阅读说明：本技术 一种两自由度机械手机构 (Two-degree-of-freedom manipulator mechanism ) 是由 宋晓 杨洪剑 于 2019-11-20 设计创作，主要内容包括：本发明揭示一种两自由度机械手机构,包括底座、平移板、滑杆、传动元件、滑动板、平移板驱动装置及滑杆驱动装置,本发明揭示的机械手机构结构简单紧凑、使用方便、动作快速且可以实现平移轨迹可编辑。(The invention discloses a two-degree-of-freedom manipulator mechanism which comprises a base, a translation plate, a slide rod, a transmission element, a sliding plate, a translation plate driving device and a slide rod driving device.)

1. The two-degree-of-freedom manipulator mechanism is characterized by comprising a base, a translation plate, a sliding rod, a transmission element, a sliding plate, a translation plate driving device and a sliding rod driving device, wherein the translation plate, the translation plate driving device and the sliding rod driving device are connected with the base, the sliding rod, the transmission element and the sliding plate are connected with the translation plate, the translation plate driving device is connected with the translation plate, the sliding rod driving device is connected with the sliding rod, the sliding rod is connected with the transmission element, and the transmission element is connected with the sliding plate.

2. The two degree-of-freedom robot mechanism of claim 1, further comprising a sensor fixed to the base.

3. The two degree-of-freedom robot mechanism of claim 1, wherein the slide bar is provided with a track groove, and the transmission element is a swing link.

4. The two degree-of-freedom robot mechanism of claim 1, wherein the slide bar is provided with a rack, the slide plate is provided with a rack, and the transmission element is a gear.

5. The two degree-of-freedom robot mechanism of claim 1, wherein the transmission element comprises a first pulley, a second pulley, a belt, and a swing link, the sliding plate is provided with a track groove, the slide bar is connected to the belt, the first pulley and the second pulley are connected to the belt, the swing link is fixed to the second pulley, and the swing link is connected to the sliding plate.

6. The two degree-of-freedom robot mechanism of claim 1, wherein the transmission element comprises a first pulley, a second pulley, a belt, and a gear, wherein a rack is provided on the sliding plate, the slide bar is connected to the belt, the first pulley and the second pulley are connected to the belt, the gear is fixed to the second pulley, and the gear is connected to the sliding plate.

Technical Field

The invention relates to a manipulator mechanism, in particular to a two-degree-of-freedom manipulator mechanism.

Background

When industrial production, often need carry out the position to the material and shift, thereby the convenience carries out the processing of different processes to the material, in order to improve the efficiency of industrial production processing, many companies all adopt the manipulator to carry out the position transfer of article, the most common article on the assembly line simply shifts and need not remove at three-dimensional space, only need can carry out simple translation can, but present manipulator structure can satisfy this requirement, but the editing of translation orbit can not be carried out mostly, this application that has just limited this type of manipulator, the manipulator structure that can carry out translation orbit editing in a small amount, the structure is too complicated again, and is with high costs.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a manipulator device which has a translation track capable of being edited, a simple and compact structure, convenience in use and quick action.

In order to achieve the above purpose, the present invention provides a two-degree-of-freedom manipulator mechanism, which includes a base, a translation plate, a slide bar, a transmission element, a slide plate, a translation plate driving device, and a slide bar driving device, wherein the translation plate, the translation plate driving device, and the slide bar driving device are connected to the base, the slide bar, the transmission element, and the slide plate are connected to the translation plate, the translation plate driving device is connected to the translation plate, the slide bar driving device is connected to the slide bar, the slide bar is connected to the transmission element, and the transmission element is connected to the slide plate.

When the translation plate driving device and the slide rod driving device synchronously drive the translation plate and the slide rods to move, the sliding plate horizontally moves, if only the slide rod driving device drives the slide rods to move, the sliding plate vertically moves, and therefore when the translation plate driving device and the slide rod driving device do not synchronously move, the sliding plate can achieve compound movement, namely, the translation track can be edited by controlling the movement conditions of the slide rod driving device and the translation plate driving device, and more use requirements are met.

Furthermore, the manipulator mechanism also comprises a sensor, and the sensor is fixed on the base, so that accidents such as collision and the like are prevented.

The sliding rod is provided with a track groove, the sliding plate is provided with a track groove, and the transmission element is a swing rod, so that when the sliding rod drives the swing rod to swing, the swing rod drives the sliding plate to move in the vertical direction.

The sliding rod is provided with a rack, the sliding plate is provided with a rack, and the transmission element is a gear, so that when the sliding rod drives the gear to rotate, the gear drives the sliding plate to move in the vertical direction.

The transmission element comprises a first belt wheel, a second belt wheel, a belt and a swing rod, a track groove is formed in the sliding plate, the sliding rod is connected with the belt, the first belt wheel and the second belt wheel are connected with the belt, the swing rod is fixed on the second belt wheel, and the swing rod is connected with the sliding plate.

The transmission element comprises a first belt wheel, a second belt wheel, a belt and a gear, a rack is arranged on the sliding plate, the sliding rod is connected with the belt, the first belt wheel and the second belt wheel are connected with the belt, the gear is fixed on the second belt wheel, and the gear is connected with the sliding plate, so that when the sliding rod drives the belt to move, the belt drives the second belt wheel to move, and the second belt wheel drives the gear to move, so that the sliding plate is driven to move in the vertical direction.

Drawings

FIG. 1 is a perspective view of embodiment 1 of the present invention;

FIG. 2 is a front view of embodiment 1 of the present invention;

FIG. 3 is a front view of embodiment 2 of the present invention;

FIG. 4 is a schematic view of embodiment 3 of the present invention;

FIG. 5 is a schematic view of example 4 of the present invention;

in the figure: 1. a base; 2. a sensor; 3. a translation plate; 4. a slide bar; 5. a sliding plate; 6. a slide bar drive device; 7. a translation plate drive device; 8. a transmission element.

Detailed Description

In order to better understand the technical scheme of the invention, the following detailed description is provided for a plurality of preferred embodiments of the invention with reference to the attached drawings.

As shown in fig. 1, the two-degree-of-freedom manipulator mechanism of the present invention includes a base 1, a translation plate 3, a slide bar 4, a transmission element 8, a slide bar 5, a translation plate driving device 7, and a slide bar driving device 6, where the translation plate 3, the translation plate driving device 7, and the slide bar driving device 6 are connected to the base 1, the slide bar 4, the transmission element 8, and the slide bar 5 are connected to the translation plate 3, the translation plate driving device 7 is connected to the translation plate 3, the slide bar driving device 6 is connected to the slide bar 4, the slide bar 4 is connected to the transmission element 8, and the transmission element 8 is connected to the slide bar 5.

When the translation plate driving device 7 and the slide rod driving device 6 synchronously drive the translation plate 3 and the slide rod 4 to move, the sliding plate 5 moves horizontally, if only the slide rod driving device 6 drives the slide rod 4 to move, the sliding plate 5 moves in the vertical direction, so that when the translation plate driving device 7 and the slide rod driving device 6 do not move synchronously, the sliding plate 5 can realize compound movement, namely, the translation track can be edited by controlling the movement conditions of the slide rod driving device 6 and the translation plate driving device 7, and further use requirements are met.

As shown in fig. 1, the robot mechanism further includes a sensor 2, and the sensor 2 is fixed to the base 1, thereby preventing accidents such as a collision.

As shown in fig. 1, the sliding rod 4 is provided with a track slot, the sliding plate 5 is provided with a track slot, and the transmission element 8 is a swing link, so that when the sliding rod 4 drives the swing link 8 to swing, the swing link 8 drives the sliding plate 5 to move in the vertical direction.

As shown in fig. 3, in the second embodiment, a rack is provided on the slide bar 4, a rack is provided on the slide plate 5, and the transmission element 8 is a gear, so that when the slide bar 4 drives the gear to rotate, the gear will drive the slide plate 5 to move in the vertical direction.

In a third embodiment as shown in fig. 4, the transmission element 8 comprises a first belt wheel, a second belt wheel, a belt, and a swing link, the sliding plate 5 is provided with a track groove, the slide rod 4 is connected with the belt, the first belt wheel and the second belt wheel are connected with the belt, the swing link is fixed on the second belt wheel, and the swing link is connected with the sliding plate 5, so that when the slide rod 4 drives the belt to move, the belt drives the second belt wheel to move, and the second belt wheel drives the swing link to move, thereby driving the sliding plate 5 to move in the vertical direction.

In a fourth embodiment, as shown in fig. 5, the transmission element 8 comprises a first pulley, a second pulley, a belt, a gear, a rack being provided on the sliding plate 5, the sliding rod 4 being connected to the belt, the first pulley and the second pulley being connected to the belt, the gear being fixed to the second pulley, and the gear being connected to the sliding plate 5, such that when the sliding rod 4 drives the belt to move, the belt will drive the second pulley to move, and the second pulley will be moved by the driving gear, thereby driving the sliding plate 5 to move in the vertical direction.

Finally, it should be noted that: it should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.