CN205033210U - Float guide arm with decide guide shaft combined type echelon transmission gear hand - Google Patents
Float guide arm with decide guide shaft combined type echelon transmission gear hand Download PDFInfo
- Publication number
- CN205033210U CN205033210U CN201520794809.6U CN201520794809U CN205033210U CN 205033210 U CN205033210 U CN 205033210U CN 201520794809 U CN201520794809 U CN 201520794809U CN 205033210 U CN205033210 U CN 205033210U
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- axis
- guide
- push rod
- slide block
- plate
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Abstract
The utility model discloses a float guide arm with decide guide shaft combined type echelon transmission gear hand, the utility model provides a both ends of X axle guide rail link to each other with a X axle left side, right end board respectively, and the guide that floats links to each other with X axle slider, float the guide arm cross -under in the guide that floats, and Y spindle drive left side pin is all established on Y axle slider with Y spindle drive right pin, and the left and right baffle of Y spindle drive is established on a floating lever left side, right end board upward respectively, Y spindle drive left side guide slot Y spindle drive left side pin one side, and Y spindle drive right guide groove is located on one side of the Y spindle drive right pin, Z spindle drive left side push rod guide sleeve and Z spindle drive right side push rod guide sleeve all establish on Y axle slider, and the ejector pin cross -under of a Z spindle drive left side is in Z spindle drive left side push rod guide sleeve, and one end sliding connection is on floating lever left end board, and the cross -under of Z spindle drive right ejector rod is in the right push rod guide sleeve of Z spindle drive, and one end sliding connection is on floating lever right end board, Z axle guide pole fixed connection is on Y axle slider, and Z axle driving guide plate and anchor clamps are all established on Z axle slider.
Description
technical field:
The utility model relates to a kind of floating guide rod and determines guide shaft combined type echelon gearing 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 floating guide rod to solve above-mentioned existing Problems existing and determine guide shaft combined type echelon gearing hand.
The technical scheme that the utility model adopts has: a kind of float guide rod with determine guide shaft combined type echelon gearing 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, X-axis slide block, float guide, float guide rod, floating lever first member plate, floating lever right end plate, XY axle transition plate, Y-axis guide rod, Y-axis slide block, Z axis guide rod, Z 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 left push rod, Z axis drives left push rod guide pin bushing, Z axis drives right push rod, Z axis drives right push rod guide pin bushing, Z axis drives guide plate and fixture, the two ends, left and right of described X-axis guide rail are fixedly connected with X-axis right end plate with X-axis first member plate respectively, X-axis skid is connected on X-axis guide rail, 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, the guide that floats is fixedly connected with X-axis slide block, floating guide rod is connected in floating guide, and floating lever first member plate and floating lever right end plate are fixedly connected on floating guide rod both sides respectively,
The two ends, left and right of XY axle transition plate are fixedly connected with floating lever right end plate with floating lever first member plate respectively, Y-axis guide rod is fixedly connected in XY axle transition plate, 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 in floating lever first member plate and floating lever right end plate 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 to 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 left push rod guide pin bushing and Z axis to drive right push rod guide pin bushing to be all fixedly connected on Y-axis slide block, Z axis drives left push rod to be connected to Z axis to drive in left push rod guide pin bushing, and Z axis drives one end of left push rod to be slidably connected on floating lever first member plate, Z axis drives right push rod to be connected to Z axis and drives in right push rod guide pin bushing, and Z axis drives one end of right push rod to be slidably connected in floating lever right end plate;
Z axis guide rod is fixedly connected on Y-axis slide block, and Z axis skid is connected on Z axis guide rod, and Z axis drives guide plate and fixture to be all fixedly connected on Z axis slide block.
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, on described Y-axis guide rod and the both sides being positioned at Y-axis slide block are arranged with Y-axis back-moving spring respectively.
Further, on described Z axis guide rod and the both sides being positioned at Z axis slide block are arranged with Z axis back-moving spring respectively.
Further, the slip of described X-axis slide block 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 X-axis slide block is connected on X-axis screw mandrel.
Further, described floating lever first member plate and floating lever right end plate are fixedly connected with Z axis driving left support abutment guide rod and Z axis driving right support abutment guide rod respectively, Z axis drives left support abutment guide rod and Z axis to drive on right support abutment guide rod and slidably connects Z axis driving left support abutment slide block and Z axis driving right support abutment slide block respectively, and Z axis drives left support abutment slide block and Z axis to drive right support abutment slide block to drive left push rod and Z axis to drive right push rod to be connected respectively with Z axis.
Further, described Z axis drives the left and right sides of guide plate to be respectively equipped with left oblique surface and right oblique surface.
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 partial sectional view of Fig. 1 structure.
Fig. 3 is the structure chart of another embodiment of the utility model.
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, 9-X axle slide block, 10-floats guide, 11-floats guide rod, 12-floating lever back-moving spring, 13-floating lever first member plate, 14-floating lever right end plate, 15-XY axle transition plate, 16-Y axle bedplate, 17-Y spindle guide bar, 18-Y axle back-moving spring, 19-Y axle slide block, 20-Z axle bedplate, 21-Z spindle guide bar, 22-Z axle back-moving spring, 23-Z axle slide block, 24-Y axle drives left guide plate, 25-Y axle drives left guide groove, 26-Y axle drives left pin, 27-Y axle drives right guide plate, 28-Y axle drives right guide groove, 29-Y axle drives right pin, 30-Z axle drives left support abutment guide rod, 31-Z axle drives left support abutment slide block, 32-Z axle drives left push rod, 33-Z axle drives left push rod guide pin bushing, 34-guide wheel a, 35-Z axle drives right support abutment guide rod, 36-Z axle drives right support abutment slide block, 37-Z axle drives right push rod, 38-Z axle drives right push rod guide pin bushing, 39-guide wheel b, 40-Z axle drives guide plate, the left oblique surface of 400-, the right oblique surface of 401-, 101-fixture, P24-Y axle drives left guide plate, P25-Y axle drives left push rod, P27-Y axle drives right guide plate, P28-Y axle drives right push rod.
detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is further described.
As Fig. 1 and Fig. 2, the utility model one float guide rod with determine guide shaft combined type echelon gearing hand, comprise X-axis guide rail 3, X-axis first member plate 5, X-axis right end plate 6, the left push rod 7 of X-axis, the right push rod 8 of X-axis, X-axis slide block 9, float guide 10, float guide rod 11, floating lever first member plate 13, floating lever right end plate 14, XY axle transition plate 15, Y-axis guide rod 17, Y-axis slide block 19, Z axis guide rod 21, Z axis slide block 23, Y-axis drives left guide plate 24, Y-axis drives left pin 26, Y-axis drives right guide plate 27, Y-axis drives right pin 29, Z axis drives left push rod 32, Z axis drives left push rod guide pin bushing 33, Z axis drives right push rod 37, Z axis drives right push rod guide pin bushing 38, Z axis drives guide plate 40 and fixture 101, the two ends, left and right of X-axis guide rail 3 are fixedly connected with X-axis right end plate 6 with X-axis first member plate 5 respectively, X-axis slide block 9 is slidably connected on X-axis guide rail 3, 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, the guide 10 that floats is fixedly connected with X-axis slide block 9, the guide rod 11 that floats is connected in floating guide 10, and floating lever first member plate 13 and floating lever right end plate 14 are fixedly connected on the left and right sides of floating guide rod 11 respectively.The two ends, left and right of XY axle transition plate 15 are fixedly connected with floating lever right end plate 14 with floating lever first member plate 13 respectively, Y-axis bedplate 16 is fixedly connected in XY axle transition plate 15, Y-axis guide rod 17 is fixedly connected with XY axle transition plate 15 by Y-axis bedplate 16, and Y-axis slide block 19 is slidably connected on Y-axis guide rod 17.
Y-axis slide block 19 is fixedly connected with Y-axis drives left pin 26 and Y-axis to drive right pin 29, Y-axis drives left guide plate 24 and Y-axis to drive right guide plate 27 to be fixedly connected in floating lever first member plate 13 and floating lever right end plate 14 respectively, drive in Y-axis and left guide plate 24 is provided with Y-axis drives left guide groove 25, this Y-axis drives the openend of left guide groove 25 to be positioned at Y-axis and drives left pin 26 side; Drive in Y-axis and right guide plate 27 is provided with Y-axis drives right guide groove 28, this Y-axis drives the openend of right guide groove 28 to be positioned at Y-axis and drives right pin 29 side.
Z axis drives left push rod guide pin bushing 33 and Z axis to drive, and right push rod guide pin bushing 38 is all vertical is fixedly connected on Y-axis slide block 19, Z axis drives left push rod 32 one end to be connected to Z axis to drive in left push rod guide pin bushing 33, and Z axis drives the other end of left push rod 32 to be slidably connected on floating lever first member plate 13; Z axis drives right push rod 37 one end to be connected to Z axis to drive in right push rod guide pin bushing 38, and Z axis drives the other end of right push rod to be slidably connected in floating lever right end plate 14.Drive left push rod 32 and Z axis to drive on right push rod 37 at Z axis and be respectively arranged with guide wheel a34 and guide wheel b39.
Y-axis slide block 19 is vertically fixed with Z axis bedplate 20, and Z axis guide rod 21 is fixedly connected with Y-axis slide block 19 by this Z axis bedplate 20, and Z axis slide block 23 is slidably connected on Z axis guide rod 21, and Z axis drives guide plate 40 and fixture 101 to be all fixedly connected on Z axis slide block 23.The left and right sides of guide plate 40 is driven to be respectively equipped with left oblique surface 400 and right oblique surface 401 at Z axis.
For ease of the reset in the X-axis direction of the utility model manipulator, on floating guide rod 11 and the both sides being positioned at floating guide 10 are arranged with floating lever back-moving spring 12 respectively.
For ease of the reset in the Y-axis direction of the utility model manipulator, on Y-axis guide rod 17 and the both sides being positioned at Y-axis slide block 19 are arranged with Y-axis back-moving spring 18 respectively.
For ease of the reset in the Z-axis direction of the utility model manipulator, on Z axis guide rod 21 and the both sides being positioned at Z axis slide block 23 are arranged with Z axis back-moving spring 22 respectively.
In the utility model, the slip of X-axis slide block 9 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 X-axis slide block 9 is connected on X-axis screw mandrel.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.
Z axis in the utility model drives the slip of left push rod 32 on floating lever first member plate 13 and Z axis to drive the slip of right push rod 37 in floating lever right end plate 14 to be all realized by slide rail and slide block, namely, floating lever first member plate 13 and floating lever right end plate 14 are fixedly connected with Z axis respectively drives left support abutment guide rod 30 and Z axis to drive right support abutment guide rod 35, Z axis drives left support abutment guide rod 30 and Z axis to drive on right support abutment guide rod 35 and slidably connects Z axis driving left support abutment slide block 31 and Z axis driving right support abutment slide block 36 respectively, Z axis drives left support abutment slide block 31 and Z axis to drive right support abutment slide block 36 to drive left push rod 32 and Z axis to drive right push rod 37 to be connected respectively with Z axis.
Be described as follows to left movement along X-axis guide rail 3 for X-axis slide block 9:
When X-axis driving mechanism drives X-axis slide block 9 along X-axis guide rail 3 to left movement, the fixture 101 in the utility model manipulator is also in company with to left movement.Along with X-axis slide block 9 drives the guide 10 that floats to left movement, when the left push rod 7 of floating lever first member plate 13 and X-axis contacts, the fixture 101 of manipulator also stops to left movement.After this along with X-axis slide block 9 drives the guide 10 that floats to continue to left movement, the floating lever back-moving spring 12 in left side is compressed, and drives the Y-axis of left guide plate 24 to drive in left guide groove 25 until Y-axis drives left pin 26 to enter Y-axis.After this along with X-axis slide block 9 continues to left movement, Y-axis slide block 19 moves along Y-axis guide rod 17 under Y-axis drives left guide groove 25 to drive the guiding function of left pin 26 with Y-axis, simultaneously by Z axis drive left and right push rod guide pin bushing (33,38) and Z axis drive left and right push rod (32,37) respectively the corresponding Z axis that drives drive left and right bearing slide block (31,36) to drive left and right bearing guide rod (30,35) to slide along Z axis, the fixture 101 of manipulator is also made Y-axis in company with Y-axis slide block 19 and is moved in the process.Along with X-axis slide block 9 continues to left movement, the floating lever back-moving spring 12 in left side continues to be compressed, until Z axis drives the guide wheel a34 of left push rod 32 and Z axis to drive the left oblique surface 400 of guide plate 40 to contact, after this X-axis slide block 9 continues to left movement, Z axis slide block 23 moves along Z axis guide rod 21 under Z axis drives the left oblique surface 400 of guide plate 40 and the guiding function of guide wheel a34, and the fixture 101 of manipulator also does Z axis motion in company with Z axis slide block 23 in the process.Therefore, the fixture of the utility model manipulator does echelon linking motion by the order of X-Y-Z axle.
Next, when drive system drives X-axis slide block 9 to do return motion to the right along X-axis guide rail 3, under the effect of each axle guide and back-moving spring, the reverse sequence by Z-Y-X axle is done echelon and is connected motion by the fixture of manipulator, until the center of floating guide 10 got back to by the guide rod 11 that floats.
When drive system drives X-axis slide block 9 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.
As Fig. 3, Y-axis in the utility model can be driven left guide plate 24 and Y-axis drive right guide plate 27 respectively the corresponding Y-axis being replaced into triangle drive left guide plate P24 and Y-axis to drive right guide plate P27, correspond ground, Y-axis is driven left pin 26 and Y-axis drive right pin 29 respectively correspondence be replaced into Y-axis and drive left push rod P25 and Y-axis to drive right push rod P28, obtain the second embodiment of the present utility model thus.The operation principle of the manipulator 101 in this second embodiment is similar to first embodiment with process, therefore repeats no more.
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 (7)
1. a floating guide rod with determine guide shaft combined type echelon gearing 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), X-axis slide block (9), float guide (10), float guide rod (11), floating lever first member plate (13), floating lever right end plate (14), XY axle transition plate (15), Y-axis guide rod (17), Y-axis slide block (19), Z axis guide rod (21), Z axis slide block (23), Y-axis drives left guide plate (24), Y-axis drives left pin (26), Y-axis drives right guide plate (27), Y-axis drives right pin (29), Z axis drives left push rod (32), Z axis drives left push rod guide pin bushing (33), Z axis drives right push rod (37), Z axis drives right push rod guide pin bushing (38), Z axis drives guide plate (40) and fixture (101),
The two ends, left and right 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, X-axis slide block (9) is slidably connected on X-axis guide rail (3), 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 and X-axis right end plate respectively, the guide (10) that floats is fixedly connected with X-axis slide block (9), the guide rod (11) that floats is connected in floating guide (10), and floating lever first member plate (13) and floating lever right end plate (14) are fixedly connected on floating guide rod (11) both sides respectively;
The two ends, left and right of XY axle transition plate (15) are fixedly connected with floating lever right end plate (14) with floating lever first member plate (13) respectively, Y-axis guide rod (17) is fixedly connected in XY axle transition plate (15), Y-axis slide block (19) is slidably connected on Y-axis guide rod (17), Y-axis drives left pin (26) and Y-axis to drive right pin (29) to be all fixedly connected on Y-axis slide block (19), Y-axis drives left guide plate (24) and Y-axis to drive right guide plate (27) to be fixedly connected in floating lever first member plate (13) and floating lever right end plate (14) respectively, and be located at Y-axis and drive the Y-axis on left guide plate (24) to drive the openend of left guide groove (25) to be positioned at Y-axis to drive left pin (26) side, be located at Y-axis to drive the Y-axis on right guide plate (27) to drive the openend of right guide groove (28) to be positioned at Y-axis to drive right pin (29) side,
Z axis drives left push rod guide pin bushing (33) and Z axis to drive right push rod guide pin bushing (38) to be all fixedly connected on Y-axis slide block (19), Z axis drives left push rod (32) to be connected to Z axis to drive in left push rod guide pin bushing (33), and Z axis drives one end of left push rod (32) to be slidably connected on floating lever first member plate (13), Z axis drives right push rod (37) to be connected to Z axis and drives in right push rod guide pin bushing (38), and Z axis drives one end of right push rod (37) to be slidably connected in floating lever right end plate (14);
Z axis guide rod (21) is fixedly connected on Y-axis slide block (19), and Z axis slide block (23) is slidably connected on Z axis guide rod (21), and Z axis drives guide plate (40) and fixture (101) to be all fixedly connected on Z axis slide block (23).
2. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: described floating guide rod (11) is gone up and the both sides being positioned at floating guide (10) are arranged with floating lever back-moving spring (12) respectively.
3. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: described Y-axis guide rod (17) is gone up and the both sides being positioned at Y-axis slide block (19) are arranged with Y-axis back-moving spring (18) respectively.
4. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: described Z axis guide rod (21) is gone up and the both sides being positioned at Z axis slide block (23) are arranged with Z axis back-moving spring (22) respectively.
5. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: the slip of described X-axis slide block (9) 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), 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 X-axis slide block (9) is connected on X-axis screw mandrel.
6. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: described floating lever first member plate (13) and floating lever right end plate (14) are fixedly connected with Z axis driving left support abutment guide rod (30) and Z axis driving right support abutment guide rod (35) respectively, Z axis drives left support abutment guide rod (30) and Z axis to drive on right support abutment guide rod (35) and slidably connects Z axis driving left support abutment slide block (31) and Z axis driving right support abutment slide block (36) respectively, Z axis drives left support abutment slide block (31) and Z axis to drive right support abutment slide block (36) to drive left push rod (32) and Z axis to drive right push rod (37) to be connected respectively with Z axis.
7. as claimed in claim 1 float guide rod with determine guide shaft combined type echelon gearing hand, it is characterized in that: the left and right sides of described Z axis driving guide plate (40) is respectively equipped with left oblique surface (400) and right oblique surface (401).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794809.6U CN205033210U (en) | 2015-10-15 | 2015-10-15 | Float guide arm with decide guide shaft combined type echelon transmission gear hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794809.6U CN205033210U (en) | 2015-10-15 | 2015-10-15 | Float guide arm with decide guide shaft combined type echelon transmission gear hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205033210U true CN205033210U (en) | 2016-02-17 |
Family
ID=55292140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520794809.6U Expired - Fee Related CN205033210U (en) | 2015-10-15 | 2015-10-15 | Float guide arm with decide guide shaft combined type echelon transmission gear hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205033210U (en) |
-
2015
- 2015-10-15 CN CN201520794809.6U patent/CN205033210U/en not_active Expired - Fee Related
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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 |