CN113858263A - Picking and placing manipulator based on double-sided cam mechanism and using method - Google Patents

Picking and placing manipulator based on double-sided cam mechanism and using method Download PDF

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Publication number
CN113858263A
CN113858263A CN202111166216.1A CN202111166216A CN113858263A CN 113858263 A CN113858263 A CN 113858263A CN 202111166216 A CN202111166216 A CN 202111166216A CN 113858263 A CN113858263 A CN 113858263A
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Prior art keywords
axis
cam
connecting rod
moving assembly
assembly
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Inventor
杜轩
吕金迟
李宝万
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China Three Gorges University CTGU
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China Three Gorges University CTGU
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Priority to CN202111166216.1A priority Critical patent/CN113858263A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to a pick-and-place manipulator based on a double-sided cam mechanism and a using method thereof. The frame is used for fixedly mounting the driving cam assembly, the Y-axis moving assembly, the X-axis moving assembly and an object picked up by the tail end of the bearing manipulator. The Y-axis moving assembly and the X-axis moving assembly can realize the movement of two degrees of freedom of the Y axis and the X axis according to a certain rule under the driving of the driving cam assembly, and the quick and accurate pick-up and placement of objects can be realized by installing common mechanical arm end tools such as a sucker and a clamping jaw at the tail end of the X-axis moving assembly. The pick-and-place manipulator has reliable action, high working speed and low cost, and can be used for replacing manpower to pick and place objects in an automatic production line at high speed.

Description

Picking and placing manipulator based on double-sided cam mechanism and using method
Technical Field
The invention relates to a pick-and-place manipulator, in particular to a pick-and-place manipulator based on a double-faced cam mechanism and a using method thereof.
Background
The manipulator is the earliest industrial robot and the earliest modern robot, and can replace the heavy labor of people to realize the mechanization and automation of production, and the pick-and-place manipulator is mainly used in an automatic production line and is an automatic operation device for grabbing and carrying objects or operating tools according to a fixed program.
The manipulator can replace manual work and work, can complete various expected operation tasks through programming, has the advantages of both human and machine in structure and performance, and particularly embodies human intelligence and adaptability. The accuracy of manipulator operation and the ability of accomplishing the operation in various environments have wide development prospect in different scenes in various fields.
The cam-driven mechanical hand is a cam-driven mechanical hand with a cam as a driving mechanism and has the unique advantages of simple structure, stable action, accurate phase, fast work rhythm, low failure rate, low cost, long service life and the like.
Disclosure of Invention
The purpose of the invention is: a set of pick-and-place manipulator with reliable action, high working speed and low cost is developed and used for replacing manpower to pick and place objects in an automatic production line at high speed.
In order to solve the technical problems, the invention provides the following technical scheme: a pick-and-place manipulator based on a double-sided cam mechanism comprises a rack, a double-sided driving cam component, a Y-axis moving component and an X-axis moving component; the rack is used for fixedly mounting the driving cam assembly, the Y-axis moving assembly and the X-axis moving assembly and bearing an object picked up by the tail end of the manipulator; the Y-axis moving assembly and the X-axis moving assembly are driven by the driving cam assembly to move in two degrees of freedom of the Y axis and the X axis, and the tail end of the mechanical arm is provided with a tool for picking and placing objects quickly and accurately.
The double-sided driving cam assembly comprises a cam driving shaft, an X-axis driving cam, an X-axis driven roller, an X-axis swinging connecting rod, an X-axis connecting rod rotating shaft, a bearing A, X axis connecting rod adjusting rod, an X-axis connecting rod tail end roller, a Y-axis driving cam, a Y-axis driven roller, a Y-axis swinging connecting rod, a Y-axis connecting rod rotating shaft, a bearing B and a Y-axis connecting rod tail end roller; one end of the cam driving shaft is connected with a driving motor and is used for transmitting the output torque of the motor to the X-axis driving cam and the Y-axis driving cam; the X-axis driving cam and the Y-axis driving cam are connected with the cam driving shaft through keys, a certain included angle is formed between the X-axis driving cam and the Y-axis driving cam initially, the X-axis driving cam and the Y-axis driving cam are installed through bolts to form a double-sided driving cam, and the double-sided driving cam and the cam driving shaft keep coaxial rotation at the same angular speed during rotation.
The top of the X-axis swinging connecting rod is rotatably installed on an X-axis connecting rod rotating shaft through a bearing A, the X-axis connecting rod rotating shaft is fixed at the top of the rack, the bottom end of the X-axis swinging connecting rod is of a V-shaped structure, an X-axis driven roller for guiding is installed at one vertex angle, and a roller at the tail end of the X-axis connecting rod is installed at the other vertex angle through an X-axis connecting rod adjusting rod; and the tail end roller of the X-axis connecting rod is matched with the X-axis moving assembly.
The Y-axis swinging connecting rod is rotatably arranged on the rack through a Y-axis connecting rod rotating shaft, the Y-axis swinging connecting rod is triangular, a Y-axis driven roller for guiding is hinged to one vertex angle of the Y-axis swinging connecting rod, and a roller at the tail end of the Y-axis connecting rod is hinged to the other vertex angle of the Y-axis swinging connecting rod; and the tail end roller of the Y-axis connecting rod is matched with the Y-axis moving assembly.
The Y-axis moving assembly comprises a Y-axis assembly bottom plate, a Y-axis connecting plate, a Y-axis guide rail A, Y, an axis slide block A, Y, an axis guide rail B and a Y-axis slide block B; the Y-axis bottom plate is used for bearing a Y-axis assembly, a group of guide rail sliding blocks are arranged on two sides of the Y-axis bottom plate, and the Y-axis sliding block A, Y and the axis sliding block B are fixed with the Y-axis bottom plate through bolts; the Y-axis guide rail A, Y and the axis guide rail B are fixed with the frame through bolts; one end of the Y-axis connecting plate is arranged in the middle of the bottom plate of the Y-axis assembly, the other end of the Y-axis connecting plate is provided with a slotted hole used for being matched with a tail end roller of a Y-axis connecting rod of the double-sided driving cam assembly, and the tail end roller of the Y-axis connecting rod rolls in the slotted hole to drive the Y-axis moving assembly to move up and down according to a certain rule.
The X-axis moving assembly comprises an X-axis assembly bottom plate, an X-axis slider connecting plate, a roller guide plate A, a roller guide plate B, X, an axis guide rail A, X, an axis guide rail B, X, an axis slider A1, an X-axis slider A2, an X-axis slider B1 and an X-axis slider B2; the X-axis assembly bottom plate is used for bearing the whole X-axis moving assembly, and a rectangular notch is reserved on the X-axis assembly bottom plate and used for installation through a roller guide plate A and a roller guide plate B; the X-axis assembly bottom plate is connected with one surface of an X-axis slider connecting plate through bolts, and the other surface of the X-axis slider connecting plate is connected with an X-axis slider A1, an X-axis slider B1, an X-axis slider A2 and an X-axis slider B2 through bolts; a rectangular hole is formed in the X-axis sliding block connecting plate at the middle position of the four sliding blocks, and a roller guide plate A and a roller guide plate B are respectively arranged on two sides of the rectangular hole; when the X-axis moving assembly works, the roller at the tail end of the X-axis connecting rod rolls between the roller guide plate A and the roller guide plate B, and the X-axis moving assembly is pushed to move left and right on the X-axis guide rail A, X and the axis guide rail B according to a certain rule.
The Y-axis driving cam driving Y-axis moving assembly has the following 6 motion stages, and the following calculation method is adopted to calculate the relevant parameters of the Y-axis driving cam:
and (3) a motion stage:
1) the height is reduced by 1cm, and the time is 0.5 s;
2) keeping the height for 1.5 s;
3) the time for rising to 1cm is 0.5 s;
4) the height is reduced by 1cm, and the time is 0.5 s;
5) keeping the height for 1.5 s;
6) the time for rising to 1cm is 0.5 s;
the specific calculation method comprises the following steps:
1) calculate the time for one complete cycle:
∑Ti＝0.5s+1.5s+0.5s+0.5s+1.5s+0.5s＝5s
2) determining the required angular velocity of the cam:
Figure BDA0003291353270000031
Figure BDA0003291353270000032
3) calculating the rotation angle of the cam at each stage of the rotary motion:
Figure BDA0003291353270000033
Figure BDA0003291353270000034
Figure BDA0003291353270000035
Figure BDA0003291353270000036
Figure BDA0003291353270000037
Figure BDA0003291353270000038
in the formula: beta is a11、β12、β13、β14、β15、β16The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
The X-axis driving cam driving X-axis moving assembly has the following 4 motion stages, and the following calculation method is adopted to calculate the relevant parameters of the X-axis driving cam:
and (3) a motion stage:
1) moving for 3cm for 2 seconds;
2) keeping for 0.5 s;
3) returning to 3cm for 2 seconds;
4) keeping for 0.5 s;
the calculation method and the parameters are as follows:
Figure BDA0003291353270000041
Figure BDA0003291353270000042
Figure BDA0003291353270000043
Figure BDA0003291353270000044
in the formula: beta is a21、β22、β23、β24The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
Before the picking and placing mechanical arm based on the double-sided cam mechanism is used, the mechanical arm is arranged at a position to be used through a bolt, a motor for driving the mechanical arm is arranged on a cam driving shaft or is integrated with a main transmission system of a host, and a sucker, a claw or the mechanical arm for picking parts is arranged at the tail end of an X-axis moving assembly according to actual requirements; when the manipulator is used, the control system is used for electrifying the driving motor, the manipulator starts to work, when the manipulator reaches the object taking position, the air source electromagnetic valve is controlled to work, so that the tail end tool picks up an object, and when the manipulator reaches the object placing position, the air source electromagnetic valve is controlled to work, so that the tail end tool places the object; after the use, the main control system is powered off and the gas is cut off.
The invention has the following beneficial effects:
1. the installation layout is flexible and high, and the integration with a main transmission system of the host is convenient.
2. The modularized product has a compact structure and various motion tracks and forms which can be selected by a user.
3. The cam transmission mechanism has the advantages of stable cam transmission action, accurate phase, fast work rhythm, low failure rate, low cost, high safety, long service life and the like.
4. The complexity of the overall design of the machine is reduced, the control system of the machine is simplified, the design and manufacturing cost of the machine is reduced, and the development cycle is shortened.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of the main structure of the present invention.
In the figure: a frame 10, a double-sided driving cam assembly 20, a Y-axis moving assembly 30, and an X-axis moving assembly 40;
fig. 2 is a schematic front structure view of the double-sided driving cam assembly of the present invention.
Fig. 3 is a schematic view of the reverse structure of the double-sided drive cam assembly of the present invention.
In the figure: a cam driving shaft 201, an X-axis driving cam 202, an X-axis driven roller 203, an X-axis swinging connecting rod 204, an X-axis connecting rod rotating shaft 205, a bearing A206, an X-axis connecting rod adjusting rod 207, an X-axis connecting rod tail end roller 208, a Y-axis driving cam 209, a Y-axis driven roller 210, a Y-axis swinging connecting rod 211, a Y-axis connecting rod rotating shaft 212, a bearing B213 and a Y-axis connecting rod tail end roller 214;
fig. 4 is a schematic diagram of the Y-axis module structure of the present invention.
In the figure: y-axis assembly base plate 301, Y-axis assembly plate 302, Y-axis guide rail A303, Y-axis slide block A304, Y-axis guide rail B305 and Y-axis slide block B306
Fig. 5 is a schematic diagram of the X-axis module structure of the present invention.
In the figure: the X-axis sliding block comprises an X-axis assembly bottom plate 401, an X-axis sliding block connecting plate 402, a roller guide plate A403, a roller guide plate B404, an X-axis guide rail A405, an X-axis guide rail B406, an X-axis sliding block A1407, an X-axis sliding block A2408, an X-axis sliding block B1409 and an X-axis sliding block B2410;
fig. 6 is a first perspective three-dimensional view of the present invention.
Fig. 7 is a second perspective three-dimensional view of the present invention.
Fig. 8 is a third perspective three-dimensional view of the present invention.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1 to 8, a pick-and-place manipulator based on a double-sided cam mechanism comprises a frame 10, a double-sided driving cam assembly 20, a Y-axis moving assembly 30 and an X-axis moving assembly 40; the frame 10 is used for fixedly mounting the driving cam assembly 20, the Y-axis moving assembly 30 and the X-axis moving assembly 40 and carrying an object picked up by the tail end of the manipulator; the Y-axis moving assembly 30 and the X-axis moving assembly 40 realize the movement of two degrees of freedom of the Y axis and the X axis under the driving of the driving cam assembly 20, and the quick and accurate pick-and-place of the object is realized by installing a mechanical hand end tool at the tail end of the X-axis moving assembly 40. Through foretell manipulator, it adopts two-sided cam mechanism, simple structure, convenient to use adopts the drive mode of single input moreover, has simplified the transmission process. And the stability of transmission is ensured by adopting a cam mechanism.
Further, the double-sided driving cam assembly 20 includes a cam driving shaft 201, an X-axis driving cam 202, an X-axis driven roller 203, an X-axis swinging link 204, an X-axis link rotating shaft 205, a bearing a206, an X-axis link adjusting lever 207, an X-axis link end roller 208, a Y-axis driving cam 209, a Y-axis driven roller 210, a Y-axis swinging link 211, a Y-axis link rotating shaft 212, a bearing B213, and a Y-axis link end roller 214; one end of the cam driving shaft 201 is connected with a driving motor and is used for transmitting the output torque of the motor to the X-axis driving cam 202 and the Y-axis driving cam 209; the X-axis driving cam 202 and the Y-axis driving cam 209 are connected with the cam driving shaft 201 through keys, and the two cams are initially arranged at a certain included angle and installed through bolts to form a double-sided driving cam, and when the double-sided driving cam rotates, the double-sided driving cam and the cam driving shaft 201 keep coaxial rotation at the same angular speed. Both lateral and vertical motion can be achieved by the double-sided drive cam assembly 20 described above. The stability of the drive is ensured by the cam mechanism. In operation, the X-axis swing link 204 and the Y-axis swing link 211 are synchronously driven by the X-axis drive cam 202 and the Y-axis drive cam 209, and the corresponding X-axis moving assembly 40 and the corresponding Y-axis moving assembly 30 are driven by the corresponding X-axis drive cam 202 and the corresponding Y-axis drive cam 209.
Further, the top of the X-axis swinging connecting rod 204 is rotatably mounted on an X-axis connecting rod rotating shaft 205 through a bearing a206, the X-axis connecting rod rotating shaft 205 is fixed on the top of the frame 10, the bottom end of the X-axis swinging connecting rod 204 is in a V-shaped structure, an X-axis driven roller 203 for guiding is mounted at one vertex angle, and an X-axis connecting rod tail end roller 208 is mounted at the other vertex angle through an X-axis connecting rod adjusting rod 207; the X-axis linkage end roller 208 cooperates with the X-axis motion assembly 40. The X-direction movement can be realized by the X-axis swing link 204 described above.
Further, the Y-axis swinging connecting rod 211 is rotatably mounted on the frame 10 through a Y-axis connecting rod rotating shaft 212, the Y-axis swinging connecting rod 211 is triangular, a Y-axis driven roller 210 for guiding is hinged at one vertex angle of the Y-axis swinging connecting rod 211, and a Y-axis connecting rod tail end roller 214 is hinged at the other vertex angle of the Y-axis swinging connecting rod 211; the Y-axis linkage end roller 214 cooperates with the Y-axis motion assembly 30. The Y-direction movement can be realized by the Y-axis swing link 211 described above.
Further, the Y-axis moving assembly 30 includes a Y-axis assembly base plate 301, a Y-axis assembly plate 302, a Y-axis guide rail a303, a Y-axis slider a304, a Y-axis guide rail B305, and a Y-axis slider B306; the Y-axis base plate 301 is used for bearing the Y-axis assembly 30, a group of guide rail sliding blocks are mounted on two sides of the Y-axis base plate 301, and the Y-axis sliding block A304 and the Y-axis sliding block B305 are fixed with the Y-axis base plate 301 through bolts; the Y-axis guide rail A303 and the Y-axis guide rail B305 are fixed with the frame 10 through bolts; one end of the Y-axis connecting plate 302 is arranged in the middle of the Y-axis assembly base plate 301, the other end is provided with a slotted hole for matching with the Y-axis connecting rod tail end roller 214 of the double-side driving cam assembly 20, and the Y-axis connecting rod tail end roller 214 rolls in the slotted hole to drive the Y-axis moving assembly 30 to move up and down according to a certain rule.
Further, the X-axis moving assembly 40 includes an X-axis assembly base plate 401, an X-axis slider connecting plate 402, a roller guide plate a403, a roller guide plate B404, an X-axis guide rail a405, an X-axis guide rail B406, an X-axis slider a1407, an X-axis slider a2408, an X-axis slider B1409 and an X-axis slider B2410; the X-axis assembly bottom plate 401 is used for bearing the whole X-axis moving assembly 40, and a rectangular notch is reserved on the X-axis assembly bottom plate 401 and used for installation through a roller guide plate A403 and a roller guide plate B404; the X-axis assembly bottom plate 401 is connected with one surface of an X-axis slider connecting plate 402 through bolts, and the other surface of the X-axis slider connecting plate 402 is connected with an X-axis slider A1407, an X-axis slider B1409, an X-axis slider A2408 and an X-axis slider B2410 through bolts; a rectangular hole is formed in the middle of each of the four sliders of the X-axis slider connecting plate 402, and a roller guide plate A403 and a roller guide plate B404 are respectively arranged on two sides of the rectangular hole; when the X-axis moving assembly 40 works, the roller 208 at the end of the X-axis connecting rod rolls between the roller guide plate a403 and the roller guide plate B404, and pushes the X-axis moving assembly 40 to move back and forth left and right on the X-axis guide rail a405 and the X-axis guide rail B406 according to a certain rule.
Example 2:
in order to realize the Y-direction movement of the Y-axis moving component 30, the Y-axis driving cam 209 drives the Y-axis moving component 30 in the following 6 movement stages, and the following calculation method is adopted to calculate the relevant parameters of the Y-axis driving cam 209:
and (3) a motion stage:
1) the height is reduced by 1cm, and the time is 0.5 s;
2) keeping the height for 1.5 s;
3) the time for rising to 1cm is 0.5 s;
4) the height is reduced by 1cm, and the time is 0.5 s;
5) keeping the height for 1.5 s;
6) the time for rising to 1cm is 0.5 s;
the specific calculation method comprises the following steps:
1) calculate the time for one complete cycle:
∑Ti＝0.5s+1.5s+0.5s+0.5s+1.5s+0.5s＝5s
2) determining the required angular velocity of the cam:
Figure BDA0003291353270000071
Figure BDA0003291353270000072
3) calculating the rotation angle of the cam at each stage of the rotary motion:
Figure BDA0003291353270000081
Figure BDA0003291353270000082
Figure BDA0003291353270000083
Figure BDA0003291353270000084
Figure BDA0003291353270000085
Figure BDA0003291353270000086
in the formula: beta is a11、β12、β13、β14、β15、β16The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
The corresponding Y-axis drive cam 209 is manufactured by the above-described angle.
Example 3:
the following 4 motion phases exist when the X-axis driving cam 202 drives the X-axis moving assembly 30, and the following calculation method is adopted to calculate the relevant parameters of the X-axis driving cam 202:
and (3) a motion stage:
1) moving for 3cm for 2 seconds;
2) keeping for 0.5 s;
3) returning to 3cm for 2 seconds;
4) keeping for 0.5 s;
the calculation method and the parameters are as follows:
Figure BDA0003291353270000087
Figure BDA0003291353270000088
Figure BDA0003291353270000089
Figure BDA00032913532700000810
in the formula: beta is a21、β22、β23、β24The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
Example 4:
before the picking and placing mechanical arm based on the double-sided cam mechanism is used, the mechanical arm is arranged at a position to be used through a bolt, a motor for driving the mechanical arm is arranged on a cam driving shaft 201 or is integrated with a main transmission system of a host, and a sucker, a claw or a mechanical arm for picking parts is arranged at the tail end of an X-axis moving assembly 30 according to actual requirements; when the manipulator is used, the control system is used for electrifying the driving motor, the manipulator starts to work, when the manipulator reaches the object taking position, the air source electromagnetic valve is controlled to work, so that the tail end tool picks up an object, and when the manipulator reaches the object placing position, the air source electromagnetic valve is controlled to work, so that the tail end tool places the object; after the use, the main control system is powered off and the gas is cut off.

Claims (9)

1. A pick-and-place manipulator based on a double-sided cam mechanism comprises a rack (10), a double-sided driving cam assembly (20), a Y-axis moving assembly (30) and an X-axis moving assembly (40); the method is characterized in that: the frame (10) is used for fixedly mounting the driving cam assembly (20), the Y-axis moving assembly (30) and the X-axis moving assembly (40) and carrying an object picked up by the tail end of the manipulator; the Y-axis moving assembly (30) and the X-axis moving assembly (40) realize the movement of two degrees of freedom of the Y axis and the X axis under the driving of the driving cam assembly (20), and the quick and accurate pick-and-place of the object is realized by installing a mechanical arm end tool at the tail end of the X-axis moving assembly (40).
2. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 1, wherein: the double-sided driving cam assembly (20) comprises a cam driving shaft (201), an X-axis driving cam (202), an X-axis driven roller (203), an X-axis swinging connecting rod (204), an X-axis connecting rod rotating shaft (205), a bearing A (206), an X-axis connecting rod adjusting rod (207), an X-axis connecting rod tail end roller (208), a Y-axis driving cam (209), a Y-axis driven roller (210), a Y-axis swinging connecting rod (211), a Y-axis connecting rod rotating shaft (212), a bearing B (213) and a Y-axis connecting rod tail end roller (214); one end of the cam driving shaft (201) is connected with a driving motor and is used for transmitting the output torque of the motor to the X-axis driving cam (202) and the Y-axis driving cam (209); the X-axis driving cam (202) and the Y-axis driving cam (209) are connected with the cam driving shaft (201) through keys, the X-axis driving cam and the Y-axis driving cam form a certain included angle initially and are installed through bolts to form a double-sided driving cam, and when the double-sided driving cam rotates, the double-sided driving cam and the cam driving shaft (201) keep coaxial rotation at the same angular speed.
3. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 2, wherein: the top of the X-axis swinging connecting rod (204) is rotatably mounted on an X-axis connecting rod rotating shaft (205) through a bearing A (206), the X-axis connecting rod rotating shaft (205) is fixed at the top of the rack (10), the bottom end of the X-axis swinging connecting rod (204) is of a V-shaped structure, an X-axis driven roller (203) for guiding is mounted at one vertex angle, and an X-axis connecting rod tail end roller (208) is mounted at the other vertex angle through an X-axis connecting rod adjusting rod (207); the X-axis connecting rod tail end roller (208) is matched with the X-axis moving assembly (40).
4. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 2, wherein: the Y-axis swinging connecting rod (211) is rotatably installed on the rack (10) through a Y-axis connecting rod rotating shaft (212), the Y-axis swinging connecting rod (211) is triangular, a Y-axis driven roller (210) for guiding is hinged to one vertex angle of the Y-axis swinging connecting rod (211), and a Y-axis connecting rod tail end roller (214) is hinged to the other vertex angle of the Y-axis swinging connecting rod (211); and the tail end roller (214) of the Y-axis connecting rod is matched with the Y-axis moving assembly (30).
5. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 1, wherein: the Y-axis moving assembly (30) comprises a Y-axis assembly bottom plate (301), a Y-axis connecting plate (302), a Y-axis guide rail A (303), a Y-axis sliding block A (304), a Y-axis guide rail B (305) and a Y-axis sliding block B (306); the Y-axis base plate (301) is used for bearing the Y-axis assembly (30), a group of guide rail sliding blocks are arranged on two sides of the Y-axis base plate (301), and the Y-axis sliding block A (304) and the Y-axis sliding block B (305) are fixed with the Y-axis base plate (301) through bolts; the Y-axis guide rail A (303) and the Y-axis guide rail B (305) are fixed with the frame (10) through bolts; one end of a Y-axis connecting plate (302) is arranged in the middle of a Y-axis assembly bottom plate (301), the other end of the Y-axis connecting plate is provided with a slotted hole used for being matched with a Y-axis connecting rod tail end roller (214) of the double-face driving cam assembly (20), and the Y-axis connecting rod tail end roller (214) rolls in the slotted hole to drive the Y-axis moving assembly (30) to move up and down according to a certain rule.
6. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 1, wherein: the X-axis moving assembly (40) comprises an X-axis assembly bottom plate (401), an X-axis slider connecting plate (402), a roller guide plate A (403), a roller guide plate B (404), an X-axis guide rail A (405), an X-axis guide rail B (406), an X-axis slider A1(407), an X-axis slider A2(408), an X-axis slider B1(409) and an X-axis slider B2 (410); the X-axis assembly bottom plate (401) is used for bearing the whole X-axis moving assembly (40), and a rectangular notch is reserved on the X-axis assembly bottom plate (401) and used for installation through a roller guide plate A (403) and a roller guide plate B (404); the X-axis assembly bottom plate (401) is connected with one surface of an X-axis slider connecting plate (402) through bolts, and the other surface of the X-axis slider connecting plate (402) is connected with an X-axis slider A1(407), an X-axis slider B1(409), an X-axis slider A2(408) and an X-axis slider B2(410) through bolts; a rectangular hole is formed in the middle of each of the four sliding blocks of the X-axis sliding block connecting plate (402), and a roller guide plate A (403) and a roller guide plate B (404) are respectively installed on two sides of the rectangular hole; when the X-axis moving assembly (40) works, the roller (208) at the tail end of the X-axis connecting rod rolls between the roller guide plate A (403) and the roller guide plate B (404), and the X-axis moving assembly (40) is pushed to move left and right on the X-axis guide rail A (405) and the X-axis guide rail B (406) according to a certain rule.
7. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 2, wherein: the Y-axis driving cam (209) drives the Y-axis moving assembly (30) to have the following 6 motion stages, and the following calculation method is adopted to calculate the relevant parameters of the Y-axis driving cam (209):
and (3) a motion stage:
1) the height is reduced by 1cm, and the time is 0.5 s;
2) keeping the height for 1.5 s;
3) the time for rising to 1cm is 0.5 s;
4) the height is reduced by 1cm, and the time is 0.5 s;
5) keeping the height for 1.5 s;
6) the time for rising to 1cm is 0.5 s;
the specific calculation method comprises the following steps:
1) calculate the time for one complete cycle:
∑Ti＝0.5s+1.5s+0.5s+0.5s+1.5s+0.5s＝5s
2) determining the required angular velocity of the cam:
Figure FDA0003291353260000031
Figure FDA0003291353260000032
3) calculating the rotation angle of the cam at each stage of the rotary motion:
Figure FDA0003291353260000033
Figure FDA0003291353260000034
Figure FDA0003291353260000035
Figure FDA0003291353260000036
Figure FDA0003291353260000037
Figure FDA0003291353260000038
in the formula: beta is a11、β12、β13、β14、β15、β16The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
8. The pick-and-place manipulator based on the double-sided cam mechanism as claimed in claim 2, wherein: the X-axis driving cam (202) drives the X-axis moving assembly (30) to have the following 4 motion stages, and the following calculation method is adopted to calculate the relevant parameters of the X-axis driving cam (202):
and (3) a motion stage:
1) moving for 3cm for 2 seconds;
2) keeping for 0.5 s;
3) returning to 3cm for 2 seconds;
4) keeping for 0.5 s;
the calculation method and the parameters are as follows:
Figure FDA0003291353260000041
Figure FDA0003291353260000042
Figure FDA0003291353260000043
Figure FDA0003291353260000044
in the formula: beta is a21、β22、β23、β24The cam is driven to rotate by an angle for each phase of the Y-axis rotational motion.
9. The use method of the picking and placing mechanical arm based on the double-sided cam mechanism in any one of claims 1 to 8 is characterized in that: before use, the manipulator is arranged at a position to be used through a bolt, a motor for driving the manipulator is arranged on a cam driving shaft (201) or is integrated with a main transmission system of a host, and a sucker, a claw or a manipulator for picking up parts is arranged at the tail end of an X-axis moving assembly (30) according to actual requirements; when the manipulator is used, the control system is used for electrifying the driving motor, the manipulator starts to work, when the manipulator reaches the object taking position, the air source electromagnetic valve is controlled to work, so that the tail end tool picks up an object, and when the manipulator reaches the object placing position, the air source electromagnetic valve is controlled to work, so that the tail end tool places the object; after the use, the main control system is powered off and the gas is cut off.
CN202111166216.1A 2021-09-30 2021-09-30 Picking and placing manipulator based on double-sided cam mechanism and using method Pending CN113858263A (en)

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Application publication date: 20211231