CN2788987Y - Arc cam robot waist-exercising driving device - Google Patents
Arc cam robot waist-exercising driving device Download PDFInfo
- Publication number
- CN2788987Y CN2788987Y CN 200520078614 CN200520078614U CN2788987Y CN 2788987 Y CN2788987 Y CN 2788987Y CN 200520078614 CN200520078614 CN 200520078614 CN 200520078614 U CN200520078614 U CN 200520078614U CN 2788987 Y CN2788987 Y CN 2788987Y
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- cam
- clutch plate
- lifting
- shaft
- output shaft
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Abstract
The utility model relates to an arc-surface mechanical hand waist-body motion driving device which comprises a tank body and an input shaft and an output shaft arranged in the tank body, wherein the output shaft is provided with arms and hand claws; a translocation arc-surface cam and a lifting arc-surface cam are fixed on the input shaft, and the translocation arc-surface cam rotates following the input shaft; a translocation cam driven disk and a lifting cam driven disk engaged with the translocation arc-surface cam and the lifting arc-surface cam are fixed to the output shaft; the output shaft is also provided with a translocation cam driven disk and a translocation driven shaft; the lifting cam driven disk is provided with a fork shifting shaft; the fork shifting shaft is connected with the output shaft by a shifting fork and a shifting fork roller. In the utility model, an arc-surface cam group drives the arms of mechanical hands to do lifting or swinging motion, and a clamping component of the mechanical hands grabs an object under the driving of the arms to realize the transportation of the object; the synthesizing of output motion of translocation and lifting two groups of arc-surface cam mechanisms is used by the mechanical hands to make the swinging and the lifting of the mechanical hands carried out simultaneously, and a transposition angle and the lift range of lifting are large.
Description
Technical field
The utility model relates to a kind of mechanical driving device, particularly a kind of globoid cam manipulator waist motion gear.
Background technology
Industrial robot and manipulator are mechanical new technologies that combines appearance with automatic control technology in modern age, and have become an important component part of modern mechanical manufacture system.Although intelligent robot's development is very fast, still can not replace fixed routine machinery hand at present, because reliability, the speed of fixed routine machinery hand especially have very outstanding superiority in price.The globoid cam manipulator is as a kind of new mechanical arm, can replace the artificial mechanism onerous toil, it is a kind of high-efficiency automatic production equipment, have compact conformation, good reliability, cost is low, precision is high, can realize characteristics such as various working cycles easily, can be widely used in industries such as automobile, packing, electronics, national defence, medicine, photography, building materials, instrument, weaving, electric power transmission, papermaking, realize loading and unloading, pass on, functions such as lifting, extraction, assembling, welding, boring, saw, stacking, transposition, fraising and detection.At present, the general employing of the manipulator of domestic mechanical drive mode contains moving sets, cylindrical pair open type linkage waits and realizes that swing and straight line move, and make mechanism's motion conditions of each position in motion process wayward like this, and physical dimension are bigger.
Summary of the invention
The purpose of this utility model is to overcome the shortcoming of above-mentioned prior art, and a kind of compact conformation, reliable operation, bearing capacity is big, operating accuracy is high globoid cam manipulator waist motion gear are provided.
For achieving the above object, the technical solution adopted in the utility model is: comprise casing and be arranged on casing interior power shaft and output shaft, output shaft is provided with arm support and arm support dish, the arm support dish is connected with paw by arm, be characterized in, be fixed with the transposition globoid cam and the lifting globoid cam that rotate with power shaft on the power shaft, be fixed with indexed cam clutch plate and lifter cam clutch plate on the output shaft, and on indexed cam clutch plate and lifter cam clutch plate, be respectively arranged with indexed cam clutch plate roller and lifter cam clutch plate roller, transposition globoid cam and lifting globoid cam are meshed with indexed cam clutch plate and lifter cam clutch plate by indexed cam clutch plate roller and lifter cam clutch plate roller respectively, on output shaft, also be provided with the transposition driven shaft that is connected with the indexed cam clutch plate, the lifter cam clutch plate is provided with the fork axle, and the fork axle is connected with output shaft with the fork roller by fork.
Another characteristics of the present utility model are: the both sides of axle shaft are respectively arranged with indexed cam capacity eccentric bearing end cap and lifter cam capacity eccentric bearing end cap; Also be provided with the axis of guide on the clutch plate; Axle goes into also to be provided with the fixedly bearing of input shaft end cap of power shaft on the axle.
The utility model is done to promote or oscillating motion by the arm of globoid cam group driving device hand, and under the drive of arm, the hold assembly of manipulator grasps object, realizes the carrying of object.The output movement of this manipulator use transposition and two groups of cambered surface cam mechanisms of lifting is synthetic, the swing of manipulator and lifting can be carried out simultaneously, and the transposition angle is all bigger with the lifting lift.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 is a vertical view of the present utility model;
Fig. 3 is a left view of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Referring to Fig. 1,2,3, the utility model comprises casing 10 and housing plate 3, in casing 10, be provided with power shaft 9 and output shaft 7, be fixed with the transposition globoid cam 13 and the lifting globoid cam 14 that rotate with power shaft 9 on the power shaft 9, axle is gone into axle 7 and is fixed on the casing 10 by bearing of input shaft end cap 17, output shaft 7 is provided with arm support 1 and arm support dish 2, arm support dish 2 is connected with paw 21 by arm 22, on output shaft 7, also be fixed with indexed cam clutch plate 5 and lifter cam clutch plate 19, be respectively arranged with indexed cam clutch plate roller 8 and lifter cam clutch plate roller 20 on indexed cam clutch plate 5 and the lifter cam clutch plate 19, transposition globoid cam 13 and lifting globoid cam 14 are meshed with indexed cam clutch plate 5 and lifter cam clutch plate 19 by indexed cam clutch plate roller 8 and lifter cam clutch plate roller 20 respectively, on output shaft 7, also be provided with the transposition driven shaft 6 that is connected with indexed cam clutch plate 5, also be provided with the axis of guide 4 on the clutch plate 5, lifter cam clutch plate 19 is provided with fork axle 15, fork axle 15 is connected with output shaft 7 with fork roller 11 by fork 18, is respectively arranged with indexed cam capacity eccentric bearing end cap 12 and lifter cam capacity eccentric bearing end cap 16 in the both sides of axle shaft 7.
Transposition globoid cam 13 of the present utility model and lifting globoid cam 14 all are installed on the power shaft 9, rotate by power shaft 9, by indexed cam clutch plate 5 drive output shafts 7 reciprocally swingings of transposition globoid cam 13.Lifting globoid cam 14 drives declutch shift shaft 15 by lifter cam clutch plate 19, and declutch shift shaft 15 promotes output shaft 7 by shift fork 18 again and does elevating movement.Mechanism can realize transposition and the lifter motion by predetermined rule like this, and compact conformation.
The utility model utilizes transposition globoid cam 13 that the gyration of power shaft 9 is converted into the reciprocally swinging of arm 22, by adjusting the centre-to-centre spacing of transposition globoid cam 13, realizes high-precision swing.
Elevating movement of the present utility model is to be connected with output shaft 7 by fork roller 11 by shift fork 18, promotes output shaft 7 and realizes moving up and down.Shift fork 18 and lifter cam clutch plate 19 all are installed on the declutch shift shaft 15, the motion of shift fork 18 rotates lifter cam clutch plate 19 by lifting globoid cam 14 by meshing with lifter cam clutch plate roller 20, lifter cam clutch plate 19 passes motion to shift fork 18 by declutch shift shaft 15 again, moves up and down thereby shift fork 18 reciprocally swingings promote output shaft 7.
Operation principle of the present utility model is as follows: power shaft 9 links to each other with motor by decelerator, the input gyration, lifting globoid cam 14 and transposition globoid cam 13 are fixed on the power shaft 9, in order to eliminate transposition globoid cam 13, lifting globoid cam 14 and indexed cam clutch plate roller 8, back lash between the lifter cam clutch plate roller 20 and adjustment transposition globoid cam 13, lifting globoid cam 14 and indexed cam clutch plate roller 8, pretightning force between the lifter cam clutch plate roller 20 is respectively arranged with indexed cam capacity eccentric bearing end cap 12 and lifter cam capacity eccentric bearing end cap 16 in the both sides of axle shaft 7.Transposition globoid cam 13 promotes transposition driven shafts 6 and makes intermittently reciprocally swingings, and transposition driven shaft 6 drives clutch plates 5 and rotates, and clutch plate 5 makes arm support dish 2 and coupled arm 22 and paw 21 reciprocally swinging intermittently together thereupon by the axis of guide 4.Shift fork 18 is connected with declutch shift shaft 15 with lifter cam clutch plate 19.Lifting globoid cam 14 is meshed with lifter cam clutch plate 19 by lifter cam clutch plate roller 20, lifter cam clutch plate 19 passes motion to shift fork 18 by declutch shift shaft 15, shift fork 18 links to each other with output shaft 7 by shift fork roller 11, moves up and down thereby shift fork 18 reciprocally swingings promote output shaft 7.Because output shaft 7 movement locus of the present utility model are straight line, and the movement locus of shift fork 18 is a circular arc, so shift fork 18 dynamic characteristics are relatively poor.For addressing this problem, when the length of design shift fork 18, should make the distance between two intersection points of shift fork 18 movement locus and output shaft 7 axial-movement intersection of locus is 2/3 of hoisting depth.The movement locus of shift fork 18 can be mild like this, and stress point is also littler with respect to the variation of output shaft axis, and the dynamic characteristic of shift fork 18 can obtain bigger improvement.
This globoid cam robot device, be used for the transposition carrying, comparatively speaking, its motion conditions is accurate, compact conformation, its application helps improving the mechanization and the automatization level of each discrete type production process of society, raises labour productivity and product quality, for society brings considerable economic, positive impetus is arranged for the raising of the automation scientific and technological level of China machinery industry.
Claims (4)
1, a kind of globoid cam manipulator waist motion gear, comprise casing [10] and be arranged on casing [10] interior power shaft [9] and output shaft [7], output shaft [7] is provided with arm support [1] and arm support dish [2], arm support dish [2] is connected with paw [21] by arm [22], it is characterized in that: be fixed with the transposition globoid cam [13] and the lifting globoid cam [14] that rotate with power shaft [9] on the power shaft [9], be fixed with indexed cam clutch plate [5] and lifter cam clutch plate [19] on the output shaft [7], and on indexed cam clutch plate [5] and lifter cam clutch plate [19], be respectively arranged with indexed cam clutch plate roller [8] and lifter cam clutch plate roller [20], transposition globoid cam [13] and lifting globoid cam [14] are meshed with indexed cam clutch plate [5] and lifter cam clutch plate [19] by indexed cam clutch plate roller [8] and lifter cam clutch plate roller [20] respectively, on output shaft [7], also be provided with the transposition driven shaft [6] that is connected with indexed cam clutch plate [5], lifter cam clutch plate [19] is provided with fork axle [15], and fork axle [15] is connected with output shaft [7] with fork roller [11] by fork [18].
2, globoid cam manipulator waist motion gear according to claim 1 is characterized in that: the both sides of said axle shaft [7] are respectively arranged with indexed cam capacity eccentric bearing end cap [12] and lifter cam capacity eccentric bearing end cap [16].
3, globoid cam manipulator waist motion gear according to claim 1 is characterized in that: also be provided with the axis of guide [4] on the said clutch plate [5].
4, globoid cam manipulator waist motion gear according to claim 1 is characterized in that: said axle goes on the axle [7] also to be provided with the fixedly bearing of input shaft end cap [17] of power shaft [7].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520078614 CN2788987Y (en) | 2005-04-14 | 2005-04-14 | Arc cam robot waist-exercising driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520078614 CN2788987Y (en) | 2005-04-14 | 2005-04-14 | Arc cam robot waist-exercising driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2788987Y true CN2788987Y (en) | 2006-06-21 |
Family
ID=36789327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520078614 Expired - Fee Related CN2788987Y (en) | 2005-04-14 | 2005-04-14 | Arc cam robot waist-exercising driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2788987Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382938C (en) * | 2006-06-22 | 2008-04-23 | 上海交通大学 | Pitching transferring integrated waist structure of human-like robot |
| CN102380868A (en) * | 2011-11-09 | 2012-03-21 | 广东工业大学 | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm |
| CN108032297A (en) * | 2016-01-28 | 2018-05-15 | 林月洪 | Cam manipulator |
-
2005
- 2005-04-14 CN CN 200520078614 patent/CN2788987Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382938C (en) * | 2006-06-22 | 2008-04-23 | 上海交通大学 | Pitching transferring integrated waist structure of human-like robot |
| CN102380868A (en) * | 2011-11-09 | 2012-03-21 | 广东工业大学 | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm |
| CN102380868B (en) * | 2011-11-09 | 2014-04-16 | 广东工业大学 | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm |
| CN108032297A (en) * | 2016-01-28 | 2018-05-15 | 林月洪 | Cam manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |