CN110253549A - A kind of rectangular coordinate system manipulator of cam adjustment angle - Google Patents
A kind of rectangular coordinate system manipulator of cam adjustment angle Download PDFInfo
- Publication number
- CN110253549A CN110253549A CN201910605190.2A CN201910605190A CN110253549A CN 110253549 A CN110253549 A CN 110253549A CN 201910605190 A CN201910605190 A CN 201910605190A CN 110253549 A CN110253549 A CN 110253549A
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- China
- Prior art keywords
- axis
- cam
- coordinate system
- crossbeam
- rectangular coordinate
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000000725 suspension Substances 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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 cam adjustment angle, the manipulator includes suspension mechanism, the crossbeam of installation on the suspension structure, angle adjustment device between one end of the beam and suspended structure, along the Y-axis feed mechanism of crossbeam direction linear motion, perpendicular to Linear feed mechanism above and below the Z axis of Y direction, sucking disc mechanism, the angle adjustment device is by servo motor driving cam rotation, drive cylindrical roller makes rotating motion in cam mechanism groove and one end of the beam is moved up and down along Z-direction, the other end and suspension mechanism of the crossbeam pass through axis connection.Angle adjustment device of the invention can realize the angular deflection of rectangular coordinate system manipulator Y direction by cylindrical roller on the different location of cam, be suitable for workpiece inclination operating condition, and solve the problems, such as Y-axis feed mechanism motor overload, improve production efficiency.
Description
Technical field
The present invention relates to a kind of high speeds, high load loading and unloading rectangular coordinate system manipulator.
Background technique
In the industrial production, the material that most of rectangular coordinate system manipulator can not be suitable for tilting under operating condition is carried, and
When carrying starts and stops, motor is easy to appear overload, jitter phenomenon, has seriously affected the service life and life of manipulator
Produce efficiency.
With the continuous development of science and technology, and the efficiently continuous improvement of production requirement, Manipulator Transportation common at present are imitated
Rate is no longer satisfied production requirement.
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 cam adjustment angle.
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 adjustment device between one end of the beam and suspended structure, along crossbeam direction linear motion Y-axis feed mechanism,
Perpendicular to Linear feed mechanism, sucking disc mechanism above and below the Z axis of Y direction.
Further, a kind of rectangular coordinate system manipulator of cam adjustment angle, angle adjustment device include cam, first
Axis, cylindrical roller, the second axis, it is characterised in that: servo motor and retarder are fixed on the outside motor mounting rack of suspension wall,
The output shaft of the retarder is connect with first axle one end by shaft coupling, and the first axle is mounted on by bearing, bearing block
On suspension arm, the first axle other end is connect with cam, and the groove of the cam is connect with cylindrical roller, cylindrical roller and the second axis
Connection, the second axis are mounted on crossbeam by bearing, bearing block.
The invention has the benefit that the crossbeam of manipulator of the present invention is connected with suspension mechanism using adjustment structure, in machine
When tool hand starting, is rotated by cam and drive transverse arm one end downward bias, give Y-axis feed mechanism one downward gravity side
To reducing electric motor starting torque, the case where motor overload can be effectively reduced, improve the stability of manipulator.
By angular deflection, manipulator can carry out grasp handling to non-horizontal 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, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Attached drawing 1 is the rectangular coordinate system robot manipulator structure schematic diagram of cam adjustment angle of the present invention.
Attached drawing 2 is the rectangular coordinate system robot manipulator structure main view of cam adjustment angle of the present invention.
Attached drawing 3 is 2 crossbeam of attached drawing and suspension arm regulating mechanism A-A cross-sectional view.
Marks in the drawings respectively indicate:
1, suspended structure, 2, crossbeam, 3, feeding structure, 4, feeding structure, 5, sucker structure, 6, regulating mechanism, 7, suspension arm, 8,
First bearing seat, 9, first bearing, the 10, first retaining ring, 11, shaft coupling, 12, reducer output shaft, 13, retarder, 14, servo
Motor, 15, electric machine support, 16, second bearing seat, 17, second bearing, the 18, second retaining ring, 19, cam, 20 first axles, 21, circle
Column roller, the 22, second axis, the 23, second retaining ring, 24, second bearing, 25,3rd bearing seat.
Specific embodiment
With reference to the accompanying drawing to a kind of specific embodiment party of the rectangular coordinate system manipulator of cam adjustment angle of the invention
Formula is described in detail.
A kind of position-adjustable rectangular coordinate system manipulator, as shown in Fig. 1, the manipulator include suspension mechanism 1, installation
Angle adjustment device 6 between crossbeam 2 on the suspension structure, one end of the beam and suspended structure moves along a straight line along crossbeam direction
Y-axis feed mechanism 3, perpendicular to Linear feed mechanism 4, sucking disc mechanism 5 above and below the Z axis of Y direction.
As shown in attached drawing 2,3, a kind of angle adjustable rectangular coordinate system manipulator, angle adjustment device 6 include cam 19,
First axle 20, cylindrical roller 21, the second axis 22, it is characterised in that: servo motor 14 and retarder 13 are fixed on the outer of suspension wall 7
The output shaft 12 of side motor mounting rack 15, the retarder 13 is connect with 20 one end of first axle by shaft coupling 11, and described first
Axis 20 is mounted on suspension arm 7 by bearing, bearing block, and 20 other end of first axle is connect with cam 19, the cam 19 it is recessed
Slot is connect with cylindrical roller 21, and cylindrical roller 21 is connect with the second axis 22, and the second axis 22 is mounted on crossbeam by bearing, bearing block
On 2.The angle adjustment device drives first axle 20 to rotate, first axle 20 is with moving cam by the output shaft 12 of servo motor 14
19 rotations, cylindrical roller 21 roll in 19 groove of cam, and the second axis 22 is connect with cylindrical roller 21, drive transverse arm 2 in Y-axis
Lower movement.
Practical work process of the invention is as follows: workpiece is promoted: Z axis feed mechanism 4 moves upwards, and workpiece is promoted.
Workpiece feeding: angle adjustment device 6 drives transverse arm 2 to move downward, and Y-axis feed mechanism 3 moves right, while angle
Regulating device 6 drives transverse arm 2 to move upwards, and returns horizontal.
Workpiece is placed: Z axis feed mechanism 4 moves downward, and workpiece is placed.
Manipulator returns: Y-axis feed mechanism 3 moves downward, and Z axis feed mechanism 4 moves downward.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
It improves design and is subject to equivalent substitution or change, should be covered by the scope of protection of the present invention.
Claims (2)
1. a kind of rectangular coordinate system manipulator of cam adjustment angle, which includes suspension mechanism (1), is mounted on suspension knot
The angle adjustment device (6) between crossbeam (2), one end of the beam and suspended structure on structure, along the Y-axis of crossbeam direction linear motion
Feed mechanism (3), perpendicular to Linear feed mechanism (4), sucking disc mechanism (5) above and below the Z axis of Y direction.
2. as shown in claim 1, a kind of rectangular coordinate system manipulator of cam adjustment angle, angle adjustment device (6) includes
Cam (19), first axle (20), cylindrical roller (21), the second axis (22), it is characterised in that: servo motor (14) and retarder
(13) it is fixed on the outside motor mounting rack (15) of suspension wall (7), the output shaft (12) and first axle of the retarder (13)
(20) one end is connected by shaft coupling (11), and the first axle (20) is mounted on suspension arm (7) by bearing, bearing block, the
One axis (20) other end is connect with cam (19), and the groove of the cam (19) is connect with cylindrical roller (21), cylindrical roller
(21) it is connect with the second axis (22), the second axis (22) is mounted on crossbeam (2) by bearing, bearing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605190.2A CN110253549A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of cam adjustment angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910605190.2A CN110253549A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of cam adjustment angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110253549A true CN110253549A (en) | 2019-09-20 |
Family
ID=67924617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910605190.2A Pending CN110253549A (en) | 2019-07-05 | 2019-07-05 | A kind of rectangular coordinate system manipulator of cam adjustment angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110253549A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5934141A (en) * | 1997-07-24 | 1999-08-10 | Costa; Larry J. | Two-axis cartesian robot |
| CN107598907A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | Double-stroke transfer robot |
| EP3308909A1 (en) * | 2016-10-12 | 2018-04-18 | Klaus Dieter Klement Verwaltungs GmbH | Handling device |
| CN210819550U (en) * | 2019-07-05 | 2020-06-23 | 济南大学 | Cam angle regulation's rectangular coordinate system manipulator |
-
2019
- 2019-07-05 CN CN201910605190.2A patent/CN110253549A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5934141A (en) * | 1997-07-24 | 1999-08-10 | Costa; Larry J. | Two-axis cartesian robot |
| EP3308909A1 (en) * | 2016-10-12 | 2018-04-18 | Klaus Dieter Klement Verwaltungs GmbH | Handling device |
| CN107598907A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | Double-stroke transfer robot |
| CN210819550U (en) * | 2019-07-05 | 2020-06-23 | 济南大学 | Cam angle regulation's rectangular coordinate system manipulator |
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