CN214651876U - Cam groove adjusting mechanism for PPU manipulator - Google Patents

Abstract

The utility model discloses a cam groove guiding mechanism for PPU manipulator, including fixed backplate, left cam groove bottom plate and right cam groove bottom plate, left cam groove bottom plate is provided with left section cam groove, and right cam groove bottom plate is provided with right section cam groove, and left cam groove bottom plate, right cam groove bottom plate set up at fixed backplate to make left section cam groove and right section cam groove corresponding, form complete cam groove; left cam groove bottom plate and right cam groove bottom plate are for moving about and adjust the formula setting at fixed backplate, and left cam groove bottom plate docks each other with right cam groove bottom plate in the interlude of cam groove, forms the butt joint section, and the butt joint section is alternately misplaced, upper and lower stack formula setting for when left cam groove bottom plate, right cam groove bottom plate remove about adjusting the cam groove, remain the integrality of cam groove throughout. Cancel cam groove transition piece, directly adjust by the cooperation between the left and right cam groove bottom plate, construct scientific and reasonable more, guarantee spacing and lead more smoothly.

Description

Cam groove adjusting mechanism for PPU manipulator

Technical Field

The utility model relates to a structure of PPU manipulator, in particular to a cam groove guiding mechanism for PPU manipulator.

Background

The PPU manipulator, also called PPU picking and placing manipulator, is a pure cam structure transplanting manipulator, and an executing element runs according to a preset track under the drive of a servo or stepping motor. The automatic part feeding device is mainly used for automatically conveying, feeding and removing parts in a confined space. The PPU manipulator has the main characteristics that: the cam driving mode ensures compact high-speed and stable action structure and convenient installation and debugging; the cycle time is short and the stroke position can be adjusted. The PPU manipulator is adjusted by adjusting a cam motion groove to carry out certain adjustment on the running track of the PPU manipulator. Referring to the accompanying drawings of the specification and fig. 8, there is a cam groove adjusting mechanism for a PPU robot in the related art. The adjustment mechanism is constructed by adding a cam groove transition block between the left cam groove bottom plate and the right cam groove bottom plate. The cam groove transition block is arranged at the middle position, namely the parallelism of the cam groove, and due to the existence of the cam groove transition block, when the bottom plate of the cam groove is adjusted by the stretching or narrowing movement from left to right (namely, the distance of the parallel section is adjusted to be long or short), the cam groove is still complete, and the situation of fracture cannot occur. However, it is also due to the presence of the cam groove transition piece that causes some drawbacks. Mechanical parts and component assembly are increased, and the assembly of the cam groove transition block can affect the accuracy of the cam groove once the assembly is not required. Moreover, because left and right cam groove bottom plate all is folding in cam groove transition piece upside, docks through the transition piece, so with cam groove matched with driven bearing when passing through cam groove transition piece corresponding segment, the spacing process (spacing stress point) of lateral part is: the bottom plate of the cam groove → the transition block of the cam groove → the bottom plate of the cam groove, namely, high → low → high, has a more abrupt transition, which affects the spacing and guiding effect. Therefore, there are many unreasonable points for the cam groove adjustment mechanism of the PPU robot, and improvement is needed.

SUMMERY OF THE UTILITY MODEL

To the above, an object of the utility model is to provide a cam groove guiding mechanism for PPU manipulator, cancel cam groove transition piece, directly adjust by the cooperation between the left and right cam groove bottom plate, construct more scientific and reasonable, guarantee spacing and guide more smooth.

The utility model adopts the technical proposal that: a cam groove adjusting mechanism for a PPU manipulator comprises a fixed back plate, a left cam groove bottom plate and a right cam groove bottom plate, the left cam groove bottom plate is provided with a left section cam groove, the right cam groove bottom plate is provided with a right section cam groove, the left cam groove bottom plate and the right cam groove bottom plate are arranged on the fixed back plate, and the left cam groove section corresponds to the right cam groove section to form a complete cam groove, it is characterized in that the left cam groove bottom plate and the right cam groove bottom plate are arranged on the fixed back plate in a left-right moving adjusting way, the left cam groove bottom plate and the right cam groove bottom plate are mutually butted at the middle section of the cam groove to form a butting section, the butt joint section is alternately misplaced, upper and lower stack formula setting for when left cam groove bottom plate, right cam groove bottom plate remove and adjust the cam groove, keep the integrality of cam groove all the time.

Further, left side cam groove bottom plate is in the one section of butt joint with right cam groove bottom plate, for being the upside stair structure of "+/-" form, right side cam groove bottom plate is for being the downside stair structure of "+/-" form in the one section of butt joint with left cam groove bottom plate, wherein, the upside stair structure of left side cam groove bottom plate with the downside stair structure of right cam groove bottom plate corresponds each other and carries out the coincide to form alternately misplacing, the butt joint section of upper and lower stack formula.

Further, the left side portion of left side cam groove bottom plate is provided with first regulation screw, is provided with first adjusting screw corresponding to this first regulation screw, fixed backplate sets up first adaptation groove corresponding to first adjusting screw's cap portion, first adjusting screw and first regulation screw cooperate, move about to left cam groove bottom plate and adjust spacingly.

Further, the right side portion of right cam groove bottom plate is provided with the second and adjusts the screw, adjusts the screw to be provided with second adjusting screw corresponding to this second, fixed backplate sets up second adaptation groove corresponding to second adjusting screw's cap portion, second adjusting screw cooperatees with second adjusting screw, and it is spacing to control the removal of right cam groove bottom plate.

Further, the fixed back plate is provided with spacing step respectively corresponding to the upper and lower sides of left cam groove bottom plate, right cam groove bottom plate, and under spacing of spacing step, left cam groove bottom plate, right cam groove bottom plate can only remove about moving the regulation.

The utility model has the advantages of it is following: redesign has improved the structure of left and right cam groove bottom plate, cancel cam groove transition piece, directly adjust by the cooperation between the left and right cam groove bottom plate, construct scientific and reasonable more, guarantee spacing and guide more smooth. This a cam groove guiding mechanism for PPU manipulator when saving spare part, because form the butt joint section of alternately misplacing, upper and lower stack formula between left cam groove bottom plate and the right cam groove bottom plate, so with cam groove matched with driven bearing when the corresponding section through the cam groove, the spacing process (spacing stress point) of lateral part is: left cam groove base plate → vertically superimposed abutment section → right cam groove base plate, or right cam groove base plate → vertically superimposed abutment section → left cam groove base plate; the transition is smoother and smoother, and the limiting and guiding effects on the driven bearing are guaranteed.

The present invention will be further described with reference to the following description and embodiments in conjunction with the accompanying drawings.

Drawings

FIG. 1 is a schematic view of the internal structure of a PPU robot;

FIG. 2 is a schematic view of the structure of an adjustment mechanism in a PPU robot;

FIG. 3 is a first schematic structural diagram of an adjustment mechanism;

FIG. 4 is a second schematic structural view of the adjustment mechanism;

FIG. 5 is a schematic structural diagram of a fixed backplate;

FIG. 6 is a first schematic view of the matching structure of the left cam groove bottom plate and the right cam groove bottom plate;

FIG. 7 is a second schematic view of the mating structure of the left cam groove bottom plate and the right cam groove bottom plate;

fig. 8 is a schematic structural view of a cam groove adjustment mechanism for a PPU robot in the related art;

in the figure: a fixed back plate 1; a first fitting groove 11; a second fitting groove 12; a limit step 13; a left cam groove bottom plate 2; a left-stage cam groove 21; an upper-side stepped structure 22; a first adjustment screw hole 23; a first adjusting screw 24; a right cam groove bottom plate 3; a right-stage cam groove 31; a lower stepped structure 32; a second adjustment screw hole 33; a second adjusting screw 34; a cam groove 4; and a docking section 5.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indicators (such as … …, upper, lower, left, right, front, back, top, bottom, inner, outer, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial) are involved in the embodiments of the present invention, the directional indicators are only used to explain the relative position, motion, etc. of the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.

In addition, if there is a description relating to "first" or "second", etc. in the embodiments of the present invention, the description of "first" or "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 7, the cam groove adjusting mechanism for a PPU manipulator provided in this embodiment includes a fixed back plate 1, a left cam groove bottom plate 2 and a right cam groove bottom plate 3, where the left cam groove bottom plate 2 is provided with a left section cam groove 21, the right cam groove bottom plate 3 is provided with a right section cam groove 31, the left cam groove bottom plate 2 and the right cam groove bottom plate 3 are provided on the fixed back plate 1, and the left section cam groove 21 corresponds to the right section cam groove 31 to form a complete cam groove 4.

Left side cam groove bottom plate 2 and right cam groove bottom plate 3 for can remove the regulation formula setting from side to side at solid fixed back plate 1, left side cam groove bottom plate 2 docks each other at the interlude of cam groove 4 with right cam groove bottom plate 3, forms butt joint section 5, butt joint section 5 is alternately misplaced, upper and lower stack formula setting, makes when left side cam groove bottom plate 2, right cam groove bottom plate 3 remove and adjust cam groove 4, remain cam groove 4's integrality throughout. In a popular way, the left cam groove 21 of the left cam groove bottom plate 2 and the right cam groove 31 of the right cam groove bottom plate 3, including the butt joint section 5, can form the complete cam groove 4.

For the butt-joint section 5 to be arranged in a cross-dislocated and up-down stacked manner, one preferable specific construction form is as follows: left side cam groove bottom plate 2 is in the one section of butting with right cam groove bottom plate 3, for being the upside stair structure 22 of "+" -form, right cam groove bottom plate 3 is for being the downside stair structure 32 of "+" -form in the one section of butting with left cam groove bottom plate 2, wherein, the upside stair structure 22 of left side cam groove bottom plate 2 with the downside stair structure 32 of right cam groove bottom 3 corresponds each other and carries out the coincide to form alternately misplacing, the butt joint section 5 of upper and lower stack formula. It should be noted that this embodiment provides a preferred embodiment, and others are as follows: exchanging an upper step structure in a '+ -shape with a lower step structure in a' + -shape; or the ladder structure is designed to be different and matched, which is suitable for all applications. Only the butt joint section with up-down superposition needs to be satisfied.

The left cam groove bottom plate 2 and the right cam groove bottom plate 3 are arranged on the fixed back plate 1 in a left-right adjustable mode, and one preferable specific construction form is as follows: the left side portion of left cam groove bottom plate 2 is provided with first regulation screw 23, is provided with first adjusting screw 24 corresponding to this first regulation screw 23, fixed backplate 1 sets up first adaptation groove 11 corresponding to the cap portion of first adjusting screw 24, first adjusting screw 24 cooperatees with first regulation screw 23, and it is spacing to control the removal of left cam groove bottom plate 2. The right side portion of right cam groove bottom plate 3 is provided with second regulation screw 33, is provided with second adjusting screw 34 corresponding to second regulation screw 33, fixed backplate 1 sets up second adaptation groove 12 corresponding to the cap portion of second adjusting screw 34, second adjusting screw 34 cooperatees with second regulation screw 33, and it is spacing to control the removal of right cam groove bottom plate 3. It should be noted that this embodiment provides a preferred embodiment, and others are as follows: the waist-shaped groove is matched with an adjusting structure such as an adjusting screw rod and an adjusting nut, and the like, and the adjusting device is also applicable. The left cam groove bottom plate and the right cam groove bottom plate are fixed and limited when being adjusted in a left-right moving mode.

Specifically, the fixed back plate 1 is provided with a limiting step 13 corresponding to the upper and lower sides of the left cam groove bottom plate 2 and the right cam groove bottom plate 3 respectively, and the left cam groove bottom plate 2 and the right cam groove bottom plate 3 can only be adjusted in a left-right movement mode under the limiting of the limiting step 13. Because at the in-process that PPU manipulator used, only need to carry out left cam groove bottom plate and right cam groove bottom plate and control the length that adjusts and increase or shorten cam groove parallel section, consequently, design spacing step, it is spacing to left cam groove bottom plate, the upper and lower side of right cam groove bottom plate, and form the structure similar to guide rail cooperation formula, can guarantee left cam groove bottom plate, right cam groove bottom plate and set up the precision, avoid misplacing from top to bottom, and then guarantee that the cam groove meets the requirements. In addition, for the limit step 1 provided on the fixed back plate 1, the side portions of the left cam groove bottom plate 2 and the right cam groove bottom plate 3 may be provided with corresponding steps for engagement.

The utility model discloses be not limited to above-mentioned embodiment, adopt and the utility model discloses the same or similar technical feature of above-mentioned embodiment, and other a cam groove guiding mechanism for PPU manipulator that obtains is all within the protection scope of the utility model.

Claims (5)

1. The utility model provides a cam groove guiding mechanism for PPU manipulator, includes fixed backplate, left cam groove bottom plate and right cam groove bottom plate, left side cam groove bottom plate is provided with left section cam groove, right side cam groove bottom plate is provided with right section cam groove, left side cam groove bottom plate, right cam groove bottom plate set up on fixed backplate to make left side section cam groove corresponding with right section cam groove, form complete cam groove, a serial communication port, left side cam groove bottom plate and right cam groove bottom plate are for moving about can and adjust the formula setting, left side cam groove bottom plate docks each other with right cam groove bottom plate at the interlude of cam groove, forms the butt joint section, the butt joint section is alternately misplaced, superpose the formula setting from top to bottom, makes when left side cam groove bottom plate, right cam groove bottom plate remove about and adjust the cam groove, remains the integrality of cam groove throughout.

2. The cam groove adjustment mechanism for the PPU robot of claim 1, wherein the left cam groove bottom plate has an upper step structure in a '+' -shape at a portion abutting against the right cam groove bottom plate, and the right cam groove bottom plate has a lower step structure in a '+' -shape at a portion abutting against the left cam groove bottom plate, wherein the upper step structure of the left cam groove bottom plate and the lower step structure of the right cam groove bottom plate are overlapped in correspondence to each other.

3. The cam groove adjusting mechanism for the PPU manipulator as claimed in claim 1, wherein the left side of the left cam groove bottom plate is provided with a first adjusting screw hole corresponding to the first adjusting screw hole, the fixed back plate is provided with a first adapting groove corresponding to the cap of the first adjusting screw, and the first adjusting screw is matched with the first adjusting screw hole to adjust the left-right movement of the left cam groove bottom plate for limitation.

4. The cam groove adjusting mechanism for the PPU manipulator as claimed in claim 1 or 3, wherein the right side of the right cam groove bottom plate is provided with a second adjusting screw hole corresponding to the second adjusting screw hole, the fixed back plate is provided with a second adapting groove corresponding to the cap of the second adjusting screw, and the second adjusting screw is matched with the second adjusting screw hole to adjust the left and right movement of the right cam groove bottom plate for limitation.

5. The cam groove adjusting mechanism for the PPU manipulator as claimed in claim 1, wherein the fixed back plate is provided with a limit step corresponding to the upper and lower sides of the left and right cam groove bottom plates respectively, and the left and right cam groove bottom plates can only be adjusted to move left and right under the limit of the limit step.

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