CN206493315U - Three dimensionality manipulator - Google Patents
Three dimensionality manipulator Download PDFInfo
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- CN206493315U CN206493315U CN201720046961.5U CN201720046961U CN206493315U CN 206493315 U CN206493315 U CN 206493315U CN 201720046961 U CN201720046961 U CN 201720046961U CN 206493315 U CN206493315 U CN 206493315U
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- guide rail
- frame
- dimensionality
- column
- slide plate
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Abstract
The utility model discloses a kind of three dimensionality manipulator, including handgrip, control system, it is characterised in that：Also include frame, column, the first Poewr transmission mechanism, the first Poewr transmission mechanism drives linear motion of the column along frame the first dimension of completion；The bottom of column drives the rotary motion of guide rail bracket component rotation the second dimension of completion by changement；The guide rail bracket component includes slide plate, movable guiding rail frame, the handgrip is arranged on movable guiding rail frame, 3rd Poewr transmission mechanism is set between slide plate and movable guiding rail frame, and the 3rd Poewr transmission mechanism drives movable guiding rail frame to relatively move the linear motion for completing third dimension along slide plate.The utility model is walked up and down by column, slide plate rotation commutation and guide rail bracket component are moved along X-direction relative to slide plate, so as to drive guide rail bracket component to realize the motion of three dimensions of mechanical gripper, the crawl of part is completed, robot manipulator structure is scientific and reasonable, easy to operate.
Description
Technical field
The utility model is related to a kind of three dimensionality manipulator.
Background technology
Manipulator refers to that some holding functions of human hand and arm can be imitated, to capture, carry by fixed routine object or
The automatic pilot of operation instrument.The heavy labor that it can replace people can have to realize the mechanization and automation of production
Operate to protect personal safety, thus be widely used in machine industry under evil environment.Manipulator is main by handgrip, motion
Mechanism and control system three parts composition.As its name suggests, handgrip is for grasping workpiece, according to by the shape of grasping object
Shape, size, weight, material and job requirements and have multiple structural forms.Motion is the shifting for making handgrip complete diverse location
Dynamic, the self-movement mode such as motion is generally included to lift, translated, so as to complete the movement of three dimensionality, passes through and controls system
System realizes the control of each free degree of manipulator, to complete specific action.However, currently used for auto parts and components manufacturing
Manipulator often exist mechanism dote on greatly, manipulate inflexible shortcoming.
Utility model content
The utility model purpose is to provide a kind of rational in infrastructure, three dimensionality that manipulation is convenient, activity space occupation of land is little
Manipulator, to overcome the deficiencies in the prior art.
To achieve the above object, the utility model is adopted the technical scheme that：A kind of three dimensionality manipulator, including handgrip,
Control system, in addition to frame, column, the first Poewr transmission mechanism, the first Poewr transmission mechanism drive column to be completed along frame
The linear motion of first dimension；The bottom of column drives the rotation of guide rail bracket component rotation the second dimension of completion by changement
Motion；The guide rail bracket component includes slide plate, movable guiding rail frame, and the handgrip is arranged on movable guiding rail frame, in slide plate and work
3rd Poewr transmission mechanism is set between dynamic guide rail bracket, and the 3rd Poewr transmission mechanism drives movable guiding rail frame relative along slide plate
The mobile linear motion for completing third dimension.
The changement is set to meshed transmission gear mechanism.
First Poewr transmission mechanism is synchronous pulley mechanism.
3rd Poewr transmission mechanism is rack and pinion drive mechanism.
First motor mount, upper rail are set in frame, and column sidepiece sets guide rail slide block, and the guide rail slide block is upper
Slided in guide rail, the synchronous pulley mechanism is arranged in frame, timing belt pressing plate is fixed with timing belt, timing belt pressing plate connects
Connect column.
The bottom of frame sets limited block installing plate, the vertical columns stroke limit block on limited block installing plate.
Meshed transmission gear mechanism includes driving gear, turntable bearing, and driving gear is engaged with the outer knuckle-tooth of turntable bearing,
The bottom of column extends downwardly from jack-post, and turntable bearing is arranged on jack-post, and turntable bearing is fixedly connected with the slide plate.
The bottom of column sets and the second motor is installed on motor mounting plate, motor mounting plate, the second motor driving reversing machine
The driving gear rotation of structure.
Movable guiding rail frame includes the first guide rail bracket, line slideway is set in the both sides track slot of the first guide rail bracket, in slide plate
Bottom two line slideways of correspondence set linear slider, and the rack of rack and pinion drive mechanism is arranged on the inner side of a track slot, gear
Installed in slide plate bottom.
Beneficial effect：The utility model is walked up and down by column, slide plate rotates commutation and guide rail bracket component along X-direction
Relative to slide plate movement, so as to drive guide rail bracket component to realize the motion of three dimensions of mechanical gripper, the crawl of part, machinery are completed
Hand is scientific and reasonable for structure, easy to operate.Largely improve the automaticity of grabbing device work.
The inside relative movement mechanism of movable guiding rail frame makes the activity in the same direction synchronous with the second guide rail bracket of the first guide rail bracket, so that
Handgrip stroke is shortened or is stretched, realize larger range of mechanical grasping movement, mechanical flexibility is reliable, ingenious in design.
Three dimensionality manipulator parameter such as the position of the workpiece of crawl and height required for is programmed sequence, control system
According to programming path drives Z axis, X-axis, R axles carry out above and below before and after and 360 degree rotate, and carry out material grasping or blowing action.Can
The travel parameters of completion:Z strokes 1000mm, the X positive and negative 1600mm of stroke, R360 degree, maximum load 500Kg.
Brief description of the drawings
Fig. 1 is the utility model three dimensionality manipulator stereogram.
Fig. 2 is the utility model three dimensionality robot manipulator structure schematic diagram.
Fig. 3 is Fig. 2 A-A sectional views.
Fig. 4 is Fig. 3 B-B sectional views.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the utility model, and it is not intended that to of the present utility model
Limitation.
In description of the present utility model, it is to be understood that term " front and rear ", " on ", " under ", "left", "right", " hang down
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should broadly understood, for example, it may be being fixedly connected.Can also be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Language is in concrete meaning of the present utility model.
Refer to Fig. 1-4, a kind of three dimensionality manipulator, including handgrip 1, control system, in addition to frame, column 2, first
Poewr transmission mechanism, the first Poewr transmission mechanism drives linear motion of the column along frame the first dimension of completion；The bottom of column
The rotary motion of guide rail bracket component rotation the second dimension of completion is driven by changement；The guide rail bracket component include slide plate 5,
Movable guiding rail frame, the handgrip is arranged on movable guiding rail frame, sets the 3rd power to transmit between slide plate and movable guiding rail frame
Mechanism, the 3rd Poewr transmission mechanism drives movable guiding rail frame to relatively move the linear motion for completing third dimension along slide plate.
First Poewr transmission mechanism is driven by the first motor 11, and changement is driven by the second motor 12, the 3rd Poewr transmission mechanism by
3rd motor 13 drives, and drives the clamp device of handgrip to complete the gripping action of three dimensions optional position part.
The changement is set to meshed transmission gear mechanism.
First Poewr transmission mechanism is synchronous pulley mechanism 6.
3rd Poewr transmission mechanism is rack and pinion drive mechanism.
First motor mount 4, upper rail 3 are set in frame, and column sidepiece sets guide rail slide block, and the guide rail slide block exists
Slided in upper rail, the synchronous pulley mechanism 6 is arranged in frame, and timing belt pressing plate 16, timing belt are fixed with timing belt
Pressing plate connects column 2.
The bottom of frame sets limited block installing plate, the vertical columns stroke limit block 9 on limited block installing plate.
Meshed transmission gear mechanism includes driving gear 7, turntable bearing 8, and the outer knuckle-tooth of driving gear and turntable bearing is nibbled
Close, the bottom of column extends downwardly from jack-post, and turntable bearing is arranged on jack-post, and turntable bearing is fixedly connected with the slide plate.
The bottom of column sets and the second motor 12 is installed on motor mounting plate, motor mounting plate, the driving commutation of the second motor
The driving gear rotation of mechanism.
Movable guiding rail frame includes the first guide rail bracket 14, and line slideway 17 is set in the both sides track slot of the first guide rail bracket,
Slide plate bottom two line slideways of correspondence set linear slider, and the rack 18 of rack and pinion drive mechanism is arranged on the interior of a track slot
Side, gear are arranged on slide plate bottom.
Movable guiding rail frame also includes the second guide rail bracket 15, and finger grip mounts are fixed on the lower section of the second guide rail bracket, first and second
Guide rail bracket is connected by belt wheel mechanism 19：Fixed in the first guide rail bracket and belt, the bottom of slide plate are set on a pair of belt wheels, two belt wheels
Portion sets contiguous block 20, and contiguous block is fixed on a certain fixed position of epimere of belt, and the hypomere of belt passes through contiguous block and second
Guide rail bracket is connected.When the first guide rail bracket is moved to the left under pinion and rack driving, belt wheel mechanism causes belt wheel to rotate, and
The hypomere of belt is slided to epimere in the direction of the clock, the second guide rail bracket left lateral is pulled in moving process.
A pair of handgrips are symmetrical arranged on finger grip mounts, the clamp device of handgrip is arranged on finger grip mounts.Handgrip is pacified
Shelve and set positioned at the one end of the second guide rail bracket away from column, therefore, when movable guiding rail frame left lateral, the distance of handgrip and column
Shorten, when movable guiding rail frame right lateral, first and second guide rail bracket makes the distance of handgrip and column cross to most while walk to the right
Greatly, so that handgrip stroke increases.
The utility model is not limited to above-mentioned embodiment, if do not taken off to various changes or deformation of the present utility model
From spirit and scope of the present utility model, if these are changed and deformation belongs to claim of the present utility model and equivalent technologies
Within the scope of, then the utility model is also intended to comprising these changes and deformed.
Claims (9)
1. a kind of three dimensionality manipulator, including handgrip, control system, it is characterised in that：Also include frame, column, the first power
Transmission mechanism, the first Poewr transmission mechanism drives linear motion of the column along frame the first dimension of completion；The bottom of column passes through
Changement drives the rotary motion of guide rail bracket component rotation the second dimension of completion；The guide rail bracket component includes slide plate, activity
Guide rail bracket, the handgrip is arranged on movable guiding rail frame, and the 3rd Poewr transmission mechanism is set between slide plate and movable guiding rail frame,
3rd Poewr transmission mechanism drives movable guiding rail frame to relatively move the linear motion for completing third dimension along slide plate.
2. three dimensionality manipulator according to claim 1, it is characterised in that：The changement is set to gear engagement biography
Motivation structure.
3. three dimensionality manipulator according to claim 1, it is characterised in that：First Poewr transmission mechanism is timing belt
Take turns mechanism.
4. three dimensionality manipulator according to claim 1, it is characterised in that：3rd Poewr transmission mechanism is that rack-and-pinion is passed
Motivation structure.
5. three dimensionality manipulator according to claim 3, it is characterised in that：Set in frame the first motor mount, on
Guide rail, column sidepiece sets guide rail slide block, and the guide rail slide block is slided in upper rail, and the synchronous pulley mechanism is arranged on machine
Timing belt pressing plate, timing belt pressing plate connection column are fixed with frame, on timing belt.
6. three dimensionality manipulator according to claim 5, it is characterised in that：The bottom of frame sets limited block installing plate,
The vertical columns stroke limit block on limited block installing plate.
7. three dimensionality manipulator according to claim 6, it is characterised in that：Meshed transmission gear mechanism includes driving tooth
Wheel, turntable bearing, driving gear are engaged with the outer knuckle-tooth of turntable bearing, and the bottom of column extends downwardly from jack-post, turntable bearing peace
On jack-post, turntable bearing is fixedly connected with the slide plate.
8. three dimensionality manipulator according to claim 7, it is characterised in that：The bottom of column sets motor mounting plate, electricity
Second motor, the driving gear rotation of the second motor driving changement are installed on machine installing plate.
9. three dimensionality manipulator according to claim 8, it is characterised in that：Movable guiding rail frame includes the first guide rail bracket,
Line slideway is set in the both sides track slot of first guide rail bracket, two line slideways of correspondence set linear slider, gear in slide plate bottom
The rack of rack gear is arranged on the inner side of a track slot, gear and is arranged on slide plate bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720046961.5U CN206493315U (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720046961.5U CN206493315U (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206493315U true CN206493315U (en) | 2017-09-15 |
Family
ID=59803294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720046961.5U Active CN206493315U (en) | 2017-01-16 | 2017-01-16 | Three dimensionality manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206493315U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737623A (en) * | 2017-01-16 | 2017-05-31 | 广东富华重工制造有限公司 | Three dimensionality manipulator |
| CN109420941A (en) * | 2018-09-14 | 2019-03-05 | 芜湖中驰机床制造有限公司 | A kind of grinding machine with automatic feeding function |
-
2017
- 2017-01-16 CN CN201720046961.5U patent/CN206493315U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737623A (en) * | 2017-01-16 | 2017-05-31 | 广东富华重工制造有限公司 | Three dimensionality manipulator |
| CN109420941A (en) * | 2018-09-14 | 2019-03-05 | 芜湖中驰机床制造有限公司 | A kind of grinding machine with automatic feeding function |
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