CN207240195U - A kind of double cam driving manipulator - Google Patents
A kind of double cam driving manipulator Download PDFInfo
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- CN207240195U CN207240195U CN201721155570.3U CN201721155570U CN207240195U CN 207240195 U CN207240195 U CN 207240195U CN 201721155570 U CN201721155570 U CN 201721155570U CN 207240195 U CN207240195 U CN 207240195U
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Abstract
A kind of double cam driving manipulator of the utility model includes driving mechanism, transmission mechanism, grasping mechanism.Driving mechanism includes driving motor, the first driving cam, the second driving cam, drive shaft, and the first driving cam is arranged on drive shaft with the second driving cam, and driving motor drives the first driving cam to be rotated at the same time with the second driving cam by drive shaft.Transmission mechanism includes fore-andaft drive component, lifting drive component, the first driving cam and drives grasping mechanism to move back and forth in the horizontal direction by fore-andaft drive component, and the second driving cam drives grasping mechanism vertically elevating movement by lifting drive component.A kind of double cam driving manipulator of the utility model, by setting driving mechanism, transmission mechanism, grasping mechanism, it is driven by single power source, while manipulator performance is ensured, the transmission mechanism of manipulator is simplified, shortens the construction cycle, reduce design cost and simplifies Machinery Control System, improves production efficiency.
Description
Technical field
A kind of product robotic transfer technical field is the utility model is related to, more particularly to a kind of machine of biconvex wheel drive
Tool hand.
Background technology
Continuous progressive with science and technology with the continuous development of society, mechanization, automated production have been increasingly becoming development
Trend.Nowadays automatic production line substitutes the labor-intensive mode of production to be trend of the times.
The manipulator put between each station and carry function is realized as substitution human hand, is critically important in automation equipment
A part.It is numerous a little with artificial, raising efficiency, raising security etc. is saved, correspondingly, manipulator is to its driving part
It is more demanding, to ensure its accuracy, be faced with that Machinery Control System is numerous and diverse, the construction cycle is long, exploitation design cost height etc.
Problem, how to solve these problems improve production efficiency, are the keys of automated production progress.
Utility model content
The purpose of the utility model is to overcome shortcoming of the prior art, there is provided a kind of double cam driving manipulator,
Lift the production efficiency on automatic production line.
The purpose of this utility model is achieved through the following technical solutions：
A kind of double cam driving manipulator, it is characterised in that including：Driving mechanism, transmission mechanism, grasping mechanism；
The driving mechanism includes：Driving motor, the first driving cam, the second driving cam, drive shaft, described first
Driving cam is installed on the drive shaft with second driving cam, and the driving motor is driven by the drive shaft
First driving cam is moved to rotate at the same time with second driving cam；
The transmission mechanism includes：Fore-andaft drive component, lifting drive component, first driving cam are by before described
Grasping mechanism described in Component driver is driven to move back and forth in the horizontal direction afterwards, second driving cam is driven by the lifting
The vertically elevating movement of grasping mechanism described in Component driver；
The grasping mechanism includes：Manipulator fixed seat, slide back and forth component, lift the slide assembly, extracting jaw, described to take
Go out pawl to be installed in the lift the slide assembly, the lift the slide assembly is connected with the component that slides back and forth, described front and rear
Slide assemblies are installed in the manipulator fixed seat.
In one of the embodiments, the fore-andaft drive component includes：Front and rear drive seat, rotary crank, adjusting screw rod,
The front and rear drive seat is drivingly connected with first driving cam, and the rotary crank has two crank round ends and one
Crank fixing end, the crank fixing end are hinged with the manipulator fixed seat, the front and rear drive seat and the rotary crank
One of them described crank round end is hinged, and the adjusting screw rod has screw rod round end and screw rod adjustable side, the screw rod rotation
Turn end to be hinged with crank round end another described, the screw rod adjustable side slides back and forth member hinges with described.
In one of the embodiments, the lifting drive component includes：Lifting and driving plate, guide link, intermediate rotary shaft,
The intermediate rotary shaft both ends have articulated linkage.
In one of the embodiments, the lifting and driving plate is drivingly connected with second driving cam, the guiding
Connecting rod has connecting rod fixing end and connecting rod guide end, and the connecting rod fixing end is installed on the lifting and driving plate, and connecting rod is led
Articulated linkage to end and intermediate rotary shaft wherein one end is hinged, and lift the slide assembly and the articulated linkage of the intermediate rotary shaft other end are cut with scissors
Connect.
In one of the embodiments, the drive shaft wherein one end is equipped with photoelectric encoder.
In one of the embodiments, the front slide component and the lift the slide assembly are slide.
A kind of double cam driving manipulator of the utility model, by setting driving mechanism, transmission mechanism, grasping mechanism,
It is driven by single power source, while manipulator performance is ensured, simplifies the transmission mechanism of manipulator, shortens out
The hair cycle, reduce design cost and simplify Machinery Control System, improves production efficiency.
Brief description of the drawings
Fig. 1 is the structure chart (one) of the double cam driving manipulator of one embodiment of the utility model；
Fig. 2 is the structure chart (two) of the double cam driving manipulator of one embodiment of the utility model；
Fig. 3 is the grasping mechanism structure chart (one) of one embodiment of the utility model；
Fig. 4 is the grasping mechanism structure chart (two) of one embodiment of the utility model.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
Realize, however it is not limited to embodiments described herein.On the contrary, the purpose for providing these embodiments is to make to this practicality newly
The more thorough and comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
For illustrative purposes only, it is unique embodiment to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model
The normally understood implication of technical staff in domain is identical.It is simply in the term used in the description of the utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " bag
Include the arbitrary and all combination of one or more relevant Listed Items.
Also referring to Fig. 1 and Fig. 2, a kind of double cam driving manipulator 10 of the utility model, including：Driving mechanism
100th, transmission mechanism 200, grasping mechanism 300.Driving mechanism 100 includes：Drive motor 110, the first driving cam 120, second
Driving cam 130, drive shaft 140, the first driving cam 120 and the second driving cam 130 are installed on drive shaft 140,
Driving motor 110 drives the first driving cam 120 to be rotated at the same time with the second driving cam 130 by drive shaft 140.Transmission turns
The wherein one end of axis 140 is equipped with photoelectric encoder 150.
Transmission mechanism 200 includes：Fore-andaft drive component 210, lifting drive component 220, the first driving cam 120 are by preceding
Drive component 210 drives grasping mechanism 300 to move back and forth in the horizontal direction afterwards, and the second driving cam 130 is by lifting driving group
Part 220 drives the vertically elevating movement of grasping mechanism 300.
Also referring to Fig. 3 and Fig. 4, grasping mechanism 300 includes：Manipulator fixed seat 310, slide back and forth component 320, rise
Slide assemblies 330, extracting jaw 340 drop, and it is slide to slide back and forth component 320 and lift the slide assembly 330.Extracting jaw 340 is pacified
Loaded in lift the slide assembly 330, lift the slide assembly 330 is connected with sliding back and forth component 320, is slid back and forth component 320 and is pacified
Loaded in manipulator fixed seat 310.
Fore-andaft drive component 210 includes：Front and rear drive seat 211, rotary crank 212, adjusting screw rod 213, front and rear drive seat
211 are drivingly connected with the first driving cam 120, and rotary crank 212 has two crank round ends 214 and a crank fixing end
215, crank fixing end 215 is hinged with manipulator fixed seat 310, front and rear drive seat 211 and 212 one of crank of rotary crank
Round end 214 is hinged, and adjusting screw rod 213 has screw rod round end 216 and a screw rod adjustable side 217, screw rod round end 216 with it is another
A crank round end 214 is hinged, and screw rod adjustable side 217 is hinged with sliding back and forth component 320.
Further, it is drivingly connected between front and rear 211 and first driving cam 120 of drive seat by middle brace rod 121.
In the present embodiment, when the first driving cam 120 is in the rise stage, the driving motor 110 of driving mechanism 100
The first driving cam 120 is driven to rotate by drive shaft 140, so as to drive the front and rear drive seat in fore-andaft drive component 210
211 rise, and promote rotary crank 212 to be rotated with crank fixing end 215 for the center of circle, drive and are revolved with 212 crank of rotary crank
Turn 214 hinged adjusting screw rods 213 of end to rotate therewith, so that be articulated with the screw rod adjustable side 217 of adjusting screw rod 213
320 horizontal forward movement of component is slid back and forth, slides back and forth component 320 with 340 water of lift the slide assembly 330 and extracting jaw
It is flat to move forward to estimating position.
As driving motor 110 continues to rotate, the first driving cam 120 enters the backhaul stage, at this time the first driving cam
Front and rear drive seat 211 in 120 driving fore-andaft drive components 210 declines, and promotes the rotary crank 212 to be with crank fixing end 215
The center of circle inverts, and drives the adjusting screw rod 213 hinged with 212 crank round end 214 of rotary crank to invert therewith, so that
Pull 320 level of component that slides back and forth for the screw rod adjustable side 217 for being articulated with adjusting screw rod 213 to be moved rearwards, slide back and forth group
Part 320 returns to initial position with lift the slide assembly 330 and extracting jaw 340.
Lifting drive component 220 includes：Lifting and driving plate 221, guide link 222, intermediate rotary shaft 223, lifting and driving plate
221 are drivingly connected with the second driving cam 130, and guide link 222 has connecting rod fixing end 224 and connecting rod guide end 225, even
Bar fixing end 224 is installed on lifting and driving plate 221, and 223 both ends of intermediate rotary shaft have articulated linkage 226, connecting rod guide end 225
It is hinged with the articulated linkage 226 of the wherein one end of intermediate rotary shaft 223, lift the slide assembly 330 and the hinge of 223 other end of intermediate rotary shaft
Connective pole 226 is hinged.
Further, lifting and driving plate 221 is drivingly connected with the second driving cam 130 by drive connection bar 131.
In the present embodiment, when the second driving cam 130 is in the rise stage, the driving motor 110 of driving mechanism 100
The second driving cam 130 is driven to rotate by drive shaft 140, so as to drive the lifting and driving plate in lifting drive component 220
221 rise, and lifting and driving plate 221 drives guide link 222 to rise therewith, and guide link 222 passes through the hinge in intermediate rotary shaft 223
Connective pole 226 drives intermediate rotary shaft 223 to rotate, and intermediate rotary shaft 223 drives lift the slide assembly by articulated linkage 226
330 vertical ascents, lift the slide assembly 330 drive 300 vertical ascent of grasping mechanism.
As driving motor 110 continues to rotate, the second driving cam 130 enters the backhaul stage, at this time the second driving cam
Lifting and driving plate 221 in 130 driving driving lifting drive components 220 declines, and lifting and driving plate 221 drives guide link 222
Declining therewith, guide link 222 drives intermediate rotary shaft 223 to invert by the articulated linkage 226 in intermediate rotary shaft 223, in
Between shaft 223 by articulated linkage 226 drive lift the slide assembly 330 vertically decline, lift the slide assembly 330 drive gripper
Structure 300 recovers initial position.
Under the collective effect of the first driving cam 120 and the second driving cam 130, under grasping mechanism 300 is vertical first
Drop adsorbs product, then rises back to original position, then horizontal reach, when reaching horizontal preceding farthest, grasping mechanism 300
It is vertical to decline, vertical ascent after product is placed, initial position is returned to after final level.
It should be noted that driving motor 110 continues rotation by drive shaft 140 while drives the first driving cam
120 and second driving cam 130 rotate, when the first driving cam 120 is in rise angle at rotation status, that is, grasping mechanism 300
When horizontal forward motion state, the second driving cam 130 is in rotation status, that is, grasping mechanism 300 near angle of repose and is in upper
Rise at peak；Horizontal retraction movement is in when the first driving cam 120 is in rotation status, that is, grasping mechanism 300 in backhaul angle
During state, the second driving cam 130 is also in rotation status i.e. grasping mechanism 300 near angle of repose and is in rising peak
Place.
When the first driving cam 120 is in rotation status, that is, grasping mechanism is located at initial position near angle of repose when, second
Driving cam 130, which rotates through rise angle and backhaul angle i.e. grasping mechanism 300, to be completed once vertically to decline and is moved with vertical ascent
Make, grasping mechanism 300 adsorbs product when dropping to lowest point；Correspondingly, when the first driving cam 120 is in remote
In angle of repose during rotation status, that is, grasping mechanism positioned at horizontal reach farthest when, the second driving cam 130 equally rotates through
Rise angle and backhaul angle, that is, grasping mechanism 300 are completed once vertically to decline and acted with vertical ascent, this time under grasping mechanism 300
Product is unclamped when bottoming out position, completes the transfer action of product.
A kind of double cam driving manipulator 10 of the utility model, by setting driving mechanism 100, transmission mechanism 200, grabbing
Mechanism 300 is taken, is driven by single power source, while manipulator performance is ensured, simplifies the driver of manipulator
Structure, shorten the construction cycle, reduce design cost and simplify Machinery Control System, improves production efficiency.
Above example only expresses the several embodiments of the utility model, its description is more specific and detailed, but simultaneously
Therefore the limitation to utility model patent scope cannot be interpreted as.It should be pointed out that the ordinary skill people for this area
For member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this reality
With new protection domain.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (6)
- A kind of 1. double cam driving manipulator, it is characterised in that including：Driving mechanism, transmission mechanism, grasping mechanism；The driving mechanism includes：Drive motor, the first driving cam, the second driving cam, drive shaft, first driving Cam is installed on the drive shaft with second driving cam, and the driving motor drives institute by the drive shaft The first driving cam is stated to rotate at the same time with second driving cam；The transmission mechanism includes：Fore-andaft drive component, lifting drive component, first driving cam pass through the front and rear drive Grasping mechanism described in dynamic Component driver moves back and forth in the horizontal direction, and second driving cam passes through the lifting drive component Drive the grasping mechanism vertically elevating movement；The grasping mechanism includes：Manipulator fixed seat, slide back and forth component, lift the slide assembly, extracting jaw, the extracting jaw It is installed in the lift the slide assembly, the lift the slide assembly is connected with the component that slides back and forth, described to slide back and forth Component is installed in the manipulator fixed seat.
- A kind of 2. double cam driving manipulator according to claim 1, it is characterised in that the fore-andaft drive component bag Include：Front and rear drive seat, rotary crank, adjusting screw rod, the front and rear drive seat is drivingly connected with first driving cam, described Rotary crank has two crank round ends and a crank fixing end, and the crank fixing end is cut with scissors with the manipulator fixed seat Connect, one of them described crank round end is hinged the front and rear drive seat with the rotary crank, and the adjusting screw rod has spiral shell Bar round end and screw rod adjustable side, the screw rod round end are hinged with crank round end another described, the screw rod adjustable side Member hinges are slid back and forth with described.
- A kind of 3. double cam driving manipulator according to claim 1, it is characterised in that the lifting drive component bag Include：Lifting and driving plate, guide link, intermediate rotary shaft, the intermediate rotary shaft both ends have articulated linkage.
- A kind of 4. double cam driving manipulator according to claim 3, it is characterised in that the lifting and driving plate with it is described Second driving cam is drivingly connected, and the guide link has connecting rod fixing end and connecting rod guide end, the connecting rod fixing end It is installed on the lifting and driving plate, connecting rod guide end and the articulated linkage of intermediate rotary shaft wherein one end are hinged, lifting carriage group The articulated linkage of part and the intermediate rotary shaft other end is hinged.
- A kind of 5. double cam driving manipulator according to claim 1, it is characterised in that the drive shaft wherein one end Equipped with photoelectric encoder.
- A kind of 6. double cam driving manipulator according to claim 1, it is characterised in that it is described slide back and forth component and The lift the slide assembly is slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721155570.3U CN207240195U (en) | 2017-09-08 | 2017-09-08 | A kind of double cam driving manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721155570.3U CN207240195U (en) | 2017-09-08 | 2017-09-08 | A kind of double cam driving manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240195U true CN207240195U (en) | 2018-04-17 |
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ID=61887854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721155570.3U Active CN207240195U (en) | 2017-09-08 | 2017-09-08 | A kind of double cam driving manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN207240195U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439417A (en) * | 2020-05-07 | 2020-07-24 | 唐山正丰钢铁有限公司 | Angle steel grabbing and translating device and grabbing and translating method thereof |
| CN114950793A (en) * | 2022-07-05 | 2022-08-30 | 安徽跃腾工艺制造有限公司 | Metal storage box coating device and coating method |
-
2017
- 2017-09-08 CN CN201721155570.3U patent/CN207240195U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439417A (en) * | 2020-05-07 | 2020-07-24 | 唐山正丰钢铁有限公司 | Angle steel grabbing and translating device and grabbing and translating method thereof |
| CN114950793A (en) * | 2022-07-05 | 2022-08-30 | 安徽跃腾工艺制造有限公司 | Metal storage box coating device and coating method |
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