CN105328694A - Efficient cam mechanical hand - Google Patents
Efficient cam mechanical hand Download PDFInfo
- Publication number
- CN105328694A CN105328694A CN201510735202.5A CN201510735202A CN105328694A CN 105328694 A CN105328694 A CN 105328694A CN 201510735202 A CN201510735202 A CN 201510735202A CN 105328694 A CN105328694 A CN 105328694A
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- China
- Prior art keywords
- cam
- transmission mechanism
- rotary shaft
- hollow rotary
- pedestal
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- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 230000003028 elevating Effects 0.000 claims description 21
- 238000001125 extrusion Methods 0.000 claims description 4
- 230000000875 corresponding Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The invention relates to the technical field of mechanical hands, in particular to an efficient cam mechanical hand. The efficient cam mechanical hand comprises a seat body, a swing arm, a lifting seat, a lifting drive motor, a movable shaft, a swing box, a hollow rotary shaft and a rotary drive motor. The movable shaft is vertically connected into the hollow rotary shaft in a sliding manner. The lower end of the movable shaft is rotationally connected to the lifting seat. The swing arm is fixed to the upper end of the movable shaft. The output end of the lifting drive motor drives the lifting seat and the movable shaft to ascend or descend together through a lifting cam transmission mechanism. The output end of the rotary drive motor drives the hollow rotary shaft and the movable shaft to rotate together through a rotary cam transmission mechanism. According to the efficient cam mechanical hand, ascent and descent and rotation of the swing arm are controlled through the lifting cam transmission mechanism and the rotary cam transmission mechanism respectively, flexibility is higher, ascent, descent and rotation are all achieved completely through the mechanical structures, the fault rate is low, the service life is long, the action speed is high, and high-speed automation can be achieved.
Description
technical field:
The present invention relates to manipulator technical field, particularly relate to high-efficiency cam manipulator.
background technology:
In machinery industry, often need to use manipulator, being used in production line needing the components and parts be shifted pick up, carry and put down operation, being convenient to the automaticity improving production process, enhancing productivity.Manipulator is some holding function imitating staff and arm; in order to capture, to carry the automatic pilot of object or operation tool by fixed routine; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Existing manipulator generally realizes pickup by lift cylinder and parts moving linearly combination, carrying and the function such as to put down, action element is all pneumatic structure, electric components is many, easily be out of order, service life is short, and precision is low, responsiveness is slow, and existing manipulator is all to pressing equipment loading and unloading by the hand of people, manipulator is that the handling efficiency of improving product all can carry out fast removal operation, so just need artificial and then quick operation of feeding and discharging, the fast fetching blowing of manipulator is easy to the hand hurting operating personnel, there is very large potential safety hazard.
summary of the invention:
The object of the invention is to provide for the deficiencies in the prior art a kind of and realize the safer high-efficiency cam manipulator of lifting and rotary motion, long service life, quick action, operation by frame for movement.
Object of the present invention is realized by following technical measures:
High-efficiency cam manipulator, it includes pedestal, the swing arm transversely arranged, vertically be slidably arranged in the elevating bracket bottom pedestal, be arranged on the lifting drive motors bottom pedestal, can move up and down and the movable axis of rotary motion, be arranged on the swing case on pedestal, vertically be rotatably connected on the hollow rotary shaft swung in case, be arranged on the rotary drive motor on pedestal, movable axis is vertically slidably connected in hollow rotary shaft, the lower end of movable axis to be extended downwards bottom pedestal and is rotatably connected on elevating bracket, swing arm is fixed on the upper end of movable axis, the output of lifting drive motors drives elevating bracket to move up and down together with movable axis by lifter cam transmission mechanism, the output of rotary drive motor drives hollow rotary shaft to rotate together with movable axis by rotating cam transmission mechanism.
Described rotating cam transmission mechanism includes the cam shaft, the cylindrical cam be socketed on cam shaft, the multiple bumping posts be uniformly distributed circumferentially in hollow rotary shaft circumferential exterior surface that are transversely rotatably connected on and swing in case, cylindrical cam circumferential exterior surface offers cam locus groove, bumping post near cylindrical cam on hollow rotary shaft stretches in cam locus groove, and the output of rotary drive motor is driven by the first transmission mechanism and connects cam shaft.
Described cam locus groove is be distributed in the helicla flute in cylindrical cam circumferential exterior surface in the shape of a spiral.
Described bumping post is arranged along hollow rotary shaft radial direction, and the position that bumping post contacts with cam locus groove is provided with rolling bearing.
Described first transmission mechanism is belt wheel transmission mechanism.
Described lifter cam transmission mechanism includes the lifting driving cam, the roller be arranged on elevating bracket that are socketed on lifting drive motors output, roller to be positioned at above lifting driving cam and roll extrusion on the contour surface of lifting driving cam.
Back-moving spring is connected with between described elevating bracket and pedestal.
Described slide block is slidably connected in chute by ball bearing mechanism.
Described movable axis circumferential exterior surface offers chute vertically, and position male corresponding with chute on hollow rotary shaft is provided with the slide block coordinated with chute, and skid is arranged in chute.
Beneficial effect of the present invention is: the present invention includes pedestal, the swing arm transversely arranged, vertically be slidably arranged in the elevating bracket bottom pedestal, be arranged on the lifting drive motors bottom pedestal, can move up and down and the movable axis of rotary motion, be arranged on the swing case on pedestal, vertically be rotatably connected on the hollow rotary shaft swung in case, be arranged on the rotary drive motor on pedestal, movable axis is vertically slidably connected in hollow rotary shaft, the lower end of movable axis to be extended downwards bottom pedestal and is rotatably connected on elevating bracket, swing arm is fixed on the upper end of movable axis, the output of lifting drive motors drives elevating bracket to move up and down together with movable axis by lifter cam transmission mechanism, the output of rotary drive motor drives hollow rotary shaft to rotate together with movable axis by rotating cam transmission mechanism, the present invention utilizes lifter cam transmission mechanism, rotating cam transmission mechanism two groups of cam mechanisms control lifting and the rotation of swing arm respectively, be elevated and rotate to distinguish and freely control, flexibility ratio is higher, various different user demand can be met, and the present invention realizes lifting and rotary motion by frame for movement completely, failure rate is low, long service life, quick action, operate safer, can realize high-speed automated.
accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention.
Fig. 2 is the enlarged drawing at A place in Fig. 1.
Fig. 3 is the structural representation at another visual angle of the present invention.
Fig. 4 is the structural representation of rotating cam transmission mechanism of the present invention.
detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is further illustrated, as shown in figures 1-4, high-efficiency cam manipulator provided by the invention includes pedestal 1, the swing arm 2 transversely arranged, vertically be slidably arranged in the elevating bracket 3 bottom pedestal 1, be arranged on the lifting drive motors 4 bottom pedestal 1, can move up and down and the movable axis 5 of rotary motion, be arranged on the swing case 11 on pedestal 1, vertically be rotatably connected on the hollow rotary shaft 6 swung in case 11, be arranged on the rotary drive motor 7 on pedestal 1, the mode that movable axis 5 can not rotate relative to hollow rotary shaft 6 can only slide up and down relative to hollow rotary shaft 6 is vertically slidably connected in hollow rotary shaft 6, the lower end of movable axis 5 to be extended downwards bottom pedestal 1 and is rotatably connected on elevating bracket 3, swing arm 2 is fixed on the upper end of movable axis 5, the output of lifting drive motors 4 drives elevating bracket 3 to move up and down together with movable axis 5 by lifter cam transmission mechanism 8, the output of rotary drive motor 7 drives hollow rotary shaft 6 to rotate together with movable axis 5 by rotating cam transmission mechanism 9.
Rotating cam transmission mechanism 9 includes the cam shaft 91 being transversely rotatably connected on and swinging in case 11, be socketed in the cylindrical cam 92 on cam shaft 91, be uniformly distributed circumferentially the multiple bumping posts 93 in hollow rotary shaft 6 circumferential exterior surface, cylindrical cam 92 circumferential exterior surface offers cam locus groove 921, bumping post 93 near cylindrical cam 92 on hollow rotary shaft 6 stretches in cam locus groove 921, the output of rotary drive motor 7 is driven by the first transmission mechanism 94 and connects cam shaft 91, when cylindrical cam 92 rotates, the bumping post 93 in cam locus groove 921 will be driven to slide along cam locus groove 921, thus drive hollow rotary shaft 6 to rotate, structure is simple, quick action.First transmission mechanism 94 is belt wheel transmission mechanism, can certainly be gear drive or chain wheel driving mechanism.
Cam locus groove 921 is be distributed in the helicla flute in cylindrical cam 92 circumferential exterior surface in the shape of a spiral, and cylindrical cam 92 often rotates one week, just drives hollow rotary shaft 6 to rotate fixing angle, and it is convenient to control, and precision is high.Bumping post 93 is arranged along hollow rotary shaft 6 radial direction, and the position that bumping post 93 contacts with cam locus groove 921 is provided with rolling bearing 95, reduces the frictional force between bumping post 93 and cam locus groove 921, makes bumping post 93 slide more smooth-going relative to cam locus groove 921.
Lifter cam transmission mechanism 8 includes the lifting driving cam 81, the roller 82 be arranged on elevating bracket 3 that are socketed on lifting drive motors 4 output, roller 82 be positioned at lifting driving cam 81 above and roll extrusion lifting driving cam 81 contour surface on, lifting driving cam 81 rotates and elevating bracket 3 just can be driven to be elevated, structure is simple, quick action.Back-moving spring 12 is connected with between elevating bracket 3 and pedestal 1, power can be provided downwards for elevating bracket 3 resets, can ensure that roller 82 roll extrusion is always on the contour surface of lifting driving cam 81, prevent elevating bracket 3 build-up lag excessive and depart from the contact with lifting driving cam 81.
Movable axis 5 circumferential exterior surface offers chute 51 vertically, and position male corresponding with chute 51 on hollow rotary shaft 6 is provided with the slide block 61 coordinated with chute 51, and described slide block 61 is slidably connected in chute 51 by ball bearing mechanism (not shown)., can ensure that movable axis 5 can not rotate relative to hollow rotary shaft 6 can only slide up and down relative to hollow rotary shaft 6.
The present invention utilizes lifter cam transmission mechanism 8, rotating cam transmission mechanism 9 liang group cam mechanism to control lifting and the rotation of swing arm 2 respectively, be elevated and rotate to distinguish and freely control, swing arm 2 is elevated to arbitrfary point and can stops, flexibility ratio is higher, can meet various different user demand, and the present invention realizes lifting and rotary motion by frame for movement completely, failure rate is low, long service life, quick action, can realize high-speed automated.
Finally should be noted that; above embodiment is only in order to illustrate technical scheme of the present invention; but not limiting the scope of the invention; although done to explain to the present invention with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify to technical scheme of the present invention or equivalent replacement, and not depart from essence and the scope of technical solution of the present invention.
Claims (9)
1. high-efficiency cam manipulator, it is characterized in that: include pedestal (1), the swing arm (2) transversely arranged, vertically be slidably arranged in the elevating bracket (3) of pedestal (1) bottom, be arranged on the lifting drive motors (4) of pedestal (1) bottom, can move up and down and the movable axis (5) of rotary motion, be arranged on the swing case (11) on pedestal (1), vertically be rotatably connected on the hollow rotary shaft (6) swung in case (11), be arranged on the rotary drive motor (7) on pedestal (1), movable axis (5) is vertically slidably connected in hollow rotary shaft (6), the lower end of movable axis (5) is extended pedestal (1) bottom downwards and is rotatably connected on elevating bracket (3), swing arm (2) is fixed on the upper end of movable axis (5), the output of lifting drive motors (4) drives elevating bracket (3) to move up and down together with movable axis (5) by lifter cam transmission mechanism (8), the output of rotary drive motor (7) drives hollow rotary shaft (6) to rotate together with movable axis (5) by rotating cam transmission mechanism (9).
2. high-efficiency cam manipulator according to claim 1, it is characterized in that: described rotating cam transmission mechanism (9) includes the cam shaft (91) being transversely rotatably connected on and swinging in case (11), be socketed in the cylindrical cam (92) on cam shaft (91), be uniformly distributed circumferentially the multiple bumping posts (93) in hollow rotary shaft (6) circumferential exterior surface, cylindrical cam (92) circumferential exterior surface offers cam locus groove (921), the upper bumping post (93) near cylindrical cam (92) of hollow rotary shaft (6) stretches in cam locus groove (921), the output of rotary drive motor (7) is driven by the first transmission mechanism (94) and connects cam shaft (91).
3. high-efficiency cam manipulator according to claim 2, is characterized in that: described cam locus groove (921) is the helicla flute be distributed in the shape of a spiral in cylindrical cam (92) circumferential exterior surface.
4. high-efficiency cam manipulator according to claim 2, is characterized in that: described bumping post (93) is arranged along hollow rotary shaft (6) radial direction, and the upper position contacted with cam locus groove (921) of bumping post (93) is provided with rolling bearing (95).
5. high-efficiency cam manipulator according to claim 2, is characterized in that: described first transmission mechanism (94) is belt wheel transmission mechanism.
6. high-efficiency cam manipulator according to claim 1, it is characterized in that: described lifter cam transmission mechanism (8) include be socketed in lifting drive motors (4) output on lifting driving cam (81), the roller (82) be arranged on elevating bracket (3), roller (82) be positioned at lifting driving cam (81) top and roll extrusion lifting driving cam (81) contour surface on.
7. high-efficiency cam manipulator according to claim 6, is characterized in that: be connected with back-moving spring (12) between described elevating bracket (3) and pedestal (1).
8. the high-efficiency cam manipulator according to claim 1 ~ 7 any one, it is characterized in that: described movable axis (5) circumferential exterior surface offers vertically chute (51), the upper position male corresponding with chute (51) of hollow rotary shaft (6) is provided with the slide block (61) coordinated with chute (51), and slide block (61) is slidably arranged in chute (51).
9. high-efficiency cam manipulator according to claim 8, is characterized in that: described slide block (61) is slidably connected in chute (51) by ball bearing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510735202.5A CN105328694A (en) | 2015-11-03 | 2015-11-03 | Efficient cam mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510735202.5A CN105328694A (en) | 2015-11-03 | 2015-11-03 | Efficient cam mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105328694A true CN105328694A (en) | 2016-02-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510735202.5A Pending CN105328694A (en) | 2015-11-03 | 2015-11-03 | Efficient cam mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105328694A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856206A (en) * | 2016-06-22 | 2016-08-17 | 广东捷瞬机器人有限公司 | Intelligent connecting rod type manipulator |
| CN106041905A (en) * | 2016-06-23 | 2016-10-26 | 马鞍山工蜂智能科技有限公司 | Three-axis robot and arm and using method thereof |
| CN106697920A (en) * | 2016-12-30 | 2017-05-24 | 湖南先步信息股份有限公司 | Mechanical arm capable of moving smoothly |
-
2015
- 2015-11-03 CN CN201510735202.5A patent/CN105328694A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856206A (en) * | 2016-06-22 | 2016-08-17 | 广东捷瞬机器人有限公司 | Intelligent connecting rod type manipulator |
| CN105856206B (en) * | 2016-06-22 | 2018-12-28 | 广东捷瞬机器人有限公司 | Intelligent linkage formula manipulator |
| CN106041905A (en) * | 2016-06-23 | 2016-10-26 | 马鞍山工蜂智能科技有限公司 | Three-axis robot and arm and using method thereof |
| CN106041905B (en) * | 2016-06-23 | 2018-05-22 | 马鞍山工蜂智能科技有限公司 | A kind of three-axis robot and its arm and application method |
| CN106697920A (en) * | 2016-12-30 | 2017-05-24 | 湖南先步信息股份有限公司 | Mechanical arm capable of moving smoothly |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160217 |
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| WD01 | Invention patent application deemed withdrawn after publication |