CN105945984A - Transport robot of which manipulator is rotatable - Google Patents
Transport robot of which manipulator is rotatable Download PDFInfo
- Publication number
- CN105945984A CN105945984A CN201610368522.6A CN201610368522A CN105945984A CN 105945984 A CN105945984 A CN 105945984A CN 201610368522 A CN201610368522 A CN 201610368522A CN 105945984 A CN105945984 A CN 105945984A
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- China
- Prior art keywords
- block
- brake
- holder
- pair
- slide slot
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
Abstract
The invention discloses a transport robot of which a manipulator is rotatable. The manipulator is provided with a driving mechanism, and the driving mechanism comprises a rotating assembly, a lock catch assembly and a driving assembly. During a normal state, the rotating assembly is braked by a braking plate in the lock catch assembly; during operation, the driving assembly makes circular motion, and an unlocking sliding block on the driving assembly moves the braking plate, so that the rotating assembly is under a free state, and the driving assembly in the circular motion drives the rotating assembly to rotate for a fixed angel through a gear meshing manner. The manipulator of the transport robot disclosed by the invention rotates for the fixed angle each time, so that the manipulator can accurately take and put materials.
Description
Technical field:
The present invention relates to robotics, in particular to a kind of rotatable transfer robot of mechanical hand.
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 rotatable conveying robot of mechanical hand
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 mechanical hand being arranged on forearm, waist rotation member rotates around base body, and large arm rotates around waist rotation member,
Forearm rotates around large arm；
Described mechanical hand include spill spin block fix with spill spin block be connected a pair sucker group, drive spill spin block rotate drive
Motivation structure；Described drive mechanism includes rotary components, latch components, driving assembly, cover plate；
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 multiple push rod, and tooth section is fixedly installed and push rod slides and arranges,
Tooth Duan Keyu the second gear engages；
Described cover plate is fixedly installed on a robotic arm, and cover plate is provided with circular orbit, the centrage of circular orbit and annulus
Centrage overlap, described push rod is provided with the slide bar coordinated with circular orbit, and circular orbit is provided with the arc of one section of indent
Track；When slide bar is positioned in arc track, push rod promotes and solves lock slide and make a pair to slide bar translation, meanwhile, the
Two gears start to engage with tooth section.
By technique scheme, the operation principle of the rotatable transfer robot of a kind of mechanical hand of the present invention is as follows:
First, the driving means in drive mechanism drives annulus to rotate, and annulus drives push rod thereon to rotate, on push rod
Slide bar move in circular orbit.
Second, when slide bar runs one section of arc track to circular orbit, slide bar orders about push rod and moves to the center of annulus
Dynamic, the end continuous action of multiple push rods, in solving on lock slide, promotes and solves the lock slide center translation to basal disc, unlocks
On slide block a pair slides bar and translates in a pair slide slot in man-to-man mode, owing to slide slot is bending, because of
This, a pair of rectilinear translation slides bar and can order about one end that a pair brake(-holder) block elasticity connects and open, so, rotating seat by
The initial state by a pair brake(-holder) block frictional damping is changed into rotatable 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, multiple push rods are all through one section of arc track of circular orbit, and so, elasticity is connected to the unblock on basal disc
Slide block resets, and slides bar a pair and resets therewith, and one end of a pair brake(-holder) block elasticity connection resets the most therewith, a pair braking
Sheet frictional damping brake disc again, and then braking rotating seat.
By technique scheme, drive mechanism of the present invention can make two suckers on mechanical hand rotate one exactly
180 degree, in order to mechanical hand picks and places material exactly.
As the present invention a kind of explanation to mechanical hand, described mechanical hand includes linking arm, the setting being articulated on forearm
Housing on the connecting arm；Described cover plate is sealed on housing and is fixedly installed, and described drive mechanism is arranged in housing,
Rotating seat in drive mechanism passes cover plate, and spill spin block is positioned at outside housing.Specifically, a pair sucker is fixed on rotation
The left and right sides of block.
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, lock slide is solved to basal disc when push rod promotes
Center translation time, first first slides bar translates in the first linear type slide slot, when the first alignment pin and second fixed
When position pin departs from the first hole, location and the second hole, location, second slides bar just enters the second linear type slide slot, a pair cunning
The right-hand member of the first brake(-holder) block and the right-hand member of the second brake(-holder) block are opened by row bar；After push rod is left away along with the rotation of annulus,
Solution lock slide resets, and slides bar a pair and resets therewith, and the first alignment pin and the second alignment pin correspondingly insert the first location
Hole 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, the medial wall of described annulus is provided with interior projection, radially
Interior projection is provided with multiple push rod pedestal, and the quantity of push rod pedestal is same as the quantity of push rod, and multiple push rods are with one to one
Mode be slidably fitted in multiple push rod pedestal, the end of push rod highlight push rod pedestal and point to annulus center.Many
The quantity of individual push rod determines in the following manner: when rotating seat rotation 180 degree and tooth section disengage with the second gear
Time, multiple push rods all no longer act on solution lock slide through the one of circular orbit section of arc track.
Accompanying drawing illustrates:
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of the present invention rotatable transfer robot of a kind of mechanical hand；
Fig. 2 is the structural representation of mechanical hand 50 in Fig. 1；
Fig. 3 is the structural representation after mechanical hand 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；
Fig. 9 is enlarged drawing at A in Fig. 8；
Figure 10 is the structural representation of Fig. 2 cover plate 64.
Symbol description in figure:
10, base body；
20, waist rotation member；
30, large arm；
40, forearm；
50, mechanical hand；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；624, bar is slided；625, support column；626, pillar；627, alignment pin；628, erect
Block；6281, the second coil tension spring；629, slide slot；6291, the first linear type slide slot；6292, the second straight line
Type slide slot；
63, assembly is driven；631, annulus；632, tooth section；633, push rod；634, slide bar；635, ring gear；636、
3rd gear；637, interior projection；638, push rod pedestal；
64, cover plate；641, circular orbit；642, arc track.
Detailed description of the invention:
Such as Fig. 1, a kind of rotatable transfer robot of mechanical hand, 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, the machine that is arranged on forearm
Tool hands 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 mechanical hand 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 mechanical hand 50 also includes being articulated on forearm 40,
Housing 52 on the connecting arm is set；Described cover plate 64 is sealed on housing, and described drive mechanism 60 is arranged on housing
In, the 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, cover plate 64.
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, in conjunction with Fig. 5, Fig. 7, the pair of slide slot 629 includes the first slide slot and
Two slide slots, 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 side of the second brake(-holder) block
Holding, the first slide slot and the second slide slot are symmetrical set, and wherein, the first slide slot includes the first straight line of connection
Type slide slot 6291 and the second linear type slide slot 6292, between the first linear type slide slot and the second linear type slide slot
Angle circle between 90 degree and 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. 6, Fig. 9, 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 multiple push rod 633, tooth section is fixedly installed and push rod slides and arranges, tooth Duan Keyu second
Gear engages.
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, the medial wall of described annulus is provided with interior projection 637, and interior projection sets
Having multiple push rod pedestal 638, the quantity of push rod pedestal is same as the quantity of push rod 633, and multiple push rods are with man-to-man side
Formula is slidably fitted in multiple push rod pedestal, and the end of push rod highlights push rod pedestal and points to the center of annulus.
In above-mentioned drive mechanism 60, in conjunction with Fig. 2, Figure 10, described cover plate is fixedly installed on a robotic arm, and cover plate sets
Having circular orbit 641, the centrage of circular orbit overlaps with the centrage of annulus, and described push rod is provided with joins with circular orbit
The slide bar 634 closed, circular orbit is provided with the arc track 642 of one section of indent；When slide bar is positioned in arc track, push away
Bar promotes and solves lock slide and make a pair to slide bar translation, and meanwhile, the second gear starts to engage with tooth section.
In practical operation, the workflow of the rotatable transfer robot of a kind of mechanical hand of the present invention is as follows:
First, the driving means in drive mechanism 60 drives annulus 631 to rotate, and annulus drives push rod 633 thereon to revolve
Turning, the slide bar 634 on push rod moves in circular orbit 641.
Second, when slide bar 634 runs one section of arc track 642 to circular orbit 641, slide bar orders about push rod 633
Moving to the center of annulus 631, the end continuous action of multiple push rods, in solving on lock slide 623, promotes and solves lock slide
To the center translation of basal disc 621, the bar that slides for a pair solved on lock slide is put down in a pair slide slot in man-to-man mode
Moving, owing to slide slot is bending, therefore, a pair of rectilinear translation slides bar can order about a pair brake(-holder) block elasticity connection
One end open, so, rotating seat 611 is changed into by the initial state by a pair brake(-holder) block frictional damping can be free
The state rotated.
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, multiple push rods 633 are all through the one of circular orbit
Section arc track 642, so, the solution lock slide 623 that elasticity is connected on basal disc 621 resets, and slides bar 624 for a pair
Resetting therewith, one end of a pair brake(-holder) block elasticity connection resets, 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. the rotatable transfer robot of mechanical hand, turns 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 mechanical hand (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 mechanical hand includes that spill spin block (53) fixes a pair sucker group, the driving spill spin block rotation being connected with spill spin block
Drive mechanism (60)；Described drive mechanism include rotary components (61), latch components (62), drive assembly (63),
Cover plate (64)；
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 multiple push rod (633), and tooth section is fixed
Arranging and push rod slip setting, tooth Duan Keyu the second gear engages；
Described cover plate is fixedly installed on a robotic arm, and cover plate is provided with circular orbit (641), the centrage of circular orbit
Overlapping with the centrage of annulus, described push rod is provided with the slide bar (634) coordinated with circular orbit, and circular orbit is provided with one
The arc track (642) of section indent；When slide bar is positioned in arc track, push rod promotes and solves lock slide and make a pair cunning
Row bar translates, and meanwhile, the second gear starts to engage with tooth section.
2. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, it is characterised in that: described machinery
Hands (50) includes the linking arm (51) being articulated on forearm (40), arranges housing (52) on the connecting arm；Institute
Stating cover plate (64) to be sealed on housing, described drive mechanism (60) is arranged in housing, the rotation in drive mechanism
Seat (611) is through cover plate, and spill spin block (53) is positioned at outside housing.
3. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, 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.
4. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, 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).
5. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, 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)。
6. a kind of rotatable transfer robot of mechanical hand as claimed in claim 5, 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 of connection
Slide slot (6291) and the second linear type slide slot (6292), the first linear type slide slot and the second linear type slide slot
Between angle circle between 90 degree and 180 degree.
7. a kind of rotatable transfer robot of mechanical hand as claimed in claim 6, 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.
8. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, 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).
9. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, 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.
10. a kind of rotatable transfer robot of mechanical hand as claimed in claim 1, it is characterised in that: driving group
In part (63), the medial wall of described annulus is provided with interior projection (637), and interior projection is provided with multiple pushing away
Rod base (638), the quantity of push rod pedestal is same as the quantity of push rod (633), multiple
Push rod is slidably fitted in multiple push rod pedestal in man-to-man mode, and the end of push rod highlights push rod pedestal and refers to
To the center of annulus.
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| CN106544942A (en) * | 2016-11-03 | 2017-03-29 | 东莞市联洲知识产权运营管理有限公司 | A kind of flood road |
| CN106592356A (en) * | 2016-11-03 | 2017-04-26 | 东莞市联洲知识产权运营管理有限公司 | Floating road |
| CN107462844A (en) * | 2017-06-15 | 2017-12-12 | 亚杰科技（江苏）有限公司 | A kind of detection tool of automobile cosmetic mirror |
| CN112499280A (en) * | 2020-10-23 | 2021-03-16 | 东风时代(武汉)电池系统有限公司 | Tray unstacking device |
| CN115929240A (en) * | 2023-02-21 | 2023-04-07 | 中国华西工程设计建设有限公司 | Tunnel rock drilling sampling device |
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| US9039274B1 (en) * | 2013-08-28 | 2015-05-26 | Chris J. Corda | Compact, portable blender system |
| CN104097213A (en) * | 2014-08-01 | 2014-10-15 | 哈尔滨工业大学 | Upper limb exoskeleton based on parallel driving joint |
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| CN107462844A (en) * | 2017-06-15 | 2017-12-12 | 亚杰科技（江苏）有限公司 | A kind of detection tool of automobile cosmetic mirror |
| CN112499280A (en) * | 2020-10-23 | 2021-03-16 | 东风时代(武汉)电池系统有限公司 | Tray unstacking device |
| CN115929240A (en) * | 2023-02-21 | 2023-04-07 | 中国华西工程设计建设有限公司 | Tunnel rock drilling sampling device |
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|---|---|
| CN105945984B (en) | 2018-03-20 |
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