided with a plurality of manipulators, but when the automatic assembly line is used, the auxiliary detection device is matched, so that the automatic assembly line is complex in mechanical structure and high in maintenance cost, is not suitable for small and medium-sized factories, and is not beneficial to production.
Disclosure of Invention
The invention solves the problems in the prior art, mainly aims to convert single power input into intermittent motion tracks in a shape of a door, has good flexibility of a pure mechanical mechanism, is simple to operate, greatly improves working efficiency and practicality of the mechanism, can be used for automatically conveying, feeding, moving, picking, placing, removing small parts and the like in a small range according to different actual engineering requirements, has good flexibility and has good popularization prospect.
In order to achieve the technical characteristics, the aim of the invention is realized in the following way: the manipulator mechanism comprises a base, wherein first vertical sliding rails are symmetrically fixed on the side wall of the base, a horizontal sliding rail bottom plate is installed on each horizontal sliding rail through sliding fit, a horizontal sliding rail is fixed on each horizontal sliding rail bottom plate, a vertical sliding rail bottom plate is installed on each horizontal sliding rail through sliding fit, second vertical sliding rails are symmetrically installed on each vertical sliding rail bottom plate, an annular gear ring supporting plate is arranged on each second vertical sliding rail through sliding fit, an annular gear ring is fixedly installed on each annular gear ring supporting plate, and the annular gear rings are connected with a gear mechanism for driving the corresponding annular gear rings to move; the vertical sliding rail bottom plate is matched with a cam mechanism for driving the vertical sliding rail bottom plate to move up and down; the bottom of the vertical sliding rail bottom plate is fixedly provided with a manipulator executing end.
The gear mechanism comprises a power input shaft, the power input shaft is supported on a first flange seat through a bearing, the first flange seat is fixedly arranged on the side wall of the base, a first gear and a second gear are arranged on the power input shaft, and the second gear and the annular gear form an internal gear meshing transmission all the time.
The cam mechanism comprises a disc cam, a third gear is arranged on a main shaft where the disc cam is located, the third gear is meshed with a first gear of the gear mechanism for transmission, the main shaft of the disc cam is supported on a second flange seat through a bearing, and the second flange seat is fixedly arranged on the base; the disc cam and a first bearing at the top end of the disc cam ejector rod form rolling fit, and the disc cam ejector rod is fixedly connected with the vertical sliding rail bottom plate.
An annular guide rail is fixed on the side wall of the base, an annular groove is formed in the annular guide rail, the annular groove and a second bearing at the tail end of an annular chute ejector rod form rolling fit, and the other end of the annular chute ejector rod is fixedly connected with a vertical sliding rail bottom plate; the bottom of the annular guide rail is supported on the fixed supporting block through a fixed nut.
The annular gear ring is formed by assembling racks and semicircular inner gear rings.
The disc cam employs a centering grooved roller cam and limits the roller from moving throughout the groove.
The horizontal sliding rail bottom plate is in sliding fit with the first vertical sliding rail through a first sliding block; the vertical sliding rail bottom plate is in sliding fit with the horizontal sliding rail through a second sliding block; the annular gear ring supporting plate is in sliding fit with the second vertical sliding rail through a third sliding block.
The base is fixedly arranged on the frame.
The power input shaft of the gear mechanism is connected with the uniform rotation motor and drives the power input shaft to rotate at a uniform speed.
The use method of the manipulator mechanism for realizing the 'door' -shaped movement track, which is any one of the above, comprises the following steps:
step1: connecting a power input shaft with an output shaft of a motor, starting the motor, and driving the power input shaft through the motor;
step2: driving the first gear and the second gear through the power input shaft;
step3: the first gear is meshed with the third gear for transmission, the third gear drives the disc cam, the disc cam is matched with the disc cam ejector rod, and the vertical sliding rail bottom plate is driven to realize lifting action, so that the manipulator executing end is driven to realize lifting action;
step4: meanwhile, the second gear and the annular gear ring form gear inner core transmission, so that the vertical sliding rail base plate is driven to realize left-right reciprocating motion, and the manipulator executing end is driven to realize linear reciprocating motion.
The invention has the beneficial effects that:
1. through the manipulator mechanism adopting the structure, the manipulator mechanism adopts a pure mechanical structure, and can convert stable uniform rotation into a motion track in a shape of a door, thereby meeting the actual engineering production requirement.
2. Through the gear mechanism of above-mentioned structure, in the course of the work, will drive first gear and second gear simultaneously through the power input shaft, will constitute gear engagement transmission with annular ring gear through the second gear, and then drive vertical slide rail bottom plate through annular ring gear and realize reciprocal rectilinear motion.
3. The rotation of the first gear drives the cam mechanism, and meanwhile, the cam mechanism drives the disc-shaped cam ejector rod, so that the disc-shaped cam ejector rod drives the vertical sliding rail bottom plate connected with the cam mechanism to realize lifting movement.
4. The annular guide rail with the structure ensures that the second gear is always meshed with the annular gear ring for transmission.
5. The input end of the manipulator mechanism capable of realizing the 'door' -shaped movement track is a shaft which continuously rotates at a constant speed, if the manipulator is arranged at the working end, the manipulator clamps the part, firstly, the manipulator ascends from the lowest point to the highest point and stays for a certain time, then the execution end descends rapidly, reaches the lowest point, and executes related actions. The up-down-stop motion process is completed in a cyclic manner. The whole mechanism changes the rotary motion into up-down and left-right reciprocating motion so as to realize a 'door-shaped' motion track.
Drawings
The invention is further described below with reference to the drawings and examples.
Fig. 1 is an overall construction diagram of the present invention.
Fig. 2 is a schematic structural view of a disc cam guide mechanism and an annular groove guide mechanism portion.
FIG. 3 is a schematic view of the structure of the slide bar set.
Fig. 4 is a schematic view of the structure of the power input end.
In the figure: the device comprises a first vertical sliding rail 1, a horizontal sliding rail 2, an annular gear ring supporting plate 3, an annular gear ring 4, a horizontal sliding rail bottom plate 5, a vertical sliding rail bottom plate 6, a second vertical sliding rail 7, a first sliding block 8, a third sliding block 10, an annular guide rail 11, a second sliding block 12, a manipulator executing end 13, a fixed supporting block 14, a power input shaft 15, a second gear 16, a first bearing 17, a disc cam ejector 18, a disc cam 19, a third gear 20, a first gear 21, an annular sliding groove ejector 22, a second bearing 23, a frame 24, a fixed nut 25, a first flange seat 26 and a second flange seat 27.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-4, a manipulator mechanism capable of realizing a door-shaped movement track comprises a base 9, wherein first vertical sliding rails 1 are symmetrically fixed on the side wall of the base 9, horizontal sliding rail bottom plates 5 are installed on the first vertical sliding rails 1 through sliding fit, horizontal sliding rails 2 are fixed on each horizontal sliding rail bottom plate 5, vertical sliding rail bottom plates 6 are installed on the horizontal sliding rails 2 through sliding fit, second vertical sliding rails 7 are symmetrically installed on the vertical sliding rail bottom plates 6, annular gear ring supporting plates 3 are symmetrically installed on the second vertical sliding rails 7 through sliding fit, annular gear rings 4 are fixedly installed on the annular gear ring supporting plates 3, and the annular gear rings 4 are connected with a gear mechanism for driving the annular gear rings to move; the vertical sliding rail bottom plate 6 is matched with a cam mechanism for driving the vertical sliding rail bottom plate to move up and down; the bottom of the vertical sliding rail bottom plate 6 is fixedly provided with a manipulator executing end 13. Through the manipulator mechanism adopting the structure, the manipulator mechanism adopts a pure mechanical structure, and can convert stable uniform rotation into a motion track in a shape of a door, thereby meeting the actual engineering production requirement.
Further, the gear mechanism comprises a power input shaft 15, the power input shaft 15 is supported on a first flange seat 26 through a bearing, the first flange seat 26 is fixedly arranged on the side wall of the base 9, a first gear 21 and a second gear 16 are arranged on the power input shaft 15, and the second gear 16 and the annular gear ring 4 form an internal gear meshing transmission all the time. Through the gear mechanism with the structure, in the working process, the first gear 21 and the second gear 16 are driven simultaneously through the power input shaft 15, and the gear engagement transmission is formed between the second gear 16 and the annular gear ring 4, so that the annular gear ring 4 drives the vertical sliding rail bottom plate 6 to realize reciprocating linear motion.
Further, the cam mechanism comprises a disc cam 19, a third gear 20 is arranged on the main shaft of the disc cam 19, the third gear 20 is meshed with a first gear 21 of the gear mechanism for transmission, the main shaft of the disc cam 19 is supported on a second flange seat 27 through a bearing, and the second flange seat 27 is fixedly arranged on the base 9; the disc cam 19 and the first bearing 17 at the top end of the disc cam ejector rod 18 form rolling fit, and the disc cam ejector rod 18 is fixedly connected with the vertical slide rail bottom plate 6. The rotation of the first gear 21 drives the cam mechanism, and simultaneously the cam mechanism drives the disc-shaped cam ejector rod 18, so that the disc-shaped cam ejector rod 18 drives the vertical sliding rail bottom plate 6 connected with the cam mechanism to realize lifting movement.
Further, an annular guide rail 11 is fixed on the side wall of the base 9, an annular groove is processed on the annular guide rail 11, the annular groove and a second bearing 23 at the tail end of an annular chute ejector rod 22 form rolling fit, and the other end of the annular chute ejector rod 22 is fixedly connected with a vertical sliding rail bottom plate 6; the bottom of the annular guide rail 11 is supported on the fixed support block 14 through a fixed nut 25. The annular guide rail 11 with the structure ensures that the second gear 16 is always meshed with the annular gear ring 4 for transmission.
Furthermore, the annular gear ring 4 is formed by assembling racks and semicircular inner gear rings. The manufacturing cost of the multi-section assembled structure is reduced.
Further, the disc cam 19 employs a centering groove roller cam and restricts the roller from moving in the groove at all times. Otherwise, the executing end may jump.
Further, the horizontal sliding rail bottom plate 5 is in sliding fit with the first vertical sliding rail 1 through a first sliding block 8; the vertical sliding rail bottom plate 6 is in sliding fit with the horizontal sliding rail 2 through a second sliding block 12; the annular gear ring supporting plate 3 is in sliding fit with the second vertical sliding rail 7 through a third sliding block 10. Through sliding fit between slider and the slide rail, guaranteed the stability of whole manipulator work.
Further, the base 9 is fixedly mounted on the frame 24.
Further, the power input shaft 15 of the gear mechanism is connected with a constant-speed rotation motor, and drives the power input shaft 15 to rotate at a constant speed.
Preferably, the base radius of the disc cam 19 is 50mm, the stroke of the cam is 30mm, the lift angle/return angle is 108 degrees, and the motion rule of the mechanism indicates that the working end comprises three stages of lift, long rest and return in one up-down motion period, and in order to avoid impact, namely speed or acceleration mutation, the motion type can preferably select a 3-4-5 polynomial motion rule or a sine acceleration motion rule. I.e. the type of lift motion of the disc cams 19 is a 3-4-5 polynomial motion law.
Further, the first bearing 17 and the second bearing 23 both adopt CF bearings, so that friction force is effectively reduced.
Example 2:
the use method of the manipulator mechanism for realizing the 'door' -shaped movement track, which is any one of the above, comprises the following steps:
step1: connecting the power input shaft 15 with an output shaft of a motor, starting the motor, and driving the power input shaft 15 through the motor;
step2: the first gear 21 and the second gear 16 are driven by the power input shaft 15;
step3: the first gear 21 is meshed with the third gear 20 for transmission, the third gear 20 drives the disc cam 19, the disc cam 19 is matched with the disc cam ejector rod 18, the vertical sliding rail bottom plate 6 is driven to realize lifting action, and the manipulator executing end 13 is driven to realize lifting action;
step4: meanwhile, the second gear 16 and the annular gear ring 4 form gear inner core transmission, so that the vertical sliding rail base plate 6 is driven to realize left-right reciprocating motion, and the manipulator executing end 13 is driven to realize linear reciprocating motion.
Example 3:
the input end of the manipulator mechanism capable of realizing the 'door' -shaped movement track is a shaft which continuously rotates at a constant speed, if the manipulator is arranged at the working end, the manipulator clamps the part, the manipulator firstly ascends from the lowest point to the highest point and then stays for a certain time, then the execution end descends rapidly to the lowest point, and related actions are executed. The up-down-stop motion process is completed in a cyclic manner. The whole mechanism changes the rotary motion into up-down and left-right reciprocating motion so as to realize a 'door-shaped' motion track.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (7)
1. A manipulator mechanism capable of realizing a 'door' -shaped movement track is characterized in that: the automatic transmission device comprises a base (9), wherein first vertical sliding rails (1) are symmetrically fixed on the side wall of the base (9), horizontal sliding rail bottom plates (5) are installed on the first vertical sliding rails (1) through sliding fit, horizontal sliding rails (2) are fixed on each horizontal sliding rail bottom plate (5), vertical sliding rail bottom plates (6) are installed on the horizontal sliding rails (2) through sliding fit, second vertical sliding rails (7) are symmetrically installed on the vertical sliding rail bottom plates (6), annular gear ring supporting plates (3) are installed on the second vertical sliding rails (7) through sliding fit, annular gear rings (4) are fixedly installed on the annular gear ring supporting plates (3), and the annular gear rings (4) are connected with a gear mechanism for driving the annular gear rings to move; the vertical sliding rail bottom plate (6) is matched with a cam mechanism for driving the vertical sliding rail bottom plate to move up and down; the bottom of the vertical sliding rail bottom plate (6) is fixedly provided with a manipulator executing end (13);
the gear mechanism comprises a power input shaft (15), the power input shaft (15) is supported on a first flange seat (26) through a bearing, the first flange seat (26) is fixedly arranged on the side wall of the base (9), a first gear (21) and a second gear (16) are arranged on the power input shaft (15), and the second gear (16) and the annular gear ring (4) form an internal gear meshing transmission all the time;
the cam mechanism comprises a disc cam (19), a third gear (20) is arranged on a main shaft where the disc cam (19) is located, the third gear (20) is in meshed transmission with a first gear (21) of the gear mechanism, the main shaft of the disc cam (19) is supported on a second flange seat (27) through a bearing, and the second flange seat (27) is fixedly arranged on the base (9); the disc cam (19) and a first bearing (17) at the top end of the disc cam ejector rod (18) form rolling fit, and the disc cam ejector rod (18) is fixedly connected with the vertical sliding rail bottom plate (6);
an annular guide rail (11) is fixed on the side wall of the base (9), an annular groove is formed in the annular guide rail (11), the annular groove and a second bearing (23) at the tail end of an annular chute ejector rod (22) form rolling fit, and the other end of the annular chute ejector rod (22) is fixedly connected with a vertical sliding rail bottom plate (6); the bottom of the annular guide rail (11) is supported on the fixed supporting block (14) through a fixed nut (25).
2. The manipulator mechanism capable of realizing a motion track in a shape like a Chinese character 'men' according to claim 1, wherein: the annular gear ring (4) is formed by assembling racks and semicircular inner gear rings.
3. The manipulator mechanism capable of realizing a motion track in a shape like a Chinese character 'men' according to claim 1, wherein: the disc cam (19) adopts a centering groove roller cam and limits the roller to always move in the groove.
4. The manipulator mechanism capable of realizing a motion track in a shape like a Chinese character 'men' according to claim 1, wherein: the horizontal sliding rail bottom plate (5) is in sliding fit with the first vertical sliding rail (1) through a first sliding block (8); the vertical sliding rail bottom plate (6) is in sliding fit with the horizontal sliding rail (2) through a second sliding block (12); the annular gear ring supporting plate (3) and the second vertical sliding rail (7) form sliding fit through a third sliding block (10).
5. The manipulator mechanism capable of realizing a motion track in a shape like a Chinese character 'men' according to claim 1, wherein: the base (9) is fixedly arranged on the frame (24).
6. The manipulator mechanism capable of realizing a motion track in a shape like a Chinese character 'men' according to claim 1, wherein: the power input shaft (15) of the gear mechanism is connected with the constant-speed rotation motor and drives the power input shaft (15) to rotate at a constant speed.
7. The method of using a manipulator mechanism for realizing a "door" shaped motion profile as claimed in any one of claims 1-6, characterized in that it comprises the steps of:
step1: connecting a power input shaft (15) with an output shaft of a motor, starting the motor, and driving the power input shaft (15) through the motor;
step2: driving the first gear (21) and the second gear (16) through the power input shaft (15);
step3: the first gear (21) is meshed with the third gear (20) for transmission, the third gear (20) drives the disc cam (19), the disc cam (19) is matched with the disc cam ejector rod (18), the vertical sliding rail bottom plate (6) is driven to realize lifting action, and the manipulator executing end (13) is driven to realize lifting action;
step4: meanwhile, a gear inner core transmission is formed by the second gear (16) and the annular gear ring (4), so that the vertical sliding rail base plate (6) is driven to realize left-right reciprocating motion, and the manipulator executing end (13) is driven to realize linear reciprocating motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910194026.7A CN109848953B (en) | 2019-03-14 | 2019-03-14 | Manipulator mechanism capable of realizing door-shaped movement track and use method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910194026.7A CN109848953B (en) | 2019-03-14 | 2019-03-14 | Manipulator mechanism capable of realizing door-shaped movement track and use method |
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| CN109848953A CN109848953A (en) | 2019-06-07 |
| CN109848953B true CN109848953B (en) | 2023-05-02 |
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