CN208854635U - A kind of cylinder machine people - Google Patents
A kind of cylinder machine people Download PDFInfo
- Publication number
- CN208854635U CN208854635U CN201821436278.3U CN201821436278U CN208854635U CN 208854635 U CN208854635 U CN 208854635U CN 201821436278 U CN201821436278 U CN 201821436278U CN 208854635 U CN208854635 U CN 208854635U
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- CN
- China
- Prior art keywords
- transverse beam
- motor
- motor fixing
- fixing plate
- transverse
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- 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
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Abstract
The utility model creation discloses a kind of cylinder machine people, including vertical beam, transverse beam, rotary shaft, shaft rotating motor, lead screw, driven wheel, driving wheel, shaft rotating motor fixing seat, transverse beam motor, rack gear, transverse beam motor fixing plate, vertical beam motor and vertical beam motor fixing plate.Cylinder machine people constitutes main structure by vertical beam, transverse beam and shaft rotating motor fixing seat, it is not only simple in structure, it can satisfy the installation needs of small space, and rotation, traversing and lifting displacement drive can be realized by shaft rotating motor, transverse beam motor and vertical beam motor, the operation for meeting any position within the scope of cylindrical space executes needs.
Description
Technical field
The invention is related to a kind of robot, especially a kind of cylinder machine people.
Background technique
In the various functions of industrial robot, crawl and movement are most important functions.The skill that this two functions are realized
Art basis is exquisite Design of Mechanical Structure and the driving of good SERVO CONTROL.
The advantages of Cartesian robot, is: can be by uniaxial mould group Rapid Combination and reconstruct；Algorithm is simple, usually passes through
Straight line difference is mended and space curve and track can be realized in circular interpolation；Precision is high, at low cost, can directly be grafted onto automation equipment
In production line.But, it is flexible to be that body construction lacks the shortcomings that Cartesian robot, space utilization rate is low；Work is dead
Angular zone is big, and small space cannot be introduced into, and is easy to interfere and collide with surrounding objects；Stroke change difficulty is big, irreversible
Turn.
Summary of the invention
Innovation and creation purpose: a kind of cylinder machine people is provided, can make full use of workspace, avoids work blind spot area
Domain.
Technical solution: cylinder machine people described in the invention, including vertical beam, transverse beam, rotary shaft, rotary shaft
Motor, driven wheel, driving wheel, shaft rotating motor fixing seat, transverse beam motor, rack gear, transverse beam motor fixing plate, erects lead screw
To beam motor and vertical beam motor fixing plate；Rotary shaft is vertically rotatably mounted on the top of shaft rotating motor fixing seat；Rotation
Rotating shaft electric motor is fixedly mounted on the lower section of shaft rotating motor fixing seat, for driving rotary shaft to rotate；The lower end of vertical beam is vertical
It is fixed on the upper end of rotary shaft；Lead screw is vertically rotatably mounted on the side of vertical beam, and driven wheel is fixedly mounted on lead screw
Upper end on；Vertical beam motor is mounted on the upper end of vertical beam by vertical beam motor fixing plate；The fixed peace of driving wheel
On the output shaft of vertical beam motor；Driving wheel drives driven wheel rotation by drive belt；In transverse beam motor fixing plate
Front be provided with driving sliding block, driving sliding block on be vertically provided with driving threaded hole；Threads of lead screw is screwed in driving screw thread
Kong Shang；Transverse beam transverse sliding is mounted on the back side of transverse beam motor fixing plate；Driving is horizontally arranged in transverse beam
Rack gear；Transverse beam motor is fixedly mounted on transverse beam motor fixing plate, and is equipped with and drive on the output shaft of transverse beam motor
The driving gear that carry-over bar is meshed；The mounting plate for mounting end executing agency is equipped on one end end of transverse beam.
Further, guide chute is vertically provided in vertical beam, lead screw is located in guide chute；Drive sliding block sliding
Formula is embedded in guide chute.
Further, limited block is equipped on the other end end of transverse beam；Transverse beam motor fixing plate is located at installation
Between plate and limited block.
Further, the side edge up and down at the back side of transverse beam motor fixing plate is equipped with a T-shaped slider；In transverse direction
Two T shape sliding slots are transversely provided on the beam side opposite with the transverse beam motor fixing plate back side；Two T-shaped sliders distinguish slidingtype
It is mounted in two T shape sliding slots, realizes that transverse beam transverse sliding is mounted on the back side of transverse beam motor fixing plate.
Further, end reinforcing rib plate is equipped in the installation place of transverse beam and mounting plate.
Further, triangle stiffener plate is equipped in the installation place of vertical beam motor fixing plate and vertical beam.
Further, lightening hole is arranged at intervals in vertical beam.
Further, the lateral position for touching with transverse beam motor fixing plate edge is equipped on the both ends of transverse beam
Switch is set, for limiting the operating of transverse beam motor；Be equipped on the both ends of vertical beam for transverse beam motor fixing plate
The vertical position switch that edge touches, for limiting the operating of vertical beam motor；It is equipped with and is used in shaft rotating motor fixing seat
Detect the angle limit switch of rotation angle of rotating shaft.
Further, integral type is provided with planetary reducer, the output shaft conduct of planetary reducer on transverse beam motor
The output shaft of transverse beam motor.
Further, RV speed reducer is installed on shaft rotating motor, shaft rotating motor utilizes the driving rotation of RV speed reducer
Axis rotation.
The invention compared with prior art, the beneficial effect is that: consolidated by vertical beam, transverse beam and shaft rotating motor
Reservation constitutes main structure, is not only simple in structure, and can satisfy installation needs of small space, and pass through shaft rotating motor,
Transverse beam motor and vertical beam motor can be realized rotation, traversing and lifting displacement drive, meet cylindrical space range
The operation of interior any position executes needs.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the invention；
Fig. 2 is the front side structure schematic diagram of the invention；
Fig. 3 is the transverse beam mounting structure schematic diagram of the invention；
Fig. 4 is the vertical beam upper-end structure schematic diagram of the invention.
Specific embodiment
The invention technical solution is described in detail with reference to the accompanying drawing, but the protection scope of the invention
It is not limited to the embodiment.
Embodiment 1:
As shown in Figs 1-4, cylinder machine people disclosed in the invention include: vertical beam 1, transverse beam 2, rotary shaft 3,
Shaft rotating motor 4, lead screw 5, driven wheel 6, driving wheel 7, shaft rotating motor fixing seat 8, transverse beam motor 10, rack gear 11, transverse direction
Beam motor fixing plate 12, vertical beam motor 13 and vertical beam motor fixing plate 14；Rotary shaft 3 is vertically rotatably mounted on rotation
The top of spindle motor fixing seat 8；Shaft rotating motor 4 is fixedly mounted on the lower section of shaft rotating motor fixing seat 8, for driving rotation
Axis 3 rotates；The lower end of vertical beam 1 is vertically fixed on the upper end of rotary shaft 3；Lead screw 5 is vertically rotatably mounted on vertical beam 1
Side, driven wheel 6 is fixedly mounted on the upper end of lead screw 5；Vertical beam motor 13 is pacified by vertical beam motor fixing plate 14
On the upper end of vertical beam 1；Driving wheel 7 is fixedly mounted on the output shaft of vertical beam motor 13；Driving wheel 7 passes through driving
Belt drives driven wheel 6 to rotate；The front of transverse beam motor fixing plate 12 is provided with driving sliding block, it is vertical on driving sliding block
It is provided with driving threaded hole；5 threaded engagement of lead screw is on driving threaded hole；2 transverse sliding of transverse beam is mounted on transverse beam electricity
On the back side of machine fixed plate 12；Drive rack 11 is horizontally arranged in transverse beam 2；Transverse beam motor 10 is fixedly mounted on transverse direction
On beam motor fixing plate 12, and the driving gear being meshed with drive rack 11 is equipped on the output shaft of transverse beam motor 10；
The mounting plate 15 for mounting end executing agency is equipped on one end end of transverse beam 2.
Further, guide chute is vertically provided in vertical beam 1, lead screw 5 is located in guide chute；Drive sliding block sliding
Dynamic formula is embedded in guide chute.Limited block 9 is equipped on the other end end of transverse beam 2；Transverse beam motor fixing plate 12
Between mounting plate 15 and limited block 9.Side edge up and down at the back side of transverse beam motor fixing plate 12 is equipped with a T
Shape sliding block；Two T shape sliding slots are transversely provided on the side opposite with 12 back side of transverse beam motor fixing plate of transverse beam 2；Two T
Shape sliding block is slidably mounted at respectively in two T shape sliding slots, realizes that 2 transverse sliding of transverse beam is mounted on transverse beam motor and fixes
On the back side of plate 12.End reinforcing rib plate 16 is equipped in the installation place of transverse beam 2 and mounting plate 15.In vertical beam motor fixing plate
14 are equipped with triangle stiffener plate 17 with the installation place of vertical beam 1.Lightening hole is arranged at intervals in vertical beam 1.In transverse beam 2
The lateral position switch for touching with 12 edge of transverse beam motor fixing plate is equipped on both ends, for limiting transverse beam motor
10 operating；The vertical position for touching with 12 edge of transverse beam motor fixing plate is equipped on the both ends of vertical beam 1 to open
It closes, for limiting the operating of vertical beam motor 13；It is equipped in shaft rotating motor fixing seat 8 for detecting 3 rotation angle of rotary shaft
The angle limit of degree switchs.Integral type is provided with planetary reducer on transverse beam motor 10, and the output shaft of planetary reducer is made
For the output shaft of transverse beam motor 10.RV speed reducer is installed on shaft rotating motor 4, shaft rotating motor 4 utilizes RV speed reducer
Rotary shaft 3 is driven to rotate.
Cylinder machine people disclosed in the invention is in production: transverse beam motor 10 is the servo electricity of 750w power
Machine, 3000 turns/min of Rated motor revolving speed, rated output torque are 2.39N.m, and planetary reducer is 1:10 speed reducer；Vertical beam
Motor 13 is the servo motor of 1.3kw power, and 1500 turns/min of Rated motor revolving speed, rated output torque is 8.34N.m；Rotation
Rotating shaft electric motor 4 be 1.3kw power servo motor, Rated motor revolving speed be 1500 turns/min, rated output torque 8.34N.m,
RV speed reducer is 1:81 speed reducer
Cylinder machine people disclosed in the invention when in use, by vertical beam 1, transverse beam 2 and shaft rotating motor
Fixing seat 8 constitutes main structure, is not only simple in structure, and can satisfy the installation needs of small space, and pass through rotary shaft electricity
Machine 4, transverse beam motor 10 and vertical beam motor 13 can be realized rotation, traversing and lifting displacement drive, meet cylinder
The operation of any position executes needs in spatial dimension；The transverse shifting of transverse beam 2 can be limited using lateral position switch
Position prevents transverse beam 2 to be detached from vertical beam 1；The lifting of transverse beam motor fixing plate 12 can be limited using vertical position switch
Highly, prevent lifting beyond vertical stroke range；The rotation angle that rotary shaft 3 can be limited using angle limit switch, is prevented
Always the dragging of cable is caused to a direction in robot direction of rotation；Shaft rotating motor 4, transverse beam motor 10 and vertical beam
Motor 13 is controlled by master system, and host computer controls shaft rotating motor 4, transverse beam motor by Control card respectively
10 and 13 start and stop of vertical beam motor work.
As described above, although the invention has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the invention itself.In the spirit and scope for not departing from the invention that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (10)
1. a kind of cylinder machine people, it is characterised in that: including vertical beam (1), transverse beam (2), rotary shaft (3), rotary shaft electricity
Machine (4), lead screw (5), driven wheel (6), driving wheel (7), shaft rotating motor fixing seat (8), transverse beam motor (10), rack gear
(11), transverse beam motor fixing plate (12), vertical beam motor (13) and vertical beam motor fixing plate (14)；Rotary shaft (3) is perpendicular
To the top for being rotatably mounted on shaft rotating motor fixing seat (8)；Shaft rotating motor (4) is fixedly mounted on shaft rotating motor and fixes
The lower section of seat (8), for driving rotary shaft (3) to rotate；The lower end of vertical beam (1) is vertically fixed on the upper end of rotary shaft (3)
On；Lead screw (5) is vertically rotatably mounted on the side of vertical beam (1), and driven wheel (6) is fixedly mounted on the upper end of lead screw (5)
On；Vertical beam motor (13) is mounted on the upper end of vertical beam (1) by vertical beam motor fixing plate (14)；Driving wheel (7)
It is fixedly mounted on the output shaft of vertical beam motor (13)；Driving wheel (7) passes through drive belt driving driven wheel (6) rotation；?
The front of transverse beam motor fixing plate (12) is provided with driving sliding block, is vertically provided with driving threaded hole on driving sliding block；Silk
Thick stick (5) threaded engagement is on driving threaded hole；Transverse beam (2) transverse sliding is mounted on the back of transverse beam motor fixing plate (12)
On face；Drive rack (11) are horizontally arranged on transverse beam (2)；It is solid that transverse beam motor (10) is fixedly mounted on transverse beam motor
On fixed board (12), and the driving gear being meshed with drive rack (11) is equipped on the output shaft of transverse beam motor (10)；?
One end end of transverse beam (2) is equipped with the mounting plate (15) for mounting end executing agency.
2. cylinder machine people according to claim 1, it is characterised in that: be vertically provided with guiding on vertical beam (1)
Sliding slot, lead screw (5) are located in guide chute；It drives in sliding block slidingtype insertion guide chute.
3. cylinder machine people according to claim 1, it is characterised in that: set on the other end end of transverse beam (2)
There are limited block (9)；Transverse beam motor fixing plate (12) is located between mounting plate (15) and limited block (9).
4. cylinder machine people according to claim 1, it is characterised in that: at the back side of transverse beam motor fixing plate (12)
Side edge up and down be equipped with a T-shaped slider；In transverse beam (2) side opposite with transverse beam motor fixing plate (12) back side
On be transversely provided with two T shape sliding slots；Two T-shaped sliders are slidably mounted at respectively in two T shape sliding slots, are realized transverse beam (2)
Transverse sliding is mounted on the back side of transverse beam motor fixing plate (12).
5. cylinder machine people according to claim 1, it is characterised in that: the peace in transverse beam (2) and mounting plate (15)
End reinforcing rib plate (16) are equipped at dress.
6. cylinder machine people according to claim 1, it is characterised in that: vertical beam motor fixing plate (14) and vertical
The installation place of beam (1) is equipped with triangle stiffener plate (17).
7. cylinder machine people according to claim 1, it is characterised in that: be arranged at intervals with loss of weight on vertical beam (1)
Hole.
8. cylinder machine people according to claim 1, it is characterised in that: be all provided on the both ends of transverse beam (2) useful
It is switched in the lateral position touched with transverse beam motor fixing plate (12) edge, for limiting the operating of transverse beam motor (10)；
It is equipped with the vertical position switch for touching with transverse beam motor fixing plate (12) edge on the both ends of vertical beam (1), uses
In the operating of limitation vertical beam motor (13)；It is equipped on shaft rotating motor fixing seat (8) for detecting rotary shaft (3) rotation angle
The angle limit of degree switchs.
9. cylinder machine people according to claim 1, it is characterised in that: integral type is arranged on transverse beam motor (10)
There are planetary reducer, output shaft of the output shaft of planetary reducer as transverse beam motor (10).
10. cylinder machine people according to claim 1, it is characterised in that: be equipped with RV on shaft rotating motor (4) and subtract
Fast machine, shaft rotating motor (4) are rotated using RV speed reducer driving rotary shaft (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821436278.3U CN208854635U (en) | 2018-09-02 | 2018-09-02 | A kind of cylinder machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821436278.3U CN208854635U (en) | 2018-09-02 | 2018-09-02 | A kind of cylinder machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208854635U true CN208854635U (en) | 2019-05-14 |
Family
ID=66416621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821436278.3U Expired - Fee Related CN208854635U (en) | 2018-09-02 | 2018-09-02 | A kind of cylinder machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208854635U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942905A (en) * | 2018-09-02 | 2018-12-07 | 南京吉目希自动化科技有限公司 | A kind of cylinder machine people |
-
2018
- 2018-09-02 CN CN201821436278.3U patent/CN208854635U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942905A (en) * | 2018-09-02 | 2018-12-07 | 南京吉目希自动化科技有限公司 | A kind of cylinder machine people |
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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: 20190514 Termination date: 20200902 |