CN208305060U - A kind of globoid cam-planar trenches cam-type stepper drive type manipulator - Google Patents
A kind of globoid cam-planar trenches cam-type stepper drive type manipulator Download PDFInfo
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- CN208305060U CN208305060U CN201820735916.5U CN201820735916U CN208305060U CN 208305060 U CN208305060 U CN 208305060U CN 201820735916 U CN201820735916 U CN 201820735916U CN 208305060 U CN208305060 U CN 208305060U
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- sliding block
- cam
- guide rail
- connecting rod
- planar trenches
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Abstract
A kind of globoid cam of the utility model-planar trenches cam-type stepper drive type manipulator, entering spindle is mounted in mounting base, two planar trenches cams and bull globoid cam are assemblied in entering spindle, two planar trenches cams it is back-to-back installation and contour curve it is identical；Two planar trenches cams are respectively provided with driven member scissors mechanism, by driving the cyclical action of a pair of symmetrical scissors mechanism to act come the cyclical upturn and downturn (longitudinal direction) of promotion robot；Bull globoid cam is connect by driven member and connector with advance and retreat sliding block, advance and retreat sliding block is mounted on cross slide way, output rod is fixed on advance and retreat sliding block, and then periodical (transverse direction) movement of retreating of manipulator is realized by the periodic wobble of cambered surface cam mechanism.The work requirements that " amplification " function of scissors mechanism and swing mechanism makes the mechanism transmit, carry especially suitable for larger stroke.
Description
Technical field
The utility model relates to a kind of machine driving machinery hand, in particular to a kind of globoid cam-planar trenches cam-type
Stepper drive type manipulator.
Background technique
Some reciprocal frequent simple actions are completed commonly using manipulator in automatic assembly line, presses and drives such as gas (liquid)
The manipulator of dynamic manipulator, motor-driven manipulator and actuated by cams.The manipulator of air pressure or hydraulic-driven, assembling are opposite
It is more convenient, and purchase cost is very low, but the acceleration of air pressure or the hydraulic handling machinery hands movement as control driving
With speed be difficult to accomplish it is gentle excessively, especially in beginning and stopping, movement is too swift and violent, shock stiffness is very big, and works
Inefficiency；The manipulator of motor drive can realize different work requirements by rewriting program, but this is right
The integrating skills of the technical staff of enterprise is more demanding, from the point of view of current China motor research and development ability used in control manipulator,
Core technology is all monopolized by foreign countries, if can exist with this kind of manipulator, purchase expense is excessively high to become maximum objective problem.
And cam-type manipulator, it has the particular advantages such as movement is steady, transmission is quasi-, operating rate is controllable, use cost is low.It is existing convex
The movement travel of wheel machine hand is shorter, can not adapt to the demand of larger stroke transmission, carrying.
Utility model content
The utility model aim is to provide a kind of globoid cam-planar trenches cam-type stepper drive type manipulator, put
Linkage and scissors mechanism have the function of a small input action " amplification ", which passes especially suitable for larger stroke
The work requirements send, carried；The combination of double flat face cam and scissors mechanism can effectively improve mechanical load capacity；This extrados
Cam mechanism can be adapted well to high speed, high-precision operating condition.
The utility model is to be achieved through the following technical solutions:
A kind of globoid cam-planar trenches cam-type stepper drive type manipulator, including mounting base, entering spindle, second
Planar trenches cam, bull globoid cam, the first planar trenches cam, first connecting rod, second connecting rod, first movement guide rail,
Three-link, fourth link, the second moving guide rail, cross slide way, advance and retreat sliding block, output rod and the manipulator being connect with output rod；
Entering spindle is mounted in mounting base, and the second planar trenches cam, bull globoid cam and the first planar trenches are convex
Wheel is linked and packed in entering spindle, the second planar trenches cam and the back-to-back installation of the first planar trenches cam and profile is bent
Line is identical；
First connecting rod and second connecting rod form scissors mechanism, as the driven member of the first planar trenches cam, first connecting rod
Upper end connect with one end of first movement guide rail, the upper end of second connecting rod is connect with the other end of first movement guide rail；Third
Connecting rod and fourth link form scissors mechanism, as the driven member of the second planar trenches cam, the upper end of third connecting rod and second
One end of moving guide rail connects, and the upper end of fourth link is connect with the other end of the second moving guide rail；First movement guide rail and cross
One end of direction guiding rail connects, and the other end of the second moving guide rail and cross slide way connects；
Bull globoid cam is connect by driven member and connector with advance and retreat sliding block, and advance and retreat sliding block is mounted on cross slide way
On, output rod is fixed on advance and retreat sliding block.
It preferably, further include that the first cam follower lver, the first riser guide, the second cam follower lver and the second lifting are led
Rail；
First cam follower lver from the infall of first connecting rod and second connecting rod pass through as scissors mechanism central axis and
The driven member of first planar trenches cam, one end of the first cam follower lver are slidably connected with the first riser guide, other end end
Cam bawl is fixed in portion, and cam bawl rolls in the groove of the first planar trenches cam, and the first riser guide is fixed on installation
On seat；
Second cam follower lver from third connecting rod and the infall of fourth link pass through as scissors mechanism central axis and
The driven member of second planar trenches cam, one end of the second cam follower lver are slidably connected with the second riser guide, other end end
Cam bawl is fixed in portion, and cam bawl rolls in the groove of the second planar trenches cam, and the second riser guide is fixed on installation
On seat.
It further, further include the first lifting slider and the second lifting slider；One end of first cam follower lver passes through the
One lifting slider is connect with the first riser guide, and one end of the second cam follower lver is led by the second lifting slider and the second lifting
Rail connection.
It preferably, further include the first fixed guide rail being fixed in mounting base；
The lower end of first connecting rod and one end of the first fixed guide rail are slidably connected, and upper end and the first movement of first connecting rod are led
One end of rail is slidably connected；The lower end of second connecting rod and the other end of the first fixed guide rail are slidably connected, the upper end of second connecting rod
It is slidably connected with the other end of first movement guide rail.
It further, further include the first sliding block hinge, the first sliding block, the second sliding block hinge, the second sliding block, third sliding block hinge
Chain, third sliding block, Four-slider hinge and Four-slider；
The lower end of first connecting rod is hinged by the first sliding block hinge with the first sliding block, the first sliding block and the first fixed guide rail
One end connection；The upper end of first connecting rod is hinged by the second sliding block hinge with the second sliding block, the second sliding block and first movement
One end of guide rail connects；The lower end of second connecting rod is hinged by third sliding block hinge and third sliding block, third sliding block and first
The other end connection of fixed guide rail；The upper end of second connecting rod is hinged by Four-slider hinge with Four-slider, Four-slider
It is connect with the other end of first movement guide rail.
It further, further include the second fixed guide rail being fixed in mounting base；
The lower end of third connecting rod and one end of the second fixed guide rail are slidably connected, and the upper end of third connecting rod is led with the second movement
One end of rail is slidably connected；The lower end of fourth link and the other end of the second fixed guide rail are slidably connected, the upper end of fourth link
It is slidably connected with the other end of the second moving guide rail.
It further, further include the 5th sliding block hinge, the 5th sliding block, the 6th sliding block hinge, the 6th sliding block, the 7th sliding block hinge
Chain, the 7th sliding block, the 8th sliding block hinge and the 8th sliding block；
The lower end of third connecting rod is hinged by the 5th sliding block hinge with the 5th sliding block, the 5th sliding block and the second fixed guide rail
One end connection；The upper end of third connecting rod is hinged by the 6th sliding block hinge with the 6th sliding block, the 6th sliding block and the second movement
One end of guide rail connects；The lower end of fourth link is hinged by the 7th sliding block hinge with the 7th sliding block, the 7th sliding block and second
The other end connection of fixed guide rail；The upper end of fourth link is hinged by the 8th sliding block hinge with the 8th sliding block, the 8th sliding block
It is connect with the other end of the second moving guide rail.
Preferably, bull globoid cam is connect by driven disc and connector with advance and retreat sliding block, and driven disc passes through driven disc
Bracket is mounted in mounting base, and the roller on driven disc is engaged with bull globoid cam.
Further, connector includes swing rod, movement decomposition sliding block and sliding slot；Driven disc is fixedly connected with swing rod one end,
The swing rod other end and movement decomposition sliding block are hinged, and movement decomposition sliding block is mounted in sliding slot, and sliding slot is fixedly connected with advance and retreat sliding block.
Preferably, mounting base is cabinet.
Compared with prior art, the utility model has technical effect beneficial below:
The globoid cam of the utility model-planar trenches cam-type stepper drive type manipulator, using two planar trenches
At scissors mechanism, two planar trenches cams pass through a pair of of scissors mechanism driving for cam and the horizontally slidable connecting rod assembly in both ends
One moving guide rail and the second moving guide rail elevating movement, and then drive the cross slide way lifting fortune being fixed on two moving guide rails
Dynamic, cross slide way drives the advance and retreat sliding block being slidably connected thereon and the output rod being connected on advance and retreat sliding block to move up and down again,
Manipulator to be connected on output rod just does same elevating movement.Driven member and connection are passed through using cambered surface cam mechanism
Transversely guide rail does advancing and retreating movement to part driving advance and retreat sliding block, so that the output rod being fixed on advance and retreat sliding block be pushed to do advance and retreat fortune
Dynamic, the manipulator being connected on output rod just does same advancing and retreating movement.Advancing and retreating movement and elevating movement pass through regular fortune
Dynamic combination makes the movement of manipulator realization " promotion-advance-decline-retrogressing " fixed cycle.Scissors mechanism has will be one small
The function of input action " amplification ", the work requirements which transmits especially suitable for larger stroke, carries；And biplane is convex
The combination of wheel and scissors mechanism can effectively improve mechanical load capacity.When output rod moves up and down, two scissors mechanisms
It is oriented to together, ensure that the stability and precision of elevating movement.3 cams are incorporated into an entering spindle, it is compact-sized,
Reduce equipment volume greatly.The utility model is combined with globoid cam using planar trenches cam and is driven, and has fortune
Move that reliable, easy to operate, the particular advantages such as run smoothly.
Further, the setting of riser guide can provide more accurate guiding for the elevating movement of scissors mechanism and make
With, make scissors mechanism closing up with open when more stable and kinematic accuracy it is higher, and then ensure that manipulator high-precision fortune
It is dynamic.
Further, bull globoid cam driving driven disc swings swing rod intermittence, and swing rod drive actions decompose sliding block
It is moved up and down in sliding slot, the swing of swing rod can be decomposed into longitudinal (lifting) movement and laterally (advance and retreat) movement, longitudinal movement
It is offset by sliding slot, therefore swing rod only drives sliding slot in transverse movement, by advance and retreat sliding block, transversely guide rail does advancing and retreating movement to sliding slot,
To push the output rod that is fixed on advance and retreat sliding block to do advancing and retreating movement, the manipulator being connected on output rod also do similarly into
Move back movement.And swing-bar mechanism and cambered surface cam mechanism can be adapted well to high speed, high-precision operating condition.
Detailed description of the invention
Fig. 1 is the rearview of the utility model.
Fig. 2 is the left view of the utility model.
Fig. 3 is the right view of the utility model.
Wherein: entering spindle 1, second bearing 2, cabinet 3, the second planar trenches cam 4, bull globoid cam 5, first are flat
Face grooved cam 6, first fixes guide rail 7, the first sliding block 8, the first sliding block hinge 9, first bearing 10, third sliding block 11, third
Sliding block hinge 12, first connecting rod 13, second connecting rod 14, the first cam follower lver 15, the first lifting slider 16, the first riser guide
17, Four-slider hinge 18, Four-slider 19, first movement guide rail 20, the second sliding block hinge 21, the second sliding block 22, transverse direction are led
Rail 23, advance and retreat sliding block 24, driven disc carrier 25, driven disc 26, output rod 27, swing rod 28, movement decomposition sliding block 29, sliding slot 30,
Second moving guide rail 31, the 6th sliding block 32, the 6th sliding block hinge 33, the 8th sliding block 34, the lifting of the 8th sliding block hinge 35, second are led
Rail 36, the second lifting slider 37, third connecting rod 38, the second cam follower lver 39, fourth link 40, the 7th sliding block hinge 41,
Seven sliding blocks 42, second fix guide rail 43, the 5th sliding block hinge 44, the 5th sliding block 45.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.But it is practical new that this should not be interpreted as to this
The range of the above-mentioned theme of type is only limitted to following embodiment, and all technologies realized based on above-mentioned utility model content belong to this reality
With novel range.
Referring to Fig. 1, globoid cam described in the utility model-planar trenches cam-type stepper drive type manipulator, comprising:
Entering spindle 1, second bearing 2, the second planar trenches cam 4, bull globoid cam 5, the first planar trenches cam 6, first are solid
Determine guide rail 7, the first sliding block 8, the first sliding block hinge 9, first bearing 10, third sliding block 11, third sliding block hinge 12, first connecting rod
13, second connecting rod 14, the first cam follower lver 15, the first lifting slider 16, the first riser guide 17, Four-slider hinge 18,
Four-slider 19, first movement guide rail 20, the second sliding block hinge 21, the second sliding block 22, cross slide way 23, advance and retreat sliding block 24, from
Moving plate bracket 25, driven disc 26, output rod 27, swing rod 28, movement decomposition sliding block 29, sliding slot 30, the second moving guide rail the 31, the 6th
Sliding block 32, the 6th sliding block hinge 33, the 8th sliding block 34, the 8th sliding block hinge 35, the second riser guide 36, the second lifting slider
37, third connecting rod 38, the second cam follower lver 39, fourth link 40, the 7th sliding block hinge 41, the 7th sliding block 42, second are fixed
Guide rail 43, the 5th sliding block hinge 44, the 5th sliding block 45.
Entering spindle 1 is mounted in mounting base by first bearing 10 and second bearing 2, the second planar trenches cam 4, more
Head globoid cam 5 and the first planar trenches cam 6 pass sequentially through key connection and are assemblied in entering spindle 1.Second planar trenches are convex
The back-to-back installation of wheel 4 and the first planar trenches cam 6 and contour curve is identical.
Driven disc 26 is mounted in mounting base by driven disc carrier 25, the roller on driven disc 26 and bull globoid cam
5 engagements, the driven disc other end are fixedly connected with swing rod 28, and 28 front end of swing rod and movement decomposition sliding block 29 are hinged, and movement decomposition is sliding
Block 29 can slide up and down in sliding slot 30, and sliding slot 30 is fixedly connected with advance and retreat sliding block 24, and advance and retreat sliding block 24, which is mounted on, laterally leads
On rail 23, output rod 27 is fixed on advance and retreat sliding block 24.Bull globoid cam 5 drives driven disc 26 to make the intermittent pendulum of swing rod 28
Dynamic, movement decomposition sliding block 29 moves up and down in sliding slot 30, the swing of swing rod 28 can be decomposed into longitudinal movement and transverse movement,
Longitudinal movement is offset by sliding slot 30, therefore 28 drive sliding slots 30 of swing rod are in transverse movement, i.e. advancing and retreating movement, sliding slot 30 drive into
Back skating block 24 does advancing and retreating movement on cross slide way 23, and then advance and retreat sliding block 24 drives output rod 27 to do advancing and retreating movement.Due to pendulum
One small input action " amplification " can be made the utility model be suitable for the transmission of larger stroke, the work of carrying needs by linkage
It asks.
First connecting rod 13 and second connecting rod 14 form scissors mechanism, and the first cam follower lver 15 is from first connecting rod 13 and second
The infall of connecting rod 14 is passed through as the central axis of scissors mechanism and the driven member of the first planar trenches cam 6, the first cam from
One end of lever 15 is connect by the first lifting slider 16 with the first riser guide 17, the fixed cam bawl in other end end, convex
Wheel roller rolls in the groove of the first planar trenches cam 6, and the first riser guide 17 is fixed in mounting base.First connecting rod 13
Lower end be hinged with the first sliding block 8 by the first sliding block hinge 9, one end sliding company of the first sliding block 8 and the first fixed guide rail 7
It connects, the first fixed guide rail 7 is fixed in mounting base.The upper end of first connecting rod 13 passes through the second sliding block hinge 21 and the second sliding block 22
It is hinged, the second sliding block 22 is connect with one end of first movement guide rail 20.The lower end of second connecting rod 14 passes through third sliding block hinge
12 are hinged with third sliding block 11, and third sliding block 11 and the other end of the first fixed guide rail 7 are slidably connected.Second connecting rod 14 it is upper
End is hinged by Four-slider hinge 18 with Four-slider 19, and the other end of Four-slider 19 and first movement guide rail 20 connects
It connects.
Third connecting rod 38 and fourth link 40 form scissors mechanism, and the second cam follower lver 39 is from third connecting rod 38 and the 4th
The infall of connecting rod 40 is passed through as the central axis of scissors mechanism and the driven member of the second planar trenches cam 4, the second cam from
One end of lever 39 is connect by the second lifting slider 37 with the second riser guide 36, the fixed cam bawl in other end end, convex
Wheel roller rolls in the groove of the second planar trenches cam 4, and the second riser guide 36 is fixed in mounting base.Third connecting rod 38
Lower end be hinged with the 5th sliding block 45 by the 5th sliding block hinge 44, one end cunning of the 5th sliding block 45 and the second fixation guide rail 43
Dynamic connection, the second fixed guide rail 43 are fixed in mounting base.The upper end of third connecting rod 38 passes through the 6th sliding block hinge 33 and the 6th
Sliding block 32 is hinged, and the 6th sliding block 32 is connect with one end of the second moving guide rail 31.The lower end of fourth link 40 is sliding by the 7th
Block hinge 41 is hinged with the 7th sliding block 42, and the other end of the 7th sliding block 42 and the second fixed guide rail 43 is slidably connected.4th connects
The upper end of bar 40 is hinged by the 8th sliding block hinge 35 with the 8th sliding block 34, and the 8th sliding block 34 is another with the second moving guide rail 31
One end connection.
Such as Fig. 3, first connecting rod 13 and second connecting rod 14 form scissors mechanism, closing up and open by scissors mechanism, drive
The lifting of dynamic first movement guide rail 20.Specifically, the first planar trenches cam 6 driving scissors mechanism the first cam of central axis from
Lever 15 does oscilaltion campaign, and the first cam follower lver 15 drives first connecting rod 13 and second connecting rod 14 to do scissor movement, from
And first movement guide rail 20 is driven to move up and down by the second sliding block 22 and Four-slider 19.
As shown in Fig. 2, third connecting rod 38 and fourth link 40 form scissors mechanism, closing up and beat by scissors mechanism
It opens, drives the lifting of the second moving guide rail 31.Specifically, the central axis second of the second planar trenches cam 4 driving scissors mechanism
Cam follower lver 39 moves up and down, and the second cam follower lver 39 drives third connecting rod 38 and fourth link 40 to do scissor movement,
To drive the second moving guide rail 31 to move up and down by the 6th sliding block 32 and the 8th sliding block 34.
First movement guide rail 20 and the second moving guide rail 31 are fixedly connected with cross slide way 23, first movement guide rail 20 and
Two moving guide rails 31 are able to drive cross slide way 23 and move up and down, cross slide way 23 just drive advance and retreat sliding block 24 thereon and into
Output rod 27 on back skating block 24 moves up and down.Since scissors mechanism has the function of a small input action " amplification "
Can, the work requirements which is suitable for the transmission of larger stroke, carries.And the combination of double flat face cam and scissors mechanism can be effective
Improve mechanical load capacity.
In this example, mounting base is cabinet 3, and in addition to cabinet 3 is stretched out in 27 part of output rod, other component is respectively positioned on cabinet 3
It is interior.
Utility model works principle is as follows: external motor drives the first planar trenches cam 6 and the by entering spindle 1
Two planar trenches cams 4 and bull globoid cam 5 rotate, and the first planar trenches cam 6 and the second planar trenches cam 4 pass through one
First movement guide rail 20 and 31 elevating movement of the second moving guide rail are driven to scissors mechanism, and then drive the transverse direction being fixed thereon
23 elevating movement of guide rail, cross slide way 23 drive the output rod 27 on advance and retreat sliding block 24 to move up and down, are connected to output rod 27
On manipulator just do same elevating movement.Bull globoid cam 5 drives driven disc 26 to make swing rod 28 is intermittent to swing, due to
Swing rod 28 can be moved up and down in sliding slot 30 by Kinematic Decomposition sliding block 29, therefore 28 drive sliding slots 30 of swing rod are laterally logical
Crossing advance and retreat sliding block 24, transversely guide rail 23 does advancing and retreating movement, so that the output rod 27 being fixed on advance and retreat sliding block 24 be pushed to retreat
Movement.The manipulator being connected on output rod 27 just does same advancing and retreating movement.
Transverse movement realizes manipulator " after promotion-advance-decline-by regular movement combination with longitudinal movement
Move back " movement of fixed cycle: where the traverse angle (rise angle, backhaul angle) of bull globoid cam 5 is convex with two planar trenches respectively
Two sections of wheel rest that angle is equal, and initial phase respectively corresponds unanimously, two sections of bull globoid cam 5 rest angle respectively with two planes
The traverse angle (rise angle, backhaul angle) of grooved cam is equal, and initial phase respectively corresponds unanimously.
The utility model is converted by cam teamwork and the movement of subsequent link mechanism, to realize the liter of mechanical arm
Drop direct acting is combined with advance and retreat linear motion.The compound motion of manipulator is formed by the profile of cam and is controlled it, and it is convex
Wheel curve is given by designing according to the action request of manipulator.The utility model uses two planar trenches cams and both ends
The elevating movement of manipulator is realized in horizontally slidable connecting rod assembly at scissors mechanism；Using bull Swing Driven Member cambered surface
Cam mechanism, the swing rod being drivingly connected on driven disc are moved in sliding slot by sliding block, realize manipulator in advance and retreat direction
Movement.Advancing and retreating movement makes manipulator realize " promotion-advance-decline-retrogressing " with elevating movement by regular movement combination
The movement of fixed cycle.Since swing-bar mechanism and scissors mechanism have the function of a small input action " amplification ", the machine
The work requirements that structure is suitable for the transmission of larger stroke, carries.The utility model is reliable, easy to operate with movement, runs smoothly
Etc. particular advantages.The combination of double flat face cam and scissors mechanism can effectively improve mechanical load capacity；Furthermore globoid cam machine
Structure can be adapted well to high speed, high-precision operating condition.
Claims (10)
1. a kind of globoid cam-planar trenches cam-type stepper drive type manipulator, which is characterized in that including mounting base, input
Main shaft (1), the second planar trenches cam (4), bull globoid cam (5), the first planar trenches cam (6), first connecting rod (13),
Second connecting rod (14), first movement guide rail (20), third connecting rod (38), fourth link (40), the second moving guide rail (31), transverse direction
Guide rail (23), advance and retreat sliding block (24), output rod (27) and the manipulator being connect with output rod (27)；
Entering spindle (1) is mounted in mounting base, the second planar trenches cam (4), bull globoid cam (5) and the first plane ditch
Grooved cam (6) is linked and packed on entering spindle (1), the second planar trenches cam (4) and the first planar trenches cam (6) back to
Back is installed and contour curve is identical；
First connecting rod (13) and second connecting rod (14) form scissors mechanism, as the driven member of the first planar trenches cam (6), the
The upper end of one connecting rod (13) is connect with one end of first movement guide rail (20), the upper end of second connecting rod (14) and first movement guide rail
(20) other end connection；Third connecting rod (38) and fourth link (40) form scissors mechanism, as the second planar trenches cam
(4) upper end of driven member, third connecting rod (38) is connect with one end of the second moving guide rail (31), the upper end of fourth link (40)
It is connect with the other end of the second moving guide rail (31)；First movement guide rail (20) is connect with one end of cross slide way (23), and second
Moving guide rail (31) is connect with the other end of cross slide way (23)；
Bull globoid cam (5) is connect by driven member and connector with advance and retreat sliding block (24), and advance and retreat sliding block (24) is mounted on cross
On direction guiding rail (23), output rod (27) is fixed on advance and retreat sliding block (24).
2. globoid cam according to claim 1-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include the first cam follower lver (15), the first riser guide (17), the second cam follower lver (39) and the second riser guide
(36)；
First cam follower lver (15) is passed through from the infall of first connecting rod (13) and second connecting rod (14) as scissors mechanism
The driven member of central axis and the first planar trenches cam (6), one end of the first cam follower lver (15) and the first riser guide
(17) it is slidably connected, the fixed cam bawl in other end end, cam bawl rolls in the groove of the first planar trenches cam (6)
Dynamic, the first riser guide (17) is fixed in mounting base；
Second cam follower lver (39) is passed through from third connecting rod (38) and the infall of fourth link (40) as scissors mechanism
The driven member of central axis and the second planar trenches cam (4), one end of the second cam follower lver (39) and the second riser guide
(36) it is slidably connected, the fixed cam bawl in other end end, cam bawl rolls in the groove of the second planar trenches cam (4)
Dynamic, the second riser guide (36) is fixed in mounting base.
3. globoid cam according to claim 2-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include the first lifting slider (16) and the second lifting slider (37)；One end of first cam follower lver (15) passes through the first lifting
Sliding block (16) is connect with the first riser guide (17), one end of the second cam follower lver (39) by the second lifting slider (37) with
Second riser guide (36) connection.
4. globoid cam according to claim 1-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include first fixed guide rail (7) being fixed in mounting base；
One end of the lower end of first connecting rod (13) and first fixed guide rail (7) is slidably connected, the upper end of first connecting rod (13) and the
One end of one moving guide rail (20) is slidably connected；The lower end of second connecting rod (14) and the other end of first fixed guide rail (7) slide
Connection, the upper end of second connecting rod (14) and the other end of first movement guide rail (20) are slidably connected.
5. globoid cam according to claim 4-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include the first sliding block hinge (9), the first sliding block (8), the second sliding block hinge (21), the second sliding block (22), third sliding block hinge
(12), third sliding block (11), Four-slider hinge (18) and Four-slider (19)；
The lower end of first connecting rod (13) is hinged by the first sliding block hinge (9) with the first sliding block (8), the first sliding block (8) and the
One end connection of one fixed guide rail (7)；The upper end of first connecting rod (13) passes through the second sliding block hinge (21) and the second sliding block (22)
It is hinged, the second sliding block (22) is connect with one end of first movement guide rail (20)；The lower end of second connecting rod (14) is sliding by third
Block hinge (12) is hinged with third sliding block (11), and third sliding block (11) is connect with the other end of first fixed guide rail (7)；Second
The upper end of connecting rod (14) is hinged by Four-slider hinge (18) with Four-slider (19), Four-slider (19) and first movement
The other end of guide rail (20) connects.
6. globoid cam according to claim 4-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include second fixed guide rail (43) being fixed in mounting base；
One end of the lower end of third connecting rod (38) and second fixed guide rail (43) is slidably connected, the upper end of third connecting rod (38) and the
One end of two moving guide rails (31) is slidably connected；The lower end of fourth link (40) and the other end of second fixed guide rail (43) slide
Connection, the upper end of fourth link (40) and the other end of the second moving guide rail (31) are slidably connected.
7. globoid cam according to claim 6-planar trenches cam-type stepper drive type manipulator, which is characterized in that
It further include the 5th sliding block hinge (44), the 5th sliding block (45), the 6th sliding block hinge (33), the 6th sliding block (32), the 7th sliding block hinge
Chain (41), the 7th sliding block (42), the 8th sliding block hinge (35) and the 8th sliding block (34)；
The lower end of third connecting rod (38) is hinged by the 5th sliding block hinge (44) with the 5th sliding block (45), the 5th sliding block (45) and
One end connection of second fixed guide rail (43)；The upper end of third connecting rod (38) passes through the 6th sliding block hinge (33) and the 6th sliding block
(32) it is hinged, the 6th sliding block (32) is connect with one end of the second moving guide rail (31)；The lower end of fourth link (40) passes through the
Seven sliding block hinges (41) are hinged with the 7th sliding block (42), and the 7th sliding block (42) and the other end of second fixed guide rail (43) connect
It connects；The upper end of fourth link (40) is hinged by the 8th sliding block hinge (35) with the 8th sliding block (34), the 8th sliding block (34) and
The other end of second moving guide rail (31) connects.
8. globoid cam according to claim 1-planar trenches cam-type stepper drive type manipulator, which is characterized in that
Bull globoid cam (5) is connect by driven disc (26) and connector with advance and retreat sliding block (24), and driven disc (26) passes through driven disc
Bracket (25) is mounted in mounting base, and the roller on driven disc (26) is engaged with bull globoid cam (5).
9. globoid cam according to claim 8-planar trenches cam-type stepper drive type manipulator, which is characterized in that
Connector includes swing rod (28), movement decomposition sliding block (29) and sliding slot (30)；The fixed company of driven disc (26) and swing rod (28) one end
It connects, hingedly, movement decomposition sliding block (29) is mounted in sliding slot (30), sliding slot for swing rod (28) other end and movement decomposition sliding block (29)
(30) it is fixedly connected with advance and retreat sliding block (24).
10. globoid cam according to claim 1-planar trenches cam-type stepper drive type manipulator, which is characterized in that
Mounting base is cabinet (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820735916.5U CN208305060U (en) | 2018-05-17 | 2018-05-17 | A kind of globoid cam-planar trenches cam-type stepper drive type manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820735916.5U CN208305060U (en) | 2018-05-17 | 2018-05-17 | A kind of globoid cam-planar trenches cam-type stepper drive type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208305060U true CN208305060U (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820735916.5U Expired - Fee Related CN208305060U (en) | 2018-05-17 | 2018-05-17 | A kind of globoid cam-planar trenches cam-type stepper drive type manipulator |
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| Country | Link |
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| CN (1) | CN208305060U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733862A (en) * | 2022-02-25 | 2022-07-12 | 北京惠博普能源技术有限责任公司 | Automatic cleaning device for railway tank car |
-
2018
- 2018-05-17 CN CN201820735916.5U patent/CN208305060U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733862A (en) * | 2022-02-25 | 2022-07-12 | 北京惠博普能源技术有限责任公司 | Automatic cleaning device for railway tank car |
| CN114733862B (en) * | 2022-02-25 | 2023-03-03 | 北京惠博普能源技术有限责任公司 | Automatic cleaning device for railway tank car |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20200517 |