Manipulator capable of moving along arc-shaped track

Abstract

The invention relates to a manipulator capable of moving along an arc-shaped track, and belongs to the field of mechanical transmission equipment. The manipulator capable of moving along the arc-shaped track comprises a main board, a guide rail assembly, a horizontal bracket and a synchronous transmission assembly, wherein a first cam transmission assembly is arranged at the left side of the main board, and a second cam transmission assembly is arranged at the right side of the main board; the first cam transmission assembly comprises a horizontal cam and a first rocker rod; the second cam transmission assembly comprises a vertical cam and a second rocker rod; the horizontal cam and the vertical cam are driven by the synchronous transmission assembly together to rotate synchronously. The whole manipulator can be manufactured into a small flat structure which needs an extremely small space; the first cam transmission assembly and the second cam transmission assembly can be combined to drive the horizontal bracket to move along the arc-shaped moving track and can accurately move to any point through the arc-shaped track, so that the whole manipulator can stably urn without any vibration, and as a result, the assembling stability can be ensured; the manipulator adopting a cam transmission structure is high in accuracy and particularly applicable to high-accuracy automatic processing or assembling.

Description

technical field [0001] The invention relates to the field of mechanical transmission equipment, in particular to cam transmission technology, in particular to a manipulator capable of moving along an arc track. Background technique [0002] In automatic assembly operations, the manipulator is often required to perform the simplest action: grab the workpiece at a certain position, and then put it down at another position to realize feeding, processing, assembly and other actions. In order to realize this work, there are the following two structures in the prior art to complete this action: 1) The grasping and placing manipulator driven by air pressure, this kind of structure is simple, flexible and convenient to install, low in purchase cost, and can only realize simple grasping And moving action, the grasping force driven by air pressure is small, and it can only move in a straight line when moving. Slow; 2) The motor drives the grabbing and placing manipulator. This struct...

AI Technical Summary

Problems solved by technology

In order to realize this work, there are the following two structures in the prior art to complete this action: 1) The grasping and placing manipulator driven by air pressure, this kind of structure is simple, flexible and convenient to install, low in purchase cost, and can only realize simple grasping And moving action, the grasping force driven by air pressure is small, and it can only move in a straight line when moving. Slow; 2) The motor drives the grabbing and placing manipulator. This structure has a large grabbing force, is easy to install, has high flexibility, and can be docked at multiple points. If the assembly system needs to be changed or redesigned, simply reprogram it. However, motor-driven manipulators need to be equipped with complex electrical control systems. If such manipulators are used to complete relatively simple repetitive tasks, the cost will be high. The cooperation of multiple motors can achieve multi-axis transmission, and the movement speed is relatively fast. However, when The faster the movement speed, the greater the error, which affects the movement error. It is difficult to accurately control the acceleration and speed of the manipulator movement, especially when it stops, the action is blunt and the impact vibration is large. Moreover, this structure can only move along a straight line. Need When positioning and moving, only horizontal and vertical linear movements can be staggered. In addition, this structure has a large volume and requires a combination of multiple sets of mechanical arms. In addition to the driving structure, the overall volume is large

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