直动型弧面凸轮机械手的机构与结构设计

摘要　对直动型弧面凸轮机械手进行了系统的研究,并着重对其机构设计、结构设计进行了深入探
讨,绘出了其整机结构图。
关键词　弧面凸轮机械手　机构设计　结构设计
　　引言
随着工业自动化程度的不断提高, 各种自动化机
械手的大量涌现,把人们从繁重和危险的工作中解放
出来,大大提高了工作效率, 并能高精度、高质量地完
成各种复杂的重复性工作。机械手是工业自动化中一
个重要的组成部分,在汽车、家电等制造业中有着广泛
的应用。由液压或气压驱动并由微电脑控制的机械手
较为常见,这类机械手使用灵活方便、适应性强。但如
果用这类机械手完成较简单的重复性工作, 就显得结
构复杂、成本较高、冲击振动较大且故障率高。而采用
弧面凸轮作为驱动机构的机械手, 结构简单、成本低、
使用平稳可靠且无冲击振动, 属于自动化领域的新型
机械传动机械手。
1 　弧面凸轮机械手的机构设计
图1 所示为直动型弧面凸轮机械手的机构结构简
图,由两组弧面凸轮—连杆组合机构分别实现X 、Y 方
向的输出运动。机械手在提升弧面凸轮2 的控制下做
升降运动,实现抓放工件(或其它工作) ;在水平弧面凸
轮1 的控制下做水平运动,实现工作目标或工作行程。
图2 所示为机械手手臂即输出轴的运动轨迹,其中1、
2、4、5 部分是升降运动,其高度为机械手的竖直行程;
3、6 部分为水平运动, 其距离为机械手的水平行程。
这两个方向的运动需精确配合, 才可实现输出端“门”
字形或倒U 形运动轨迹。
1. 水平弧面凸轮　2. 提升弧面凸轮
图1 　直动型弧面凸轮机械手的机构结构简图
为了使直动型弧面凸轮机械手机构的设计合理、
图2 　运动轨迹示意图
准确、快速,对其进行了计算
机辅助设计。先建立数学模
型,然后输入基本参数(基本
参数为运动周期T、承载能
力P、水平行程X 和竖直行
程Y) ,由计算机进行数值计
算和逻辑判断这两项烦琐的
任务,直至设计结果满意为止,设计流程框图如图3 所
示。其主要内容有:
图3 　设计流程框图
(1) 确定基本参数。在
给定机械手运动周期T、承
载能力P、水平行程X 和竖
直行程Y 等基本参数的条件
下,初步选取结构参数。
(2) 根据基本参数,确定
机械手的运动循环图。如图
4 所示。并确定连杆的尺
寸。
(3) 设计弧面凸轮机构
　　由图1 可知, 输入轴上
固定有水平弧面凸轮和提升
弧面凸轮。水平弧面凸轮和
提升弧面凸轮分别与水平从
动盘和提升从动盘上的带柄
滚动轴承相啮合, 滚动轴承
的轴线沿从动盘径向分布。靠弧面凸轮轮廓面推动从
动盘上的滚动轴承,来实现从动盘有规律的摆动,从而
实现输出手臂在水平和竖直方向的运动。
应用文献[1 ]开发的凸轮连杆机构CAD 软件系统
Camlink ,顺序调用运动循环图、运动规律等设计模块
即可完成对该弧面凸轮机构的设计。
2 　弧面凸轮机械手的结构设计
应用以上机构设计结果对弧面凸轮机械手进行了
第30卷　第1期　　　　　　　　　　　直动型弧面凸轮机械手的机构与结构设计　　　　　　　　　　　　　　　　　4　7 　
结构设计,其整机结构如图5 所示。包括箱体以及设
置在箱体内的输入轴,输入轴上固定有水平弧面凸轮
图4 　机械手的运动循环图
1. 箱体　2. 油管　3. 水平摆臂　4. 水平从动盘　5. 水平从动
轴　6. 带柄滚动轴承　7. 顶盖　8. 水平弧面凸轮　9. 输入轴
10. 提升弧面凸轮　11. 提升从动轴　12. 提升从动盘　13. 提升
摆臂　14. 导杆　15. 连杆　16. 端盖　17. 挡油板　18. 输出臂
19. 滑块　20. 轴承　21. 润滑油泵
图5 　弧面凸轮机械手整机结构
和提升弧面凸轮,水平弧面凸轮和提升弧面凸轮的下
端还设置有水平从动盘和提升从动盘, 水平从动盘和
提升从动盘分别通过带柄滚动轴承与水平弧面凸轮及
提升弧面凸轮相啮合,水平从动盘通过水平摆臂与输
出臂滑动联接,在输出臂上还套装有可滑动的滑块,滑
块同时还套装在导杆上, 提升从动盘通过提升摆臂和
连杆与滑块铰接。水平弧面凸轮和提升弧面凸轮随输
入轴做匀速转动,并通过带柄滚动轴承、水平从动盘及
水平摆臂驱动输出臂作水平方向的往复直线运动。提
升弧面凸轮通过带柄滚动轴承驱动摆臂再通过连杆带
动滑块,从而带动输出臂作竖直方向的往复直线运动。
输出臂的水平方向和竖直方向行程在一定范围内
可调, 采用PLC 对其进行控制, 可控制其停留位置及
时间。
该机构在装配时可通过微调中心距来实现预紧,
使机构实现无间隙啮合。
该设计填补了国内空白, 并对国外同类产品有所
改进,已获国家专利,专利号为ZL 2004200415567
3 　结语
弧面凸轮机械手以多点啮合、滚动摩擦,故是一种
高效、节能的自动化装置,有着广阔的发展前景。其设
计和制造在国内尚属研究阶段, 有待进一步扩展、深
入,以达到能制造出系列化、标准化的产品。
参考文献
1 　葛正浩. 凸轮连杆机构系统模块化设计及应用研究〔博士学位论
文〕. 西安:西安理工大学,2001
2 　彭国勋,肖正扬. 自动机械的凸轮机构设计. 北京:机械工业出版社,
1990
3 　D.M. Tsay ,H.M. Wei . . A general Approach to the Determination of Planar
and Spacial Cam Profiles. Trans. ASME ,J . of Mech. Des. ,1996 ,118 :259～
265
可以做成弧线形或直线与弧线的组合,或者将柔轮与
刚轮相接触的工作部分设计为具有弧线形或直线与弧
线的组合形状的分离零件。
5) 对所设计的无级变速谐波传动的传动比计算
表明,无级变速谐波传动能实现很大的变速比。要求
无级变速谐波传动所能实现的最大传动比越大,对刚
轮、柔轮尺寸加工精度的要求越高。
参考文献
1 　周有强主编. 机械无级变速器. 北京:机械工业出版社,2001
2 　伊万诺夫著,沈允文等译. 谐波齿轮传动. 北京:国防工业出版社,
1987
3 　辛洪兵. 研究谐波齿轮传动啮合原理的一种新方法. 中国机械工程,
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