CN105881524A - Robot with small arm provided with execution terminal with fixed rotation angle - Google Patents
Robot with small arm provided with execution terminal with fixed rotation angle Download PDFInfo
- Publication number
- CN105881524A CN105881524A CN201610370513.0A CN201610370513A CN105881524A CN 105881524 A CN105881524 A CN 105881524A CN 201610370513 A CN201610370513 A CN 201610370513A CN 105881524 A CN105881524 A CN 105881524A
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- Prior art keywords
- gear
- pair
- block
- brake
- holder
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- 230000007246 mechanism Effects 0.000 claims abstract description 138
- 210000000245 forearm Anatomy 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 24
- 235000012364 Peperomia pellucida Nutrition 0.000 claims description 14
- 240000007711 Peperomia pellucida Species 0.000 claims description 14
- 238000013519 translation Methods 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 230000014616 translation Effects 0.000 description 11
- 230000007423 decrease Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/18—Means for removing cut-out material or waste
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot with a small arm provided with an execution terminal with a fixed rotation angle. An extension arm capable of swinging is arranged on the small arm of the robot, and the execution terminal capable of rotating is installed on the swinging arm; the execution terminal comprises a connecting arm installed on a swinging mechanism, a shell arranged on the connecting arm, a driving mechanism installed inside the shell and a rotating block connected to the driving mechanism; the rotating block is provided with a pair of suction cups, and the driving mechanism can accurately drive the rotating block to rotate by a certain fixed angle each time. The robot is used for PCB cutting machines and can guarantee that the suction cups accurately rotate by 180 degrees.
Description
Technical field
The present invention relates to robotics, be provided with the fixing anglec of rotation in particular to a kind of forearm and perform
The robot of end.
Background technology
The utility model of Application No. CN201520484088.9 discloses a kind of mechanical hand by robot and picks and places material
Pcb board guillotine, wherein, the mechanical hand of robot sets two sucker groups, and sucker group is drawn by vac sorb mode
Pcb board and waste material.Said two sucker group can carry out 180 degree of rotations, to facilitate two sucker groups to pick and place pcb board
Or waste material is to corresponding station.
Robot in above-mentioned utility model can use the application for a patent for invention institute of Application No. CN201210566463.5
The light-duty six axle all-purpose robots of one stated, wherein, axle bed is fixed on arm axle, and axle bed is fixed with axle bed guard box,
Three-axis drive motor, the 4th axis drive motor, the 5th axis drive motor and the 6th axis drive motor are placed in axle bed protection
In case；Before and after forearm rod shell and forearm extension bar housing are separately fixed at forearm decelerator, the 6th axle sleeve exists
In 5th axle, the 5th axle sleeve is in the 4th axle, and in the 4th axle, sleeve is at forearm rod shell, forearm decelerator and forearm
In extension bar housing, the 4th axle, the 5th axle and the 6th axle are respectively fixed with the 4th axle driven gear, the 5th axle driven
Gear and the 6th axle driven gear.
Summary of the invention
Technical problem solved by the invention: first, robot of the prior art, its forearm is only capable of ordering about and is arranged on
The execution end of forearm end rotates, it is difficult to meet the demand of practical operation；Second, by the machine of robot
Tool hands picks and places the pcb board guillotine of material, installs two suckers on a robotic arm and rotates 180 degree the most exactly.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of forearm is provided with the fixing anglec of rotation
Perform the robot of end, the waist rotation member including base body, being articulated on base body, be articulated on waist rotation member
Large arm, the forearm being articulated in large arm, the adjutage being arranged on forearm, the execution end that is arranged on adjutage,
Waist rotation member rotates around base body, and large arm rotates around waist rotation member, and forearm rotates around large arm；
Described adjutage includes fixing the stake body connecting forearm, the first telescoping mechanism and second being arranged on stake body
Telescoping mechanism, the swing mechanism being hinged on the first telescoping mechanism, the swing Guiding machine that is fixed on the second telescoping mechanism
Structure；Being articulated with gear wheel, the second middle gear, the first little gear, power transmission shaft on described stake body, described power transmission shaft erects
Straight arranging and couple with the power set being arranged on stake body, described gear wheel is fixed on power transmission shaft, gear wheel and
Second middle gear engagement, the second middle gear and the engagement of the first little gear；Described first telescoping mechanism includes being fixedly installed
First stud, the centre of described first little gear offers the screwed hole being spirally connected with the first stud；Described second telescopic machine
Structure includes that the second stud being fixedly installed, the centre of described second middle gear offer the screwed hole being spirally connected with the second stud；
Stake body is provided with the flexible guide post guided to the first telescoping mechanism and the second telescoping mechanism；Described oscillating machine
Structure includes the second power set that the first axle be arrangeding in parallel and the second axle and the first axle couple, described swing Guiding machine
Structure include linear gathering sill, be arranged on linear gathering sill end and the sector-like guide groove connected with linear gathering sill,
It is arranged on linear gathering sill end and a pair scalable guide post being connected with linear gathering sill；Described second axle leads to
Crossing connecting rod hinged with the first telescoping mechanism, the first axle and the second axle are slidably fitted in linear gathering sill, the first axle
With the fan-shaped radius value that the distance value of the second axle is equal to sector-like guide groove, described second power set are for driving the first axle
Swinging in sector-like guide groove, the second power set are slidably mounted on swing guiding mechanism；
Described execution end includes the linking arm being arranged on swing mechanism, arranges housing on the connecting arm, is arranged on
The spill spin block that drive mechanism in housing is connected with drive mechanism；Described drive mechanism drives spill spin block to rotate；Described
Drive mechanism includes rotary components, latch components, driving assembly；Described rotary components includes rotating seat, fixing sheathed
Brake disc and the second gear in rotating seat periphery；Described spill spin block is fixing connects rotating seat；Described latch components includes
The basal disc being fixedly installed in housing, a pair brake(-holder) block being arranged on basal disc, the unblock that is slidably arranged on basal disc are sliding
Block；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, and one end of a pair brake(-holder) block is hinged and the other end
Elastic connection；Solution lock slide is provided with a pair and slides bar, and a pair slide slot is offered in one end of a pair brake(-holder) block elasticity connection,
Slide slot is bending, and a pair slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot；
The annulus that described driving assembly includes being driven by driving means and rotates, the centrage deviation rotating seat that annulus rotates rotates
Centrage, the medial wall of annulus is provided with tooth section and unlocked state, and unlocked state includes a trip lever, described unblock
Slide block offers the gathering sill of S-shaped.
By technique scheme, a kind of forearm of the present invention is provided with the robot of fixing anglec of rotation execution end
Operation principle is as follows:
First, in adjutage, power set drive power transmission shaft to rotate, and power transmission shaft drives gear wheel to rotate, canine tooth wheel driving
Dynamic second middle gear rotates, and the second middle gear drives the first little gear to rotate；Described second middle gear drives the second stud
Declining, the second stud drives the second telescoping mechanism to decline, and described first little gear drives the first stud to rise, the first spiral shell
Cornice moves the first telescoping mechanism and rises；First telescoping mechanism drives swing mechanism to rise, and the second telescoping mechanism drives and swings
Guiding mechanism declines, and first the first axle and the second axle slide in linear gathering sill, and afterwards, the first axle can at a pair
Sliding between flexible guide post, until the first axle is against on the sidewall of sector-like guide groove, now, the second axle is still at straight line
In shape gathering sill；Afterwards, a pair scalable guide post is retracted and is swung in guiding mechanism, and the first axle can be at sector-like guide groove
Interior swing；Afterwards, the second power set drive the first axle to swing in sector-like guide groove, are arranged on swing mechanism
Perform end to swing the most therewith.
Second, when robot is without using the oscillating function of adjutage, the second power set interrupt to the first axle conveying
Power；Afterwards, under the driving of power set, the first telescoping mechanism declines and the second telescoping mechanism rises, and second
Axle slides to reset in linear gathering sill, and the first axle moves to the direction resetted in sector-like guide groove, due to the
One axle has been made to swing in sector-like guide groove, therefore, and the first linear gathering sill of axle offset straight, but, the first axle can be tight
The pair of angled limit that against sector-like guide groove is returned to sector-like guide groove and the connectivity part of linear gathering sill, enters back into straight
Linear gathering sill；When the first axle and the second axle all enter linear gathering sill, swing mechanism is limited.
3rd, perform in end, the driving means in drive mechanism drives annulus to rotate, and annulus drives tooth section thereon
Rotate with unlocked state.In the trip lever being fixedly installed on annulus slips into gathering sill and order about solution lock slide to basal disc
Center translation time, the bar that slides for a pair solved on lock slide translates in a pair slide slot in man-to-man mode, due to
Slide slot is bending, therefore, and sliding bar for a pair and can order about a pair brake(-holder) block elasticity even to the translation of basal disc central line
The one end connect is opened, and so, rotating seat is changed into can freely be revolved by the initial state by a pair brake(-holder) block frictional damping
The state turned.No longer braking rotating seat synchronously with a pair brake(-holder) block, the tooth section on annulus medial wall, i.e. inside annulus
One section of tooth on wall, starts to engage with the second gear, and drives the second gear and be secured to the rotating seat rotation connected,
Rotating seat drives a pair sucker to rotate；When rotating seat rotates 180 degree, tooth section disengages with the second gear,
Meanwhile, trip lever and solve lock slide gathering sill disengage, owing to gathering sill is S-shaped, therefore, trip lever with lead
When groove disengages, solve lock slide and reset, slide bar a pair and reset therewith, one end of a pair brake(-holder) block elasticity connection
Reset the most therewith, a pair brake(-holder) block frictional damping brake disc again, and then braking rotating seat.
By technique scheme, the present invention has the following technical effect that the first, the first telescoping mechanism and second stretches
It is rapid, to improve work efficiency relative to the lifting action swinging guiding mechanism that the inverted running of mechanism makes swing mechanism；
The adverse movement of the second, the first telescoping mechanism and the second telescoping mechanism can elongate or shorten the length of adjutage, Jin Erla
Grow or shorten forearm and the total length of adjutage, to adapt to various operating mode；3rd, swing mechanism can be relative to swing guide
Make the swing of certain amplitude to mechanism, i.e. impart the function of little brachiocylloosis, to adapt to various operating mode；4th, this
Bright described drive mechanism can make two suckers on execution end rotate 180 degree exactly, in order to performs end accurate
Really pick and place material.
As the present invention a kind of explanation to adjutage, described stake body includes base, support plate；Described base is fixing to be set
Putting on forearm, described guide post is fixed on base, and described support plate is fixed on the top of guide post；Described gear wheel,
Second middle gear, the first little gear are articulated on support plate, and the top of described power transmission shaft is articulated on support plate, power transmission shaft
Bottom is articulated on base；Described first telescoping mechanism includes that first stretches chassis, a pair first telescopic block；Described
The first guiding slot port is offered on one chassis of stretching, and the first guiding slot port is slidably matched with guide post；The number of described first stud
Amount is two, and two the first studs are vertically arranged in first and stretch on chassis, and described support plate is offered a pair first through holes,
A pair first studs are through a pair first through holes；The quantity of described first little gear is two, two the first little gears with
Man-to-man mode is spirally connected with a pair first studs；The pair of first telescopic block is arranged on two in man-to-man mode
The top of the first stud, described swing mechanism is arranged on the top of a pair first telescopic block；Described second telescoping mechanism bag
Include second to stretch chassis, flexible dish；The second guiding slot port is offered on described second chassis of stretching, the second guiding slot port with lead
It is slidably matched to bar；The quantity of described second stud is two, and two the second studs are vertically arranged in second and stretch chassis
On, the second chassis of stretching is positioned at the first lower section stretching chassis；The second through hole is offered on described first chassis of stretching, described
Offering third through-hole on support plate, two the second studs are upward through the second through hole and third through-hole；Described second middle gear
Quantity be two, two the second middle gears are spirally connected with two the second studs in man-to-man mode, tooth in two second
Wheel all engages with gear wheel, and two the second middle gears engage with two the first little gears in man-to-man mode；Described stretch
Contracting dish is arranged on the top of the second stud, and described swing guiding mechanism is arranged on flexible dish；Offer on described flexible dish
Fourth hole, described first stud passes fourth hole, and described first telescopic block is positioned at the top of flexible dish.
As described above, described gear wheel drives a pair second middle gears being symmetrical set, a pair second middle gears
Drive a pair first little gears being symmetrical set.The pair of second middle gear drives a pair second studs to rise,
A pair second studs drive flexible dish to decline, and flexible dribbling is moved swing guiding mechanism mounted thereto and declined.Described one
First little gear drives a pair first studs rise, and a pair first studs drive a pair first telescopic block to rise, a pair
First telescopic block drives swing mechanism mounted thereto to rise.
As the present invention a kind of explanation to adjutage, described second middle gear includes the second gear part and the second gear
The second articulated section that portion is coaxially disposed；The centre of described second gear part and the second articulated section is provided with through second gear
Portion and the screwed hole of the second articulated section；Described second articulated section is articulated in the third through-hole of support plate；Described first little tooth
Wheel includes the first articulated section that the first gear part and the first gear part are coaxially disposed；Described first gear part and the first pivot
The centre meeting portion is provided with through first gear part and the screwed hole of the first articulated section；Described first articulated section is articulated in props up
In first through hole of plate.
As the present invention a kind of explanation to adjutage, described second stretches be vertically arranged with on chassis the 4th stud, the
Six studs, the 4th stud, the 6th stud be upward through first and stretch chassis and support plate, and described flexible dish is arranged on the 4th
Stud, the top of the 6th stud；The 4th middle gear, the 6th middle gear it is articulated with on described support plate, the 4th middle gear,
6th middle gear stretches between chassis at support plate and first, the centre of the 4th middle gear, the central authorities of the 6th middle gear
Place all offers screwed hole, and the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel,
6th stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.As described above, greatly
Gear, while driving a pair second middle gears to rotate, drives the 4th middle gear and the 6th middle gear to rotate, in the 4th
Gear and the 6th middle gear correspondingly drive the 4th stud and the lifting of the 6th stud, the 4th stud and the 6th stud and a pair
Second middle gear drives flexible dish to lift jointly.
As the present invention a kind of explanation to adjutage, described power set include being arranged on the worm gear bottom power transmission shaft,
The first servomotor that the worm screw engaged with worm gear couples with worm screw, worm screw is articulated on base, the first servomotor
It is arranged on base.As described above, rotating of power transmission shaft is driven by the worm and gear of the first driven by servomotor, by
Having good auto-lock function in worm and gear, therefore, swing mechanism of the present invention can be stablized in swing process
Rest on the optional position in space.
As the present invention a kind of explanation to adjutage, described swing mechanism includes pendular body, described first axle and second
Axle is fixed on pendular body, and pendular body is provided with the mounting flange connecting robot execution end；Described swing Guiding machine
Structure includes that the guide plate being fixed on flexible dish, described linear gathering sill and sector-like guide groove are opened on guide plate,
Described second power set are slidably mounted on guide plate.
Based on the above-mentioned explanation to adjutage, in adjutage, described second power set include being slidably mounted on guide plate
Go up and across the U-shaped slide block of linear gathering sill, the second servomotor being fixed on U-shaped slide block, one end and second
The second connecting rod that servo motor output shaft connects, it is arranged on the swing arm of the second connecting rod other end, swing arm and the
One axle is fixing to be connected, and the axial line of the second servo motor output shaft and the axial line of the second axle overlap.As described above,
In the first telescoping mechanism driving swing mechanism rising, the second telescoping mechanism drives during swinging guiding mechanism decline,
While first axle and the second axle rise along with swing mechanism, U-shaped slide block also rises along with swing mechanism；Specifically, lead
Being provided with line slideway to plate, U-shaped slide block offers the chute being slidably matched with line slideway.
Based on the above-mentioned explanation to adjutage, in adjutage, the pair of scalable guide post slides and is plugged in guide plate
In, the sidewall of scalable guide post is located at tooth bar, tooth bar is engaged with little gear, little gear and the 3rd servomotor connection
Connecing, the 3rd servomotor is fixed on guide plate；Under the driving of the 3rd servomotor, a pair scalable guide post can
Stretching in sector-like guide groove, the passage between a pair scalable guide post and linear gathering sill constitute a complete straight line
Shape guide channel.As described above, in a pair scalable guide post, every scalable guide post is equipped with tooth bar, little tooth
The rotation of wheel can drive the extended or retracted guide plate of tooth bar, the extended or retracted guide plate of the scalable guide post of rack drives；
Specifically, scalable guide post stretches out guide plate and i.e. stretches out the end of linear gathering sill, enters in sector-like guide groove,
It is that the first axle straight line entrance sector-like guide groove guides；When the first axle need to swing in sector-like guide groove, a pair can
Flexible guide post indentation guide plate, so, the first axle can swing in sector-like guide groove.
As the present invention a kind of explanation to adjutage, described stake body is enclosed with the first housing, the first housing and the end
Seat and the fixing connection of support plate；Being enclosed with the second housing on described flexible dish, the second housing is fixing with flexible dish to be connected, institute
State the first telescoping mechanism and the second telescoping mechanism is positioned at the second housing.
As the present invention to performing a kind of explanation of rotary components in end, described rotating seat is articulated on basal disc, rotates
Seat is provided with a pair location bar, and described spill spin block is by a pair location bar fixing connection rotating seat.
As the present invention to performing a kind of explanation of latch components in end, described basal disc is provided with a pillar, on pillar
It is provided with swivel pin；The pair of brake(-holder) block includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side,
The left end of the first brake(-holder) block and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the second system
The right-hand member of moving plate is connected by the first coil tension spring elasticity；The right-hand member of the first brake(-holder) block is provided with the first fore-set, the second braking
The right-hand member of sheet is provided with the second fore-set, the first fore-set and the second fore-set and is oppositely arranged, and the first fore-set and the second fore-set are positioned at
In one coil tension spring；Described first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block
Surround brake disc.As described above, the first coil tension spring has the trend making the first brake(-holder) block and the second brake(-holder) block close up,
The setting of the first fore-set and the second fore-set then has the effect stopping this kind of trend.
As the present invention to performing a kind of explanation of latch components in end, the pair of slide slot includes the first slide slot
With the second slide slot, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the second brake(-holder) block
Right-hand member, the first slide slot and the second slide slot be symmetrical set, and wherein, the first slide slot includes the first of connection
Linear type slide slot and the second linear type slide slot, the folder between the first linear type slide slot and the second linear type slide slot
Angle circle is between 90 degree and 180 degree.As described above, when solving lock slide and translating to the central line of basal disc,
A pair slided in a pair slide slot slides bar and has the right-hand member separation of right-hand member and the second brake(-holder) block making the first brake(-holder) block
Trend.
As the present invention to performing a kind of explanation of latch components in end, described solution lock slide is provided with a pair alignment pin,
The pair of alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, the right side of described first brake(-holder) block
End is provided with the first hole, location, and the right-hand member of the second brake(-holder) block is provided with the second hole, location, when the first fore-set and the second fore-set offset
Time, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location and second to be determined
In hole, position；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar is fixedly installed on first
The top of alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, and first slides the centrage and of bar
The central axis of one alignment pin.As described above, when trip lever promotes and solves lock slide to the center translation of basal disc,
First first slides bar translates in the first linear type slide slot, determines when the first alignment pin and the second alignment pin depart from first
When hole, position and the second hole, location, second slides bar just enters the second linear type slide slot, slides bar for a pair and brakes first
The right-hand member of sheet and the right-hand member of the second brake(-holder) block open；After trip lever is left away along with the rotation of annulus, solve lock slide multiple
Position, slides bar a pair and resets therewith, and the first alignment pin and the second alignment pin correspondingly insert the first hole, location and second to be determined
Hole, position, to lock a pair brake(-holder) block.
To latch components in execution end and a kind of explanation of interactive relationship, snap close group between assembly is driven as the present invention
In part, solve the gathering sill on lock slide and include the first arc guide groove of connection, the second arc guide groove, the 3rd arc
Gathering sill, wherein, the arc center of circle of the second arc guide groove is positioned on the centrage of annulus；Drive in assembly, described
Unlocked state includes being fixed on projection in the radial direction on annulus medial wall, be fixed on radially on projection and point to annulus circle
The radial bars of the heart；Described trip lever is arranged on the end of radial bars；Along with the rotation of annulus, trip lever is first slipped into
One arc guide groove, and order about the solution lock slide center translation to basal disc, meanwhile, the second gear starts to engage with tooth section,
Afterwards, trip lever enters the second arc guide groove, solves lock slide and keeps constant with the distance at basal disc center, afterwards, solves
Locking bar enter the 3rd arc guide groove, and order about solve lock slide to away from basal disc center direction translate, when trip lever take off
When three arc guide grooves, the second gear disengages with tooth section.As described above, on the premise of annulus rotates,
When trip lever moves in the first arc guide groove, trip lever i.e. promotes and solves the lock slide central line translation to basal disc,
During trip lever is mobile in the first arc guide groove, first first slides bar puts down in the first linear type slide slot
Moving, translate afterwards in the second linear type slide slot, the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member are separated from each other,
Synchronously, the first alignment pin and the second alignment pin are progressively extracted from the first hole, location and the second hole, location；Work as trip lever
When moving in the second arc guide groove, owing to the center of circle and the arc of the second arc guide groove of annulus is pointed in radial bars end
The shape center of circle is positioned on the centrage of annulus, therefore, when trip lever moves in the second arc guide groove, solves lock slide
Keep constant with the centre distance of annulus, and then, solve lock slide and keep constant with the distance at basal disc center, a pair braking
Sheet keeps open configuration, makes rotating seat rotate freely；When trip lever moves in the 3rd arc guide groove, trip lever
I.e. promoting solution lock slide to the direction rectilinear translation away from basal disc center, trip lever is movement in the 3rd arc guide groove
During, first slides bar is travelled in the first linear type slide slot by the second linear type slide slot, the first brake(-holder) block right-hand member
Mutually drawing close to lock brake disc with the second brake(-holder) block right-hand member, synchronously, the first alignment pin and the second alignment pin are progressively inserted
Enter the first hole, location and the second hole, location to lock the first brake(-holder) block and the second brake(-holder) block.In described above, work as trip lever
When moving in the first arc guide groove, the second gear engages with tooth section, when trip lever departs from and the 3rd arc guide groove
During contact, the second gear disengages with tooth section, comes into contact with to trip lever at trip lever and gathering sill and departs from and guide
Groove contacts, and the second gear drives rotating seat to rotate 180 degree, i.e. spill spin block rotates 180 degree.
As the present invention to performing to drive in end a kind of explanation of assembly, described annulus is articulated in housing, described in drive
Dynamic device includes the 3rd gear and the 3rd gear connection that the ring gear that fixed cover is located on annulus medial wall engages with ring gear
Connect and be arranged on the first motor in housing.As described above, the first motor drives the 3rd gear to rotate, the 3rd gear
By driving ring gear to drive annulus to rotate.
Accompanying drawing explanation
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation that a kind of forearm of the present invention is provided with that the fixing anglec of rotation performs the robot of end；
Fig. 2 is the structural representation of adjutage a in Fig. 1；
Fig. 3 is the structural representation after adjutage a conceals the first housing a66 and the second housing a67 in Fig. 2；
Fig. 4 is Fig. 3 medium-height trestle body a61, the signal of the combinative structure of the first telescoping mechanism a62, the second telescoping mechanism a63
Figure；
Fig. 5 be in Fig. 4 A-A to sectional view；
Fig. 6 is the assembling schematic diagram of the second middle gear a612 and support plate a617 in Fig. 5；
Fig. 7 is swing mechanism a64 and the combinative structure schematic diagram of swing guiding mechanism a65 in Fig. 3；
Fig. 8 is the structural representation swinging guiding mechanism a65 in Fig. 7；
Fig. 9 is the structural representation of swing mechanism a64 in Fig. 7；
Figure 10 is that in Fig. 7, the first axle a641 in swing mechanism a64 rises to swing fan-shaped in guiding mechanism a65 guiding
Operating diagram during groove a652 tip position；
Figure 11 be in Fig. 7 the first axle a641 in swing mechanism a64 swing guiding mechanism a65 sector-like guide groove
Operating diagram when swinging in a652；
Figure 12 is the structural representation performing end 50 (concealing spill spin block 53) in Fig. 1；
Figure 13 is the structural representation of drive mechanism 60 in Figure 12；
Figure 14 is the combinative structure schematic diagram of rotary components 61 and latch components 62 in Figure 13；
Figure 15 is the schematic diagram after the combinative structure of rotary components 61 and latch components 62 is cut in Figure 14；
Figure 16 is the structural representation solving lock slide 623 in Figure 15；
Figure 17 is the structural representation of brake(-holder) block 622 in Figure 15；
Figure 18 is the structural representation driving assembly 63 in Figure 13.
Symbol description in figure:
10, base body；20, waist rotation member；30, large arm；40, forearm；50, end is performed；51, linking arm；
52, housing；53, spill spin block；60, drive mechanism；61, rotary components；611, rotating seat；612, brake disc；
613, the second gear；614, location bar；62, latch components；621, basal disc；622, brake(-holder) block；6221,
One coil tension spring；6222, hole, location；623, lock slide is solved；6230, gathering sill；6231, the first arc guide groove；
6232, the second arc guide groove；6233, the 3rd arc guide groove；624, bar is slided；626, pillar；627, fixed
Position pin；629, slide slot；6291, the first linear type slide slot；6292, the second linear type slide slot；63, drive
Assembly；631, annulus；632, tooth section；633, unlocked state；6331, trip lever；635, ring gear；636,
Three gears；637, interior projection；638, radial bars；
A, adjutage；A61, stake body；A611, gear wheel；A612, the second middle gear；A6121, the second gear
Portion；A6122, the second articulated section；A6123, screwed hole；A613, the first little gear；A614, power transmission shaft；a615、
Guide post；A616, base；A617, support plate；A618, the 4th middle gear；A619, the 6th middle gear；A62,
One telescoping mechanism；A621, the first stud；A623, first stretch chassis；A624, the first telescopic block；A626,
One guiding slot port；A63, the second telescoping mechanism；A631, the second stud；A633, second stretch chassis；A634, stretch
Contracting dish；A636, the second guiding slot port；A637, the 4th stud；A638, the 6th stud；A64, swing mechanism；a640、
Pendular body；A641, the first axle；A642, the second axle；A643, connecting rod；A644, mounting flange；A646, U-shaped
Slide block；A647, the second servomotor；A648, swing arm；A65, swing guiding mechanism；A650, guide plate；a651、
Linear gathering sill；A652, sector-like guide groove；A653, scalable guide post；A654, tooth bar；A655, little tooth
Wheel；A656, the 3rd servomotor；A66, the first housing；A67, the second housing.
Detailed description of the invention
Such as Fig. 1, a kind of forearm is provided with the fixing anglec of rotation and performs the robot of end, including base body 10, pivot joint
Waist rotation member 20 on base body, the large arm 30 being articulated on waist rotation member, the forearm 40 being articulated in large arm, peace
The adjutage a being contained on forearm, the execution end 50 being arranged on adjutage, waist rotation member rotates around base body, greatly
Arm rotates around waist rotation member, and forearm rotates around large arm.
In conjunction with Fig. 2 to Figure 11, described adjutage includes the stake body a61 of fixing connection forearm, is arranged on stake body
The first telescoping mechanism a62 and the second telescoping mechanism a63, the swing mechanism a64 being hinged on the first telescoping mechanism, solid
The swing guiding mechanism a65 being scheduled on the second telescoping mechanism.Gear wheel a611 it is articulated with, in second on described stake body
Gear a612, the first little gear a613, power transmission shaft a614, described power transmission shaft be vertically arranged and be arranged on stake body
Power set couple, described gear wheel is fixed on power transmission shaft, and gear wheel and the second middle gear engage, tooth in second
Wheel engages with the first little gear.Described first telescoping mechanism includes the first stud a621 being fixedly installed, described first little
The centre of gear offers the screwed hole being spirally connected with the first stud.Described second telescoping mechanism includes second be fixedly installed
Stud a631, the centre of described second middle gear offers the screwed hole being spirally connected with the second stud.Stake body is provided with right
First telescoping mechanism and the flexible guide post a615 carrying out guiding of the second telescoping mechanism.Described swing mechanism includes parallel
The second power set that the first axle a641 arranged and the second axle a642 and the first axle couple, described swing guiding mechanism
Including linear gathering sill a651, it is arranged on linear gathering sill end and the fan-shaped guiding connected with linear gathering sill
Groove a652, it is arranged on linear gathering sill end and a pair scalable guide post a653 being connected with linear gathering sill.
Described second axle is hinged by connecting rod a643 and the first telescoping mechanism, and the first axle and the second axle are slidably fitted in linear
In gathering sill, the distance value of the first axle and the second axle is equal to the fan-shaped radius value of sector-like guide groove, described second power dress
Putting for driving the first axle to swing in sector-like guide groove, the second power set are slidably mounted on swing guiding mechanism.
In adjutage a, described stake body includes base a616, support plate a617.Described base is fixedly installed on forearm,
Described guide post a615 is fixed on base, and described support plate is fixed on the top of guide post.Described gear wheel a611,
Two middle gear a612, the first little gear a613 are articulated on support plate, and the top of described power transmission shaft a614 is articulated in support plate
On, the bottom of power transmission shaft is articulated on base.Described first telescoping mechanism include first stretch chassis a623, a pair
One telescopic block a624；The first guiding slot port a626 is offered on described first chassis of stretching, and the first guiding slot port is sliding with guide post
Dynamic cooperation.The quantity of described first stud a621 is two, and two the first studs are vertically arranged in first and stretch on chassis,
Offering a pair first through holes on described support plate, a pair first studs are through a pair first through holes.Described first little gear
Quantity is two, and two the first little gears are spirally connected with a pair first studs in man-to-man mode；The pair of first stretches
Contracting block is arranged on the top of two the first studs in man-to-man mode, and described swing mechanism is arranged on a pair first and stretches
The top of block；Described second telescoping mechanism includes that second stretches chassis a633, flexible dish a634.Described second stretches at the end
The second guiding slot port a636 offered by dish, and the second guiding slot port is slidably matched with guide post；The number of described second stud a631
Amount is two, and two the second studs are vertically arranged in second and stretch on chassis, and the second chassis of stretching is positioned at first and stretches at the end
The lower section of dish；The second through hole is offered on described first chassis of stretching, and described support plate offers third through-hole, two the second spiral shells
Post is upward through the second through hole and third through-hole；The quantity of described second middle gear a612 is two, tooth in two second
Wheel is spirally connected with two the second studs in man-to-man mode, and two the second middle gears all engage with gear wheel, two second
Middle gear engages with two the first little gears in man-to-man mode.Described flexible dish is arranged on the top of the second stud,
Described swing guiding mechanism is arranged on flexible dish.Offering fourth hole on described flexible dish, described first stud passes
Fourth hole, described first telescopic block is positioned at the top of flexible dish.
In adjutage a, described second middle gear a612 includes that the second gear part a6121 and the second gear part coaxially set
The the second articulated section a6122 put；The centre of described second gear part and the second articulated section be provided with through second gear part and
The screwed hole a6123 of the second articulated section；Described second articulated section is articulated in the third through-hole of support plate a617.Described
One little gear a613 includes the first articulated section that the first gear part and the first gear part are coaxially disposed；Described first gear
The centre of portion and the first articulated section is provided with through first gear part and the screwed hole of the first articulated section；Described first pivot joint
Portion is articulated in first through hole of support plate a617.
In adjutage a, described stake body a61 is enclosed with the first housing a66, the first housing and base a614 and props up
Plate a615 is fixing to be connected；Being enclosed with the second housing a67 on described flexible dish a634, the second housing is fixing with flexible dish even
Connecing, described first telescoping mechanism a62 and the second telescoping mechanism a63 is positioned at the second housing.
In adjutage a, described second stretches is vertically arranged with the 4th stud a637, the 6th stud a638 on the a633 of chassis,
4th stud, the 6th stud be upward through first stretch chassis a623 and support plate a617, described flexible dish a634 install
At the 4th stud, the top of the 6th stud；The 4th middle gear a618, the 6th middle gear a619 it is articulated with on described support plate,
4th middle gear, the 6th middle gear stretch between chassis at support plate and first, the centre of the 4th middle gear, the 6th
The centre of middle gear all offers screwed hole, and the 4th stud is screwed onto in the screwed hole of the 4th middle gear, the 4th middle gear
Engaging with gear wheel a611, the 6th stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear is nibbled with gear wheel
Close.
In adjutage a, described power set include that being arranged on the worm gear a661 bottom power transmission shaft a614 engages with worm gear
The first servomotor a663 of coupling with worm screw of worm screw a662, worm screw is articulated on base, the first servomotor peace
It is contained on base.
In adjutage a, described swing mechanism a64 includes pendular body a640, described first axle a641 and the second axle a642
Being fixed on pendular body, pendular body is provided with the mounting flange a644 connecting robot execution end；Described swing guides
Mechanism a65 includes that the guide plate a650 being fixed on flexible dish a634, described linear gathering sill a651 and sector lead
Being opened on guide plate to groove a652, described second power set are slidably mounted on guide plate.
In adjutage a, described second power set include being slidably mounted on guide plate a650 and guide across linear
The U-shaped slide block a646 of groove a651, the second servomotor a647 being fixed on U-shaped slide block, one end and the second servo
The second connecting rod that motor output shaft connects, it is arranged on the swing arm a648 of the second connecting rod other end, swing arm and the
One axle a641 is fixing to be connected, and the axial line of the second servo motor output shaft and the axial line of the second axle overlap.
In adjutage a, the pair of scalable guide post a653 slides and is plugged in guide plate a650, scalable leads
Being located at tooth bar a654 on the sidewall of bar, tooth bar is engaged with little gear a655, little gear and the 3rd servomotor a656
Coupling, the 3rd servomotor is fixed on guide plate；Under the driving of the 3rd servomotor, a pair scalable guide post
Can stretch in sector-like guide groove a652, the passage between a pair scalable guide post is constituted with linear gathering sill a651
One complete linear guide channel.
In conjunction with Figure 12 to Figure 18, described execution end 50 includes the linking arm 51 being arranged on swing mechanism, is arranged on
The spill spin block 53 that housing 52 on linking arm, the drive mechanism 60 being arranged in housing are connected with drive mechanism.Described
Drive mechanism drives spill spin block to rotate；Described drive mechanism includes rotary components 61, latch components 62, drives assembly 63；
Described rotary components includes that rotating seat 611, fixed cover are located at the peripheral brake disc 612 of rotating seat and the second gear 613；
Described spill spin block is fixing connects rotating seat；Described latch components includes the basal disc 621 being fixedly installed in housing, is arranged on
A pair brake(-holder) block 622 on basal disc, the solution lock slide 623 being slidably arranged on basal disc；The pair of brake(-holder) block left and right is right
Claiming the periphery being arranged on brake disc, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Solve lock slide to be provided with
Sliding bar 624 for a pair, a pair slide slot 629 is offered in one end of a pair brake(-holder) block elasticity connection, and slide slot is bending,
A pair slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot；Described driving assembly includes
The annulus 631 driven by driving means and rotate, the centrage that the centrage deviation rotating seat that annulus rotates rotates, annulus
Medial wall be provided with tooth section 632 and unlocked state 633, unlocked state includes a trip lever 6331, described unlock sliding
Block offers the gathering sill 6230 of S-shaped.
Performing in end 50, described rotating seat 611 is articulated on basal disc 621, and rotating seat is provided with a pair location bar 614,
Described spill spin block 53 is by a pair location bar fixing connection rotating seat.
Performing in end 50, described basal disc 621 is provided with a pillar 626, and pillar is provided with swivel pin；The pair of
Brake(-holder) block 622 includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block
Being hinged on swivel pin with the left end of the second brake(-holder) block, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are by the
One coil tension spring elastic 6221 connects；The right-hand member of the first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are positioned at the first coil tension spring；
Described first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc 612.
The pair of slide slot 629 includes the first slide slot and the second slide slot, and the first slide slot is opened in the first brake(-holder) block
Right-hand member, the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot and the second slide slot and is symmetrical set,
Wherein, the first slide slot include connection the first linear type slide slot 6291 and the second linear type slide slot 6292, first
Angle circle between linear type slide slot and the second linear type slide slot is between 90 degree and 180 degree.
Performing in end 50, described solution lock slide 623 is provided with a pair alignment pin 627, and the pair of alignment pin includes
The first alignment pin being symmetrical set and the second alignment pin, the right-hand member of described first brake(-holder) block is provided with the first hole, location
6222, the right-hand member of the second brake(-holder) block is provided with the second hole, location, when the first fore-set and the second fore-set offset, and the solution of translation
The first alignment pin and the second alignment pin on lock slide can correspondingly insert in the first hole, location and the second hole, location；Described
Sliding bar for a pair and include that first slides bar and second and slide bar, first slides bar is fixedly installed on the top of the first alignment pin,
Second slides bar is fixedly installed on the top of the second alignment pin, and first slides centrage and the center of the first alignment pin of bar
Line is vertical.
Perform in end 50, solve the gathering sill 6230 on lock slide 623 include connection the first arc guide groove 6231,
Second arc guide groove the 6232, the 3rd arc guide groove 6233, wherein, the arc center of circle of the second arc guide groove is positioned at
On the centrage of annulus 631；Driving in assembly 63, described unlocked state 633 includes being fixed on annulus 631 medial wall
On radial direction in projection 637, be fixed in radially on projection and point to the radial bars 638 in the annulus center of circle；Described trip lever
6331 ends being arranged on radial bars；Along with the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drives
Making solution lock slide to the center translation of basal disc 621, meanwhile, the second gear 613 starts to engage with tooth section 632, afterwards,
Trip lever enters the second arc guide groove, solves lock slide and keeps constant with the distance at basal disc center, and afterwards, trip lever enters
Enter the 3rd arc guide groove, and order about and solve lock slide and translate to the direction away from basal disc center, when trip lever departs from the 3rd
During arc guide groove, the second gear disengages with tooth section.
Performing in end 50, described annulus 631 is articulated in housing 52, and described driving means includes that fixed cover is located at
The 3rd gear 636 that ring gear 635 on annulus medial wall engages with ring gear couples with the 3rd gear and is arranged on housing
The first interior motor.
In practical operation, a kind of forearm of the present invention is provided with the work that the fixing anglec of rotation performs the robot of end
Flow process is as follows:
First, in adjutage a, power set drive power transmission shaft a614 to rotate, and power transmission shaft drives gear wheel a611 rotation
Turning, gear wheel drives the second middle gear a612 to rotate, and the second middle gear drives the first little gear a613 to rotate；Described
Second middle gear a612 drives the second stud a631 to decline, and the second stud drives the second telescoping mechanism a63 to decline, institute
Stating the first little gear a613 drives the first stud a621 to rise, and the first stud drives the first telescoping mechanism a62 to rise；
First telescoping mechanism drives swing mechanism a64 to rise, and the second telescoping mechanism a63 drives and swings guiding mechanism a65 decline；
First first axle a641 and the second axle a642 slides in linear gathering sill a651, and afterwards, the first axle can at a pair
Slide between flexible guide post a653, until the first axle a641 is against on the sidewall of sector-like guide groove a652, now,
Second axle a642 is still in linear gathering sill a651；Afterwards, a pair scalable guide post a653 retracts to swing and guides
In mechanism a65, the first axle a641 can swing in sector-like guide groove a652；Afterwards, the second power set drive the
One axle a641 swings in sector-like guide groove a652, and the robot being arranged on swing mechanism a64 also performs end 50
Swing therewith.
Second, when robot is without using the oscillating function of adjutage a, the second power set interrupt to the first axle a641
The power of conveying；Afterwards, under the driving of power set, the first telescoping mechanism a62 declines and the second telescoping mechanism a63
Rising, the second axle a642 slides to reset in linear gathering sill a651, and the first axle a641 is at sector-like guide groove a652
The interior direction to reset is moved, owing to the first axle a641 has made to swing in sector-like guide groove a652, therefore, and first
Axle a641 offset straight linear gathering sill a651, but, the first axle a641 can be close to a pair of sector-like guide groove a652
Inclined side is returned to sector-like guide groove a652 and the connectivity part of linear gathering sill a651, enters back into linear gathering sill
a651；When the first axle a641 and the second axle a642 all enters linear gathering sill a651, swing mechanism a64 is limited
Position.
3rd, perform in end 50, the driving means in drive mechanism 60 drives annulus 631 to rotate, and annulus drives
Tooth section 632 thereon and unlocked state 633 rotate.Lead when the trip lever 6331 being fixedly installed on annulus 631 slips into
In groove 6230 and order about solution lock slide 623 when the center translation of basal disc 621, solve and slide bar a pair on lock slide
624 translate in a pair slide slot in man-to-man mode, owing to slide slot 629 is in bending, therefore, to basal disc
The sliding bar 624 for a pair and can order about the elastic one end connected of a pair brake(-holder) block 622 and open of 621 central line translations, so,
Rotating seat 611 is changed into rotatable state by the initial state by a pair brake(-holder) block frictional damping.With a pair
Brake(-holder) block 622 no longer brakes rotating seat 611 synchronously, the tooth section 632 on annulus 631 medial wall, i.e. annulus medial wall
On one section of tooth, start to engage with the second gear 613, and drive the second gear and be secured to connect rotating seat 611
Rotating, rotating seat drives a pair sucker to rotate；When rotating seat 611 rotates 180 degree, tooth section 632 and second
Gear 613 disengages, and meanwhile, trip lever 6331 and the gathering sill 6230 solving lock slide disengage, owing to leading
S-shaped to groove, therefore, when trip lever 6331 and gathering sill disengage, solve lock slide 623 and reset, slide for a pair
Bar 624 resets therewith, and a pair elastic one end connected of brake(-holder) block 622 resets the most therewith, and a pair brake(-holder) block rubs again
Braking brake disc 612, and then braking rotating seat 611.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, it is right that this specification content should not be construed as
The restriction of the present invention.
Claims (10)
1. forearm is provided with the fixing anglec of rotation and performs a robot for end, including base body (10), is articulated in the end
Waist rotation member (20) on pedestal, the large arm (30) being articulated on waist rotation member, the forearm (40) being articulated in large arm,
The adjutage (a) being arranged on forearm, the execution end (50) being arranged on adjutage, waist rotation member turns around base body
Dynamic, large arm rotates around waist rotation member, and forearm rotates around large arm；It is characterized in that:
Described adjutage includes fixing the stake body (a61) connecting forearm, the first telescoping mechanism being arranged on stake body
(a62) and the second telescoping mechanism (a63), the swing mechanism (a64) being hinged on the first telescoping mechanism, it is fixed on
Swing guiding mechanism (a65) on two telescoping mechanisms；Gear wheel (a611), tooth in second it is articulated with on described stake body
Wheel (a612), the first little gear (a613), power transmission shaft (a614), described power transmission shaft is vertically arranged and props up with being arranged on
Power set on support body couple, and described gear wheel is fixed on power transmission shaft, gear wheel and the engagement of the second middle gear, and second
Middle gear and the engagement of the first little gear；Described first telescoping mechanism includes the first stud (a621) being fixedly installed, described
The centre of the first little gear offers the screwed hole being spirally connected with the first stud；Described second telescoping mechanism includes being fixedly installed
Second stud (a631), the centre of described second middle gear offers the screwed hole being spirally connected with the second stud；On stake body
It is provided with the flexible guide post (a615) guided to the first telescoping mechanism and the second telescoping mechanism；Described swing mechanism
The second power set coupled with the first axle including the first axle (a641) be arrangeding in parallel and the second axle (a642), institute
State swing guiding mechanism to include linear gathering sill (a651), be arranged on linear gathering sill end and guide with linear
The sector-like guide groove (a652) of groove connection, it is arranged on linear gathering sill end and a pair be connected with linear gathering sill
Scalable guide post (a653)；Described second axle is hinged with the first telescoping mechanism by connecting rod (a643), the first axle
Being slidably fitted in linear gathering sill with the second axle, the distance value of the first axle and the second axle is equal to the sector of sector-like guide groove
Radius value, described second power set are for driving the first axle to swing in sector-like guide groove, and the second power set slide and pacify
It is contained on swing guiding mechanism；
Linking arm (51) that described execution end includes being arranged on swing mechanism, arrange housing (52) on the connecting arm,
The spill spin block (53) that the drive mechanism (60) being arranged in housing is connected with drive mechanism；Described drive mechanism drives rotation
Switch block rotates；Described drive mechanism includes rotary components (61), latch components (62), drives assembly (63)；Described
Rotary components includes that rotating seat (611), fixed cover are located at the peripheral brake disc (612) of rotating seat and the second gear (613)；
Described spill spin block is fixing connects rotating seat；Described latch components includes the basal disc (621) being fixedly installed in housing, installs
A pair brake(-holder) block (622) on basal disc, the solution lock slide (623) being slidably arranged on basal disc；The pair of brake(-holder) block
Being symmetrical set the periphery in brake disc, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Solve on lock slide
Being provided with a pair and slide bar (624), a pair slide slot (629) is offered in one end that a pair brake(-holder) block elasticity connects, slide slot in
Bending, a pair slide slot is symmetrical set, and slides bar for a pair and is slidably fitted in a pair slide slot；Described driving group
The annulus (631) that part includes being driven by driving means and rotates, the center that the centrage deviation rotating seat that annulus rotates rotates
Line, the medial wall of annulus is provided with tooth section (632) and unlocked state (633), and unlocked state includes a trip lever (6331),
Described solution lock slide offers the gathering sill (6230) of S-shaped.
A kind of forearm the most as claimed in claim 1 is provided with the fixing anglec of rotation and performs the robot of end, its feature
Being: in adjutage (a), described stake body includes base (a616), support plate (a617)；Described base is fixing to be set
Putting on forearm, described guide post (a615) is fixed on base, and described support plate is fixed on the top of guide post；Described
Gear wheel (a611), the second middle gear (a612), the first little gear (a613) are articulated on support plate, described power transmission shaft
(a614) top is articulated on support plate, and the bottom of power transmission shaft is articulated on base；
Described first telescoping mechanism includes that first stretches chassis (a623), a pair first telescopic block (a624)；Described first
The first guiding slot port (a626) is offered on flexible chassis, and the first guiding slot port is slidably matched with guide post；Described first stud
(a621) quantity is two, and two the first studs are vertically arranged in first and stretch on chassis, and described support plate offers one
To the first through hole, a pair first studs are through a pair first through holes；The quantity of described first little gear is two, two
One little gear is spirally connected with a pair first studs in man-to-man mode；The pair of first telescopic block is pacified in man-to-man mode
Being contained in the top of two the first studs, described swing mechanism is arranged on the top of a pair first telescopic block；
Described second telescoping mechanism includes that second stretches chassis (a633), flexible dish (a634)；Described second stretches chassis
Offering the second guiding slot port (a636), the second guiding slot port is slidably matched with guide post；Described second stud (a631)
Quantity be two, two the second studs are vertically arranged in second and stretch on chassis, second stretch chassis be positioned at first stretch
The lower section on chassis；The second through hole is offered on described first chassis of stretching, and described support plate offers third through-hole, two the second spiral shells
Post is upward through the second through hole and third through-hole；The quantity of described second middle gear (a612) is two, in two second
Gear is spirally connected with two the second studs in man-to-man mode, and two the second middle gears all engage with gear wheel, two second
Middle gear engages with two the first little gears in man-to-man mode；Described flexible dish is arranged on the top of the second stud, institute
State swing guiding mechanism to be arranged on flexible dish；Offering fourth hole on described flexible dish, described first stud passes the 4th
Through hole, described first telescopic block is positioned at the top of flexible dish；
Described second middle gear (a612) includes second that the second gear part (a6121) and the second gear part are coaxially disposed
Articulated section (a6122)；The centre of described second gear part and the second articulated section is provided with through second gear part and the second pivot
Connect the screwed hole (a6123) in portion；Described second articulated section is articulated in the third through-hole of support plate (a617)；Described first
Little gear (a613) includes the first articulated section that the first gear part and the first gear part are coaxially disposed；Described first gear
The centre of portion and the first articulated section is provided with through first gear part and the screwed hole of the first articulated section；Described first articulated section
It is articulated in the first through hole of support plate (a617)；
The first housing (a66), the first housing and base (a614) and support plate (a615) it is enclosed with on described stake body (a61)
Fixing connection；Being enclosed with the second housing (a67) on described flexible dish (a634), the second housing is fixing with flexible dish to be connected,
Described first telescoping mechanism (a62) and the second telescoping mechanism (a63) are positioned at the second housing.
A kind of forearm the most as claimed in claim 2 is provided with the fixing anglec of rotation and performs the robot of end, its feature
Be: in adjutage (a), described second stretches be vertically arranged with on chassis (a633) the 4th stud (a637),
Six studs (a638), the 4th stud, the 6th stud be upward through first and stretch chassis (a623) and support plate (a617),
Described flexible dish (a634) is arranged on the 4th stud, the top of the 6th stud；The 4th middle gear it is articulated with on described support plate
(a618), the 6th middle gear (a619), the 4th middle gear, the 6th middle gear stretch between chassis at support plate and first,
The centre of the 4th middle gear, the centre of the 6th middle gear all offer screwed hole, and the 4th stud is screwed onto the 4th middle gear
Screwed hole in, the 4th middle gear engages with gear wheel (a611), and the 6th stud is screwed onto the screwed hole of the 6th middle gear
In, the 6th middle gear engages with gear wheel.
A kind of forearm the most as claimed in claim 2 is provided with the fixing anglec of rotation and performs the robot of end, its feature
Be: in adjutage (a), described power set include being arranged on power transmission shaft (a614) bottom worm gear (a661),
The first servomotor (a663) that the worm screw (a662) engaged with worm gear couples with worm screw, worm screw is articulated on base,
First servomotor is arranged on base.
A kind of forearm the most as claimed in claim 1 is provided with the fixing anglec of rotation and performs the robot of end, its feature
Being: in adjutage (a), described swing mechanism (a64) includes pendular body (a640), described first axle (a641)
Being fixed on pendular body with the second axle (a642), pendular body is provided with the mounting flange connecting robot execution end
(a644)；Described swing guiding mechanism (a65) includes the guide plate (a650) being fixed on flexible dish (a634),
Described linear gathering sill (a651) and sector-like guide groove (a652) are opened on guide plate, described second power set
It is slidably mounted on guide plate；
Described second power set include being slidably mounted on guide plate (a650) and across linear gathering sill (a651)
U-shaped slide block (a646), the second servomotor (a647) being fixed on U-shaped slide block, one end and the second servomotor
The second connecting rod that output shaft connects, it is arranged on the swing arm (a648) of the second connecting rod other end, swing arm and first
Axle (a641) is fixing to be connected, and the axial line of the second servo motor output shaft and the axial line of the second axle overlap；
The pair of scalable guide post (a653) is slided and is plugged in guide plate (a650), the side of scalable guide post
Being located at tooth bar (a654) on wall, tooth bar is engaged with little gear (a655), little gear and the 3rd servomotor (a656) connection
Connecing, the 3rd servomotor is fixed on guide plate；Under the driving of the 3rd servomotor, a pair scalable guide post can be stretched
Entering in sector-like guide groove (a652), the passage between a pair scalable guide post is constituted with linear gathering sill (a651)
One complete linear guide channel.
A kind of forearm the most as claimed in claim 1 is provided with the fixing anglec of rotation and performs the robot of end, its feature
It is: performing in end (50), described rotating seat (611) is articulated on basal disc (621), and rotating seat is provided with one
To location bar (614), described spill spin block (53) is by a pair location bar fixing connection rotating seat.
A kind of forearm the most as claimed in claim 1 is provided with the fixing anglec of rotation and performs the robot of end, its feature
It is: performing in end (50), described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；
The pair of brake(-holder) block (622) includes the first brake(-holder) block being positioned at left side and is positioned at second brake(-holder) block on right side, the first system
The left end of moving plate and the left end of the second brake(-holder) block are hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right side of the second brake(-holder) block
Hold and connected by the first coil tension spring elastic (6221)；The right-hand member of the first brake(-holder) block is provided with the first fore-set, the second brake(-holder) block
Right-hand member be provided with the second fore-set, the first fore-set and the second fore-set and be oppositely arranged, the first fore-set and the second fore-set are positioned at first and stretch
In contracting spring；Described first brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround system
Moving plate (612)；
The pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened in the first system
The right-hand member of moving plate, it is symmetrical that the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot and the second slide slot
Arranging, wherein, the first slide slot includes the first linear type slide slot (6291) and the second linear type slide slot of connection
(6292), the folder between the first linear type slide slot and the second linear type slide slot
Angle circle is between 90 degree and 180 degree.
A kind of forearm the most as claimed in claim 7 is provided with the fixing anglec of rotation and performs the robot of end, its feature
It is: performing in end (50), described solution lock slide (623) is provided with a pair alignment pin (627), the pair of
Alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, and the right-hand member of described first brake(-holder) block is provided with first
Hole, location (6222), the right-hand member of the second brake(-holder) block is provided with the second hole, location, when the first fore-set and the second fore-set offset,
First alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location and the second hole, location
In；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar is fixedly installed on the first alignment pin
Top, second slides bar is fixedly installed on the top of the second alignment pin, and first slides centrage and first alignment pin of bar
Central axis.
A kind of forearm the most as claimed in claim 8 is provided with the fixing anglec of rotation and performs the robot of end, its feature
It is: perform in end (50), solves the gathering sill (6230) on lock slide (623) and include the first arc of connection
Gathering sill (6231), the second arc guide groove (6232), the 3rd arc guide groove (6233), wherein, the second arc
The arc center of circle of gathering sill is positioned on the centrage of annulus (631)；Drive in assembly (63), described unlocked state (633)
Including projection (637) in the radial direction being fixed on annulus (631) medial wall, be fixed on radially on projection and point to circle
The radial bars (638) in the ring center of circle；Described trip lever (6331) is arranged on the end of radial bars；Along with the rotation of annulus,
Trip lever is first slipped into the first arc guide groove, and orders about the solution lock slide center translation to basal disc (621), meanwhile,
Second gear (613) starts to engage with tooth section (632), and afterwards, trip lever enters the second arc guide groove, unlocks sliding
Block and the distance at basal disc center keep constant, and afterwards, trip lever enters the 3rd arc guide groove, and order about solution lock slide to
Direction away from basal disc center translates, and when trip lever departs from three arc guide grooves, the second gear disengages with tooth section.
A kind of forearm the most as claimed in claim 1 is provided with the fixing anglec of rotation and performs the robot of end, and it is special
Levying and be: perform in end (50), described annulus (631) is articulated in housing (52), described driving means bag
Include the 3rd gear (636) and the 3rd gear that the ring gear (635) that fixed cover is located on annulus medial wall engages with ring gear
The first motor coupled and be arranged in housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370513.0A CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370513.0A CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881524A true CN105881524A (en) | 2016-08-24 |
| CN105881524B CN105881524B (en) | 2018-01-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610370513.0A Active CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
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| CN (1) | CN105881524B (en) |
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| CN106405456A (en) * | 2016-08-26 | 2017-02-15 | 亚杰科技（江苏）有限公司 | Automatic detector for magnetic flux of magnetic steel specially used for electronic power-assisted motor of automobile steering wheel |
| CN106426278A (en) * | 2016-08-30 | 2017-02-22 | 成都宝科生物科技有限公司 | Open-chain type robot arm |
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| CN106236275B (en) * | 2016-09-21 | 2018-10-23 | 刘清玉 | A kind of surgical instrument that cleft hand is swingable |
| CN106264732A (en) * | 2016-09-21 | 2017-01-04 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with roller |
| CN106236275A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | The operating theater instruments that a kind of cleft hand is swingable |
| CN106361438A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with wrist |
| CN106361439A (en) * | 2016-09-21 | 2017-02-01 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with tool changer |
| CN106236274B (en) * | 2016-09-21 | 2018-12-04 | 栾厚强 | A kind of operating robot equipped with swing arm |
| CN106264733B (en) * | 2016-09-21 | 2018-12-25 | 青岛市妇女儿童医院 | A kind of suspension type surgical instrument |
| CN106361438B (en) * | 2016-09-21 | 2018-09-28 | 嘉兴晟源工业设计有限公司 | A kind of operating robot equipped with wrist |
| CN106236274A (en) * | 2016-09-21 | 2016-12-21 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with swing arm |
| CN106323979A (en) * | 2016-09-23 | 2017-01-11 | 东莞市联洲知识产权运营管理有限公司 | Vertical detection equipment for laser stencil |
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| CN106284502A (en) * | 2016-09-30 | 2017-01-04 | 东莞市联洲知识产权运营管理有限公司 | A kind of rainwater storage device |
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| CN106351472A (en) * | 2016-09-30 | 2017-01-25 | 东莞市联洲知识产权运营管理有限公司 | Water storage pavilion |
| CN106567401A (en) * | 2016-11-03 | 2017-04-19 | 东莞市联洲知识产权运营管理有限公司 | Lifting type foundation structure |
| CN106364913A (en) * | 2016-11-04 | 2017-02-01 | 苏州亨通智能精工装备有限公司 | Transporting transferring device |
| CN107336183A (en) * | 2017-08-09 | 2017-11-10 | 浙江镜湖建设集团有限公司 | A kind of installation equipment for civic building |
| CN107377355A (en) * | 2017-08-09 | 2017-11-24 | 浙江镜湖建设集团有限公司 | A kind of sand sorting unit of civic building |
| CN107826670A (en) * | 2017-09-20 | 2018-03-23 | 苏州威百斯特智能科技有限公司 | A kind of conveying track provided with linked system |
| CN107639347A (en) * | 2017-09-20 | 2018-01-30 | 苏州威百斯特智能科技有限公司 | A kind of multistation laser marking machine |
| CN107876989A (en) * | 2017-09-20 | 2018-04-06 | 苏州威百斯特智能科技有限公司 | A kind of laser marking machine |
| CN107902321A (en) * | 2017-09-20 | 2018-04-13 | 苏州威百斯特智能科技有限公司 | A kind of conveying track of marking machine |
| CN107671424A (en) * | 2017-09-20 | 2018-02-09 | 苏州威百斯特智能科技有限公司 | A kind of mobile laser mark component |
| CN107775196A (en) * | 2017-09-20 | 2018-03-09 | 苏州威百斯特智能科技有限公司 | A kind of linearly moving laser marking machine |
| CN107879020A (en) * | 2017-09-20 | 2018-04-06 | 苏州威百斯特智能科技有限公司 | A kind of adjustable track for conveying mark product |
| CN107857063A (en) * | 2017-09-20 | 2018-03-30 | 苏州威百斯特智能科技有限公司 | A kind of track for conveying mark product |
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| CN108045602B (en) * | 2017-12-07 | 2020-11-17 | 上海宇航系统工程研究所 | Capturing and connecting integrated driving transmission mechanism for peripheral lock |
| CN108045602A (en) * | 2017-12-07 | 2018-05-18 | 上海宇航系统工程研究所 | A kind of capture connecting integration drive transmission device for periphery lock |
| CN108189020A (en) * | 2018-01-12 | 2018-06-22 | 安徽臣诺机器人科技有限公司 | A kind of plank transportation manipulator |
| CN108904061A (en) * | 2018-05-01 | 2018-11-30 | 东莞市天合机电开发有限公司 | A kind of fixed auxiliary manipulator used for medical procedures in top |
| CN108714055A (en) * | 2018-05-02 | 2018-10-30 | 东莞市天合机电开发有限公司 | A kind of auxiliary manipulator arm transmission mechanism used for medical procedures |
| CN108453726A (en) * | 2018-06-29 | 2018-08-28 | 罗琴 | A kind of industrial robot steering mechanism |
| CN109129424A (en) * | 2018-09-13 | 2019-01-04 | 泉州市信贵机械设备有限公司 | A kind of intelligent machine arm promoting user's maintenance efficiency |
| CN111906768A (en) * | 2020-07-16 | 2020-11-10 | 广东电网有限责任公司东莞供电局 | Mechanical arm for power equipment maintenance |
| CN112247972A (en) * | 2020-10-13 | 2021-01-22 | 山东大学 | Terminal conformal compliance module |
| CN112242010A (en) * | 2020-10-26 | 2021-01-19 | 厦门中卡科技股份有限公司 | Urban road parking ETC patrol vehicle charging system and charging method |
| CN114670068A (en) * | 2022-04-08 | 2022-06-28 | 索菲丝智能科技(上海)有限公司 | Inner hole polishing device and polishing equipment |
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Address after: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee after: Huacui Intelligent Equipment Co.,Ltd. Address before: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee before: HIT ROBOT GROUP (JIANGSU) HUACUI INTELLIGENT EQUIPMENT Co.,Ltd. |
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