CN105922250A - Robot provided with rotation actuation tail end - Google Patents
Robot provided with rotation actuation tail end Download PDFInfo
- Publication number
- CN105922250A CN105922250A CN201610370356.3A CN201610370356A CN105922250A CN 105922250 A CN105922250 A CN 105922250A CN 201610370356 A CN201610370356 A CN 201610370356A CN 105922250 A CN105922250 A CN 105922250A
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- China
- Prior art keywords
- block
- brake
- holder
- pair
- rotates
- Prior art date
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot provided with a rotation actuation tail end. The rotation actuation tail end of the robot is driven by a driving mechanism. The driving mechanism comprises a base plate, a rotation base pivoted to the base plate and an internal gear provided with a section of teeth. In the normal state, the section of teeth of the internal gear does not make contact with a gear of the rotation base, and a brake pad stops the rotation base. During operation, the rotating internal gear drives the rotation base to rotate by a preset angle through the section of teeth, and when the rotation base rotates, an unlocking device on the internal gear relieves braking of the brake pad on the rotation base. The rotation actuation tail end is fixedly connected with the rotation base, so that the rotation actuation tail end rotates by a certain angle each time, and the technical problem that the rotation angle of rotation actuation tail ends of robots in the prior art is inaccurate is solved.
Description
Technical field:
The present invention relates to robotics, in particular to a kind of robot being provided with rotation execution end.
Background technology:
In prior art, cutting of pcb board generally uses special pcb board guillotine.But, operator pass through hands
Pcb board to be cut is sent into pcb board guillotine, then the pcb board output pcb board guillotine that will have cut by work mode,
Not only workload is big, and, pcb board cuts efficiency to be also difficult to be improved.
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.
Summary of the invention:
Technical problem solved by the invention: in prior art, the pcb board being picked and placeed material by the mechanical hand of robot is cut out
Cut machine, two suckers on a robotic arm are installed and rotate 180 degree the most exactly.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of being provided with rotates the machine performing end
People, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, be articulated in big
Forearm on arm, the execution end being arranged on forearm, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic, forearm rotates around large arm；
Described execution end include spill spin block fix with spill spin block be connected a pair sucker group, drive spill spin block rotate
Drive mechanism；Described drive mechanism includes rotary components, latch components, driving assembly；
Described rotary components includes that rotating seat, fixed cover are located at the peripheral brake disc of rotating seat and the second gear；Described rotation
Switch block is fixing connects rotating seat；
Described latch components includes the basal disc being fixedly installed in housing, be arranged on basal disc a pair brake(-holder) block, slip
The solution lock slide being arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair braking
One end of sheet is hinged and other end elasticity connects；Described solution lock slide elasticity is connected on basal disc, solves lock slide and is provided with
Sliding bar a pair, a pair slide slot is offered in one end of a pair brake(-holder) block elasticity connection, and slide slot is bending, a pair cunning
Row groove 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
The centrage rotated, the medial wall of annulus is provided with tooth section and unlocked state, and tooth Duan Keyu the second gear engages；Work as solution
Lock module starts to promote solution lock slide when basal disc center translation, and the second gear starts to engage with tooth section.
By technique scheme, the operation principle of a kind of robot being provided with rotation execution end of the present invention is as follows:
First, the driving means in drive mechanism drives annulus to rotate, and annulus drives tooth section thereon and unlocked state rotation
Turn.
Second, when the unlocked state being fixedly installed comes into contact with and promote the solution lock slide center to basal disc arranged of sliding
During translation, 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
In bending, therefore, to slide that bar can order about that a pair brake(-holder) block elasticity connects for a pair the one of the translation of basal disc central line
End opens, and so, rotating seat is changed into rotatable shape by the initial state by a pair brake(-holder) block frictional damping
State.
3rd, no longer brake 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, unlocked state disengages with solving lock slide, and so, the solution lock slide that elasticity is connected on basal disc resets, and one
Resetting therewith to sliding bar, one end that a pair brake(-holder) block elasticity connects resets the most therewith, and a pair brake(-holder) block rubs system again
Dynamic brake disc, and then braking rotating seat.
By technique scheme, drive mechanism of the present invention can make two suckers on execution end rotate exactly
180 degree, in order to perform end and pick and place material exactly.
As the present invention to performing a kind of explanation of end, linking arm that described execution end includes being articulated on forearm,
The cover plate that housing on the connecting arm is set, be sealed on housing；Described drive mechanism is arranged in housing, drives machine
Rotating seat in structure passes cover plate, and spill spin block is positioned at outside housing.Specifically, a pair sucker is fixed on a left side for spill spin block
Right both sides.
As the present invention a kind of explanation to rotary components, described rotating seat is articulated on basal disc, and rotating seat is provided with one
To location bar, described spill spin block is by a pair location bar fixing connection rotating seat.Wherein, described basal disc passes through support column
Being fixed in housing, described support column is positioned at annulus and is positioned at the side of rotating seat.
As the present invention a kind of explanation to latch components, described basal disc is provided with a pillar, and pillar 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 first brake(-holder) block
The left end of left end and the second brake(-holder) block is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block lead to
Cross the first coil tension spring elasticity to connect；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.Press
Described above, the first coil tension spring has the trend making the first brake(-holder) block and the second brake(-holder) block close up, and the first fore-set and
The setting of the second fore-set then has the effect stopping this kind of trend.
As the present invention a kind of explanation to latch components, the pair of slide slot includes that the first slide slot and second slides
Groove, 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 right-hand member of the second brake(-holder) block, the
One slide slot and the second slide slot are symmetrical set, and wherein, the first slide slot includes that the first linear type of connection slides
Groove and the second linear type slide slot, angle circle between the first linear type slide slot and the second linear type slide slot is in 90
Between degree and 180 degree.As described above, when solving lock slide and translating to the central line of basal disc, a pair cunning
A pair slided in row groove slides bar and has the trend making the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block separate.
As the present invention a kind of explanation to latch components, 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, and the right-hand member of described first brake(-holder) block is provided with
One hole, location, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring, when the first top
When post and the second fore-set offset, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the
In one hole, location and the second hole, location；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 top of the first alignment pin, and second slides bar is fixedly installed on the top of the second alignment pin, and first is sliding
The centrage of row bar and the central axis of the first alignment pin.As described above, when unlocked state promote solve lock slide to
During the center translation of basal disc, first first slides bar translates in the first linear type slide slot, when the first alignment pin and the
When two alignment pins depart from the first holes, location and the second hole, location, second slides bar just enters the second linear type slide slot, and one
To sliding bar, the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are opened；At unlocked state along with the rotation of annulus
And after leaving away, solving lock slide resets, sliding bar for a pair resets therewith, and the first alignment pin and the second alignment pin are correspondingly inserted
Enter the first hole, location and the second hole, location, to lock a pair brake(-holder) block.
As the present invention a kind of explanation to latch components, described basal disc is provided with setting block, erects block and is provided with second
Coil tension spring, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide.
As the present invention to driving a kind of of assembly to illustrate, described annulus is articulated in housing, and described driving means includes
The 3rd gear and the 3rd gear that the ring gear that fixed cover is located on annulus medial wall engages with ring gear couple and are arranged on
The first motor in housing.As described above, the first motor drives the 3rd gear to rotate, and the 3rd gear is by driving tooth
Ring and drive annulus to rotate.
As the present invention to driving a kind of of assembly to illustrate, described unlocked state includes the footpath being fixed on annulus medial wall
Inwardly projection, be fixed on radially on projection and point to the radial bars in the annulus center of circle, be articulated in the 4th of radial bars end
Gear；Fixing one section of arc-shaped rack that can engage with the 4th gear on described solution lock slide, the center of circle of arc-shaped rack is positioned at
On the centrage of annulus.As described above, when the 4th gear starts to contact with arc-shaped rack, the 4th gear i.e. promotes
Solve lock slide to translate to the central line of basal disc, owing to the center of circle and the center of circle of arc-shaped rack of annulus is pointed in radial bars end
Be positioned on the centrage of annulus, therefore, the 4th gear contact with arc-shaped rack and engage after rotary course, make unblock
Slide block and the centre distance of annulus keep constant, and then, solve lock slide and keep constant with the distance at basal disc center, a pair
Brake(-holder) block keeps open configuration, makes rotating seat rotate freely；Tooth section depart from after the contacting of the second gear, the 4th tooth
Wheel i.e. disengaging contacts with arc-shaped rack, afterwards, solves lock slide and resets, and a pair brake(-holder) block resets, and again brakes rotation
Brake disc on seat.Wherein, the length of arc-shaped rack determines in the following manner: when rotating seat rotate 180 degree and
When tooth section and the second gear disengage, arc-shaped rack and the 4th gear disengage.
Accompanying drawing illustrates:
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is that the present invention is a kind of is provided with the structural representation rotating the robot performing end；
Fig. 2 is the structural representation performing end 50 in Fig. 1；
Fig. 3 is to perform the structural representation after end 50 conceals cover plate 64 in Fig. 2；
Fig. 4 is the structural representation of drive mechanism 60 in Fig. 3；
Fig. 5 is the combinative structure schematic diagram of rotary components 61 and latch components 62 in Fig. 4；
Fig. 6 is the structural representation solving lock slide 623 in Fig. 5；
Fig. 7 is the structural representation of brake(-holder) block 622 in Fig. 5；
Fig. 8 is the structural representation driving assembly 63 in Fig. 4.
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, the first coil tension spring；6222, hole, location；
623, lock slide is solved；6230, arc-shaped rack；624, bar is slided；625, support column；626, pillar；627, fixed
Position pin；628, block is erect；6281, the second coil tension spring；629, slide slot；6291, the first linear type slide slot；
6292, the second linear type slide slot；
63, assembly is driven；631, annulus；632, tooth section；633, unlocked state；635, ring gear；636, the 3rd
Gear；637, interior projection；638, radial bars；639, the 4th gear；
64, cover plate.
Detailed description of the invention:
Such as Fig. 1, a kind of being provided with rotates the robot performing end, including base body 10, the waist that is articulated on base body
Rotation member 20, the large arm 30 being articulated on waist rotation member, the forearm 40 being articulated in large arm, holding of being arranged on forearm
Row end 50, waist rotation member rotates around base body, and large arm rotates around waist rotation member, and forearm rotates around large arm.
In conjunction with Fig. 1 to Fig. 3, described execution end include spill spin block 53 fix with spill spin block be connected a pair sucker group,
Drive the drive mechanism 60 that spill spin block rotates；Linking arm 51 that described execution end 50 also includes being articulated on forearm 40,
The cover plate 64 that housing 52 on the connecting arm is set, be sealed on housing；Described drive mechanism 60 is arranged in housing,
Rotating seat 611 in drive mechanism is through cover plate, and spill spin block 53 is positioned at outside housing.
Such as Fig. 4, described drive mechanism includes rotary components 61, latch components 62, drives assembly 63.
In above-mentioned drive mechanism 60, in conjunction with Fig. 5, Fig. 6, described rotary components includes that rotating seat 611, fixed cover are located at
The brake disc 612 of rotating seat periphery and the second gear 613；Described spill spin block is fixing connects rotating seat.Rotary components 61
In, 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 by a pair location bar fixing connection rotating seat.
In above-mentioned drive mechanism 60, in conjunction with Fig. 5, Fig. 6, described latch components includes the base being fixedly installed in housing
Dish 621, a pair brake(-holder) block 622 being arranged on basal disc, the solution lock slide 623 that is slidably arranged on basal disc；Described one
Brake(-holder) block is symmetrical set the periphery in brake disc, and one end of a pair brake(-holder) block is hinged and other end elasticity connects；
Described solution lock slide elasticity is connected on basal disc, and solution lock slide is provided with a pair and slides bar 624, and a pair brake(-holder) block elasticity is even
A pair slide slot 629 is offered in the one end connect, and slide slot is bending, and a pair slide slot is symmetrical set, and slides for a pair
Bar is slidably fitted in a pair slide slot.
In above-mentioned latch components 62, described basal disc 621 is fixed in housing 52 by support column 625, described support
Post is positioned at annulus 631 and is positioned at the side of rotating seat 611.
In above-mentioned latch components 62, described basal disc 621 is provided with a pillar 626, and pillar is provided with swivel pin；Described
A pair 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 brake(-holder) block
The left end of left end and the second brake(-holder) block is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block lead to
Cross the first coil tension spring elastic 6221 to connect；The right-hand member of the first brake(-holder) block is provided with the first fore-set, the right-hand member of the second brake(-holder) block
Being provided with the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are positioned at first and stretch bullet
In 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 braking
Dish 612.
In above-mentioned latch components 62, the pair of slide slot 629 includes the first slide slot and the second slide slot, and first is sliding
Row groove is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right-hand member of the second brake(-holder) block, the first slide slot and
Second slide slot is symmetrical set, and wherein, the first slide slot includes the first linear type slide slot 6291 and the of connection
Two linear type slide slots 6292, angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree
And between 180 degree.
In above-mentioned latch components 62, described solution lock slide 623 is provided with a pair alignment pin 627, the pair of alignment pin
Including 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 location
Hole 6222, the right-hand member of the second brake(-holder) block is provided with the second hole, location, under the elastic force of the first coil tension spring 6221, when first
When 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
In first hole, location and the second hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first is sliding
Row bar is fixedly installed on the top of the first alignment pin, and second slides bar is fixedly installed on the top of the second alignment pin, and first
Slide centrage and the central axis of the first alignment pin of bar.
In above-mentioned latch components 62, described basal disc 621 is provided with setting block 628, erects block and is provided with second and stretches bullet
Spring 6281, one end of the second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide 623.
In above-mentioned drive mechanism 60, in conjunction with Fig. 7, Fig. 8, described driving assembly includes being driven by driving means and rotating
Annulus 631, annulus rotate centrage deviation rotating seat rotate centrage, the medial wall of annulus is provided with tooth section
632 and unlocked state 633, tooth Duan Keyu the second gear engages；Lock slide is solved in basal disc when unlocked state starts to promote
During heart translation, the second gear starts to engage with tooth section.
In above-mentioned driving assembly 63, described annulus 631 is articulated in housing 52, and described driving means includes fixed cover
The 3rd gear 636 that the ring gear 635 being located on annulus medial wall engages with ring gear couples with the 3rd gear and is arranged on
The first motor in housing.
In above-mentioned driving assembly 63, described unlocked state 633 includes the radial direction convex being fixed on annulus 631 medial wall
Block 637, it is fixed in radially on projection and points to the radial bars 638 in the annulus center of circle, be articulated in the 4th of radial bars end
Gear 639；One section of arc-shaped rack 6230 that can engage, arc-shaped gear is fixed with the 4th gear on described solution lock slide 623
The center of circle of bar is positioned on the centrage of annulus.
In practical operation, the workflow of a kind of robot being provided with rotation execution end of the present invention is as follows:
First, the driving means in drive mechanism 60 drives annulus 631 to rotate, and annulus drives tooth section 632 He thereon
Unlocked state 633 rotates.
Second, slide the solution lock slide 623 arranged to base when the unlocked state 633 being fixedly installed comes into contact with and promotes
During the center translation of dish 621, solve and slide bar 624 for a pair in man-to-man mode at a pair slide slot 629 on lock slide
Interior translation, owing to slide slot is bending, therefore, to basal disc 621 central line translation slide bar 624 for a pair can
Order about the elastic one end connected of a pair brake(-holder) block 622 to open, so, rotating seat 611 by initial by a pair brake(-holder) block
The state of frictional damping is changed into rotatable state.
3rd, no longer brake rotating seat 611 synchronously with a pair brake(-holder) block 622, the tooth section on annulus 631 medial wall
632, i.e. one section of tooth on annulus medial wall, starts to engage with the second gear 613, and drives the second gear and consolidate with it
The fixed rotating seat 611 connected rotates, and rotating seat drives a pair sucker to rotate；When rotating seat 611 rotates 180 degree
Time, tooth section 632 disengages with the second gear 613, and meanwhile, unlocked state 633 connects with solving lock slide 623 disengaging
Touching, so, the solution lock slide 623 that elasticity is connected on basal disc 621 resets, and slides bar 624 for a pair and resets therewith,
A pair elastic one end connected of brake(-holder) block 622 resets the most therewith, and a pair brake(-holder) block frictional damping brake disc 612 again is entered
And brake 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. it is provided with and rotates the robot performing end, turn including base body (10), the waist that is articulated on base body
Parts (20), the large arm (30) being articulated on waist rotation member, the forearm (40) being articulated in large arm, it is arranged on forearm
On execution end (50), waist rotation member around base body rotate, large arm around waist rotation member rotate, forearm around large arm rotate；
It is characterized in that:
Described execution end includes that spill spin block (53) fixes a pair sucker group, the driving spill spin block rotation being connected with spill spin block
The drive mechanism (60) turned；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 brake disc (612) and second that rotating seat is peripheral
Gear (613)；Described spill spin block is fixing connects rotating seat；
Described latch components includes the basal disc (621) being fixedly installed in housing, a pair brake(-holder) block being arranged on basal disc
(622) the solution lock slide (623), being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in braking
The periphery of dish, one end of a pair brake(-holder) block is hinged and other end elasticity connects；Described solution lock slide elasticity is connected to basal disc
On, solution lock slide is provided with a pair and slides bar (624), and a pair slide slot is offered in one end of a pair brake(-holder) block elasticity connection
(629), 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 cunning
In row groove；
The annulus (631) that described driving assembly includes being driven by driving means and rotates, the centrage deviation that annulus rotates
The centrage that rotating seat rotates, the medial wall of annulus is provided with tooth section (632) and unlocked state (633), tooth Duan Keyu
Second gear engagement；When unlocked state starts to promote and solves lock slide to basal disc center translation, the second gear is opened with tooth section
Begin to engage.
A kind of being provided with rotates the robot performing end, it is characterised in that: described execution
Linking arm (51) that end (50) includes being articulated on forearm (40), arrange housing (52) on the connecting arm,
The cover plate (64) being sealed on housing, described drive mechanism (60) is arranged in housing, the rotating seat in drive mechanism
(611) through cover plate, spill spin block (53) is positioned at outside housing.
A kind of being provided with rotates the robot performing end, it is characterised in that: rotary components
(61) in, 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.
A kind of being provided with rotates the robot performing end, it is characterised in that: latch components
(62), in, described basal disc (621) is fixed in housing (52) by support column (625), described support column position
In annulus (631) and be positioned at the side of rotating seat (611).
A kind of being provided with rotates the robot performing end, it is characterised in that: latch components
(62), in, described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of braking
Sheet (622) includes being positioned at first brake(-holder) block in left side and is positioned at second brake(-holder) block on right side, the left end of the first brake(-holder) block with
The left end of the second brake(-holder) block is hinged on swivel pin, and the right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are by first
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 sets
Having the second fore-set, the first fore-set and the second fore-set to be oppositely arranged, the first fore-set and the second fore-set are positioned at the first coil tension spring
In；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)。
A kind of being provided with rotates the robot performing end, it is characterised in that: latch components
(62) in, 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 right-hand member of the first brake(-holder) block, 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
Being symmetrical set, wherein, the first slide slot includes the first linear type slide slot (6291) and the second straight line of connection
Type slide slot (6292), angle circle between the first linear type slide slot and the second linear type slide slot is in 90 degree and one
Between 180 degree.
A kind of being provided with rotates the robot performing end, it is characterised in that: latch components
(62) in, described solution lock slide (623) is provided with a pair alignment pin (627), and the pair of alignment pin includes left and right
Symmetrically arranged first alignment pin 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, under the elastic force of the first coil tension spring (6221), when the first fore-set
When offseting with the second fore-set, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert first
In hole, location and the second hole, location；The pair of bar that slides includes that first slides bar and second and slide bar, and first slides bar
Being 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
The centrage of bar and the central axis of the first alignment pin.
A kind of being provided with rotates the robot performing end, it is characterised in that: latch components
(62) in, described basal disc (621) is provided with setting block (628), erects block and is provided with the second coil tension spring (6281),
One end of second coil tension spring connects erects block, and the other end of the second coil tension spring connects solution lock slide (623).
A kind of being provided with rotates the robot performing end, it is characterised in that: drive assembly
(63), in, described annulus (631) is articulated in housing (52), and described driving means includes that fixed cover is located at annulus
The 3rd gear (636) that ring gear (635) on medial wall engages with ring gear couples with the 3rd gear and is arranged on shell
The first internal motor.
A kind of being provided with rotates the robot performing end, it is characterised in that: driving group
In part (63), described unlocked state (633) include being fixed on projection (637) in the radial direction on annulus (631) medial wall,
It is fixed on interior projection and points to the radial bars (638) in the annulus center of circle, be articulated in the 4th gear of radial bars end
(639)；One section of arc-shaped rack (6230) that can engage, arc is fixed with the 4th gear on described solution lock slide (623)
The center of circle of shape tooth bar is positioned on the centrage of annulus.
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