Cam robot

Abstract

The utility model relates to mechanical equipment technical field especially relates to a cam mechanical hand. The cam mechanical hand includes spindle, cam mechanism, transmission assembly and jaw subassembly. Among them, the cam mechanism is set on the spindle, and the cam mechanism shares power source with external station through the spindle. Transmission assembly is connected with cam mechanism rotation. Jaw subassembly is connected with the one end of transmission assembly away from cam mechanism, to under the drive of cam mechanism, jaw subassembly can reciprocate along the horizontal direction and reciprocate along the vertical direction. Cam mechanism shares power source with external station through the spindle, compared with the PPU mechanical hand of prior art separately configures motor or power module, need not extra purchase, install independent power component, directly reduce hardware cost, simultaneously, cam mechanism shares power source with external station through the spindle, can avoid the problem that the action is not synchronized because of the delay of starting, the speed deviation of independent power source, promotes the overall operation efficiency of production line.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a cam-operated robotic arm. Background Technology

[0002] As core equipment for automating processes such as material handling and sorting, robotic arms directly impact production efficiency, product quality, and production space utilization. Especially in scenarios like battery processing where high precision, speed, and equipment integration are required for material handling, the market demands even more stringent requirements for the efficiency, stability, compactness, and cost control of robotic arms. Consequently, various specially designed PPU (Process Pick and Place Unit) robotic arms have emerged, becoming key components for enhancing production line automation.

[0003] In existing technologies, PPU robots are driven by a separate power source or motor. This not only increases the cost of the PPU robot, but may also lead to poor synchronization of actions at each workstation due to the independent power source, further affecting the overall operating efficiency of the production line.

[0004] Therefore, there is an urgent need to design a cam-based robotic arm to solve the above technical problems. Utility Model Content

[0005] The purpose of this invention is to propose a cam-driven robotic arm with low cost. This cam-driven robotic arm shares a main shaft as a power source with other workstations, thereby improving the synchronization of actions at each workstation and increasing the operating efficiency of the production line.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This utility model provides a cam-driven robotic arm, comprising:

[0008] spindle;

[0009] A cam mechanism is sleeved on the main shaft, and the cam mechanism shares a power source with an external workstation through the main shaft;

[0010] A transmission assembly, which is rotatably connected to the cam mechanism;

[0011] A gripper assembly is connected to the end of the transmission assembly away from the cam mechanism, so that the gripper assembly can reciprocate horizontally and vertically under the drive of the cam mechanism.

[0012] As an optional technical solution for a cam-driven robotic arm, the cam mechanism includes a cam body, the outer peripheral surface of which is provided with a continuous cam trajectory, and the transmission component includes a first cam follower wheel, which rolls and fits against the cam trajectory.

[0013] As an optional technical solution for a cam-driven robot, the cam body is provided with a first keyway, and the outer peripheral wall of the main shaft is provided with a second keyway that corresponds to the position of the first keyway and is structurally compatible; the cam mechanism also includes a connecting key, which is embedded in the assembly space formed by the first keyway and the second keyway, so as to realize the circumferential fixation and synchronous rotation of the cam body and the main shaft.

[0014] As an optional technical solution for a cam-driven robotic arm, the cam-driven robotic arm further includes a first frame, on which the first cam follower wheel is mounted; the transmission assembly further includes an elastic element, one end of which is connected to the first frame and the other end is fixedly connected to the work platform, and the elastic element is configured to ensure that the first cam follower wheel always fits closely to the cam trajectory.

[0015] As an optional technical solution for a cam-driven robotic arm, the cam-driven robotic arm further includes a second frame, and the transmission assembly further includes a connecting rod, a first joint bearing, and a second joint bearing. One end of the connecting rod is hinged to the first frame via the first joint bearing, and the other end of the connecting rod is hinged to the second frame via the second joint bearing. The gripper assembly is mounted on the second frame.

[0016] As an optional technical solution for a cam-driven robotic arm, the transmission assembly further includes a movable rod and a second cam follower wheel. One end of the movable rod is hinged to the second joint bearing, and the other end of the movable rod is connected to the second cam follower wheel, which is connected to the gripper assembly.

[0017] As an optional technical solution for a cam-driven robotic arm, the second frame is provided with an X-axis slide rail, the gripper assembly includes a first connecting plate and a second connecting plate, the first connecting plate is slidably connected to the X-axis slide rail, the first connecting plate is connected to the movable rod through the second cam follower wheel, and the first connecting plate is provided with a Z-axis slide rail, the second connecting plate is slidably connected to the Z-axis slide rail;

[0018] The first connecting plate can reciprocate along the X-axis slide rail, and the second connecting plate can float up and down along the Z-axis slide rail.

[0019] As an optional technical solution for a cam-driven robotic arm, the second frame is provided with a cam groove, and the transmission assembly further includes a third cam follower wheel. The third cam follower wheel is connected to the second connecting plate, and at least a portion of the third cam follower wheel is housed in the cam groove and can roll along the cam groove. The trajectory of the cam groove is adapted to the floating stroke of the second connecting plate, and the third cam follower wheel is used to drive the second connecting plate to float up and down along the Z-axis slide rail.

[0020] As an optional technical solution for a cam-driven robotic arm, the gripper assembly further includes a connecting arm, multiple independently arranged gripper cylinders and gripping parts. The multiple gripper cylinders are spaced apart along the length direction of the connecting arm, and the output end of each gripper cylinder drives and connects to two oppositely arranged gripping parts; one end of the connecting arm is connected to the second connecting plate.

[0021] As an optional technical solution for a cam-driven robotic arm, the cam-driven robotic arm also includes a control unit, which is electrically connected to each of the clamp cylinders and can independently control the opening and closing state of each of the clamp cylinders.

[0022] The beneficial effects of this utility model include at least the following:

[0023] This invention provides a cam-driven robotic arm, comprising a main shaft, a cam mechanism, a transmission assembly, and a gripper assembly. The cam mechanism is mounted on the main shaft and shares a power source with an external workstation via the main shaft. The transmission assembly is rotatably connected to the cam mechanism. The gripper assembly is connected to the end of the transmission assembly furthest from the cam mechanism, allowing it to reciprocate horizontally and vertically under the drive of the cam mechanism. Compared to existing PPU robotic arms that require separate motors or power modules, this cam-driven robotic arm eliminates the need for additional procurement and installation of independent power components, directly reducing hardware costs. Furthermore, by sharing a power source with the external workstation via the main shaft, the cam mechanism avoids the asynchronous movement issues caused by start-up delays and speed deviations of independent power sources, ensuring perfect synchronization between the robotic arm's movements and those of the external workstation, thus improving the overall operating efficiency of the production line. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the cam-driven robot provided in an embodiment of the present invention from one perspective;

[0026] Figure 2 This is a schematic diagram of the cam-driven robotic arm provided in an embodiment of the present invention from another perspective.

[0027] Figure Labels

[0028] 10. Cam body; 11. First keyway; 20. Transmission assembly; 21. First cam follower wheel; 22. Elastic element; 23. Connecting rod; 24. First joint bearing; 25. Second joint bearing; 26. Movable rod; 27. Second cam follower wheel; 28. Third cam follower wheel; 30. Gripper assembly; 31. First connecting plate; 31. Z-axis slide rail; 32. Second connecting plate; 33. Connecting arm; 34. Grip cylinder; 35. Clamping part; 40. First frame; 50. Second frame; 51. X-axis slide rail; 52. Cam groove. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0036] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] This embodiment provides a cam-driven robot with low cost. This cam-driven robot shares a main shaft as a power source with other workstations, improving the synchronization of actions at each workstation and increasing the operating efficiency of the production line.

[0038] like Figures 1-2As shown, the cam-driven robot mainly includes a main shaft (not shown), a cam mechanism, a transmission assembly 20, and a gripper assembly 30. The cam mechanism is mounted on the main shaft and shares a power source with the external workstation via the main shaft. The transmission assembly 20 is rotatably connected to the cam mechanism. The gripper assembly 30 is connected to the end of the transmission assembly 20 away from the cam mechanism, so that the gripper assembly 30 can reciprocate horizontally and vertically under the drive of the cam mechanism.

[0039] Based on the above design, in this embodiment, the cam mechanism shares a power source with the external workstation via the main shaft. Compared with the existing technology where the PPU robot is equipped with a separate motor or power module, in this embodiment, there is no need to purchase or install an independent power component, which directly reduces hardware costs. At the same time, by sharing a power source with the external workstation via the main shaft, the cam mechanism can avoid the problem of asynchronous movement caused by the start-up delay and speed deviation of the independent power source, so that the movement rhythm of the cam robot is perfectly matched with that of the external workstation, thereby improving the overall operating efficiency of the production line.

[0040] The gripper assembly 30 receives power from the cam mechanism via the transmission assembly 20, enabling both horizontal and vertical reciprocating motion. The horizontal reciprocating motion transfers the material horizontally, while the vertical reciprocating motion (i.e., vertical floating) removes the material from the cup and transfers it to the buffer belt.

[0041] like Figures 1-2 As shown, the cam mechanism in this embodiment includes a cam body 10, the outer circumferential surface of which is provided with a continuous cam trajectory. The transmission component 20 includes a first cam follower wheel 21, which rolls and fits against the cam trajectory. When the main shaft drives the cam body 10 to rotate, the cam body 10 can drive the first cam follower wheel 21 to move up and down. The continuous cam trajectory can ensure the continuity of action and improve the stability of material handling.

[0042] For example, the material in this embodiment may be a battery.

[0043] like Figure 1 As shown, a first keyway 11 is provided on the cam body 10, and a second keyway is provided on the outer peripheral wall of the main shaft, which corresponds to the position of the first keyway 11 and is structurally compatible; the cam mechanism also includes a connecting key, which is embedded in the assembly space formed by the first keyway 11 and the second keyway, so as to realize the circumferential fixation and synchronous rotation of the cam body 10 and the main shaft.

[0044] The connecting key is embedded in the first keyway 11 and the second keyway. The torque is transmitted through the connecting key, which restricts the circumferential relative movement between the cam body 10 and the main shaft. This ensures that the cam body 10 rotates synchronously when the main shaft rotates, with no relative speed difference, thereby improving the efficiency of power transmission and avoiding production stoppages caused by slippage.

[0045] like Figures 1-2 As shown, in this embodiment, the cam manipulator also includes a first frame 40, on which a first cam follower wheel 21 is mounted; the transmission assembly 20 also includes an elastic element 22, one end of which is connected to the first frame 40, and the other end is fixedly connected to the work platform. The elastic element 22 is configured to keep the first cam follower wheel 21 always in contact with the cam trajectory. The continuous preload (such as tension or thrust) of the elastic element 22 presses the first cam follower wheel 21 against the cam trajectory. Regardless of whether the cam trajectory is in a raised or recessed position, the first cam follower wheel 21 always remains in contact with the cam trajectory, improving the reliability and stability of power transmission in the transmission assembly 20.

[0046] For example, the elastic element 22 can be a cylindrical tension spring.

[0047] like Figures 1-2 As shown, the cam-driven manipulator also includes a second frame 50, and the transmission assembly 20 includes a connecting rod 23, a first joint bearing 24, a second joint bearing 25, a movable rod 26, and a second cam follower wheel 27. One end of the connecting rod 23 is hinged to the first frame 40 via the first joint bearing 24, and the other end of the connecting rod 23 is hinged to the second frame 50 via the second joint bearing 25. The gripper assembly 30 is mounted on the second frame 50. One end of the movable rod 26 is hinged to the second joint bearing 25, and the other end of the movable rod 26 is connected to the second cam follower wheel 27, which is also connected to the gripper assembly 30. The second frame 50 is equipped with an X-axis slide rail 51. The gripper assembly 30 includes a first connecting plate 31 and a second connecting plate 32. The first connecting plate 31 is slidably connected to the X-axis slide rail 51. The first connecting plate 31 is connected to the movable rod 26 via a second cam follower wheel 27. A Z-axis slide rail 311 is provided on the first connecting plate 31, and the second connecting plate 32 is slidably connected to the Z-axis slide rail 311. The first connecting plate 31 can reciprocate along the X-axis slide rail 51, and the second connecting plate 32 can float up and down along the Z-axis slide rail 311.

[0048] It should be noted that both the first joint bearing 24 and the second joint bearing 25 can achieve 360° angular displacement in any direction, allowing for slight angular deviations in the connecting rod 23 when transmitting power. Even if there is a 2°~3° deviation between the swing direction of the first frame 40 and the movement direction of the second frame 50, the first joint bearing 24 and the second joint bearing 25 can still adaptively adjust to ensure smooth power transmission, avoid the jamming problem of rigid connection, and improve the flexibility of the cam manipulator's movement.

[0049] Specifically, when the power source of the external workstation drives the spindle to rotate, the cam body 10 rotates synchronously with the spindle. The outer circumferential trajectory of the cam body 10 pushes the first cam follower wheel 21 on the first frame 40 to swing up and down around its own mounting axis. During the up and down reciprocating motion, the first frame 40 transmits the driving force to the connecting rod 23 through the first joint bearing 24. Then, the connecting rod 23 transmits this part of the driving force to the movable rod 26 through the second joint bearing 25. The movable rod 26 can swing horizontally under the action of the driving force, thereby driving the second cam follower wheel 27 to swing horizontally. Since the first connecting plate 31 is connected to the movable rod 26 through the second cam follower wheel 27, the first connecting plate 31 slides along the X-axis slide rail 51 under the drive of the second cam follower wheel 27, so that the gripper assembly 30 can move repeatedly between the cup holder and the buffer belt.

[0050] Furthermore, the second frame 50 is provided with a cam groove 52, and the transmission assembly 20 also includes a third cam follower wheel 28. The third cam follower wheel 28 is connected to the second connecting plate 32, and at least a portion of the third cam follower wheel 28 is accommodated in the cam groove 52 and can roll along the cam groove 52. The trajectory of the cam groove 52 is adapted to the floating stroke of the second connecting plate 32. The third cam follower wheel 28 is used to drive the second connecting plate 32 to float up and down along the Z-axis slide rail 311.

[0051] Specifically, when the first connecting plate 31 moves horizontally along the X-axis slide rail 51, the third cam follower wheel 28 will roll along the cam groove 52 of the second frame 50. The trajectory change of the cam groove 52 (such as the cam groove 52 descending when in the material picking position and the cam groove 52 rising when in the material discharging position) will push the second connecting plate 32 to float up and down along the Z-axis slide rail 311. The floating stroke is adapted to the height difference between the cup holder and the buffer belt.

[0052] In some optional embodiments, when the first connecting plate 31 moves above the cup, the second connecting plate 32 floats downward along the Z-axis slide rail 311, bringing the gripper assembly 30 close to the NG battery inside the cup; after gripping the NG battery, the second connecting plate 32 floats upward along the Z-axis slide rail 311 to detach from the cup; when the gripper assembly 30 moves above the buffer strip, the second connecting plate 32 floats downward again, placing the NG battery into the buffer strip, completing the up-and-down floating action of picking up, lifting, and placing the material. The guiding effect of the Z-axis slide rail 311 ensures that the floating direction of the second connecting plate 32 is only vertical, preventing the gripper assembly 30 from tilting and causing the NG battery to fall, thus improving the reliability of the gripper assembly 30 in handling the NG battery.

[0053] like Figures 1-2As shown, the gripper assembly 30 also includes a connecting arm 33, multiple independently arranged gripper cylinders 34, and gripping parts 35. The multiple gripper cylinders 34 are spaced apart along the length of the connecting arm 33, and the output end of each gripper cylinder 34 drives two oppositely arranged gripping parts 35. One end of the connecting arm 33 is connected to the second connecting plate 32. This allows the second connecting plate 32 to drive the gripper cylinders 34 and gripping parts 35 to move up and down synchronously during the up-and-down movement of the second connecting plate 32.

[0054] Each clamp cylinder 34 independently drives the clamping part 35, and can selectively operate according to the battery's pass / fail status (NG / OK). For example, when the testing equipment determines that a battery at a certain position is NG, the corresponding clamp cylinder 34 will operate to clamp the NG battery; the corresponding cylinder for OK batteries will not operate, thus preventing OK batteries from being mistakenly transported, simplifying the production line process, and reducing labor costs.

[0055] Each clamp cylinder 34 drives two opposing clamping parts 35. The clamping parts 35 can be designed according to the shape of the battery. For example, if the battery is cylindrical, the clamping parts 35 are arc-shaped to increase the contact area with the battery, make the clamping force more uniform, and avoid excessive local pressure that could damage the battery. At the same time, the arc-shaped clamping parts 35 can prevent the battery from sliding laterally and improve the stability of clamping the battery.

[0056] Furthermore, the cam-driven robotic arm in this embodiment also includes a control unit, which is electrically connected to each clamp cylinder 34. The control unit can independently control the opening and closing state of each clamp cylinder 34.

[0057] The control unit provides independent power and control to each clamp cylinder 34. If a clamp cylinder 34 fails, only that cylinder will stop working, while the other cylinders can still operate normally, and the entire production line does not need to be shut down for maintenance.

[0058] The control unit (such as a PLC controller) can automatically receive qualified signals from external inspection devices (such as vision cameras and size sensors) without human intervention. For example, after the vision camera takes a picture of the battery's appearance, it transmits the NG / OK signal to the PLC controller. The PLC controller completes signal processing in a short time and controls the corresponding clamp cylinder 34 to move.

[0059] The working process of the cam-driven robot in this embodiment is as follows:

[0060] First, after the external workstation is started, its power source drives the main shaft to rotate. Since the cam body 10 of the cam mechanism is circumferentially fixed through the first keyway 11, the second keyway and the embedded connecting key, the cam body 10 rotates synchronously with the main shaft, ensuring that the power is transmitted from the external workstation to the cam mechanism without slippage, realizing the synchronous movement of the cam robot and the external workstation without the need for an independent power source.

[0061] When the cam body 10 rotates, the continuous cam trajectory on its outer circumference drives the first cam follower wheel 21 of the transmission assembly 20 to roll along the trajectory; at the same time, one end of the elastic element 22 is connected to the first frame 40 and the other end is fixed to the working platform, and the first cam follower wheel 21 is always in close contact with the cam trajectory through continuous elastic force; the rolling of the first cam follower wheel 21 causes the first frame 40 to swing up and down.

[0062] The up-and-down swing of the first frame 40 transmits the driving force to the movable rod 26 through the first joint bearing 24, connecting rod 23, and second joint bearing 25, causing the movable rod 26 to swing. The swing of the movable rod 26 drives the second cam follower wheel 27 to roll along the side track of the first connecting plate 31 of the gripper assembly 30. Since the first connecting plate 31 is slidably mounted on the X-axis slide rail 51 of the second frame 50, the rolling of the second cam follower wheel 27 directly drives the first connecting plate 31 to move horizontally back and forth along the X-axis slide rail 51, thereby causing the gripper assembly 30 to move closer to or further away from the cup holder.

[0063] During the horizontal movement of the first connecting plate 31 along the X-axis slide rail 51, one end of the third cam follower wheel 28 of the transmission component 20 is connected to the second connecting plate 32 of the gripper assembly 30, and the other end is housed in the cam groove 52 of the second frame 50 and rolls along the cam groove 52. The preset trajectory of the cam groove 52 is adapted to the height difference between the material cup and the buffer belt. When the third cam follower wheel 28 moves along the protrusion and concave sections of the cam groove 52, it drives the second connecting plate 32 to float up and down along the Z-axis slide rail 311 of the first connecting plate 31, so that the gripping part 35 of the gripper assembly 30 can accurately adapt to the material picking height of the cup and the material releasing height of the buffer belt, thereby achieving the purpose of accurately gripping the material (battery).

[0064] When the gripper assembly 30 moves to the material-picking position above the cup, the control unit receives an external detection signal to determine whether the battery at the corresponding position in the cup is an NG battery. Multiple independent clamping cylinders 34 are spaced apart on the connecting arm 33 of the gripper assembly 30, each clamping cylinder 34 corresponding to a battery position in the cup. Based on the control unit's determination, a clamping command is issued only to the clamping cylinder 34 at the location of the NG battery. This clamping cylinder 34 drives two opposing clamping parts 35 to close, clamping the NG battery. The clamping cylinder 34 corresponding to the location of the OK battery remains stationary, and the clamping parts 35 remain open, preventing the accidental clamping of OK batteries, thereby achieving accurate sorting of defective materials.

[0065] After the clamping part 35 clamps the NG battery, the first connecting plate 31 continues to move along the X-axis slide rail 51 toward the buffer belt, and the second connecting plate 32 moves along the cam groove 52 with the third cam follower wheel 28 to adjust to the feeding height; when the gripper assembly 30 reaches above the buffer belt, the control unit controls the corresponding clamp cylinder 34 to release, the clamping part 35 opens, and the NG battery falls into the buffer belt.

[0066] After the NG battery is transferred, the main shaft continues to drive the cam body 10 to rotate. The cam trajectory drives the first cam follower wheel 21, the second cam follower wheel 27, and the third cam follower wheel 28 to reset in sequence. The first connecting plate 31 returns to the initial picking position along the X-axis slide rail 51, and the second connecting plate 32 returns to the initial height along the Z-axis slide rail 311. The clamp cylinder 34 and the clamping part 35 return to the open state, thereby enabling the cam robot to return to the initial state and wait for the next round of external station power drive work cycle.

[0067] Obviously, the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

[0068] Note that in the description of this specification, the references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A cam-driven robotic arm, characterized in that, include: spindle; A cam mechanism is sleeved on the main shaft, and the cam mechanism shares a power source with an external workstation through the main shaft; A transmission assembly (20) is rotatably connected to the cam mechanism; A gripper assembly (30) is connected to the end of the transmission assembly (20) away from the cam mechanism so that the gripper assembly (30) can reciprocate in the horizontal direction and in the vertical direction under the drive of the cam mechanism.

2. The cam-driven robotic arm according to claim 1, characterized in that, The cam mechanism includes a cam body (10), the outer peripheral surface of which is provided with a continuous cam trajectory, and the transmission component (20) includes a first cam follower wheel (21), which rolls and fits against the cam trajectory.

3. The cam-driven robotic arm according to claim 2, characterized in that, The cam body (10) is provided with a first keyway (11), and the outer peripheral wall of the main shaft is provided with a second keyway that corresponds to the position of the first keyway (11) and is structurally compatible; the cam mechanism also includes a connecting key, which is embedded in the assembly space formed by the first keyway (11) and the second keyway, so as to realize the circumferential fixation and synchronous rotation of the cam body (10) and the main shaft.

4. The cam-driven robotic arm according to claim 2, characterized in that, The cam manipulator also includes a first frame (40), on which the first cam follower wheel (21) is mounted; the transmission assembly (20) also includes an elastic element (22), one end of which is connected to the first frame (40) and the other end is fixedly connected to the work platform. The elastic element (22) is configured to keep the first cam follower wheel (21) close to the cam trajectory.

5. The cam-driven robotic arm according to claim 4, characterized in that, The cam manipulator also includes a second frame (50), and the transmission assembly (20) also includes a connecting rod (23), a first joint bearing (24), and a second joint bearing (25). One end of the connecting rod (23) is hinged to the first frame (40) through the first joint bearing (24), and the other end of the connecting rod (23) is hinged to the second frame (50) through the second joint bearing (25). The gripper assembly (30) is disposed on the second frame (50).

6. The cam-driven robotic arm according to claim 5, characterized in that, The transmission assembly (20) further includes a movable rod (26) and a second cam follower wheel (27). One end of the movable rod (26) is hinged to the second joint bearing (25), and the other end of the movable rod (26) is connected to the second cam follower wheel (27). The second cam follower wheel (27) is connected to the gripper assembly (30).

7. The cam-driven robotic arm according to claim 6, characterized in that, The second frame (50) is provided with an X-axis slide rail (51). The gripper assembly (30) includes a first connecting plate (31) and a second connecting plate (32). The first connecting plate (31) is slidably connected to the X-axis slide rail (51). The first connecting plate (31) is connected to the movable rod (26) through the second cam follower wheel (27). The first connecting plate (31) is provided with a Z-axis slide rail (311). The second connecting plate (32) is slidably connected to the Z-axis slide rail (311). The first connecting plate (31) can reciprocate along the X-axis slide rail (51), and the second connecting plate (32) can float up and down along the Z-axis slide rail (311).

8. The cam-driven robotic arm according to claim 7, characterized in that, The second frame (50) is provided with a cam groove (52). The transmission assembly (20) also includes a third cam follower wheel (28). The third cam follower wheel (28) is connected to the second connecting plate (32), and at least a portion of the third cam follower wheel (28) is housed in the cam groove (52) and can roll along the cam groove (52). The trajectory of the cam groove (52) is adapted to the floating stroke of the second connecting plate (32). The third cam follower wheel (28) is used to drive the second connecting plate (32) to float up and down along the Z-axis slide rail (311).

9. The cam-driven robotic arm according to claim 7, characterized in that, The gripper assembly (30) further includes a connecting arm (33), a plurality of independently arranged gripper cylinders (34) and a gripping part (35). The plurality of gripper cylinders (34) are spaced apart along the length direction of the connecting arm (33), and the output end of each gripper cylinder (34) drives and connects to two oppositely arranged gripping parts (35); one end of the connecting arm (33) is connected to the second connecting plate (32).

10. The cam-driven robotic arm according to claim 9, characterized in that, The cam-driven manipulator also includes a control unit, which is electrically connected to each of the clamp cylinders (34). The control unit is capable of independently controlling the opening and closing state of each of the clamp cylinders (34).

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