CN205660708U - Cambered surface cam -type step drive type manipulator - Google Patents
Cambered surface cam -type step drive type manipulator Download PDFInfo
- Publication number
- CN205660708U CN205660708U CN201620390486.9U CN201620390486U CN205660708U CN 205660708 U CN205660708 U CN 205660708U CN 201620390486 U CN201620390486 U CN 201620390486U CN 205660708 U CN205660708 U CN 205660708U
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- CN
- China
- Prior art keywords
- retreat
- advance
- globoid cam
- cambered surface
- lifting
- 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.)
- Expired - Fee Related
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Abstract
The utility model provides a cambered surface cam -type step drive type manipulator, including the camshaft, the camshaft is fixed on the organism through eccentric bearing, the camshaft respectively with advance and retreat cambered surface cam, lift cambered surface cam fixed connection, the swing section angle of circumference of advance and retreat cambered surface cam equals with the section of the resting angle of circumference of lift cambered surface cam, the initial point is played on same circumference position to two motion sections, the section of the resting angle of circumference of advance and retreat cambered surface cam equals with the swing section angle of circumference of lift cambered surface cam, the initial point is played to two motion sections should be on same circumference position, advance and retreat cambered surface cam, lift cambered surface cam respectively with a driven plate sliding connection, two driven plates are respectively through advance and retreat pendulum rod and lift pendulum rod and advance and retreat roller groove and lift roller groove sliding connection, two cambered surface cams drive the periodic swing of driven plate respectively, make the intermittent type swing turn into linear motion through pendulum rod and spout, make the action of nature output end block performance period, use steady reliably, no shock and vibration, and is simple in structure, low cost, flexibility and low noise.
Description
Technical field
This utility model relates to a kind of mechanical hand, particularly to a kind of globoid cam formula stepper drive type mechanical hand.
Background technology
Mechanical hand is an important ingredient in industrial automation, has wide in the manufacturing industry such as automobile, household electrical appliances
General application.The mechanical hand that air pressure drives, convenient and flexible installation, acquisition cost is low.But adding of the robot movement that air pressure drives
Speed and speed are difficult to accurately control, and especially when stopping, action is stiff, impact shock big, therefore it is only suitable for the period of motion
More than the occasion of 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 multiple spot stop, if assembly system need to change or weight
New design, if reprogramming simply.But motor-driven mechanical hand need be equipped with the electric control system of complexity, as
Fruit completes better simply repetitive operation, high expensive with this kind of mechanical hand.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the purpose of this utility model is to propose a kind of globoid cam formula stepping
Driving mechanical hand, uses steadily reliable, without impact shock, has simple in construction, low cost, feature that noise is low.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of globoid cam formula stepper drive type mechanical hand, including camshaft 2, camshaft 2 is by being positioned at the bias of both sides
Bearing is fixed on body 1, and camshaft 2 is fixed be connected with advance and retreat globoid cam 3, lifting globoid cam 15 respectively, advance and retreat cambered surface
The wobble segment angle of circumference of cam 3 is equal with the section of the resting angle of circumference of lifting globoid cam 15, and two motor segment starting points are at same circle
On all positions, the section of the resting angle of circumference of advance and retreat globoid cam 3 is equal with the wobble segment angle of circumference of lifting globoid cam 15, two motions
Section starting point should be on same circumferential position, and advance and retreat globoid cam 3, lifting globoid cam 15 slide with a clutch plate 4 respectively
Connecting, two clutch plates 4 are slided with advance and retreat roller groove 7 and lifting roller groove 12 by advance and retreat fork 5 and lifting fork 14 respectively
Connect.
Fixing respectively in described advance and retreat fork 5 and the chute in lifting fork 14 being equipped with roller and fix bar 6, roller is fixed
The fixing roller 13 that connects on bar 6, two rollers 13 are separately positioned in advance and retreat roller groove 7 and lifting roller groove 12 company of slip with it
Connect.
Described advance and retreat roller groove 7 is fixing with advance and retreat slide block 10 to be connected, lifting roller groove 12 output fixing with push rod 8 lower end
End block 9 connects.
Described push rod 8 and the axis hole coaxial cooperation in advance and retreat slide block 10, the top of push rod 8 is solid with another output end block 9
Fixed connection.
Described advance and retreat slide block 10 forms moving sets with slide rail 11, and slide rail 11 is fixed on body 1.
Described clutch plate 4 is fixed on body 1.
Owing to this utility model uses cambered surface cam mechanism as drive mechanism, moved by the interrupted division of circumferencial direction
Combination with the linear reciprocating motion in plane and straight line direction, it is achieved that the direct acting aggregate motion that outfan is complicated, therefore runs flat
Steady reliable, without impact shock, noise is low；Can be used for various automation and automatic assembly line, such as automation press line, automatically assemble
Lines etc., as handling equipment, conveying robot or action executing parts, have the feature of simple in construction, low cost.
Accompanying drawing explanation
Fig. 1 is the structural representation that this utility model removes body 1.
Fig. 2 is front view of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail.
Seeing Fig. 1, a kind of globoid cam formula stepper drive type mechanical hand, including camshaft 2, camshaft 2 is by being positioned at two
The capacity eccentric bearing of side is fixed on body 1, it is possible to achieve the pretension between advance and retreat globoid cam 3 with clutch plate 4 eliminates between engaging
Gap, camshaft 2 is respectively with advance and retreat globoid cam 3, lifting globoid cam 15 is fixing is connected, and the wobble segment of advance and retreat globoid cam 3 is justified
Round angle with lifting globoid cam 15 the section of resting angle of circumference equal, during installation two motor segment starting points should on same circumference position
On, the section of the resting angle of circumference of advance and retreat globoid cam 3 is equal with the wobble segment angle of circumference of lifting globoid cam 15, and during installation, two move
Section starting point should be on same circumference on position, and advance and retreat globoid cam 3, lifting globoid cam 15 are sliding with a clutch plate 4 respectively
Being dynamically connected, two clutch plates 4 are sliding with advance and retreat roller groove 7 and lifting roller groove 12 by advance and retreat fork 5 and lifting fork 14 respectively
It is dynamically connected.
Fixing respectively in described advance and retreat fork 5 and the chute in lifting fork 14 being equipped with roller and fix bar 6, roller is fixed
The fixing roller 13 that connects on bar 6, two rollers 13 are separately positioned in advance and retreat roller groove 7 and lifting roller groove 12 company of slip with it
Connect.
Described advance and retreat roller groove 7 and advance and retreat slide block 10 is fixing to be connected, and can dissolve vertical direction when advance and retreat fork 5 swings
Component velocity；The output end block 9 that lifting roller groove 12 is fixed with push rod 8 lower end is connected, and can dissolve water when lifting fork 14 swings
Square to component velocity.
Described push rod 8 and the axis hole coaxial cooperation in advance and retreat slide block 10, the top of push rod 8 is solid with another output end block 9
Fixed connection.
Described advance and retreat slide block 10 forms moving sets with slide rail 11, and slide rail 11 is fixed on body 1.
Described clutch plate 4 is fixed on body 1.
Described body 1 is body structure.
Operation principle of the present utility model is:
Driving camshaft 2 to rotate by external motor, camshaft 2 rotates 120 degree, at advance and retreat globoid cam 3 contour curve
In the rise stage, output end block 9 completes " advance " action, and right side lifting globoid cam 15 contour curve is in quiescent phase, right
Side index plate is static, continues to rotate 60 degree of advance and retreat globoid cam 3 contour curves and is in static segment, and left side side index plate is static；Right
Side lifting globoid cam 15 contour curve is in the rise stage, and outfan completes " rising " action；Continue to rotate 120 degree, retreat
Globoid cam 3 contour curve is reverse-running section, makes output end block 9 " retrogressing ", lifting globoid cam 15 be in static segment；Continue to rotate
60 degree, advance and retreat globoid cam 3 contour curve is in static segment, and lifting globoid cam 15 is in reverse-running section, make output end block 9 " under
Fall ".
The convex ridge contour curve of advance and retreat globoid cam 3 and lifting globoid cam 15 can be divided into wobble segment and the section of resting, and is all
The regular movement " swinging-resting-swing-rest ", four motor segments run according to 120 ° of 60 ° of 120 ° of 60 ° of rules, and four
Section motor segment can also the most arbitrarily distribute the number of degrees, and angle of circumference number of degrees summation meets 360 °, and correspondence makes output end block 9
Occur to swing or rest.
Claims (6)
1. a globoid cam formula stepper drive type mechanical hand, including camshaft (2), camshaft (2) is by being positioned at the inclined of both sides
Mandrel is held and is fixed on body (1), it is characterised in that camshaft (2) respectively with advance and retreat globoid cam (3), lifting globoid cam
(15) fixing connection, the wobble segment angle of circumference of advance and retreat globoid cam (3) and the section of the resting angle of circumference phase of lifting globoid cam (15)
Deng, two motor segment starting points on same circumferential position, the section of the resting angle of circumference of advance and retreat globoid cam (3) and lifting globoid cam
(15) wobble segment angle of circumference is equal, and two motor segment starting points should be on same circumferential position, advance and retreat globoid cam (3), lifting
Globoid cam (15) is slidably connected with a clutch plate (4) respectively, and two clutch plates (4) are respectively by advance and retreat fork (5) and liter
Fall fork (14) is slidably connected with advance and retreat roller groove (7) and lifting roller groove (12).
A kind of globoid cam formula stepper drive type mechanical hand the most according to claim 1, it is characterised in that described advance and retreat are put
Fixing respectively in bar (5) and the chute in lifting fork (14) being equipped with roller and fix bar (6), it is upper fixing that roller fixes bar (6)
Connecting roller (13), two rollers (13) are separately positioned in advance and retreat roller groove (7) and lifting roller groove (12) company of slip with it
Connect.
A kind of globoid cam formula stepper drive type mechanical hand the most according to claim 1, it is characterised in that described advance and retreat are rolled
Pilot trench (7) is fixing with advance and retreat slide block (10) to be connected, and the output end block (9) that lifting roller groove (12) and push rod (8) lower end are fixed is even
Connect.
A kind of globoid cam formula stepper drive type mechanical hand the most according to claim 3, it is characterised in that described push rod
(8) with the axis hole coaxial cooperation in advance and retreat slide block (10), the top of push rod (8) is fixing with another output end block (9) to be connected.
A kind of globoid cam formula stepper drive type mechanical hand the most according to claim 3, it is characterised in that described advance and retreat are sliding
Block (10) forms moving sets with slide rail (11), and slide rail (11) is fixed on body (1).
A kind of globoid cam formula stepper drive type mechanical hand the most according to claim 1, it is characterised in that described clutch plate
(4) it is fixed on body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390486.9U CN205660708U (en) | 2016-05-03 | 2016-05-03 | Cambered surface cam -type step drive type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390486.9U CN205660708U (en) | 2016-05-03 | 2016-05-03 | Cambered surface cam -type step drive type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205660708U true CN205660708U (en) | 2016-10-26 |
Family
ID=57163723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620390486.9U Expired - Fee Related CN205660708U (en) | 2016-05-03 | 2016-05-03 | Cambered surface cam -type step drive type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205660708U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977505A (en) * | 2019-12-20 | 2020-04-10 | 苏州古田自动化科技有限公司 | Lifting and rotating device for horizontal cam exchange table |
| CN111646202A (en) * | 2020-06-05 | 2020-09-11 | 邵东智能制造技术研究院有限公司 | Automatic feeding device |
| CN117001899A (en) * | 2023-09-07 | 2023-11-07 | 西安驰达飞机零部件制造股份有限公司 | Demolding device for processing aircraft composite material |
-
2016
- 2016-05-03 CN CN201620390486.9U patent/CN205660708U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977505A (en) * | 2019-12-20 | 2020-04-10 | 苏州古田自动化科技有限公司 | Lifting and rotating device for horizontal cam exchange table |
| CN111646202A (en) * | 2020-06-05 | 2020-09-11 | 邵东智能制造技术研究院有限公司 | Automatic feeding device |
| CN117001899A (en) * | 2023-09-07 | 2023-11-07 | 西安驰达飞机零部件制造股份有限公司 | Demolding device for processing aircraft composite material |
| CN117001899B (en) * | 2023-09-07 | 2024-02-06 | 西安驰达飞机零部件制造股份有限公司 | Demolding device for processing aircraft composite material |
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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: 20161026 Termination date: 20170503 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |