CN104129745A - Method for lifting object through cam system - Google Patents
Method for lifting object through cam system Download PDFInfo
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- CN104129745A CN104129745A CN201410375683.9A CN201410375683A CN104129745A CN 104129745 A CN104129745 A CN 104129745A CN 201410375683 A CN201410375683 A CN 201410375683A CN 104129745 A CN104129745 A CN 104129745A
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- cam
- stop pin
- locking position
- lifting
- plane
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001154 acute effect Effects 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention provides a method for lifting an object through a cam system. The cam system comprises a cam mechanism, a DSP controller, a motor driving circuit and a motor. The DSP controller controls the motor to rotate through the motor driving circuit. The cam mechanism comprises a cam (4), a driving rotary shaft (42) and a stop pin (5), wherein the driving rotary shaft (42) is used for driving the cam (4) to rotate, the whole shape of the cam (4) is an oval, the oval is provided with a short axis (x) and a long axis (y), one peak of the long axis (y) of the oval is a lifting position bearing zone (8) used for bearing the object when the object (2) is in the lifting position, and the other peak of the long axis (y) of the oval is provided with a lifting position locking notch (41).
Description
Technical field
The present invention relates to cam, be specially a kind of method of camming lifting object.
Background technology
Cam mechanism is by cam, the higher pair mechanism that three basic building blocks of driven member and frame form.Cam is a member with curved profile or groove, is generally driving link, makes constant speed gyroscopic movement or linear reciprocating motion.Contact with camb contour, and the member of transferring power and the predetermined characteristics of motion of realization, generally do linear reciprocating motion or swing, be called driven member.
The basic characteristics of cam mechanism in application are to make driven member to obtain the more complicated characteristics of motion.Because the characteristics of motion of driven member depends on cam profile curve, so in when application, as long as it is just passable to design the profilograph of cam according to the characteristics of motion of driven member.Cam mechanism is widely used in various automations, instrument and maneuver control device.Why cam mechanism obtains is applied so widely, be mainly can realize the motion requirement of various complexity due to cam mechanism, and also simple in structure, compact.
The motion process of cam need to lock in different positions; And locking needs actuating unit with release, this has strengthened equipment cost and power cost; And, can not the in the situation that of needs, lock immediately and allow simultaneously release expediently.
Summary of the invention
The object of the present invention is to provide a kind of method of camming lifting object, it can carry out the lifting of object, simultaneously, can when putting in place, automatically lock, and can successfully jump out from lock-out state, and can automatically lock in next position, and also can jump out smoothly, and simple in structure, reliable, Stability Analysis of Structures.
According to the present invention, a kind of method of camming lifting object, described camming comprises: cam mechanism, dsp controller, motor-drive circuit and motor, dsp controller is controlled the rotation of motor by motor-drive circuit, described cam mechanism comprises cam, drive shaft and stop pin, wherein, drive shaft connects with motor, for power cam, rotate, the overall shape of described cam is oval shape, described ellipse has minor axis x and major axis y, described ellipse is lifting position carry district at the place, a summit of major axis y, for the lifting position carry object at object, described ellipse is provided with lifting locking position recess at another place, summit of major axis y, and lifting locking position recess coordinates with the head of described stop pin in described lifting position, thereby carries out locking position, described stop pin is arranged in the vertical hole of vertical direction, and tail end is connected with elastic element, thereby allows described stop pin in the vertical direction fore and aft motion in described vertical hole,
When in described lifting position, major axis y is vertical direction, minor axis x is horizontal direction, the circle central axis of described drive shaft is positioned at the downside of minor axis x, and separate the first offset or dish Ex with minor axis x, the circle central axis of described drive shaft is also positioned at the left side of major axis y, and separates the second offset or dish Ey with major axis y;
Described lifting locking position recess be shaped as acute angle shape recess, when in described lifting position, the right flank of the acute angle shape recess of described lifting locking position recess is vertical direction, left surface and right flank intersect acute angle;
The head of described stop pin is the shape of convex polygon, be provided with adjacently successively: left side vertical plane, inclined-plane, left side, top levels, inclined-plane, right side and right side vertical plane, the angle of inclined-plane, described left side and vertical direction is greater than the angle of inclined-plane, right side and vertical direction;
When in described lifting position, under the pressure effect of the top of described elastic element, the inclined-plane, left side of the head of described stop pin coordinates with the left surface of described lifting locking position recess, the right side vertical plane of the head of described stop pin coordinates with the right flank of described lifting locking position recess, now, described stop pin can lock prevention to clockwise rotating of described cam, and when described cam starts to rotate counterclockwise, inclined-plane, described left side coordinates and stop pin can be pressed down with the inclined-plane of the left surface of described lifting locking position recess, thereby allow described cam to rotate counterclockwise, described method comprises the steps:
A initial condition is in described lifting position, and dsp controller is controlled motor and driven drive shaft to rotate, thereby power cam rotate counterclockwise, and when velocity of rotation starts, slowly evenly accelerate, and remain a constant speed afterwards motion a period of time;
After B, evenly slow down, until stop pin slips into, fall after rise in locking position recess;
C is when needs lifting, and dsp controller is controlled motor and driven drive shaft to rotate, thereby cam clockwise rotates, and during beginning, slowly evenly accelerates, and remains a constant speed afterwards motion a period of time, evenly slows down afterwards, until stop pin slips in lifting locking position recess.
The described ellipse of described cam is also provided with and falls position carry district after rise and fall locking position recess after rise, when cam is in described lifting position, described falling position carry district is positioned at the place, summit, right side of minor axis x, described falling locking position recess is positioned at the place, summit, left side of minor axis x, falling locking position recess after rise is also acute angle shape, and now, the locking face that falls locking position recess after rise is upper side and is horizontal direction, and downside is drive surface and intersects acute angle with locking face;
When described cam rotates counterclockwise from described lifting position, described stop pin presses down and is pressed down, the position moving contact between two described recesses of described top levels and described cam, when described cam turns over 90 degree, thereby make the head that falls locking position recess and described stop pin after rise on time, under the pressure effect of the top of described elastic element, the inclined-plane, right side of the head of described stop pin coordinates with the drive surface that falls locking position recess after rise, the left side vertical plane of the head of described stop pin coordinates with the locking face that falls locking position recess after rise, now, described stop pin can lock prevention to rotating counterclockwise of described cam, and when described cam starts to clockwise rotate, inclined-plane, described right side coordinates and stop pin can be pressed down with the inclined-plane that falls the drive surface of locking position recess after rise, thereby allow described cam to clockwise rotate.
Pass through such scheme, due to by having designed each section of profile of stop pin head, by vertical locking face, match with the fitting surface of notch, can realize location locking, and coordinate by the inclined-plane of described head and the respective ramp of notch, can jump out lock position; And, turning cylinder has bidirectional eccentric, it can be realized and stop under lock-out state, having own biasing moment, this own biasing moment can form stabilized conditions with aforesaid locking face and coordinating of fitting surface, make stabilized structure, the object of carried can not shake and fugitiveness.The architectural feature that whole scheme is used is compact, cost, and also reliable.
Accompanying drawing explanation
Fig. 1 is the diagram of cam mechanism of the present invention when raised position;
Fig. 2 is the diagram of cam mechanism of the present invention when dipping;
Fig. 3 is the diagram of position of the turning cylinder of cam mechanism of the present invention;
Fig. 4 is the schematic diagram of each section of the profile of stop pin;
Fig. 5 is the constructional drawing of control system of the present invention.
The specific embodiment
In conjunction with Figure of description 1-5, the present invention is described in detail now.
A kind of method of camming lifting object, described camming comprises: cam mechanism, dsp controller, motor-drive circuit and motor, dsp controller is controlled the rotation of motor by motor-drive circuit, described cam mechanism comprises cam 4, drive shaft 42 and stop pin 5, wherein, drive shaft 42 connects with motor, for power cam 4, rotate, the overall shape of described cam 4 is oval shape, described ellipse has minor axis x and major axis y, described ellipse is lifting position carry district 8 at the place, a summit of major axis y, for the lifting position carry object 2 at object 2, described ellipse is provided with lifting locking position recess 41 at another place, summit of major axis y, and lifting locking position recess 41 coordinates with the head 51 of described stop pin 5 in described lifting position, thereby carries out locking position, described stop pin 5 is arranged in the vertical hole of vertical direction, and tail end is connected with elastic element 52, thereby allows described stop pin 5 in the vertical direction fore and aft motion in described vertical hole,
When in described lifting position, major axis y is vertical direction, minor axis x is horizontal direction, the circle central axis of described drive shaft 42 is positioned at the downside of minor axis x, and separate the first offset or dish Ex with minor axis x, the circle central axis of described drive shaft 42 is also positioned at the left side of major axis y, and separates the second offset or dish Ey with major axis y;
Described lifting locking position recess 41 be shaped as acute angle shape recess, when in described lifting position, the right flank 411 of the acute angle shape recess of described lifting locking position recess 41 is vertical direction, left surface 412 intersects acute angle with right flank;
The shape that the head 51 of described stop pin 5 is convex polygon, be provided with adjacently successively: left side vertical plane 515, inclined-plane, left side 512, top levels 514, inclined-plane, right side 513 and right side vertical plane 511, the angle of inclined-plane, described left side 512 and vertical direction is greater than the angle of inclined-plane, right side 513 and vertical direction;
When in described lifting position, under the pressure effect of the top of described elastic element 52, the inclined-plane, left side 512 of the head 51 of described stop pin 5 coordinates with the left surface 412 of described lifting locking position recess 41, the right side vertical plane 511 of the head 51 of described stop pin 5 coordinates with the right flank 411 of described lifting locking position recess 41, now, described stop pin 5 can lock prevention to clockwise rotating of described cam 4, and when described cam 4 starts to rotate counterclockwise, inclined-plane, described left side 512 coordinates and stop pin 5 can be pressed down with the inclined-plane of the left surface 412 of described lifting locking position recess 41, thereby allow described cam 4 to rotate counterclockwise, described method comprises the steps:
A initial condition is in described lifting position, and dsp controller is controlled motor and driven drive shaft 42 to rotate, thereby power cam 4 rotate counterclockwise, and when velocity of rotation starts, slowly evenly accelerate, and remain a constant speed afterwards motion a period of time;
After B, evenly slow down, until stop pin 5 slips into, fall after rise in locking position recess 43;
C is when needs lifting, and dsp controller is controlled motor and driven drive shaft 42 to rotate, thereby cam 4 clockwise rotates, during beginning, slowly evenly accelerate, remain a constant speed afterwards motion a period of time, evenly slow down afterwards, until stop pin 5 slips in lifting locking position recess 41.
The described ellipse of described cam 4 is also provided with and falls position carry district 9 after rise and fall locking position recess 43 after rise, when cam 4 is in described lifting position, described falling position carry district 9 is positioned at the place, summit, right side of minor axis x, described falling locking position recess 43 is positioned at the place, summit, left side of minor axis x, falling locking position recess 43 after rise is also acute angle shape, and now, the locking face 431 that falls locking position recess 43 after rise be upper side and is horizontal direction, and downside 432 is drive surface and intersects acute angle with locking face 431;
When described cam 4 rotates counterclockwise from described lifting position, described stop pin 5 presses down and is pressed down, the position moving contact between two described recesses of described top levels 514 and described cam 4, when described cam 4 turns over 90 degree, thereby it is punctual with 51 pairs, the head of described stop pin 5 to make to fall locking position recess 43 after rise, under the pressure effect of the top of described elastic element 52, the inclined-plane, right side 513 of the head 51 of described stop pin 5 coordinates with the drive surface 432 that falls locking position recess 43 after rise, the left side vertical plane 515 of the head 51 of described stop pin 5 coordinates with the locking face 431 that falls locking position recess 43 after rise, now, described stop pin 5 can lock prevention to rotating counterclockwise of described cam 4, and when described cam 4 starts to clockwise rotate, inclined-plane, described right side 513 coordinates and stop pin 5 can be pressed down with the inclined-plane that falls the drive surface 432 of locking position recess 43 after rise, thereby allow described cam 4 to clockwise rotate.
Above embodiment, just for explanatory information of the present invention, is not intended to limit the scope of the claims in the present invention.
Claims (2)
1. the method for a camming lifting object, described camming comprises: cam mechanism, dsp controller, motor-drive circuit and motor, dsp controller is controlled the rotation of motor by motor-drive circuit, described cam mechanism comprises cam (4), drive shaft (42) and stop pin (5), wherein, drive shaft (42) connects with motor, for power cam (4), rotate, the overall shape of described cam (4) is oval shape, described ellipse has minor axis (x) and major axis (y), described ellipse is lifting position carry district (8) at the place, a summit of major axis (y), for the lifting position carry object (2) at object (2), described ellipse is provided with lifting locking position recess (41) at another place, summit of major axis (y), and lifting locking position recess (41) coordinates with the head (51) of described stop pin (5) in described lifting position, thereby carries out locking position, described stop pin (5) is arranged in the vertical hole of vertical direction, and tail end is connected with elastic element (52), thereby allows described stop pin (5) in the vertical direction fore and aft motion in described vertical hole,
When in described lifting position, major axis (y) is vertical direction, minor axis is (x) horizontal direction, the circle central axis of described drive shaft (42) is positioned at minor axis downside (x), and (x) separate the first offset or dish (Ex) with minor axis, the circle central axis of described drive shaft (42) is also positioned at the left side of major axis (y), and separates the second offset or dish (Ey) with major axis (y);
Described lifting locking position recess (41) be shaped as acute angle shape recess, when in described lifting position, the right flank (411) of the acute angle shape recess of described lifting locking position recess (41) is vertical direction, and left surface (412) intersects acute angle with right flank;
The shape that the head (51) of described stop pin (5) is convex polygon, be provided with adjacently successively: left side vertical plane (515), inclined-plane, left side (512), top levels (514), inclined-plane, right side (513) and right side vertical plane (511), the angle of inclined-plane, described left side (512) and vertical direction is greater than the angle of inclined-plane, right side (513) and vertical direction;
When in described lifting position, under the pressure effect of the top of described elastic element (52), the inclined-plane, left side (512) of the head (51) of described stop pin (5) coordinates with the left surface (412) of described lifting locking position recess (41), the right side vertical plane (511) of the head (51) of described stop pin (5) coordinates with the right flank (411) of described lifting locking position recess (41), now, described stop pin (5) can lock prevention to clockwise rotating of described cam (4), and when described cam (4) starts to rotate counterclockwise, inclined-plane, described left side (512) coordinates and stop pin (5) can be pressed down with the inclined-plane of the left surface (412) of described lifting locking position recess (41), thereby allow described cam (4) to rotate counterclockwise, described method comprises the steps:
A initial condition is in described lifting position, and dsp controller is controlled motor and driven drive shaft (42) to rotate, thereby power cam (4) rotate counterclockwise, and when velocity of rotation starts, slowly evenly accelerate, and remain a constant speed afterwards motion a period of time;
After B, evenly slow down, until stop pin (5) slips into, fall after rise in locking position recess (43);
C is when needs lifting, dsp controller is controlled motor and is driven drive shaft (42) to rotate, thereby cam (4) clockwise rotates, during beginning, slowly evenly accelerate, remain a constant speed afterwards motion a period of time, evenly slow down afterwards, until stop pin (5) slips in lifting locking position recess (41).
2. the method for claim 1, wherein, the described ellipse of described cam (4) is also provided with and falls position carry district (9) after rise and fall locking position recess (43) after rise, when cam (4) is in described lifting position, described falling position carry district (9) is positioned at minor axis place, summit, right side (x), described falling locking position recess (43) is positioned at minor axis place, summit, left side (x), falling locking position recess (43) after rise is also acute angle shape, and now, the locking face (431) that falls locking position recess (43) after rise is upper side and is horizontal direction, downside (432) is for drive surface and intersect acute angle with locking face (431),
When described cam (4) rotates counterclockwise from described lifting position, described stop pin (5) presses down and is pressed down, described top levels (514) and the position moving contact of described cam (4) between two described recesses, when described cam (4) turns over 90 degree, thereby make the head (51) that falls locking position recess (43) and described stop pin (5) after rise on time, under the pressure effect of the top of described elastic element (52), the inclined-plane, right side (513) of the head (51) of described stop pin (5) coordinates with the drive surface (432) that falls locking position recess (43) after rise, the left side vertical plane (515) of the head (51) of described stop pin (5) coordinates with the locking face (431) that falls locking position recess (43) after rise, now, described stop pin (5) can lock prevention to rotating counterclockwise of described cam (4), and when described cam (4) starts to clockwise rotate, inclined-plane, described right side (513) coordinates and stop pin (5) can be pressed down with the inclined-plane that falls the drive surface (432) of locking position recess (43) after rise, thereby allow described cam (4) to clockwise rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410375683.9A CN104129745B (en) | 2014-08-01 | 2014-08-01 | Method for lifting object through cam system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410375683.9A CN104129745B (en) | 2014-08-01 | 2014-08-01 | Method for lifting object through cam system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104129745A true CN104129745A (en) | 2014-11-05 |
| CN104129745B CN104129745B (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410375683.9A Expired - Fee Related CN104129745B (en) | 2014-08-01 | 2014-08-01 | Method for lifting object through cam system |
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| CN (1) | CN104129745B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114220219A (en) * | 2021-12-15 | 2022-03-22 | 北京云迹科技股份有限公司 | Split type vending robot and system |
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| SU529981A1 (en) * | 1974-04-01 | 1976-09-30 | Предприятие П/Я Г-4575 | A device for unloading flat blanks from a container with multi-stacking and transporting them to the equipment loading area |
| CN87203760U (en) * | 1987-03-19 | 1988-03-23 | 孙寅贵 | Automatic door closing device utilizing revolving deblocking |
| CN1058056A (en) * | 1990-07-11 | 1992-01-22 | 努弗彼格诺工业机械及铸造有限公司 | The improved control device of very high-speed rotary |
| CN201280417Y (en) * | 2008-09-23 | 2009-07-29 | 张广廷 | Elevation apparatus for cam type material box |
| CN101677073A (en) * | 2008-09-17 | 2010-03-24 | 家登精密工业股份有限公司 | Front opening type wafer box with elliptic latch structure |
| CN102237289A (en) * | 2010-05-07 | 2011-11-09 | 家登精密工业股份有限公司 | Front opening unified pod with elliptical latch structure |
-
2014
- 2014-08-01 CN CN201410375683.9A patent/CN104129745B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3973415A (en) * | 1973-12-22 | 1976-08-10 | Wildt Mellor Bromley Limited | Pattern mechanism |
| SU529981A1 (en) * | 1974-04-01 | 1976-09-30 | Предприятие П/Я Г-4575 | A device for unloading flat blanks from a container with multi-stacking and transporting them to the equipment loading area |
| CN87203760U (en) * | 1987-03-19 | 1988-03-23 | 孙寅贵 | Automatic door closing device utilizing revolving deblocking |
| CN1058056A (en) * | 1990-07-11 | 1992-01-22 | 努弗彼格诺工业机械及铸造有限公司 | The improved control device of very high-speed rotary |
| CN101677073A (en) * | 2008-09-17 | 2010-03-24 | 家登精密工业股份有限公司 | Front opening type wafer box with elliptic latch structure |
| CN201280417Y (en) * | 2008-09-23 | 2009-07-29 | 张广廷 | Elevation apparatus for cam type material box |
| CN102237289A (en) * | 2010-05-07 | 2011-11-09 | 家登精密工业股份有限公司 | Front opening unified pod with elliptical latch structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114220219A (en) * | 2021-12-15 | 2022-03-22 | 北京云迹科技股份有限公司 | Split type vending robot and system |
| CN114220219B (en) * | 2021-12-15 | 2023-04-28 | 北京云迹科技股份有限公司 | Split type vending robot and system |
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| Publication number | Publication date |
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| CN104129745B (en) | 2015-05-20 |
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