CN205465390U - Vertical running gear - Google Patents
Vertical running gear Download PDFInfo
- Publication number
- CN205465390U CN205465390U CN201620185644.7U CN201620185644U CN205465390U CN 205465390 U CN205465390 U CN 205465390U CN 201620185644 U CN201620185644 U CN 201620185644U CN 205465390 U CN205465390 U CN 205465390U
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- CN
- China
- Prior art keywords
- vertical
- support body
- slide rail
- mechanical arm
- walking mechanism
- 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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Abstract
The utility model provides a vertical running gear, it is used for realizing the arm walking with vertical track sliding connection to remove, include support body and the base that is used for installing mechanical arm, base one end can be dismantled with the support body and be connected, and the other end is used for connecting mechanical arm, support body bottom is provided with slider, slider be used for the buckle on the slide rail of vertical track side and with slide rail sliding connection, realize that the support body hangs in the removal of walking of vertical orbital side. The utility model discloses vertical running gear can effectively solve the problem that leads to the peaceful straightness of straightness accuracy of unable assurance arm walking motion because of the ground injustice to improve arm centre gripping section bar and carry out the quality of processing. And simultaneously, the utility model discloses the reducible mechanical arm moving's of vertical running gear occupation of land space.
Description
Technical field
This utility model relates to metal working technical area, more particularly, it relates to a kind of vertical walking mechanism.
Background technology
During mechanical arm is usually used in Articles transfer, manpower can be replaced to be operated, to human body hostile environment
In, replace people to be operated, maintain personal safety.Mechanical arm mainly by actuator, drive mechanism and
Controlling organization three part form, its arm be used to grasp workpiece parts, according to by the shape of grasping piece,
Size, weight and material etc. are different and use various structures form, such as absorbent-type, holding type and clamp-type etc.
Deng.
Usual mechanical arm needs to use walking mechanism in the course of processing and moves flexibly and walking to realize it, from
And greatly extend the work space of mechanical arm.And the walking mechanism of existing machinery arm uses horizontal mostly
Mode: drive mechanism is set on the guide rail kept flat to drive conveyer belt so that transmission band drives and lies in the end
Walking mechanism walking movement on plate, thus the walking of driving mechanical arm.Although this horizontal walking mechanism can realize
The walking movement of mechanical arm, but owing to easily being affected by state of ground, thus it is difficult to ensure that mechanical arm row
The linearity walked and glacing flatness, and this horizontal walking mechanism is to need to lie in the track on ground to carry out phase
Coordinate mutually, so substantially increase the occupation of land space of manipulator motion.
Therefore, now need to provide a kind of vertical walking mechanism for driving mechanical arm walking movement, to ensure machinery
The linearity of arm walking movement and glacing flatness, and reduce occupation of land space.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art with not enough, it is provided that a kind of vertical walking
Mechanism, this walking mechanism can effectively solve because ground injustice causes ensureing the straight line of mechanical arm walking movement
Degree and the problem of glacing flatness, thus improve the quality that mechanical arm clamping section is processed；Meanwhile, this walking
Mechanism can reduce the occupation of land space of manipulator motion.
In order to achieve the above object, this utility model is achieved by following technical proposals: a kind of vertical row
Walk mechanism, realize mechanical arm walking for being slidably connected with vertical rail mobile；It is characterized in that: include
Support body and the base for fitting machine mechanical arm；Described base one end removably connects with support body, and the other end is used for
Connect mechanical arm；Being provided with carriage bottom described support body, carriage is used for being buckled in vertical rail side
It is slidably connected on the slide rail in face and with slide rail, it is achieved support body is suspended on the side of vertical rail and carries out walking movement.
In such scheme, vertical walking mechanism of the present utility model is connected with mechanical arm by base, passes through
Carriage can consolidate buckle and be suspended on vertical rail side, and mobile along the walking of vertical rail side, thus
Driving mechanical arm moves flexibly and walks, and greatly extends the work space of mechanical arm.This vertical vehicle with walking machine
Structure uses the mode being suspended on vertical rail walking movement can effectively solve because ground injustice causes ensureing machine
The linearity of mechanical arm walking movement and the problem of glacing flatness, thus improve what mechanical arm clamping section was processed
Quality；Meanwhile, this walking mechanism uses the mode of vertical hanging also can greatly reduce the occupation of land of manipulator motion
Space.
Described carriage is to be separately positioned on several directive wheels bottom support body, symmetrical above and below point of directive wheel
Cloth is bottom support body, and directive wheel opposing upper and lower is for being buckled on the slide rail of vertical rail side and and slide rail
It is slidably connected.Directive wheel of the present utility model can arrange four, six or eight according to the specification size of support body
Etc., directive wheel opposing upper and lower the slide rail of buckle vertical rail side can realize the stabilizing suspended of support body and move
Dynamic walking.
More specifically, described carriage is to be separately positioned on bottom support body the directive wheel at four drift angles, with
Side directive wheel opposing upper and lower is for being buckled on the slide rail of vertical rail side and being slidably connected with slide rail.
Directive wheel is arranged on bottom support body the degree of balance that can ensure at four drift angles that support body hangs walking.
Each described directive wheel is made up of axle wheel one and round table-like axle wheel two connection；Described carriage is used for
It is buckled on the slide rail of vertical rail side and is slidably connected with slide rail and refer to: be oppositely oriented round platform in wheel up and down
The axle wheel two of shape is for being buckled on the groove slide rail one of vertical rail side and sliding even with groove slide rail one
Connecing, axle wheel one is slidably connected for the slide rail two with vertical rail side.This utility model utilizes the most relative
Round table-like axle wheel two snaps connection with the groove slide rail one of vertical rail, and actual playing clamps vertical rail up and down
The effect in road, it is achieved the stabilizing suspended of support body, and use axle wheel one and axle wheel two to realize being movably walking.Cause
This, the mode that support body of the present utility model realizes hanging is the most ingenious especially, it is not necessary to the most complicated structure,
Only need round table-like axle wheel about two buckles, not only can ensure support body stabilizing suspended, and ensure support body row
Stability during walking.
This utility model also includes the installing rack being arranged on bottom support body, and installing rack is provided with for location to protect
Hold the support wheel of support body and the spacing of vertical rail.Support wheel of the present utility model can play location and avoid frame
Body walking occurs that the phenomenon of deviation, this support wheel can effectively ensure that the distance between support body and track, improve whole
The precision of body motion, can be further ensured that linearity and the glacing flatness being arranged on manipulator motion in walking mechanism.
The described wheel that supports is between directive wheel opposing upper and lower.
The described base other end is provided with the connector for connecting mechanical arm, connector is provided with for limiting
The locking device of mechanical arm opening angle processed.Mechanical arm and base are rotatably connected and are arranged in walking mechanism,
In mechanical arm work process, this locking device can the limit mechanical arm angle opening or rotate so that machinery
Arm turns to fixed angle, thus improves the mechanical arm quality to work pieces process.
Described locking device is mechanical lock.The benefit of locking device of the present utility model employing mechanical lock is: one
It is to reduce motor load by machinery is locked；Two is relative to other locking devices such as electronic lock, mechanical lock
Stability is high, is susceptible to ectocine.
This utility model also includes that actuating device, described actuating device are to be arranged on the gear bottom support body, uses
Engage in the tooth bar with vertical rail.Gear of the present utility model is helical gears, is used for and vertical rail
The diagonal-cut rack engagement in road.The mode that this utility model employing helical gears engage with diagonal-cut rack is not only
The registration of meshing characteristic and tooth can be improved, thus improve transmission efficiency；And can further improve vehicle with walking machine
The stationarity that structure moves.
This utility model also includes the driving means for being connected with actuating device；Described driving means is arranged on
On support body.
Compared with prior art, this utility model has the advantage that and beneficial effect:
1, the vertical walking mechanism of this utility model can effectively solve because ground injustice causes ensureing mechanical arm
The linearity of walking movement and the problem of glacing flatness, thus improve the quality that mechanical arm clamping section is processed.
2, the vertical walking mechanism of this utility model can reduce the occupation of land space of manipulator motion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the vertical walking mechanism of this utility model；
Fig. 2 is the side schematic view of the vertical walking mechanism of this utility model；
Fig. 3 is that the vertical walking mechanism of this utility model uses scheme of installation；
Wherein, 1 be support body, 2 for base, 3 for directive wheel, 3.1 for axle wheel one, 3.2 be axle wheel two, 4
For installing rack, 5 for support wheel, 6 be connector, 7 for mechanical lock, 8 for actuating device, 9 be driving means,
10 it is vertical rail, 10.1 is mechanical arm for groove slide rail one, 10.2 for slide rail two, 11.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figure 1 to Figure 3, the vertical walking mechanism of this utility model, is for sliding with vertical rail 10
Connecting and realize mechanical arm 11 walking movement, this walking mechanism includes support body 1 and for fitting machine mechanical arm 11
Base 2, wherein, base 2 one end removably connects with support body 1, and the other end is used for connecting mechanical arm 11,
Being provided with carriage bottom support body 1, carriage is for being buckled on the slide rail of vertical rail 10 side also
It is slidably connected with slide rail, it is achieved support body 1 is suspended on the side of vertical rail 10 and carries out walking movement.
Carriage of the present utility model is to be separately positioned on bottom support body 1 directive wheel 3 at four drift angles, same
Side directive wheel opposing upper and lower 3 is for being buckled on the slide rail of vertical rail 10 side and sliding even with slide rail
Connect.Directive wheel 3 is arranged on bottom support body 1 degree of balance that can ensure at four drift angles that support body 1 hangs walking.
Specifically, each directive wheel 3 is made up of axle wheel 1 and round table-like axle wheel 2 3.2 connection, wherein,
Carriage refers to for being buckled on the slide rail of vertical rail 10 side and being slidably connected with slide rail: phase up and down
To axle wheel 2 3.2 round table-like in directive wheel 3 for being buckled in the groove slide rail 1 of vertical rail 10 side
Above and being slidably connected with groove slide rail 1, axle wheel 1 is for the slide rail two with vertical rail 10 side
10.2 are slidably connected.This utility model utilizes the groove of the most round table-like axle wheel 2 3.2 and vertical rail
Slide rail 1 snaps connection, and actual plays the effect clamping vertical rail up and down, it is achieved support body 1 firm
Hang, and use axle wheel 1 and axle wheel 2 3.2 to realize being movably walking.
In order to be further ensured that the linearity and glacing flatness, this reality being arranged on mechanical arm 11 motion in walking mechanism
With the novel installing rack 4 also including and being arranged on bottom support body 1, installing rack 4 is provided with for location with retainer
Four support wheels 5 of the spacing of body 1 and vertical rail 10, wherein, each two supports wheel 5 and is positioned at same
Between side directive wheel opposing upper and lower 3.
This utility model base 2 other end is provided with the connector 6 for connecting mechanical arm 11, connector 6
On be provided with the mechanical lock 7 for limit mechanical arm 11 opening angle.This mechanical lock 7 can limit mechanical arm 11
The angle opened or rotate so that mechanical arm 11 turns to fixed angle, thus improves mechanical arm 11 to work
The quality of part processing.
This utility model also includes actuating device 8 and for the driving means 9 being connected with actuating device 8, wherein,
Driving means 9 is arranged on support body 1, and actuating device 8 is to be arranged on the gear bottom support body 1, for
The tooth bar engagement of vertical rail.Gear of the present utility model is helical gears, is used for and vertical rail 10
Diagonal-cut rack engagement.The mode that this utility model uses helical gears to engage with diagonal-cut rack not only may be used
Improve meshing characteristic and the registration of tooth, thus improve transmission efficiency；And can further improve walking mechanism
The stationarity of movement.
Embodiment two
The present embodiment the difference is that only with embodiment one: directive wheel of the present utility model can be according to support body
Specification size arranges six or eight etc., and directive wheel is symmetrical above and below to be distributed in bottom support body, opposing upper and lower
Directive wheel is for being buckled on the slide rail of vertical rail side and being slidably connected with slide rail.The present embodiment phase up and down
To directive wheel the slide rail of buckle vertical rail side can realize the stabilizing suspended of support body and be movably walking.
Equally, support wheel can may also set up according to demand one, two, three or more than, thus play fixed
Position avoids support body walking the phenomenon of deviation occur, can be further ensured that and be arranged on manipulator motion in walking mechanism
Linearity and glacing flatness.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not
Being restricted to the described embodiments, any of other is made without departing from spirit of the present utility model and principle are lower
Change, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in this practicality
Within novel protection domain.
Claims (10)
1. a vertical walking mechanism, realizes mechanical arm walking with vertical rail mobile for being slidably connected；
It is characterized in that: include support body and the base for fitting machine mechanical arm；Described base one end is detachable with support body
Connecting, the other end is used for connecting mechanical arm；Being provided with carriage bottom described support body, carriage is used for
It is buckled on the slide rail of vertical rail side and is slidably connected with slide rail, it is achieved support body is suspended on vertical rail
It is mobile that side carries out walking.
Vertical walking mechanism the most according to claim 1, it is characterised in that: described carriage is for dividing
Not being arranged on several directive wheels bottom support body, directive wheel is symmetrical above and below to be distributed in bottom support body, phase up and down
To directive wheel for being buckled on the slide rail of vertical rail side and be slidably connected with slide rail.
Vertical walking mechanism the most according to claim 1, it is characterised in that: described carriage is for dividing
Not being arranged on the directive wheel at four drift angles bottom support body, the same side directive wheel opposing upper and lower is used for being buckled in vertical
It is slidably connected on the slide rail of formula track side surfaces and with slide rail.
4. according to the vertical walking mechanism described in Claims 2 or 3, it is characterised in that: each described guiding
Take turns and be made up of axle wheel one and round table-like axle wheel two connection；Described carriage is used for being buckled in vertical rail side
It is slidably connected on the slide rail in face and with slide rail and refers to: be oppositely oriented axle wheel two round table-like in wheel up and down for card
Being buckled on the groove slide rail one of vertical rail side and be slidably connected with groove slide rail one, axle wheel one is for vertical
The slide rail two of formula track side surfaces is slidably connected.
5. according to the vertical walking mechanism described in Claims 2 or 3, it is characterised in that: also include being arranged on
Installing rack bottom support body, installing rack is provided with for location to keep the support body spacing with vertical rail
Support wheel.
Vertical walking mechanism the most according to claim 5, it is characterised in that: described support wheel is positioned at
Down relative to directive wheel between.
Vertical walking mechanism the most according to claim 1, it is characterised in that: the described base other end sets
It is equipped with the connector for connecting mechanical arm, connector is provided with the lock for limit mechanical arm opening angle
Determine device.
Vertical walking mechanism the most according to claim 7, it is characterised in that: described locking device is machine
Tool is locked.
Vertical walking mechanism the most according to claim 1, it is characterised in that: also include actuating device,
Described actuating device is to be arranged on the gear bottom support body, for engaging with the tooth bar of vertical rail.
Vertical walking mechanism the most according to claim 9, it is characterised in that: also include for biography
The driving means that dynamic device connects；Described driving means is arranged on support body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620185644.7U CN205465390U (en) | 2016-03-10 | 2016-03-10 | Vertical running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620185644.7U CN205465390U (en) | 2016-03-10 | 2016-03-10 | Vertical running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205465390U true CN205465390U (en) | 2016-08-17 |
Family
ID=56656278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620185644.7U Expired - Fee Related CN205465390U (en) | 2016-03-10 | 2016-03-10 | Vertical running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205465390U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN107170122A (en) * | 2016-09-30 | 2017-09-15 | 江苏中天华宇智能科技有限公司 | A kind of device accessed with selling powder or the packed class material of graininess |
-
2016
- 2016-03-10 CN CN201620185644.7U patent/CN205465390U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN107170122A (en) * | 2016-09-30 | 2017-09-15 | 江苏中天华宇智能科技有限公司 | A kind of device accessed with selling powder or the packed class material of graininess |
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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: 20160817 Termination date: 20180310 |