CN205033200U - Primary and secondary slider and unsteady guide slot combined type manipulator - Google Patents
Primary and secondary slider and unsteady guide slot combined type manipulator Download PDFInfo
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- CN205033200U CN205033200U CN201520794564.7U CN201520794564U CN205033200U CN 205033200 U CN205033200 U CN 205033200U CN 201520794564 U CN201520794564 U CN 201520794564U CN 205033200 U CN205033200 U CN 205033200U
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Abstract
The utility model discloses a primary and secondary slider and unsteady guide slot combined type manipulator, the utility model provides a both ends of X axle guide rail link to each other with X axle left end board and X axle right end board respectively, and X roller guide arm is fixed on the female slider of X axle, and X axle left side ejector pin and X axle right ejector rod connect respectively on X axle left end board and X axle right end board, and X axle limiting plate connections is on X roller slider, the Y axle guide pole is connected on X roller slider, and Y spindle drive left side pin is all connected on Y axle slider with Y spindle drive right pin, and Y spindle drive left side baffle is connected respectively in X roller guide arm both sides with Y spindle drive right side baffle, and the open end of Y spindle drive left side guide slot is located on one side of the pin of a Y spindle drive left side, and Y spindle drive right guide groove's open end is located on one side of the Y spindle drive right pin, the one end sliding connection of Z spindle drive pin is in Z spindle drive guide slot, and the other end links to each other with Z axle slider, and the Z axle guide pole is connected on Y axle slider, and anchor clamps are connected on Z axle slider. The utility model discloses simple structure, it is convenient to maintain.
Description
technical field:
The utility model 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 utility model 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 scheme that the utility model adopts 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 utility model has following beneficial effect:
The utility model 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 the utility model structure.
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 utility model is further described.
As Fig. 1 and Fig. 2, a kind of primary and secondary slide block of the utility model 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 the reset in the X-axis direction of the utility model manipulator, 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 the reset in the Y-axis direction of the utility model manipulator, 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 the reset in the Z-axis direction of the utility model manipulator, 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 utility model 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 the utility model manipulator 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 the utility model manipulator 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 utility model can also adopt that Timing Belt-synchronizing wheel drives, chain-sprocket drives, pneumatic or hydraulic-driven.
The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art, can also make some improvement under the prerequisite not departing from the utility model principle, these improvement also should be considered as protection domain of the present utility model.
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 |
|---|---|---|---|
| CN201520794564.7U CN205033200U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and unsteady guide slot combined type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794564.7U CN205033200U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and unsteady guide slot combined type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205033200U true CN205033200U (en) | 2016-02-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520794564.7U Expired - Fee Related CN205033200U (en) | 2015-10-15 | 2015-10-15 | Primary and secondary slider and unsteady guide slot combined type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205033200U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109119240A (en) * | 2017-06-26 | 2019-01-01 | 深圳市盛世智能装备有限公司 | A kind of linkage side clamping device |
-
2015
- 2015-10-15 CN CN201520794564.7U patent/CN205033200U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109119240A (en) * | 2017-06-26 | 2019-01-01 | 深圳市盛世智能装备有限公司 | A kind of linkage side clamping device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 Termination date: 20181015 |