CN209717702U - One kind being able to achieve the manipulator mechanism of " door " zigzag motion track - Google Patents
One kind being able to achieve the manipulator mechanism of " door " zigzag motion track Download PDFInfo
- Publication number
- CN209717702U CN209717702U CN201920323957.8U CN201920323957U CN209717702U CN 209717702 U CN209717702 U CN 209717702U CN 201920323957 U CN201920323957 U CN 201920323957U CN 209717702 U CN209717702 U CN 209717702U
- Authority
- CN
- China
- Prior art keywords
- slide rail
- gear
- bottom plate
- upright slide
- annular
- 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
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model discloses the manipulator mechanisms that one kind is able to achieve " door " zigzag motion track, the first upright slide rail is symmetrically fixed on the side wall of pedestal, first upright slide rail has horizontal slide rail bottom plate by being slidably installed, horizontal slide rail is fixed on each horizontal slide rail bottom plate, there is upright slide rail bottom plate by being slidably installed on the horizontal slide rail, the second upright slide rail is symmetrically installed on the upright slide rail bottom plate, by being sliding combined with annular gear ring supporting plate on second upright slide rail, annular gear ring is fixedly installed on the annular gear ring supporting plate, the annular gear ring is connected with the gear mechanism for driving it to move；The upright slide rail bottom plate with for driving the cam mechanism of its elevating movement to match；The bottom of the upright slide rail bottom plate is fixedly installed with manipulator actuating station.This equipment can automatically deliver, feed, move and pluck, pick up and put and remove small part etc. for small-scale according to different Practical Project demands.
Description
Technical field
The utility model relates to the manipulator mechanisms that one kind is able to achieve " door " zigzag motion track, belong to robot manipulator structure.
Background technique
Currently, industrial automatization is higher and higher, working efficiency not only can be improved, while also saving people's money
Strength.Also there are many manipulators on existing automatic assembly line, but need the cooperation of auxiliary detection device when in use, often machine
Structure is complicated for tool, and maintenance cost is high, is not suitable for middle-size and small-size producer, is unfavorable for producing.
Utility model content
The utility model aims to solve problems of the existing technology, primarily to single power is inputted conversion
At the intermittent movement track of " door " font, purely mechanic mechanical flexibility is good, easy to operate, greatly improves working efficiency and mechanism
Practicability, this equipment can automatically deliver, feed, move and pluck, pick up and put and move for small-scale according to different Practical Project demands
Except small part etc., flexibility is good, has good promotion prospect.
In order to realize above-mentioned technical characteristic, purpose of the utility model is realized as follows: one kind is able to achieve " door " word
The manipulator mechanism of shape motion profile, it includes pedestal, and the first upright slide rail is symmetrically fixed on the side wall of the pedestal, described
First upright slide rail has horizontal slide rail bottom plate by being slidably installed, and is fixed with level on each horizontal slide rail bottom plate
Sliding rail has upright slide rail bottom plate by being slidably installed on the horizontal slide rail, is symmetrically installed on the upright slide rail bottom plate
There is the second upright slide rail, by being sliding combined with annular gear ring supporting plate, the annular gear ring supporting plate on second upright slide rail
On be fixedly installed with annular gear ring, the annular gear ring is connected with the gear mechanism for driving it to move；The upright slide rail
Bottom plate with for driving the cam mechanism of its elevating movement to match；The bottom of the upright slide rail bottom plate is fixedly installed with machinery
Hand actuating station.
The gear mechanism includes power input shaft, and the power input shaft passes through bearing support on first flange seat,
The first flange seat is fixedly mounted on the side wall of pedestal, and first gear and the second tooth are equipped on the power input shaft
Wheel, the second gear constitute internal gear engaged transmission with annular gear ring always.
The cam mechanism includes disc cam, is equipped with third gear where the disc cam on main shaft, and described the
The first gear of three gears and gear mechanism engaged transmission, the main shaft of the disc cam is by bearing support in second flange seat
On, the second flange seat is fixedly mounted on pedestal；The first bearing structure of the disc cam and disc cam mandril top
Cooperate at rolling, the disc cam mandril is fixedly linked with upright slide rail bottom plate.
It is fixed with annular guide rail on the side wall of the pedestal, annular groove, institute are machined in the annular guide rail
The second bearing for stating annular groove and annular groove jack end, which is constituted, rolls cooperation, the other end of the annular groove mandril and perpendicular
Straight sliding rail bottom plate is fixedly linked；The bottom of the annular guide rail is supported on fixed tray by fixture nut.
The annular gear ring is assembled using rack gear and semicircle ring gear.
The disc cam is used to heart groove roller cam, and is limited roller and moved in slot always.
The horizontal slide rail bottom plate is slidably matched by the first sliding block and the first upright slide rail composition；The upright slide rail bottom
Plate is slidably matched by the second sliding block and horizontal slide rail composition；The annular gear ring supporting plate is vertical sliding by third sliding block and second
Rail composition is slidably matched.
The pedestal is fixedly mounted on the rack.
The power input shaft of the gear mechanism is connected with uniform rotation motor, and drives power input shaft uniform rotation.
The application method of the manipulator mechanism of " door " zigzag motion track is realized described in any one, he includes following step
It is rapid:
Step1: power input shaft is connected with the output shaft of motor, and starts motor, is inputted by motor driven power
Axis；
Step2: first gear and second gear are driven by power input shaft；
Step3: by first gear and third gear engaged transmission, disc cam is driven by third gear, passes through disk
Shape cam is matched with disc cam mandril, and drives upright slide rail bottom plate to realize lifting action, and then manipulator is driven to execute
Realize lifting action in end；
Step4: at the same time, the transmission of gear kernel is constituted by second gear and annular gear ring, and then driven vertical sliding
Orbiting end plate realizes the reciprocating motion of left and right directions, and then manipulator actuating station is driven to realize straight reciprocating motion.
The utility model has the beneficial effects that
1, by using the manipulator mechanism of above structure, pure mechanic structure is used, it can be by stable uniform rotation
It is converted into the motion profile of " door " font, and then meets actual engineering production needs.
2, by the gear mechanism of above structure, in the course of work, first gear will be driven by power input shaft simultaneously
And second gear, gear engaged transmission will be constituted with annular gear ring by second gear, and then drive vertically by annular gear ring
Sliding rail bottom plate realizes reciprocal linear motion.
3, the rotation of first gear drives dish type cam follower, Jin Eryou by driving cam means, while by cam mechanism
Disc cam mandril drives the upright slide rail bottom plate being attached thereto to realize elevating movement.
4, it ensure that second gear is meshed with annular gear ring transmission always by the annular guide rail of above structure.
5, it is continuously and smoothly's rotation that one kind, which is able to achieve the input terminal of the manipulator mechanism of " door " zigzag motion track,
Axis stops after rising to highest point if working end is mounted with that manipulator, manipulator Clamp blocks are begun to ramp up from minimum point first
The regular hour is stayed, then actuating station rapid decrease, reach minimum point, executes relevant action.Complete liter-with looping back and forth like this
The motion process for stopping-dropping.Rotary motion is become the reciprocating motion with left and right up and down by entire mechanism, with realization " door type " movement
Track.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure figure of the utility model.
Fig. 2 is the structural schematic diagram of disc cam guiding mechanism and annular groove guiding mechanism part.
Fig. 3 is the structural schematic diagram of slide bar group.
Fig. 4 is the structural schematic diagram of power intake.
In figure: the first upright slide rail 1, annular gear ring supporting plate 3, annular gear ring 4, horizontal slide rail bottom plate 5, erects horizontal slide rail 2
Straight sliding rail bottom plate 6, the second upright slide rail 7, the second upright slide rail 7, the first sliding block 8, third sliding block 10, annular guide rail 11,
Second sliding block 12, manipulator actuating station 13, fixed tray 14, power input shaft 15, second gear 16, first bearing 17, dish type
Cam follower 18, disc cam 19, third gear 20, first gear 21, annular groove mandril 22, second bearing 23, rack 24,
Fixture nut 25, first flange seat 26, second flange seat 27.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
Embodiment 1:
As shown in Figs 1-4, one kind being able to achieve the manipulator mechanism of " door " zigzag motion track, it includes pedestal 9, the bottom
The first upright slide rail 1 is symmetrically fixed on the side wall of seat 9, first upright slide rail 1 has horizontal cunning by being slidably installed
Orbiting end plate 5, is fixed with horizontal slide rail 2 on each horizontal slide rail bottom plate 5, by being slidably matched on the horizontal slide rail 2
Upright slide rail bottom plate 6 is installed, the second upright slide rail 7 is symmetrically installed on the upright slide rail bottom plate 6, described second is vertical sliding
By being sliding combined with annular gear ring supporting plate 3 on rail 7, annular gear ring 4 is fixedly installed on the annular gear ring supporting plate 3, it is described
Annular gear ring 4 is connected with the gear mechanism for driving it to move；The upright slide rail bottom plate 6 with for driving its elevating movement
Cam mechanism match；The bottom of the upright slide rail bottom plate 6 is fixedly installed with manipulator actuating station 13.By using above-mentioned
The manipulator mechanism of structure, uses pure mechanic structure, can convert stable uniform rotation on the movement rail of " door " font
Mark, and then meet actual engineering production needs.
Further, the gear mechanism includes power input shaft 15, and the power input shaft 15 is existed by bearing support
On first flange seat 26, the first flange seat 26 is fixedly mounted on the side wall of pedestal 9, is installed on the power input shaft 15
There are first gear 21 and second gear 16, the second gear 16 constitutes internal gear engaged transmission with annular gear ring 4 always.Pass through
The gear mechanism of above structure in the course of work, will drive first gear 21 and second gear by power input shaft 15 simultaneously
16, gear engaged transmission will be constituted with annular gear ring 4 by second gear 16, and then upright slide rail is driven by annular gear ring 4
Bottom plate 6 realizes reciprocal linear motion.
Further, the cam mechanism includes disc cam 19, and is equipped on the 19 place main shaft of disc cam
Three gears 20,21 engaged transmission of first gear of the third gear 20 and gear mechanism, the main shaft of the disc cam 19 are logical
Bearing support is crossed on second flange seat 27, the second flange seat 27 is fixedly mounted on pedestal 9；The disc cam 19 with
The first bearing 17 on 18 top of disc cam mandril, which is constituted, rolls cooperation, the disc cam mandril 18 and upright slide rail bottom plate 6
It is fixedly linked.The rotation of first gear 21 drives dish type cam follower 18 by driving cam means, while by cam mechanism, in turn
The upright slide rail bottom plate 6 being attached thereto is driven to realize elevating movement by disc cam mandril 18.
Further, it is fixed with annular guide rail 11 on the side wall of the pedestal 9, adds in the annular guide rail 11
Work has annular groove, and the composition rolling cooperation of second bearing 23 of the annular groove and 22 end of annular groove mandril is described annular sliding
The other end of groove top bar 22 is fixedly linked with upright slide rail bottom plate 6；The bottom of the annular guide rail 11 passes through fixture nut
25 are supported on fixed tray 14.By the annular guide rail 11 of above structure ensure that second gear 16 always with annular tooth
Circle 4 is meshed transmission.
Further, the annular gear ring 4 is assembled using rack gear and semicircle ring gear.It is tied by more piece assembly
Structure reduces its manufacturing cost.
Further, the disc cam 19 is used to heart groove roller cam, and is limited roller and moved in slot always.
Otherwise actuating station is likely to occur the case where bounce.
Further, the horizontal slide rail bottom plate 5 is slidably matched by the first sliding block 8 and the first upright slide rail 1 composition；Institute
Upright slide rail bottom plate 6 is stated to be slidably matched by the second sliding block 12 and the composition of horizontal slide rail 2；The annular gear ring supporting plate 3 passes through the
Three sliding blocks 10 are slidably matched with the second upright slide rail 7 composition.By being slidably matched between sliding block and sliding rail, entire machine ensure that
The stability that tool is made by hand.
Further, the pedestal 9 is fixedly mounted in rack 24.
Further, the power input shaft 15 of the gear mechanism is connected with uniform rotation motor, and power is driven to input
15 uniform rotation of axis.
Preferably, the base radius of the disc cam 19 is 50mm, and the stroke of cam is 30mm, lift angle/backhaul angle
It is 108 °, by the characteristics of motion of mechanism it is found that working end includes lift within a up and down motion period, far stops, backhaul three
Stage, in order to avoid impact, i.e. speed or sudden change of acceleration, type of sports can preferentially select 3-4-5 polynomial motion or
Person's sinusoidal acceleration characteristics of motion.I.e. the lifting movement type of disc cam 19 is 3-4-5 polynomial motion.
Further, the first bearing 17 and second bearing 23 all use CF bearing, and then effectively reduce it and rub
Wipe power.
Embodiment 2:
The application method of the manipulator mechanism of " door " zigzag motion track is realized described in any one, he includes following step
It is rapid:
Step1: power input shaft 15 being connected with the output shaft of motor, and starts motor, defeated by motor driven power
Enter axis 15；
Step2: first gear 21 and second gear 16 are driven by power input shaft 15；
Step3: by 20 engaged transmission of first gear 21 and third gear, disc cam is driven by third gear 20
19, it is matched by disc cam 19 with disc cam mandril 18, and upright slide rail bottom plate 6 is driven to realize lifting action, in turn
Manipulator actuating station 13 is driven to realize lifting action；
Step4: at the same time, the transmission of gear kernel is constituted by second gear 16 and annular gear ring 4, and then drive vertically
Sliding rail bottom plate 6 realizes the reciprocating motion of left and right directions, and then manipulator actuating station 13 is driven to realize straight reciprocating motion.
Embodiment 3:
The input terminal that described one kind is able to achieve the manipulator mechanism of " door " zigzag motion track is that a continuously and smoothly turns
Dynamic axis, if working end is mounted with that manipulator, manipulator Clamp blocks begin to ramp up from minimum point first, rise to highest point
After stop the regular hour, then actuating station rapid decrease reaches minimum point, executes relevant action.It has looped back and forth like this
The motion process that Cheng Sheng-stops-drops.Rotary motion is become the reciprocating motion with left and right up and down by entire mechanism, with realization " door word
Type " motion profile.
Above-described embodiment is used to illustrate the utility model, rather than limits the utility model, practical at this
In novel spirit and scope of protection of the claims, to any modifications and changes that the utility model is made, this reality is both fallen within
With novel protection scope.
Claims (9)
1. the manipulator mechanism that one kind is able to achieve " door " zigzag motion track, it is characterised in that: it includes pedestal (9), the bottom
It is symmetrically fixed with the first upright slide rail (1) on the side wall of seat (9), first upright slide rail (1) has by being slidably installed
Horizontal slide rail bottom plate (5) is fixed with horizontal slide rail (2) on each horizontal slide rail bottom plate (5), the horizontal slide rail (2)
It is upper to have upright slide rail bottom plate (6) by being slidably installed, it is vertical sliding that second is symmetrically installed on the upright slide rail bottom plate (6)
Rail (7), by being sliding combined with annular gear ring supporting plate (3) on second upright slide rail (7), the annular gear ring supporting plate (3)
On be fixedly installed with annular gear ring (4), the annular gear ring (4) with for drive its move gear mechanism be connected；It is described perpendicular
Straight sliding rail bottom plate (6) be used to that the cam mechanism of its elevating movement to be driven to match；The bottom of the upright slide rail bottom plate (6) is solid
Dingan County is equipped with manipulator actuating station (13).
2. the manipulator mechanism that one kind according to claim 1 is able to achieve " door " zigzag motion track, it is characterised in that: institute
Stating gear mechanism includes power input shaft (15), and the power input shaft (15) is by bearing support in first flange seat (26)
On, the first flange seat (26) is fixedly mounted on the side wall of pedestal (9), is equipped with first on the power input shaft (15)
Gear (21) and second gear (16), the second gear (16) constitute internal gear engaged transmission with annular gear ring (4) always.
3. the manipulator mechanism that one kind according to claim 1 is able to achieve " door " zigzag motion track, it is characterised in that: institute
Stating cam mechanism includes disc cam (19), is equipped with third gear (20) on main shaft where the disc cam (19), described
The first gear (21) of third gear (20) and gear mechanism engaged transmission, the main shaft of the disc cam (19) pass through bearing branch
On second flange seat (27), the second flange seat (27) is fixedly mounted on pedestal (9) for support；The disc cam (19) with
The first bearing (17) on disc cam mandril (18) top, which is constituted, rolls cooperation, the disc cam mandril (18) and upright slide rail
Bottom plate (6) is fixedly linked.
4. the manipulator mechanism that one kind according to claim 1 is able to achieve " door " zigzag motion track, it is characterised in that: institute
It states and is fixed on the side wall of pedestal (9) annular guide rail (11), be machined with annular groove on the annular guide rail (11), institute
The second bearing (23) for stating annular groove and annular groove mandril (22) end constitutes rolling cooperation, the annular groove mandril (22)
The other end be fixedly linked with upright slide rail bottom plate (6)；The bottom of the annular guide rail (11) passes through fixture nut (25)
It is supported on fixed tray (14).
5. the manipulator mechanism that one kind according to claim 1 is able to achieve " door " zigzag motion track, it is characterised in that: institute
It is assembled using rack gear and semicircle ring gear to state annular gear ring (4).
6. one kind according to claim 3 is able to achieve the manipulator mechanism of " door " zigzag motion track, it is characterised in that: institute
It states disc cam (19) to use to heart groove roller cam, and limits roller and moved in slot always.
7. the manipulator mechanism that one kind according to claim 3 is able to achieve " door " zigzag motion track, it is characterised in that: institute
Horizontal slide rail bottom plate (5) are stated to be slidably matched by the first sliding block (8) and the first upright slide rail (1) composition；The upright slide rail bottom
Plate (6) is made up of with horizontal slide rail (2) the second sliding block (12) and is slidably matched；The annular gear ring supporting plate (3) is sliding by third
Block (10) is constituted with the second upright slide rail (7) and is slidably matched.
8. the manipulator mechanism that one kind according to claim 1 is able to achieve " door " zigzag motion track, it is characterised in that: institute
Pedestal (9) is stated to be fixedly mounted on rack (24).
9. one kind according to claim 1 or 2 is able to achieve the manipulator mechanism of " door " zigzag motion track, feature exists
In: the power input shaft (15) of the gear mechanism is connected with uniform rotation motor, and power input shaft (15) is driven at the uniform velocity to turn
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920323957.8U CN209717702U (en) | 2019-03-14 | 2019-03-14 | One kind being able to achieve the manipulator mechanism of " door " zigzag motion track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920323957.8U CN209717702U (en) | 2019-03-14 | 2019-03-14 | One kind being able to achieve the manipulator mechanism of " door " zigzag motion track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209717702U true CN209717702U (en) | 2019-12-03 |
Family
ID=68686564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920323957.8U Expired - Fee Related CN209717702U (en) | 2019-03-14 | 2019-03-14 | One kind being able to achieve the manipulator mechanism of " door " zigzag motion track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209717702U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848953A (en) * | 2019-03-14 | 2019-06-07 | 三峡大学 | One kind being able to achieve the manipulator mechanism and application method of " door " zigzag motion track |
-
2019
- 2019-03-14 CN CN201920323957.8U patent/CN209717702U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848953A (en) * | 2019-03-14 | 2019-06-07 | 三峡大学 | One kind being able to achieve the manipulator mechanism and application method of " door " zigzag motion track |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203526380U (en) | Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices | |
| CN103480764B (en) | Swing telescoping electromagnetic servo direct drive feed device for covering part stamping production line | |
| CN108412213A (en) | A kind of construction cement floor flattening device | |
| CN205074904U (en) | Solid of revolution polishing production line | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN110482434A (en) | A kind of lifting device | |
| CN102601662A (en) | Speed multiplying mechanism for pulley block of hydraulic cylinder | |
| CN209717702U (en) | One kind being able to achieve the manipulator mechanism of " door " zigzag motion track | |
| CN108161922B (en) | Feeding cam manipulator | |
| CN206529249U (en) | A kind of rail type tunnel double-column piler device | |
| CN103480765B (en) | A kind of telescopic pay-off of linear motor direct-driven of cladding element punching product line | |
| CN104985592A (en) | Five-axis linkage robot | |
| CN204658061U (en) | Axle transfer robot arm | |
| CN206869589U (en) | A kind of bearing machining sanding apparatus | |
| CN109848953A (en) | One kind being able to achieve the manipulator mechanism and application method of " door " zigzag motion track | |
| CN202540121U (en) | Grinding and swinging device of ultra-precise grinder of bearing races | |
| CN204819502U (en) | Quick robot goes up and down to stand arm | |
| CN202575862U (en) | Household lift | |
| CN208496986U (en) | A kind of height-adjustable service robot | |
| CN205766125U (en) | A kind of three-axis robot | |
| CN205155070U (en) | Cam power unit | |
| CN209078328U (en) | Automatic-clamping rotating mechanism | |
| CN208945487U (en) | A kind of welding robot positioner | |
| CN210218593U (en) | Space-saving mechanism for improving speed reduction efficiency | |
| CN208868924U (en) | A kind of automatic thread replacing mechanism of production line part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20191203 Termination date: 20210314 |