CN204622053U - Manipulator driving device - Google Patents
Manipulator driving device Download PDFInfo
- Publication number
- CN204622053U CN204622053U CN201520303985.5U CN201520303985U CN204622053U CN 204622053 U CN204622053 U CN 204622053U CN 201520303985 U CN201520303985 U CN 201520303985U CN 204622053 U CN204622053 U CN 204622053U
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- CN
- China
- Prior art keywords
- sheave
- telescopic arm
- housing
- cam
- compound cam
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Abstract
The utility model discloses a kind of manipulator driving device, it comprises: housing; Power source; Compound cam sheave, described compound cam sheave is in transmission connection by transmission mechanism and power source so that power source drives compound cam sheave to rotate by transmission mechanism, compound cam sheave has flexible plane cam groove and cylindroid of revolution cam path; Dividing spindle, described dividing spindle can be rotated to support on housing, and the outer wall of dividing spindle is provided with calibration roller, described dividing spindle by the cunning of calibration roller and cylindroid of revolution cam path coordinate to be connected with compound cam sheave drive rotate with convenient compound cam sheave time, compound cam sheave can drive dividing spindle to rotate; Telescopic arm, described telescopic arm is arranged on housing, and telescopic arm can rotate in a circumferential direction relative to housing, and telescopic arm also can slide axially relative to housing, and one end of telescopic arm is for connecting manipulator, and the other end of telescopic arm can engage dividing spindle.The utility model shares a power source and achieves the transposition of manipulator and stretch, and make control simple, action is fast reliable.
Description
Technical field
The utility model relates to a kind of manipulator driving device, can be widely used in Digit Control Machine Tool, robot and automatic assembly line, belongs to equipment manufacturing technical field.
Background technology
At present, manipulator is the device being widely used in Digit Control Machine Tool, robot, automatic assembly line workpiece automatic loading and unloading and exchange, action quick reliable, to control simply be easily the general character requirement of every profession and trade to manipulator.Robot movement generally includes arm transposition, the motion such as flexible, generally adopts pneumatic, fluid power system to control, and it controls complexity, and action is unreliable.
Utility model content
Technical problem to be solved in the utility model is the defect overcoming prior art, provides a kind of manipulator driving device, and it shares a power source and achieves the transposition of manipulator and stretch, and make control simple, action is fast reliable.
In order to solve the problems of the technologies described above, the technical solution of the utility model is: a kind of manipulator driving device, and it comprises:
Housing;
Power source;
Compound cam sheave, described compound cam sheave is in transmission connection by transmission mechanism and power source so that power source drives compound cam sheave to rotate by transmission mechanism, compound cam sheave has flexible plane cam groove and cylindroid of revolution cam path;
Dividing spindle, described dividing spindle can be rotated to support on housing, and the outer wall of dividing spindle is provided with calibration roller, described dividing spindle by the cunning of calibration roller and cylindroid of revolution cam path coordinate to be connected with compound cam sheave drive rotate with convenient compound cam sheave time, compound cam sheave can drive dividing spindle to rotate;
Telescopic arm, described telescopic arm is arranged on housing, and telescopic arm can rotate in a circumferential direction relative to housing, and telescopic arm also can slide axially relative to housing, and one end of telescopic arm is for connecting manipulator, and the other end of telescopic arm can engage dividing spindle;
Linkage, described linkage to be in transmission connection so that when compound cam sheave rotates with compound cam sheave mutually by its being slidably matched with scaling platform cam path, and compound cam sheave can drive telescopic arm to slide axially relative to housing;
Linkage comprises drive link, lever and follower link, one end of drive link is hinged on housing, the other end of drive link and one end of follower link hinged, the other end of follower link and the middle part of lever hinged, one end of lever is hinged on housing, the other end and the described telescopic arm of lever are hinged, and the middle part of described drive link is provided with plane driving head, in the sliding flexible plane cam groove fitted on compound cam sheave of described plane driving head.
Further in order to ensure that the rotary motion of dividing spindle is continuously with steady, described cylindroid of revolution cam path is provided with multistage, described calibration roller is provided with multiple, when rotating with convenient compound cam sheave, dividing spindle has all the time two slide corresponding with cylindroid of revolution cam path of calibration roller and joins.
Further, described cylindroid of revolution cam path is provided with six sections.
Further provide the juncture of a kind of telescopic arm and dividing spindle, the other end of telescopic arm engages dividing spindle by spline joint.
Further provide the concrete structure of a kind of power source and transmission mechanism, power source is motor, described transmission mechanism comprises reductor and Worm Wheel System is secondary, power source is in transmission connection mutually with the power shaft of reductor, the worm gear of Worm Wheel System pair is arranged on the output shaft of reductor, the worm screw of Worm Wheel System pair can be rotated to support on housing, and described compound cam sheave is arranged on worm screw.
After have employed technique scheme, during robot work, first, utilize the transmission of compound cam sheave and dividing spindle to coordinate, driving device hand revolution α °, makes manipulator capture both sides workpiece; Second step, utilize the transmission of compound cam sheave and telescopic arm to coordinate, driving device hand stretches out L distance, is taken out by workpiece from lathe and feed appliance; 3rd step, the transmission of recycling compound cam sheave and dividing spindle coordinates, and driving device hand turns round 180 °, and the workpiece of manipulator both sides is exchanged; 4th step, continues to utilize the transmission of compound cam sheave and telescopic arm to coordinate, and driving machine mechanical arm is retracted, by trade union college on lathe and feed appliance; 4th step, continue to utilize the transmission of compound cam sheave and dividing spindle to coordinate, driving device hand reversed turning α °, manipulator is made to rotate to stopping with the on all four 180 ° of positions of initial position, manipulator can be directly power with common electric machine, coordinated with the transmission of dividing spindle and telescopic arm respectively by compound cam sheave, realize the transposition of manipulator, the action such as flexible continuously.The motion control of manipulator does not need pneumatic, hydraulic system, and it controls simply, action is fast reliable.
Accompanying drawing explanation
Fig. 1 is the structural representation of manipulator driving device of the present utility model;
Fig. 2 is the right view of Fig. 1;
The motion fitting curves figure of telescopic arm when Fig. 3 is the rotation of compound cam sheave;
Fig. 4 is the structural representation of compound cam sheave of the present utility model;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the expanded view of the cylinder of compound cam sheave of the present utility model.
Detailed description of the invention
In order to make content of the present utility model more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the utility model is described in further detail.
As shown in figs. 1 to 6, a kind of manipulator driving device, it comprises:
Housing;
Power source 6;
Compound cam sheave 4, compound cam sheave 4 is in transmission connection so that power source 6 drives compound cam sheave 4 to rotate by transmission mechanism by transmission mechanism and power source 6, compound cam sheave 4 has flexible plane cam groove 41 and cylindroid of revolution cam path 42;
Dividing spindle 9, dividing spindle 9 can be rotated to support on housing, and the outer wall of dividing spindle 9 is provided with calibration roller, dividing spindle 9 by the cunning of calibration roller and cylindroid of revolution cam path 42 coordinate to be in transmission connection with compound cam sheave 4 rotate with convenient compound cam sheave 4 time, compound cam sheave 4 can drive dividing spindle 9 to rotate;
Telescopic arm 7, telescopic arm 7 is arranged on housing, and telescopic arm 7 can rotate in a circumferential direction relative to housing, and telescopic arm 7 also can slide axially relative to housing, and one end of telescopic arm 7 is for connecting manipulator 2, and the other end of telescopic arm 7 can engage dividing spindle 9;
Linkage, linkage to be in transmission connection so that when compound cam sheave 4 rotates with compound cam sheave 4 mutually by its being slidably matched with scaling platform cam path 41, and compound cam sheave 4 can drive telescopic arm 7 to slide axially relative to housing;
Linkage comprises drive link 3, lever 8 and follower link 81, one end of drive link 3 is hinged on housing, the other end of drive link 3 and one end of follower link 81 hinged, the other end of follower link 81 and the middle part of lever 8 hinged, one end of lever 8 is hinged on housing, the other end and the described telescopic arm 7 of lever 8 are hinged, and the middle part of described drive link 3 is provided with plane driving head, in the sliding flexible plane cam groove 41 fitted on compound cam sheave 4 of plane driving head.
As shown in Figure 2,6, cylindroid of revolution cam path is provided with multistage, and described calibration roller is provided with multiple, when rotating with convenient compound cam sheave, dividing spindle has all the time two slide corresponding with cylindroid of revolution cam path of calibration roller and joins.
As shown in Figure 6, cylindroid of revolution cam path 42 is provided with six sections, but is not limited thereto.
As shown in Figure 2, the other end of telescopic arm 7 engages dividing spindle 9 by spline joint.
As shown in Figure 2, power source 6 is motor, transmission mechanism comprises reductor 5 and Worm Wheel System is secondary, power source 6 is in transmission connection mutually with the power shaft of reductor 5, the worm gear of Worm Wheel System pair is arranged on the output shaft of reductor 5, the worm screw of Worm Wheel System pair can be rotated to support on housing, and compound cam sheave 4 is arranged on worm screw.
0 ~ ± 10 ° of scope of compound cam sheave 4 is initial alignment point.Now, dividing spindle 9 is in the initial position of 0 ° (or 180 °), and telescopic arm 7 is in the initial position of retraction.
10 ~ 60 ° of scopes of compound cam sheave 4 are manipulator 2 α ° of turning circle.Now, dividing spindle 9 turns round α ° by under the driving of cylindroid of revolution cam path 42, makes manipulator 2 capture both sides workpiece; And the radius of flexible plane cam groove 41 remains unchanged, therefore, telescopic arm 7 is still in initial position.
60 ~ 90 ° of scopes of compound cam sheave 4 are manipulator 2 pause movement region.On this position, the workpiece that can carry out on lathe 1 and feed appliance 31 unclamps action.
90 ~ 144 ° of scopes of compound cam sheave 4 are that manipulator 2 stretches out region.Wherein, 90 ~ 125 ° of scopes, the position of cylindroid of revolution cam path 42 remains unchanged, and manipulator 2 does not turn round; And the radius of flexible plane cam groove 41 will linearly increase, telescopic arm 7 at the uniform velocity stretches out, and workpiece is taken out from lathe 1 and feed appliance 31.125 ~ 144 ° of scopes, stretching out with indexing motion of manipulator 2 is overlapping, while flexible plane cam groove 41 continues to drive telescopic arm 7 to stretch out, dividing spindle 9 starts 180 ° of revolutions by under the driving of cylindroid of revolution cam path 42, and the workpiece carried out on lathe 1 and feed appliance 31 exchanges.
125 ~ 235 ° of scopes of compound cam sheave 4 are 180 ° of turning circles of manipulator 2.144 ~ 216 ° of scopes wherein, the radius of flexible plane cam groove 41 remains unchanged, and telescopic arm 7 remains on extended position; Dividing spindle 9 is under the driving of cylindroid of revolution cam path 42, and the revolution carrying out workpiece exchanges.And in 216 ~ 235 ° of regions, cylindroid of revolution cam path 42 continue driving device hand 2 complete 180 ° pivotal while, the radius of flexible plane cam groove 41 starts linear reduction, to drive telescopic arm 7 at the uniform velocity to retract, starts to carry out the trade union college on lathe 1 and feed appliance 31.
235 ~ 270 ° of scopes of compound cam sheave 4 are that manipulator 2 is retracted region.The position of cylindroid of revolution cam path 42 remains unchanged, and manipulator 2 does not turn round; And the radius of flexible plane cam groove 41 will continue linear reduction, telescopic arm 7 will at the uniform velocity be retracted, and be loaded completely by workpiece on lathe 1 and feed appliance 31.
270 ~ 300 ° of scopes of compound cam sheave 4 are manipulator 2 pause movement region.This position can be carried out the Workpiece clamping action on lathe 1 and feed appliance 31.
300 ~ 350 ° of scopes of compound cam sheave 4 are manipulator 2 return area.Now, the radius of flexible plane cam groove 41 remains unchanged, and telescopic arm 7 remains on retracted position; And dividing spindle 9 is by reversed turning α ° under the driving of cylindroid of revolution cam path 42, manipulator 2 is made to get back to 180 ° of positions.Due to the structure on two sides full symmetric of manipulator 2,180 ° identical with 0 °, and therefore, manipulator 2 will get back to the initial position before action.
The face of cylinder of compound cam sheave 4 is processed with and drives dividing spindle 9 to turn round, realize the cylindroid of revolution cam path 42 of manipulator transposition; One side plane is processed with and drives drive link 3, follower link 81, lever 8 and telescopic arm 7 stretching motion, realize the flexible plane cam groove 41 that manipulator is flexible.
For ensureing to move continuously and reducing cam thickness, cylindroid of revolution cam path 42 curve of compound cam sheave 4 is broken down into 6 shown in Fig. 6 section; When curve after decomposition can ensure that calibration turns round, dividing spindle 9 there are all the time 2 calibration rollers engage with cylindroid of revolution cam path 42, to ensure that gyration continuously, steadily.
Utilize above-mentioned drive unit, coordinated with the transmission of dividing spindle and telescopic arm respectively by compound cam sheave, roller indexing mechanism and linkage can be driven respectively, realize workpiece and exchange arm transposition required for manipulator 2, the action such as flexible.
The manipulator 2 that the utility model drives, its arm transposition, the motion such as flexible realize simply under the drive of a power source 6, and no longer need pneumatic, hydraulic system to control; The transposition angle [alpha] of manipulator 2 and flexible stroke, l all changes by changing cam path curve, and structure adaptability is strong.
The structure of all parts involved by the utility model is simple, easy to process, low cost of manufacture, and the flexible movements of manipulator are reliable, mounting and adjusting is easy.
Above-described specific embodiment; technical problem, technical scheme and beneficial effect that the utility model solves are further described; be understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a manipulator driving device, is characterized in that, it comprises:
Housing;
Power source (6);
Compound cam sheave (4), described compound cam sheave (4) is in transmission connection so that power source (6) drives compound cam sheave (4) to rotate by transmission mechanism by transmission mechanism and power source (6), compound cam sheave (4) has flexible plane cam groove (41) and cylindroid of revolution cam path (42);
Dividing spindle (9), described dividing spindle (9) can be rotated to support on housing, and the outer wall of dividing spindle (9) is provided with calibration roller, described dividing spindle (9) by the cunning of calibration roller and cylindroid of revolution cam path (42) coordinate to be in transmission connection with compound cam sheave (4) rotate with convenient compound cam sheave (4) time, compound cam sheave (4) can drive dividing spindle (9) to rotate;
Telescopic arm (7), described telescopic arm (7) is arranged on housing, and telescopic arm (7) can rotate in a circumferential direction relative to housing, telescopic arm (7) also can slide axially relative to housing, one end of telescopic arm (7) is for connecting manipulator (2), and the other end of telescopic arm (7) can engage dividing spindle (9);
Linkage, described linkage to be in transmission connection so that when compound cam sheave (4) rotates with compound cam sheave (4) mutually by its being slidably matched with scaling platform cam path (41), and compound cam sheave (4) can drive telescopic arm (7) to slide axially relative to housing.
2. manipulator driving device according to claim 1, it is characterized in that: described linkage comprises drive link (3), lever (8) and follower link (81), one end of drive link (3) is hinged on housing, the other end of drive link (3) and one end of follower link (81) hinged, the other end of follower link (81) and the middle part of lever (8) hinged, one end of lever (8) is hinged on housing, the other end and the described telescopic arm (7) of lever (8) are hinged, the middle part of described drive link (3) is provided with plane driving head, in the sliding flexible plane cam groove (41) fitted on compound cam sheave (4) of described plane driving head.
3. manipulator driving device according to claim 1 and 2, it is characterized in that: described cylindroid of revolution cam path (42) is provided with multistage, described calibration roller is provided with multiple, when rotating with convenient compound cam sheave (4), dividing spindle (9) has all the time slide corresponding with cylindroid of revolution cam path (42) of two calibration rollers and join.
4. manipulator driving device according to claim 3, is characterized in that: described cylindroid of revolution cam path (42) is provided with six sections.
5. manipulator driving device according to claim 1 and 2, is characterized in that: the other end of described telescopic arm (7) engages dividing spindle (9) by spline joint.
6. manipulator driving device according to claim 1 and 2, it is characterized in that: described power source (6) is motor, described transmission mechanism comprises reductor (5) and Worm Wheel System is secondary, power source (6) is in transmission connection mutually with the power shaft of reductor (5), the worm gear of Worm Wheel System pair is arranged on the output shaft of reductor (5), the worm screw of Worm Wheel System pair can be rotated to support on housing, and described compound cam sheave (4) is arranged on worm screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520303985.5U CN204622053U (en) | 2015-05-12 | 2015-05-12 | Manipulator driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520303985.5U CN204622053U (en) | 2015-05-12 | 2015-05-12 | Manipulator driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204622053U true CN204622053U (en) | 2015-09-09 |
Family
ID=54041112
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520303985.5U Expired - Fee Related CN204622053U (en) | 2015-05-12 | 2015-05-12 | Manipulator driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204622053U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033994A (en) * | 2015-05-12 | 2015-11-11 | 常州机电职业技术学院 | Mechanical arm drive device |
-
2015
- 2015-05-12 CN CN201520303985.5U patent/CN204622053U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033994A (en) * | 2015-05-12 | 2015-11-11 | 常州机电职业技术学院 | Mechanical arm drive device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20200512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |