CN208051923U - Globoid cam and conjugate cam coordinate driving manipulator - Google Patents
Globoid cam and conjugate cam coordinate driving manipulator Download PDFInfo
- Publication number
- CN208051923U CN208051923U CN201721523690.4U CN201721523690U CN208051923U CN 208051923 U CN208051923 U CN 208051923U CN 201721523690 U CN201721523690 U CN 201721523690U CN 208051923 U CN208051923 U CN 208051923U
- Authority
- CN
- China
- Prior art keywords
- cam
- camshaft
- globoid
- manipulator
- elevating lever
- 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 discloses a kind of globoid cam and conjugate cam coordinates driving manipulator, including camshaft, the globoid cam being arranged on camshaft, conjugate cam, wherein globoid cam is slidably connected with swinging disc, oscillating rod one end is connected with swinging disc, one end is slidably connected further through the roller sliding slot of roller slides and elevating lever, elevating lever is slidably connected with the sliding rail arranged vertically again, thus the periodic wobble of swinging disc is converted into the linear motion of elevating lever, to realize the lifting of manipulator；In addition, conjugate cam then constitutes a slider-crank mechanism by swing arm component, interlocking lever, follower lever, sliding rail, drives manipulator to realize that left and right is retreated and move back and forth.
Description
Technical field
The utility model is related to a kind of machine driving machinery hands, and in particular to a kind of globoid cam and conjugate cam cooperation are driven
Ejector half manipulator.
Background technology
Manipulator can complete the actions such as pickup, carrying and lifting, and production is realized instead of the heavy labor of the mankind
Mechanization and automation greatly improve production efficiency, while can also work under hostile environment, instead of manually to protect the mankind
Safety, so application of the manipulator in automatic industrial is very extensive.Existing manipulator is mostly Pneumatic manipulator, passes through liter
It drops cylinder and linear motion completes relevant action, it is flexible for installation convenient.But Pneumatic manipulator electric components are more, and complicated is electrical
Control system is for relatively simple repetitive, high expensive.In addition the precision of Pneumatic manipulator is relatively low, acceleration
With speed it is difficult to accurately control, especially acts that stiff, impact vibration is big when shutting down, be more than so may be only available for the period of motion
3 seconds, work speed was higher than the occasion of 20/point, and use is more limited.
Utility model content
In view of the above shortcomings of the prior art, a kind of globoid cam of the utility model offer and conjugate cam cooperation are driving
Manipulator achives up and down by mechanical mechanism and controls advance and retreat linear motion, and service life is long, operating rate is fast, has
It is simple in structure, at low cost, the steady reliable feature of the course of work.
In order to achieve the above objectives, the utility model uses following technical scheme：
Globoid cam and conjugate cam coordinate driving manipulator, including camshaft, globoid cam, conjugate cam, machinery
Hand and elevating lever；
Camshaft is fixed on rack cabinet, and globoid cam, conjugate cam are fixedly connected with camshaft respectively, globoid cam
It being slidably connected with swinging disc, elevating lever is mounted on camshaft sliding rail disposed in parallel, and roller sliding slot is offered on elevating lever,
Roller sliding slot extending direction is vertical with camshaft, and oscillating rod one end is connected with swinging disc, the other end passes through roller slides and lifting
The roller sliding slot of bar is slidably connected, and manipulator is fixedly connected with elevating lever, and there are two types of direction track, cambered surface is convex for globoid cam setting
Wheel rotation by the periodic wobble of driven member swinging disc be converted into elevating lever along cam shaft to linear reciprocating motion, realize machine
The lifting action of tool hand；
The conjugate cam is connect with swing arm component, and swing arm component is driven to swing, swing arm component and interlocking lever and follower lever
Crank mechanism is constituted, follower lever is mounted on the vertically disposed sliding rail of camshaft location, and follower lever is equipped with flat with camshaft
Capable short sliding rail, sliding block are mounted on short sliding rail, and manipulator is fixedly connected with a slide block, and the periodic wobble of swing arm component is converted
It is follower lever along the linear reciprocating motion of camshaft radial direction, drives manipulator property performance period moving back and forth.
Further, the elevating lever is L-type, and roller sliding slot is opened on one section vertical with camshaft of L-type elevating lever, L
The type elevating lever one section peace parallel with camshaft turns in sliding rail.
Further, the follower lever is door type structure, and door type structure is mounted in the sliding rail of both sides, and short sliding rail is arranged in door
In type structure, sliding block is mounted on short sliding rail in door type structure.
Further, the wobble segment angle of circumference of the globoid cam and conjugate cam to rest section angle of circumference identical, and two sections
Motion cycle starting point on same circumferential position；The motor segment circumference for resting section angle of circumference and conjugate cam of globoid cam
Angle is equal, and two sections of motion cycle starting point is also on same circumferential position.
The globoid cam and conjugate cam of the utility model coordinate driving manipulator, including camshaft, are arranged in cam
Globoid cam, conjugate cam on axis, wherein globoid cam are slidably connected with swinging disc, and oscillating rod one end is connected with swinging disc,
One end is slidably connected further through the roller sliding slot of roller slides and elevating lever, and elevating lever is slided with the sliding rail arranged vertically again to be connected
It connects, thus the periodic wobble of swinging disc is converted into the linear motion of elevating lever, to realize the lifting of manipulator；Separately
Outside, conjugate cam then constitutes a slider-crank mechanism by swing arm component, interlocking lever, follower lever, sliding rail, drives manipulator real
Now left and right, which is retreated, moves back and forth.
Lifting and the left and right cyclical action for coordinating manipulator ensure that the motion cycle of globoid cam and conjugate cam originates
Point is on same circumferential position, and globoid cam rests section movement angle equal to conjugate cam traverse section movement angle, and vice versa.Together
When manipulator rear portion be divided into not sliding up and down with follower lever and connect, is coaxially connected with the axis hole of elevating lever, thus make machinery
Hand realizes the periodical linearly operating that lifting is retreated.
Description of the drawings
Fig. 1 is the graphics of the utility model practical application arrangement
Fig. 2 is the axonometric drawing of the utility model
Wherein：1- camshafts, 2- globoid cams, 3- conjugate cams, 4- swing arm components, 5- interlocking levers, 6- follower levers, 7- are slided
Rail, 8- sliding blocks, 9- manipulators, 10- elevating levers, 11- roller slides, 12- oscillating rods, 13- swinging discs.
Specific implementation mode
Technical solutions of the utility model are clearly and completely described below in conjunction with embodiment, it is clear that described
Embodiment is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
All other embodiment that those of ordinary skill in the art are obtained without creative efforts should all belong to this
The range of utility model protection.
As shown in Fig. 1~2, a kind of globoid cam is fixed on babinet with the conjugation driving manipulator of cam engagement, camshaft 1
In rack, globoid cam 2, conjugate cam 3 are fixedly connected with camshaft 1 respectively, and globoid cam 2 and a sliding of swinging disc 13 connect
It connects, 12 one end of oscillating rod is connected with swinging disc 13, and one end is slidably connected by roller slides 11 and the roller sliding slot of elevating lever 10.
Elevating lever 10 is slidably connected with the sliding rail 7 arranged vertically again, thus by the week of 2 driven member swinging disc 13 of globoid cam
Phase property swings the linear reciprocating motion for being converted into elevating lever 10.
Due to the axis hole coaxial cooperation of the axis and 10 upper end of elevating lever at 9 rear portion of manipulator, in elevating lever reciprocating linear
When movement, the lifting action of manipulator is realized.
The conjugate cam 3 drives swing arm component 4 to swing, swing arm component 4 again with interlocking lever 5, follower lever 6, horizontally disposed
Sliding rail 7 constitute slider-crank mechanism, convert the periodic wobble of swing arm component 4 to the linear reciprocating motion of follower lever 6.
Sliding rail is equipped on follower lever 6, as shown in the picture, after being arranged in the sliding block 8 on follower lever sliding rail and manipulator 9
End is fixedly connected, then the left and right linear reciprocating motion of follower lever just drives manipulator property performance period moving back and forth.
Elevating lever 10 is L-type, and roller sliding slot is opened on one section vertical with camshaft 1 of L-type elevating lever 10, and L-type lifts
The one section peace parallel with camshaft 1 of bar 10 turns in sliding rail 7.
Follower lever 6 is door type structure, and door type structure is mounted in the sliding rail 7 of both sides, and short sliding rail is arranged in door type structure,
Sliding block 8 is mounted on short sliding rail in door type structure.
When design the wobble segment angle of circumference of globoid cam and conjugate cam to rest section angle of circumference identical, and two sections of movement
Starting point is recycled on same circumferential position；The motor segment angle of circumference phase for resting section angle of circumference and conjugate cam of globoid cam
Deng two sections of motion cycle starting point is also on same circumferential position.
The design of sliding-rail sliding on follower lever 6, avoid lifting linear motion with retreat linear motion it is possible conflict, in fact
The lifting of existing manipulator and advance and retreat cyclical action.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that specific embodiment of the present utility model is only limitted to this, for the utility model person of an ordinary skill in the technical field
For, without departing from the concept of the premise utility, several simple deduction or replace can also be made, all should be considered as
Belong to the utility model and determines scope of patent protection by the claims submitted.
Claims (3)
1. globoid cam and conjugate cam coordinate driving manipulator, it is characterised in that：Including camshaft (1), globoid cam
(2), conjugate cam (3), manipulator (9) and elevating lever (10)；
Camshaft (1) is fixed on rack cabinet, and globoid cam (2), conjugate cam (3) are fixedly connected with camshaft (1) respectively,
Globoid cam (2) is slidably connected with swinging disc (13), and elevating lever (10) is mounted on and camshaft (1) sliding rail disposed in parallel (7)
In, roller sliding slot is offered on elevating lever (10), roller sliding slot extending direction is vertical with camshaft (1), oscillating rod (12) one end
It is connected with swinging disc (13), the other end is slidably connected by roller slides (11) and the roller sliding slot of elevating lever (10), manipulator
(9) it is fixedly connected with elevating lever (10), there are two types of direction track, globoid cams (2) to rotate driven member for globoid cam (2) setting
The periodic wobble of swinging disc (13) is converted into linear reciprocating motion of the elevating lever (10) along camshaft (1) axial direction, realizes machinery
The lifting action of hand；
The conjugate cam (3) connect with swing arm component (4), and swing arm component (4) is driven to swing, swing arm component (4) and interlocking lever
(5) and follower lever (6) constitute crank mechanism, follower lever (6) be mounted on in the vertically disposed sliding rail in camshaft (1) position (7),
Follower lever (6) is equipped with the short sliding rail parallel with camshaft (1), and sliding block (8) is mounted on short sliding rail, manipulator (9) and sliding block
(8) it is fixedly connected, converts the periodic wobble of swing arm component (4) to reciprocating linear of the follower lever (6) along camshaft (1) radial direction
Movement drives manipulator (9) property performance period moving back and forth；
The wobble segment angle of circumference of the globoid cam (2) and conjugate cam (3) to rest section angle of circumference identical, and two sections of movement
Starting point is recycled on same circumferential position；The motor segment angle of circumference phase for resting section angle of circumference and conjugate cam of globoid cam
Deng two sections of motion cycle starting point is also on same circumferential position.
2. globoid cam according to claim 1 and conjugate cam coordinate driving manipulator, it is characterised in that：The liter
It is L-type to drop bar (10), and roller sliding slot is opened on one section vertical with camshaft (1) of L-type elevating lever (10), L-type elevating lever
(10) one section parallel with camshaft (1) peace turns in sliding rail (7).
3. globoid cam according to claim 1 and conjugate cam coordinate driving manipulator, it is characterised in that：It is described from
Lever (6) is door type structure, and door type structure is mounted in the sliding rail (7) of both sides, and short sliding rail is arranged in door type structure, sliding block
(8) it is mounted on short sliding rail in door type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721523690.4U CN208051923U (en) | 2017-11-15 | 2017-11-15 | Globoid cam and conjugate cam coordinate driving manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721523690.4U CN208051923U (en) | 2017-11-15 | 2017-11-15 | Globoid cam and conjugate cam coordinate driving manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208051923U true CN208051923U (en) | 2018-11-06 |
Family
ID=63997947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721523690.4U Expired - Fee Related CN208051923U (en) | 2017-11-15 | 2017-11-15 | Globoid cam and conjugate cam coordinate driving manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208051923U (en) |
-
2017
- 2017-11-15 CN CN201721523690.4U patent/CN208051923U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20181106 Termination date: 20191115 |