Cam manipulator mechanism

Abstract

The utility model relates to a cam manipulator mechanism which comprises a mounting frame, a feeding mechanism and a carrying mechanism, the feeding mechanism comprises a feeding support, a primary positioning module and a secondary positioning module. The primary positioning module comprises a feeding runner used for feeding and primary positioning of products. The secondary positioning module comprises a positioning piece which is used for secondary positioning and is matched with the product; the primary positioning module is provided with a first clamping position; the secondary positioning module is provided with a second clamping position; the carrying mechanism comprises a cam carrying module and a product clamping module; the product clamping module comprises a first clamping jaw assembly and a second clamping jaw assembly. The cam carrying module is used for driving the product clamping module, so that the first clamping jaw assembly acts between the first clamping position and the second clamping position, and the second clamping jaw assembly acts between the second clamping position and the follow-up station. According to the automatic feeding device, the feeding precision and stability are improved through mechanical arm clamping and cam type carrying in cooperation with the design of primary positioning and secondary positioning of the feeding mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical equipment field, in particular to a cam mechanical hand mechanism. BACKGROUND

[0002] With the progress of society and the development of economy, automation technology occupies the core position in the advanced manufacturing technology, and becomes the important ladder of promoting human progress.

[0003] Cam type carrying is one of the common mechanisms for realizing automatic feeding, but the precision of cam type carrying mechanism is not high, and the feeding precision of products is one of the important factors influencing quality, so how to improve the feeding precision becomes the problem to be solved at present. CONTENT OF THE UTILITY MODEL

[0004] In order to solve the above technical problem, the utility model provides a cam mechanical hand mechanism, through the mechanical hand clamping and cam type carrying, the design of the primary positioning and secondary positioning of the feeding mechanism improves the precision and stability of feeding.

[0005] The utility model solves technical scheme that its technical problem adopts: a cam mechanical hand mechanism, including mounting frame, feeding mechanism, carrying mechanism, the feeding mechanism includes the feeding support installed in the front side of mounting frame, the primary positioning module and secondary positioning module installed on the feeding support, the primary positioning module includes the feeding flow channel, the feeding flow channel is used for the feeding and primary positioning of product, the secondary positioning module includes the positioning piece matched with product, and the secondary positioning module is used for the secondary positioning of product, the primary positioning module has first clamping position, the secondary positioning module has second clamping position, the carrying mechanism includes the cam carrying module installed on the mounting frame and located above the feeding mechanism, the product clamping module installed in the working end of cam carrying module, the product clamping module includes first jaw assembly and second jaw assembly, the cam carrying module is used to drive product clamping module, makes first jaw assembly act between first clamping position and second clamping position, simultaneously, makes second jaw assembly act between second clamping position and subsequent work position, the first jaw assembly is used to clamp product in first clamping position and place product in second clamping position, and the second jaw assembly is used to clamp product in second clamping position and place product in subsequent work position.

[0006] Further, the cam carrying module comprises a carrying module and a driving module; the carrying module comprises a track control assembly and a cam follower assembly; the track control assembly comprises a carrying fixed plate mounted on a mounting frame, and a track control block mounted on the front side of the carrying fixed plate; the track control block is provided with an inverted U-shaped cam sliding groove; the cam follower assembly comprises a vertical sliding bar, and a cam follower mounted on the sliding bar and matched with the cam sliding groove; the sliding bar is mounted with the product clamping module; and the driving module is used for driving the cam follower to reciprocate along the cam sliding groove.

[0007] Further, the carrying module further comprises a moving assembly; the carrying fixed plate is further mounted with a transverse linear rail; the moving assembly comprises a moving fixed plate, a first sliding block fixed to the rear side of the moving fixed plate and slidably assembled on the linear rail, and a second sliding block fixed to the front side of the moving fixed plate and slidably assembled with the sliding bar.

[0008] Further, the driving module comprises a rotary driving unit and a rotary cantilever mounted on the rotary output end of the rotary driving unit; the rotary cantilever is provided with a waist-shaped groove matched with the cam follower.

[0009] Further, the product clamping module further comprises a clamping fixed plate mounted on the working end of the cam carrying module; the first clamping jaw assembly and the second clamping jaw assembly are fixedly mounted on the front side of the clamping fixed plate.

[0010] Further, the front side of the clamping fixed plate is further mounted with a material pressing assembly; the material pressing assembly comprises a material pressing block and a material pressing driving element used for driving the material pressing block to ascend and descend; the material pressing block is used for pressing the product before the clamping action of the second clamping jaw assembly when the second clamping jaw assembly moves to the second clamping position, so that the product can be closely matched with the positioning piece.

[0011] The cam mechanical hand mechanism has the advantages that through the mechanical hand clamping and the cam type carrying, the primary positioning and the secondary positioning of the feeding mechanism are matched, and the feeding precision and stability are improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a perspective view of the cam mechanical hand mechanism of the embodiment;

[0013] Figure 2 It is an exploded view of the cam mechanical hand mechanism of the embodiment;

[0014] Figure 3 It is a perspective view of the feeding mechanism of the cam mechanical hand mechanism of the embodiment;

[0015] Figure 4 It is an exploded view of the carrying module of the cam mechanical hand mechanism of the embodiment;

[0016] Figure 5 A perspective view of a drive module of a cam mechanical hand mechanism according to an embodiment;

[0017] Figure 6 A perspective view of a product clamping module of a cam mechanical hand mechanism according to an embodiment;

[0018] Wherein, 1 is a mounting frame, 2 is a feeding mechanism, 3 is a carrying mechanism, 21 is a feeding support, 22 is a primary positioning module, 23 is a secondary positioning module, 221 is a feeding flow channel, 231 is a positioning piece, 31 is a carrying module, 32 is a drive module, 33 is a product clamping module, 311 is a track control assembly, 312 is a cam follower assembly, 313 is a moving assembly, 3111 is a carrying fixed plate, 3112 is a track control block, 3113 is a cam sliding groove, 3114 is a linear rail, 3121 is a sliding bar, 3122 is a cam follower, 3131 is a moving mounting plate, 3132 is a first sliding block, 3133 is a second sliding block, 321 is a rotary driving unit, 322 is a rotary cantilever, 323 is a waist-shaped groove, 331 is a clamping fixed plate, 332 is a first clamping jaw assembly, 333 is a second clamping jaw assembly, 334 is a pressing assembly, and 3341 is a pressing block. DETAILED DESCRIPTION

[0019] In order to deepen the understanding of the present application, the present application will be further described in detail below in conjunction with the drawings and embodiments, which are only used to explain the present application and do not constitute a limitation on the protection scope of the present application.

[0020] EMBODIMENT

[0021] Please refer to Figures 1 to 6As shown, this embodiment provides a cam-driven robotic arm mechanism, including a mounting frame 1, a feeding mechanism 2, and a transport mechanism 3. The feeding mechanism 2 includes a feeding bracket 21 mounted on the front side of the mounting frame 1, a primary positioning module 22 mounted on the feeding bracket 21, and a secondary positioning module 23. The primary positioning module 22 includes a feed channel 221 for feeding and initial positioning of the product. The secondary positioning module 23 includes a positioning element 231 that matches the product for secondary positioning. The primary positioning module 22 has a first clamping position, and the secondary positioning module 23 has a second clamping position. The transport mechanism 3 includes a mounting frame 1, a feeding mechanism 21, a feeding mechanism 22, a feeding mechanism 22, a feeding mechanism 23, and a transport mechanism 3. A cam conveying module is mounted on the mounting frame 1 and located above the feeding mechanism 2, and a product clamping module 33 is mounted on the working end of the cam conveying module. The product clamping module includes a first gripper assembly 332 and a second gripper assembly 333. The cam conveying module is used to drive the product clamping module, causing the first gripper assembly 332 to move between a first clamping position and a second clamping position, and simultaneously causing the second gripper assembly 333 to move between the second clamping position and a subsequent workstation. The first gripper assembly 332 is used to clamp the product at the first clamping position and place the product at the second clamping position. The second gripper assembly 333 is used to clamp the product at the second clamping position and place the product at a subsequent workstation.

[0022] In this embodiment, the feed end of the feed channel is connected to a front-end setting (e.g., a storage area), and the feed channel transports the product to the first clamping position. The feed channel guides and positions the product to ensure that the product can be fed along a predetermined path. The feed channel is designed according to the shape and size of the product to achieve efficient and accurate feeding. The positioning component is designed according to the product and can make fine adjustments to the product after the initial positioning to ensure the product's position is accurate, thereby ensuring that the product can be accurately placed in the predetermined position.

[0023] In this embodiment, the mounting frame 1 includes a base, which serves as the foundation of the entire mounting frame and provides a stable support platform. The mounting frame 1 also includes a fixed bracket, which is vertically mounted on the base and serves as the mounting foundation for the feeding mechanism and the handling mechanism, ensuring the movement stability of the overall mechanism.

[0024] Refer to Figure 2 and Figure 4As shown, the cam carrying module comprises a carrying module 31 and a driving module 32; the carrying module 31 comprises a trajectory control assembly 311 and a cam follower assembly 312; the trajectory control assembly 311 comprises a carrying fixed plate 3111 mounted on the mounting frame 1, and a trajectory control block 3112 mounted on the front side of the carrying fixed plate 3111; the trajectory control block 3112 is provided with an inverted U-shaped cam slide groove 3113; the cam follower assembly 312 comprises a vertical slide bar 3121, and a cam follower 3122 mounted on the slide bar 3121 and matched with the cam slide groove 3113; the slide bar 3121 is mounted with the product clamping module 33; the driving module 32 is used to drive the cam follower 3122 to reciprocate along the cam slide groove 3113.

[0025] Referring again to Figure 4 As shown, the carrying module 31 further comprises a moving assembly 313; the carrying fixed plate 3111 is further mounted with a transverse linear rail 3114; the moving assembly 313 comprises a moving mounting plate 3131, a first slide block 3132 fixed to the rear side of the moving mounting plate 3131 and slidably assembled on the linear rail 3114, and a second slide block 3133 fixed to the front side of the moving mounting plate 3131 and slidably assembled with the slide bar 3121.

[0026] In the embodiment, the first slide block is mounted on the linear rail and can move linearly in the transverse direction along the linear rail; the trajectory control block is divided into a left trajectory control block and a right trajectory control block, the left trajectory control block is provided with a left cam slide groove, the right trajectory control block is provided with a right cam slide groove, and the left cam slide groove and the right cam slide groove form a complete cam slide groove; the distance between the left trajectory control block and the right trajectory control block can be adjusted appropriately, so as to match the distance between the first clamping position and the second clamping position.

[0027] Referring again to Figure 5As shown, the driving module 32 comprises a rotary driving unit 321, a rotary cantilever 322 mounted on the rotary output end of the rotary driving unit 321; the rotary cantilever 322 is provided with a waist-shaped groove 323 assembled with the cam follower 3122. In this embodiment, the rotary driving unit 321 comprises a servo motor, a servo reducer, a shaft coupling, a rotary shaft, a bearing and the like; the servo motor serves as the power source of the driving module, provides accurate control and stable power output, and ensures the accuracy and reliability of the rotary motion; the servo reducer is used to reduce the output speed of the servo motor and increase the output torque at the same time, so as to meet the requirements of the driving module for speed and torque; the shaft coupling connects the output shaft of the servo reducer and the rotary shaft, transmits torque and motion, and allows a certain axial and radial offset at the same time, so as to compensate for installation errors and shaft deformation; the rotary bearing bears torque and transmits rotary motion to the load end; the bearing supports the rotary shaft and reduces friction, ensuring smooth and accurate rotary motion; the rotary cantilever is connected with the rotary shaft and is used to support and fix the load, realizing rotary motion; the rotary driving unit 321 is fixed to the rear side of the carrying fixed plate 3111 through the driving fixed plate, ensuring the stability and reliability of the overall work of the driving module.

[0028] Referring again to Figure 6 As shown, the product clamping module 33 further comprises a clamping fixed plate 331 mounted on the working end of the cam carrying module; the first clamping jaw assembly 332 and the second clamping jaw assembly 333 are fixedly installed on the front side of the clamping fixed plate 331. In this embodiment, the first clamping jaw assembly 332 and the second clamping jaw assembly 333 both comprise a clamping jaw cylinder and a clamping jaw, and the opening and closing of the clamping jaw are controlled by air pressure, realizing clamping and releasing of the product.

[0029] Referring again to Figure 6 As shown, the front side of the clamping fixed plate 331 is further provided with a pressing assembly 334; the pressing assembly 334 comprises a pressing block 3341 and a pressing driving element for driving the pressing block 3341 to ascend and descend; the pressing block 3341 is used to press the product before the clamping action of the second clamping jaw assembly 333 when the second clamping jaw assembly 333 moves to the second clamping position, so that the product can be closely matched with the positioning member. In this embodiment, the pressing driving element is a pressing cylinder, which controls the ascending and descending action of the pressing block; a containing space is provided between the two clamping jaws of the second clamping jaw assembly 333 at the upper position, and the pressing block 3341 is arranged at the containing space.

[0030] The cam mechanical hand mechanism of the embodiment further comprises a control module and a plurality of sensors; wherein the first sensor is arranged near the first clamping position of the feeding flow channel, the first sensor is a reflection sensor, and the first sensor is used to determine whether there is a product in the first clamping position; the second sensor is arranged near the positioning member, the second sensor is a reflection sensor, the positioning member is provided with a corresponding through hole on the reflection path of the second sensor, and the second sensor is used to determine whether there is a product in the second clamping position; one of the first clamping jaw assemblies is provided with a third sensor, the third sensor is a proximity switch, and the third sensor is used to determine whether the product is clamped in place in the first clamping jaw assembly; two fourth sensors are arranged on the top side of the carrying fixed plate 3111 from left to right, the fourth sensor is a U-shaped groove proximity switch; the triggering end of the fourth sensor is fixed to the sliding bar, and when the sliding bar descends to the fourth sensor and is triggered along the cam sliding groove, the descending action is stopped; the fifth sensor is arranged in the area between the two fourth sensors on the top side of the carrying fixed plate 3111; the fifth sensor is a U-shaped groove proximity switch, the triggering end of the fifth sensor is fixed to the top side of the moving mounting plate, and the fifth sensor is used to determine that the sliding bar is located at the initial position (the middle position of the top side of the inverted U-shaped cam sliding groove); of course, a plurality of fourth sensors and fifth sensors can also be arranged in the cam carrying module to meet the demand for judging a plurality of setting positions, the control module can receive the signals of the sensors, and the cam mechanical hand mechanism can be automatically operated through the set program. The above-mentioned sensors and control module are conventional known devices for control, and the specific connection and control sequence of the person skilled in the art should be referred to the above working principle to complete the electrical connection according to the working sequence of the electrical components. The detailed connection means is a known technology in the art, and therefore the electrical control is not described.

[0031] The above-mentioned embodiments should not limit the utility model in any way, and any technical solution obtained by equivalent replacement or equivalent conversion falls within the protection scope of the utility model.

Claims

1. A cammed mechanical hand mechanism characterized by: The device comprises a mounting frame (1), a feeding mechanism (2), and a carrying mechanism (3). The feeding mechanism (2) comprises a feeding support (21) mounted on the front side of the mounting frame (1), a primary positioning module (22) and a secondary positioning module (23) mounted on the feeding support (21). The primary positioning module (22) comprises a feeding flow channel (221) for feeding and primary positioning of products. The secondary positioning module (23) comprises a positioning member (231) matched with the products for secondary positioning of the products. The primary positioning module (22) has a first clamping position, and the secondary positioning module (23) has a second clamping position. The carrying mechanism (3) comprises a cam carrying module mounted on the mounting frame (1) above the feeding mechanism (2), and a product clamping module (33) mounted on the working end of the cam carrying module. The product clamping module comprises a first clamping jaw assembly (332) and a second clamping jaw assembly (333). The cam carrying module drives the product clamping module, so that the first clamping jaw assembly (332) moves between the first clamping position and the second clamping position, and the second clamping jaw assembly (333) moves between the second clamping position and a subsequent working position. The first clamping jaw assembly (332) clamps the products at the first clamping position and places the products at the second clamping position. The second clamping jaw assembly (333) clamps the products at the second clamping position and places the products at the subsequent working position.

2. A cammed mechanical hand mechanism according to claim 1, characterized in that: The cam carrying module comprises a carrying module (31) and a driving module (32). The carrying module (31) comprises a track control assembly (311) and a cam follower assembly (312). The track control assembly (311) comprises a carrying fixed plate (3111) mounted on the mounting frame (1), and a track control block (3112) mounted on the front side of the carrying fixed plate (3111). The track control block (3112) is provided with an inverted U-shaped cam sliding groove (3113). The cam follower assembly (312) comprises a vertical sliding bar (3121), and a cam follower (3122) mounted on the sliding bar (3121) and matched with the cam sliding groove (3113). The sliding bar (3121) is mounted with the product clamping module (33). The driving module (32) drives the cam follower (3122) to reciprocate along the cam sliding groove (3113).

3. A cammed mechanical hand mechanism according to claim 2, characterized in that: The carrying module (31) further comprises a moving assembly (313). The carrying fixed plate (3111) is further mounted with a transverse linear rail (3114). The moving assembly (313) comprises a moving mounting plate (3131), a first sliding block (3132) fixed to the rear side of the moving mounting plate (3131) and slidingly assembled with the linear rail (3114), and a second sliding block (3133) fixed to the front side of the moving mounting plate (3131) and slidingly assembled with the sliding bar (3121).

4. A cammed mechanical hand mechanism according to claim 2, wherein: The driving module (32) comprises a rotary driving unit (321), a rotary cantilever (322) installed on the rotary output end of the rotary driving unit (321); the rotary cantilever (322) is provided with a waist-shaped groove (323) matched with the cam follower (3122).

5. A cammed mechanical hand mechanism according to claim 1, wherein: The product clamping module (33) further comprises a clamping fixed plate (331) installed on the working end of the cam carrying module; the first clamping jaw assembly (332) and the second clamping jaw assembly (333) are fixedly installed on the front side of the clamping fixed plate (331) left and right.

6. A cammed mechanical hand mechanism according to claim 5, wherein: The front side of the clamping fixed plate (331) is further provided with a pressing assembly (334); the pressing assembly (334) comprises a pressing block (3341) and a pressing driving element for driving the pressing block (3341) to ascend and descend; the pressing block (3341) is used for pressing the product before the clamping action of the second clamping jaw assembly (333) when the second clamping jaw assembly (333) moves to the second clamping position, so that the product can be closely matched with the positioning member.

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