CN104354156B - Cam robot - Google Patents
Cam robot Download PDFInfo
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- CN104354156B CN104354156B CN201410578608.2A CN201410578608A CN104354156B CN 104354156 B CN104354156 B CN 104354156B CN 201410578608 A CN201410578608 A CN 201410578608A CN 104354156 B CN104354156 B CN 104354156B
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Abstract
The invention discloses a kind of cam robot, comprising: support, power transmission shaft, fork fixed axis, disc cam, fork, pull bar, material loading cylinder, manipulator fixed head and upper flitch; Described disc cam is arranged on described power transmission shaft, and power transmission shaft drives described disc cam; Described fork one end is so rotatable that to be arranged on described fork fixed axis, and the fork other end is connected with described pull bar, and described pull bar is connected with described manipulator fixed head; Described manipulator fixed head is fixed with executing agency; Described fork interlude is fixed with Cam Follower, Cam Follower and described disc cam close contact; Described disc cam controls lifting and the swing of described manipulator fixed head by fork and pull bar; Described material loading cylinder is fixing on the bracket, and material loading cylinder drives described upper flitch to move forward and backward.By the way, the present invention can flexible choice power input shaft orientation, and compact conformation, is convenient to layout location.
Description
Technical field
The present invention relates to manipulator field, particularly relate to a kind of cam robot.
Background technology
Motor-driven manipulator is easy for installation, and flexibility is high, can stop by multiple spot, if assembly system needs to change or redesign, as long as simply reprogram.But motor-driven manipulator need be equipped with complicated electric control system, if complete better simply repetitive operation with this kind of manipulator, just seem high cost.
Cam-type manipulator using cam as driving mechanism, has the advantages such as structure is simple, stable action, phase place are accurate, work rhythm is fast, failure rate is low, cost are low, long service life.But in the practical application practice of manipulator, have also discovered existing direct acting and Direct Action Type cam robot exists obvious defect, the angle namely between the axis of its power input shaft and mechanical arm plane of movement cannot be needed and flexible choice according to concrete layout by user.This defect seriously constrains applying of cam-type manipulator.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of cam robot, compact conformation, be convenient to layout location, can flexible choice power input shaft orientation.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of cam robot, comprising: support, power transmission shaft, fork fixed axis, disc cam, fork, pull bar, material loading cylinder, manipulator fixed head and upper flitch; Described disc cam is arranged on described power transmission shaft, and power transmission shaft drives described disc cam; Described fork one end is so rotatable that to be arranged on described fork fixed axis, and the fork other end is connected with described pull bar, and described pull bar is connected with described manipulator fixed head; Described manipulator fixed head is fixed with executing agency; Described fork interlude is fixed with Cam Follower, Cam Follower and described disc cam close contact; Described disc cam controls lifting and the swing of described manipulator fixed head by fork and pull bar; Described material loading cylinder is fixing on the bracket, and material loading cylinder drives described upper flitch to move forward and backward; Described cam comprises lifter cam and oscillating cam; Described fork comprises lifting fork and front and back fork; Described pull bar comprises lifter drawing bar and front and back pull bar; Described lifting fork is connected with described lifter drawing bar and front and back pull bar respectively with front and back fork; Described lifting fork and front and back fork by Cam Follower respectively with described lifter cam and oscillating cam close contact; Described support is fixed with guide pillar fixed block, is provided with in guide pillar fixed block and is slidably elevated guide pillar; Be connected with described lifter drawing bar bottom described lifting guide pillar, lifting guide pillar top is fixed with manipulator slide rail; Described manipulator fixed head is slidably arranged on manipulator slide rail, and described front and back pull bar is connected with described manipulator fixed head; Described manipulator slide rail is provided with manipulator slide block, and described manipulator fixed head is fixed on described manipulator slide block; Described manipulator slide block side is fixed with the spacing frid vertical with described manipulator slide block, and spacing frid has stopper slot; Curved rod is provided with between described spacing frid and described front and back pull bar; The rotatable setting in described curved rod interlude place on the bracket; Described curved rod one end is stuck in the stopper slot of spacing frid, and the other end is connected with described front and back pull bar.
Preferably, described support is fixed with material loading slide rail and cylinder block; Described material loading cylinder is fixed on cylinder block; Described material loading slide rail is provided with material loading slide block, and described upper flitch is fixed on described material loading slide block; Described material loading cylinder is connected with described upper flitch by connecting rod, and described connecting rod two ends are rotatable to be respectively fixed on described support and described material loading slide block; The piston rod of described material loading cylinder is connected to the interlude of described connecting rod by adapter.
Preferably, described upper flitch has workpiece standing groove.
Preferably, described executing agency is jaw or sucker.
The invention has the beneficial effects as follows: the present invention can flexible choice power input shaft orientation, mounting arrangement is flexible, convenient integrated with transmission system; Modularization, compact conformation, has multi-motion track and formal character; Maintain that cam drive structure is simple, stable action, phase place are accurate, work rhythm is fast, failure rate is low, cost are low, the advantage of long service life; Simplify the control system of equipment, decrease the design and manufaction cost of equipment, shorten the equipment development cycle.
Accompanying drawing explanation
Fig. 1 is the perspective view of cam robot one of the present invention preferred embodiment;
Fig. 2 is the main TV structure schematic diagram of shown cam robot;
Fig. 3 is the backsight structural representation of shown cam robot;
In accompanying drawing, the mark of each parts is as follows: 1, support; 2, power transmission shaft; 3, fork fixed axis; 4, lifter cam; 5, oscillating cam; 6, fork is elevated; 7, front and back fork; 8, lifter drawing bar; 9, front and back pull bar; 10, material loading cylinder; 11, manipulator fixed head; 12, upper flitch; 13, jaw; 14, Cam Follower; 15, guide pillar fixed block; 16, guide pillar is elevated; 17, manipulator slide rail; 18, manipulator slide block; 19, spacing frid; 20, curved rod; 21, material loading slide rail; 22, cylinder block; 23, connecting rod; 24, the spacing frid of material loading.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1 to Fig. 3, the embodiment of the present invention comprises:
A kind of cam robot, comprising: support 1, power transmission shaft 2, fork fixed axis 3, lifter cam 4, oscillating cam 5, lifting fork 6, front and back fork 7, lifter drawing bar 8, front and back pull bar 9, material loading cylinder 10, manipulator fixed head 11 and upper flitch 12; Upper flitch 12 has workpiece standing groove for putting workpiece; Described manipulator fixed head 11 is fixed with jaw 13 or sucker, and jaw 13 or sucker are from grabbing workpiece on upper flitch 12 and put in place by trade union college; Described lifter cam 4 and oscillating cam 5 are arranged on described power transmission shaft 2, and power transmission shaft 2 drives described lifter cam 4 and oscillating cam 5; Described lifting fork 6 and front and back fork 7 one end so rotatable that to be arranged on described fork fixed axis 3, lifting fork 6 be connected with described lifter drawing bar 8 and front and back pull bar 9 respectively with front and back fork 7 other end; Described lifting fork 6 and front and back fork 7 interlude are all fixed with Cam Follower 14, described lifting fork 6 and front and back fork 7 by Cam Follower 14 respectively with described lifter cam 4 and oscillating cam 5 close contact; Described support 1 is fixed with guide pillar fixed block 15, is provided with in guide pillar fixed block 15 and is slidably elevated guide pillar 16; Be connected with described lifter drawing bar 8 bottom described lifting guide pillar 16, lifting guide pillar 16 top is fixed with manipulator slide rail 17; Described manipulator slide rail 17 is provided with manipulator slide block 18, and described manipulator fixed head 11 is fixed on described manipulator slide block 18; Described manipulator slide block 18 side is fixed with the spacing frid 19 vertical with described manipulator slide block 18, and spacing frid 19 has stopper slot; Curved rod 20 is provided with between described spacing frid 19 and described front and back pull bar 9; Described curved rod 20 one end is stuck in the stopper slot of spacing frid 19, and the other end is connected with described front and back pull bar 9; Described curved rod 20 is rotatable near middle to be arranged on described support 1.
Described lifter cam 4 is under power transmission shaft 2 drives, described lifting fork 6 is driven to swing up and down around fork fixed axis 3, thus drive lifter drawing bar 8 to move up and down, lifter drawing bar 8 drives lifting guide pillar 16 to slide in guide pillar fixed block 15, lifting guide pillar 16 drives the lifting moving of described manipulator fixed head 11, the jaw 13 on manipulator fixed head 11 or sucker action thereupon; Described oscillating cam 5 is under power transmission shaft 2 drives, described front and back fork 7 is driven to swing up and down around fork fixed axis 3, before and after front and back fork 7 drives, pull bar 9 swings, curved rod 20 is under the restriction of spacing frid 19, the pulling force of front and back pull bar 9 is passed the power changing into and drive spacing frid 19 movable, slides on manipulator slide rail 17 with the manipulator slide block 18 that spacing frid 19 is fixing, thus realize moving forward and backward of jaw 13 or sucker.Lifter cam 4 and oscillating cam 5, under the driving of power transmission shaft 2, achieve the lifting moving of control jaw 13 or sucker simultaneously with movable.
Described support 1 is fixed with material loading slide rail 21 and cylinder block 22; Described material loading cylinder 10 is fixed on cylinder block 22; Described material loading slide rail 21 is provided with material loading slide block, and material loading slide block side is fixed with the spacing frid 24 of material loading, and described upper flitch 12 is fixed on described material loading slide block; Described material loading cylinder 10 drives described upper flitch 12 by connecting rod 23, and described connecting rod 23 two ends are rotatable to be respectively fixed on described support 1 and the spacing frid 24 of described material loading; The piston rod of described material loading cylinder 10 is connected to the interlude of described connecting rod 23 by adapter; Described connecting rod 23 is at the control lower swing of material loading cylinder 10, the motive force of material loading cylinder 10 is transmitted on the spacing frid 24 of material loading by connecting rod, the material loading slide block fixed with the spacing frid 24 of material loading is under the restriction of material loading slide rail 21, and it is movable that final material loading slide block drives described upper flitch 12 to realize.
Beneficial effect of the present invention comprises:
1, can flexible choice power input shaft orientation, mounting arrangement is flexible, convenient integrated with transmission system;
2, modularization, compact conformation, has multi-motion track and formal character;
3, maintain that cam drive structure is simple, stable action, phase place are accurate, work rhythm is fast, failure rate is low, cost are low, the advantage of long service life;
4, simplify the control system of equipment, decrease the design and manufaction cost of equipment, shorten the equipment development cycle.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (4)
1. a cam robot, is characterized in that, comprising: support, power transmission shaft, fork fixed axis, disc cam, fork, pull bar, material loading cylinder, manipulator fixed head and upper flitch; Described disc cam is arranged on described power transmission shaft, and power transmission shaft drives described disc cam; Described fork one end can be rotatably set on described fork fixed axis, and the fork other end is connected with described pull bar, and described pull bar is connected with described manipulator fixed head; Described manipulator fixed head is fixed with executing agency; Described fork interlude is fixed with Cam Follower, Cam Follower and described disc cam close contact; Described disc cam controls lifting and the swing of described manipulator fixed head by fork and pull bar; Described material loading cylinder is fixing on the bracket, and material loading cylinder drives described upper flitch to move forward and backward; Described disc cam comprises lifter cam and oscillating cam; Described fork comprises lifting fork and front and back fork; Described pull bar comprises lifter drawing bar and front and back pull bar; Described lifting fork is connected with described lifter drawing bar and front and back pull bar respectively with front and back fork; Described lifting fork and front and back fork by Cam Follower respectively with described lifter cam and oscillating cam close contact; Described support is fixed with guide pillar fixed block, is provided with in guide pillar fixed block and is slidably elevated guide pillar; Be connected with described lifter drawing bar bottom described lifting guide pillar, lifting guide pillar top is fixed with manipulator slide rail; Described manipulator fixed head is slidably disposed on manipulator slide rail, and described front and back pull bar is connected with described manipulator fixed head; Described manipulator slide rail is provided with manipulator slide block, and described manipulator fixed head is fixed on described manipulator slide block; Described manipulator slide block side is fixed with the spacing frid vertical with described manipulator slide block, and spacing frid has stopper slot; Curved rod is provided with between described spacing frid and described front and back pull bar; Described curved rod interlude place can be rotatably set on described support; Described curved rod one end is stuck in the stopper slot of spacing frid, and the other end is connected with described front and back pull bar.
2. cam robot according to claim 1, is characterized in that: described support is fixed with material loading slide rail and cylinder block; Described material loading cylinder is fixed on cylinder block; Described material loading slide rail is provided with material loading slide block, and described upper flitch is fixed on described material loading slide block; Described material loading cylinder is connected with described upper flitch by connecting rod, and described connecting rod two ends are rotatably fixed on described support and described material loading slide block respectively; The piston rod of described material loading cylinder is connected to the interlude of described connecting rod by adapter.
3. cam robot according to claim 2, is characterized in that: described upper flitch has workpiece standing groove.
4. cam robot according to claim 2, is characterized in that: described executing agency is jaw or sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410578608.2A CN104354156B (en) | 2014-10-27 | 2014-10-27 | Cam robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410578608.2A CN104354156B (en) | 2014-10-27 | 2014-10-27 | Cam robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104354156A CN104354156A (en) | 2015-02-18 |
| CN104354156B true CN104354156B (en) | 2016-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410578608.2A Active CN104354156B (en) | 2014-10-27 | 2014-10-27 | Cam robot |
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| Country | Link |
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| CN (1) | CN104354156B (en) |
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| CN106475760A (en) * | 2016-12-06 | 2017-03-08 | 深圳市科迈威包装机械有限公司 | A kind of assembly machine with cam link structure |
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| CN107097216A (en) * | 2017-06-20 | 2017-08-29 | 常州机电职业技术学院 | Feeding manipulator |
| CN107498199A (en) * | 2017-09-18 | 2017-12-22 | 苏州襄行智能科技有限公司 | Utilize the control device of angular displacement of the cam |
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| CN114906604A (en) * | 2022-04-06 | 2022-08-16 | 苏州瀚川智能科技股份有限公司 | Double-cam driving material taking device and method |
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| US3865253A (en) * | 1973-07-12 | 1975-02-11 | Francis L Healy | Parts handler |
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| Publication number | Publication date |
|---|---|
| CN104354156A (en) | 2015-02-18 |
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Address after: 215124 Wuzhong District, Jiangsu Province, Lane Street, the west of the nine Sheng street, Suzhou, No. 88 on the European automation equipment Co., Ltd. Patentee after: SUZHOU LING'OU AUTOMATION EQUIPMENT TECHNOLOGY CO., LTD. Address before: 215124 Wuzhong District, Jiangsu Province, Lane Street, the west of the nine Sheng street, Suzhou, No. 88 on the European automation equipment Co., Ltd. Patentee before: Suzhou Ling'ou Automation Equipment Co., Ltd. |
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Address after: 215000 building 4 and 5, No. 4, South Dongwu Road, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province Patentee after: SUZHOU SETTEN LINGOU INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 215124, Suzhou, Suzhou, Europe 88 automation equipment Co., Ltd., Wuzhong District, Jiangsu Province, Nine West Street, Guo Sheng Street Patentee before: SUZHOU LINGOU AUTOMATION TECHNOLOGY Co.,Ltd. |
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