CN208231799U - Double globoid cam formula stepper drive type manipulators - Google Patents
Double globoid cam formula stepper drive type manipulators Download PDFInfo
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- CN208231799U CN208231799U CN201820737445.1U CN201820737445U CN208231799U CN 208231799 U CN208231799 U CN 208231799U CN 201820737445 U CN201820737445 U CN 201820737445U CN 208231799 U CN208231799 U CN 208231799U
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- Prior art keywords
- advance
- retreat
- sliding block
- cam
- globoid cam
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Abstract
The utility model provides double globoid cam formula stepper drive type manipulators, and entering spindle is assemblied in mounting base, and single head globoid cam and bull globoid cam are coaxially assemblied in entering spindle；Single head globoid cam and bull globoid cam pass through driven disc respectively and swing rod, sliding slot and advance and retreat sliding block connect, and advance and retreat sliding block can be along advance and retreat guide rail transverse movement；Output end block is fixedly connected with advance and retreat sliding block.The swing of interval will be continuously converted to by ferguson cam mechanism, the sliding block of swing rod connection slides in sliding slot decomposes circular motion, circular motion is converted into linear motion, the contour surface of cam controls movement, the movement of manipulator is controlled by cam contour curved surface, and two cams make manipulator realize step motion jointly.
Description
Technical field
The utility model relates to a kind of machine driving machinery hand, in particular to double globoid cam formula stepper drive types are mechanical
Hand.
Background technique
When driving link makees conventional continual input motion, output executive item makees the actuation cycle of fixed cycle, in this way
Mechanism be referred to as stepping mechanism.It is widely used in numerous automatic production lines, for meet advance and retreat, braking,
The work such as indexing.In order to realize this movement, designer uses the stepper drive type manipulator of a variety of driving methods, such as
Gas (liquid) presses driving manipulator, motor drive machinery hand etc., but the control of these mechanisms is complex, needs higher level
Technical staff operate and in the simple occasion higher operating costss of some movements.
Utility model content
The utility model aim is to provide double globoid cam formula stepper drive type manipulators, using two globoid cams point
Other driving manipulator carries out lifting and advancing and retreating movement, and structure is simple, and movement is accurate, practical.
The utility model is to be achieved through the following technical solutions:
Double globoid cam formula stepper drive type manipulators, including mounting base, entering spindle, bull globoid cam, single head arc
Face cam exports end block, advance and retreat guide rail, the first riser guide, the second riser guide, advance and retreat sliding block and exports the external machine of end block
Tool hand；
Entering spindle is assemblied in mounting base, and single head globoid cam and bull globoid cam are coaxially assemblied in entering spindle
On；
Single head globoid cam is connect by the first driven member and the first connector with advance and retreat sliding block, and advance and retreat sliding block is slidably installed
On the advance and retreat guide rail being laterally arranged, the both ends of advance and retreat guide rail respectively with the first riser guide for being fixed in mounting base along longitudinal direction
It is slidably connected with the second riser guide；Single head globoid cam is able to drive advance and retreat sliding block longitudinal movement；
Bull globoid cam is connect by the second driven member and the second connector with advance and retreat sliding block, and bull globoid cam energy
It is enough to drive advance and retreat sliding block along advance and retreat guide rail transverse movement；
Output end block is fixedly connected with advance and retreat sliding block.
Preferably, the first driven member is lifting driven disc, and lifting driven disc is mounted on the driven disc carrier of lifting by bearing
On, it goes up and down driven disc carrier and is mounted in mounting base, the one end for going up and down driven disc is nibbled by cam bawl and single head globoid cam
It closes.
Further, the first connector includes lifting swing rod, lifting sliding slot and sliding block, goes up and down the other end and liter of driven disc
One end of drop swing rod is fixedly connected, and the other end and the sliding block for going up and down swing rod are hinged, and sliding block, which is mounted on, to be gone up and down in sliding slot and can be
It is slid laterally in lifting sliding slot；Lifting sliding slot is fixedly mounted on advance and retreat sliding block.
Preferably, the second driven member is advance and retreat driven disc, and advance and retreat driven disc is mounted on driven disc carrier of retreating by bearing
On, driven disc carrier of retreating is mounted in mounting base, and one end of advance and retreat driven disc is nibbled by cam bawl and bull globoid cam
It closes.
Further, the second connector includes advance and retreat swing rod, advance and retreat sliding slot and sliding block；The other end of advance and retreat driven disc with into
The one end for moving back swing rod is fixedly connected, and the other end and sliding block of advance and retreat swing rod are hinged, and sliding block is mounted in advance and retreat sliding slot and can be
Longitudinal sliding motion in advance and retreat sliding slot, advance and retreat sliding slot are fixedly mounted on advance and retreat sliding block.
Preferably, one end of advance and retreat guide rail is connect by the first lifting slider with the first riser guide, and the other end passes through the
Two lifting sliders are connect with the second riser guide.
Preferably, mounting base is cabinet, and spindle carrier is arranged in cabinet, and entering spindle both ends are filled by the way that bearing is fixed respectively
It fits on cabinet and spindle carrier.
Compared with prior art, the utility model has technical effect beneficial below:
Double globoid cam formula stepper drive type manipulators of the utility model keep single head cambered surface convex by entering spindle rotation
Wheel and the rotation of bull globoid cam, single head globoid cam drive the longitudinal movement of advance and retreat sliding block by driven member and connector, in turn
The output end block being connected on advance and retreat sliding block moves up and down, and output end block drives external manipulator to do same lifting fortune
It is dynamic.Bull globoid cam drives advance and retreat sliding block to do advancing and retreating movement on advance and retreat guide rail by driven member and connector, and then drives
The output end block being connected on advance and retreat sliding block does advancing and retreating movement, and output end block drives external manipulator to do same fortune of retreating
It is dynamic.Such design scheme overall structure is simple, and equipment volume is small, and cambered surface cam mechanism can improve the positioning accuracy etc. of output end block
Grade.When output end block moves up and down, the first lifting sliding rail, the second lifting sliding rail are oriented to together, ensure that the steady of elevating movement
Qualitative and precision.
Further, manipulator lifting with retreat linear motion from two globoid cams drive driven disc on swing rod toward
Physical pendulum is dynamic to be realized, the circular motion of swing rod can be decomposed into mutually perpendicular two kinds of linear motions in two-dimensional surface, extra
Movement is decomposed by sliding slot.Two linear motions realize mechanical arm " after promotion-advance-decline-by regular movement combination
Move back " fixed cycle movement.
Detailed description of the invention
Fig. 1 is the main view of the utility model.
Fig. 2 is the rearview of the utility model.
Wherein: 1- entering spindle, 2- spindle carrier, 3- cabinet, 4- bull globoid cam, 5- single head globoid cam, 6- liter
Driven disc drops, and 7- goes up and down driven disc carrier, and 8- goes up and down swing rod, and 9- goes up and down sliding slot, and 10- exports end block, 11- advance and retreat driven disc, 12-
It retreats driven disc carrier, 13- advance and retreat swing rod, 14- advance and retreat sliding slot, 15- advance and retreat guide rail, the first lifting slider of 16-, first liter of 17-
Guide rail, the second riser guide of 18-, the second lifting slider of 19-, 20- advance and retreat sliding block drop.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.But it is practical new that this should not be interpreted as to this
The range of the above-mentioned theme of type is only limitted to following embodiment, and all technologies realized based on above-mentioned utility model content belong to this reality
With novel range.
Referring to Fig. 1 and Fig. 2, double globoid cam formula stepper drive type manipulators described in the utility model, including input master
Axis 1, spindle carrier 2, cabinet 3, bull globoid cam 4, single head globoid cam 5, lifting driven disc 6, the driven disc carrier 7 of lifting,
It goes up and down swing rod 8, lifting sliding slot 9, output end block 10, advance and retreat driven disc 11, driven disc carrier 12 of retreating, advance and retreat swing rod 13, retreat
Sliding slot 14, advance and retreat guide rail 15, the first lifting slider 16, the first riser guide 17, the second riser guide 18, the second lifting slider
19, advance and retreat sliding block 20 and the external manipulator of output end block 10.
Entering spindle 1 is securely fitted in mounting base and spindle carrier 2 by bearing, single head globoid cam 5 and bull arc
Face cam 4 is assemblied in entering spindle 1 coaxially through key connection.
Go up and down driven disc 6 be single head globoid cam 5 driven member, lifting driven disc 6 by bearing be mounted on go up and down it is driven
It on disc carrier 7, goes up and down driven disc carrier 7 and is mounted in mounting base, one end of lifting driven disc 6 passes through cam bawl and single head arc
Face cam 5 engage, go up and down driven disc 6 the other end with lifting swing rod 8 one end be fixedly connected, go up and down swing rod 8 the other end and
First sliding block is hinged, and the first sliding block is mounted in lifting sliding slot 9, and the first sliding block can slide laterally in lifting sliding slot 9；Lifting
Sliding slot 9 is fixedly mounted on advance and retreat sliding block 20, and advance and retreat sliding block 20 is slidably mounted on advance and retreat guide rail 15, one end of advance and retreat guide rail 15
It is slidably mounted on the first riser guide 17 by the first lifting slider 16, the other end is slidably installed by the second lifting slider 19
On the second riser guide 18；First riser guide 17 and the second riser guide 18 is longitudinally fixed is mounted in mounting base.Output
End block 10 is fixedly connected on advance and retreat sliding block 20, therefore single head globoid cam 5 makes to go up and down driven disc 6 by the engagement of cam bawl
Intermittence rotation, while the lifting swing rod 8 being connected on lifting driven disc 6 is swung up and down, and goes up and down the circular motion of swing rod 8 two
Mutually perpendicular two kinds of movements can be decomposed into dimensional plane, extra transverse movement is decomposed by lifting sliding slot 9 and offset, to rise
Drop swing rod 8 drives lifting sliding slot 9 to move up and down, and lifting sliding slot 9 drives advance and retreat sliding block 20 and then advance and retreat guide rail 15 is driven to rise
Drop movement, and then the output end block 10 being connected on advance and retreat sliding block 20 is driven to move up and down, output end block 10 drives external
Manipulator does same elevating movement.When output end block 10 moves up and down, the first riser guide 17 and the second riser guide 18
It is oriented to together, ensure that the stability of elevating movement.
Advance and retreat driven disc 11 be bull globoid cam 4 driven member, advance and retreat driven disc 11 by bearing be mounted on retreat from
On Moving plate bracket 12, driven disc carrier 12 of retreating is mounted in mounting base, one end of advance and retreat driven disc 11 by cam bawl with
Bull globoid cam 4 engages, and the other end is fixedly connected with one end of advance and retreat swing rod 13, and the other end of advance and retreat swing rod 13 and second is slided
Block is hinged, and the second sliding block is slidably mounted in advance and retreat sliding slot 14 and can slide up and down in advance and retreat sliding slot 14, advance and retreat sliding slot 14
It is fixedly mounted on advance and retreat sliding block 20.Bull globoid cam 4 drives advance and retreat driven disc 11 to rotate, and advance and retreat driven disc 11, which drives, retreats
Swing rod 13 is swung, and the circular motion of advance and retreat swing rod 13 can be decomposed into mutually perpendicular two kinds of movements in two-dimensional surface, extra
Longitudinal movement decomposed and offset by advance and retreat sliding slot 14, so that swing rod 13 of retreating drives advance and retreat sliding slot 14 to do advancing and retreating movement, retreat and slide
Slot 14 drives advance and retreat sliding block 20 to do advancing and retreating movement on advance and retreat guide rail 15, and then drives the output end being connected on advance and retreat sliding block 20
Block 10 does advancing and retreating movement, and output end block 10 drives external manipulator to do same advancing and retreating movement.
In this example, mounting base is cabinet 3, and spindle carrier 2 is arranged in cabinet 3, and 1 both ends of entering spindle are distinguished by bearing
It is securely fitted on cabinet 3 and spindle carrier 2.It is connect in addition to cabinet 3 is stretched out in output 10 part of end block with manipulator, other component
It is respectively positioned in cabinet 3.
The one end and lifting sliding slot 9 for going up and down swing rod 8 fit closely, and the other end is fixedly connected with lifting driven disc 6 to be made to go up and down
Cam bawl on driven disc 6 is fitted closely with single head globoid cam 5, and one end of advance and retreat swing rod 13 and advance and retreat sliding slot 14 closely paste
It closes, the other end is fixedly connected with the cam bawl for making advance and retreat driven disc 11 with advance and retreat driven disc 11 and bull globoid cam 4 closely pastes
It closes.
Advancing and retreating movement makes mechanical arm realize " promotion-advance-decline-with elevating movement by regular movement combination
Retreat " fixed cycle movement.Wherein, the traverse angle (rise angle, backhaul angle) of bull globoid cam 4 and single head globoid cam 5
Two sections rest that angle is equal, and initial phase respectively corresponds unanimously, two sections of bull globoid cam 4 rest angle not with single head globoid cam
5 traverse angle (rise angle, backhaul angle) is equal, and initial phase respectively corresponds unanimously.
Utility model works principle is as follows: motor is by driving the rotation of entering spindle 1 to make single head globoid cam 5 and bull
Globoid cam 4 rotates, and single head globoid cam 5 makes to go up and down the intermittent rotation of driven disc 6 by the engagement of cam bawl, connects simultaneously
Lifting swing rod 8 on lifting driven disc 6 is swung up and down, and the circular motion of lifting swing rod 8 can be decomposed into two-dimensional surface
Mutually perpendicular two kinds of movements, extra transverse movement are decomposed by lifting sliding slot 9, to drive lifting 9 elevating movement of sliding slot, are risen
Drop sliding slot 9 drives advance and retreat sliding block 20 to drive the output end block 10 being connected on advance and retreat sliding block 20 to move up and down in turn, output end
Block 10 drives external manipulator to do same elevating movement.Bull globoid cam 4 by the engagement of cam bawl make retreat from
Moving plate 11 is intermittent to be swung, while the advance and retreat swing rod 13 being connected on advance and retreat driven disc 11 swings, 13 swing rod of advance and retreat swing rod
Circular motion can be decomposed into two-dimensional surface it is mutually perpendicular two kinds movement, extra longitudinal movement lean on advance and retreat sliding slot 14
It decomposes, so that swing rod 13 of retreating drives advance and retreat sliding slot 14 to do advancing and retreating movement, advance and retreat sliding slot 14 drives advance and retreat sliding block 20 to lead in advance and retreat
Advancing and retreating movement is done on rail 15, and then the output end block 10 being connected on advance and retreat sliding block 20 is driven to do advancing and retreating movement, exports end block 10
External manipulator is driven to do same advancing and retreating movement.
The utility model will continuously be converted to the swing of interval by ferguson cam mechanism, swing rod end
Sliding block slides in sliding slot and decomposes circular motion, circular motion is converted to linear motion, the contour surface of cam is to movement
It is controlled, the movement of manipulator is controlled by cam contour curved surface.Two cams make manipulator realize step motion jointly.
Using cambered surface cam mechanism as the cam-type manipulator of drive control mechanism, it has, and movement is steady, transmission is quasi-, work
The particular advantages such as speed is controllable, use cost is low.Cam mechanism is the machine for making the most convenient of output link realization intermittent movement
Structure, usually it passes through cam and the movement of subsequent linkage is converted, to realize the mechanical arm target to be completed movement.Cambered surface
The work profile curved surface of cam controls manipulator, and globoid cam working curved surface is selected according to the action request of manipulator
It selects suitable characteristics of motion equation and is designed processing.It is purely mechanic transmission control that biggest advantage, which is due to cam-type manipulator,
System, correct working curved surface can guarantee that the movement step of itself and host is consistent, therefore substantially increase the peace of a whole set of machine
Full property and work rhythm, and this point is exactly that other kinds of manipulator is incomparable.
Claims (7)
1. pair globoid cam formula stepper drive type manipulator, which is characterized in that including mounting base, entering spindle (1), bull cambered surface
Cam (4), single head globoid cam (5), output end block (10), advance and retreat guide rail (15), the first riser guide (17), the second lifting are led
Rail (18), advance and retreat sliding block (20) and output end block (10) external manipulator；
Entering spindle (1) is assemblied in mounting base, and single head globoid cam (5) and bull globoid cam (4) are coaxially assemblied in input
On main shaft (1)；
Single head globoid cam (5) is connect by the first driven member and the first connector with advance and retreat sliding block (20), advance and retreat sliding block (20)
Be slidably mounted on the advance and retreat guide rail (15) being laterally arranged, the both ends of advance and retreat guide rail (15) respectively be fixed on mounting base along longitudinal direction
On the first riser guide (17) and the second riser guide (18) be slidably connected；Single head globoid cam (5) is able to drive advance and retreat and slides
Block (20) longitudinal movement；
Bull globoid cam (4) is connect by the second driven member and the second connector with advance and retreat sliding block (20), and bull cambered surface is convex
Wheel (4) is able to drive advance and retreat sliding block (20) along advance and retreat guide rail (15) transverse movement；
Output end block (10) is fixedly connected with advance and retreat sliding block (20).
2. double globoid cam formula stepper drive type manipulators according to claim 1, which is characterized in that the first driven member is
It goes up and down driven disc (6), lifting driven disc (6) is mounted on the driven disc carrier (7) of lifting by bearing, goes up and down driven disc carrier
(7) it is mounted in mounting base, one end of lifting driven disc (6) is engaged by cam bawl with single head globoid cam (5).
3. double globoid cam formula stepper drive type manipulators according to claim 2, which is characterized in that the first connector packet
Lifting swing rod (8), lifting sliding slot (9) and sliding block are included, one end of the other end and lifting swing rod (8) that go up and down driven disc (6) is fixed
Connection, the other end and the sliding block for going up and down swing rod (8) are hinged, and sliding block is mounted in lifting sliding slot (9) and can be in lifting sliding slot (9)
In slide laterally；Lifting sliding slot (9) is fixedly mounted on advance and retreat sliding block (20).
4. double globoid cam formula stepper drive type manipulators according to claim 1, which is characterized in that the second driven member is
Advance and retreat driven disc (11), advance and retreat driven disc (11) are mounted on by bearing and are retreated on driven disc carrier (12), advance and retreat driven disc branch
Frame (12) is mounted in mounting base, and one end of advance and retreat driven disc (11) is engaged by cam bawl with bull globoid cam (4).
5. double globoid cam formula stepper drive type manipulators according to claim 4, which is characterized in that the second connector packet
Include advance and retreat swing rod (13), advance and retreat sliding slot (14) and sliding block；The other end of advance and retreat driven disc (11) and the one end of advance and retreat swing rod (13)
It is fixedly connected, the other end and sliding block of advance and retreat swing rod (13) are hinged, and sliding block is mounted in advance and retreat sliding slot (14) and can retreat
Longitudinal sliding motion in sliding slot (14), advance and retreat sliding slot (14) are fixedly mounted on advance and retreat sliding block (20).
6. double globoid cam formula stepper drive type manipulators according to claim 1, which is characterized in that advance and retreat guide rail (15)
One end connect with the first riser guide (17) by the first lifting slider (16), the other end pass through the second lifting slider (19) and
Second riser guide (18) connection.
7. double globoid cam formula stepper drive type manipulators according to claim 1, which is characterized in that mounting base is cabinet
(3), spindle carrier (2) are set in cabinet (3), entering spindle (1) both ends are securely fitted in cabinet (3) and master by bearing respectively
On bracing strut (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820737445.1U CN208231799U (en) | 2018-05-17 | 2018-05-17 | Double globoid cam formula stepper drive type manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820737445.1U CN208231799U (en) | 2018-05-17 | 2018-05-17 | Double globoid cam formula stepper drive type manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208231799U true CN208231799U (en) | 2018-12-14 |
Family
ID=64579604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820737445.1U Expired - Fee Related CN208231799U (en) | 2018-05-17 | 2018-05-17 | Double globoid cam formula stepper drive type manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208231799U (en) |
-
2018
- 2018-05-17 CN CN201820737445.1U patent/CN208231799U/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: 20181214 Termination date: 20200517 |