Cam-driven manipulator

Abstract

The utility model discloses a cam-driven manipulator which comprises a material taking assembly, a mounting plate, a vertical moving assembly and a horizontal moving assembly, wherein the vertical moving assembly and the horizontal moving assembly are arranged on the two side faces of the mounting plate respectively. The vertical moving assembly comprises a vertical cam, a vertical moving plate and a vertical guide rod for driving the vertical moving plate to lift, and one end of the vertical guide rod is matched with the vertical cam; the horizontal moving assembly is arranged on the vertical moving plate and comprises a horizontal cam, a horizontal swing rod and a horizontal moving plate, and the material taking assembly is connected with the horizontal moving plate and moves in the horizontal direction under the cooperation of the horizontal swing rod and the horizontal cam. According to the structure, the horizontal moving assembly is arranged on the vertical moving plate and ascends and descends along with the vertical guide rod, and the vertical guide rod can ensure that a load ascends and descends stably in the vertical direction, so that the possibility of transverse deviation is reduced, and an accurate guide effect is provided for ascending and descending movement; and the main stress direction of the vertical guide rod is the axial direction, the bearing capacity is high, and the movement stability is good.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, in particular to a cam drive manipulator. BACKGROUND

[0002] In some electronic component assembly work, the need to place small components accurately to the specific location of the circuit board, then the action of the manipulator needs to be accurately designed, in front and back and lifting movement, can accurately move the workpiece to the designated location. However, the existing manipulator, such as pneumatic drive manipulator, due to the compressibility of gas, a certain position deviation may occur in the movement process, and the hydraulic drive manipulator is also difficult to achieve high-precision positioning like cam drive due to the influence of oil temperature, leakage and other factors, and the multi-joint manipulator is flexible in action, but it is easy to produce vibration and jitter when moving at high speed or load changes, and the cartesian coordinate manipulator may also affect the stability of movement due to inertia problems when moving a large distance.

[0003] And the cam drive manipulator can complete the picking and placing action stably through the precise cam curve movement, and the error can be controlled within a very small range, and the cam drive manipulator does not need a complex control system to adjust the movement speed and trajectory, reduces the system response time, can realize fast and efficient front and back and lifting movement, and improves the work efficiency, however, in the prior art, the vertical cam structure often adopts a cam and a swing rod to complete lifting, and the swing rod is relatively complex in stress, and is easy to deform due to long-term load, so that the lifting precision is affected. UTILITY MODEL CONTENTS

[0004] To solve the above technical problems, the utility model provides a cam drive manipulator, which is simple in structure, high in precision and good in movement stability, and can meet the needs of various industrial production.

[0005] The technical scheme of the utility model is: including taking material subassembly, mounting plate, vertical moving assembly and horizontal moving assembly arranged on the two side faces of the mounting plate respectively,

[0006] The vertical moving assembly includes a vertical cam, a vertical moving plate and a vertical guide rod for driving the vertical moving plate to lift, one end of the vertical guide rod is matched with the vertical cam,

[0007] The horizontal moving assembly includes a horizontal cam, a horizontal swing rod and a horizontal moving plate, the taking material subassembly is connected with one end of the horizontal moving plate, and moves along the horizontal direction under the cooperation of the horizontal swing rod and the horizontal cam,

[0008] The vertical moving plate and the horizontal moving assembly are located on the same side of the mounting plate, and the mounting plate is provided with a through hole for the vertical guide rod to move in the vertical direction; the horizontal moving plate is connected with the vertical moving plate through horizontal linear rails and is lifted and lowered along with the vertical moving plate.

[0009] Preferably, the bottom of the horizontal swing rod is hinged to the mounting plate, the middle of the horizontal swing rod is provided with a horizontal driving roller in rolling connection with the cam peripheral surface of the horizontal cam, and the top of the horizontal swing rod is in abutment with the other end of the horizontal moving plate.

[0010] Preferably, the horizontal moving assembly further comprises a spring, one end of the spring is connected with the vertical moving plate, and the other end of the spring is connected with the horizontal moving plate.

[0011] Preferably, the vertical cam and the horizontal cam are connected through a synchronous shaft penetrating the mounting plate, and the synchronous shaft drives the vertical cam and the horizontal cam to rotate synchronously under the driving of a synchronous transmission assembly.

[0012] Preferably, the synchronous transmission assembly comprises two groups of synchronous wheels which are arranged at intervals on the mounting plate, the two groups of synchronous wheels are connected through a synchronous belt, one group of synchronous wheels is mounted on the synchronous shaft, and the other group of synchronous wheels is connected with an external driving assembly.

[0013] Preferably, a tensioning wheel is further arranged between the two groups of synchronous wheels, and the mounting plate is provided with an adjusting hole for adjusting the mounting height at a corresponding position of the tensioning wheel.

[0014] Preferably, a vertical linear rail is arranged between the mounting plate and the vertical moving plate, and the vertical moving plate moves vertically relative to the mounting plate through the vertical linear rail under the driving of the vertical cam.

[0015] Preferably, the slide rail and the slide block of the horizontal linear rail are fixedly connected with the horizontal moving plate and the vertical moving plate respectively, and the horizontal moving plate realizes relative horizontal motion with the vertical moving plate through the horizontal linear rail.

[0016] Preferably, the vertical linear rail is provided with two groups, and the two groups of vertical linear rails are arranged at intervals on the mounting plate.

[0017] The beneficial technical effects of the utility model are as follows: the material taking assembly is driven by a cam to take materials, without a complex control system, and through reasonable cam curve design, fast and efficient horizontal motion and lifting motion can be realized; the horizontal moving assembly is arranged on the vertical moving plate and is lifted and lowered along with the vertical guide rod, the vertical guide rod can ensure that the load is stably lifted and lowered in the vertical direction, the possibility of transverse deviation is reduced, and accurate guiding is provided for lifting motion; moreover, the main stress direction of the vertical guide rod is axial, so that the vertical guide rod can bear a larger axial load and does not shake or vibrate obviously, and the stability is good. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the A face structure schematic diagram of the installation plate of the utility model;

[0019] Figure 2 is the B face structure schematic diagram of the installation plate of the utility model;

[0020] Figure 4 is the vertical moving assembly specific structure schematic diagram of the utility model;

[0021] Figure 3 is the vertical cam structure specific structure schematic diagram of the utility model;

[0022] Figure 5 is the horizontal moving assembly specific structure schematic diagram of the utility model;

[0023] Figure 6 is the horizontal cam structure specific structure schematic diagram of the utility model;

[0024] Wherein: 1, installation plate;11, through hole;2, vertical moving assembly;21, vertical cam structure;211, vertical cam;212, vertical guide rod;213, vertical drive roller;22, vertical linear rail;23, vertical moving plate;3, horizontal moving assembly;31, horizontal cam structure;311, horizontal cam;312, horizontal swing rod;313, horizontal fixed shaft;314, horizontal drive roller;315, horizontal transmission roller;32, horizontal linear rail;33, horizontal moving plate;34, spring;35, fixed seat;4, material taking assembly;5, synchronous transmission assembly;51, synchronous wheel;52, synchronous belt;53, tension pulley;54, adjusting hole. DETAILED DESCRIPTION

[0025] In order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the specific embodiments of the utility model are further described in detail below, the following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

[0026] As Figure 1 And Figure 2 The utility model discloses a cam drive mechanical hand, including installation plate 1, the vertical moving assembly 2 and horizontal moving assembly 3 of setting respectively in the both sides of installation plate 1, material taking assembly 4 moved by vertical moving assembly 2 and horizontal moving assembly 3;Vertical moving assembly 2 is used to drive material taking assembly 4 to move in vertical direction, and horizontal moving assembly 3 is used to drive material taking assembly 4 to move in horizontal direction.

[0027] Specifically, as Figure 3 And Figure 4The vertical moving assembly 2 comprises a vertical cam structure 21 and a vertical linear rail 22. The vertical cam structure 21 comprises a vertical cam 211 and a vertical guide rod 212. The bottom of the vertical guide rod 212 is connected with the cam surface of the vertical cam 211 through a vertical driving roller 213. The top of the vertical guide rod 212 is fixed with a vertical moving plate 23. The vertical linear rail 22 is arranged between the mounting plate 1 and the vertical moving plate 23. The track of the vertical linear rail 22 extends in the vertical direction. Under the driving of the vertical cam 211, the vertical guide rod 212 drives the vertical moving plate 23 to slide and connect with the mounting plate 1 through the vertical linear rail 22.

[0028] As shown in Figure 5 and Figure 6 The horizontal moving assembly 3 comprises a horizontal cam structure 31 and a horizontal linear rail 32. The material taking assembly 4 is drivingly connected with the horizontal cam structure 31 through a horizontal moving plate 33 and is slidingly connected with the mounting plate 1 through the horizontal linear rail 32 under the driving of the horizontal cam structure 31.

[0029] The horizontal cam structure 31 comprises a horizontal cam 311 and a horizontal swing rod 312. The bottom of the horizontal swing rod 312 is hingedly connected with the mounting plate 1 through a horizontal fixed shaft 313. The middle part of the horizontal swing rod 312 is provided with a horizontal driving roller 314 which is rollingly connected with the cam surface of the horizontal cam 311. The top of the horizontal swing rod 312 is provided with a horizontal driving roller 315 which is rollingly connected with one end of the horizontal moving plate 33.

[0030] In the embodiment, the vertical cam 211 and the vertical moving plate 23 are respectively arranged on the two sides of the mounting plate 1. The mounting plate 1 is provided with a through hole 11 which extends in the vertical direction and is arranged at the position corresponding to the vertical guide rod 212. The vertical guide rod 212 moves along the vertical direction through the through hole 11. The horizontal linear rail 32 is arranged between the vertical moving plate 23 and the horizontal moving plate 33. The slide rail and the slide block of the horizontal linear rail 32 are respectively fixedly connected with the horizontal moving plate 33 and the vertical moving plate 23. The movement of the vertical guide rod 212 drives the vertical moving plate 23 and the horizontal moving plate 33 to move along the vertical direction, thereby realizing the movement of the material taking assembly 4 along the vertical direction.

[0031] The horizontal moving assembly 3 further comprises a spring 34. One end of the spring 34 is connected with a fixed seat 35 arranged on the vertical moving plate 23. The other end of the spring 34 is connected with a fixed part arranged at the lower end of the horizontal moving plate 33. When the horizontal driving roller 315 drives the horizontal moving plate 33 to move along the horizontal direction to the material taking assembly 4, the horizontal moving plate 33 returns to the initial position under the elastic potential energy of the spring 34 after moving to the limit position, so as to complete a cycle of reciprocating motion.

[0032] In order to balance the gravity from the vertical moving plate 23 and ensure the vertical moving plate 23 moves along the accurate vertical direction, two groups of vertical linear rails 22 are arranged on the mounting plate 1 in the embodiment, and the two groups of vertical linear rails 22 are arranged on the mounting plate 1 in a spaced manner. Preferably, one group of vertical linear rails 22 is arranged on the end of the mounting plate 1 close to the material taking assembly 4.

[0033] The vertical cam 211 and the horizontal cam 311 are both cam disc structures, and the vertical cam 211 and the horizontal cam 311 are connected through a synchronous shaft arranged on the mounting plate 1, and the synchronous shaft drives the vertical cam 211 and the horizontal cam 311 to rotate synchronously under the driving of the synchronous transmission assembly 5.

[0034] The synchronous transmission assembly 5 comprises two groups of synchronous wheels 51 arranged on the mounting plate 1 in a spaced manner, the two groups of synchronous wheels 51 are connected through a synchronous belt 52, one group of synchronous wheels 51 is arranged on the synchronous shaft, and the other group of synchronous wheels 51 is connected with an external driving assembly.

[0035] Preferably, the two groups of synchronous wheels 51 are further provided with a tensioning wheel 53, the mounting plate 1 is provided with an adjusting hole 54 for adjusting the mounting height at a corresponding position of the mounting plate 1, and the tensioning wheel 53 is adjustably arranged on the adjusting hole 54. By adjusting the position of the tensioning wheel 53 on the mounting plate 1, the pressure applied by the tensioning wheel 53 on the synchronous belt 52 is adjusted, so that the tension of the synchronous belt 52 is maintained; at the same time, the wrap angle of the synchronous belt 52 is increased, so that the friction between the synchronous belt 52 and the synchronous wheel 51 is increased, and the transmission efficiency is improved.

[0036] In work, the external driving assembly drives the vertical cam 211 and the horizontal cam 311 to rotate synchronously through the synchronous transmission assembly 5. The vertical cam 211 drives the vertical guide rod 212, so as to drive the vertical moving plate 23 and the horizontal moving plate 33 to ascend and descend along the vertical linear rail 22. The horizontal cam 311 drives the horizontal swing rod 312 to swing, and then drives the horizontal moving plate 33 to move in the horizontal direction. The material taking assembly 4 moves horizontally and ascends and descends along with the horizontal moving plate 33, so as to realize the material taking operation on the workpiece.

[0037] The above only describes the preferred embodiments of the present application, and is not used to limit the present application. It should be pointed out that, for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be regarded as the protection scope of the present application.

Claims

1. A cam-driven mechanical hand, comprising a taking component (4), a mounting plate (1), a vertical moving component (2) and a horizontal moving component (3) arranged on both sides of the mounting plate (1) respectively; characterized in that: the vertical moving component (2) comprises a vertical cam (211), a vertical moving plate (23) and a vertical guide rod (212) for driving the vertical moving plate (23) to move up and down, one end of the vertical guide rod (212) being matched with the vertical cam (211); the horizontal moving component (3) comprises a horizontal cam (311), a horizontal swing rod (312) and a horizontal moving plate (33), the taking component (4) being connected with one end of the horizontal moving plate (33) and moving in the horizontal direction under the cooperation of the horizontal swing rod (312) and the horizontal cam (311); the vertical moving plate (23) and the horizontal moving component (3) are located on the same side of the mounting plate (1), the mounting plate (1) being provided with a through hole (11) for the vertical guide rod (212) to move in the vertical direction; the horizontal moving plate (33) is connected with the vertical moving plate (23) through a horizontal linear rail (32) and moves up and down with the vertical moving plate (23). The bottom of the horizontal swing rod (312) is hinged with the mounting plate (1), the middle part of the horizontal swing rod (312) is provided with a horizontal driving roller (314) rolling connected with the cam peripheral surface of the horizontal cam (311), and the top of the horizontal swing rod (312) is abutted with the other end of the horizontal moving plate (33). The horizontal moving component (3) further comprises a spring (34), one end of the spring (34) being connected with the vertical moving plate (23) and the other end of the spring (34) being connected with the horizontal moving plate (33). The vertical cam (211) and the horizontal cam (311) are connected through a synchronous shaft penetrating the mounting plate (1), the synchronous shaft driving the vertical cam (211) and the horizontal cam (311) to realize synchronous rotation under the driving of a synchronous transmission component (5).

2. A cam driven robot as claimed in claim 1, characterized in that: The synchronous transmission component (5) comprises two groups of synchronous wheels (51) arranged on the mounting plate (1) at intervals, the two groups of synchronous wheels (51) being transmission connected through a synchronous belt (52), one group of the synchronous wheels (51) being mounted on the synchronous shaft, and the other group of the synchronous wheels (51) being connected with an external driving component.

3. The cam-driven mechanical hand of claim 1 wherein: Tensioning wheels (53) are further arranged between the two groups of synchronous wheels (51), the tensioning wheels (53) being located at corresponding positions of the mounting plate (1) and provided with adjusting holes (54) for adjusting the mounting height.

4. The cam-driven mechanical hand of claim 1 wherein: A vertical linear rail (22) is arranged between the mounting plate (1) and the vertical moving plate (23), the vertical moving plate (23) moving up and down relative to the mounting plate (1) through the vertical linear rail (22) under the driving of the vertical cam (211).

5. A cam driven robot hand according to claim 4 wherein: The slide rail and the slide block of the horizontal linear rail (32) are fixedly connected with the horizontal moving plate (33) and the vertical moving plate (23) respectively, the horizontal moving plate (33) realizing relative horizontal motion with the vertical moving plate (23) through the horizontal linear rail (32).

6. A cam driven robot hand according to claim 5 wherein: The vertical linear rail (22) is provided with two groups, the two groups of the vertical linear rail (22) being arranged on the mounting plate (1) at intervals.

7. The cam-driven mechanical hand of claim 1 wherein: ​ 8. The cam-driven mechanical hand of claim 1 wherein: ​ 9. The cam-driven mechanical hand of claim 7 wherein: ​

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