CN108908304A - A kind of improved sinusoidal acceleration cam lock holding mechanism - Google Patents
A kind of improved sinusoidal acceleration cam lock holding mechanism Download PDFInfo
- Publication number
- CN108908304A CN108908304A CN201811096810.6A CN201811096810A CN108908304A CN 108908304 A CN108908304 A CN 108908304A CN 201811096810 A CN201811096810 A CN 201811096810A CN 108908304 A CN108908304 A CN 108908304A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- bevel gear
- cam
- groove
- joint face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of improved sinusoidal acceleration cam lock holding mechanisms, mainly by servo motor, support plate, transmission shaft, cam, incomplete bevel gear, cross guide rail, guide rail strut, groove bevel gear, the composition such as joint face.Wherein, servo motor is connected as the power plant of retaining mechanism with transmission shaft, and cam and incomplete bevel gear are co-axially mounted, and the connection disconnection between joint face provides power.Cam is in contact with cross guide rail surface, is rotated by cam, and driving cross guide rail is moved forward with sinusoidal acceleration characteristics of motion.Guide rail strut is mounted in cross guide rail sliding slot, and is connected with sliding block and is constituted guide assembly, and guide assembly can move in a straight line.On the supporting plate, guide rail strut is tangent with sinusoidal groove always, and the rotation of groove bevel gear can drive guide assembly to move radially for groove bevel gear installation with sinusoidal groove.Joint face is connected by boss with support plate, and the joint face structure with external connection unit locking is formed.
Description
Technical field
The present invention relates to a kind of improved sinusoidal acceleration cam lock holding mechanisms.
Background technique
Since the 1990s, via Self-reconfiguration cellular machineries people is rapidly developed in the U.S. and Japan, Duo Geji
In the via Self-reconfiguration cellular machineries people of different connection types, it is put forward one after another.Main connection type is pin hole formula, Alcula type and Buddhist nun
Imperial buckle type.Pin hole formula is caught in by taper hole with the mutually nested of taper pin, realizes the connection separation of two joint faces；Alcula type according to
It is mobile by minitype motor driving hook, realize the locking connection of joint face；Nylon hasp-type by rotation rocker arm shape hasp with
Realize adhesion in the tail portion of previous unit.But the master of this three kinds of connection types is passive, and joint face interchangeability is poor, and processes complexity,
It is unfavorable for the via Self-reconfiguration of cellular machineries people.
Summary of the invention
The object of the present invention is to provide a kind of improved sinusoidal acceleration cam lock holding mechanisms.
Basic technical scheme is：Improved sinusoidal acceleration cam lock holding mechanism is passed by servo motor, L-type plate, support plate
Moving axis, cam, incomplete bevel gear, cross guide rail, sliding block, guide rail strut, spring, groove bevel gear, joint face, boss group
At.Servo motor is connected by L-type plate with support plate, the power plant as retaining mechanism.Transmission shaft and servo motor phase
Even, cam and incomplete bevel gear are co-axially mounted, and by changing the energization phase sequence of servo motor, the connection between joint face is disconnected
Offer power is provided.Cam is in contact with cross guide rail surface, and cam follows improved sinusoidal acceleration characteristics of motion, passes through cam
Rotation, driving cross guide rail move forward.Sliding block is connected with guide rail strut constitutes guide assembly, and guide rail strut is mounted on cross and leads
In rail sliding slot, cross guide rail can drive guide assembly to move in a straight line.Spring is mounted between support plate and cross guide rail, is being led
Play limit damping in rail assembly movement.Groove bevel gear is installed on the supporting plate, by the sine on groove bevel gear
Shape groove, guide rail strut is tangent with sinusoidal groove always, by the rotation of groove bevel gear, guide assembly can be driven radially to move
It is dynamic.Joint face is connected by boss with support plate, and the joint face structure with external connection unit locking is formed.
The beneficial effects of the invention are as follows：
1. connection type used by mechanism is Purely mechanical connection, bonding strength and rigidity are larger, affected by environment smaller,
Suitable for working under complicated space environment.
2. Cam Motion Principle designed by mechanism be improved sinusoidal acceleration, such characteristics of motion maximum speed and
The value of peak acceleration is all reduced, i.e., suffered impact force can be preferably minimized, and is highly suitable for self-reorganization robot
Connection locking.
3. groove on mechanism groove bevel gear is sinusoidal, and the guide rail strut at the beginning and end of groove
It is vertical with the tangential direction of groove, there is certain self-lock ability, ensure that the reliability of connection.
Detailed description of the invention
Mechanism is further illustrated with reference to the accompanying drawing.
Attached drawing 1：Cam lock holding mechanism overall schematic
Attached drawing 2：Cam lock holding mechanism partial enlarged view
Attached drawing 3：Cam lock holding mechanism locked position figure
In figure：1 servo motor, 2 L-type plates, 3 support plates, 4 transmission shafts, 5 cams, 6 incomplete bevel gears, 7 cross guide rails, 8 is sliding
Block, 9 guide rail struts, 10 springs, 11 groove bevel gears, 12 joint faces, 13 boss.
Specific embodiment
The following is further explained with reference to the attached drawings specific structure and embodiment of the invention.
Structure composition of the invention as shown in Figure 1, Figure 2 and Figure 3.Improved sinusoidal acceleration cam lock holding mechanism is by servo
Motor（1）, L-type plate（2）, support plate（3）, transmission shaft（4）, cam（5）, incomplete bevel gear（6）, cross guide rail（7）, sliding block
（8）, guide rail strut（9）, spring（10）, groove bevel gear（11）, joint face（12）, boss（13）Composition.Servo motor（1）It borrows
Help L-type plate（2）With support plate（3）It is connected, the power plant as retaining mechanism.Transmission shaft（4）With servo motor（1）Phase
Even, cam（5）With incomplete bevel gear（6）It is co-axially mounted, by changing servo motor（1）Energization phase sequence, be joint face it
Between connection disconnect provide power.Cam（5）With cross guide rail（7）Surface is in contact, cam（5）Follow improved sinusoidal acceleration
The characteristics of motion is spent, cam is passed through（5）Rotation drives cross guide rail（7）It moves forward.Sliding block（8）With guide rail strut（9）Be connected structure
At guide assembly, guide rail strut（9）It is mounted on cross guide rail（7）In sliding slot, cross guide rail（7）Guide assembly can be driven to do straight line
Movement.Spring（10）It is mounted on support plate（3）With cross guide rail（7）Between, the work of limit damping is played in guide assembly movement
With.Groove bevel gear（11）It is mounted on support plate（3）On, by groove bevel gear（11）On sinusoidal groove, guide rail strut
（9）Always tangent with sinusoidal groove, pass through groove bevel gear（11）Rotation, guide assembly can be driven to move radially.Connection
Face（12）Pass through boss（13）With support plate（3）It is connected, forms the joint face with external connection unit locking（12）Structure.
The course of work of the present invention is as follows：
When work, first when the joint face of retaining mechanism（12）With the joint face of external connection unit（12）When being mutually adjacent to, watch
Take motor（1）Drive is mounted on transmission shaft（4）On a pair of cams（5）With incomplete bevel gear（6）It rotates synchronously, cam（5）
Initially enter rise stage, cam（5）Follow the cross guide rail that improved sinusoidal acceleration characteristics of motion pushes front end（7）And
It is mounted on cross guide rail（7）Four groups of guide assemblies in sliding slot move forward, spring in moving process（10）Constantly compression is played
Limit damping effect, this is linear drives process.Then in order to guarantee that mechanism connects the stationarity of transition, one section of mistake need to be passed through
Driving process, incomplete bevel gear are started turning after crossing the time（6）Area with teeth reach with groove bevel gear（11）The position of engagement
It sets, groove bevel gear（11）It starts turning, and drives four groups of guide assemblies along joint face by sinusoidal groove（12）It is radial to move
It is dynamic, groove bevel gear（11）Cam when rotation（5）It is constantly in remote dormant state, works as sliding block（8）Reach sinusoidal groove terminal
When, guide assembly is lockked by sinusoidal groove simultaneously, servo motor（1）Braking, connection procedure are completed.Finally work as joint face（12）
When needing to disconnect, servo motor（1）Reversion, in groove bevel gear（11）Drive under, four groups of guide assemblies are along joint face（12）
Radial groove to joint face（12）Center is drawn close, behind the beginning position for reaching sinusoidal groove；In cam（5）With spring
（10）Collective effect under, four groups of guide assemblies are from joint face（12）It retracts in addition, returns to initial position, complete separation and disconnect work
Make.
Claims (1)
1. a kind of improved sinusoidal acceleration cam lock holding mechanism, by servo motor, L-type plate, support plate, transmission shaft, cam, no
Complete bevel gear, cross guide rail, sliding block, guide rail strut, spring, groove bevel gear, joint face, boss composition；It is characterized in that：
Servo motor is connected by L-type plate with support plate, the power plant as retaining mechanism；Transmission shaft is connected with servo motor,
Cam and incomplete bevel gear are co-axially mounted, and by changing the energization phase sequence of servo motor, the connection between joint face is disconnected
Power is provided；Cam is in contact with cross guide rail surface, and cam follows improved sinusoidal acceleration characteristics of motion, is turned by cam
Dynamic, driving cross guide rail moves forward, and improved sinusoidal acceleration characteristics of motion ensure that the stationarity of movement；Sliding block and guide rail
Strut, which is connected, constitutes guide assembly, and guide rail strut is mounted in cross guide rail sliding slot, and cross guide rail can drive guide assembly to do directly
Line movement；Spring is mounted between support plate and cross guide rail, when guide assembly is for linear motion, cam always with cross guide rail
It is in contact and spring is used as the damping system of mechanism always；Groove bevel gear is installed on the supporting plate, by groove bevel gear
Sinusoidal groove, guide rail strut is tangent with sinusoidal groove always；In entire motion process, cam and incomplete bevel gear
Always it is in linkage status, but after rise motion stage, rotate driving process will not be immediately begun to, and need to pass through one section
Engagement can just occur with groove bevel gear for transit time, incomplete bevel gear, and groove bevel gear drives guide assembly along slot
Ditch moves radially, and reaches groove end and completes rotate driving process, linear drives process with rotate driving process is good is connected
Property, it ensure that the order and reliability of connection；Joint face is connected by boss with support plate, is formed and is locked with external connection unit
Tight joint face structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096810.6A CN108908304B (en) | 2018-09-20 | 2018-09-20 | Improved sinusoidal acceleration cam locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096810.6A CN108908304B (en) | 2018-09-20 | 2018-09-20 | Improved sinusoidal acceleration cam locking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108908304A true CN108908304A (en) | 2018-11-30 |
| CN108908304B CN108908304B (en) | 2023-06-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811096810.6A Active CN108908304B (en) | 2018-09-20 | 2018-09-20 | Improved sinusoidal acceleration cam locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108908304B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
Citations (7)
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| US6820513B1 (en) * | 2002-12-02 | 2004-11-23 | Yao-Yu Chen | Reverse gear device of a combined variable transmission system |
| CN101244564A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Tool quick-switching interface for telecontrolling welding robot |
| CN105171771A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Variable-rigidity elastic joint of cam structure |
| CN205572425U (en) * | 2016-04-19 | 2016-09-14 | 陕西科技大学 | Cylindrical cam formula step drive type manipulator |
| CN106428648A (en) * | 2016-11-23 | 2017-02-22 | 西北工业大学 | Cam-hook claw type space docking mechanism |
| CN106639691A (en) * | 2016-12-30 | 2017-05-10 | 重庆电子工程职业学院 | Car door mounting structure with damping type hinges |
| CN107953316A (en) * | 2017-12-29 | 2018-04-24 | 勃肯特（天津）机器人技术有限公司 | Slidingtype movable disk and four-shaft parallel robot |
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2018
- 2018-09-20 CN CN201811096810.6A patent/CN108908304B/en active Active
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|---|---|---|---|---|
| US6820513B1 (en) * | 2002-12-02 | 2004-11-23 | Yao-Yu Chen | Reverse gear device of a combined variable transmission system |
| CN101244564A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Tool quick-switching interface for telecontrolling welding robot |
| CN105171771A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Variable-rigidity elastic joint of cam structure |
| CN205572425U (en) * | 2016-04-19 | 2016-09-14 | 陕西科技大学 | Cylindrical cam formula step drive type manipulator |
| CN106428648A (en) * | 2016-11-23 | 2017-02-22 | 西北工业大学 | Cam-hook claw type space docking mechanism |
| CN106639691A (en) * | 2016-12-30 | 2017-05-10 | 重庆电子工程职业学院 | Car door mounting structure with damping type hinges |
| CN107953316A (en) * | 2017-12-29 | 2018-04-24 | 勃肯特（天津）机器人技术有限公司 | Slidingtype movable disk and four-shaft parallel robot |
Non-Patent Citations (4)
| Title |
|---|
| 王艳敏,常勇,李延平,王知行: "摆动与直动平底从动件盘形凸轮机构", 哈尔滨理工大学学报, no. 04 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
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| Publication number | Publication date |
|---|---|
| CN108908304B (en) | 2023-06-23 |
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