A three-axis servo manipulator capable of fast angle adjustment
By designing a three-axis servo robot with a rapidly adjustable angle, the problem of low material turnover efficiency in the thermoforming process was solved, enabling rapid material turnover and angle adjustment, thus improving production efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HUIZHOU YUXIANG PACKAGING PROD CO LTD
- Filing Date
- 2025-07-17
- Publication Date
- 2026-08-04
AI Technical Summary
In the existing thermoforming process, the turnover efficiency of thermoformed plastic parts is low due to manual handling by operators, and the automatic turnover equipment cannot change the clamping direction, which affects production efficiency.
Design a three-axis servo manipulator with rapid angle adjustment, including first, second, and third drive mechanisms, a hanger, a rotary drive mechanism, and a clamping mechanism. The angle of the clamping mechanism is adjusted by the vertically set drive mechanism and rotary drive mechanism, enabling rapid material turnover.
It improves the processing and turnover efficiency of blister packaging materials. The robotic arm with fast angle adjustment enables rapid material turnover and angle adjustment, thereby improving production efficiency.
Smart Images
Figure CN224588067U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of polymer material processing equipment, and in particular to a three-axis servo manipulator with rapidly adjustable angle. Background Technology
[0002] Polymer materials are large molecular compounds formed by covalent bonds connecting a large number of repeating structural units, or monomers, with molecular weights typically ranging from tens of thousands to millions. These materials include natural polymers such as cellulose and proteins, and synthetic polymers such as polyethylene and polypropylene. They are generally characterized by long molecular chains and high structural designability, allowing for diverse physicochemical properties to be obtained by adjusting molecular structure and composition. They are widely used in plastics, rubber, fibers, coatings, and other fields.
[0003] Vacuum forming is a common type of packaging material. The process of processing polymer materials into vacuum forming materials mainly involves utilizing the heat-softening properties of thermoplastic polymers such as PVC, PET, and PS. After heating the sheet to a molten state, vacuum pressure or air pressure is used to adhere it to the surface of a mold. After cooling and solidification, thin-walled packaging products such as trays and blister packs are obtained. The core of this processing includes: sheet preheating, mold adhesion, and cooling / demolding. The final product is lightweight, transparent, and low-cost, and is widely used in packaging for food, electronics, and pharmaceuticals.
[0004] Based on this, Chinese patent document CN115847780A discloses a vacuum forming process, which includes the following steps: Step 1: Prepare a vacuum forming mold of corresponding shape according to a predetermined molding scheme; Step 2: Connect the vacuum forming mold to an auxiliary device, and use the auxiliary device to clamp and fix the raw material to be vacuum formed; Step 3: Heat the clamped and fixed raw material to soften it; Step 4: Use the auxiliary device to complete the vacuum forming process; Step 5: After vacuum forming, allow the plastic part to cool in the auxiliary device until the shape is fixed, and then remove the plastic part and place it in another position for further cooling; In this technical solution, it also provides a device that can assist the operator in removing the vacuum-formed plastic part from the processing equipment and placing it in another position for natural cooling, so as to improve the efficiency of vacuum forming.
[0005] However, the aforementioned thermoforming process still suffers from technical problems related to insufficient production efficiency. Specifically, in the aforementioned thermoforming process, when the operator removes the thermoformed plastic parts from the processing equipment and places them in another location for natural cooling, manual handling is usually required. In batch thermoforming operations, the operator's operating frequency becomes a bottleneck for improving the production efficiency of the thermoforming process. Moreover, although some existing technologies have automated turnover equipment, they cannot change the clamping direction during turnover, which is also not conducive to improving production efficiency. Utility Model Content
[0006] Therefore, it is necessary to provide a three-axis servo robot with a fast angle adjustment capability to address the technical problem of how to improve the processing and turnover efficiency of blister packaging materials.
[0007] A three-axis servo manipulator with rapidly adjustable angle includes: a first drive mechanism, a second drive mechanism, a third drive mechanism, a hanger, a rotary drive mechanism, and a clamping mechanism; the first drive mechanism, the second drive mechanism, and the third drive mechanism are arranged perpendicularly to each other, the first drive mechanism is driven connected to the second drive mechanism, and the second drive mechanism is driven connected to the third drive mechanism; the hanger is movably disposed on the side of the third drive mechanism, and the third drive mechanism is driven connected to the hanger; two rotary drive mechanisms are respectively disposed opposite to each other on both sides of the hanger, and two clamping mechanisms are respectively disposed opposite to each other on the lower part of both sides of the hanger, with each rotary drive mechanism correspondingly driven connected to one clamping mechanism.
[0008] Furthermore, the first drive mechanism includes a first support frame, a first drive motor, a first drive screw, a first drive screw sleeve, and a first reciprocating moving platform.
[0009] Furthermore, a first drive motor is provided at one end of the first support frame, a first drive screw is movably disposed within the first support frame, and the first drive motor is drivenly connected to the first drive screw; a first drive screw sleeve is movably sleeved within the first drive screw, and the first drive screw is drivenly connected to the first drive screw sleeve; a first reciprocating moving platform is movably disposed above the first support frame, the first drive screw sleeve is connected below the first reciprocating moving platform, and the first drive mechanism is connected above the first reciprocating moving platform.
[0010] Furthermore, the second drive mechanism includes a second support frame, a second drive motor, a second drive screw, a second drive screw sleeve, and a second reciprocating moving platform.
[0011] Furthermore, a second drive motor is provided at one end of the second support frame, and a second drive screw is movably disposed within the second support frame, with the second drive motor and the second drive screw being drivenly connected; a second drive screw sleeve is movably sleeved within the second drive screw, with the second drive screw and the second drive screw sleeve being drivenly connected; a second reciprocating moving platform is movably disposed on the side of the second support frame, with the second drive screw sleeve connected to the side of the second reciprocating moving platform, and the third drive mechanism is connected to the side of the second reciprocating moving platform.
[0012] Furthermore, the third drive mechanism includes a third support frame, a third drive motor, a third drive screw, a third drive screw sleeve, and a third reciprocating moving platform.
[0013] Furthermore, a third drive motor is provided at one end of the third support frame, and a third drive screw is movably disposed within the third support frame, with the third drive motor and the third drive screw being drivenly connected; a third drive screw sleeve is movably sleeved within the third drive screw, with the third drive screw and the third drive screw sleeve being drivenly connected; a third reciprocating moving platform is movably disposed on the side of the third support frame, the third drive screw sleeve is connected to the side of the third reciprocating moving platform, and the hanger is connected to the side of the third reciprocating moving platform.
[0014] Furthermore, each of the aforementioned rotary drive mechanisms includes a rotary drive motor, a drive wheel, an output wheel, a transmission belt, and an output shaft.
[0015] Furthermore, the rotary drive motor is connected to the inner side of the hanger, the drive wheel is movably disposed on the outer side of the hanger, the rotary drive motor is drivenly connected to the drive wheel, the output wheel is movably disposed below the drive wheel on the outer side of the hanger, the transmission belt drivesly connects the drive wheel and the output wheel respectively; the output wheel is drivenly connected to the output shaft, and the output shaft is connected to the clamping mechanism.
[0016] Furthermore, each of the clamping mechanisms includes a clamping seat, a clamping bearing, a clamping drive cylinder, a gripper, and a gripper pad; the clamping seat is disposed on the lower inner side of the hanger, the clamping bearing is disposed in the clamping seat, the output shaft passes through the clamping bearing, and the output shaft is connected to the clamping drive cylinder; the clamping drive cylinder is drivenly connected to the gripper, and the gripper pad is connected to the gripper.
[0017] In summary, the present invention provides a three-axis servo manipulator for rapid angle adjustment, comprising a first drive mechanism, a second drive mechanism, a third drive mechanism, a hanger, a rotary drive mechanism, and a clamping mechanism. The first drive mechanism, the second drive mechanism, and the third drive mechanism are arranged perpendicularly to each other, with the first drive mechanism and the second drive mechanism being drivenly connected, and the second drive mechanism and the third drive mechanism being drivenly connected. The hanger is movably disposed on the side of the third drive mechanism, and the third drive mechanism is drivenly connected to the hanger. Two rotary drive mechanisms are respectively disposed opposite to each other on both sides of the hanger, and two clamping mechanisms are respectively disposed opposite to each other on the lower part of both sides of the hanger. Each rotary drive mechanism is correspondingly driven and connected to one clamping mechanism. When the clamping mechanism clamps the material, each of the rotary drive mechanisms located on both sides of the hanger can drive each clamping mechanism, allowing the clamping mechanism to rotate as needed. This facilitates adjusting the angle of the clamped material or rotating and reversing the direction of the material after clamping, achieving a rapid angle adjustment function. Therefore, it enables rapid turnover of materials such as blister packs in the processing and production process, improving its turnover efficiency. Thus, this utility model, a three-axis servo robot with rapid angle adjustment, solves the technical problem of how to improve the processing and turnover efficiency of blister packaging materials. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of a three-axis servo manipulator that allows for rapid angle adjustment according to this utility model; Figure 2 This is a cross-sectional structural diagram of another part of the structure of a three-axis servo manipulator that can quickly adjust the angle according to this utility model. Figure 3 This is a cross-sectional structural diagram of another part of the structure of a three-axis servo manipulator that can quickly adjust the angle according to this utility model. Figure 4 This is a cross-sectional structural diagram of another part of the structure of a three-axis servo manipulator that can quickly adjust the angle according to this utility model. Figure 5 This is a structural diagram of another part of the three-axis servo manipulator for rapid angle adjustment according to this utility model. Detailed Implementation
[0019] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.
[0020] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0023] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0024] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0025] Please refer to the following: Figures 1 to 5 This utility model discloses a three-axis servo manipulator for rapid angle adjustment, comprising: a first drive mechanism 1, a second drive mechanism 2, a third drive mechanism 3, a hanger 4, a rotary drive mechanism 5, and a clamping mechanism 6; the first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3 are arranged perpendicularly to each other, the first drive mechanism 1 is driven connected to the second drive mechanism 2, and the second drive mechanism 2 is driven connected to the third drive mechanism 3; the hanger 4 is movably disposed on the side of the third drive mechanism 3, and the third drive mechanism 3 is driven connected to the hanger 4; the two rotary drive mechanisms 5 are respectively disposed opposite to each other on both sides of the hanger 4, and the two clamping mechanisms 6 are respectively disposed opposite to each other on the lower part of both sides of the hanger 4, with each rotary drive mechanism 5 correspondingly driven connected to one clamping mechanism 6.
[0026] Specifically, when the three-axis servo manipulator with rapid angle adjustment of this utility model is in operation, the first drive mechanism 1 can drive the second drive mechanism 2 to move along the longitudinal direction. After the second drive mechanism 2 is driven into position, the second drive mechanism 2 continues to drive the third drive mechanism 3 to move along the transverse direction. After the third drive mechanism 3 is in position, the third drive mechanism 3 can drive the hanger 4 to rise or fall until the two clamping mechanisms 6 set on both sides of the lower part of the hanger 4 can clamp the two sides of the blister tray and other materials. After that, the first drive mechanism 1, the second drive mechanism 2 and the third drive mechanism 3 can then follow the pre-set action steps to unload or transport the blister tray and other materials. Furthermore, when the clamping mechanism 6 clamps the material, each of the rotary drive mechanisms 5 located on both sides of the hanger 4 can drive each clamping mechanism 6, allowing the clamping mechanism 6 to rotate as needed. This facilitates adjusting the angle of the clamped material or rotating and reversing the direction of the material after clamping, achieving a rapid angle adjustment function. Therefore, it enables rapid turnover of materials such as blister packs in the processing and production process, improving its turnover efficiency. Thus, this utility model, a three-axis servo robot with rapid angle adjustment, solves the technical problem of how to improve the processing and turnover efficiency of blister packaging materials.
[0027] Furthermore, the first drive mechanism 1 includes a first support frame 101, a first drive motor 102, a first drive screw 103, a first drive screw sleeve 104, and a first reciprocating moving platform 105; the first drive motor 102 is disposed at one end of the first support frame 101, the first drive screw 103 is movably disposed within the first support frame 101, and the first drive motor 102 is drivenly connected to the first drive screw 103; the first drive screw sleeve 104 is movably sleeved within the first drive screw 103, and the first drive screw 103 is drivenly connected to the first drive screw sleeve 104; the first reciprocating moving platform 105 is movably disposed above the first support frame 101, the first drive screw sleeve 104 is connected below the first reciprocating moving platform 105, and the second drive mechanism 2 is connected above the first reciprocating moving platform 105. Specifically, the first support frame 101 can be fixed to an external machine tool or a preset installation environment. Thus, when the first drive motor 102 is powered on, it can drive the first drive screw 103, so that the first drive screw 103 can be driven to rotate forward or reverse. When the first drive screw 103 rotates, the first drive screw sleeve 104 sleeved on it can reciprocate along the first drive screw 103, thereby driving the first reciprocating moving platform 105 to reciprocate longitudinally above the first support frame 101, and further driving the second drive mechanism 2 to reciprocate longitudinally.
[0028] Furthermore, the second drive mechanism 2 includes a second support frame 201, a second drive motor 202, a second drive screw 203, a second drive screw sleeve 204, and a second reciprocating moving platform 205; the second drive motor 202 is disposed at one end of the second support frame 201, the second drive screw 203 is movably disposed within the second support frame 201, and the second drive motor 202 is drivenly connected to the second drive screw 203; the second drive screw sleeve 204 is movably sleeved within the second drive screw 203, and the second drive screw 203 is drivenly connected to the second drive screw sleeve 204; the second reciprocating moving platform 205 is movably disposed on the side of the second support frame 201, the second drive screw sleeve 204 is connected to the side of the second reciprocating moving platform 205, and the third drive mechanism 3 is connected to the side of the second reciprocating moving platform 205. Specifically, when the second drive motor 202 is energized, it can drive the second drive screw 203 so that the second drive screw 203 can be driven to rotate forward or reverse. When the second drive screw 203 rotates, the second drive screw sleeve 204 sleeved on it can reciprocate along the second drive screw 203, thereby driving the second reciprocating moving platform 205 to reciprocate laterally on the side of the second support frame 201, and further driving the third drive mechanism 3 to reciprocate laterally.
[0029] Furthermore, the third drive mechanism 3 includes a third support frame 301, a third drive motor 302, a third drive screw 303, a third drive screw sleeve 304, and a third reciprocating moving platform 305; the third drive motor 302 is disposed at one end of the third support frame 301, the third drive screw 303 is movably disposed within the third support frame 301, and the third drive motor 302 is drivenly connected to the third drive screw 303; the third drive screw sleeve 304 is movably sleeved within the third drive screw 303, and the third drive screw 303 is drivenly connected to the third drive screw sleeve 304; the third reciprocating moving platform 305 is movably disposed on the side of the third support frame 301, the third drive screw sleeve 304 is connected to the side of the third reciprocating moving platform 305, and the hanger 4 is connected to the side of the third reciprocating moving platform 305. Specifically, when the third drive motor 302 is energized, it can drive the third drive screw 303 so that the third drive screw 303 can be driven to rotate forward or reverse. When the third drive screw 303 rotates, the third drive screw sleeve 304 sleeved on it can reciprocate along the third drive screw 303, thereby driving the third reciprocating moving platform 305 to reciprocate up or down in the vertical direction on the side of the third support frame 301, and thus driving the hanger 4 to reciprocate up and down in the vertical direction.
[0030] Furthermore, the hanger 4 has an inverted U-shaped structure, with the bottom of the U-shape connected to the third reciprocating moving platform 305, and the two rotary drive mechanisms 5 are respectively disposed on both sides of the U-shape, while the two clamping mechanisms 6 are respectively disposed at both ends of the U-shape.
[0031] Furthermore, each of the rotary drive mechanisms 5 includes a rotary drive motor 501, a drive wheel 502, an output wheel 503, a transmission belt 504, and an output shaft 505; the rotary drive motor 501 is connected to the inner side of the hanger 4, the drive wheel 502 is movably disposed on the outer side of the hanger 4, the rotary drive motor 501 is drivenly connected to the drive wheel 502, the output wheel 503 is movably disposed below the drive wheel 502 on the outer side of the hanger 4, the transmission belt 504 drivesly connects the drive wheel 502 and the output wheel 503 respectively; the output wheel 503 is drivenly connected to the output shaft 505, and the output shaft 505 is connected to the clamping mechanism 6. Specifically, after the rotary drive motor 501 is started, it can drive the drive wheel 502 to rotate, thereby transmitting power from the drive wheel 502 to the transmission belt 504, and the transmission belt 504 drives the output wheel 503; when the output wheel 503 rotates, it can drive the output shaft 505 to rotate forward or backward, thereby driving the clamping mechanism 6 to adjust the angle at which it clamps the material.
[0032] Furthermore, each of the clamping mechanisms 6 includes a clamping seat 601, a clamping bearing 602, a clamping drive cylinder 603, a gripper 604, and a gripper pad 605. The clamping seat 601 is disposed on the lower inner side of the hanger 4, the clamping bearing 602 is disposed within the clamping seat 601, and the output shaft 505 passes through the clamping bearing 602. The output shaft 505 is connected to the clamping drive cylinder 603. The clamping drive cylinder 603 is drivenly connected to the gripper 604, and the gripper pad 605 is connected to the gripper 604. Specifically, the output shaft 505 can rotate freely within the clamping bearing 602, thereby driving the clamping cylinder 603 to rotate forward or backward. When the clamping cylinder 603 rotates, it can drive the gripper 604 to rotate, thereby changing the opening and closing direction of the gripper 604 to adjust its clamping angle. To prevent materials from being damaged by clamping, a clamping pad 605 can be provided inside the clamping jaw 604. The clamping pad 605 can be made of soft materials such as rubber, silicone or foam, and can be placed between the item and the clamping jaw 604 as a protective pad when the clamping drive cylinder 603 drives the clamping jaw 604 to close and clamp the item.
[0033] In summary, the present invention provides a three-axis servo manipulator for rapid angle adjustment, comprising a first drive mechanism 1, a second drive mechanism 2, a third drive mechanism 3, a hanger 4, a rotary drive mechanism 5, and a clamping mechanism 6. The first drive mechanism 1, the second drive mechanism 2, and the third drive mechanism 3 are arranged perpendicularly to each other, with the first drive mechanism 1 and the second drive mechanism 2 being drivenly connected, and the second drive mechanism 2 and the third drive mechanism 3 being drivenly connected. The hanger 4 is movably disposed on the side of the third drive mechanism 3, and the third drive mechanism 3 is drivenly connected to the hanger 4. The two rotary drive mechanisms 5 are respectively disposed opposite to each other on both sides of the hanger 4, and the two clamping mechanisms 6 are respectively disposed opposite to each other on the lower part of both sides of the hanger 4. Each rotary drive mechanism 5 is correspondingly driven and connected to one clamping mechanism 6. When the clamping mechanism 6 clamps the material, each of the rotary drive mechanisms 5 located on both sides of the hanger 4 can drive each clamping mechanism 6, allowing the clamping mechanism 6 to rotate as needed. This facilitates adjusting the angle of the clamped material or rotating and reversing the direction of the material after clamping, achieving a rapid angle adjustment function. Therefore, it enables rapid turnover of materials such as blister packs in the processing and production process, improving its turnover efficiency. Thus, this utility model, a three-axis servo robot with rapid angle adjustment, solves the technical problem of how to improve the processing and turnover efficiency of blister packaging materials.
[0034] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0035] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A three-axis servo manipulator with rapidly adjustable angle, characterized in that, It includes: The system comprises a first drive mechanism (1), a second drive mechanism (2), a third drive mechanism (3), a hanger (4), a rotary drive mechanism (5), and a clamping mechanism (6); the first drive mechanism (1), the second drive mechanism (2), and the third drive mechanism (3) are arranged perpendicularly to each other, the first drive mechanism (1) is driven connected to the second drive mechanism (2), and the second drive mechanism (2) is driven connected to the third drive mechanism (3); the hanger (4) is movably arranged on the side of the third drive mechanism (3), and the third drive mechanism (3) is driven connected to the hanger (4); the two rotary drive mechanisms (5) are respectively arranged opposite to each other on both sides of the hanger (4), and the two clamping mechanisms (6) are respectively arranged opposite to each other on the lower part of both sides of the hanger (4), and each rotary drive mechanism (5) is driven connected to one clamping mechanism (6).
2. The three-axis servo manipulator with rapidly adjustable angle according to claim 1, characterized in that: The first drive mechanism (1) has a first support frame (101), a first drive motor (102), a first drive screw (103), a first drive screw sleeve (104), and a first reciprocating moving platform (105).
3. A three-axis servo manipulator with rapidly adjustable angle according to claim 2, characterized in that: The first drive motor (102) is provided at one end of the first support frame (101), the first drive screw (103) is movably disposed in the first support frame (101), and the first drive motor (102) is drivenly connected to the first drive screw (103); the first drive screw sleeve (104) is movably sleeved in the first drive screw (103), and the first drive screw (103) is drivenly connected to the first drive screw sleeve (104); the first reciprocating moving platform (105) is movably disposed above the first support frame (101), the first drive screw sleeve (104) is connected below the first reciprocating moving platform (105), and the second drive mechanism (2) is connected above the first reciprocating moving platform (105).
4. A three-axis servo manipulator with rapidly adjustable angle according to claim 3, characterized in that: The second drive mechanism (2) has a second support frame (201), a second drive motor (202), a second drive screw (203), a second drive screw sleeve (204), and a second reciprocating moving platform (205).
5. A three-axis servo manipulator with rapidly adjustable angle according to claim 4, characterized in that: The second support frame (201) is provided with a second drive motor (202) at one end, and a second drive screw (203) is movably disposed in the second support frame (201). The second drive motor (202) is drivenly connected to the second drive screw (203). The second drive screw sleeve (204) is movably sleeved in the second drive screw (203). The second drive screw (203) is drivenly connected to the second drive screw sleeve (204). The second reciprocating moving platform (205) is movably disposed on the side of the second support frame (201). The second drive screw sleeve (204) is connected to the side of the second reciprocating moving platform (205). The third drive mechanism (3) is connected to the side of the second reciprocating moving platform (205).
6. A three-axis servo manipulator with rapidly adjustable angle according to claim 5, characterized in that: The third drive mechanism (3) includes a third support frame (301), a third drive motor (302), a third drive screw (303), a third drive screw sleeve (304), and a third reciprocating moving platform (305).
7. A three-axis servo manipulator with rapidly adjustable angle according to claim 6, characterized in that: The third support frame (301) is provided with the third drive motor (302) at one end, the third drive screw (303) is movably disposed in the third support frame (301), and the third drive motor (302) is drivenly connected to the third drive screw (303); the third drive screw sleeve (304) is movably sleeved in the third drive screw (303), and the third drive screw (303) is drivenly connected to the third drive screw sleeve (304); the third reciprocating moving platform (305) is movably disposed on the side of the third support frame (301), the third drive screw sleeve (304) is connected to the side of the third reciprocating moving platform (305), and the hanger (4) is connected to the side of the third reciprocating moving platform (305).
8. A three-axis servo manipulator with rapidly adjustable angle according to claim 7, characterized in that: Each of the rotary drive mechanisms (5) includes a rotary drive motor (501), a drive wheel (502), an output wheel (503), a transmission belt (504), and an output shaft (505).
9. A three-axis servo manipulator with rapidly adjustable angle according to claim 8, characterized in that: The rotary drive motor (501) is connected to the inner side of the hanger (4), the drive wheel (502) is movably disposed on the outer side of the hanger (4), the rotary drive motor (501) is drivenly connected to the drive wheel (502), the output wheel (503) is movably disposed below the drive wheel (502) on the outer side of the hanger (4), the transmission belt (504) drives the drive wheel (502) and the output wheel (503) respectively; the output wheel (503) is drivenly connected to the output shaft (505), and the output shaft (505) is connected to the clamping mechanism (6).
10. A three-axis servo manipulator with rapidly adjustable angle according to claim 9, characterized in that: Each of the clamping mechanisms (6) has a clamping seat (601), a clamping bearing (602), a clamping drive cylinder (603), a gripper (604), and a gripper pad (605); the clamping seat (601) is disposed on the lower inner side of the hanger (4), the clamping bearing (602) is disposed in the clamping seat (601), the output shaft (505) passes through the clamping bearing (602), and the output shaft (505) is connected to the clamping drive cylinder (603); the clamping drive cylinder (603) is drivenly connected to the gripper (604), and the gripper pad (605) is connected to the gripper (604).