CN110181495A - A kind of rectangular coordinate system manipulator of angle adjustable - Google Patents
A kind of rectangular coordinate system manipulator of angle adjustable Download PDFInfo
- Publication number
- CN110181495A CN110181495A CN201910606152.9A CN201910606152A CN110181495A CN 110181495 A CN110181495 A CN 110181495A CN 201910606152 A CN201910606152 A CN 201910606152A CN 110181495 A CN110181495 A CN 110181495A
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- China
- Prior art keywords
- axis
- crossbeam
- bearing
- supporting plate
- guide rail
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- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000000725 suspension Substances 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rectangular coordinate system manipulators of angle adjustable, the manipulator includes suspension mechanism, the crossbeam of installation on the suspension structure, angle adjusting mechanism between one end of the beam and suspended structure, along the Y-axis feed mechanism of crossbeam direction linear motion, perpendicular to the Z axis feed mechanism of Y direction, perpendicular to the X-axis feed mechanism and sucking disc mechanism of Y-axis and Z axis direction of feed, the angle adjusting mechanism is rotated by servo motor sliding tooth wheel, with carry-over bar and the supporting plate being fixed on rack gear, swivel plate is moved up and down along Z-direction, the swivel plate can drive crossbeam to rotate movement with respect to supporting plate, the other end and suspension mechanism of the crossbeam pass through axis connection.Angle adjusting mechanism of the invention can realize the angular deflection of rectangular coordinate system manipulator Y direction by deflection certain angle, be suitable for workpiece inclination operating condition, and solve the problems, such as Y-axis feed mechanism motor overload, improve manipulator service life and production efficiency.
Description
Technical field
The present invention relates to a kind of rectangular coordinate system manipulators of angle adjustable.
Background technique
The material that major part rectangular coordinate system manipulator can not be suitable for tilting under operating condition at present is carried, and is started carrying
It is easy to appear overload, jitter phenomenon with motor when stopping, having seriously affected the service life and production efficiency of manipulator.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of rectangular coordinate system manipulators of angle adjustable.
The technical solution adopted by the present invention to solve the technical problems is: on the suspension structure including suspension mechanism, installation
Crossbeam, the angle adjusting mechanism between one end of the beam and suspended structure, along crossbeam direction linear motion Y-axis feed mechanism,
Perpendicular to the Z axis feed mechanism of Y direction, perpendicular to the X-axis feed mechanism and sucking disc mechanism of Y-axis and Z axis direction of feed.
Further, the angle adjusting mechanism includes rack gear, gear, supporting plate, swivel plate, it is characterised in that: servo
Motor and retarder are fixed on inside the cantilever of suspension mechanism, the output shaft connection gear of the retarder, on the output shaft
It is used for axial restraint gear equipped with sleeve, the rack gear to be mounted on the inside of supporting plate and engages with gear, and the suspension mechanism hangs
The first guide rail of installation, the first guide rail slide block and limited block on the outside of arm, fixed pallet on first guide rail slide block, the supporting plate and
Axis is housed, to realize that the two relatively rotates, bearing is mounted on supporting plate inner wall by bearing block, one end of axis between swivel plate
It is placed in bearing, the other end is fixed on ring flange, and the ring flange is fixed by screws on swivel plate outer wall, bearing (ball) cover
It is mounted on the outside of bearing block by screw, the second guide rail and the second guide rail slide block are installed on the swivel plate and connects with crossbeam
It connects, the other end of crossbeam is connect by axis and bearing with suspension mechanism.
The invention has the benefit that structure of the invention is reasonable, realize that the angle of mechanical arm is inclined using angle adjusting mechanism
Turn, reduces Y-axis feed mechanism electric motor starting torque using the component effect of gravity, what solution motor overload, start and stop were shaken asks
Topic.
By angular deflection, it is suitable for the carrying that workpiece to be handled is located at inclination operating condition or non-horizontal surface workpiece.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, is not construed as limiting the invention.
Attached drawing 1 is the rectangular coordinate system robot manipulator structure schematic diagram of angle adjustable of the present invention.
Attached drawing 2 is the rectangular coordinate system robot manipulator structure main view of angle adjustable of the present invention.
Attached drawing 3 is angle adjusting mechanism A-A cross-sectional view of the present invention.
Attached drawing 4 is angle adjusting mechanism structural schematic diagram of the present invention.
Figure label: 1, suspension mechanism, 2, crossbeam, 3, Y-axis feed mechanism, 4, angle adjusting mechanism, 5, Z axis feeding machine
Structure, 6, X-axis feed mechanism, 7, sucking disc mechanism, 8, servo motor, 9, retarder, 10, output shaft, 11, sleeve, 12, first leads
Rail, the 13, first guide rail slide block, 14, limited block, 15, rack gear, 16, gear, 17, bearing block, 18, bearing (ball) cover, 19, bearing,
20, axis, 21, ring flange, 22, supporting plate, 23, swivel plate, the 24, second guide rail, the 25, second sliding block
Specific embodiment
With reference to the accompanying drawing to a kind of specific embodiment of the rectangular coordinate system manipulator of angle adjustable of the invention
It is described in detail.
A kind of rectangular coordinate system manipulator of angle adjustable, as shown in attached drawing 1,2, including suspension mechanism 1, be mounted on it is outstanding
The angle adjusting mechanism 4 between crossbeam 2, one end of the beam and suspended structure on hanging hang structure, along the Y-axis of crossbeam direction linear motion
Feed mechanism 3, perpendicular to the Z axis feed mechanism 5 of Y direction, perpendicular to 6 and of X-axis feed mechanism of Y-axis and Z axis direction of feed
Sucking disc mechanism 7, angle adjusting mechanism 4 can realize the rotation of crossbeam 2.
As shown in attached drawing 3,4, angle adjusting mechanism 4 includes rack gear 15, gear 16, supporting plate 22, swivel plate 23, and feature exists
In: servo motor 8 and retarder 9 are fixed on inside the cantilever of suspension mechanism 1,10 connection gear of output shaft of the retarder 9
16, be used for axial restraint gear 16 equipped with sleeve 11 on the output shaft 10, the rack gear 15 be mounted on 22 inside of supporting plate and with
Gear 16 engages, the first guide rail 12 of installation, the first guide rail slide block 13 and limited block 14, institute on the outside of the cantilever of the suspension mechanism 1
Fixed pallet 22 on the first guide rail slide block 13 is stated, axis 20 is housed between the supporting plate 22 and swivel plate 23, to realize the two phase
To rotation, bearing 19 is mounted on 22 inner wall of supporting plate by bearing block 17, and one end of axis 20 is placed in bearing 19, and the other end is fixed
On ring flange 21, the ring flange 21 is fixed by screws on 23 outer wall of swivel plate, and bearing (ball) cover 18 is installed by screw
Second guide rail 24 and the second guide rail slide block 25 are installed on the outside of bearing block 17, the swivel plate 23 and connect with crossbeam 2.Angle
The servo motor band moving gear 16 for spending regulating mechanism 4 rotates, so that drive rack 15 and supporting plate 22 fixed thereto move up and down,
Swivel plate 23 while supporting plate 22 moves up and down with crossbeam 2 with making rotating motion relative to supporting plate 22, crossbeam 2 and swivel plate 23
Between relatively moved by the second guide rail 24,2 other end of crossbeam is connect with suspension fork mechanism 1 by axis and be can be rotated, thus reality
The deflection of existing crossbeam 2.
Practical work process of the invention is as follows: workpiece is promoted: Z axis feed mechanism 5 moves upwards, and workpiece is promoted.
Workpiece feeding: angle adjusting mechanism 4 drives crossbeam 2 to deflect down, and Y-axis feed mechanism 4 moves right, while angle
Regulating mechanism 4 drives crossbeam 2 to upward deflect to level, and workpiece reaches later procedure by previous process.
Workpiece is placed: Z axis feed mechanism 5 moves downward, and workpiece is placed.
Manipulator returns: angle adjusting mechanism 4 drives crossbeam 2 to upward deflect, and Y-axis feed mechanism 4 moves downward, same to hour angle
Degree regulating mechanism 4 drives crossbeam 2 to deflect down to level, and workpiece reaches previous process by later procedure.
Finally, it should be noted that being merely a preferred embodiment of the present invention described in having gone up, it is not intended to restrict the invention, at this
Under inventive concept, many variations can be still made.Here, it should be noted that in the spirit and principles in the present invention, that is done any is repaired
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of rectangular coordinate system manipulator of angle adjustable, it is characterised in that: including suspension mechanism (1), be mounted on suspension
The angle adjusting mechanism (4) between crossbeam (2), one end of the beam and suspended structure in structure, along the Y of crossbeam direction linear motion
Axis feed mechanism (3) feeds machine perpendicular to the Z axis feed mechanism (5) of Y direction, perpendicular to the X-axis of Y-axis and Z axis direction of feed
Structure (6) and sucking disc mechanism (7).
2. a kind of rectangular coordinate system manipulator of angle adjustable according to claim 1, the angle adjusting mechanism
It (4) include rack gear (15), gear (16), supporting plate (22), swivel plate (23), it is characterised in that: servo motor (8) and retarder
(9) it is fixed on inside the cantilever of suspension mechanism (1), output shaft (10) connection gear (16) of the retarder (9), the output
Axial restraint gear (16) are used for equipped with sleeve (11) on axis (10), the rack gear (15) is mounted on the inside of supporting plate (22) and and tooth
Take turns (16) engagement, installation the first guide rail (12), the first guide rail slide block (13) and limited block on the outside of the cantilever of the suspension mechanism (1)
(14), fixed pallet (22) on first guide rail slide block (13) is equipped with axis between the supporting plate (22) and swivel plate (23)
(20), to realize that the two relatively rotates, bearing (19) is mounted on supporting plate (22) inner wall by bearing block (17), axis (20)
One end is placed in bearing (19), and the other end is fixed on ring flange (21), and the ring flange (21) is fixed by screws in rotation
On plate (23) outer wall, bearing (ball) cover (18) is mounted on the outside of bearing block (17) by screw, installs on the swivel plate (23)
Second guide rail (24) and the second guide rail slide block (25) are simultaneously connect with crossbeam (2), and the other end of crossbeam (2) by axis and bearing and hangs
Suspension mechanism (1) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606152.9A CN110181495A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of angle adjustable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606152.9A CN110181495A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of angle adjustable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110181495A true CN110181495A (en) | 2019-08-30 |
Family
ID=67725275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910606152.9A Pending CN110181495A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of angle adjustable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110181495A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043464A (en) * | 2021-11-26 | 2022-02-15 | 四川建安工业有限责任公司 | Telescopic manipulator |
| CN114585478A (en) * | 2019-10-31 | 2022-06-03 | 奥斯瓦尔德股份公司 | Processing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204725489U (en) * | 2015-07-03 | 2015-10-28 | 陕西海力特精密机械有限公司 | For the three-coordinate manipulator of accurate combined numerically controlled machine |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN105666464A (en) * | 2016-03-10 | 2016-06-15 | 中国电器科学研究院有限公司 | Material taking and releasing manipulator |
| CN107598907A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | Double-stroke transfer robot |
| WO2018018755A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN108381530A (en) * | 2018-04-25 | 2018-08-10 | 佛山市顺德区晶睿机电科技有限公司 | A kind of glass plate loading and unloading manipulator arm |
| CN208557499U (en) * | 2018-07-18 | 2019-03-01 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of portal frame of adjustable crossbeam |
| CN210210394U (en) * | 2019-07-05 | 2020-03-31 | 济南大学 | Rectangular coordinate system manipulator with adjustable angle |
-
2019
- 2019-07-05 CN CN201910606152.9A patent/CN110181495A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204725489U (en) * | 2015-07-03 | 2015-10-28 | 陕西海力特精密机械有限公司 | For the three-coordinate manipulator of accurate combined numerically controlled machine |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN105666464A (en) * | 2016-03-10 | 2016-06-15 | 中国电器科学研究院有限公司 | Material taking and releasing manipulator |
| WO2018018755A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN107598907A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | Double-stroke transfer robot |
| CN108381530A (en) * | 2018-04-25 | 2018-08-10 | 佛山市顺德区晶睿机电科技有限公司 | A kind of glass plate loading and unloading manipulator arm |
| CN208557499U (en) * | 2018-07-18 | 2019-03-01 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of portal frame of adjustable crossbeam |
| CN210210394U (en) * | 2019-07-05 | 2020-03-31 | 济南大学 | Rectangular coordinate system manipulator with adjustable angle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114585478A (en) * | 2019-10-31 | 2022-06-03 | 奥斯瓦尔德股份公司 | Processing system |
| CN114043464A (en) * | 2021-11-26 | 2022-02-15 | 四川建安工业有限责任公司 | Telescopic manipulator |
| CN114043464B (en) * | 2021-11-26 | 2023-11-03 | 四川建安工业有限责任公司 | Telescopic manipulator |
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