CN204868318U - Manipulator guide rail running gear - Google Patents
Manipulator guide rail running gear Download PDFInfo
- Publication number
- CN204868318U CN204868318U CN201520624741.7U CN201520624741U CN204868318U CN 204868318 U CN204868318 U CN 204868318U CN 201520624741 U CN201520624741 U CN 201520624741U CN 204868318 U CN204868318 U CN 204868318U
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- CN
- China
- Prior art keywords
- guide rail
- gripper
- moving guide
- manipulator
- mobile rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000033001 locomotion Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 3
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a manipulator guide rail running gear, include: X is to mobile rail, Y to mobile rail and Z to mobile rail, article two, Y installs respectively on two parallel arrangement's longeron to mobile rail, and erect on the crossbeam at the both ends of two longerons, removes the both ends of roof beam and erects respectively on two longerons to can move on the length direction of longeron to mobile rail through Y, install X on the length direction of removal roof beam and to mobile rail, move the seat and assemble on X is to mobile rail, make the removal seat move on the length direction who moves the roof beam, install vertical Z to mobile rail below the removal seat. Manipulator guide rail running gear, make the manipulator can remove wantonly in certain space to mobile rail to mobile rail and Z to mobile rail, Y through X, fine replacement the lever snatch the effect of mechanism to guide rail running gear simple structure, durable.
Description
Technical field
The utility model relates to a kind of manipulator guide rail travelling mechanism.
Background technology
In modern industry is produced, the degree of mechanization and automation is more and more higher, in the industry such as processing, carrying, assembling, a lot of station is had to need to carry out grasping manipulation to workpiece to be processed, these operate General Requirements flexible movements, simple and reliable, repeatability is large, for these requirements, manipulator has started to be widely used in industrial production as a kind of grabbing device.
Manipulator can imitate the holding function of staff and arm; in order to capture, to carry the automatic operation of object or operation tool according to fixing program; it can replace people to carry out heavy labor thus realize mechanization and the automation of production; also can work under hostile environment thus protect personal safety, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry.Manipulator is primarily of hand, motion and control system three parts composition, and hand is used to the parts of grabbing workpiece, has various structures form, as clamp-type, holding type or adsorptivity according to the job requirements such as shape, size, weight of crawled object; Motion, makes hand complete various rotation, swing, movement or compound motion to realize the action of regulation, changes position and the posture of crawled object; Control system is by the control to manipulator, carry out specific action, accepted the information of mechanical each component feedback on hand simultaneously, form stable closed-loop control, the core of control system is normally made up of the microcontroller chip such as single-chip microcomputer or dsp, by function required for its programming realization.
At present, the hand of general manipulator is all use a set of lever grasping mechanism from thing outer workpiece grabbing workpiece usually, when needs are from inside workpiece grabbing workpiece, usually can not meet and use needs, and lever grasping mechanism cost is higher, complex structure easily damages, and change inconvenient, operating efficiency is lower.
Summary of the invention
The utility model is for the proposition of above problem, and a kind of manipulator guide rail of research and design travelling mechanism, and in order to solve existing lever grasping mechanism, to have cost higher, and complex structure, easily damages, and changes inconvenient, the shortcoming that operating efficiency is lower.The technological means that the utility model adopts is as follows:
A kind of manipulator guide rail travelling mechanism, comprising: X is to moving guide rail, Y-direction moving guide rail and Z-direction moving guide rail, article two, Y-direction moving guide rail is arranged on two longerons be arranged in parallel respectively, article two, the two ends of longeron are erected on crossbeam, the two ends of trave lling girder are erected on two longerons respectively, and move on the length direction of longeron by Y-direction moving guide rail, the length direction of trave lling girder is provided with X to moving guide rail, Mobile base is assemblied in X on moving guide rail, Mobile base is moved on the length direction of trave lling girder, vertical Z-direction moving guide rail is installed below Mobile base, Z-direction moving guide rail is provided with can the movable plate of in the vertical direction movement, movable plate is connected with manipulator by linking arm, manipulator comprises gripper and lateral cylinder, gripper comprises gripper and is positioned at the lower gripper below gripper, lateral cylinder is used for driving gripper or lower gripper in the vertical direction to move, and upper gripper top and lower gripper bottom have evagination circular arc respectively.
30 °-45° angle is become to be obliquely installed as preferred linking arm with vertical direction.
Compared with the prior art, manipulator guide rail travelling mechanism described in the utility model, there is X to moving guide rail, Y-direction moving guide rail and Z-direction moving guide rail, enable manipulator can movement arbitrarily in certain space to moving guide rail, Y-direction moving guide rail and Z-direction moving guide rail by X, well substituted for the effect of lever grasping mechanism, and guide rail travelling mechanism structure is simple, durable in use; Manipulator comprises gripper and lateral cylinder, gripper comprises gripper and is positioned at the lower gripper below gripper, lateral cylinder is used for driving gripper or lower gripper in the vertical direction to move, upper gripper top and lower gripper bottom have evagination circular arc respectively, gripper and lower gripper are coordinated can, simply from inside workpiece grabbing workpiece, be captured quick, rapid.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the enlarged diagram of the utility model gripper.
Wherein: 1, X is to moving guide rail, 2, Y-direction moving guide rail, 3, Z-direction moving guide rail, 4, gripper, 5, workpiece, 6, linking arm, 7, lateral cylinder, 8, crossbeam, 9, longeron, 10, trave lling girder, 11, Mobile base, 12, movable plate, 13, rail moving driving mechanism, 41, upper gripper, 42, lower gripper.
Detailed description of the invention
As depicted in figs. 1 and 2, a kind of manipulator guide rail travelling mechanism, comprising: X is to moving guide rail 1, Y-direction moving guide rail 2 and Z-direction moving guide rail 3, article two, Y-direction moving guide rail 2 is arranged on two longerons be arranged in parallel 9 respectively, article two, the two ends of longeron 9 are erected on crossbeam 8, the two ends of trave lling girder 10 are erected on two longerons 9 respectively, and move on the length direction of longeron 9 by Y-direction moving guide rail 2, the length direction of trave lling girder 10 is provided with X to moving guide rail 1, Mobile base 11 is assemblied in X on moving guide rail 1, Mobile base 11 can be moved on the length direction of trave lling girder 10, vertical Z-direction moving guide rail 3 is installed below Mobile base 11, Z-direction moving guide rail 3 is provided with can the movable plate 12 of in the vertical direction movement, movable plate 12 is connected with manipulator by linking arm 6, enable manipulator by X to moving guide rail 1, Y-direction moving guide rail 2 and Z-direction moving guide rail 3 can movements arbitrarily in certain space, well substituted for the effect of lever grasping mechanism, and guide rail travelling mechanism structure is simple, durable in use.
Manipulator comprises gripper 4 and lateral cylinder 7, the lower gripper 42 that gripper 4 comprises gripper 41 and is positioned at below gripper 41, lateral cylinder 7 is used for driving gripper 41 or lower gripper 42 in the vertical direction to move, upper gripper 41 top and lower gripper 42 bottom have evagination circular arc respectively, gripper and lower gripper are coordinated can, simply from inside workpiece grabbing workpiece, be captured quick, rapid.
Linking arm 6 becomes 30 °-45° angle to be obliquely installed with vertical direction, linking arm 6 device tilting to connect, and makes gripper in vertical and horizontal direction away from Z-direction moving guide rail 3, does not affect the crawl work of gripper to workpiece.
Mobile base 11 at X to the movement on Y-direction moving guide rail 2 of the movement on moving guide rail 1, trave lling girder 10 and the movement of movable plate 12 on Z-direction moving guide rail 3, realized by rail moving driving mechanism 13, rail moving driving mechanism 13 is that driven by servomotor screw mandrel band movable slider realizes moving.
During work, by X to moving guide rail 1, Y-direction moving guide rail 2 and Z-direction moving guide rail 3 work, make gripper run to workpiece to wait to capture station, i.e. gripper initial point, lateral cylinder 7 works and releases, upper gripper 41 and lower gripper 42 away from, until upper gripper 41 and lower gripper 42 fixedly prop up workpiece 5 with workpiece inner wall, complete crawl, by X to moving guide rail 1, Y-direction moving guide rail 2 and Z-direction moving guide rail 3 work, gripper is made to travel to machine chuck place, machine chuck locking workpiece 5, lateral cylinder 7 is retracted, upper gripper 41 and lower gripper 42 close, unclamp workpiece 5, gripper returns original position (gripper initial point), periodic duty.
The above; be only the utility model preferably detailed description of the invention; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to according to the technical solution of the utility model and inventive concept thereof and replace or change, all should be encompassed within protection domain of the present utility model.
Claims (2)
1. a manipulator guide rail travelling mechanism, is characterized in that comprising: X is to moving guide rail (1), Y-direction moving guide rail (2) and Z-direction moving guide rail (3), article two, Y-direction moving guide rail (2) is arranged on two longerons be arranged in parallel (9) respectively, article two, the two ends of longeron (9) are erected on crossbeam (8), the two ends of trave lling girder (10) are erected on two longerons (9) respectively, and move on the length direction of longeron (9) by Y-direction moving guide rail (2), the length direction of trave lling girder (10) is provided with X to moving guide rail (1), Mobile base (11) is assemblied in X on moving guide rail (1), Mobile base (11) can be moved on the length direction of trave lling girder (10), Mobile base (11) below is provided with vertical Z-direction moving guide rail (3), Z-direction moving guide rail (3) is provided with can the movable plate (12) of in the vertical direction movement, movable plate (12) is connected with manipulator by linking arm (6),
Manipulator comprises gripper (4) and lateral cylinder (7), gripper (4) comprises gripper (41) and is positioned at the lower gripper (42) of gripper (41) below, lateral cylinder (7) is used for driving gripper (41) or lower gripper (42) in the vertical direction to move, and upper gripper (41) top and lower gripper (42) bottom have evagination circular arc respectively.
2. manipulator guide rail travelling mechanism according to claim 1, is characterized in that: linking arm (6) becomes 30 °-45° angle to be obliquely installed with vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520624741.7U CN204868318U (en) | 2015-08-18 | 2015-08-18 | Manipulator guide rail running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520624741.7U CN204868318U (en) | 2015-08-18 | 2015-08-18 | Manipulator guide rail running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204868318U true CN204868318U (en) | 2015-12-16 |
Family
ID=54812740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520624741.7U Expired - Fee Related CN204868318U (en) | 2015-08-18 | 2015-08-18 | Manipulator guide rail running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204868318U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002935A (en) * | 2016-05-23 | 2016-10-12 | 上海美诺福科技股份有限公司 | Robot suspending and moving system |
| CN106826796A (en) * | 2017-03-06 | 2017-06-13 | 芜湖中驰机床制造有限公司 | A kind of self-feeding discharging device |
| CN108338806A (en) * | 2017-01-24 | 2018-07-31 | 上海西门子医疗器械有限公司 | Medical image with orthogonal guide rail tests system |
| CN110153770A (en) * | 2019-05-24 | 2019-08-23 | 同济大学 | A kind of machine tooling feed system |
| CN111633629A (en) * | 2020-07-01 | 2020-09-08 | 中国黄金集团建设有限公司 | Mining manipulator |
-
2015
- 2015-08-18 CN CN201520624741.7U patent/CN204868318U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002935A (en) * | 2016-05-23 | 2016-10-12 | 上海美诺福科技股份有限公司 | Robot suspending and moving system |
| CN108338806A (en) * | 2017-01-24 | 2018-07-31 | 上海西门子医疗器械有限公司 | Medical image with orthogonal guide rail tests system |
| CN106826796A (en) * | 2017-03-06 | 2017-06-13 | 芜湖中驰机床制造有限公司 | A kind of self-feeding discharging device |
| CN110153770A (en) * | 2019-05-24 | 2019-08-23 | 同济大学 | A kind of machine tooling feed system |
| CN111633629A (en) * | 2020-07-01 | 2020-09-08 | 中国黄金集团建设有限公司 | Mining manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151216 |