CN205572425U - Cylindrical cam formula step drive type manipulator - Google Patents
Cylindrical cam formula step drive type manipulator Download PDFInfo
- Publication number
- CN205572425U CN205572425U CN201620329219.0U CN201620329219U CN205572425U CN 205572425 U CN205572425 U CN 205572425U CN 201620329219 U CN201620329219 U CN 201620329219U CN 205572425 U CN205572425 U CN 205572425U
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Abstract
The utility model provides a cylindrical cam formula step drive type manipulator, including the box, install the awl directaxis and the protruding axle of awl of orthogonal setting in the box, the protruding axle of awl that the level was placed links to each other through a pair of bevel gear with the vertical awl directaxis of placing, advance and retreat cylindrical cam and the coaxial assembly of bevel gear are protruding epaxial at the awl, install in the box with awl directaxis parallel arrangement's protruding directaxis, and the awl directaxis links to each other lift cylindrical cam and the coaxial assembly of protruding directaxis with protruding directaxis through a pair of pitch wheel, fix on the box with the protruding axle parallel arrangement's of awl slide rail, the advance and retreat slider is installed and can be slided on the slide rail on the slide rail, and the push rod of vertical setting is placed in the advance and retreat slider, and the advance and retreat push rod is fixed on the advance and retreat slider. The utility model discloses can be used to various automatic machines and automatic production line, like automatic press line, automatic assembly line etc. As last unloader, the mechanical hand of transport or action execution component.
Description
[technical field]
This utility model relates to a kind of machine driving machinery hands, particularly to a kind of cylinder cam-type stepper drive type mechanical hand.
[background technology]
In automatic assembling work, it is frequently necessary to machine realize a simplest action: put down in another location after the grabbing workpiece of a certain position.In order to realize this work, engineer can have multiple choices: mechanical hand is placed in the crawl that air pressure drives, and motor drives to capture places mechanical hand, and mechanical hand is placed in cam-actuated crawl.
Use which kind of mode depend on apply operating mode: parts assemble needs, the size of workpiece, the weight of workpiece, they spatialities before crawled, they need to move much distances, the positioning precision needed when placing them into another location, great work place, in terms of cost, time and manpower, there are those restrictions etc..
The mechanical hand that air pressure drives, installs very flexible, and acquisition cost is low.But the acceleration of the robot movement that air pressure drives and speed are difficult to accurately control, especially when stopping, action is stiff, impact shock is big, therefore it is only suitable for the period of motion occasion more than 3 seconds (corresponding operating rate is 20/point), and cylinder efficiency of energy utilization the lowest (about 16%), therefore its use cost is high.
Motor-driven mechanical hand, easy for installation, motility is high, can stop by multiple spot, if assembly system need to change or redesign, if reprogramming simply.But motor-driven mechanical hand need be equipped with the electric control system of complexity, if completing better simply repetitive operation with this kind of mechanical hand, just seem that cost is high.
[utility model content]
This utility model purpose is to provide a kind of cylinder cam-type stepper drive type mechanical hand, has the particular advantages such as simple in construction, stable action, phase place is accurate, work rhythm is fast, failure rate is low, low cost, length in service life.
For achieving the above object, this utility model be the technical scheme is that
Cylinder cam-type stepper drive type mechanical hand, including casing, is provided with cone d-axis and the cone protruding shaft of orthogonal setting in casing, the cone protruding shaft of horizontal positioned is connected by bevel-gear sett with the cone d-axis vertically placed；Advance and retreat cylindrical cam and bevel gear are coaxially assemblied in cone protruding shaft, and the convex d-axis be arrangeding in parallel with cone d-axis is arranged in casing, and cone d-axis is connected by a pair pitch wheel with convex d-axis, and elevation cylinder cam coaxially assembles with convex d-axis；The slide rail be arrangeding in parallel with cone protruding shaft is fixed on casing, advance and retreat slide block is arranged on slide rail and can slide on slide rail, the push rod being vertically arranged is placed in advance and retreat slide block, advance and retreat push rod is fixed on advance and retreat slide block, advance and retreat slide block is coordinated with advance and retreat cylindrical cam by advance and retreat push rod, lifting sliding sleeve is fixed on casing, lifting push rod coordinates with lifting sliding sleeve slide block, lifting push rod is connected with push rod, and the rotation of advance and retreat cylindrical cam and elevation cylinder cam drives advance and retreat push rod horizontal movement and lifting push rod vertically movable.
Further, the bevel gear in described cone protruding shaft is identical with the bevel gear size on cone d-axis.
Further, described cone d-axis is connected by spur gear with convex d-axis.
Further, the spur gear on described cone d-axis is identical with the spur gear size on convex d-axis.
Further, described convex d-axis is fixed on cabinet base by convex d-axis bearing block.
Further, described cone d-axis is fixed on the side plate of casing by cone d-axis bearing block.
This utility model uses cylindrical cam mechanism as drive mechanism, combination by the rotary motion of circumferencial direction Yu the linear reciprocating motion of vertical direction, use two cylindrical cams, outfan is enable to complete " rise and move back into fall " aggregate motion, wherein " lift " motion to have been controlled by elevation cylinder cam, motion of " retreating " has been controlled by advance and retreat cylindrical cam, achieve the direct acting aggregate motion that output shaft is complicated, operate steadily reliable, without impact shock, noise is the lowest, can be used for various automation and automatic assembly line, such as automation press line, automatic assembly line etc., as handling equipment, conveying robot or action executing parts.
[accompanying drawing explanation]
Fig. 1: cylinder cam-type stepper drive type mechanical hand front view
Fig. 2: cylinder cam-type stepper drive type mechanical hand right view
Wherein: 1-casing, 2-bores d-axis bearing block, and 3-bores d-axis, 4-box side, 5-bevel gear, 6-advance and retreat slide block, 7-outfan jacking block, 8-push rod, 9-advance and retreat cylindrical cam, 10-bores protruding shaft, the convex d-axis of 11-, 12-spur gear, 13-convex d-axis bearing block, 14-slide rail, 15-advance and retreat push rod, 16-lifts push rod, and 17-lifts sliding sleeve, 18-elevation cylinder cam.
[detailed description of the invention]
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.But this should not being interpreted as, the scope of the above-mentioned theme of this utility model is only limitted to following example, and all technology realized based on above-mentioned utility model content belong to scope of the present utility model.
See Fig. 1 Fig. 2, cylinder cam-type stepper drive type mechanical hand described in the utility model, protruding shaft 10 is bored including power input shaft, it is securely fitted on casing 1 by bearing, advance and retreat cylindrical cam 9 and bevel gear 5 are coaxially assemblied in cone protruding shaft 10, the cone protruding shaft 10 of horizontal positioned is connected with the cone d-axis 3 vertically placed by a pair identical bevel gear 5, cone d-axis 3 is fixed on box side 4 by cone d-axis bearing block 2, the convex d-axis 11 be arrangeding in parallel with cone d-axis 3 is arranged in casing 1, cone d-axis 3 is connected with convex d-axis 11 by a pair identical spur gear 12, elevation cylinder cam 18 coaxially assembles with convex d-axis 11, convex d-axis 11 is fixed on cabinet base by convex d-axis bearing block 13.The slide rail 14 be arrangeding in parallel with cone protruding shaft 10 is fixed on casing 1, and advance and retreat slide block 6 is connected with slide rail 14 by sliding-rail groove and can be slided on slide rail, and push rod 8 is placed in advance and retreat slide block 6, and advance and retreat push rod 15 is fixed on advance and retreat slide block 6.
Lifting sliding sleeve 17 is fixed on casing 1, and lifting push rod 16 coordinates with lifting sliding sleeve 17 slide block, and lifting push rod 16 is connected with push rod 8, and the rotation of advance and retreat cylindrical cam 9 and elevation cylinder cam 18 drives advance and retreat push rod 15 horizontal movement and lifting push rod 16 vertically movable.
This device operating procedure is as follows: external motor band mantle protruding shaft 10 and advance and retreat cylindrical cam 9 rotate, rotary power makes elevation cylinder cam 18 rotate by bevel gear 5, cone d-axis 3, spur gear 12 and convex d-axis 11 transmission, the rotation of advance and retreat cylindrical cam 9 and elevation cylinder cam 18 drives the horizontal direct acting of advance and retreat push rod 15 and lifting push rod 16 vertically movable, and the combination of motion realizes outfan jacking block 7 " rise and move back into fall " action.
Being changed by the motion of cam teamwork and follow-up linkage and gear mechanism, the direct acting realizing mechanical arm combines with linear motion.Formed the compound motion of mechanical hand by the profile of cam and control it, and cam curve is that the action request according to mechanical hand is given by designing.Especially it is worthy of note owing to cam-type mechanical hand is purely mechanic actuating device, as long as being inputted axle with the final drive shaft of main frame by Tong Bu secondary (such as chain wheel pair, gear pair) connect, can ensure that it remains synchronization with the action of main frame on time phase, work tempo, therefore substantially increase safety and the work rhythm of machine.And this point is being just the weak point of non-purely mechanic driven type mechanical hand.
Claims (6)
1. cylinder cam-type stepper drive type mechanical hand, it is characterised in that: include casing (1), casing (1)
Cone d-axis (3) and cone protruding shaft (10), the cone protruding shaft (10) of horizontal positioned of orthogonal setting are inside installed
It is connected by bevel-gear sett (5) with the cone d-axis (3) vertically placed；Advance and retreat cylindrical cam (9) and cone
Gear (5) is coaxially assemblied on cone protruding shaft (10), the convex d-axis (11) be arrangeding in parallel with cone d-axis (3)
Being arranged in casing (1), cone d-axis (3) is connected by a pair pitch wheel with convex d-axis (11),
Elevation cylinder cam (18) coaxially assembles with convex d-axis (11)；The slide rail be arrangeding in parallel with cone protruding shaft (10)
(14) being fixed on casing (1), advance and retreat slide block (6) is arranged on slide rail (14) and can slide on slide rail
Dynamic, the push rod (8) being vertically arranged is placed in advance and retreat slide block (6), and advance and retreat push rod (15) is fixed on advance and retreat
On slide block (6), advance and retreat slide block (6) is coordinated with advance and retreat cylindrical cam (9) by advance and retreat push rod (15),
Lifting sliding sleeve (17) is fixed on casing (1), and lifting push rod (16) is joined with lifting sliding sleeve (17) slide block
Closing, lifting push rod (16) is connected with push rod (8), advance and retreat cylindrical cam (9) and elevation cylinder cam (18)
Rotation drive advance and retreat push rod (15) horizontal movement and lifting push rod (16) vertically movable.
Cylinder cam-type stepper drive type mechanical hand the most according to claim 1, it is characterised in that: institute
State the bevel gear (5) on cone protruding shaft (10) identical with bevel gear (5) size on cone d-axis (3).
Cylinder cam-type stepper drive type mechanical hand the most according to claim 1 and 2, it is characterised in that:
Described cone d-axis (3) is connected by spur gear (12) with convex d-axis (11).
Cylinder cam-type stepper drive type mechanical hand the most according to claim 3, it is characterised in that: institute
State the spur gear (12) on cone d-axis (3) identical with spur gear (12) size on convex d-axis (11).
Cylinder cam-type stepper drive type mechanical hand the most according to claim 3, it is characterised in that: institute
State convex d-axis (11) to be fixed on casing (1) base by convex d-axis bearing block (13).
Cylinder cam-type stepper drive type mechanical hand the most according to claim 3, it is characterised in that: institute
State cone d-axis (3) to be fixed on the side plate (4) of casing (1) by cone d-axis bearing block (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620329219.0U CN205572425U (en) | 2016-04-19 | 2016-04-19 | Cylindrical cam formula step drive type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620329219.0U CN205572425U (en) | 2016-04-19 | 2016-04-19 | Cylindrical cam formula step drive type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205572425U true CN205572425U (en) | 2016-09-14 |
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ID=56863301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620329219.0U Expired - Fee Related CN205572425U (en) | 2016-04-19 | 2016-04-19 | Cylindrical cam formula step drive type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205572425U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186534A (en) * | 2017-07-11 | 2017-09-22 | 河海大学常州校区 | Feeding robot |
| CN107280764A (en) * | 2017-05-12 | 2017-10-24 | 上海交通大学 | Cranium craniofacial orthopedics surgical operation robot |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN109879044A (en) * | 2019-03-14 | 2019-06-14 | 三峡大学 | Continuous intermittent-rotation lifting work arm mechanism and application method |
-
2016
- 2016-04-19 CN CN201620329219.0U patent/CN205572425U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107280764A (en) * | 2017-05-12 | 2017-10-24 | 上海交通大学 | Cranium craniofacial orthopedics surgical operation robot |
| CN107186534A (en) * | 2017-07-11 | 2017-09-22 | 河海大学常州校区 | Feeding robot |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN109879044A (en) * | 2019-03-14 | 2019-06-14 | 三峡大学 | Continuous intermittent-rotation lifting work arm mechanism and application method |
| CN109879044B (en) * | 2019-03-14 | 2023-09-19 | 三峡大学 | Continuous intermittent rotary lifting working arm mechanism and use method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20170419 |