CN108638048A - Manipulator based on variable position cam - Google Patents

Abstract

The present application provides a manipulator based on a variable position cam, including a clamping device, a cam mechanism, a driving device and a frame. The power part of the driving device drives the movable part to drive the clamping device to move in the direction close to the material. When it reaches the predetermined position, it continues to drive the clamping pliers in the clamping device to move, and the clamping pliers are squeezed by the cam mechanism arranged on both sides. It opens, and after the end of the clamping pliers crosses the cam, it is closed by the action of the elastic sleeve to grab the material. After grabbing the material, the movable part drives the clamping device to move away from the material. After reaching the predetermined position, it drives the clamping pliers again to pass the cam position, so that the clamping pliers open again to complete the operation of putting down the material. The manipulator provided by this application uses a driving device as a servo mechanism to successively complete the grasping and putting down actions, simplifies the overall structure, avoids too many servo mechanisms, and solves the problems of complex driving and low reliability of traditional manipulators.

Description

Manipulator Based on Variable Position Cam

technical field

The present application relates to the technical field of agricultural product processing machinery, in particular to a manipulator based on a variable-position cam.

Background technique

Straw materials are widely used as a renewable energy source, but limited by the shape and material of the straw, there are problems that the straw is not convenient for transportation and storage during the utilization process. Therefore, before the processing and utilization of the straw material, it is generally necessary to briquette the straw material, so as to compress the fluffy and irregularly shaped straw material into dense, regular shaped material blocks.

According to different uses, there are also differences in the briquetting methods and briquetting shapes of the straw material. For example, straw blocks used for fuel or feed are generally smaller cylinders, while straw blocks used for construction or culture medium are generally larger cuboids. There are also huge differences in the corresponding briquetting methods. Generally, smaller blocks are extruded through pressure rollers matching the hole structure on the mould, while larger blocks are made through hydraulic devices and molds. suppressed for a long time.

In the prior art, the equipment for briquetting straw through a hydraulic device and a mold generally includes a feeding device, a mold, a hydraulic device and a discharging device. During the briquetting process, the crushed straw material enters the mold through the feeding device, After the amount of feed has accumulated to a suitable amount, the hydraulic device starts to move the movable end towards the direction of the mold to gradually compress the straw material in the mold. After maintaining the pressure for a certain period of time, the material is compressed into a block. Finally, the compressed block is taken out through the discharge device for the next compression of the block. The discharge device can include various types, such as directly passing through the open compression space, after the hydraulic device completes the block compression, the block is manually taken out. This method requires manual participation and reduces the overall operating efficiency of the briquetting process. It is not conducive to the realization of automation, and at the same time, the compression equipment itself has certain dangers, and the operator is easily injured when taking out the material block.

Therefore, in order to improve the briquetting efficiency and reduce the risk of the whole equipment, in the prior art, the compressed briquettes can also be taken out by manipulators instead of human hands. However, an existing manipulator often uses many servo mechanisms, and when too many servo mechanisms are used, the operation and driving principle of the manipulator will be complicated, making the manipulator prone to failure and greatly reducing reliability in application.

Contents of the invention

The present application provides a manipulator based on a variable position cam to solve the problems of complicated driving and low reliability of the manipulator in traditional straw briquetting equipment.

The present application provides a manipulator based on a variable position cam, including: a clamping device, a cam mechanism, a driving device and a frame;

Wherein, the clamping device includes clamping pliers with a symmetrical pincer-shaped structure and a connecting frame that hinges the middle part of the clamping pliers. The two sides of the connecting frame are respectively provided with clamping guide rails, and the two clamping guide rails are fixed on the frame parallel to each other, and the connecting frame can slide in the clamping guide rail; the two ends of the clamping pliers away from the grasping part are hinged at one end of the elastic sleeve, and the elastic force The other end of the casing is hinged on the connecting frame;

The cam mechanism includes two cams with the same shape and a cam slide rail, the cam can slide in the cam slide rail, the cam slide rail is fixed on the connecting frame, and the circumferential surface of the cam contacts the The clamping pliers is far away from the end of the grasping part, so that when the cam slides on the cam slide rail, the clamping pliers can be squeezed to realize the opening and closing of the clamping pliers;

The drive device includes a power part and a movable part, one end of the movable part is connected to the power part, and the other end is connected to the connecting frame; the power part drives the movable part to perform linear motion; the maximum of the movable part The stroke is greater than the maximum stroke of the cam in the cam slide rail, and the power part is fixed on the frame.

Optionally, the two ends of the clamping pliers close to the grabbing part are hinged with adjustment pieces;

The adjustment member is a T-shaped structure, and the degree of tightness of the hinge between the adjustment member and the clamping pliers is adjustable.

Optionally, the cam slide rail includes a cam connection part provided on the connecting frame, and a cam slider provided in the cam connection part;

The cam slider can be fixed at different positions in the cam connection part, and the cam slider is also provided with a shaft chute, the shaft of the cam is arranged in the shaft chute, and can be positioned on the shaft Reciprocating motion in the chute.

Optionally, the cross-section of the connecting frame has a U-shaped structure, and the connecting frame further includes a first connecting portion located at the bottom of the U-shaped structure and second connecting portions located on both sides of the U-shaped structure;

The first connecting part connects the movable part, and hinges the middle part of the clamping pliers symmetrically on both sides of the connecting position.

Optionally, a plurality of connecting sliders are arranged symmetrically on the second connecting part; the connecting sliders are slidably connected to the clamping rails, and the clamping rails are two straight rods fixed on the frame parallel to each other .

Optionally, an auxiliary baffle is provided on the side of the first connecting part close to the grabbing part, one side of the auxiliary baffle is connected to the movable part, and the other side of the auxiliary baffle is used to contact the Clamped block of material.

Optionally, the power part of the driving device is a hydraulic cylinder, and the movable part of the driving device is a push rod connected to the hydraulic cylinder.

Optionally, the elastic sleeve includes an outer tube and an inner tube nested together, and the outer tube and the inner tube can slide mutually to change the overall length of the elastic sleeve; the outer tube Or a spring is arranged in the inner tube.

Optionally, the frame includes a rear cover and a side plate connected to the rear cover, the middle part of the rear cover is fixed to the power part of the driving device, and the clamping rail is fixed to the side plate .

Optionally, one end of the power part of the driving device away from the movable part is hinged on the bottom surface of the rear cover.

It can be known from the above technical solutions that the present application provides a manipulator based on a variable position cam, including a clamping device, a cam mechanism, a driving device and a frame. In practical applications, the power part of the driving device drives the movable part to move, so as to drive the clamping device to move in the direction close to the material to be grasped. The pliers are squeezed and opened by the cam mechanism arranged on both sides, and after the end of the clamping pliers crosses the cam, the opening and closing are completed by the action of the elastic sleeve to complete the work of grabbing materials. Then the movable part drives the clamping device to move away from the material to be grasped. After reaching the predetermined position, it drives the clamping pliers to pass through the cam position again, so that the clamping pliers are opened again to complete the operation of putting down the material.

The manipulator provided by this application uses the cooperation between the clamping guide rail and the cam slide rail to complete the position positioning and the transfer of the grabbing action. Through a driving device as a servo mechanism, the entire operation process of grabbing and putting down the material can be completed. On the premise of ensuring the grasping action, the overall structure is simplified, and excessive servo mechanisms are avoided, which solves the problems of complex driving and low reliability of traditional manipulators.

Description of drawings

In order to illustrate the technical solution of the present application more clearly, the accompanying drawings that need to be used in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, on the premise of not paying creative work, there are also Additional figures can be derived from these figures.

Fig. 1 is the structural schematic diagram of the manipulator based on variable position cam;

Fig. 2 is a top view structure sectional view of the manipulator described in the embodiment of the present application;

FIG. 3 is a schematic diagram of the rear view structure of the manipulator described in the embodiment of the present application;

Fig. 4 is a side view structure sectional view of the manipulator described in the embodiment of the present application;

Fig. 5 is a schematic diagram of the initial state of the manipulator described in the embodiment of the present application;

Fig. 6 is a schematic diagram of the forward moving state of the manipulator described in the embodiment of the present application;

Fig. 7 is a schematic diagram of the state of opening the clamping pliers of the manipulator described in the embodiment of the present application;

Fig. 8 is a schematic diagram of the state of grabbing a material block by the manipulator described in the embodiment of the present application;

Fig. 9 is a schematic diagram of the state of putting down the material block of the manipulator described in the embodiment of the present application;

Fig. 10 is a schematic structural diagram of the cam slide rail of the manipulator described in the embodiment of the present application;

Fig. 11 is a schematic structural diagram of the elastic sleeve of the manipulator described in the embodiment of the present application;

Fig. 12 is a schematic diagram of the frame structure of the manipulator described in the embodiment of the present application;

Graphical description:

Among them, 1-clamping device; 11-clamping pliers; 12-connecting frame; 121-first connecting part; 122-second connecting part; 123-connecting slider; 124-auxiliary baffle; 13-clamping guide rail ;14-elastic sleeve; 141-outer tube; 142-inner tube; 143-spring; 15-adjustment piece; 2-cam mechanism; 21-cam; Slide block; 223-rotating shaft chute; 3-driving device; 31-power part; 32-movable part; 4-frame; 41-back cover plate; 42-side plate; 5-material block.

Detailed ways

The embodiments will be described in detail hereinafter, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples do not represent all implementations consistent with this application. These are merely examples of systems and methods consistent with aspects of the present application as recited in the claims.

Referring to Fig. 1, it is a structural schematic diagram of a manipulator based on a variable position cam. As can be seen from FIG. 1 , the manipulator provided by the present application includes: a clamping device 1 , a cam mechanism 2 , a driving device 3 and a frame 4 . Wherein, the clamping device 1 is used for carrying out the grasping action, so as to transport the processed material block to a specific position and then put it down. The cam mechanism 2 is used to control the opening and closing of the clamping device 1. In order to complete the grasping action, the cam mechanism 2 is arranged on both sides of the clamping device 1, so as to control the opening and closing degree of the clamping device 1 by squeezing. The driving device 3 is the only servo mechanism of the entire manipulator, which can transmit force to the clamping device 1 to change the position and opening and closing degree of the clamping device 1 . The frame 4 is used for installing and carrying various components, and installing the entire manipulator on corresponding equipment.

As shown in FIG. 2 , the clamping device 1 includes a clamping pliers 11 , a connecting frame 12 , a clamping guide rail 13 and an elastic sleeve 14 . The clamping tongs 11 have a symmetrical clamp-shaped structure. The clamping tongs 11 include two parts, the left and the right. The shapes of the two parts are symmetrical to each other. One end opens and closes the other end, which is the rear end. The middle parts of the left and right parts of the clamping pliers 11 are all hinged on the connecting frame 12 . In this application, the opening and closing of the clamping pliers 11 refers to the opening and closing of the two ends of the clamping pliers 11 close to the grasping part, that is, when the distance between the ends of the left and right parts gradually increases, the opening and closing of the clamping pliers 11 Open, and when the distance between the ends of the left and right parts decreases gradually, the clamping pliers 11 are closed. Correspondingly, in the present application, the above opening and closing actions can be realized by controlling the distance between the two ends of the clamping forceps 11 away from the grasping part.

Both sides of the connecting frame 12 are respectively provided with clamping guide rails 13, and the two clamping guide rails 13 are fixed on the frame 4 parallel to each other. Move in the direction of the material block or away from the material block. That is to say, in practical applications, when it is necessary to grab a material block, the connecting frame 12 moves toward a direction close to the material block, and when it is necessary to place the grabbed material block at a predetermined position, the connecting frame 12 should be moved away from the material block. direction of movement.

Both ends of the clamping pliers 11 away from the grasping part are hinged to one end of the elastic sleeve 14 , and the other end of the elastic sleeve 14 is hinged to the connecting frame 12 . The elastic sleeve 14 has an elastic force in the length direction so as to maintain the opening and closing state of the clamping pliers 11 . In addition, the elastic sleeve 14 can also maintain sufficient clamping force after the material is grabbed by the clamping pliers 11 through the action of elastic force.

Further, as shown in FIG. 2 , the two ends of the clamping pliers 11 near the grasping part are hinged with adjustment pieces 15 , the adjustment pieces 15 are in a T-shaped structure, and the degree of hinged tightness between the adjustment pieces 15 and the clamping pliers 11 adjustable. The two ends of the clamping pliers 11 close to the grabbing part are in direct contact with the material block to be grabbed in practical applications. In order to obtain a more stable grabbing effect, the adjustment parts are hinged at the two ends in this embodiment. 15. The adjustment member 15 can increase the contact area between the clamping pliers 11 and the material block through the T-shaped structure, thereby increasing the friction between the clamping pliers 11 and the outer wall of the material block, and preventing the material from falling during the handling process of the manipulator.

The adjustment of the hinge tightness between the adjusting member 15 and the clamping pliers 11 can be done by setting a fastening screw at the hinge position, that is, when the tightness of the hinge needs to be clamped, the fastening screw is tightened to increase the contact surface of the hinge position The friction force between them enables the adjustment member 15 to maintain a specific angle with the clamping pliers 11 . In this embodiment, by setting different angles, the entire clamping pliers 11 can adapt to material blocks of different shapes and sizes, thereby increasing the application range of the entire manipulator without changing the overall structure of the clamping pliers 11 . Obviously, in practical applications, in order to obtain a better grasping effect, the plane where the adjustment member 15 is in contact with the plastic block can also be set to a shape that is more conducive to increasing the contact area. For example, when the material block is a cuboid, The side of the adjustment member 15 in contact with the material block is a plane, and when the material block is a cylinder, the side of the adjustment member 15 in contact with the material block is an arc surface. In addition, for some blocks with relatively smooth surfaces, anti-skid rubber pads, anti-skid lines and other structures can also be provided on the contact surface to increase contact stability.

As shown in Figure 3, the cam mechanism 2 mainly includes two cams 21 with the same shape and a cam slide rail 22, the cam 21 can slide in the cam slide rail 22 to change the position of the cam 21, that is, in this application, the cam mechanism 2 includes a cam 21 with a variable position, and the cam slide rail 22 is fixed on the connecting frame 12. The circumferential surface of the cam 21 contacts the end of the clamping pliers 11 away from the grasping part, so that when the cam 21 slides on the cam slide rail 22, The clamping pliers 11 can be squeezed to realize opening and closing of the clamping pliers 11 . It should be noted that in the technical solution provided by the present application, the cam 21 is only used as the name of the component that can complete the squeezing action, and its specific shape is not limited. According to requirements, the shape of the cam 21 can be various shapes, for example, circle, ellipse and so on. However, in order to obtain a better extrusion effect and reciprocating effect, the cam 21 should at least ensure that there is a certain degree of circular arc transition at the position where the end of the clamping pliers 11 contacts, so that the clamping pliers 11 can be gently squeezed, so that The clamping force is uniform and stable.

It should be noted that the variable position cams 21 referred to in this application can be in various forms, including the number, arrangement, movement, and movement path of the cams 21, which are not fixed. But their common feature is that when the earth is selected as the reference system, the cam 21 also has translation in addition to rotation. And there is a dead point in the translational movement, at which the cam 21 constrains other mechanisms, and the purpose of performing specified actions has been achieved.

The driving device 3 includes a power part 31 and a movable part 32 , one end of the movable part 32 is connected to the power part 31 , and the other end is connected to the connecting frame 12 ; the power part 31 drives the movable part 32 to perform linear motion. In order to make the cams 21 on both sides of the clamping pliers 11 squeeze the clamping pliers 11 , the maximum stroke of the movable part 32 is greater than the maximum stroke of the cam 21 in the cam slide rail 22 , and the power part 31 is fixed on the frame 4 . The driving device 3 needs to move the movable part 32 away from or close to the material block. In this embodiment, the operating principle of the driving device 3 is not limited. It can be a hydraulic cylinder driving the internal piston to move, or it can be The telescopic rod mechanism of thread transmission can even be a worm gear mechanism or a crank slider mechanism.

Further, as shown in FIG. 4 , the power part 31 of the driving device 3 is a hydraulic cylinder, and correspondingly, the movable part 32 of the driving device 3 is a push rod connected to the hydraulic cylinder. In practical applications, a piston that slides back and forth may be provided in the hydraulic cylinder, so that the piston can be driven by hydraulic oil to realize the reciprocating motion of the movable part 32 . The hydraulic transmission can reduce the return stroke error, and the reciprocating motion of the internal piston can be realized through a simple hydraulic circulation channel. The piston in the hydraulic cylinder is connected to the push rod, so that when the hydraulic oil drives the piston to move, it drives the push rod to move and complete the movable part. 32 jobs. Obviously, the push rod can be set as a telescopic rod with adjustable length, so as to change the length of the push rod according to actual needs, and then adjust the opening and closing timing of the clamping pliers 11 .

It can be seen from the above technical solutions that in this embodiment, the manipulator mainly completes the actions of grabbing and putting down materials through the following steps in practical application:

First, as shown in Figure 5, in the initial position, the hydraulic cylinder pushes the connecting frame 12 of the clamping device 1 to move forward, because the cam 21 is installed on the cam slide rail 22 of the linear structure, and is in contact with the clamping pliers in the initial position. The ends of 11 are in contact, and due to the effect of the elastic sleeve 14, the ends of the clamping pliers 11 remain open, so the cam 21 will be pushed by the clamping pliers 11 and move forward together with the clamping pliers 11.

Next, as shown in Figure 6, when the hydraulic cylinder continues to push the clamping pliers 11 and the connecting frame 12 to move forward, the clamping pliers 11 also pushes the cam 21 to move forward until the cam 21 moves to one end of the cam slide rail 22, At this moment, the cam 21 is blocked by the end of the cam slide rail 22 and cannot move forward. And be subjected to the continuation action of push rod on hydraulic cylinder, the end of clamping tongs 11 shrinks inwardly under the extruding of cam, and front part opens simultaneously, and elastic sleeve 14 is compressed now.

Again, as shown in FIGS. 7 and 8 , the hydraulic cylinder pushes the connecting frame 12 to move forward, and the end of the clamping pliers 11 will pass the front limit position where the cam 21 is located, and then the clamping pliers 11 is under the action of the elastic sleeve 14 , the grasping part will return to the clamping position, and at this time, the entire clamping device 1 just moves to both sides of the processed material block 5, that is, the clamping of the material block is completed.

Finally, as shown in Figure 9 and Figure 5, after the clamping action is completed, the hydraulic cylinder starts to move in reverse, the same as the previous process, the cam 21 is in contact with the end of the clamping pliers 11, and the clamping pliers 11 is moving backward During the process, the cam 21 will be pushed to move backward until the cam 21 moves to the other end position of the cam slide rail 22, and the cam 21 is blocked by the edge again and cannot continue to move backward. Due to the continued traction of the push rod, the end of the clamping pliers 11 will be squeezed by the cam 21 again, and shrink inwardly, at this time, the front part will open again, thereby placing the material block on the predetermined position, such as dropping to other conveyors.

Further, as shown in FIG. 10 , the cam slide rail 22 may further include a cam connection portion 221 disposed on the connecting frame 12, and a cam slider 222 disposed on the cam connection portion 221, the cam slider 222 may be fixed on the cam Different positions on the connecting portion 221. The cam slider 222 can change the distance between the clamping device 1 and the cam mechanism 2 by being fixed at different positions of the cam connection part 221, and change the timing when the cam 21 squeezes the clamping pliers 11, thereby adjusting the clamping pliers 11 to implement The location for picking and dropping blocks. The cam slider 222 is also provided with a rotating shaft chute 223, the rotating shaft of the cam 21 is arranged in the rotating shaft chute 223, and can reciprocate in the rotating shaft chute 223, so that the cam 21 can perform translation and rotation. The position of the cam 21 can be changed through the sliding groove 223 of the rotating shaft, so that the cam 21 can pass over the end position of the clamping pliers 11 during the grabbing action and the lowering action, and two squeezes are completed, so that the gripping action and the lowering action can be realized. Open the clamping pliers 11 twice.

In some embodiments of the present application, as shown in FIG. 3 , in order to obtain a better block clamping effect, the cross-section of the connecting frame 12 has a U-shaped structure, and the connecting frame 12 can be a sheet metal part, that is, by setting the thickness The sheet is bent into a U-shaped structure. The connecting frame 12 further includes a first connecting portion 121 located at the bottom of the U-shaped structure and a second connecting portion 122 located on both sides of the U-shaped structure, the first connecting portion 121 is connected to the movable portion 32, and symmetrical hinge clips on both sides of the connecting position Hold the middle of the forceps 11. Connecting the movable part 32 to the first connecting part 121, on the one hand, the entire manipulator can be maintained in a state of symmetrical arrangement, thereby balancing the driving force and frictional force on the manipulator; The cam mechanism 2 is at different heights, so as not to affect the contact between the cam 21 and the end of the clamping pliers 11, that is, a clamping clamp 11 with a larger overall volume or a wider opening can be provided to adapt to more shapes. block.

Further, a plurality of connecting sliders 123 are arranged symmetrically on the second connecting portion 122 ; the connecting sliders 123 are slidably connected to the clamping rails 13 , and the clamping rails 13 are two straight bars fixed on the frame 4 parallel to each other. As shown in Figure 4, in this embodiment, the clamping guide rail 13 can be two square rods or round rods fixed on the frame 4, and the corresponding connecting sliders 123 are a plurality of contacts on the surface of the clamping guide rail 13. As for the slider, a plurality of sliders jointly support the entire connecting frame 12 and slide on the clamping guide rail 13 . By using the connecting slider 123, the contact surface area between the connecting frame 12 and the clamping guide rail 13 during the moving process can be reduced, thereby reducing the friction force during the sliding process, and ensuring that the connecting frame 12 can move under the action of the push rod. run smoothly.

Further, on the side of the first connecting part 121 close to the gripping part, an auxiliary baffle 124 is also provided, one side of the auxiliary baffle 124 is connected to the movable part 32, and the other side of the auxiliary baffle 124 is used to contact the Blocks of material held. On the one hand, the auxiliary baffle plate 124 can transmit the driving force conveyed by the push rod, so that the connecting frame 12 can move in the direction of the driving force under the action of the driving force; The side of the auxiliary baffle 124 contacts one side of the material block, so that after the material block is grabbed, the material block can contact the manipulator more, and the stability of the grabbing process is improved.

In some embodiments of the present application, as shown in FIG. 11 , the elastic sleeve 14 includes an outer tube 141 and an inner tube 142 nested together, and the outer tube 141 and the inner tube 142 can slide mutually to change the elastic sleeve. 14 overall length; the outer tube 141 or the inner tube 142 is provided with a spring 143 . In the first case, the spring 143 in the elastic sleeve 14 can be arranged in the outer tube 141, and one end of the spring 143 is connected to the end face of the inner tube 142, and the other end is connected to an end face of the outer tube 141, that is, through the action of the spring, the The total length of the inner tube 142 and the outer tube 141 can be adjusted. In the second case, the spring 143 is arranged in the inner tube 142 , and one end is connected to the end surface of the outer tube 141 , and the other end is connected to the inner end surface of the inner tube 142 .

In these two cases, the functions that can be realized by the entire elastic sleeve 14 are the same, only in the first case, a relatively thicker spring 143 can be used to obtain greater elastic force. In this embodiment, the elastic sleeve 14 composed of the outer tube 141, the inner tube 142 and the spring 143 can prevent the clamping pliers 11 from generating a force to bend the elastic sleeve 14 when being squeezed by the cam 21, thereby The action direction of the elastic force is ensured, so that the force applied during the opening and closing process of the clamping pliers 11 is uniform, and the failure rate is also avoided to increase the overall reliability.

In some embodiments of the present application, as shown in FIG. 12 , the frame 4 includes a rear cover 41 and two side panels 42 connected to the rear cover 41 , and the middle part of the rear cover 41 fixes the power part 31 of the driving device 3 , The clamping guide rail 13 is fixed on the side plate 42 . In this embodiment, since the whole needs to maintain a certain stability during the grabbing process, the rear cover plate 41 and the side plate 42 can be made of high-strength stainless steel plates. While connecting the two side plates 42 together, the rear cover 41 is also used to fix the driving device 3 . The driving device 3 can be fixed on the rear cover 41 by welding or other connection methods (such as bolts). It is also possible to set a hinge on the power part 31 of the driving device 3, away from the end of the movable part 32, so that the driving device 3 is hinged on the rear cover 41, and fixing the driving device 3 in a hinged manner can increase a part of adjustment for the driving device 3. To avoid the over-constraint during the installation process from causing cumulative error effects on the installation accuracy and long-term use. The two side plates 42 can also be provided with a partial hollow structure, so as to reduce the overall weight on the premise of ensuring stability, so as to reduce the load-carrying capacity requirement of the frame 4 .

It should be noted that the manipulator provided in the technical solution of the present application is not only used in the process of processing and transporting straw blocks. Based on the structure disclosed in this application, those skilled in the art can easily think of applying the above manipulator to any other fields, such as industrial robots, automated industrial production lines, sorting equipment, and the like. In practical applications, simple deformations and additionally designed manipulators that can be implemented by those skilled in the art based on the structures disclosed above without any creative efforts are included in the scope of protection of the present application.

It can be known from the above technical solutions that the present application provides a manipulator based on a variable position cam, including a clamping device 1 , a cam mechanism 2 , a driving device 3 and a frame 4 . In practical applications, the power part 31 of the driving device 3 drives the movable part 32 to drive the clamping device 1 to move in a direction close to the material to be grasped, and when it reaches the predetermined position, it continues to drive the clamping pliers 11 in the clamping device 1 to move , so that the clamping pliers 11 are squeezed and opened by the cam mechanisms 2 arranged on both sides, and after the end of the clamping pliers 11 crosses the cam 21, it is closed again by the action of the elastic sleeve 14 to realize grabbing materials. After the grasping is completed, the clamping device 1 is driven by the movable part 32 to move away from the material to be grasped. After reaching the predetermined position, the clamping pincers 11 are driven again to pass the position of the cam 21, so that the clamping pincers are opened again, and the process is completed. Put down the material operation function.

The manipulator provided by the present application uses the cooperation between the clamping guide rail 13 and the cam slide rail 22 to complete the position positioning and the transfer of the grabbing action, so that only one driving device 3 can be used as a servo mechanism to complete the grabbing and laying down of materials. On the premise of ensuring the grasping action, simplify the overall structure, avoid too many servo mechanisms, and solve the problems of complex driving and low reliability of traditional manipulators.

The similar parts between the embodiments provided in the present application can be referred to each other, and the specific implementations provided above are only a few examples under the general concept of the present application, and do not constitute a limitation of the protection scope of the present application. For those skilled in the art, any other implementations expanded based on the proposal of the present application without creative work shall fall within the scope of protection of the present application.

Claims (10)

1. a kind of manipulator based on variable position cam, which is characterized in that including：Clamping device (1), drives cam mechanism (2) Dynamic device (3) and rack (4)；

Wherein, the clamping device (1) includes the gripper clamp (11) with symmetrical pincer structure and the hinged gripper clamp (11) both sides of the link (12) in the middle part of, the link (12) are respectively equipped with clamp rail (13), and two clampings are led What rail (13) was mutually parallel is fixed in the rack (4), and the link (12) can the sliding in the clamp rail (13)； Two ends of the gripper clamp (11) far from crawl position are hinged on one end of elastic cannula (14), the elastic cannula (14) the other end is hinged on the link (12)；

The cam mechanism (2) includes the identical cam (21) of two shapes and cam sliding rail (22), and the cam (21) can Sliding, the cam sliding rail (22) are fixed on the link (12) in the cam sliding rail (22), the cam (21) Circumference contact described in gripper clamp (11) far from crawl position end, make the cam (21) in the cam sliding rail (22) When upper sliding, the gripper clamp (11) can be squeezed, realizes the folding of the gripper clamp (11)；

The driving device (3) includes power part (31) and movable part (32), and one end connection of the movable part (32) is described dynamic Power portion (31), the other end connect the link (12)；The power part (31) drives the movable part (32) to carry out straight line fortune It is dynamic；The range of the movable part (32) is more than range of the cam (21) in the cam sliding rail (22), institute Power part (31) is stated to be fixed in the rack (4).

2. manipulator according to claim 1, which is characterized in that two ends of the gripper clamp (11) close to crawl position Portion is hinged with adjustment part (15)；

The adjustment part (15) is T-shaped structure, the hinged elastic journey between the adjustment part (15) and the gripper clamp (11) It spends adjustable.

3. manipulator according to claim 1, which is characterized in that the cam sliding rail (22) includes being arranged in the connection Cam contact (221) on frame (12), and cam slide (222) of the setting in the cam contact (221)；

The cam slide (222) can be fixed on the different location in the cam contact (221), the cam slide (222) shaft sliding slot (223) is additionally provided on, the shaft of the cam (21) is arranged in the shaft sliding slot (223), Ke Yi It is moved back and forth in the shaft sliding slot (223).

4. manipulator according to claim 1, which is characterized in that the section of the link (12) has U-shaped structure, institute State link (12) further comprise positioned at U-shaped structure bottom first connecting portion (121) and positioned at U-shaped structure both sides second Interconnecting piece (122)；

The first connecting portion (121) connects the movable part (32), and is symmetrically hinged the folder in the both sides of link position Hold the middle part of pincers (11).

5. manipulator according to claim 4, which is characterized in that be symmetrical arranged on the second connecting portion (122) multiple Connection sliding block (123)；The connection sliding block (123) is slidably connected on clamp rail (13), and the clamp rail (13) is phase Mutual parallel two straight-bars being fixed in rack (4).

6. manipulator according to claim 4, which is characterized in that the first connecting portion (121) is close to crawl position Side is equipped with sub-barrier (124), and the side of the sub-barrier (124) connects the movable part (32), the auxiliary gear The other side of plate (124) is for contacting material block to be held.

7. manipulator according to claim 1, which is characterized in that the power part (31) of the driving device (3) is hydraulic pressure The movable part (32) of cylinder, the driving device (3) is the push rod for connecting the hydraulic cylinder.

8. manipulator according to claim 1, which is characterized in that the elastic cannula (14) includes nesting together outer tube (141) and inner tube (142) it, can mutually be slided between the outer tube (141) and said inner tube (142), to change the elastic sleeve Manage the entire length of (14)；Spring (143) is equipped in the outer tube (141) or said inner tube (142).

9. manipulator according to claim 1, which is characterized in that the rack (4) includes back shroud (41) and connection institute The side plate (42) of back shroud (41) is stated, the power part (31) of the driving device (3), institute are fixed in the middle part of the back shroud (41) It states and fixes the clamp rail (13) on side plate (42).

10. manipulator according to claim 9, which is characterized in that the power part (31) of the driving device (3) is far from living The one end of dynamic portion (32), is hinged on the bottom surface of the back shroud (41).