CN209158372U - A kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine - Google Patents
A kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine Download PDFInfo
- Publication number
- CN209158372U CN209158372U CN201821902920.2U CN201821902920U CN209158372U CN 209158372 U CN209158372 U CN 209158372U CN 201821902920 U CN201821902920 U CN 201821902920U CN 209158372 U CN209158372 U CN 209158372U
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- China
- Prior art keywords
- stringer
- manipulator
- pedestal
- guide rail
- robot
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- Expired - Fee Related
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 40
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 10
- 239000000428 dust Substances 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of three axis intelligence loading and unloading manipulators of high-pressure water cutting machine, including pedestal, stringer mechanism, beam mechanism and manipulator mechanism, the stringer mechanism is located above pedestal, the beam mechanism intersects vertically above stringer mechanism, the manipulator mechanism is located at the endpoint of beam mechanism, the manipulator mechanism includes guide rail, robot drives motor and robot work portion, the robot drives motor is located inside beam mechanism, the guide rail is connect with robot drives motor and guide rail passes through the endpoint of beam mechanism, it is connect below the robot work portion and guide rail.Horizontal axis driving motor, longitudinal axis driving motor and robot drives motor make manipulator that can stop or move in any position in space, and right angle planetary reducer drives sucking disk part positive and negative can rotate 60 °, so that the use scope of the utility model expands.
Description
Technical field
The utility model relates to a kind of manipulator, especially a kind of three axis intelligence loading and unloading of high-pressure water cutting machine are mechanical
Hand.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.General special manipulator has 2~3 freedom degrees.Control system is by machine
The control of the motor of each freedom degree of tool hand, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable
Closed-loop control.The core of control system is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes institute by programming to it
Want function.
But when requiring for upper discharge position, general manipulator is not able to satisfy requirement, it is necessary to propose one kind
Scheme solves the problems, such as this.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of three axis intelligence charging & discharging machine of high-pressure water cutting machine
Tool hand
The technical solution of the utility model are as follows: a kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine, including bottom
Seat, stringer mechanism, beam mechanism and manipulator mechanism, the stringer mechanism are located above pedestal, the vertical phase of the beam mechanism
Hand over be located above stringer mechanism by gear & rack structure can transverse movement, the manipulator mechanism is located at the endpoint of beam mechanism
Place,
The manipulator mechanism includes manipulator guide rail, robot drives motor and robot work portion, the manipulator
Driving motor is located inside beam mechanism, and rack gear is provided on the manipulator guide rail, and the robot drives motor passes through tooth
Wheel drive manipulator is connect below vertical motion, the robot work portion and guide rail.
The robot work portion includes right angle planetary reducer and the sucking disk part that connect with right angle planetary reducer, mechanical
Hand work department can positive and negative 60 ° of rotation.
The stringer mechanism includes stringer pedestal, rotatable portion and retractable dust cover, and the rotatable portion is located at stringer base
Seat bottom is connect with pedestal, and the pedestal has a cylindrical projection to be embedded in stringer base interior, and the stringer pedestal passes through with pedestal
The bolt of rotatable portion is fixed, and the retractable dust cover is located above stringer guide rail and is respectively at beam mechanism and stringer mechanism
The two sides of intersection.
The beam mechanism includes crossbeam pedestal, horizontal axis driving motor, beam guideway and protective cover, the beam guideway position
In being provided with rack gear on stringer pedestal and in beam guideway, there are manipulator guide rail through-hole, the guarantor in crossbeam pedestal both ends
Shield is covered on crossbeam pedestal, and the horizontal axis driving motor is located at the in-house centre of horizontal axis and rotates drive crossbeam by gear
Transverse movement is done on the rack gear of beam guideway by mechanism.
The manipulator mechanism further includes retractable dust cover, and the retractable dust cover is covered in across the two sides of beam mechanism
Guide rail.
The utility model has the following beneficial effects: first adjust stringer pedestal and pedestal first to position, horizontal axis driving motor is logical
Crossing gear rotation drives beam mechanism to do transverse movement on the rack gear of beam guideway, and robot drives motor is driven by gear
Manipulator in vertical motion, right angle planetary reducer drive manipulator sucker portion can it is positive and negative rotation 60 ° make the utility model
Use scope expands.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the partial schematic diagram of the manipulator mechanism of the utility model.
Fig. 3 is the robot work portion schematic diagram of the utility model.
In figure, 1- pedestal, 2- rotatable portion, 3- stringer pedestal, 4- beam mechanism, the right angle 5- planetary reducer, 6- sucker
Portion, 7- robot drives motor, 8- manipulator guide rail.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing:
As shown in Figure 1-3, a kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine, including pedestal 1, stringer machine
Structure, beam mechanism 4 and manipulator mechanism, the stringer mechanism are located at 1 top of pedestal, and the beam mechanism 4, which intersects vertically, to be located at
Above stringer mechanism by gear & rack structure can transverse movement, the manipulator mechanism is located at the endpoint of beam mechanism 4,
The manipulator mechanism includes manipulator guide rail 8, robot drives motor 7 and robot work portion, the machinery
Hand-drive motor 7 is located inside beam mechanism 4, and rack gear, the robot drives motor 7 are provided on the manipulator guide rail 8
It is connect below vertical motion, the robot work portion and guide rail by gear driving manipulator.
The robot work portion includes right angle planetary reducer 5 and the sucking disk part connecting with right angle planetary reducer 56,
It robot work portion can positive and negative 60 ° of rotation.
The stringer mechanism includes stringer pedestal 3, rotatable portion 2 and retractable dust cover, and the rotatable portion 2 is located at stringer
3 bottom of pedestal is connect with pedestal 1, and the pedestal 1 has inside cylindrical projection insertion stringer pedestal 3, the stringer pedestal 3 and bottom
Seat 1 is fixed by the bolt of rotatable portion 2, and the retractable dust cover is located above stringer guide rail and is respectively at beam mechanism 4
With the two sides of stringer mechanism intersection.
The beam mechanism 4 includes crossbeam pedestal, horizontal axis driving motor, beam guideway and protective cover, the beam guideway
Rack gear is provided on stringer pedestal 3 and in beam guideway, there are 8 through-hole of manipulator guide rail, institute in crossbeam pedestal both ends
It states protective cover to be covered on crossbeam pedestal, the horizontal axis driving motor is located at the in-house centre of horizontal axis and rotates drive by gear
Beam mechanism 4 does transverse movement on the rack gear of beam guideway.
The manipulator mechanism further includes retractable dust cover, and the retractable dust cover is covered in two across beam mechanism 4
Side rails.
When it is implemented, first adjusting stringer pedestal 3 with pedestal 1 first to position, horizontal axis driving motor passes through gear and rotates
Beam mechanism 4 is driven to do transverse movement on the rack gear of beam guideway, robot drives motor 7 is existed by gear driving manipulator
Vertical motion, right angle planetary reducer 5 drive manipulator sucker portion 6 positive and negative can rotate 60 ° of use models for making the utility model
Enclose expansion.
The description of the embodiments and the specification only illustrate the principle of the present utility model and most preferred embodiment, is not taking off
Under the premise of from the spirit and scope of the utility model, the utility model also has various changes and improvements, these changes and improvements
It falls within the scope of the claimed invention.
Claims (4)
1. a kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine, it is characterised in that: including pedestal, stringer mechanism, cross
Beam mechanism and manipulator mechanism, the stringer mechanism are located above pedestal, and the beam mechanism intersects vertically positioned at stringer mechanism
Top by gear & rack structure can transverse movement, the manipulator mechanism is located at the endpoint of beam mechanism,
The manipulator mechanism includes manipulator guide rail, robot drives motor and robot work portion, the robot drives
Motor is located inside beam mechanism, and rack gear is provided on the manipulator guide rail, and the robot drives motor is driven by gear
Dynamic manipulator is connect below vertical motion, the robot work portion and guide rail, and the robot work portion includes right angle row
Star speed reducer and the sucking disk part connecting with right angle planetary reducer, robot work portion positive and negative can rotate.
2. three axis intelligence loading and unloading manipulator according to claim 1, it is characterised in that: the stringer mechanism includes stringer
Pedestal, rotatable portion and retractable dust cover, the rotatable portion are located at stringer base bottom and connect with pedestal, and the pedestal has one
Cylindrical projection is embedded in stringer base interior, and the stringer pedestal is fixed with pedestal by the bolt of rotatable portion, described flexible anti-
Dust hood is located above stringer guide rail and is respectively at the two sides of beam mechanism Yu stringer mechanism intersection.
3. three axis intelligence loading and unloading manipulator according to claim 1 or 2, it is characterised in that: the beam mechanism includes
Crossbeam pedestal, horizontal axis driving motor, beam guideway and protective cover, the beam guideway are located on stringer pedestal and in beam guideway
It is provided with rack gear, there is manipulator guide rail through-hole at crossbeam pedestal both ends, and the protective cover is covered on crossbeam pedestal, described
Horizontal axis driving motor is located at the in-house centre of horizontal axis and drives beam mechanism to do on the rack gear of beam guideway by gear rotation
Transverse movement.
4. three axis intelligence loading and unloading manipulator according to claim 2, it is characterised in that: the manipulator mechanism further includes
Retractable dust cover, the retractable dust cover are covered in two side rails across beam mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902920.2U CN209158372U (en) | 2018-11-19 | 2018-11-19 | A kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902920.2U CN209158372U (en) | 2018-11-19 | 2018-11-19 | A kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209158372U true CN209158372U (en) | 2019-07-26 |
Family
ID=67338772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821902920.2U Expired - Fee Related CN209158372U (en) | 2018-11-19 | 2018-11-19 | A kind of three axis intelligence loading and unloading manipulator of high-pressure water cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209158372U (en) |
-
2018
- 2018-11-19 CN CN201821902920.2U patent/CN209158372U/en not_active Expired - Fee Related
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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: 20190726 |