CN114274121A - Cam manipulator capable of steering - Google Patents
Cam manipulator capable of steering Download PDFInfo
- Publication number
- CN114274121A CN114274121A CN202111678233.3A CN202111678233A CN114274121A CN 114274121 A CN114274121 A CN 114274121A CN 202111678233 A CN202111678233 A CN 202111678233A CN 114274121 A CN114274121 A CN 114274121A
- Authority
- CN
- China
- Prior art keywords
- cam
- connecting rod
- axis direction
- support frame
- rod
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
本发明涉及一种可转向的凸轮机械手，包括固定转轴、转向单元和夹持机构；所述转向单元设置在固定转轴的侧壁；所述夹持机构设置在固定转轴的侧壁；所述转向单元包括升降机构、滑动机构和转动机构；通过设置的转向单元，机械手在工作时，通过转动固定转轴，带动固定转轴侧壁的一号凸轮和二号凸轮转动，一号凸轮转动时会带动主支撑架上下升降运动，二号凸轮转动时会带动一号滑动杆左右滑动，一号滑动杆运动时连接支架连接主支撑架保持固定，固定杆会转动在转向轴的内侧壁带动夹持机构转动，替代了传动结构复杂的机械手，通过一个输出点，同时实现三个方向的运动，提高了对物件抓取的效果。
The invention relates to a steerable cam manipulator, comprising a fixed rotating shaft, a steering unit and a clamping mechanism; the steering unit is arranged on the side wall of the fixed rotating shaft; the clamping mechanism is arranged on the side wall of the fixed rotating shaft; the steering The unit includes a lifting mechanism, a sliding mechanism and a rotating mechanism; through the set steering unit, the manipulator rotates the fixed rotating shaft during operation, and drives the No. 1 cam and No. 2 cam on the side wall of the fixed rotating shaft to rotate. When the No. 1 cam rotates, it drives the main cam. The support frame moves up and down. When the No. 2 cam rotates, it will drive the No. 1 sliding rod to slide left and right. When the No. 1 sliding rod moves, the connecting bracket is connected to the main support frame and remains fixed, and the fixed rod will rotate on the inner side wall of the steering shaft to drive the clamping mechanism to rotate. , instead of the manipulator with complex transmission structure, through one output point, the movement in three directions can be realized at the same time, which improves the effect of grasping objects.
Description
Technical Field
The invention relates to the field of clamping machinery, in particular to a cam manipulator capable of steering.
Background
The manipulator belongs to one kind of mechanized equipment, can realize snatching the work piece automatically.
The manipulator is the earliest appearing industrial machine, is also one kind of equivalent robot, can replace the manual work to realize production automation, and wide application in electronics, metallurgy and machine-building etc..
In the present automation industry, the cylinder clamping jaw of manipulator will be controlled X axle, Y axle, Z axle and R axle direction, and every axle all need be equipped with pneumatic or electronic original paper alone, realizes single control and joint action, and the structure is comparatively complicated, and it is not fine to snatch the effect, consequently, provides a cam manipulator that can turn to above-mentioned problem.
Disclosure of Invention
In order to make up for the defects of the prior art and solve the problems that the structure of a clamping jaw of an air cylinder of the existing manipulator is complex and the grabbing effect is not good, the invention provides a steerable cam manipulator.
In a first aspect, the present invention provides a steerable cam manipulator comprising: the device comprises a fixed rotating shaft, a steering unit and a grabbing mechanism; wherein: the steering unit comprises a lifting mechanism, a sliding mechanism and a rotating mechanism; the lifting mechanism comprises a first cam and a main supporting frame; the fixed rotating shaft penetrates through the first cam and drives the first cam to rotate; when the first cam rotates, the main supporting frame is driven by the first cam to move in the Z-axis direction; the sliding mechanism comprises an auxiliary supporting frame, a sliding rail in the X-axis direction, a connecting rod and a second cam; the sliding rail is positioned between the main supporting frame and the auxiliary supporting frame, one side of the main supporting frame, which faces the second sliding rail, is provided with a sliding groove in the X-axis direction, and the sliding rail is connected in the sliding groove in a sliding manner; the auxiliary support frame is fixedly connected to the side wall of the slide rail; (ii) a The fixed shaft also penetrates through the second cam and drives the second cam and the first cam to synchronously rotate; when the second cam rotates, the connecting rod is driven by the second cam to move in the X-axis direction, the connecting rod drives the auxiliary support frame and the sliding rail to move in the X-axis direction, and a return spring is connected between the sliding rail and the main support frame;
the rotating mechanism comprises a connecting bracket, a first connecting rod, a second connecting rod and a steering shaft; one end of the connecting bracket is fixedly connected to the side wall of the main supporting frame, and the other end of the connecting bracket is hinged to one end of the first connecting rod; one end of the second connecting rod is hinged to the other end of the first connecting rod; the other end of the second connecting rod is fixedly connected with the steering shaft; the tail end of the sliding rail is connected with a fixing part, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft is inserted into the through hole and can rotate in the through hole;
a clamping mechanism is arranged below the fixed part; the grabbing mechanism is connected to one end of the steering shaft penetrating through the through hole or is connected to the steering shaft through a connecting assembly;
and a slide rail reset spring is arranged between the slide rail and the main support frame.
In a second aspect of the present invention, there is provided a single drive robot (preferably the steerable cam robot described above) operating method, preferably a steerable cam robot operating method capable of simultaneously performing X-axis, Z-axis and R-axis motions, comprising:
the fixed rotating shaft drives the first cam and the second cam to synchronously rotate, the first cam drives the main support frame to move upwards in the Z-axis direction, and the second cam drives the auxiliary support frame to drive the sliding rail to overcome the elasticity of the sliding rail return spring and move towards the grabbing mechanism in the X-axis direction; the main support frame is provided with a sliding groove in the X-axis direction, the auxiliary support frame is fixedly connected with a sliding rail, and the sliding rail is connected in the sliding groove in a sliding manner, so that the sliding rail moves upwards in the Z-axis direction under the driving of the main support frame, and meanwhile, the sliding rail overcomes the elasticity of a return spring and moves in the X-axis direction under the driving of the auxiliary support frame; the main support frame is fixedly connected with one end of a connecting frame, the other end of the connecting frame is hinged with one end of a first connecting rod, the other end of the first connecting rod is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with a steering shaft, a fixing part is fixedly arranged at the tail end of the sliding rail, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft penetrates through the through hole of the fixing part and is connected to the grabbing mechanism; when the slide rail moves in the X-axis direction, the fixing part is pushed to move in the X-axis direction, the connecting frame is fixed, the first connecting rod and the second connecting rod rotate around the hinged position of the first connecting rod and the second connecting rod, the second connecting rod drives the steering shaft to rotate, and the steering shaft drives the R shaft of the grabbing mechanism to rotate.
Preferably, elevating system still includes a slider and a slide rail, and wherein, a slider is used for fixed mounting on other carriers, and a slide rail fixed connection is in main tributary strut one side of slide rail dorsad, and a slider is equipped with the spout of Z axle direction towards the direction of a slide rail, a slide rail sliding connection in the spout of a slider.
Preferably, the main support frame is provided with a wheel or a shaft for contacting the side wall of the first cam, and when the first cam rotates, the wheel or the shaft is driven by the first cam to move in the Z-axis direction and drive the main support frame to move in the Z-axis direction.
Preferably, the connecting rod is provided with a first push rod for contacting the side wall of the second cam; when the second cam rotates, the first push rod is driven by the second cam to move in the X-axis direction, so that the connecting rod is driven to move in the X-axis direction.
Preferably, the connecting rod is also provided with a second push rod and a positioning rod; the first push rod is positioned between the second push rod and the positioning rod; the positioning rod is fixedly arranged on other carriers and is hinged with the connecting rod; the auxiliary supporting frame is provided with a strip-shaped hole extending along the Z direction, and the second rotating rod is movably inserted into the strip-shaped hole of the auxiliary supporting frame.
Preferably, the connecting rod is composed of two rod bodies, and the two rod bodies form an included angle smaller than 180 degrees, and the included angle faces to the second cam.
Preferably, the fixed rotating shaft rotates reversely, the first cam loses the drive of the main supporting frame, and the second cam loses the drive of the connecting rod; under the action of gravity, the main support frame drives the slide rail to move downwards in the Z-axis direction; meanwhile, the sliding rail drives the auxiliary support frame to move downwards in the Z-axis direction; the auxiliary support frame presses the connecting rod downwards in the Z-axis direction, and a sliding rail reset spring between the sliding rail and the main support frame is under the action of elastic force, so that the sliding rail drives the auxiliary support frame to move in the X-axis direction away from the grabbing mechanism, and the connecting rod resets under the action of gravity and the auxiliary support frame.
Preferably, the other carriers are hollow boxes, the boxes are provided with windows for the sliding rails to extend out, and the sliding rails extend out of the parts of the boxes and are provided with the fixing parts.
Preferably, the steerable cam manipulator can be provided with a driving motor, and the driving motor drives the fixed rotating shaft to rotate, or the driving motor can be externally connected temporarily when the manipulator is used.
Preferably, the clamping mechanism may be a clamping mechanism, a suction mechanism, as known in the art.
According to the invention, through the arranged steering unit, when the manipulator works, the fixed rotating shaft is rotated to drive the first cam and the second cam which are used for fixing the side wall of the rotating shaft to rotate, the first cam can drive the main support frame to move up and down when rotating, the second cam can drive the first sliding rod to slide left and right when rotating, the connecting support is connected with the main support frame to be fixed when the first sliding rod moves, the fixed rod can rotate on the inner side wall of the steering shaft to drive the clamping mechanism to rotate, the manipulator with a complicated transmission structure is replaced, the motion in three directions of X, Z and an R shaft is realized through one output point, and the object grabbing effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic view of a steerable cam robot with a housing;
FIG. 2 is a schematic structural diagram of a cam manipulator capable of steering in a box body;
FIG. 3 is a schematic view of a first directional configuration of a steerable cam robot;
FIG. 4 is a schematic view of a second directional configuration of a steerable cam robot;
fig. 5 is a schematic view of a third directional structure of the steerable cam manipulator.
In the figure: 1. fixing the rotating shaft; 11. a first cam; 12. a main supporting frame; 13. a first sliding block; 14. a first slide rail; 15. a fixed box; 2. a secondary support frame; 21. a second sliding rail; 22. a connecting rod; 23. a first rotating rod; 24. a second rotating rod; 25. a second cam; 3. connecting a bracket; 31. a first connecting rod; 32. a second connecting rod; 33. a steering shaft; 4. a clamping mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, a cam robot capable of steering includes a fixed shaft 1, a steering unit, and a clamping mechanism. The position of the fixed rotating shaft 1 is fixed.
Referring to fig. 2 to 4, the steering unit includes a lifting mechanism, a sliding mechanism, and a rotating mechanism; the lifting mechanism is arranged on the side wall of the fixed rotating shaft 1; the sliding mechanism is arranged on the side wall of the lifting mechanism; the rotating mechanism is arranged on the side wall of the sliding mechanism; the lifting mechanism comprises a first cam 11, a main supporting frame 12, a first sliding block 13 and a first sliding rail 14; the fixed rotating shaft 1 passes through the first cam 11 and drives the first cam 11 to rotate; the main supporting frame 12 is connected with a sliding wheel, and the sliding wheel is driven by the first cam 11 to lift when the first cam 11 rotates; the first sliding block 13 is positioned between the main support frame 12 and the first sliding rail 14, and the first sliding block 13 is fixedly connected with the main support frame 12 and is slidably connected in a first sliding groove in the Z-axis direction of the first sliding rail 14. When the manipulator works, the whole manipulator is driven by the fixed rotating shaft 1 to rotate the output end, the fixed rotating shaft 1 drives the first cam 11 to rotate along with the fixed rotating shaft 1, the sliding wheel of the main support frame 12 is in contact with the side wall of the first cam 11 and slides along the side wall of the first cam 11, and when the first cam 11 rotates, the side wall goes up and down, so that the sliding wheel is driven, and the main support frame 12 connected with the sliding wheel goes up and down to slide. The main support frame 12 can move along the inner side wall sliding groove of the first sliding rail 14 through the first sliding block 13, the first sliding rail 14 is a fixed part and cannot move, and the main support frame 12 is back to the side surface of the first sliding block 13 and is connected with the second sliding rail 21, so that the second sliding rail 21 is driven to lift.
As shown in fig. 2-5, the sliding mechanism includes an auxiliary supporting frame 2, a second sliding rail 21, a connecting rod 22, a first push rod 23, a second push rod 24, a second cam 25, and a positioning rotating shaft 26; a second sliding groove in the X-axis direction is formed in the side surface, back to the first sliding block 13, of the main support frame 12, and the second sliding rail 21 is connected in the second sliding groove of the main support frame 12 in a sliding manner; the second slide rail 21 has a hole at the end for mounting one end of a return spring, and the other end of the return spring (not shown) is mounted on the main support frame 12. The auxiliary support frame 2 is connected on the second slide rail 21 and moves along with the second slide rail 21, the auxiliary support frame 2 is positioned between the connecting rod 22 and the second slide rail 21, and the auxiliary support frame 2 is provided with a window or a strip-shaped hole 27 extending along the Z axis. The first push rod 23, the positioning rotating shaft 26 and the second push rod 24 are all installed on the connecting rod 22, and the first push rod 23 is located between the positioning rotating shaft 26 and the second push rod 24. The first push rod 23 is driven by the second cam 25 when the second cam 25 rotates; the position of the positioning rotating shaft 26 cannot be moved, the bottom of the connecting rod 22 is fixed through the positioning rotating shaft 26, the top of the connecting rod is connected with the second push rod 24, and the second push rod 24 is inserted into a window or a strip-shaped hole of the auxiliary support frame 2; the second cam 25 is also connected to the fixed rotating shaft 1 and is driven by the fixed rotating shaft 1 to rotate synchronously with the first cam 11. During operation, fixed rotating shaft 1 drives No. two cams 25 to rotate when rotating, and No. two cams 25's lateral wall and the lateral wall contact of push rod 23 promote push rod 23 No. one, because connecting rod 22 bottom has fixed the position through location pivot 26, under lever principle, connecting rod 22 uses location pivot 26 as the centre of a circle, does fan-shaped motion, and No. two push rods 24 promote No. two slide rails 21 and overcome reset spring elasticity and move in the X axle direction at window or bar downthehole promotion pair support frame 2 to move along window or bar downthehole at the Z axle direction simultaneously.
Referring to fig. 2 to 4, the rotating mechanism includes a connecting bracket 3, a first link 31, a second link 32, a steering shaft 33, and a connecting portion 34; one end of the connecting bracket 3 is fixedly connected to the main supporting frame 12, and the other end of the connecting bracket is hinged to one end of a first connecting rod 31; one end of the second connecting rod 32 is hinged to the other end of the first connecting rod 31; the other end of the second connecting rod 32 is fixedly connected with a steering shaft 33 extending to the connecting part 34; the connecting part 34 is connected at the tail end of the second sliding rail 21, a through hole in the Z-axis direction is formed in the connecting part, the steering shaft 33 is inserted into the through hole and can rotate in the through hole, and the steering shaft is connected with the grabbing mechanism after passing through the through hole. When the two-way sliding type robot arm works, the two-way sliding rail 21 is driven by the auxiliary supporting frame 2 to move in the X-axis direction, the main supporting frame 12 is different, the fixedly connected connecting supports 3 are different, the two-way sliding rail 21 drives the tail end steering shaft 33 to move in the X-axis direction, the first connecting rod 31 and the second connecting rod 32 are driven to rotate around the hinged position, and when the two-way connecting rod 32 rotates, the steering shaft 33 is driven to rotate, so that the clamping mechanism 4 can be rotated, namely the R-axis moves.
Referring to fig. 2-5, the connecting rod 22 is composed of two rods, which may be integrally formed or connected, and the two rods form an included angle smaller than 180 degrees, i.e., a structure in the shape of "a", and the included angle faces the second cam 25.
When the fixed rotating shaft rotates reversely, the first cam 11 loses the drive of the main supporting frame 13, and the second cam 25 loses the drive of the connecting rod 22; under the action of gravity, the main support frame 13 drives the second slide rail 21 to move downwards in the Z-axis direction; meanwhile, the sliding rail drives the auxiliary support frame to move downwards in the Z-axis direction; the auxiliary support frame presses the connecting rod downwards in the Z-axis direction, the second sliding rail 12 and the auxiliary support frame 2 move in the direction away from the grabbing mechanism in the X-axis direction under the elastic action of the reset spring, and the connecting rod 22 resets under the action of gravity and the pressure/thrust of the auxiliary support frame 2.
Referring to fig. 3, a reset spring hole (a reset spring is not shown in the figure) is connected to the end of the second slide rail 21, the reset spring hole is used for fixing one end of the reset spring, the other end of the reset spring is connected to the main support frame 12, when the second slide rail 21 is driven by the auxiliary support frame 2 to advance, the elastic force of the reset spring is overcome, when the second slide rail 21 is reset, the second cam 25 is reset, the connecting rod 22 does not apply external force to the auxiliary support frame 2 any more, the elastic force of the reset spring rebounds the second slide rail 21, and the second slide rail 21 drives the auxiliary support frame 2 and the connecting rod 22 to reset.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (10)
1. A cam manipulator that can turn to, its characterized in that: the method comprises the following steps: the device comprises a fixed rotating shaft, a steering unit and a grabbing mechanism; wherein: the steering unit comprises a lifting mechanism, a sliding mechanism and a rotating mechanism;
the lifting mechanism comprises a first cam and a main supporting frame; the fixed rotating shaft penetrates through the first cam and drives the first cam to rotate; when the first cam rotates, the main supporting frame is driven by the first cam to move in the Z-axis direction; the sliding mechanism comprises an auxiliary supporting frame, a sliding rail in the X-axis direction, a connecting rod and a second cam; the sliding rail is positioned between the main supporting frame and the auxiliary supporting frame, one side of the main supporting frame, which faces the second sliding rail, is provided with a sliding groove in the X-axis direction, and the sliding rail is connected in the sliding groove in a sliding manner; the auxiliary support frame is fixedly connected to the side wall of the slide rail; (ii) a The fixed shaft also penetrates through the second cam and drives the second cam and the first cam to synchronously rotate; when the second cam rotates, the connecting rod is driven by the second cam to move in the X-axis direction, and the connecting rod drives the auxiliary support frame and the sliding rail to move in the X-axis direction;
the rotating mechanism comprises a connecting bracket, a first connecting rod, a second connecting rod and a steering shaft; one end of the connecting bracket is fixedly connected to the side wall of the main supporting frame, and the other end of the connecting bracket is hinged to one end of the first connecting rod; one end of the second connecting rod is hinged to the other end of the first connecting rod; the other end of the second connecting rod is fixedly connected with the steering shaft; the tail end of the sliding rail is connected with a fixing part, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft is inserted into the through hole and can rotate in the through hole;
a clamping mechanism is arranged below the fixed part; the grabbing mechanism is connected to one end of the steering shaft penetrating through the through hole or is connected to the steering shaft through a connecting assembly;
and a slide rail reset spring is arranged between the slide rail and the main support frame.
2. A steerable cam manipulator as recited in claim 1, wherein: elevating system still includes a slider and a slide rail, and wherein, a slider is used for fixed mounting on other carriers, and a slide rail fixed connection is in main tributary strut one side of slide rail dorsad, and a slider is equipped with the spout of Z axle direction towards the direction of a slide rail, a slide rail sliding connection be in the spout of a slider.
3. A steerable cam manipulator as recited in claim 1, wherein: the main support frame is provided with a wheel or a shaft which is used for contacting the side wall of the first cam, and when the first cam rotates, the wheel or the shaft is driven by the first cam to move in the Z-axis direction and drive the main support frame to move in the Z-axis direction.
4. A steerable cam manipulator as recited in claim 1, wherein: the connecting rod is provided with a first push rod used for contacting the side wall of the second cam; when the second cam rotates, the first push rod is driven by the second cam to move in the X-axis direction, so that the connecting rod is driven to move in the X-axis direction.
5. A steerable cam manipulator according to claim 4, wherein: the connecting rod comprises two rod bodies, the two rod bodies form an included angle smaller than 180 degrees, and the included angle faces to the second cam.
6. A steerable cam manipulator according to claim 4, wherein: the connecting rod is also provided with a second push rod and a positioning rod; the first push rod is positioned between the second push rod and the positioning rod; the positioning rod is fixedly arranged on other carriers and is hinged with the connecting rod; the auxiliary supporting frame is provided with a strip-shaped hole extending along the Z direction, and the second rotating rod is movably inserted into the strip-shaped hole of the auxiliary supporting frame.
7. A steerable cam manipulator according to claim 1 or 6, wherein: the other carriers are hollow boxes, windows are arranged on the boxes for the sliding rails to extend out, and the parts of the sliding rails extending out of the boxes are provided with the fixing parts.
8. A method of achieving X-axis, Z-axis and R-axis motion of a single drive robot as recited in claim 1, comprising: the method comprises the following steps:
the fixed rotating shaft drives the first cam and the second cam to synchronously rotate, the first cam drives the main support frame to move upwards in the Z-axis direction, and the second cam drives the auxiliary support frame to drive the sliding rail to overcome the elasticity of the sliding rail return spring and move towards the grabbing mechanism in the X-axis direction; the main support frame is provided with a sliding groove in the X-axis direction, the auxiliary support frame is fixedly connected with a sliding rail, and the sliding rail is connected in the sliding groove in a sliding manner, so that the sliding rail moves upwards in the Z-axis direction under the driving of the main support frame, and simultaneously moves in the X-axis direction to the direction of the grabbing mechanism under the driving of the auxiliary support frame to drive the first cam and the second cam to synchronously rotate; the main support frame is provided with a sliding groove in the X-axis direction, the auxiliary support frame is fixedly connected with a sliding rail, and the sliding rail is connected in the sliding groove in a sliding manner, so that the sliding rail moves in the Z-axis direction under the driving of the main support frame and moves in the X-axis direction under the driving of the auxiliary support frame;
the main support frame is fixedly connected with one end of a connecting frame, the other end of the connecting frame is hinged with one end of a first connecting rod, the other end of the first connecting rod is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with a steering shaft, a fixing part is fixedly arranged at the tail end of the sliding rail, the fixing part is provided with a through hole in the Z-axis direction, and the steering shaft penetrates through the through hole of the fixing part and is connected to the grabbing mechanism; when the slide rail moves in the X-axis direction, the fixing part is pushed to move in the X-axis direction, the connecting frame is fixed, the first connecting rod and the second connecting rod rotate around the hinged position of the first connecting rod and the second connecting rod, the second connecting rod drives the steering shaft to rotate, and the steering shaft drives the R shaft of the grabbing mechanism to rotate.
9. The method of claim 7, wherein: the connecting rod is provided with a first push rod used for contacting the side wall of the second cam; the connecting rod is also provided with a second push rod and a positioning rod; the first push rod is positioned between the second push rod and the positioning rod; the positioning rod is fixedly arranged on other carriers and is hinged with the connecting rod; the auxiliary support frame is provided with a strip-shaped hole extending along the Z direction, and the second rotating rod is movably inserted into the strip-shaped hole of the auxiliary support frame; when the second cam rotates, the first push rod is driven by the second cam to move in the X-axis direction, so that the connecting rod is driven to move in the X-axis direction;
the connecting rod comprises two rod bodies, the two rod bodies form an included angle smaller than 180 degrees, and the included angle faces to the second cam.
10. The method of claim 9, wherein: the fixed rotating shaft rotates reversely, the first cam loses the drive of the main supporting frame, and the second cam loses the drive of the connecting rod; under the action of gravity, the main support frame drives the slide rail to move downwards in the Z-axis direction; meanwhile, the sliding rail drives the auxiliary support frame to move downwards in the Z-axis direction; the auxiliary support frame presses the connecting rod downwards in the Z-axis direction, and a sliding rail reset spring between the sliding rail and the main support frame is under the action of elastic force, so that the sliding rail drives the auxiliary support frame to move in the X-axis direction away from the grabbing mechanism, and the connecting rod resets under the action of gravity and the auxiliary support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678233.3A CN114274121A (en) | 2021-12-31 | 2021-12-31 | Cam manipulator capable of steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678233.3A CN114274121A (en) | 2021-12-31 | 2021-12-31 | Cam manipulator capable of steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114274121A true CN114274121A (en) | 2022-04-05 |
Family
ID=80879852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111678233.3A Pending CN114274121A (en) | 2021-12-31 | 2021-12-31 | Cam manipulator capable of steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114274121A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097216A (en) * | 2017-06-20 | 2017-08-29 | 常州机电职业技术学院 | Feeding manipulator |
| CN115709477A (en) * | 2023-01-06 | 2023-02-24 | 苏州钧舵机器人有限公司 | Single-drive bag separating device |
| CN117283532A (en) * | 2023-11-02 | 2023-12-26 | 重庆大学 | Rotary telescopic two-axis manipulator based on single power source |
| CN119262405A (en) * | 2024-12-06 | 2025-01-07 | 广东省惠美庄环保科技有限公司 | A conveying and wrapping device for carton packaging |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1495844A1 (en) * | 2003-07-07 | 2005-01-12 | Multi Industries | Mechanical manipulator actuated by cams for translation and rotation and assembly machine with such manipulators |
| KR20050110245A (en) * | 2004-05-18 | 2005-11-23 | 삼성전자주식회사 | Pick and place machine |
| WO2018082242A1 (en) * | 2016-11-04 | 2018-05-11 | 广州达意隆包装机械股份有限公司 | Opening/closing manipulator for bottle blowing machine |
| CN108638048A (en) * | 2018-07-26 | 2018-10-12 | 沈阳农业大学 | Manipulator based on variable position cam |
| WO2021004255A1 (en) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | Interventional surgical robot slave-end propelling apparatus and control method therefor |
| CN113479631A (en) * | 2021-07-08 | 2021-10-08 | 张俊丽 | Manual mechanical medicine dispensing device |
-
2021
- 2021-12-31 CN CN202111678233.3A patent/CN114274121A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1495844A1 (en) * | 2003-07-07 | 2005-01-12 | Multi Industries | Mechanical manipulator actuated by cams for translation and rotation and assembly machine with such manipulators |
| KR20050110245A (en) * | 2004-05-18 | 2005-11-23 | 삼성전자주식회사 | Pick and place machine |
| WO2018082242A1 (en) * | 2016-11-04 | 2018-05-11 | 广州达意隆包装机械股份有限公司 | Opening/closing manipulator for bottle blowing machine |
| CN108638048A (en) * | 2018-07-26 | 2018-10-12 | 沈阳农业大学 | Manipulator based on variable position cam |
| WO2021004255A1 (en) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | Interventional surgical robot slave-end propelling apparatus and control method therefor |
| CN113479631A (en) * | 2021-07-08 | 2021-10-08 | 张俊丽 | Manual mechanical medicine dispensing device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097216A (en) * | 2017-06-20 | 2017-08-29 | 常州机电职业技术学院 | Feeding manipulator |
| CN115709477A (en) * | 2023-01-06 | 2023-02-24 | 苏州钧舵机器人有限公司 | Single-drive bag separating device |
| CN115709477B (en) * | 2023-01-06 | 2023-09-26 | 苏州钧舵机器人有限公司 | Single-drive animal bag separating device |
| CN117283532A (en) * | 2023-11-02 | 2023-12-26 | 重庆大学 | Rotary telescopic two-axis manipulator based on single power source |
| CN117283532B (en) * | 2023-11-02 | 2025-09-02 | 重庆大学 | Rotating and telescopic two-axis robotic arm based on a single power source |
| CN119262405A (en) * | 2024-12-06 | 2025-01-07 | 广东省惠美庄环保科技有限公司 | A conveying and wrapping device for carton packaging |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114274121A (en) | Cam manipulator capable of steering | |
| JP6318264B2 (en) | Robot applying the principle of parallelogram | |
| CN104552294B (en) | A kind of large space six degree of freedom controllable-mechanism type manipulator | |
| CN108016869B (en) | Material sample bucket grabbing device, material sample bucket sorting system, and material yard sampling method | |
| CN105658350B (en) | Transfer device for workpieces | |
| CN103433342B (en) | Bidirectional edge folding mechanism for sheet material | |
| CN201287337Y (en) | Mechanical arm for assembling link lever cover | |
| CN104626092A (en) | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods | |
| CN207058548U (en) | Conveying robot car | |
| CN105127981A (en) | Three-freedom-degree transfer robot with movable support | |
| CN113211473A (en) | Flexible manipulator | |
| CN113829332B (en) | Four-degree-of-freedom parallel robot mechanism with three movements and one rotation | |
| CN114906604A (en) | Double-cam driving material taking device and method | |
| CN204604346U (en) | A kind of link-type handgrip of robot | |
| CN205201038U (en) | A linear actuator and a three-dimensional moving assembly with the linear actuator | |
| CN208681589U (en) | A kind of manipulator | |
| CN109015352A (en) | A kind of puma manipulator | |
| CN108858142B (en) | Five-freedom-degree parallel robot | |
| CN206717850U (en) | A kind of parallel robot | |
| CN211916825U (en) | A cross arm joint manipulator | |
| CN107752232A (en) | For fixing the assembly machine of midsole and shoe tree | |
| CN117463898A (en) | A robot for handling workpieces on production lines | |
| CN203945364U (en) | Heavy duty transfer robot | |
| CN209009557U (en) | A kind of vehicle right and left knuckle transfer turnover device | |
| CN209533425U (en) | Hawken Connecting Rod Linear Flat Clip Adaptive Robot Finger Device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 201109, 3rd Floor, Building 2, No. 1259 Ping'an Road, Minhang District, Shanghai Applicant after: Shanghai Xuantian Intelligent Technology Co.,Ltd. Address before: 201100 2nd floor, building 4, 1259 Ping'an Road, Minhang District, Shanghai Applicant before: SHANGHAI NOKIDA TECHNOLOGY CO.,LTD. Country or region before: China |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220405 |