Mechanical arm capable of moving smoothly

Abstract

The invention relates to a mechanical arm capable of moving smoothly in the field of mechanical transmission equipment. The mechanical arm comprises a main plate, a guide rail assembly, a horizontal support and a synchronous transmission assembly; a first cam transmission assembly is arranged on the left side of the main plate, a second cam transmission assembly is arranged on the right side of the main plate, the first cam transmission assembly is composed of a horizontal cam and a first rocking rod, the second cam transmission assembly is composed of a vertical cam and a second rocking rod, and the horizontal cam and the vertical cam are jointly driven by the synchronous transmission assembly to achieve synchronous rotation. The whole mechanical arm can be made to be of the flat small structure, the occupied space is very small, the first cam transmission assembly and the second cam transmission assembly are jointly combined to drive the horizontal support to achieve the arc motion trajectory, the mechanical arm can precisely move to any point position through the arc trajectory, the whole stable motion of the mechanical arm is ensured, no vibration is generated, and therefore assembling stability is ensured; due to adoption of the cam transmission structure, precision is high, and the mechanical arm is particularly suitable for automatic machining or assembling with high requirement for precision.

Description

technical field [0001] The invention relates to the field of mechanical transmission equipment, in particular to cam transmission technology, in particular to a smooth-moving manipulator. 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 structure has a large grabbin...

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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