CN210210394U - Rectangular coordinate system manipulator with adjustable angle - Google Patents
Rectangular coordinate system manipulator with adjustable angle Download PDFInfo
- Publication number
- CN210210394U CN210210394U CN201921045680.3U CN201921045680U CN210210394U CN 210210394 U CN210210394 U CN 210210394U CN 201921045680 U CN201921045680 U CN 201921045680U CN 210210394 U CN210210394 U CN 210210394U
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- Prior art keywords
- axle
- guide rail
- angle
- coordinate system
- bearing
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Abstract
The utility model discloses a rectangular coordinate system manipulator with adjustable angle, this manipulator including hang the mechanism, install crossbeam, crossbeam one end on the suspended structure and the angle adjustment mechanism between the suspended structure, along crossbeam direction linear motion's Y axle feed mechanism, perpendicular to Y axle direction's Z axle feed mechanism, perpendicular to Y axle and Z axle feed direction's X axle feed mechanism and sucking disc mechanism, angle adjustment mechanism rotate by servo motor drive gear, drive the rack and fix layer board, rotor plate on the rack and reciprocate along Z axle direction, the rotor plate can drive the relative layer board of crossbeam and be rotary motion, the other end of crossbeam and suspended structure pass through the hub connection. The utility model discloses an angle adjustment mechanism accessible deflects certain angle and realizes the angle deflection of rectangular coordinate system manipulator Y axle direction, adaptable work piece slope operating mode to solve Y axle feed mechanism motor overload problem, improve manipulator life and production efficiency.
Description
Technical Field
The utility model relates to a rectangular coordinate system manipulator with adjustable angle.
Background
At present, most of rectangular coordinate system manipulators cannot be suitable for material handling under an inclined working condition, overload and shaking phenomena easily occur to a motor when the manipulator is started and stopped, and the service life and the production efficiency of the manipulator are seriously influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a rectangular coordinate system manipulator with adjustable angle.
The utility model provides a technical scheme that its technical problem adopted is: the device comprises a suspension mechanism, a beam arranged on the suspension structure, an angle adjusting mechanism arranged between one end of the beam and the suspension structure, a Y-axis feeding mechanism linearly moving along the beam direction, a Z-axis feeding mechanism vertical to the Y-axis direction, an X-axis feeding mechanism vertical to the Y-axis and Z-axis feeding directions and a sucker mechanism.
Further, angle adjustment mechanism include rack, gear, layer board, rotor plate, its characterized in that: the servo motor and the speed reducer are fixed in the cantilever of the suspension mechanism, the output shaft of the speed reducer is connected with a gear, the output shaft is provided with a sleeve for axially fixing the gear, the rack is arranged on the inner side of the supporting plate and meshed with the gear, a first guide rail, a first guide rail sliding block and a limiting block are arranged on the outer side of a cantilever of the suspension mechanism, a supporting plate is fixed on the first guide rail sliding block, a shaft is arranged between the supporting plate and the rotating plate, thereby realizing the relative rotation of the bearing and the supporting plate, the bearing is arranged on the inner wall of the supporting plate through the bearing seat, one end of the shaft is arranged in the bearing, the other end is fixed on the flange plate, the flange plate is fixed on the outer wall of the rotating plate through screws, the bearing end cover is arranged on the outer side of the bearing seat through screws, the rotating plate is provided with a second guide rail and a second guide rail sliding block and is connected with the cross beam, and the other end of the cross beam is connected with the suspension mechanism through a shaft and a bearing.
The utility model has the advantages that: the utility model discloses rational in infrastructure, the angle that adopts angle adjustment mechanism to realize the arm deflects, utilizes the component effect of gravity to reduce Y axle feed mechanism motor starting torque, solves the motor overload, opens the problem of opening the stop shake.
Through the angle deflection, the workpiece to be conveyed can be suitable for conveying workpieces on inclined working conditions or non-horizontal surfaces.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and should not be construed as limiting the present invention.
Fig. 1 is the utility model discloses rectangular coordinate system manipulator structure sketch map with adjustable angle.
Fig. 2 is the utility model discloses rectangular coordinate system manipulator structure elevation with adjustable angle.
Figure 3 is the angle adjustment mechanism of the utility model A-A section view.
Fig. 4 is the structure schematic diagram of the angle adjusting mechanism of the present invention.
Reference numbers in the figures: 1. the device comprises a suspension mechanism, a 2, a beam, a 3, a Y-axis feeding mechanism, a 4, an angle adjusting mechanism, a 5, a Z-axis feeding mechanism, a 6, an X-axis feeding mechanism, a 7, a sucker mechanism, a 8, a servo motor, a 9, a speed reducer, a 10, an output shaft, a 11, a sleeve, a 12, a first guide rail, a 13, a first guide rail slide block, a 14, a limiting block, a 15, a rack, a 16, a gear, a 17, a bearing seat, a 18, a bearing end cover, a 19, a bearing, a 20, a shaft, a 21, a flange plate, a 22, a supporting plate, a 23, a rotating plate, a 24
Detailed Description
The following explains in detail a specific embodiment of the angular adjustable rectangular coordinate system manipulator of the present invention with reference to the drawings.
An angle-adjustable rectangular coordinate system manipulator is shown in figures 1 and 2 and comprises a suspension mechanism 1, a cross beam 2 arranged on the suspension structure, an angle adjusting mechanism 4 arranged between one end of the cross beam and the suspension structure, a Y-axis feeding mechanism 3 linearly moving along the cross beam direction, a Z-axis feeding mechanism 5 perpendicular to the Y-axis direction, an X-axis feeding mechanism 6 perpendicular to the Y-axis and Z-axis feeding directions and a sucker mechanism 7, wherein the angle adjusting mechanism 4 can realize rotation of the cross beam 2.
As shown in fig. 3 and 4, the angle adjusting mechanism 4 includes a rack 15, a gear 16, a supporting plate 22, and a rotating plate 23, and is characterized in that: the servo motor 8 and the reducer 9 are fixed inside the cantilever of the suspension mechanism 1, the output shaft 10 of the reducer 9 is connected with a gear 16, the output shaft 10 is provided with a sleeve 11 for axially fixing a gear 16, the rack 15 is installed inside a carrier plate 22 and engaged with the gear 16, a first guide rail 12, a first guide rail sliding block 13 and a limiting block 14 are arranged on the outer side of a cantilever of the suspension mechanism 1, a supporting plate 22 is fixed on the first guide rail slide block 13, a shaft 20 is arranged between the supporting plate 22 and a rotating plate 23, thereby realizing the relative rotation of the bearing 19 and the supporting plate 22, the bearing 19 is arranged on the inner wall of the supporting plate 22 through the bearing seat 17, one end of the shaft 20 is arranged in the bearing 19, the other end is fixed on the flange 21, the flange 21 is fixed on the outer wall of the rotating plate 23 through screws, the bearing end cover 18 is arranged on the outer side of the bearing seat 17 through screws, the rotating plate 23 is provided with a second guide rail 24 and a second guide rail slider 25 and is connected with the beam 2. The servo motor of the angle adjusting mechanism 4 drives the gear 16 to rotate, so that the rack 15 and the supporting plate 22 fixed with the rack are driven to move up and down, the rotating plate 23 moves up and down along with the supporting plate 22 and makes rotating motion with the cross beam 2 relative to the supporting plate 22, the cross beam 2 and the rotating plate 23 move relatively through the second guide rail 24, the other end of the cross beam 2 is connected with the suspension mechanism 1 through a shaft and can rotate, and deflection of the cross beam 2 is achieved.
The utility model discloses an actual working process as follows: lifting the workpiece: the Z-axis feed mechanism 5 moves upward, and the workpiece is lifted.
Feeding a workpiece: the angle adjusting mechanism 4 drives the cross beam 2 to deflect downwards, the Y-axis feeding mechanism 4 moves rightwards, meanwhile, the angle adjusting mechanism 4 drives the cross beam 2 to deflect upwards to be horizontal, and a workpiece reaches the next procedure from the previous procedure.
Placing a workpiece: the Z-axis feed mechanism 5 moves downward, and the workpiece is placed.
Returning the mechanical arm: the angle adjusting mechanism 4 drives the beam 2 to deflect upwards, the Y-axis feeding mechanism 4 moves leftwards, meanwhile, the angle adjusting mechanism 4 drives the beam 2 to deflect downwards to be horizontal, and a workpiece reaches the former process from the latter process.
Finally, it should be noted that: the foregoing is only a preferred embodiment of the present invention and is not intended to limit the invention, many variations are possible within the spirit of the invention. It should be understood that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The utility model provides a rectangular coordinate system manipulator with adjustable angle which characterized in that: the device comprises a suspension mechanism (1), a beam (2) arranged on the suspension structure, an angle adjusting mechanism (4) arranged between one end of the beam and the suspension structure, a Y-axis feeding mechanism (3) moving linearly along the beam direction, a Z-axis feeding mechanism (5) vertical to the Y-axis direction, an X-axis feeding mechanism (6) vertical to the Y-axis and the Z-axis feeding direction and a sucker mechanism (7).
2. The angular adjustable rectangular coordinate system manipulator of claim 1, wherein: angle adjustment mechanism (4) including rack (15), gear (16), layer board (22), rotor plate (23), its characterized in that: a servo motor (8) and a speed reducer (9) are fixed inside a cantilever of a suspension mechanism (1), an output shaft (10) of the speed reducer (9) is connected with a gear (16), a sleeve (11) is arranged on the output shaft (10) and used for axially fixing the gear (16), a rack (15) is arranged on the inner side of a supporting plate (22) and meshed with the gear (16), a first guide rail (12), a first guide rail sliding block (13) and a limiting block (14) are arranged on the outer side of the cantilever of the suspension mechanism (1), the supporting plate (22) is fixed on the first guide rail sliding block (13), a shaft (20) is arranged between the supporting plate (22) and a rotating plate (23) so as to realize relative rotation of the two, a bearing (19) is arranged on the inner wall of the supporting plate (22) through a bearing seat (17), one end of the shaft (20) is arranged in the bearing (19, the flange plate (21) is fixed on the outer wall of the rotating plate (23) through screws, the bearing end cover (18) is installed on the outer side of the bearing seat (17) through screws, the rotating plate (23) is provided with a second guide rail (24) and a second guide rail sliding block (25) and is connected with the cross beam (2), and the other end of the cross beam (2) is connected with the suspension mechanism (1) through a shaft and a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921045680.3U CN210210394U (en) | 2019-07-05 | 2019-07-05 | Rectangular coordinate system manipulator with adjustable angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921045680.3U CN210210394U (en) | 2019-07-05 | 2019-07-05 | Rectangular coordinate system manipulator with adjustable angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210210394U true CN210210394U (en) | 2020-03-31 |
Family
ID=69936196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921045680.3U Expired - Fee Related CN210210394U (en) | 2019-07-05 | 2019-07-05 | Rectangular coordinate system manipulator with adjustable angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210210394U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181495A (en) * | 2019-07-05 | 2019-08-30 | 济南大学 | A kind of rectangular coordinate system manipulator of angle adjustable |
-
2019
- 2019-07-05 CN CN201921045680.3U patent/CN210210394U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181495A (en) * | 2019-07-05 | 2019-08-30 | 济南大学 | A kind of rectangular coordinate system manipulator of angle adjustable |
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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 |
Granted publication date: 20200331 Termination date: 20210705 |
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| CF01 | Termination of patent right due to non-payment of annual fee |