CN105033995B - A kind of cam-actuated swing mechanical hand - Google Patents
A kind of cam-actuated swing mechanical hand Download PDFInfo
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- CN105033995B CN105033995B CN201510474089.XA CN201510474089A CN105033995B CN 105033995 B CN105033995 B CN 105033995B CN 201510474089 A CN201510474089 A CN 201510474089A CN 105033995 B CN105033995 B CN 105033995B
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- folder
- open
- cam
- swing
- mechanical hand
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Abstract
The present invention relates to a kind of cam-actuated swing mechanical hand, including main shaft, it is assemblied on main shaft and opens folder cam and oscillating cam, double connecting rod and clip portion；Motor drives main axis by Chain conveyer, opens the on-off action that folder cam controls clip by double connecting rod, and oscillating cam controls the swing of clip portion by double connecting rod simultaneously.It adopts pure mechanic structure, need not want automatically controlled or pneumatic, achieves material or the reciprocal transmission function of product fixed point only by actuated by cams.Successful utilization in complete equipment for this swing mechanical hand, brings to equipment and finishes that structure is compact, easy to maintenance, the advantage of efficiency high, strong antijamming capability, can be widely applied to automated production equipment.
Description
Technical field
The present invention relates to one kind, by actuated by cams, is carried out to the material needing two fixed points on straight line in automation equipment
The mechanism of reciprocally swinging transmission, especially a kind of cam-actuated swing mechanical hand.
Background technology
At present, the transmission in industrial automation material is often broadly divided into stream transmission and two kinds of transmission of point.Stream transmission
Mainly there are band transmission, pipe transmission and vibration transmission, point transmission mainly has sucker transmission, clamping transmission and index dial transmission etc..Its
In clamping transmission mainly in the majority by pneumatic clamps and electrical clip, be also widely used aborning.But it is wherein pneumatic
Folder needs compressed gas source, and electrical clip then needs electric control circuit and motor, and these can bring extra holding to a kind of purely mechanic equipment
Pin.In order to material set point transmission function is realized on purely mechanic equipment, need a kind of compact conformation, stable performance, maintenance
The convenient mechanical hand that swings is come realizing a transmission.
Content of the invention
In order to avoid existing clamping transmission equipment above shortcomings, the present invention provides a kind of cam-actuated oscillating machine
Tool handss, to meet the market demand of material, product fixed point transmission.
The cam-actuated swing mechanical hand that the present invention provides, including：
What same main shaft (15) rotated opens folder cam (14) and oscillating cam (12)；
Double connecting rod, it comprises mounting seat (10), and head end is connected to the oscillating cam push rod (13) in mounting seat (10)
With drive folder cam follower (13 '), be connected with swing transmission lever (11 ') swinging contiguous block (22), and push folder open after being connected with
Transmission lever 11 is pressed from both sides in opening of fork (7)；Oscillating cam push rod (13) contacts connection, oscillating cam push rod (13) with oscillating cam (12)
End is passed through a hemisphere fast (9) and is connected with swinging transmission lever (11 ') transmission lever (11)；Open folder cam follower (13 ') with open folder convex
Wheel (14) contact connects, and opens folder cam follower (13 ') end and is connected with driving folder transmission lever (11) by another hemisphere fast (9)；And
Clip portion, it comprises to put short tube (16) by the folder that bearing block 18 supports, and is installed on folder pendulum by connecting seat (19)
Folder pendulum standpipe (6) of short tube (16) one end, is installed on the holder (3) that folder pendulum standpipe (6) upper end has clip (4), through folder pendulum
The leukorrhagia of short tube (16) open folder transmission block (20) open folder push rod (23), through folder pendulum standpipe (6) open folder stock (2), drive folder
Stock (2) upper end connect contact with clip (4) open folder quarter butt (1), open folder stock (2) lower end set can with open folder transmit block
(20) drive folder transmission block (21) on coordinating；
Push open after described folder fork (7) promote open folder push rod (23) and under open folder transmission block (20) move back and forth, and then drive
Make out to press from both sides transmission block (21), drive folder stock (2) and open the on-off action that folder quarter butt (1) rotation completes clip；Transmitted by swing
The swing contiguous block (22) that bar (11 ') drive swings and folder pendulum short tube (16) clamping, and order about described clip portion swing.
Wherein, described main shaft (15) is rotated by Chain conveyer by motor.
Described folder cam (14) and oscillating cam (12) opened is cam ring, external cam or grooved cam.
Push folder fork (7) after described open and be installed on fork mounting seat (8), folder push rod (23) is driven freely with described in its lower end
End discontinuous connection.
Described open folder push rod (23) with described after push open to press from both sides between fork (7), control module can be set, for eliminating
Folder push rod (23) free end is opened described in the spring effect anti-pass of clip afterbody is delivered to, and to pushing folder fork (7) after described open
Mobile.
The present invention swings space mechanism shown in mechanical hand and only gives one in two-way material assembly line in plant equipment
Line, face on the basis of the perpendicular that described spindle centerline is located, the symmetrical left side can arrange another double connecting rod
With another clip portion, constitute and move mechanical hand by two cam-actuated double pendulums.
The present invention opens folder cam and oscillating cam by what same main shaft configured, and double connecting rod and clip portion are constituted.Motor
Main axis are driven by Chain conveyer, opens the on-off action that folder cam controls clip by double connecting rod, oscillating cam simultaneously
Control the swing of clip portion by double connecting rod.Using pure mechanic structure, need not want automatically controlled or pneumatic, only by convex
Wheel drive achieves material or the reciprocal transmission function of product fixed point.
Its cam-actuated purely mechanic mechanism meets equipment and swings mobile needs, and must not be extra compressed gas source and electricity
Control part, is that whole equipment has saved resource, so that the main axis kinetic energy of equipment is fully used.Make whole simultaneously
Individual equipment is provided with compact conformation, the easy to maintenance, feature of strong antijamming capability, efficiency high, and the equipment fault time substantially shortens,
Efficiency has obtained the feature of effective lifting.
In double connecting rod, open folder transmission lever, swing and all employ hemisphere block between transmission lever and adjacent members and be connected,
Effectively prevent transmission lever to move respectively up and down the interference on a different plane transmission lever being caused.
By the Mirroring Mapping of spindle centerline place perpendicular, can arrange another double connecting rod and another
Clip portion, constitutes and moves mechanical hand by two cam-actuated double pendulums.
Brief description
Fig. 1 is the tomograph of one embodiment of the invention；
Fig. 2 is the space structure sketch of Fig. 1 embodiment；
Fig. 3 is the partial enlarged drawing of clip portion in Fig. 1；
Fig. 4 is the localized delivery magnified partial view in Fig. 1 clip portion.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
In accompanying drawing, each several part is：1. drive folder quarter butt, 2. drive folder stock, 3. clip mounting seat (or holder), 4. clip, 5. circle
Hole jig arm, 6. folder pendulum standpipe, 7. after push folder fork open, 8. fork mounting seat, 9. hemisphere block, 10. push rod mounting seat, 11. drive folder
Transmission lever, 11 '. swing transmission lever, 12. oscillating cams, 13. oscillating cam push rods, 13 ' open folder cam follower, 14. to drive folder convex
Wheel, 15. main shafts, 16. folder pendulum short tubes, 17. short tube fixed covers, 18. bearing blocks, 19. connecting seats, open under 20. and press from both sides transmission block, 21.
On open folder transmission block, 22. swing contiguous blocks, 23. drive folder push rod.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, embodiment swings mechanical hand and mainly includes：Main shaft 15, is assemblied in and opens on main shaft 15
Folder cam 14 and oscillating cam 12, double connecting rod and clip portion.Motor drives main shaft 15 to rotate by Chain conveyer, swings convex
Wheel 12 controls the swing of clip portion by double connecting rod, opens folder cam 14 simultaneously and controls opening of clip by double connecting rod
Close.
Double connecting rod comprises mounting seat 10, oscillating cam push rod that head end is connected in mounting seat 10 13 and open folder cam
Push rod 13 ', is connected with the swing transmission lever 11 ' swinging contiguous block 22, and push folder fork 7 after being connected with open open folder transmission lever
11；Oscillating cam push rod 13 contacts connection with oscillating cam 12, and oscillating cam push rod 13 end is passed through a hemisphere block 9 and swung
Transmission lever 11 ' is connected；Open folder cam follower 13 ' and open folder cam 14 and contact connections, open and press from both sides cam follower 13 ' end by another
Hemisphere block 9 is connected with opening folder transmission lever 11.Swing contiguous block 22 and be connected using hemisphere block between transmission lever 11 ' with swinging, pusher
Open folder fork 7 and be also adopted by hemisphere block and be connected between folder transmission lever 11 with opening.
Clip portion comprises to put short tube 16 by the folder that bearing block 18 supports, and is installed on folder pendulum short tube 16 1 by connecting seat 19
The folder pendulum standpipe 6 at end, is installed on the holder 3 that folder pendulum standpipe 6 upper end has clip 4, drives folder through the leukorrhagia pressing from both sides pendulum short tube 16 and passes
That passs block 20 drives folder push rod 23, presss from both sides stock 2 through opening of folder pendulum standpipe 6, opens folder stock 2 upper end and connects and opening that clip 4 contacts
Folder quarter butt 1, open folder stock 2 lower end set can with open folder transmission block 20 cooperation on open folder transmission block 21.Folder pendulum length pipe 6 upper end is solid
Determine circular hole jig arm 5, clip 4 is fixed in this circular hole jig arm 5 by clip mounting seat 3.Folder pendulum short tube 16 rolling assembling is at two
In bearing block 18, between bearing block 18 and folder pendulum short tube 16, short tube fixed cover 17 is had to be connected.
As Fig. 4, under to open folder transmission block 20 be vertical bar shaped part, be anchored on described in open folder push rod 23 one end.On drive folder and pass block block
21 is L-shaped, and the long arm end above opening folder transmission block 21 is anchored on out folder stock 2 lower end, and galianconism is installed rolling bearing, this rolling
The external cylindrical surface of bearing with open folder transmission block 20 outer surface contact.After push open folder fork 7 be installed on fork mounting seat 8, it
Lower end can with open folder push rod 23 free end discontinuous connection.
Folder pendulum standpipe 6 is installed on folder pendulum short tube 16 one end by connecting seat 19, is mutually perpendicular.Connecting seat 19 includes one
To right-angle coupler, the horizontal part side of right-angle coupler has inner circle arcuate groove be adapted to folder pendulum standpipe 6, the erecting of right-angle coupler
Straight portion side has arc-shaped slot be adapted to folder pendulum short tube 16, a pair of right-angle coupler snaps into folder pendulum standpipe 6 and folder put short
Screw locking is passed through on pipe 16.
Main shaft 15 in Fig. 1, open folder cam 14, oscillating cam 12, push rod mounting seat 10, oscillating cam push rod 13, to drive folder convex
Take turns push rod 13 ', open folder transmission lever 11 and swing transmission lever 11 ', be installed in the lower intracavity of plant equipment, main shaft 15 is led to by motor
Cross chain drive and drive and open folder cam 14, oscillating cam 12 and rotate.
Open folder cam 14 driving and open folder cam follower 13 ', back out folder fork by opening to press from both sides after transmission lever 11 transmission moves to
7.After push open folder fork 7 promote open folder push rod 23 (being assemblied in folder pendulum short tube 16) and under drive folder and transmit block 20 and move back and forth, enter
And under open folder transmission block 20 order about out folder transmission block 21, open folder stock 2 and open folder quarter butt 1 rotate complete clip 4 opening and closing move
Make.Meanwhile, oscillating cam 12 drives oscillating cam push rod 13, drives swing contiguous block 22 to swing through swinging transmission lever 11 '；Pendulum
Dynamic folder pendulum short tube 16 clamping swinging contiguous block 22 with being assemblied in two bearing blocks 18, and order about the (inclusion of described clip portion
That opens folder transmission block 21 on folder pendulum short tube 16, connecting seat 19, folder pendulum length pipe 6, band drives folder stock 2, clip mounting seat 3, clip 4
Deng) swing.
Described open folder push rod 23 and described after push open folder fork 7 between control module can be set, for eliminate due to
The spring effect anti-pass of clip afterbody opens folder push rod 23 free end described in being delivered to, and mobile to pushing folder fork 7 after described open.Because
Clip 4 normally off is to be produced by the spring effect of clip afterbody, can be delivered to this action anti-pass simultaneously and drive folder push rod 23 freely
End, it shows as pushing the feature of folder fork 7 movement backward open.So, when the detection of whole equipment finds that early-stage preparations are insufficient,
Need to cancel this operation, can stop and open the 23 of folder push rod to push folder fork 7 backward open mobile, just have folder with control module action
Son is in long open state, has even arrived and has taken object point, also will not grip material or product, improves the fault-tolerant of equipment entirety
Property and intelligent, improves the utilization rate of product, reduces the generation of defective work simultaneously.
In Fig. 1, shown swing mechanical hand space mechanism only gives one in two-way material assembly line in plant equipment
Line, face on the basis of the perpendicular that described main shaft 15 centrage is located, the symmetrical left side can be another with setting structure identical
One double connecting rod and another clip portion, constitute and move mechanical hand by two cam-actuated double pendulums.
Above by specific embodiment, the present invention is described in detail, these detailed descriptions must not believe that the present invention
It is only limited to the content of these embodiments.Those skilled in the art are according to present inventive concept, these describe and to combine this area public
Know any improvement, equivalents that general knowledge makes, should be included in the protection domain of the claims in the present invention.
Claims (9)
1. a kind of cam-actuated swing mechanical hand is it is characterised in that include：
Same main shaft（15）Rotate opens folder cam（14）And oscillating cam（12）；
Double connecting rod, it comprises mounting seat（10）, head end is connected to mounting seat（10）On oscillating cam push rod（13）With open
Folder cam follower（13’）, it is connected with swing contiguous block（22）Swing transmission lever（11’）, and push folder fork open after being connected with
（7）Open folder transmission lever（11）；Oscillating cam push rod（13）With oscillating cam（12）Contact connects, oscillating cam push rod（13）End
A hemisphere block is passed through at end（9）With swing transmission lever（11’）It is connected；Open folder cam follower（13’）With open folder cam（14）Contact is even
Connect, open folder cam follower（13’）Another hemisphere block is passed through in end（9）With open folder transmission lever（11）It is connected；And
Clip portion, it comprises by bearing block（18）The folder pendulum short tube of supporting（16）, by connecting seat（19）It is installed on folder pendulum short
Pipe（16）The folder pendulum standpipe of one end（6）, it is installed on folder pendulum standpipe（6）Upper end has clip（4）Holder（3）, short through folder pendulum
Pipe（16）Leukorrhagia open folder transmission block（20）Drive folder push rod（23）, through folder pendulum standpipe（6）Drive folder stock（2）, open folder length
Bar（2）What upper end connection was contacted with clip drives folder quarter butt（1）, drive folder stock（2）Lower end set can with open folder transmission block（20）Join
Folder transmission block is opened on closing（21）；
Folder fork is pushed open after described（7）Folder push rod is driven in promotion（23）With under open folder transmission block（20）Move back and forth, and then order about
Open folder transmission block（21）, drive folder stock（2）And drive folder quarter butt（1）Rotate the on-off action completing clip；By swing transmission lever
（11’）Drive the swing contiguous block swinging（22）With folder pendulum short tube（16）Clamping, and order about described clip portion swing.
2. according to claim 1 swing mechanical hand it is characterised in that：Described main shaft（15）Revolved by Chain conveyer by motor
Turn.
3. according to claim 1 and 2 swing mechanical hand it is characterised in that：Described open folder cam（14）And oscillating cam
（12）It is cam ring, external cam or grooved cam.
4. according to claim 1 swing mechanical hand it is characterised in that：Folder fork is pushed open after described（7）It is installed on fork
Mounting seat（8）, folder push rod is driven with described in its lower end（23）Discontinuous connection.
5. according to claim 1 swing mechanical hand it is characterised in that：Folder transmission block is opened under described（20）For vertical bar shaped
Part, be anchored on described in drive folder push rod（23）One end；On open folder transmission block（21）L-shaped, described on open folder transmission block（21）'s
Long arm end drives folder stock described in being anchored on（2）Lower end, on galianconism install rolling bearing, the external cylindrical surface of this rolling bearing with described
Under open folder transmission block（20）Outer surface sliding contact.
6. according to claim 1 swing mechanical hand it is characterised in that：Drive folder push rod described（23）With described after push open
Folder fork（7）Between arrange control module, for eliminate drive folder push rod described in the spring effect anti-pass of clip afterbody is delivered to
（23）Free end, and to pushing folder fork open after described（7）Mobile.
7. swing mechanical hand according to claim 1 is it is characterised in that described connecting seat（19）Including a pair of right angle button
Part, the horizontal part side of this right-angle coupler has can be with folder pendulum standpipe（6）Adaptation inner circle arcuate groove, this right-angle coupler vertical
Portion side has the arc-shaped slot being adapted to folder pendulum short tube (16).
8. swing mechanical hand according to claim 1 is it is characterised in that described swing contiguous block（22）With swing transmission lever
（11’）Between using hemisphere block connect, described after push folder fork open（7）With open folder transmission lever（11）Between using hemisphere block even
Connect.
9. swing mechanical hand according to claim 1 is it is characterised in that with described main shaft（15）It is vertical that centrage is located
Face on the basis of plane, the symmetrical left side arranges another double connecting rod and another clip portion, constitutes and is driven by two cams
Dynamic double pendulum moves mechanical hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510474089.XA CN105033995B (en) | 2015-08-05 | 2015-08-05 | A kind of cam-actuated swing mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510474089.XA CN105033995B (en) | 2015-08-05 | 2015-08-05 | A kind of cam-actuated swing mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105033995A CN105033995A (en) | 2015-11-11 |
| CN105033995B true CN105033995B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510474089.XA Expired - Fee Related CN105033995B (en) | 2015-08-05 | 2015-08-05 | A kind of cam-actuated swing mechanical hand |
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| CN (1) | CN105033995B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105414376A (en) * | 2015-12-18 | 2016-03-23 | 湖北鑫吉药用包装股份有限公司 | Stamping and discharging device for metal thin pipe production and waving hand assembly thereof |
| CN106986073B (en) * | 2017-05-16 | 2020-01-21 | 佛山风燊包装科技有限公司 | Mechanism for rotating and inserting L-shaped claw into small gap |
| CN107336055B (en) * | 2017-08-22 | 2023-04-11 | 安徽智森电子科技有限公司 | Product positioning fixture |
| CN107283416B (en) * | 2017-08-25 | 2019-08-06 | 博众精工科技股份有限公司 | A kind of turnover mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2161433Y (en) * | 1993-07-02 | 1994-04-13 | 张镇献 | Manipulator |
| CN1433875A (en) * | 2003-03-13 | 2003-08-06 | 上海交通大学 | Manipulator for annealing and antomatic blanking of car lamp tube |
| CN101948041A (en) * | 2010-09-15 | 2011-01-19 | 芜湖天人智能机械有限公司 | Material pushing mechanism |
| CN103350798A (en) * | 2013-07-01 | 2013-10-16 | 安徽正远包装科技有限公司 | Cam and connecting rod combined heat seal mechanism |
| CN204844174U (en) * | 2015-08-05 | 2015-12-09 | 清华大学深圳研究生院 | Cam drive's swing machinery hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001300663A (en) * | 2000-04-14 | 2001-10-30 | Aida Eng Ltd | Transport apparatus |
-
2015
- 2015-08-05 CN CN201510474089.XA patent/CN105033995B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2161433Y (en) * | 1993-07-02 | 1994-04-13 | 张镇献 | Manipulator |
| CN1433875A (en) * | 2003-03-13 | 2003-08-06 | 上海交通大学 | Manipulator for annealing and antomatic blanking of car lamp tube |
| CN101948041A (en) * | 2010-09-15 | 2011-01-19 | 芜湖天人智能机械有限公司 | Material pushing mechanism |
| CN103350798A (en) * | 2013-07-01 | 2013-10-16 | 安徽正远包装科技有限公司 | Cam and connecting rod combined heat seal mechanism |
| CN204844174U (en) * | 2015-08-05 | 2015-12-09 | 清华大学深圳研究生院 | Cam drive's swing machinery hand |
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| Publication number | Publication date |
|---|---|
| CN105033995A (en) | 2015-11-11 |
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