CN105583844B - Feeding mechanical arm based on cam structure - Google Patents
Feeding mechanical arm based on cam structure Download PDFInfo
- Publication number
- CN105583844B CN105583844B CN201610118166.2A CN201610118166A CN105583844B CN 105583844 B CN105583844 B CN 105583844B CN 201610118166 A CN201610118166 A CN 201610118166A CN 105583844 B CN105583844 B CN 105583844B
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- Prior art keywords
- vertical
- cam
- horizontal
- support
- supporting plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
- B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
- B27M3/04—Manufacture or reconditioning of specific semi-finished or finished articles of flooring elements, e.g. parqueting blocks
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Wood Science & Technology (AREA)
- Forests & Forestry (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a feeding mechanical arm based on a cam structure. The feeding mechanical arm comprises a support frame, a horizontal movement support, a mechanical arm, a vertical movement support and a cam structure, wherein the cam structure comprises two bearing bases which are oppositely arranged and are fixedly arranged on top plates and a rotary shaft which is arranged between the two bearing bases and is controlled to rotate by a motor; a vertical cam and a horizontal cam are fixedly arranged on the rotary shaft; the vertical cam is used for controlling the vertical direction movement of the vertical movement support when rotating along with the rotary shaft; the horizontal cam is used for controlling the horizontal direction movement of the horizontal movement support when rotating along with the rotary shaft; the vertical cam is vertical to the horizontal cam; the part, right facing to the vertical cam, of a vertical support plate is provided with a vertical movement groove which is used for movement of rotation of the vertical cam; and the part, right facing to the horizontal cam, of a horizontal support plate is provided with a horizontal movement groove which is used for movement of rotation of the horizontal cam. According to the feeding mechanical arm disclosed by the invention, vertical movement and horizontal movement which are regular and are cooperative with each other are realized through a single driving source; rapid feeding of bamboo sheets is realized; and preparation is well made for subsequent automatic surface lamination.
Description
Technical field
The present invention relates to a kind of feeding manipulator, more particularly, it relates to a kind of feeding manipulator based on cam mechanism.
Background technology
In some bamboo chip production line occasions, need the good bamboo chip of piling is successively captured and placed on the conveyor belt.Due to
The requirement of subsequent handling, bamboo chip feeding and in order it is neat arrange after, veneer is on base plate therefore right together to need polylith
Feeding speed is higher with prescription.At present, the mode that completes of bamboo chip veneer is artificial crawl veneer, be this have the disadvantage that
In less efficient, accuracy is difficult to ensure, and cost of labor is huge, realizes that bamboo flooring automatic contacting face is imperative.
The content of the invention
1. invention technical problem to be solved
It is an object of the invention to overcome the shortcomings of above-mentioned, there is provided a kind of feeding manipulator based on cam mechanism, adopt
With technical scheme, the fortune of the both direction of the regular vertical and level for cooperating is realized with single driving source
It is dynamic, the rapid material-feeding of bamboo chip is completed, is that follow-up automatic contacting face is ready.
2. technical scheme
To reach above-mentioned purpose, the technical scheme that the present invention is provided is：
A kind of feeding manipulator based on cam mechanism of the present invention, including bracing frame, horizontal movement support and cam machine
Structure, described bracing frame include vertical supporting plate and two support beams being oppositely arranged, and two support beams are vertically located in vertical supporting
On plate；Described horizontal movement support include the two vertical connecting plates being oppositely arranged and connection two vertical connecting plates base plate, two
The top of described vertical connecting plate is provided with top board, and two top boards are connected with two support beams by slide block sliding track mechanism respectively；
Extension spring is provided between described vertical supporting plate and horizontal movement support；It is provided with below described support beam vertical
Motion bracket；Described vertical motion support includes the horizontal support of two vertical side plates of the two vertical side plates being oppositely arranged and connection
Plate；Vertical side plate described in two is connected with two vertical connecting plates by slide block sliding track mechanism respectively；Described horizontal supporting plate
Lower section is provided with optical axis；The upper end of described optical axis is connected through base plate with horizontal supporting plate, between base plate and horizontal supporting plate
It is provided with the compression spring being set on optical axis；The lower end of described optical axis is provided with mechanical hand；Described cam mechanism includes biphase
The rotating shaft rotated by motor control to arranging and being fixedly arranged on the bearing block on top board, between the bearing block described in two；Described
It is installed with rotating shaft with the vertical cam that the motion of vertical motion support vertical direction is controlled during axis of rotation and during with axis of rotation
The horizontal cam of control horizontal movement support level direction motion；Described vertical cam and horizontal cam are arranged in a mutually vertical manner；
The vertical motion groove moved when on described vertical supporting plate just to offering for vertical cam rotation at vertical cam position；
The horizontal movement groove moved when on described horizontal supporting plate just to offering and rotating for horizontal cam at horizontal cam position.
Further, described mechanical hand includes the crossbeam for being fixedly arranged on optical axis lower end, and the lower section of described crossbeam is fixed
There is vacuum cup.
Further, described vacuum cup is provided with 3.
3. beneficial effect
The technical scheme provided using the present invention, compared with existing known technology, is had the advantages that：
(1) a kind of feeding manipulator based on cam mechanism of the invention, its simple structure design ingenious, Motor drive
Vertical cam and horizontal cam rotation, control vertical motion support and the horizontal movement support motion placed is mutually perpendicular to, is coordinated
The motion vertically with horizontal direction is completed, and then realizes the purpose for quickly capturing and conveying；
(2) a kind of feeding manipulator based on cam mechanism of the invention, which is changed end mechanical hand conveniently, can complete
The rapid material-feeding task of all kinds of raw materials.
Description of the drawings
Fig. 1 is a kind of axonometric chart of feeding manipulator based on cam mechanism of the present invention；
Fig. 2 is a kind of front view of feeding manipulator based on cam mechanism of the present invention；
Fig. 3 is a kind of side view of feeding manipulator based on cam mechanism of the present invention.
Label declaration in schematic diagram：11st, vertical supporting plate；12nd, support beam；13rd, vertical motion groove；21st, it is vertical to connect
Plate；22nd, base plate；23rd, top board；31st, vertical side plate；32nd, horizontal supporting plate；33rd, horizontal movement groove；4th, extension spring；5th, optical axis；
6th, compression spring；7th, crossbeam；8th, vacuum cup；91st, bearing block；92nd, rotating shaft；93rd, vertical cam；94th, horizontal cam；95th, electricity
Machine.
Specific embodiment
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of feeding manipulator based on cam mechanism of the present embodiment, including bracing frame, water
Flat motion bracket and cam mechanism, bracing frame include vertical supporting plate 11 and two support beams 12 being oppositely arranged, two support beams 12
It is vertically located on vertical supporting plate 11；Horizontal movement support includes that the two vertical connecting plates 21 being oppositely arranged and connection two are vertical
The base plate 22 of connecting plate 21, the top of two vertical connecting plates 21 are provided with top board 23, and two top boards 23 pass through slide block slide rail respectively
Mechanism is connected with two support beams 12 so that horizontal movement support does horizontal motion by slide block sliding track mechanism, and it is safe to move；
Extension spring 4 is provided between vertical supporting plate 11 and horizontal movement support, plays a part of to make horizontal movement support reset；
The lower section of support beam 12 is provided with vertical motion support；Vertical motion support includes the two vertical side plates 31 being oppositely arranged and connection two
The horizontal supporting plate 32 of vertical side plate 31；Two vertical side plates 31 pass through slide block sliding track mechanism and two vertical connecting plates, 21 phase respectively
Even so that vertical motion support does vertical direction motion by slide block sliding track mechanism, and it is safe to move；The lower section of horizontal supporting plate 32
It is provided with optical axis 5；The upper end of optical axis 5 is connected through base plate 22 with horizontal supporting plate 32, between base plate 22 and horizontal supporting plate 32
The compression spring 6 being set on optical axis 5 is provided with, plays a part of to make vertical motion support reset；The lower end connection of optical axis 5 is organic
Tool handss, change end mechanical hand conveniently, can complete the rapid material-feeding task of all kinds of raw materials, and in the present embodiment, mechanical hand includes solid
Located at the crossbeam 7 of 5 lower end of optical axis, the lower section of crossbeam 7 is installed with vacuum cup 8, and vacuum cup 8 is provided with 3；Cam mechanism bag
Include two to be oppositely arranged and be fixedly arranged on the bearing block 91 on top board 23, the rotating shaft that rotation is controlled by motor 95 between two bearings seat 91
92；Vertical cam 93 that the motion of vertical motion support vertical direction is controlled when rotating with rotating shaft 92 is installed with rotating shaft 92 and with turning
Axle 92 rotates the horizontal cam 94 of the flat motion bracket horizontal motion of time control controlling the water circulation；Vertically cam 93 and horizontal cam 94 are mutual
It is vertically arranged；That what is moved when on vertical supporting plate 11 just to offering and rotating for vertical cam 93 at 93 position of vertical cam is perpendicular
To movement slots 13；Move when on horizontal supporting plate 32 just to offering and rotating for horizontal cam 94 at 94 position of horizontal cam
Horizontal movement groove 33, simple structure design ingenious, and motor 91 drives the vertical cam 93 and horizontal cam 94 for being mutually perpendicular to place
Rotate, control vertical motion support and horizontal movement support motion, coordination completes motion vertically with horizontal direction, and then realizes
The purpose for quickly capturing and conveying.
8 initial position of vacuum cup is assumed during work above bamboo chip, motor 91 works, and vertical cam 93 is with rotating shaft 92
Rotate, vertical cam 93 is against horizontal supporting plate 32, extruding horizontal supporting plate 32 causes vertical motion support to decline, reaches bamboo chip
Crawl height, the work crawl bamboo chip of vacuum cup 8；After crawl, vertical cam 93 is rotated further, 93 profile of vertical cam it is minimum
Point is gradually increasing, and vertical motion support rises to top in the presence of compression spring 6, and the basic circle of vertical cam 93 is located at most
Low spot, vacuum cup 8 are maintained at top；The basic circle effect of horizontal cam 94 simultaneously terminates, and extrudes vertical in horizontal cam 94
Fagging 11, extruding vertical supporting plate 11 cause horizontal movement support to move right, and when low order end is reached, vacuum cup 8 discharges
Bamboo chip；After release bamboo chip, horizontal cam 94 continues rotation, and the distance of the point of the leftmost side of 94 profile of horizontal cam away from rotating shaft 92 subtracts
Few, in the presence of extension spring 4, horizontal movement support starts to left movement, returns to initial position, and rotating shaft 92 is rotated further,
Complete next do action.
A kind of feeding manipulator based on cam mechanism of the present invention, realizes regular cooperating with single driving source
The vertical both direction with level motion, complete the rapid material-feeding of bamboo chip, be that follow-up automatic contacting face is ready.
Below schematically the present invention and embodiments thereof are described, the description does not have restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel are enlightened by which, in the case of without departing from the invention objective, are designed and the technical scheme without creative
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (3)
1. a kind of feeding manipulator based on cam mechanism, it is characterised in that：Including bracing frame, horizontal movement support and cam machine
Structure, described bracing frame include vertical supporting plate (11) and two support beams being oppositely arranged (12), and two support beams (12) are vertically solid
On vertical supporting plate (11)；Described horizontal movement support includes the two vertical connecting plates (21) being oppositely arranged and connection two
The base plate (22) of vertical connecting plate (21), the top of the vertical connecting plate (21) described in two is provided with top board (23), two top boards
(23) it is connected with two support beams (12) by slide block sliding track mechanism respectively；Described vertical supporting plate (11) and horizontal movement support
Between be provided with extension spring (4)；Vertical motion support is provided with below described support beam (12)；Described vertical motion
Support includes the horizontal supporting plate (32) of two vertical side plates (31) of the two vertical side plates (31) being oppositely arranged and connection；Described in two
Vertical side plate (31) is connected with two vertical connecting plates (21) by slide block sliding track mechanism respectively；Described horizontal supporting plate (32)
Lower section is provided with optical axis (5)；The upper end of described optical axis (5) is connected through base plate (22) with horizontal supporting plate (32), base plate
(22) compression spring (6) being set on optical axis (5) is provided with and horizontal supporting plate (32) between；The lower end of described optical axis (5)
It is connected with mechanical hand；Described cam mechanism includes that two are oppositely arranged and are fixedly arranged on the bearing block (91) on top board (23), two institutes
The rotating shaft (92) that rotation is controlled by motor (95) between the bearing block (91) stated；It is installed with rotating shaft in described rotating shaft (92)
(92) the vertical cam (93) of vertical motion support vertical direction motion is controlled when rotating and time control controlling the water circulation is rotated with rotating shaft (92)
The horizontal cam (94) of flat motion bracket horizontal motion；Described vertical cam (93) and horizontal cam (94) are mutually perpendicular to
Arrange；On described vertical supporting plate (11) just to offer at vertical cam (93) position rotate for vertical cam (93) when
The vertical motion groove (13) of motion；Just to offering for water at horizontal cam (94) position on described horizontal supporting plate (32)
The horizontal movement groove (33) that periphery cam (94) is moved when rotating.
2. a kind of feeding manipulator based on cam mechanism according to claim 1, it is characterised in that：Described mechanical hand
Including the crossbeam (7) for being fixedly arranged on optical axis (5) lower end, below described crossbeam (7), vacuum cup (8) is installed with.
3. a kind of feeding manipulator based on cam mechanism according to claim 2, it is characterised in that：Described vacuum is inhaled
Disk (8) is provided with 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118166.2A CN105583844B (en) | 2016-03-02 | 2016-03-02 | Feeding mechanical arm based on cam structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118166.2A CN105583844B (en) | 2016-03-02 | 2016-03-02 | Feeding mechanical arm based on cam structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105583844A CN105583844A (en) | 2016-05-18 |
| CN105583844B true CN105583844B (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610118166.2A Active CN105583844B (en) | 2016-03-02 | 2016-03-02 | Feeding mechanical arm based on cam structure |
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| Country | Link |
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| CN (1) | CN105583844B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945022A (en) * | 2017-03-22 | 2017-07-14 | 广东工业大学 | A kind of optical pickup device |
| 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 |
| CN108974964B (en) * | 2018-08-29 | 2023-05-02 | 中国科学院合肥物质科学研究院 | Intelligent loading and unloading device for container cargo |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1567356A1 (en) * | 1988-07-20 | 1990-05-30 | Предприятие П/Я В-2769 | Loading device |
| CN201693684U (en) * | 2010-03-23 | 2011-01-05 | 中国电子科技集团公司第二研究所 | Automatic stepping material conveying mechanism |
| CN102664141A (en) * | 2012-04-19 | 2012-09-12 | 德清明裕照明电器有限公司 | Loop bar rotation driving structure |
| CN202523668U (en) * | 2012-04-19 | 2012-11-07 | 德清明裕照明电器有限公司 | Wick transfer device |
| CN105312476A (en) * | 2015-09-30 | 2016-02-10 | 龙口市埃迪克自动化设备有限公司 | Automatic equipment for hinging bars |
| CN205497511U (en) * | 2016-03-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Material loading manipulator based on cam mechanism |
-
2016
- 2016-03-02 CN CN201610118166.2A patent/CN105583844B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1567356A1 (en) * | 1988-07-20 | 1990-05-30 | Предприятие П/Я В-2769 | Loading device |
| CN201693684U (en) * | 2010-03-23 | 2011-01-05 | 中国电子科技集团公司第二研究所 | Automatic stepping material conveying mechanism |
| CN102664141A (en) * | 2012-04-19 | 2012-09-12 | 德清明裕照明电器有限公司 | Loop bar rotation driving structure |
| CN202523668U (en) * | 2012-04-19 | 2012-11-07 | 德清明裕照明电器有限公司 | Wick transfer device |
| CN105312476A (en) * | 2015-09-30 | 2016-02-10 | 龙口市埃迪克自动化设备有限公司 | Automatic equipment for hinging bars |
| CN205497511U (en) * | 2016-03-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Material loading manipulator based on cam mechanism |
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| CN105583844A (en) | 2016-05-18 |
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| CP03 | Change of name, title or address |
Address after: 213300 Building 2, 88 Tengfei Road, Kunlun Street, Liyang City, Changzhou City, Jiangsu Province Patentee after: Jiangsu Asik Intelligent Equipment Co.,Ltd. Address before: 213300 2nd floor, building D, 168 Wushen Road, Licheng Town, Liyang City, Changzhou City, Jiangsu Province Patentee before: JIANGSU HAOLIN AUTOMATION TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20230331 Address after: 212126 Rongbing Salt Resource Industrial Park, Dantu District, Zhenjiang City, Jiangsu Province Patentee after: Jiangsu kunmei New Material Technology Co.,Ltd. Address before: 213300 Building 2, 88 Tengfei Road, Kunlun Street, Liyang City, Changzhou City, Jiangsu Province Patentee before: Jiangsu Asik Intelligent Equipment Co.,Ltd. |