CN112719835A - High-speed cam grabbing device and operation method thereof - Google Patents

Abstract

The invention discloses a high-speed cam grabbing device and an operation method thereof. The other end of the driving swing rod drives the sliding plate to move up and down to complete the lifting action. The other end of the driving swing rod pushes the sliding plate to move horizontally to complete the telescopic action. The high-speed cam grabbing device for the industrial automation production line and the operation method thereof provided by the invention have the advantages of reasonable structure, convenience in debugging, high-speed operation, stability, reliability, good interchangeability and high production benefit.

Description

High-speed cam grabbing device and operation method thereof

Technical Field

The invention relates to a high-speed cam grabbing device and an operation method thereof, and belongs to the technical field of automatic assembly equipment.

Background

At present, along with the continuous deepening of automatic assembly, each process is more and more the automation equipment that adopts in the assembly line processing, and common automatic grabbing device of work piece is servo motor or cylinder usually as main control, changes the movement track, and high-speed repeated clamp gets the transport action, and along with the lapse of time, its transport is got the stability that the clamp got and can be reduced, and the maintenance debugging is more loaded down with trivial details relatively, and the ageing is relatively poor.

In order to overcome the defects in the prior art, a gripping device with a regular motion and a simple structure is urgently needed by the technical personnel in the field.

Disclosure of Invention

The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a high-speed cam grabbing device and an operation method thereof.

The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:

a high speed cam gripping device comprising: the device comprises a main body frame, a driven shaft is arranged on the main body frame, one end of the driven shaft is connected with a driven synchronous belt pulley and a stroke pushing cam, the other end of the driven shaft is connected with a stroke lifting cam, the driven synchronous belt pulley is connected with a synchronous belt pulley through a belt, the synchronous belt pulley is connected with a servo speed reducing motor, and the servo speed reducing motor is arranged at the rear end of the main body frame; one end of the lift swing rod is rotationally connected with the main body frame, a first cam follower is arranged in the middle of the lift swing rod, the first cam follower performs rolling motion along the profile surface of the lift cam, a second cam follower is arranged at the tail end of the lift swing rod, and the second cam follower is in sliding connection with the lift sliding groove block; the lift sliding groove block is connected with the front side of the lifting plate, one end of the front side of the lifting plate is connected with one side of a front sliding block fixing plate on a linear guide rail of the front side, the other end of the front side of the lifting plate is connected with a sliding block fixing plate on the guide rail, one end of a first spring is hooked on a first spring hook at the bottom of the front sliding block fixing plate, and the other end of the first spring is hung on a second spring hook on the main body frame; a rear-side linear guide rail is arranged on the rear side of the lifting plate, a sliding block fixing plate on the rear-side linear guide rail is connected with the push plate, a spring fixing frame is arranged at one end of the rear side of the lifting plate and is fixed with one end of a second spring, and the other end of the second spring hooks a bolt rod on the push plate; the push plate sliding block is fixed at the tail end of the push plate, the inner surface of a groove of the push plate sliding block is in sliding connection with the third cam follower, the third cam follower is fixed at the free end of the push stroke oscillating rod, the fourth cam follower is arranged in the middle of the push stroke oscillating rod and is in rolling connection with the profile surface of the push stroke cam in a clinging mode, and the other end of the push stroke oscillating rod is in rotating connection with the main body frame.

Preferably, the front end of the push plate is provided with a clamping jaw module.

According to a preferable scheme, a tension wheel fixing frame is arranged on the main body frame, a tension wheel is arranged on the tension wheel fixing frame, and the tension wheel is rotatably connected with the belt.

As the preferred scheme, the tensioning wheel fixing frame is provided with an adjusting nut, and an adjusting bolt is arranged in the adjusting nut.

Preferably, a buffer is arranged on the main body frame and is in contact with the rear end of the retracted push plate sliding plate.

An operation method of a high-speed cam grabbing device comprises the following steps:

a motion trajectory ABC ascending section, wherein the push cam rotates by an angle A0C, the lift cam rotates by an angle AO' C, and the device starts to extend and ascend together after ascending to a motion trajectory B point to generate an arc section of a motion trajectory BC;

when the push cam rotates by an angle CO 'D, the device is extended to the most distal end along the trajectory of motion CDE and is held, and is lowered by the DE segment, where when the device is extended to the trajectory of motion D point, the lift cam starts to rotate by a fraction of the angle DO' F, and when the push cam rotates to the point E, the device is extended to the end and is held; when the device descends to a point F of the motion trail, the lift cam rotates to a point F of an angle DO' F; if the rotation is continued, the push cam angle FOM is equal to the lift cam angle FOM', the device stops for a short time and finishes the extending action of a half period;

the motion trail MGH is an ascending section, the push cam rotates an angle MOG, the lift cam rotates an angle MO' H, and the device starts to retract and ascend together after ascending to a motion trail G point to generate an arc section of a motion trail GH;

when the push cam rotates by an angle HO 'J, the device retracts to the nearest end along the trajectory HIJ of motion and remains, and descends by the trajectory IJ segment, where when the device retracts to the trajectory I point, the lift cam starts to rotate by a fraction JO' N, the device retracts to the end and remains; when the device descends to a point N of the trajectory, the lift cam rotates to a point N of the angle JO 'N, and continues to rotate, then the push cam angle AOB is equal to the lift angle NO' a, the device stops immotile for a short time, and the retracting action of a half cycle is completed.

Has the advantages that: the high-speed cam grabbing device for the industrial automation production line and the operation method thereof provided by the invention have the advantages of reasonable structure, convenience in debugging, high-speed operation, stability, reliability, good interchangeability and high production benefit, can realize the high-speed carrying and clamping functions of loading 10Kg and beat 1.5s, and change the carrying distance by replacing the cam. The design can greatly improve the production benefit of enterprises, improve the technical level of the enterprises in the same industry, and meet the rail of the international high-speed cam grabbing application technology through reasonable design and innovative research and development.

Drawings

Fig. 1 is a schematic diagram of an explosive structure of the present invention.

Fig. 2 is a schematic view of a lift cam side structure.

Fig. 3 is a front view of a lift cam side structure.

Fig. 4 is a schematic view of a side structure of a push cam.

Fig. 5 is a front view of a side structure of a push cam.

Fig. 6 is a schematic diagram of the movement track of the clamping jaw module in one period.

Fig. 7 is a schematic diagram of a lift cam and a push cam structure corresponding to motion tracks.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1-5, in the high-speed cam grabbing device, an induction sheet 30 and a synchronous pulley 32 are installed on a main shaft 27 of a servo reducer 47, a photoelectric switch 52 is installed on a photoelectric switch bracket 29 and is simultaneously fixed on a motor base 25, a lift cam 3, a driven synchronous pulley 33 and a push cam 2 are respectively fixed on two ends of a driven shaft 10, and the lift cam 3 and the driven synchronous pulley 33 are fixed on one side; one end of the lift swing rod 21 is fixed on the main body frame 1 through a fixing screw 20 and a shaft sleeve 45 and is in rotary connection, a first cam follower 4401 arranged in the middle of the lift swing rod 21 makes rolling motion along the profile surface of the lift cam 3, and a second cam follower 4402 arranged at the tail end of the lift swing rod 21 is in sliding connection with the lift sliding groove block 19; the lift slide groove block 19 is fastened with the lifting plate 7, one end of the front side of the lifting plate 7 is connected with one side of a front slider fixing plate 6 on the front side linear guide rail 37, the other end of the front side of the lifting plate 7 is connected with a slider fixing plate on the guide rail 36, the lift slide groove block 19 is fixed and slides up and down with the main body frame 1, one end of a first spring 51 hooks a first spring hook 49 at the bottom of the front slider fixing plate 6, and the other end of the first spring 51 is hung on a second spring hook 50 on the main body frame 1, so that the profile surface of the lift cam 3 and the first cam follower 4401 tightly roll, and the lift cam is quickly reset through the elastic force after the first spring 51 is stretched.

The rear side of the lifting plate is connected with the push plate 8 through an upper sliding block fixing plate of the rear linear guide rail 38, and can slide in the horizontal direction; one end of the rear side of the lifting plate 7 is provided with a spring fixing frame 22 through a first bolt 23 and is fixed with one end of a second spring 46, and the other end of the second spring 46 hooks a bolt rod 24 on the push plate 8, so that the push plate 8 is in a tensioned state; the push plate sliding block 9 is fixed at the tail end of the push plate 8, the inner surface of a groove of the push plate sliding block 9 is in up-and-down sliding connection with a third cam follower 3501, the third cam follower 3501 is fixed at the free end of a push stroke oscillating rod 5, a fourth cam follower 3502 is arranged in the middle of the push stroke oscillating rod 5 and is in rolling connection with the profile surface of a push stroke cam 2, and the other end of the push stroke oscillating rod 5 is fixed on the main body frame 1 through a fixing pin 4 and a second shaft sleeve 34 and is in rotating connection; the servo speed reducing motor 47 is fixed on the motor base 25 and fixed with the main body frame 1, the synchronous belt 28 connects the synchronous belt wheel 32, the driven synchronous belt wheel 33 and the tension wheel 43 together, and transmits the power output by the servo speed reducing motor 47 to enable the driven shaft 10 to rotate; the clamping jaw module 31 is arranged at the front end of the push plate 8 and can be replaced by other modules according to production requirements, such as a press-fitting module, a rotating module and the like.

A motor base cover plate 26 is arranged on the servo speed reducing motor 47 on the outer side of the motor base 25.

One end of the driven shaft 10 sequentially penetrates through the retaining ring 11, the driven synchronous belt pulley 33 and the lift cam 3 to be fixed through the nut 12, and the other end of the driven shaft 10 sequentially penetrates through the retaining ring 11, the first bearing 39, the second bearing 40 and the push cam 2 which are arranged in the body frame 1 to be fixed through the shaft blocking piece 13.

The tension wheel shaft 17 of the tension wheel 43 is connected with one end of the tension wheel supporting arm 15, the other end of the tension wheel supporting arm 15 is mounted on the tension wheel fixing frame 14 through a second bolt 16, the tension wheel fixing frame 14 is mounted on the main body frame 1, the tension wheel fixing frame 14 is provided with an adjusting nut 42, and the adjusting nut is internally provided with an adjusting bolt 41.

The main body frame 1 is provided with a buffer 48, and the buffer 48 is contacted with the rear end of the retracted push plate sliding plate 9.

And a second retainer 18 is sleeved on the tensioning wheel shaft 17.

As shown in fig. 6-7, a method of operating a high speed cam gripper includes the steps of:

point a is respectively an extension stroke middle lift cam, an initial point on a push stroke cam and an initial point of a device position, and a motion trajectory ABC is an ascending section, the push stroke cam rotates by an angle A0C, point C on the push stroke cam is a first near stopping angle initial point, 0 is a circle center of the push stroke cam, the lift cam rotates by an angle AO 'C, O' is a circle center of the lift cam, and the device starts to extend and ascend together after ascending to a motion trajectory point B to generate an arc section of a motion trajectory BC;

when the push cam rotates by an angle COE ', the lift cam rotates by an angle coc', a point E on the push cam is a first far stop angle starting point, the device extends to the farthest end along a motion trajectory CDE and is held, and a DE segment is lowered, here, when the device extends to the point D of the motion trajectory, the lift cam starts to rotate by a part of an angle DO 'F', and when the push cam rotates to the point E, the device extends to the end and is held, that is, the device extends and lowers along the DE segment of the trajectory; when the device is lowered to point F of the trajectory of motion, the lift cams rotate to point F of angle DO ″, while the push cams still rotate between the first far-stop angular interval of angle EOG; and if the rotation is continued, the push cam angle FOM and the lift cam angle FOM' are equal and are all stop angles, namely the device stops for a short time and does not move, and the device completes the extending action of the half period.

Point M is a lift cam in a retraction stroke, an initial point on the push cam and an initial point of a device position, a motion trajectory MGH is an ascending section, the push cam rotates by an angle MOG, a point G of the push cam is a starting point of a second remote stop angle, the lift cam rotates by an angle moh, and the device starts to retract and ascend together after ascending to a point G of the motion trajectory, so as to generate an arc section of a motion trajectory GH;

when the push cam rotates by an angle GOI, the lift cam rotates by an angle HO 'J, J of the lift cam is a starting point of a third far-stop angle, the device retracts to the nearest end along a motion trajectory HIJ and is held, and a trajectory IJ segment is lowered, here when the device retracts to a trajectory I point, the lift cam starts to rotate by a portion JO' N, and when the push cam rotates to a fourth far-stop angle starting point of a J point, the device retracts to an end and is held, that is, retraction and lowering of the device along the trajectory IJ segment is completed; when the device is lowered to point N of the trajectory, the lift cams rotate to point N of angle JO' N, while the push cams remain in the fourth far-stop angular interval of angle IOC; if the device continues to rotate, the push cam angle AOB is equal to the lift angle NO 'A, and all the push cam angles and the lift angle NO' A are stop angles, and the device stops for a short time; the device completes a cycle of action.

Example 1:

when the device is used, the servo speed reducing motor 47 rotates to output power, the speed reducer main shaft 27 rotates, the driven synchronous belt wheel 33 is driven to rotate through the synchronous belt 28, the lift cam 3 pushes the lift swing rod 21 to swing upwards to drive the lifting plate 7 connected with the back of the free end lift sliding groove block 19 to move upwards, the lifting plate 7 rises to 45mm, and the push plate 8 also rises along with the lifting plate 7; at this moment, the push stroke cam 2 on the other side also rotates along with the other side, but the push stroke oscillating rod 5 is still, and the third cam follower 3501 on the push stroke oscillating rod 5 only rotates in a sliding manner with the push stroke cam 2; then, the driven shaft 10 continues to rotate, the stroke pushing swing rod 5 starts to swing outwards, the stroke pushing swing rod 5 drives the lifting plate 7 connected with the back of the push plate sliding plate 9 to move forwards, the push plate 8 is pushed out horizontally, the lifting plate 7 is lifted to the highest point by 50mm and then stops, and the push plate 8 continues to be pushed out to the farthest end by 100 mm; at the moment, the stroke pushing swing rod 5 is still, then the lifting plate 7 begins to descend to the lowest end, at the moment, the stroke pushing swing rod 5 and the stroke lifting swing rod 21 are kept still for 0.2s, at the moment, the servo speed reducing motor 47 sends a rotation angle signal to the PLC, and the PLC controls the clamping jaw module 31 to finish clamping action within 0.2 s.

The driven shaft 10 continues to rotate, the stroke pushing swing rod 5 continues to be static, the lift swing rod 21 swings upwards, the lifting plate 7 rises to the highest point and is static, the stroke pushing swing rod 5 starts to swing back when the lifting plate 7 is about to rise to the highest point, the stroke pushing swing rod 5 continues to swing back to the original point, and the push plate 8 horizontally retracts to the original point; the driven shaft 10 continues to rotate, the stroke pushing swing rod 5 is static, the lift swing rod 21 descends, the lifting plate 7 begins to descend to the lowest point, the stroke pushing swing rod 5 and the lift swing rod 21 are kept still for 0.2s, the servo speed reducing motor 47 sends a rotation angle signal to the PLC, and the PLC controls the clamping jaw module 31 to complete the clamping opening action within 0.2 s.

The total time of the actions is 1.5s, and the main shaft 27 of the speed reducer, the driven shaft 10, the push cam 2 and the lift cam 3 rotate for one circle at the same time, so that the transportation from the point A to the point B and then to the point A is completed.

Example 2:

the invention discloses a research and development application device of a cam high-speed and quick-change carrying and clamping technology, wherein a rotary driving device is a servo speed reduction motor, a driving gear rotates, a lift stroke and a push stroke disk start to act and rotate for a circle to finish the clamping and carrying actions; the clamping and releasing of the clamping jaw air cylinder are controlled by matching a certain regular and controllable motion track in the motion process through the specific time sequence of the two disks and combining a signal sensed by the groove type switch and a rotation angle signal of the servo motor.

Example 3:

the device has the main technical indexes that: productivity: 1 piece/1.5 s; servo rotational drive speed: 3000 r/min; displacement detection accuracy: repeated positioning accuracy: 0.01mm, non-linearity error 0.05% F.S; maximum load: 10 Kg; lift: 50 mm; pushing: 100 mm.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (6)

1. A high speed cam gripping device comprising: main part frame, its characterized in that: the main body frame is provided with a driven shaft, one end of the driven shaft is connected with a driven synchronous belt pulley and a stroke pushing cam, the other end of the driven shaft is connected with a lift cam, the driven synchronous belt pulley is connected with a synchronous belt pulley through a belt, the synchronous belt pulley is connected with a servo speed reducing motor, and the servo speed reducing motor is arranged at the rear end of the main body frame; one end of the lift swing rod is rotationally connected with the main body frame, a first cam follower is arranged in the middle of the lift swing rod, the first cam follower performs rolling motion along the profile surface of the lift cam, a second cam follower is arranged at the tail end of the lift swing rod, and the second cam follower is in sliding connection with the lift sliding groove block; the lift sliding groove block is connected with the front side of the lifting plate, one end of the front side of the lifting plate is connected with one side of a front sliding block fixing plate on a linear guide rail of the front side, the other end of the front side of the lifting plate is connected with a sliding block fixing plate on the guide rail, one end of a first spring is hooked on a first spring hook at the bottom of the front sliding block fixing plate, and the other end of the first spring is hung on a second spring hook on the main body frame; a rear-side linear guide rail is arranged on the rear side of the lifting plate, a sliding block fixing plate on the rear-side linear guide rail is connected with the push plate, a spring fixing frame is arranged at one end of the rear side of the lifting plate and is fixed with one end of a second spring, and the other end of the second spring hooks a bolt rod on the push plate; the push plate sliding block is fixed at the tail end of the push plate, the inner surface of a groove of the push plate sliding block is in sliding connection with the third cam follower, the third cam follower is fixed at the free end of the push stroke oscillating rod, the fourth cam follower is arranged in the middle of the push stroke oscillating rod and is in rolling connection with the profile surface of the push stroke cam in a clinging mode, and the other end of the push stroke oscillating rod is in rotating connection with the main body frame.

2. A high speed cam grab arrangement according to claim 1, wherein: and the front end of the push plate is provided with a clamping jaw module.

3. A high speed cam grab arrangement according to claim 1, wherein: the main body frame is provided with a tension wheel fixing frame, the tension wheel fixing frame is provided with a tension wheel, and the tension wheel is rotatably connected with the belt.

4. A high speed cam gripping apparatus according to claim 3, wherein: the tensioning wheel fixing frame is provided with an adjusting nut, and an adjusting bolt is arranged in the adjusting nut.

5. A high speed cam grab arrangement according to claim 1, wherein: the main body frame is provided with a buffer, and the buffer is contacted with the rear end of the retracted push plate sliding plate.

6. The operating method of a high-speed cam gripping device according to any one of claims 1 to 5, wherein: the method comprises the following steps:

a motion trajectory ABC ascending section, wherein the push cam rotates by an angle A0C, the lift cam rotates by an angle AO' C, and the device starts to extend and ascend together after ascending to a motion trajectory B point to generate an arc section of a motion trajectory BC;

when the push cam rotates by an angle CO 'D, the device is extended to the most distal end along the trajectory of motion CDE and is held, and is lowered by the DE segment, where when the device is extended to the trajectory of motion D point, the lift cam starts to rotate by a fraction of the angle DO' F, and when the push cam rotates to the point E, the device is extended to the end and is held; when the device descends to a point F of the motion trail, the lift cam rotates to a point F of an angle DO' F; if the rotation is continued, the push cam angle FOM is equal to the lift cam angle FOM', the device stops for a short time and finishes the extending action of a half period;

the motion trail MGH is an ascending section, the push cam rotates an angle MOG, the lift cam rotates an angle MO' H, and the device starts to retract and ascend together after ascending to a motion trail G point to generate an arc section of a motion trail GH;

when the push cam rotates by an angle HO 'J, the device retracts to the nearest end along the trajectory HIJ of motion and remains, and descends by the trajectory IJ segment, where when the device retracts to the trajectory I point, the lift cam starts to rotate by a fraction JO' N, the device retracts to the end and remains; when the device descends to a point N of the trajectory, the lift cam rotates to a point N of the angle JO 'N, and continues to rotate, then the push cam angle AOB is equal to the lift angle NO' a, the device stops immotile for a short time, and the retracting action of a half cycle is completed.

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