CN108161922B

CN108161922B - Feeding cam manipulator

Info

Publication number: CN108161922B
Application number: CN201810109638.7A
Authority: CN
Inventors: 苑明海; 孙超; 周灼; 马可; 陈勇
Original assignee: Changzhou Campus of Hohai University
Current assignee: Changzhou Campus of Hohai University
Priority date: 2018-02-05
Filing date: 2018-02-05
Publication date: 2021-02-19
Anticipated expiration: 2038-02-05
Also published as: CN108161922A

Abstract

The invention discloses a feeding cam manipulator which comprises a base, a driving mechanism, an executing mechanism and a transmission mechanism, wherein the executing mechanism comprises a manipulator, an intermittent rotating mechanism, a cam lifting mechanism, a cam advancing mechanism and a cam clamping mechanism; can realize mechanized and automated production, has simple structure, work is steady, the fault rate is low, long service life's characteristics.

Description

Feeding cam manipulator

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a feeding cam manipulator.

Background

With the increasing development of science and technology, domestic industrial production tends to be more and more mechanized and automated. Due to the problems of the traditional manual feeding production mode in the aspects of working efficiency, conveying precision, production safety and the like, the automatic feeding mechanism has a necessary trend to replace the traditional feeding mode.

At present, most of feeding mechanisms on the market are hydraulic manipulators, a set of complex hydraulic system is needed for hydraulic control, and hydraulic oil easily blocks valves and actuating elements. For general enterprises, the purchase and maintenance costs are high, and the economic benefits of the enterprises are seriously influenced.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides a feeding cam manipulator which has the advantages that the production efficiency is guaranteed, the structure is simplified, the production and maintenance costs are reduced, and the service life is prolonged.

The technical problem to be solved by the invention is realized by the following technical scheme:

the utility model provides a pay-off cam manipulator, includes base, actuating mechanism and drive mechanism:

the drive mechanism comprises an electric motor;

the actuating mechanism comprises a manipulator, an intermittent rotating mechanism, a cam lifting mechanism, a cam advancing mechanism and a cam clamping mechanism, the manipulator is respectively connected with the intermittent rotating mechanism, the cam lifting mechanism and the cam advancing mechanism through a manipulator support column and is simultaneously connected with the cam clamping mechanism through a manipulator hand shaft pull rod, the cam lifting mechanism comprises a first cam group and a first cam shaft, the first cam shaft is fixedly connected with the first cam group, the cam advancing mechanism comprises a second cam and an advancing push rod, one end of the advancing push rod is in contact with the second cam through an advancing cam roller bearing, the cam clamping mechanism comprises a third cam and a clamping push rod, and one end of the clamping push rod is in contact with the third cam through a clamping cam roller bearing;

the transmission mechanism comprises a first transmission shaft, a second transmission shaft, a main shaft belt wheel transmission system, a first worm gear transmission system, an incomplete gear transmission system, a connecting rod, a lifting mechanism belt wheel transmission system, a transmission shaft belt wheel transmission system, a second worm gear transmission system, an advancing mechanism belt wheel transmission system, a third worm gear transmission system and a clamping mechanism belt wheel transmission system;

the motor is in transmission connection with a first transmission shaft through a main shaft belt wheel transmission system, the first transmission shaft is in transmission connection with an incomplete gear transmission system through a first worm and gear transmission system, the complete gear of the incomplete gear transmission system is in transmission connection with the intermittent rotation mechanism through a connecting rod, the complete gear rotating shaft is in transmission connection with the first camshaft group through a belt wheel transmission system of the lifting mechanism, the first transmission shaft is in transmission connection with a second transmission shaft through a transmission shaft belt wheel transmission system, the second transmission shaft is in transmission connection with an advancing mechanism belt wheel transmission system through a second worm and gear transmission system, the second worm gear transmission system is in transmission connection with the second cam through a forward mechanism belt wheel transmission system, the second transmission shaft is in transmission connection with the clamping mechanism belt wheel transmission system through a third worm gear transmission system, and the third worm gear transmission system is in transmission connection with the third cam through a clamping mechanism belt wheel transmission system.

As a preferable technical scheme, the motor adopts a three-phase asynchronous motor with the rotating speed of 980 rpm.

Preferably, the first cam set is a flat cam, and the second cam and the third cam are both disc-shaped groove cams.

As a further improved technical scheme, the manipulator comprises a left claw, a right claw, a cylindrical roller, a hand shaft and a hand frame, wherein the hand frame comprises a baffle plate, a left finger is welded on the left claw, a right finger is welded on the right claw, the left claw and the right claw are hinged with the baffle plate, the hand shaft is connected with a manipulator hand shaft pull rod through a stud, the cylindrical roller is fixedly installed at the bottom end of the hand shaft, the cylindrical roller can be in sliding fit with straight grooves in the left claw and the right claw, and the left claw and the right claw can rotate around hinged joints.

As a further improved technical solution, the intermittent rotation mechanism includes a rack and pinion mechanism, the rack and pinion mechanism includes a gear and a rack, the rack is mounted on the rack and pinion, one end of the rack and pinion is positioned by using a shoulder of the rack and pinion, the other end of the rack and pinion is fixed by using the screw locking collar with the locking ring, the end of the rack and pinion is fixedly connected with the connecting rod by a screw, the rack and pinion is movably mounted on a first pull rod shaft support and a second pull rod shaft support which are symmetrically arranged, the first pull rod shaft support and the second pull rod shaft support are both fixed on the base by using hexagon socket head bolts, the gear is provided with a fixing hole, the manipulator support vertically penetrates through the fixing hole and is mounted on the gear, the rack and pinion can horizontally move, and the rack is engaged with the gear.

As a further improved technical scheme, the cam lifting mechanism further comprises a cam push rod and a lifting push plate, the first cam group is composed of two same plane cams and is respectively installed at two ends of the first cam shaft, the first cam shaft drives the first cam group to rotate through a common a-type flat key, 1 push rod roller bearing is arranged above each plane cam, the push rod roller bearings are installed on the cam push rods and are in contact with the corresponding plane cams, and the cam push rods are fixedly installed on the lifting push plate through lifting push plate cylindrical holes in the lower surface of the lifting push plate.

As a further improved technical scheme, the cam advancing mechanism further comprises a manipulator strut guide frame, the advancing push rod is mounted on the advancing push rod holder, the advancing push rod holder is fixed on the base through a hexagon socket head cap screw, an advancing cam roller bearing is mounted at one end of the advancing push rod, the manipulator strut guide frame is arranged at the other end of the advancing push rod, the advancing cam roller bearing is in direct contact with the second cam, and the manipulator strut guide frame is in movable contact with the manipulator strut and can position the manipulator strut.

As a further improved technical scheme, the cam clamping mechanism further comprises a clamping guide device and an upright post, the clamping push rod is installed on the clamping push rod holder, the clamping push rod holder is fixed on the base, a clamping cam roller bearing is installed at one end of the clamping push rod, the clamping guide device is arranged at the other end of the clamping push rod, the clamping cam roller bearing is in direct contact with a third cam, the upright post is arranged at the top of the clamping guide device, and the upright post vertically penetrates through the manipulator hand shaft pull rod.

As a further improved technical scheme, a grooved rib plate is fixed on one side of the manipulator support column, a circular boss is fixedly arranged on the upper surface of the ascending push plate, and the bottom end of the rib plate is limited by the circular boss and moves along the circular boss.

The invention has the beneficial effects that:

compared with the prior art, the feeding cam manipulator provided by the invention (1) effectively overcomes the defects of complex control system, overhigh production and maintenance cost, short service life and the like of the existing manipulator, and achieves the purposes of improving the production efficiency, saving the labor, reducing the cost and the like; (2) through reasonable structural design, three-degree-of-freedom motion of rotation of a horizontal plane of the manipulator, lifting of the manipulator and advancing of the manipulator is realized, and the motion requirements of pre-clamping of the hand, rotation of the horizontal plane of the manipulator, lifting of the manipulator, advancing of the manipulator, loosening of the hand and returning are sequentially completed under the control of a transmission mechanism and a cam mechanism; (3) the automatic feeding device has the advantages of realizing the automation of feeding, ensuring the production efficiency, simplifying the structure, reducing the production and maintenance cost, prolonging the service life and the like.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the hand structure according to the embodiment of the present invention

FIG. 3 is a schematic structural diagram of an intermittent rotation mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a cam lifting mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a cam advancing mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a cam clamping mechanism according to an embodiment of the present invention:

FIG. 7 is a side view of the cam clamping mechanism of the present invention;

description of reference numerals: 1. a base; 2. an electric motor; 3. a main shaft pulley drive train; 4. a first drive shaft; 5. a lifting mechanism pulley drive train; 6. an intermittent rotation mechanism; 7. a cam raising mechanism; 8. a manipulator; 9. a cam clamping mechanism; 10. a clamping mechanism pulley drive train; 11. a third worm gear drive train; 12. a cam advancing mechanism; 13. a second drive shaft; 14. a forward mechanism pulley drive train; 15. a second worm gear drive train; 16. a drive shaft pulley drive train; 17. an incomplete gear train; 18. a connecting rod short shaft; 19. a connecting rod; 20. a rib plate; 21. a manipulator support column; 22. a first pull rod shaft support; 23. a gear; 24. a full gear rotational axis; 25. a second pull rod shaft support frame; 26. a rack bar shaft; 27. a screw with a locking ring locks the retainer ring; 28. a rack; 29. a rack and pinion mechanism; 30. lifting the push plate; 31. lifting the cylindrical hole of the push plate; 32. a cam follower; 33. a plain type a flat bond; 34. a push rod roller bearing; 35. a first cam set; 36. a first camshaft; 37. a circular boss; 38. an advancing cam roller bearing; 39. a second cam; 40. an advancing push rod holder; 41. a hexagon socket head cap screw; 42. an advancing push rod; 43. a stud; 44. a manipulator strut guide frame; 45. a third cam; 46. clamping the push rod; 47. a first worm gear drive train; 48. clamping the push rod retainer; 49. a hand shaft 50, a clamping guide device; 51. a manipulator hand shaft pull rod; 52. a hand frame; 53. a left gripper; 54. a left finger; 55. a right finger; 56. a right hand claw; 57. a cylindrical roller; 58. a column; 59. clamping the cam roller bearing.

Detailed Description

The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.

Examples

As shown in fig. 1, a feeding cam manipulator 8 includes a base 1, a driving mechanism, an executing mechanism, and a transmission mechanism:

in the embodiment, the driving mechanism adopts a three-phase asynchronous motor 2 with the rotating speed of 980rpm as a prime motor;

in this embodiment, the actuator includes a manipulator 8, an intermittent rotation mechanism 6, a cam lifting mechanism 7, a cam advancing mechanism 12, and a cam clamping mechanism 9, the manipulator 8 is connected to the intermittent rotation mechanism 6, the cam lifting mechanism 7, and the cam advancing mechanism 12 through a manipulator support post 21, and is connected to the cam clamping mechanism 9 through a manipulator shaft pull rod 51, the cam lifting mechanism 7 includes a first cam set 35 and a first cam shaft 36, the first cam shaft 36 is fixedly connected to the first cam set 35, the cam advancing mechanism 12 includes a second cam 39 and an advancing push rod 42, one end of the advancing push rod 42 is in contact with the second cam 39 through an advancing cam roller bearing 38, the cam clamping mechanism 9 includes a third cam 45 and a clamping push rod 46, and one end of the clamping push rod 46 is in contact with the third cam 45 through a clamping cam roller bearing 59;

the transmission mechanism comprises a first transmission shaft 4, a second transmission shaft 13, a main shaft belt wheel transmission system 3, a first worm gear transmission system 47, an incomplete gear transmission system 17, a connecting rod 19, a lifting mechanism belt wheel transmission system 5, a transmission shaft belt wheel transmission system 16, a second worm gear transmission system 15, a forward mechanism belt wheel transmission system 14, a third worm gear transmission system 11 and a clamping mechanism belt wheel transmission system 10;

the motor 2 is in transmission connection with a first transmission shaft 4 through a main shaft belt wheel transmission system 3, the first transmission shaft 4 is in transmission connection with an incomplete gear transmission system 17 through a first worm gear transmission system 47, a complete gear of the incomplete gear transmission system 17 is in transmission connection with an intermittent rotation mechanism 6 through a connecting rod 19, a complete gear rotation shaft 24 is in transmission connection with a first cam shaft 36 group through a lifting mechanism belt wheel transmission system 5, the first transmission shaft 4 is in transmission connection with a second transmission shaft 13 through a transmission shaft belt wheel transmission system, the second transmission shaft 13 is in transmission connection with an advancing mechanism belt wheel transmission system 14 through a second worm gear transmission system 15, the second worm gear transmission system 15 is in transmission connection with a second cam 39 through the advancing mechanism belt wheel transmission system 14, the second transmission shaft 13 is in transmission connection with a clamping mechanism belt wheel transmission system 10 through a third worm gear transmission system 11, and the third worm gear transmission system 11 is in transmission connection with a third cam 45 through the clamping mechanism belt wheel transmission system 10.

In this embodiment, the first cam 35 is a flat cam, and the second cam 39 and the third cam 45 are each a disc-shaped groove cam.

As shown in fig. 2 and 6, the manipulator 8 adopts a sliding groove lever type grabbing mechanism, which includes a left claw 53, a right claw 56, a cylindrical roller 57, a hand shaft 49, a hand frame 52, a left finger 54 and a right finger 55, the left finger 54 and the right finger 55 are respectively welded on the left claw 53 and the right claw 56, the left claw 53 and the right claw 56 are hinged with a baffle plate of the hand frame 52, the hand shaft 49 is connected with a manipulator shaft pull rod 51 through a stud 43, the cylindrical roller 57 is fixed at the bottom end of the hand shaft 49, the hand shaft 49 generates a distance difference with the hand frame 52 under the action of the cam clamping mechanism 9, and the cylindrical roller 57 is in sliding fit with straight grooves on the left claw 53 and the right claw 56, and the left claw 53 and the right claw 56 rotate around the hinged point to drive the fingers to realize the clamping and releasing functions.

As shown in fig. 1 and 3, the intermittent rotation mechanism 6 includes a rack-and-pinion shaft 26 and a rack-and-pinion mechanism 29, the rack-and-pinion mechanism 29 includes a gear 23 and a rack 28, a link stub shaft 18 fixed at one end of a link 19 is in interference fit with a cylindrical hole on an incomplete gear, the incomplete gear ensures the intermittence of the movement, the other end of the link 19 is fixed on the rack-and-pinion shaft 26 by screws, one end of the rack 28 is positioned by a shoulder of the rack-and-pinion shaft 26, the other end of the rack 28 is fixed by a screw locking collar 27 with a locking ring, the rack-and-pinion shaft 26 is movably mounted on a first rod-and-pinion shaft support 22 and a second rod-and-pinion shaft support 25 which are symmetrically arranged, the first rod-and-pinion shaft support 22 and the second rod-and-pinion shaft support 25 are both fixed on the base 1 by hexagon socket head bolts 41, a manipulator support 21 is, The second pull rod shaft support frame moves horizontally, the rack 28 is meshed with the gear 23 to realize the rotation of the gear 23, so that the upright post 58 of the manipulator is driven to rotate by a fixed angle, the grooved ribbed plate 20 is fixed on one side of the manipulator support post 21, and the upright post 58 of the manipulator is prevented from being unbalanced and overturning.

As shown in fig. 1 and 4, the cam lifting mechanism 7 includes a first cam group 35, a cam pushing rod 32, a lifting pushing plate 30 and a first cam shaft 36, the first cam group 35 is mounted on the first cam shaft 36, the first cam group 35 is driven to rotate by a common a-type flat key 33, a pushing rod roller bearing 34 mounted at the lower end of the cam pushing rod 32 is in direct contact with the first cam group 35, the upper end of the cam pushing rod 32 is matched with the lifting pushing plate cylindrical hole 31, a circular ring boss 37 is fixedly arranged on the lifting pushing plate 30, the bottom end of the rib plate 20 is limited by the circular ring boss 37 and moves along the circular ring boss 37, so as to prevent the manipulator 8 from sliding due to the centrifugal force when rotating, and meanwhile, in order to ensure the stability of the movement, the first cam group 35 adopts a pair of identical plane cams and is mounted at both ends of the first cam.

As shown in fig. 1 and 5, the cam advancing mechanism 12 includes a second cam 39, an advancing push rod 42 and a manipulator strut guide 44, the advancing push rod 42 is mounted on an advancing push rod holder 40, the advancing push rod holder 40 is fixed on the base 1 through a hexagon socket head cap screw 41, one end of the advancing push rod 42 is mounted with an advancing cam roller bearing 38, the other end is provided with the manipulator strut guide 44, the advancing cam roller bearing 38 is in direct contact with the second cam 39, the second cam 39 pushes the advancing push rod 42 through the advancing cam roller bearing 38 to realize reciprocating motion, so as to realize remote control of reciprocating motion of the manipulator 8, the other end of the advancing push rod 42 is fixed with the manipulator strut guide 44 through the hexagon socket head cap screw 41, the manipulator strut guide 44 is in movable contact with the manipulator strut 21, and can position the manipulator strut 21.

As shown in fig. 6 and 7, the cam clamping mechanism 9 includes a third cam 45, a clamping push rod 46, a clamping guide 50 and a column 58, the clamping push rod 46 is mounted on a clamping push rod holder 48, the clamping push rod 46 is positioned by the clamping push rod holder 48, the clamping push rod 46 holder is fixed on the base 1, one end of the clamping push rod 46 is mounted with a clamping cam roller bearing 59, the other end is fixed with the clamping guide 50 by a hexagon socket head cap screw 41, the clamping cam roller bearing 59 is in direct contact with the third cam 45, the third cam 45 utilizes the clamping cam roller bearing 59 to push the clamping push rod 46 to reciprocate, therefore, the reciprocating motion of the manipulator hand shaft pull rod 51 is remotely controlled, the clamping and the releasing of the manipulator 8 are completed, the top of the clamping guide device 50 is provided with the upright post 58, and the upright post 58 vertically penetrates through the cylindrical hole in the manipulator hand shaft pull rod 51.

The working process of the invention is as follows: the motor 2 drives the cam clamping mechanism 9 through the transmission mechanism to realize a clamping function, then the intermittent rotation mechanism 6 rotates forward by a fixed angle, the intermittent rotation mechanism 6 enters an intermittent period after realizing a corner function, the cam lifting mechanism 7 starts to push the mechanical arm 8 to realize a lifting action, the cam lifting mechanism 7 reaches a specified height, namely, the maximum pushing stroke of the cam in the cam lifting mechanism 7 is reached, and then the height is maintained, at the moment, the cam advancing mechanism 12 pushes the mechanical arm 8 to move forward to a specified position, the cam clamping mechanism 9 enters a return stroke stage to realize a loosening function, then, the cam advancing mechanism 12 enters the return stroke stage, the cam advancing mechanism 12 keeps at the existing position after the return stroke is finished, then, the cam lifting mechanism 7 enters the return stroke stage, and after the cam lifting mechanism 7 finishes the return stroke, the intermittent rotation mechanism 6 finishes the intermittent period, and reversely rotating for a fixed angle, returning to the initial position, and completing one cycle.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a pay-off cam manipulator which characterized in that includes base, actuating mechanism and drive mechanism:

the drive mechanism comprises an electric motor;

the motor is in transmission connection with a first transmission shaft through a main shaft belt wheel transmission system, the first transmission shaft is in transmission connection with an incomplete gear transmission system through a first worm and gear transmission system, the complete gear of the incomplete gear transmission system is in transmission connection with the intermittent rotation mechanism through a connecting rod, the complete gear rotating shaft is in transmission connection with the first cam shaft through the belt wheel transmission system of the lifting mechanism, the first transmission shaft is in transmission connection with a second transmission shaft through a transmission shaft belt wheel transmission system, the second transmission shaft is in transmission connection with an advancing mechanism belt wheel transmission system through a second worm and gear transmission system, the second worm gear transmission system is in transmission connection with the second cam through a forward mechanism belt wheel transmission system, the second transmission shaft is in transmission connection with the clamping mechanism belt wheel transmission system through a third worm gear transmission system, and the third worm gear transmission system is in transmission connection with the third cam through a clamping mechanism belt wheel transmission system.

2. The feed cam robot of claim 1, wherein the motor is a three-phase asynchronous motor rotating at 980 rpm.

3. The feed cam robot of claim 1, wherein the first cam set comprises a flat cam, and the second and third cams comprise disc-shaped grooved cams.

4. The feeding cam manipulator as claimed in any one of claims 1 to 3, wherein the manipulator comprises a left claw, a right claw, a cylindrical roller, a hand shaft and a hand frame, the hand frame comprises a baffle plate, a left finger is welded on the left claw, a right finger is welded on the right claw, the left claw and the right claw are hinged with the baffle plate, the hand shaft is connected with a manipulator shaft pull rod through a stud, the cylindrical roller is fixedly mounted at the bottom end of the hand shaft pull rod, the cylindrical roller can be in sliding fit with straight grooves in the left claw and the right claw, and the left claw and the right claw can rotate around a hinged joint.

5. The feeder cam robot as claimed in any one of claims 1 to 3, wherein the intermittent rotary mechanism includes a rack bar shaft and a rack and pinion mechanism, the rack and pinion mechanism includes a pinion and a rack, the rack is mounted on the rack bar shaft, one end of the rack bar shaft is positioned by a shoulder of the rack bar shaft, the other end of the rack bar shaft is fixed by a screw locking collar with a locking ring, the end of the rack bar shaft is fixedly connected with the connecting rod by a screw, the rack bar shaft is movably mounted on a first and a second symmetrically arranged rod shaft brackets, the first and second rod shaft brackets are fixed on the base by hexagon socket head cap bolts, the pinion is provided with a fixing hole, the robot support post passes through the fixing hole vertically and is mounted on the pinion, and the rack bar shaft can move horizontally, the rack is meshed with the gear.

6. The feeding cam manipulator as claimed in claim 3, wherein the cam elevating mechanism further includes a cam pushing rod and an elevating pushing plate, the first cam set is composed of two identical planar cams and is respectively installed at both ends of a first cam shaft, the first cam shaft drives the first cam set to rotate through a common A-type flat key, 1 pushing rod roller bearing is installed above each planar cam, the pushing rod roller bearings are installed on the cam pushing rod and are in contact with the corresponding planar cam, and the cam pushing rod is fixedly installed on the elevating pushing plate through an elevating pushing plate cylindrical hole on the lower surface of the elevating pushing plate.

7. The feed cam manipulator of claim 3, wherein the cam advancing mechanism further comprises a manipulator support column guide frame, the advancing push rod is mounted on an advancing push rod holder, the advancing push rod holder is fixed on the base through a hexagon socket head cap screw, one end of the advancing push rod is provided with an advancing cam roller bearing, the other end of the advancing push rod is provided with the manipulator support column guide frame, the advancing cam roller bearing is in direct contact with the second cam, and the manipulator support column guide frame is in movable contact with the manipulator support column and can position the manipulator support column.

8. The feeding cam manipulator as claimed in claim 3, wherein the cam clamping mechanism further comprises a clamping guide device and a column, the clamping push rod is mounted on a clamping push rod holder, the clamping push rod holder is fixed on the base, one end of the clamping push rod is provided with a clamping cam roller bearing, the other end of the clamping push rod is provided with the clamping guide device, the clamping cam roller bearing is in direct contact with a third cam, the column is arranged at the top of the clamping guide device, and the column vertically penetrates through the manipulator shaft pull rod.

9. The feed cam manipulator as claimed in claim 6, wherein a grooved rib plate is fixed on one side of the manipulator support column, a circular boss is fixed on the upper surface of the ascending push plate, and the bottom end of the rib plate is limited by the circular boss and moves along the circular boss.