凸轮式立卧两用换刀机械手的研究  

Researches on Cam Gear Vertical & Horizontal Tool-Changing Manipulator

作　　者：夏粉玲[1] 贺炜[2] 

机构地区：[1]陕西工业职业技术学院,咸阳712000 [2]陕西科技大学,咸阳712081

出　　处：《机械科学与技术》2004年第3期319-321,324,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：陕西省教委专项基金项目 ( 0 0JK2 3 7)资助

摘　　要：针对在立卧两用换刀机械手中 ,其凸轮机构驱动机械手需完成的运动轨迹为正方形的特点 ,提出采用双从动件的凸轮机构设计方案 ,通过一系列分析计算 ,确定了运动平稳性较好的从动件运动规律及完整的位移曲线方程 。In the field of NC machining, especially when machining is made on pentahedron CNC machining centers, vertical-horizontal conversion of the headstock is needed, and research on vertical-horizontal tool-changing manipulator is therefore necessary. Focusing on the square locus along which the driven parts of the cam gear move, a project cam gear is designed for employing two driven parts. The task of vertical-horizontal tool-changing manipulator is to make conversion between vertical and horizontal movements to meet the need for tool change. It reduces the error of repeatable positioning caused by vertica-horizontal conversion of machining center headstock, and the machining accuracy is greatly increased. The shortcoming of the hydraulic driving system is eliminated by selecting the project cam gear, resulting in an increase in tool-changing speed and reliability. Since two slave-driven parts are employed in cam gear, the size of the device is smaller and the cost is less than before. The contour of the cam is now of modified sinusoidal type, it is easier to machine and its stability in motion is much improved.

关 键 词：立卧两用 机械手 凸轮机构 

分 类 号：TH112[机械工程—机械设计及理论]