CN206502396U - The manipulator of motion smoothing - Google Patents
The manipulator of motion smoothing Download PDFInfo
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- CN206502396U CN206502396U CN201621475545.9U CN201621475545U CN206502396U CN 206502396 U CN206502396 U CN 206502396U CN 201621475545 U CN201621475545 U CN 201621475545U CN 206502396 U CN206502396 U CN 206502396U
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- cam
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- vertical
- rocking bar
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Abstract
The utility model is related to the manipulator of the motion smoothing in mechanical transmission field, including mainboard, guide assembly, horizontal stand and Synchronous Transmission component, the left side of mainboard is provided with cam drive component one, the right side of mainboard is provided with cam drive component two, cam drive component one is made up of horizontal cam and rocking bar one, cam drive component two is made up of vertical cam and rocking bar two, and horizontal cam realizes synchronous axial system with common driven by Synchronous Transmission component of vertical cam.Whole manipulator can be fabricated to the miniaturization structure of flat; shared space is minimum; cam drive component one and the common combination of cam drive component two can drive horizontal stand to realize the movement locus of arc; and arching trajectory precise motion to any one point position can be passed through; ensure that manipulator overall operation is steady, any vibrations will not be produced, to ensure the stability of assembling; it is high using the precision of cam drive structure, it is particularly suitable for use in the automation processing or assembling high to required precision.
Description
Technical field
The utility model is related to mechanical transmission field, and in particular to cam drive technology, more particularly to motion smoothing
Manipulator.
Background technology
Manipulator is frequently necessary in automatic assembling operation and realizes a simplest action：In a certain position grabbing workpiece
Afterwards, then put down in another location, to realize that feeding, processing, assembling etc. are acted.In order to realize that this works, existing skill
There are following two structures to complete the action in art:1）Manipulator is placed in the crawl driven by air pressure, this simple in construction, is installed
Flexibly and easily, acquisition cost is low, is merely able to realize and simply firmly grasps and shift action, the crawl strength of air pressure driving is smaller, and
And be merely able to linearly move when moving, it is necessary to when positioning mobile, can only staggeredly carry out the linear motion in direction anyhow, separately
Outside, the precision of air pressure driving is not high, and movement velocity is slower；2）Manipulator, the grasp force of this structure are placed in motor driving crawl
Amount is larger, easy for installation, and flexibility is high, can multiple spot stop, if assembly system need to change or redesign, as long as simply weighing
New program, but motor-driven manipulator needs the complicated electric control system of outfit, if with this kind of manipulator come complete
Into better simply repetitive operation, the cost that just seems is high, and multiple motors, which coordinate, can be achieved spinning transmission, and movement velocity is very fast, but
It is that, when movement velocity is faster, error is larger, so as to influence kinematic error, the acceleration and speed of robot movement are difficult accurate
Control, especially acts stiff, impact shock greatly when stopping, moreover, this structure is also to be merely able to linearly move, needing
When positioning mobile, the linear motion in direction anyhow can only be staggeredly carried out, in addition, the volume of this structure is larger, it is necessary to multigroup
Mechanical arm is combined, and is added driving structure, is caused overall volume larger.
Utility model content
The purpose of this utility model is to solve disadvantages described above there is provided the manipulator of motion smoothing, and its compact structure is overall to transport
Row is steady, will not produce any vibrations, and can realize the movement locus of arc.
The purpose of this utility model is achieved in the following ways：
The manipulator of motion smoothing, including mainboard, guide assembly, horizontal stand and Synchronous Transmission component, mainboard are vertical
Structure, the bottom of mainboard is the fixed seat for mounted in pairing mode in equipment, and guide assembly includes horizontal guide rail and upright guide rail,
Upright guide rail is provided with one group altogether, and the rear and front end of mainboard is mounted vertically in respectively, and provided with main branch on the sliding block of upright guide rail
Frame, makes main support to be slided up and down along upright guide rail, and horizontal stand is fixedly mounted on the front end of horizontal guide rail, horizontal guide rail
Sliding block be arranged on main support one side, make horizontal stand and horizontal guide rail carry out level slip jointly；Set on the left of mainboard
There is cam drive component one, cam drive component one is used to drive horizontal stand set on the right side of horizontal direction movement, mainboard
There is cam drive component two, cam drive component two is used to drive horizontal stand to carry out vertical direction movement, cam drive component
One is made up of horizontal cam and rocking bar one, and cam drive component two is made up of vertical cam and rocking bar two, horizontal cam with it is vertical
Cam is attached each parallel to mainboard, horizontal cam with vertical cam by being horizontally through the synchronizing shaft of mainboard, synchronizing shaft by
Synchronous Transmission component drives, and horizontal cam is realized synchronous axial system with common driven by Synchronous Transmission component of vertical cam, synchronous
Transmission component includes drive gear, driving wheel, synchronizing wheel and flywheel, and driving wheel carries out coaxially connected, driving with drive gear
Gear is driven by outer centrally-mounted driving, and synchronizing wheel is arranged on synchronizing shaft, and synchronizing wheel, flywheel and driving wheel are brought into by synchronous
Row engagement connection.
The bottom of rocking bar one is installed in rotation on the left side bottom of mainboard, and the middle part of rocking bar one is rolled provided with Level Promoting
Wheel, Level Promoting roller is close to the lateral surface of horizontal cam, and can be rolled along the lateral surface of horizontal cam, the top of rocking bar one
Provided with slider roller one, the rear end of horizontal stand is provided with vertical slide plate, and slider roller one is close to the side of vertical slide plate, and can
Rolled along the side of vertical slide plate, when horizontal cam is rotated, drive rocking bar one to swing, so as to promote horizontal stand carry out level
Move in direction；The bottom of rocking bar two is installed in rotation on the right side bottom of mainboard, and the middle part of rocking bar two promotes rolling provided with vertical
Wheel, vertical pushing rolling wheels are close to the lateral surface of vertical cam, and can be rolled along the lateral surface of vertical cam, the top of rocking bar two
Provided with slider roller two, the right flank of main support is provided with horizontal slide plate, and slider roller two can be rolled along horizontal slide plate, when vertical convex
When wheel is rotated, rocking bar two is driven to swing, so as to promote main support to carry out vertical direction movement.
In described above, as preferred scheme, the medial surface of the horizontal stand, which is provided with, is used for mounted in pairing mode water
The locating slot of level gauge, makes horizontal guide rail parallel to horizontal stand.
In described above, as preferred scheme, the flywheel is arranged on the right side bottom of mainboard, the right side bottom of mainboard
End is provided with the adjustment hole for being used for adjusting setting height(from bottom), and flywheel is adjustably mounted on adjustment hole.
In described above, as preferred scheme, the front end of the mainboard is provided with strip hollow out frame, and horizontal slide plate is to the right
Extension penetrates strip hollow out frame, when main support is moved up and down, and horizontal slide plate is above and below the progress of strip hollow out inframe
It is mobile.
In described above, as preferred scheme, the upper end of the horizontal slide plate is provided with overhead gage, the lower end of horizontal slide plate
Provided with lower baffle plate, overhead gage is formed each parallel to horizontal plane, between overhead gage and lower baffle plate with lower baffle plate and slided for matching to accommodate
The horizontal concrete chute of dynamic roller two, makes being rolled along horizontal concrete chute for slider roller two.
In described above, as preferred scheme, the top of the mainboard is provided with the sub-barrier parallel to horizontal plane, auxiliary
The bottom surface of baffle plate is helped to be provided with auxiliary shoot, auxiliary shoot is located at the surface of rocking bar one, when rocking bar one is rocked to peak, shaken
Slided along auxiliary shoot at the top of bar one.
In described above, as preferred scheme, the side of the horizontal cam is combined by orthodrome and small arc-shaped to be surrounded
Form, the circular arc and Straight Combination that the side of vertical cam is oppositely arranged by two are around forming.
Having the beneficial effect that produced by the utility model：
1）Drive horizontal stand to carry out horizontally and vertically direction by cam drive component one and cam drive component two to move,
The horizontal cam of cam drive component one and common driven by Synchronous Transmission component of the vertical cam of cam drive component two are realized
Synchronous axial system, horizontal cam and vertical cam only need Synchronous Transmission component to drive synchronous axial system, simple in construction, driving side
Formula is simple, it is not necessary to use any electronic control component, it is not necessary to connect any complicated circuit, manufacturing cost is low；
2）The compact structure of horizontal cam and vertical cam, is flake structure, common by rocking bar one and rocking bar two respectively
Coordinate and realize that horizontally and vertically direction drives, therefore, whole manipulator can be fabricated to the miniaturization structure of flat, shared
Space is minimum, and can use multigroup manipulator Side by side groupings；
3）Cam drive component one and the common combination of cam drive component two can drive horizontal stand to realize the motion of arc
Track, and arching trajectory precise motion to any one point position can be passed through, it is ensured that manipulator overall operation is steady, will not produce
Any vibrations, motion smoothing, to ensure the stability of assembling；
4）High using the precision of cam drive structure, cam drive structure will not produce too big inertia, even in height
Precision is can also ensure that under fast running status, the automation processing or assembling high to required precision is particularly suitable for use in；
5）Synchronous Transmission component includes drive gear, driving wheel, synchronizing wheel and flywheel, and drive gear is by external driving electricity
Machine drives, in addition, flywheel can adjust different positions, to reach the purpose of speed governing, same motor can drive two groups it is convex
Wheel transmission component realizes synchronization action, and stable connection, motion smoothing, transmission is accurate.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment；
Fig. 2 is the structural decomposition diagram of the utility model embodiment；
Fig. 3 is the dimensional structure diagram of another angle of the utility model embodiment；
Fig. 4 is the structural decomposition diagram of another angle of the utility model embodiment；
In figure, 1 is mainboard, and 2 be horizontal stand, and 3 be horizontal guide rail, and 4 be upright guide rail, and 5 be main support, and 6 be that level is convex
Wheel, 7 be rocking bar one, and 8 be vertical cam, and 9 be rocking bar two, and 10 be slider roller one, and 11 be vertical slide plate, and 12 be sub-barrier,
13 be slider roller two, and 14 be horizontal slide plate, and 15 be strip hollow out frame, and 16 be drive gear, and 17 be driving wheel, and 18 be synchronous
Wheel, 19 be flywheel, and 20 be timing belt.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
The present embodiment, 1~Fig. 4 of reference picture, its be embodied motion smoothing manipulator include mainboard 1, guide assembly,
Horizontal stand 2 and Synchronous Transmission component, mainboard 1 are vertical structure, and the bottom of mainboard 1 is consolidating in equipment for mounted in pairing mode
Reservation, guide assembly includes horizontal guide rail 3 and upright guide rail 4, and upright guide rail 4 is provided with one group, mainboard 1 is mounted vertically in respectively altogether
Rear and front end, and on the sliding block of upright guide rail 4 be provided with main support 5, make main support 5 can along upright guide rail 4 carry out along glide
Dynamic, horizontal stand 2 is fixedly mounted on the front end of horizontal guide rail 3, and the sliding block of horizontal guide rail 3 is arranged on the one side of main support 5, water
The medial surface of flat support 2 is provided with the locating slot for mounted in pairing mode horizontal guide rail 3, and horizontal guide rail 3 is parallel to horizontal stand
2, make horizontal stand 2 and the common carry out level slip of horizontal guide rail 3.
The left side of mainboard 1 is provided with cam drive component one, and cam drive component one is used to drive the carry out level of horizontal stand 2
Direction is moved, and the right side of mainboard 1 is provided with cam drive component two, and cam drive component two is used to drive horizontal stand 2 to be erected
Nogata is to movement.Cam drive component one is made up of horizontal cam 6 and rocking bar 1, and cam drive component two is by the vertical He of cam 8
Rocking bar 29 is constituted, as illustrated, the horizontal cam 6 of the present embodiment and vertical cam 8 are flat structure, horizontal cam 6
Side is combined around forming by orthodrome and small arc-shaped, and the side of vertical cam 8 is by two circular arcs being oppositely arranged and straight line group
Surround around into horizontal cam 6 is with vertical cam 8 each parallel to mainboard 1, and horizontal cam 6 is with vertical cam 8 by being horizontally through
The synchronizing shaft of mainboard 1 is attached, and synchronizing shaft is driven by Synchronous Transmission component, makes horizontal cam 6 common by same with vertical cam 8
Step transmission component, which drives, realizes synchronous axial system.
The bottom of rocking bar 1 is installed in rotation on the left side bottom of mainboard 1, and the middle part of rocking bar 1 is provided with Level Promoting
Roller, Level Promoting roller is close to the lateral surface of horizontal cam 6, and can be rolled along the lateral surface of horizontal cam 6, rocking bar 1
Top be provided with slider roller 1, the rear end of horizontal stand 2 is provided with vertical slide plate 11, and slider roller 1 is close to vertical cunning
The side of plate 11, and can be rolled along the side of vertical slide plate 11, when horizontal cam 6 is rotated, drive rocking bar 1 to swing, so that
Horizontal stand 2 is promoted to carry out horizontal direction movement.The top of mainboard 1 is provided with the sub-barrier 12 parallel to horizontal plane, auxiliary gear
The bottom surface of plate 12 is provided with auxiliary shoot, and auxiliary shoot is located at the surface of rocking bar 1, when rocking bar 1 is rocked to peak, shaken
Slided along auxiliary shoot at the top of bar 1.
The bottom of rocking bar 29 is installed in rotation on the right side bottom of mainboard 1, and the middle part of rocking bar 29 is provided with vertical promotion
Roller, vertical pushing rolling wheels are close to the lateral surface of vertical cam 8, and can be rolled along the lateral surface of vertical cam 8, rocking bar 29
Top be provided with slider roller 2 13, the right flank of main support 5 is provided with horizontal slide plate 14, and slider roller 2 13 can be along horizontal slide plate
14 roll, when vertical cam 8 is rotated, and drive rocking bar 29 to swing, so as to promote main support 5 to carry out vertical direction movement.
The front end of mainboard 1 is provided with strip hollow out frame 15, and horizontal slide plate 14, which extends to the right, penetrates strip hollow out frame 15, when
When main support 5 is moved up and down, horizontal slide plate 14 is moved up and down in strip hollow out frame 15.Horizontal slide plate 14 it is upper
End is provided with overhead gage, and the lower end of horizontal slide plate 14 is provided with lower baffle plate, overhead gage and lower baffle plate each parallel to horizontal plane, overhead gage with
The horizontal concrete chute that slider roller 2 13 is accommodated for matching is formed between lower baffle plate, make slider roller 2 13 can be along horizontal concrete chute
Roll.
In addition, Synchronous Transmission component includes drive gear 16, driving wheel 17, synchronizing wheel 18 and flywheel 19, driving wheel 17
Carried out with drive gear 16 coaxially connected, drive gear 16 is driven by outer centrally-mounted driving, synchronizing wheel 18 is arranged on synchronizing shaft,
Synchronizing wheel 18, flywheel 19 and driving wheel 17 are engaged connection by timing belt 20.Flywheel 19 is arranged on the right side of mainboard 1
Bottom, the right side bottom of mainboard 1 is provided with the adjustment hole for being used for adjusting setting height(from bottom), and flywheel 19 is adjustably mounted at adjustment hole
On.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to recognized
Fixed specific implementation of the present utility model is confined to these explanations.For the ordinary skill people of the utility model art
For member, without departing from the concept of the premise utility, some simple deduction or replace can also be made, be regarded as this
The protection domain of utility model.
Claims (6)
1. the manipulator of motion smoothing, including mainboard, guide assembly, horizontal stand and Synchronous Transmission component, mainboard are vertical knot
Structure, the bottom of mainboard is the fixed seat for mounted in pairing mode in equipment, and guide assembly includes horizontal guide rail and upright guide rail, its
It is characterised by：Upright guide rail is provided with one group altogether, and the rear and front end of mainboard is mounted vertically in respectively, and on the sliding block of upright guide rail
Provided with main support, main support is set to be slided up and down along upright guide rail, horizontal stand is fixedly mounted on the front end of horizontal guide rail,
The sliding block of horizontal guide rail is arranged on the one side of main support, makes horizontal stand and horizontal guide rail carry out level slip jointly；Mainboard
Left side be provided with cam drive component one, cam drive component one be used for drive horizontal stand carry out horizontal direction movement, mainboard
Right side be provided with cam drive component two, cam drive component two be used for drive horizontal stand carry out vertical direction movement, cam
Transmission component one is made up of horizontal cam and rocking bar one, and cam drive component two is made up of vertical cam and rocking bar two, and level is convex
Wheel is with vertical cam each parallel to mainboard, and horizontal cam is attached with vertical cam by being horizontally through the synchronizing shaft of mainboard,
Synchronizing shaft is driven by Synchronous Transmission component, makes horizontal cam common by synchronous turn of Synchronous Transmission component drive realization with vertical cam
Dynamic, Synchronous Transmission component includes drive gear, driving wheel, synchronizing wheel and flywheel, and driving wheel is coaxially connected with drive gear
Connect, drive gear is driven by outer centrally-mounted driving, synchronizing wheel is arranged on synchronizing shaft, and synchronizing wheel, flywheel and driving wheel pass through
Timing belt is engaged connection；The bottom of rocking bar one is installed in rotation on the left side bottom of mainboard, and the middle part of rocking bar one is provided with
Level Promoting roller, Level Promoting roller is close to the lateral surface of horizontal cam, and can be rolled along the lateral surface of horizontal cam, shakes
The top of bar one is provided with slider roller one, and the rear end of horizontal stand is provided with vertical slide plate, and slider roller one is close to vertical slide plate
Side, and can along vertical slide plate side roll, when horizontal cam is rotated, drive rocking bar one swing, so as to promote level
Support carries out horizontal direction movement；The bottom of rocking bar two is installed in rotation on the right side bottom of mainboard, and the middle part of rocking bar two is set
There are vertical pushing rolling wheels, vertical pushing rolling wheels are close to the lateral surface of vertical cam, and can be rolled along the lateral surface of vertical cam,
The top of rocking bar two is provided with slider roller two, and the right flank of main support is provided with horizontal slide plate, and slider roller two can be along horizontal slide plate
Roll, when vertical cam rotation, drive rocking bar two to swing, so as to promote main support to carry out vertical direction movement.
2. the manipulator of motion smoothing according to claim 1, it is characterised in that：The medial surface of the horizontal stand is provided with use
In the locating slot for mounted in pairing mode horizontal guide rail, make horizontal guide rail parallel to horizontal stand.
3. the manipulator of motion smoothing according to claim 1, it is characterised in that：The flywheel is arranged on the right side of mainboard
Bottom, the right side bottom of mainboard is provided with the adjustment hole for being used for adjusting setting height(from bottom), and flywheel is adjustably mounted on adjustment hole.
4. the manipulator of motion smoothing according to claims 1 to 3 any one, it is characterised in that：The front end of the mainboard
Provided with strip hollow out frame, horizontal slide plate, which extends to the right, penetrates strip hollow out frame, when main support is moved up and down, level
Slide plate is moved up and down in strip hollow out inframe.
5. the manipulator of motion smoothing according to claim 1, it is characterised in that：The top of the mainboard is provided with parallel to water
The sub-barrier of plane, the bottom surface of sub-barrier is provided with auxiliary shoot, and auxiliary shoot is located at the surface of rocking bar one, when rocking bar one
When being rocked to peak, the top of rocking bar one is slided along auxiliary shoot.
6. the manipulator of motion smoothing according to claim 1, it is characterised in that：The side of the horizontal cam is by orthodrome
And small arc-shaped combination is around forming, the circular arc and Straight Combination that the side of vertical cam is oppositely arranged by two are around forming.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475545.9U CN206502396U (en) | 2016-12-30 | 2016-12-30 | The manipulator of motion smoothing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475545.9U CN206502396U (en) | 2016-12-30 | 2016-12-30 | The manipulator of motion smoothing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206502396U true CN206502396U (en) | 2017-09-19 |
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ID=59839027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621475545.9U Active CN206502396U (en) | 2016-12-30 | 2016-12-30 | The manipulator of motion smoothing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206502396U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697920A (en) * | 2016-12-30 | 2017-05-24 | 湖南先步信息股份有限公司 | Mechanical arm capable of moving smoothly |
| CN109484832A (en) * | 2018-10-26 | 2019-03-19 | 潍坊学院 | A kind of cam set automatic conveyor |
-
2016
- 2016-12-30 CN CN201621475545.9U patent/CN206502396U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697920A (en) * | 2016-12-30 | 2017-05-24 | 湖南先步信息股份有限公司 | Mechanical arm capable of moving smoothly |
| CN109484832A (en) * | 2018-10-26 | 2019-03-19 | 潍坊学院 | A kind of cam set automatic conveyor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Mechanical arm capable of moving smoothly Effective date of registration: 20190522 Granted publication date: 20170919 Pledgee: Bank of Communications Co., Ltd. Hunan Branch Pledgor: Hunan Super Information Co., Ltd. Registration number: 2019430000045 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201214 Granted publication date: 20170919 Pledgee: Bank of Communications Co.,Ltd. Hunan Branch Pledgor: HUNAN SUPER INFORMATION Co.,Ltd. Registration number: 2019430000045 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |