CN207616574U - A kind of automatic cantilever of twin shaft - Google Patents
A kind of automatic cantilever of twin shaft Download PDFInfo
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- CN207616574U CN207616574U CN201721590327.4U CN201721590327U CN207616574U CN 207616574 U CN207616574 U CN 207616574U CN 201721590327 U CN201721590327 U CN 201721590327U CN 207616574 U CN207616574 U CN 207616574U
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- feed rod
- slide unit
- walking mechanism
- support plate
- direction walking
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Abstract
The utility model is related to manipulator technical fields, a kind of automatic cantilever of twin shaft is specifically disclosed, including first direction walking mechanism and second direction walking mechanism, first direction walking mechanism includes the first feed rod, it is arranged in parallel with the first feed rod and the second feed rod immediately below it, and the first slide unit being slidably connected respectively with the first feed rod and the second feed rod；Second direction walking mechanism is fixedly mounted on the first slide unit, and second direction walking mechanism includes the second slide unit, and the second slide unit can slide in a second direction.The utility model passes through the first feed rod and the second feed rod is parallel, setting up and down, and the first slide unit is supported by the first feed rod and the second feed rod, save first direction walking mechanism the space occupied in the horizontal direction, directly second direction walking mechanism is driven to be moved along first direction by the first slide unit, second direction walking mechanism is set to form cantilever design, operating space is openr.
Description
Technical field
The utility model is related to manipulator field more particularly to a kind of automatic cantilevers of twin shaft.
Background technology
It is increasingly perfect with mechanical automation technology, every field can use mechanical arm be used as processing or
Operation instrument when detection.
Currently, the pattern of mechanical arm is varied on the market, some is rotating mechanical arm, but can only be in fixed circle
Position is sought in camber line region；Some is XY mechanical arms, but uses twin shaft before and after X, and front side needs X front axles to support, and space hold is big,
User's operation is influenced, it is also higher to matching requirements；Some using linear motor drive or servo motor driving, cost compared with
Height, therefore, it is necessary to a kind of robotic arms convenient for user's operation.
Utility model content
The purpose of this utility model is that：A kind of automatic cantilever of twin shaft is provided, to solve mechanical arm in the prior art
Space hold is big and seeks the smaller problem in a region.
For this purpose, the utility model provides a kind of automatic cantilever of twin shaft, including first direction walking mechanism and second
Direction walking mechanism, wherein：The first direction walking mechanism includes the first feed rod, is arranged in parallel with first feed rod and position
In the second feed rod below, and the first slide unit for being slidably connected simultaneously with first feed rod and second feed rod；Institute
It states second direction walking mechanism to be fixedly mounted on first slide unit, the second direction walking mechanism includes can be along second
Second slide unit of direction sliding.
Preferably, the second direction walking mechanism further includes being arranged in parallel and one end is each attached to first slide unit
On third feed rod and the 4th feed rod, the third feed rod is located above the 4th feed rod, second slide unit simultaneously with institute
It states third feed rod and the 4th feed rod is slidably connected.
Preferably, the first direction walking mechanism further includes the first support plate and the second support plate being oppositely arranged,
First slide unit is between first support plate and second support plate, first support plate and second described
Fagging is respectively fixedly connected with first feed rod and second feed rod.
Preferably, in first support plate and being mounted at least one damping column, institute in second support plate
The material for stating damping column is elastic material.
Preferably, the first direction walking mechanism further includes first driving means, the first driving means include
The first driving motor in first support plate, first connect with first driving motor output shaft is actively
Wheel, be mounted on second support plate on the first driven wheel, and for connect first driving wheel and described first from
First synchronous belt of driving wheel, first synchronous belt are fixedly connected with first slide unit.
Preferably, the first driving means further include being set in the rotation axis of first driven wheel and about institute
Two rolling bearings that the first driven wheel is oppositely arranged are stated, two rolling bearings are installed in second support plate,
The installation site of relatively described second support plate of the rolling bearing is adjustable.
Preferably, the second direction walking mechanism further includes the first end seat and the second end seat, the third feed rod and
4th feed rod is respectively positioned between first end seat and second end seat, and first end seat and second end seat will
The third feed rod and the 4th feed rod simultaneously clamp on.
Preferably, the second direction walking mechanism further includes the second driving device, second driving device includes
The second driving motor on first slide unit, the second driving wheel being connect with second driving motor output shaft,
The second driven wheel between first end seat and second end seat, and for connect second driving wheel and
Second synchronous belt of second driven wheel, second synchronous belt are fixedly connected with second slide unit.
Preferably, the both ends of the second driven wheel shaft are fixed on first end seat by rolling bearing respectively
In second end seat.
The beneficial effects of the utility model are：By the way that the first feed rod and the second feed rod is parallel, setting up and down, and pass through
One feed rod and the second feed rod support the first slide unit, ensure that the stability of the first slide unit movement, save first direction vehicle with walking machine
Structure the space occupied in the horizontal direction, directly drives second direction walking mechanism to be moved along first direction by the first slide unit,
Second direction walking mechanism is set to form cantilever design, operating space is openr.
Description of the drawings
The utility model is described in further detail below according to drawings and examples.
Fig. 1 is the structural schematic diagram of the automatic cantilever of twin shaft in embodiment；
Fig. 2 is the schematic diagram of the first direction walking mechanism of the automatic cantilever of twin shaft shown in Fig. 1；
Fig. 3 is the schematic diagram at another visual angle of first direction walking mechanism of the automatic cantilever of twin shaft shown in Fig. 1；
Fig. 4 is the schematic diagram of the second direction walking mechanism of the automatic cantilever of twin shaft shown in Fig. 1；
Fig. 5 is the partial enlarged view at first direction walking mechanism A shown in Fig. 3；
Fig. 6 is the partial enlarged view at second direction walking mechanism B shown in Fig. 4.
In figure：
1, first direction walking mechanism；
11, the first feed rod；12, the second feed rod；13, the first slide unit；14, the first support plate；15, the second support plate；151、U
Shape slot；152, square through hole；161, the first driving motor；162, the first driving wheel；163, the first driven wheel；164, it first synchronizes
Band；
2, second direction walking mechanism；
21, third feed rod；22, the 4th feed rod；23, the second slide unit；241, the second driving motor；242, the second driving wheel；
243, the second driven wheel；244, the second synchronous belt；25, the first end seat；251, first through hole；252, the first straight slot；26, second end
Seat；261, the second through-hole；262, the second straight slot；
3, rolling bearing；
4, damping column；
5, dee；
6, tank chain.
Specific implementation mode
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
Embodiment one
The present embodiment provides a kind of automatic cantilevers of twin shaft, as shown in Figure 1, including first direction walking mechanism 1 and second
Direction walking mechanism 2, second direction walking mechanism 2 can move under the drive of walking mechanism 1 along first direction in a first direction.
As Figure 2-3, first direction walking mechanism 1 includes the first feed rod 11, the second feed rod 12, the first slide unit 13, the
One support plate 14, the second support plate 15 and first driving means, wherein the first feed rod 11 and the second feed rod 12 are arranged in parallel,
And the first feed rod 11 is located at the surface of the second feed rod 12,12 equal length of the first feed rod 11 and the second feed rod, and both ends flush,
First support plate 14 is fixedly connected with the both ends at the both ends of the first feed rod 11 and the second feed rod 12 respectively with the second support plate 15,
And the first support plate 14 and the link position of the first feed rod 11 and the second feed rod 12 can be adjusted, the second support plate 15 and
The link position of one feed rod 11 and the second feed rod 12 can also be adjusted.Specifically, the first support plate 14 is threaded through first simultaneously
On feed rod 11 and the second feed rod 12, and positioned at one end of the first feed rod 11 or the second feed rod 12, the first support plate 14 exists respectively
Threaded hole is respectively set on its corresponding side wall with the both sides of 12 junction of the first feed rod 11 and the second feed rod, spiral shell is respectively adopted
Either screw is bolted in each above-mentioned threaded hole and one end of bolt or screw is made to be pressed on a feed rod 11 or the second light bolt
On thick stick 12, being fixedly connected the first support plate 14 and the first feed rod 11 and the second feed rod 12,15 He of the second support plate are realized
The connection type of first feed rod 11 and the second feed rod 12 and the first support plate 14 and the first feed rod 11 and the second feed rod 12
Connection type is identical, and details are not described herein, and the second support plate 15 is located at the other end of the first feed rod 11 or the second feed rod 12.
First slide unit 13 is fixedly connected with first driving means, and one end of the first slide unit 13 is set on the first feed rod 11, another end cap
It is located on the second feed rod 12, specifically, the both ends of the first slide unit 13 are fixedly connected with linear bearing (attached to be not shown in figure) respectively,
It is respectively sleeved on the first feed rod 11 and the second feed rod 12 by above-mentioned two linear bearing, the first slide unit 13 can be with respect to first
Feed rod 11 and the second feed rod 12 slide in a first direction.It should be noted that first direction refers to the first light in the present embodiment
The axis direction of the axis direction of thick stick 11 or the second feed rod 12.
One end of second direction walking mechanism 2 is fixedly connected with the first slide unit 13, under the driving of first driving means, the
One slide unit 13 can drive second direction walking mechanism 2 to be slided along first direction.The present embodiment is by by the first feed rod 11 and
Two feed rods 12 are parallel, setting up and down, and support the first slide unit 13 by the first feed rod 11 and the second feed rod 12, ensure that the first cunning
The stability that platform 13 moves, saves the space occupied in the horizontal direction of first direction walking mechanism 1, and pass through the first slide unit
13 directly drive second direction walking mechanism 2 to be moved along first direction, so that second direction walking mechanism 2 is formed cantilever design, make
Overall structure is compacter, and operating space is openr, and increase the automatic cantilever of twin shaft seeks a region.
As shown in figure 4, second direction walking mechanism 2 includes third feed rod 21, the 4th feed rod 22, the second slide unit 23, second
Driving device, the first end seat 25 and the second end seat 26, wherein third feed rod 21 and the 4th feed rod 22 are arranged in parallel, third light
Thick stick 21 is located at 22 top of the 4th feed rod, and the equal length of the length of third feed rod 21 and the 4th feed rod 22, both ends flush, the
One end of three feed rods 21 and one end of the 4th feed rod 22 are each attached on the first slide unit 13, the other end of third feed rod 21 and
The other end of four feed rods 22 is simultaneously clamped on by the first end seat 25 and the second end seat 26, specifically, third feed rod 21 and the 4th light
Thick stick 22 is respectively positioned between the first end seat 25 and the second end seat 26, and the first end seat 25 and the second end seat 26 are fastened by bolts one
Rise, and by positioned between the two the first end seat 25 and the second end seat 26 tightly clamp.Second slide unit 23 and second driving dress
Connection is set, one end of the second slide unit 23 is set on third feed rod 21, and the other end is set on the 4th feed rod 22, in the second driving
Under the driving of device, the second slide unit 23 can slide in a second direction.Specifically, the both ends of the second slide unit 23 are respectively and linear axis
It holds and is fixedly connected, the second slide unit 23 is respectively sleeved at by the linear bearing at both ends on third feed rod 21 and the 4th feed rod 22.It needs
It should be noted that second direction refers to the axis direction of third feed rod 21 or the axis direction of the 4th feed rod 22.The present embodiment
The second slide unit 23 is supported jointly by third feed rod 21 and the 4th feed rod 22, and support construction is very secured, can make the second slide unit
23 movements it is more stable, while also greatly reduce the space in 2 determinants direction of second direction walking mechanism, further increase
Operating space.Both it is easy to process by the way that the first end seat 25 and the second end seat 26 to be designed to the structure of half holding, pass through
Third feed rod 21 and the 4th feed rod 22 are held in cooperation tightly, assemble, is easy to adjust.
In the present embodiment, second direction is vertical with first direction, to make a range of seeking for the automatic cantilever of twin shaft reach most
Greatly, certain second direction can also be parallel with first direction, or is in other angles, when second direction is parallel with first direction
When, constitute the automatic cantilever of twin shaft in the same direction.
Preferably, third feed rod 21 and the 4th feed rod 22 are between the first feed rod 11 and the second feed rod 12, and are in just
Intermediate position can make the whole stress of the first slide unit 13 reach most equilibrium state, to which the first slide unit 13 is used in long-time
During will not be shaken because of the problem of discontinuity equalization.
As Figure 2-3, first driving means include the first driving motor 161, the first driving wheel 162, the first driven wheel
163 and first synchronous belt 164, wherein the first driving motor 161 is mounted in the first support plate 14, the first driving wheel 162 with
The output axis connection of first driving motor 161, the first driven wheel 163 are mounted in the second support plate 15, the first driving wheel 162 with
First driven wheel 163 is connected by the first synchronous belt 164, and the first driving wheel 162 and the first driven wheel 163 are respectively positioned on the second light
The lower section of thick stick 12, the first synchronous belt 164 and the first slide unit 13 are by (attached to be not shown in figure) locking of belt briquetting, in the first driving
Under the driving of motor 161, the first driving wheel 162 drives the movement of the first synchronous belt 164, the first synchronous belt 164 to drive the first slide unit
13 movements, and the first synchronous belt 164 drives the direction of motion of the first slide unit 13 consistent with first direction, to the first synchronous belt
The driving force that 164 pair of first slide unit 13 provides all can be used in driving the sliding of the first slide unit 13, avoids power loss, makes the
The Impact direction of one slide unit 13 reaches best.
As shown in figure 5, in the present embodiment, the first driven wheel 163 is connected to the second support plate 15 by two rolling bearings 3
On, specifically, being all connected in the rotation axis of 163 both sides of the first driven wheel there are one rolling bearing 3, the second support plate 15 is equipped with
U-lag 151, towards side of first driven wheel 163 far from the first driving wheel 162, two roll the opening direction of U-lag 151
The outer ring of bearing 3 is connected in U-lag 151, and the position-adjustable of opposite U-lag 151, by adjusting two axis of rolling
The position of 3 outer ring in U-lag 151 is held, the rate of tension of the first synchronous belt 164 can be adjusted, it should be noted that this implementation
In example, the position among U-lag 151 is further opened with the square through hole 152 along first direction, and the square through hole 152 is through the
Two support plates 15, for making the first synchronous belt 164 bypass the first driven wheel 163.
Preferably, the first synchronous belt 164, the first driving wheel 162 and the first driven wheel 163 are all made of in the present embodiment
MXL flute profiles, space width 2.032mm, since flute profile is smaller, in use, the first synchronous belt 164 is not easy opposite first driving wheel
162 and/or first driven wheel 163 skid, and the subdivision of the first driving motor 161 is more advantageous to using smaller flute profile, to the
The position of one slide unit 13 controls more accurate.
As shown in figure 4, the second driving device includes the second driving motor 241, the second driving wheel 242, the second driven wheel 243
And second synchronous belt 244, wherein the second driving motor 241 is mounted on the first slide unit 13, the second driving wheel 242 and second
The output axis connection of driving motor 241, the second driven wheel 243 are mounted between the first end seat 25 and the second end seat 26, the second master
Driving wheel 242 is connect with the second driven wheel 243 by the second synchronous belt 244, and the second driving wheel 242 and the second driven wheel 243 are
Between third feed rod 21 and the 4th feed rod 22, the second synchronous belt 244 and the second slide unit 23 by belt briquetting (in attached drawing not
Show) locking, under the driving of the second driving motor 241, the second driving wheel 242 drives the movement of the second synchronous belt 244, and second is same
It walks band 244 and drives the movement of the second slide unit 23, and the second synchronous belt 244 drives the direction of motion and second direction of the second slide unit 23
Unanimously, to which the second synchronous belt 244 can be completely used for the second slide unit 23 of driving along second for the driving force of the second slide unit 23
Direction is slided, and avoids power loss, the Impact direction of the second slide unit 23 reaches best.
Specifically, as shown in fig. 6, in the present embodiment, the first end seat 25 is equipped with first through hole 251 and the first straight slot
252, the second end seat 26 is equipped with the second through-hole 261 and the second straight slot 262, the axis of first through hole 251 and the second through-hole 261
Axis overlaps, first through hole 251 and the intersection of the first straight slot 252, the second through-hole 261 and the intersection of the second straight slot 262, the first straight slot
252 and second straight slot 262 it is close to each other, and in a second direction, be respectively connected in the rotation axis of 243 both sides of the second driven wheel
The outer ring of one rolling bearing 3, two rolling bearings 3 is connected in respectively in first through hole 251 and the second through-hole 261, second from
Driving wheel 243 is driven by second by the first end seat 25 and the second end seat 26 between the first straight slot 252 and the second straight slot 262
Wheel 243 securely fixes.21 He of third feed rod can be clamped by adjusting the first end seat 25 and the second end seat 26 in the present embodiment
The position of 4th feed rod 22 adjusts the distance between the second driven wheel 243 and the second driving wheel 242, is synchronized to adjust second
With 244 rate of tension.
Preferably, the second synchronous belt 244, the second driving wheel 242 and the second driven wheel 243 are all made of in the present embodiment
MXL flute profiles, space width 2.032mm, since flute profile is smaller, the second synchronous belt 244 is not easy opposite second driving wheel when driving
242 and/or second driven wheel 243 skid, and the subdivision of the second driving motor 241 is more advantageous to using smaller flute profile, to the
The position of one slide unit 13 controls more accurate.
Preferably, at least one damping column 4, the first support are mounted in the first support plate 14 and in the second support plate 15
Plate 14 is connected by (attached to be not shown in figure) connection of damping column 4 and the first connecting plate, the second support plate 15 by damping column 4 and second
(attached to be not shown in figure) connection of fishplate bar, the first connecting plate and the second connecting plate are used for and extraneous support construction (is not shown in attached drawing
Go out) it connects, extraneous support construction is supported the automatic cantilever of entire twin shaft by the first connecting plate and the second connecting plate.It is logical
Crossing setting damping column 4 reduces the vibration and noise generated when the automatic cantilever of twin shaft is run.Specifically, in the present embodiment, first
Fagging 14 and the second support plate 15 are all connected with that there are two damping column 4, the second supports in the side far from second direction walking mechanism 2
There are three the side of side and the first support plate 14 far from the second support plate 15 of the plate 15 far from the first support plate 14 is all connected with
Damping column 4, the first connecting plate and the second connecting plate by five damping columns 4 respectively with the first support plate 14 and the second support plate
15 connections.
Damping column 4 is made of elastic material, and elastic material can be rubber, excellent power glue etc..
Preferably, second direction walking mechanism 2 further includes dee 5 and tank chain 6, specifically, dee 5 is located at third
The lower section of feed rod 21,5 one end of dee are connect with the first slide unit 13, and the other end is connect with the first end seat 25, is arranged in dee 5
Have a tank chain 6, the inside of tank chain 6 for arrange connection cables (such as：Electronic device on electric control gear and the second slide unit 23
Between connection cables), in the traveling process of second direction walking mechanism 2, tank chain 6 can be used for protecting connection therein
Cable plays the role of bunch not by breakage.
Preferably, second direction walking mechanism 2 is also associated with protective shell (attached to be not shown in figure), protective shell one end and first
Slide unit 13 connects, and the other end is connect with the first end seat 25 and the second end seat 26, and protective shell is big by second direction walking mechanism 2
Portion envelops prevent in the automatic cantilever operational process of twin shaft, and foreign object is touched with second direction walking mechanism 2, causes machine
Tool arm damages.
The present embodiment passes through 11 He of the first feed rod by the way that the first feed rod 11 and the second feed rod 12 is parallel, setting up and down
Second feed rod 12 supports the first slide unit 13, ensure that the stability of the first slide unit 13 movement, saves first direction walking mechanism 1
The space occupied in the horizontal direction directly drives second direction walking mechanism 2 to be moved along first direction by the first slide unit 13,
Second direction walking mechanism 2 is set to form cantilever design, operating space is openr.
Obviously, above-described embodiment of the utility model is used for the purpose of clearly illustrating the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in
Within the protection domain of the utility model claims.
Claims (9)
1. a kind of automatic cantilever of twin shaft, which is characterized in that including first direction walking mechanism (1) and second direction walking mechanism
(2), wherein：
The first direction walking mechanism (1) includes the first feed rod (11), is arranged in parallel and is located at first feed rod (11)
The second feed rod (12) below, and be slidably connected simultaneously with first feed rod (11) and second feed rod (12)
One slide unit (13)；
The second direction walking mechanism (2) is fixedly mounted on first slide unit (13), the second direction walking mechanism
(2) include the second slide unit (23) that can be slided in a second direction.
2. the automatic cantilever of twin shaft according to claim 1, which is characterized in that the second direction walking mechanism (2) is also wrapped
It includes and is arranged in parallel and one end is each attached to third feed rod (21) and the 4th feed rod (22) on first slide unit (13), described
Three feed rods (21) are located above the 4th feed rod (22), second slide unit (23) and meanwhile with the third feed rod (21) and institute
The 4th feed rod (22) is stated to be slidably connected.
3. the automatic cantilever of twin shaft according to claim 1, which is characterized in that the first direction walking mechanism (1) is also wrapped
The first support plate (14) being oppositely arranged and the second support plate (15) are included, first slide unit (13) is located at first support plate
(14) between second support plate (15), first support plate (14) and second support plate (15) respectively with institute
The first feed rod (11) is stated to be fixedly connected with second feed rod (12).
4. the automatic cantilever of twin shaft according to claim 3, which is characterized in that on first support plate (14) and described the
At least one damping column (4) is mounted in two support plates (15), the material of the damping column (4) is elastic material.
5. the automatic cantilever of twin shaft according to claim 3, which is characterized in that the first direction walking mechanism (1) is also wrapped
First driving means are included, the first driving means include the first driving motor being mounted on first support plate (14)
(161), the first driving wheel (162) of axis connection is exported with first driving motor (161), is mounted on second support plate
(15) the first driven wheel (163) on, and for connecting first driving wheel (162) and first driven wheel (163)
The first synchronous belt (164), first synchronous belt (164) is fixedly connected with first slide unit (13).
6. the automatic cantilever of twin shaft according to claim 5, which is characterized in that the first driving means further include being set in
Two rolling bearings being oppositely arranged in the rotation axis of first driven wheel (163) and about first driven wheel (163)
(3), two rolling bearings (3) are installed on second support plate (15), the rolling bearing (3) relatively described
The installation site of two support plates (15) is adjustable.
7. the automatic cantilever of twin shaft according to claim 2, which is characterized in that the second direction walking mechanism (2) is also wrapped
The first end seat (25) and the second end seat (26) are included, the third feed rod (21) and the 4th feed rod (22) are respectively positioned on described first
Between end seat (25) and second end seat (26), first end seat (25) and second end seat (26) are by the third light
Thick stick (21) and the 4th feed rod (22) simultaneously clamp on.
8. the automatic cantilever of twin shaft according to claim 7, which is characterized in that the second direction walking mechanism (2) is also wrapped
The second driving device is included, second driving device includes the second driving motor being mounted on first slide unit (13)
(241), the second driving wheel (242) of axis connection is exported with second driving motor (241), is mounted on first end seat
(25) the second driven wheel (243) between second end seat (26), and for connect second driving wheel (242) and
The second synchronous belt (244) of second driven wheel (243), second synchronous belt (244) are solid with second slide unit (23)
Fixed connection.
9. the automatic cantilever of twin shaft according to claim 8, which is characterized in that the second driven wheel (243) rotation axis
Both ends are fixed on by rolling bearing (3) on first end seat (25) and second end seat (26) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721590327.4U CN207616574U (en) | 2017-11-24 | 2017-11-24 | A kind of automatic cantilever of twin shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721590327.4U CN207616574U (en) | 2017-11-24 | 2017-11-24 | A kind of automatic cantilever of twin shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207616574U true CN207616574U (en) | 2018-07-17 |
Family
ID=62824193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721590327.4U Active CN207616574U (en) | 2017-11-24 | 2017-11-24 | A kind of automatic cantilever of twin shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207616574U (en) |
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2017
- 2017-11-24 CN CN201721590327.4U patent/CN207616574U/en active Active
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