CN105945985A - Robot provided with rotating block at actuation terminal - Google Patents
Robot provided with rotating block at actuation terminal Download PDFInfo
- Publication number
- CN105945985A CN105945985A CN201610370444.3A CN201610370444A CN105945985A CN 105945985 A CN105945985 A CN 105945985A CN 201610370444 A CN201610370444 A CN 201610370444A CN 105945985 A CN105945985 A CN 105945985A
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- China
- Prior art keywords
- block
- brake
- holder
- pair
- slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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 robot provided with a rotating block at an actuation terminal. The rotating block is mounted at the actuation terminal, and is driven by a driving mechanism; the driving mechanism includes a rotating base fixedly connected with the rotating block, a latch module using the slide block as an unlocking piece, and an inner gear provided with a tooth section; and the rotating base and the inner gear are eccentrically arranged. In a normal state, the tooth section is not contacted with a gear on the rotating base, and the latch module brakes the rotating base; in operation, an unlocking rod on the rotating inner gear is matched with an S-shaped guide groove in the slide block; the braking of the latch module to the rotating base is firstly relieved; then, the latch module is returned to brake the rotating base; and in the process, the tooth section drives the rotating base to rotate by a preset angle. According to the robot, each rotating angle of the rotating block is certainly, the action precision of the robot is improved.
Description
Technical field:
The present invention relates to robotics, be provided with the robot of spill spin block in particular to a kind of end that performs.
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 end that performs is provided with the machine of spill spin block
Device people, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, is articulated in
Forearm in large arm, the execution end being arranged on forearm, waist rotation member rotates around base body, and large arm is around waist rotation member
Rotating, 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 is provided with a pair and slides bar, and a pair brake(-holder) block is elastic
A pair slide slot is offered in the one end connected, 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；
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 unlocked state includes a trip lever, described
Solving lock slide and offer the gathering sill of S-shaped, the annulus of rotation can order about trip lever and slip into gathering sill, slides in gathering sill
Trip lever can order about solution lock slide to basal disc center translation, when trip lever, to start to order about solution lock slide flat to basal disc center
During shifting, the second gear starts to engage with tooth section, when trip lever departs from and contact with gathering sill, and solution lock slide reset and the
Two gears disengage with tooth section.
By technique scheme, a kind of operation principle performing the robot that end is provided with spill spin block 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, in the trip lever being fixedly installed on annulus slips into gathering sill and order about solution the lock slide center to basal disc
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, 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, 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,
Housing on the connecting arm is set；Described drive mechanism is arranged in housing, and spill spin block is positioned at outside housing.Specifically,
A pair sucker is fixed on the left and right sides of spill spin 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.
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, when the first fore-set and the second fore-set offset, translation
The first alignment pin solved on lock slide and the second alignment pin can correspondingly insert in the 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 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.As described above, when trip lever promotes and solves lock slide to the center translation of basal disc, first slides
First bar translates in the first linear type slide slot, when the first alignment pin and the second alignment pin depart from the first hole, location and the
During two holes, location, second slides bar just enters the second linear type slide slot, slides the bar right-hand member by the first brake(-holder) block for a pair
Open with the right-hand member of the second brake(-holder) block；After trip lever is left away along with the rotation of annulus, solve lock slide and reset, a pair
Sliding bar to reset therewith, the first alignment pin and the second alignment pin correspondingly insert the first hole, location and the second hole, location, with
Lock a pair brake(-holder) block.
To latch components and drive a kind of explanation of interactive relationship between assembly as the present invention, in latch components, unlock
Gathering sill on slide block includes the first arc guide groove of connection, the second arc guide groove, the 3rd arc guide groove, its
In, the arc center of circle of the second arc guide groove is positioned on the centrage of annulus；Drive in assembly, described unlocked state bag
Include projection in the radial direction being fixed on annulus medial wall, be fixed on radially on projection and point to the radial bars in the annulus center of circle；
Described trip lever 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 order about the solution lock slide center translation to basal disc, meanwhile, the second gear starts to engage with tooth section, afterwards, trip lever
Entering the second arc guide groove, solve lock slide and keep constant with the distance at basal disc center, afterwards, trip lever enters the 3rd
Arc guide groove, and order about solve lock slide to away from basal disc center direction translate, when trip lever depart from the 3rd arc lead
When groove, 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, unlock
Bar 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 translates in the first linear type slide slot, translates afterwards, first in the second linear type slide slot
Brake(-holder) block right-hand member and the second brake(-holder) block right-hand member are separated from each other, and synchronously, the first alignment pin and the second alignment pin are progressively from
One hole, location and the second hole, location are extracted；When trip lever moves in the second arc guide groove, due to radial direction rod end
The arc center of circle in the center of circle and the second arc guide groove that portion points to annulus is positioned on the centrage of annulus, therefore, works as unblock
When bar moves in the second arc guide groove, solve lock slide and keep constant with the centre distance of annulus, and then, unlock sliding
Block and the distance at basal disc center keep constant, and a pair brake(-holder) block keeps open configuration, makes rotating seat rotate freely；Work as solution
When locking bar moves in the 3rd arc guide groove, trip lever i.e. promotes solution lock slide to the direction straight line away from basal disc center
Translation, during trip lever is mobile in the 3rd arc guide groove, first slides bar is put down by the second linear type slide slot
Move into the first linear type slide slot, the first brake(-holder) block right-hand member and the second brake(-holder) block right-hand member mutually to draw close to lock brake disc,
Synchronously, the first alignment pin and the second alignment pin progressively insert the first hole, location and the second hole, location with locking the first braking
Sheet and the second brake(-holder) block.In described above, when trip lever moves in the first arc guide groove, the second gear and tooth
Section engagement, when trip lever departs from and contacts with the 3rd arc guide groove, the second gear disengages with tooth section, is unlocking
Bar comes into contact with gathering sill to trip lever to depart from and contacts with gathering sill, and the second gear drives rotating seat to rotate 180
Degree, i.e. spill spin block rotates 180 degree.
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.
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 performs the structural representation that end is provided with the robot of spill spin block；
Fig. 2 is the structural representation performing end 50 in Fig. 1；
Fig. 3 is the structural representation of drive mechanism 60 in Fig. 2；
Fig. 4 is the combinative structure schematic diagram of rotary components 61 and latch components 62 in Fig. 3；
Fig. 5 is the schematic diagram after the combinative structure of rotary components 61 and latch components 62 is cut 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. 3.
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, gathering sill；6231, the first arc guide groove；6232, the second arc guide groove；6233、
3rd arc guide groove；624, bar is slided；626, pillar；627, alignment pin；629, slide slot；6291,
One linear type slide slot；6292, the second linear type slide slot；
63, assembly is driven；631, annulus；632, tooth section；633, unlocked state；6331, trip lever；635、
Ring gear；636, the 3rd gear；637, interior projection；638, radial bars.
Detailed description of the invention:
Such as Fig. 1, a kind of end that performs is provided with the robot of spill spin block, including base body 10, is articulated on base body
Waist rotation member 20, the large arm 30 being articulated on waist rotation member, the forearm 40 being articulated in large arm, it is arranged on forearm
Performing 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, Fig. 2, described execution end includes the linking arm 51 being articulated on forearm 40, is arranged on linking arm
On housing 52, the spill spin block 53 that is positioned at outside housing fix with spill spin block be connected a pair sucker group, drive spill spin block
The drive mechanism 60 rotated；Described drive mechanism 60 is arranged in housing.
Such as Fig. 3, described drive mechanism includes rotary components 61, latch components 62, drives assembly 63.
In above-mentioned drive mechanism, in conjunction with Fig. 4, Fig. 5, described rotary components includes that rotating seat 611, fixed cover are located at rotation
The brake disc 612 of swivel base periphery and the second gear 613；Described spill spin block is fixing connects rotating seat.In conjunction with Fig. 4 to Fig. 7,
Described latch components includes the basal disc 621 being fixedly installed in housing, be arranged on basal disc a pair brake(-holder) block 622, sliding
The dynamic solution lock slide 623 being arranged on basal disc；The pair of brake(-holder) block is symmetrical set the periphery in brake disc, a pair
One end of brake(-holder) block is hinged and other end elasticity connects；Solution lock slide is provided with a pair and slides bar 624, a pair brake(-holder) block bullet
Property connect one end offer a pair slide slot 629, slide slot is bending, and a pair slide slot is symmetrical set, a pair
Slide bar to be slidably fitted in a pair slide slot.Such as Fig. 8, described driving assembly includes being driven by driving means and rotating
Annulus 631, the center that annulus rotates
The centrage that line deviation rotating seat rotates, the medial wall of annulus is provided with tooth section 632 and unlocked state 633, unlocked state
Including a trip lever 6331, described solution lock slide offers the gathering sill 6230 of S-shaped, and the annulus of rotation can order about trip lever
Slip into gathering sill, in gathering sill slide trip lever can order about solution lock slide to basal disc center translation, when trip lever is opened
Begin order about solution lock slide when basal disc center translation, the second gear starts engage with tooth section, when trip lever depart from and guiding
During groove contact, solve lock slide reset and the second gear disengages with tooth section.
In above-mentioned rotary components 61, 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.
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
Being 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 phase
To time, first alignment pin solved on lock slide of translation and the second alignment pin can correspondingly insert the first hole, location and second
In 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 one alignment pin, second slides bar is fixedly installed on the top of the second alignment pin, first slide the centrage of bar with
The central axis of the first alignment pin.
In above-mentioned latch components 62, solve the gathering sill 6230 on lock slide 623 and include the first arc guide groove of connection
6231, the second arc guide groove the 6232, the 3rd arc guide groove 6233, wherein, the curved circular of the second arc guide groove
The heart is positioned on the centrage of annulus 631；Driving in assembly 63, described unlocked state 633 includes being fixed on annulus 631
Projection 637 in radial direction on medial wall, be fixed on radially on projection and point to the radial bars 638 in the annulus 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 order about the solution lock slide center translation to 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, 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.
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 practical operation, the workflow of drive mechanism 60 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, in the trip lever 6331 being fixedly installed on annulus 631 slips into gathering sill 6230 and to order about unblock sliding
Block 623, when the center translation of basal disc 621, solves and slides bar 624 for a pair in man-to-man mode one on lock slide
Translate in slide slot, owing to slide slot 629 is in bending, therefore, to a pair of the translation of basal disc 621 central line
Sliding bar 624 to order about the elastic one end connected of a pair brake(-holder) block 622 and open, so, rotating seat 611 is by initial
It is changed into rotatable state by the state of a pair brake(-holder) block frictional damping.
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, meanwhile, and trip lever 6331 and the gathering sill 6230 solving lock slide
Disengage, owing to gathering sill is S-shaped, therefore, when trip lever 6331 and gathering sill disengage, solve lock slide 623
Resetting, slide bar 624 for a pair and reset therewith, a pair elastic one end connected of brake(-holder) block 622 resets the most therewith, a pair
Brake(-holder) block frictional damping brake disc 612 again, 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 (8)
1. perform end and be provided with a robot for spill spin block, 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, be arranged on little
Execution end (50) on arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member, and forearm turns around large arm
Dynamic；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；Solution lock slide is provided with a pair and slides bar
(624), 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；
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), unlocked state
Including a trip lever (6331), described solution lock slide offers the gathering sill (6230) of S-shaped, and the annulus of rotation can order about
Trip lever slips into gathering sill, in gathering sill slide trip lever can order about solution lock slide to basal disc center translation, work as solution
Locking bar starts to order about solution lock slide when basal disc center translation, and the second gear starts to engage with tooth section, when trip lever disengaging
When contacting with gathering sill, solve lock slide reset and the second gear disengages with tooth section.
A kind of end that performs the most as claimed in claim 1 is provided with the robot of spill spin block, it is characterised in that hold described in:
Row end (50) includes the linking arm (51) being articulated on forearm (40), arranges housing (52) on the connecting arm,
Described drive mechanism (60) is arranged in housing, and spill spin block (53) is positioned at outside housing.
A kind of end that performs the most as claimed in claim 1 is provided with the robot of spill spin block, it is characterised in that: rotation group
In part (61), 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 end that performs the most as claimed in claim 1 is provided with the robot of spill spin block, it is characterised in that: snap close group
In part (62), described basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of system
Moving plate (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, 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).
A kind of end that performs the most as claimed in claim 4 is provided with the robot of spill spin block, it is characterised in that: snap close group
In part (62), the pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is offered
At 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, and the first slide slot and second slides
Groove is symmetrical set, and wherein, the first slide slot includes the first linear type slide slot (6291) of connection and second straight
Line style slide slot (6292), angle circle between the first linear type slide slot and the second linear type slide slot in 90 degree and
Between 180 degree.
A kind of end that performs the most as claimed in claim 5 is provided with the robot of spill spin block, it is characterised in that: snap close group
In part (62), 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
One 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 location
The top of pin, second slides bar is fixedly installed on the top of the second alignment pin, and the first centrage and first sliding bar is determined
The central axis of position pin.
A kind of end that performs the most as claimed in claim 6 is provided with the robot of spill spin block, it is characterised in that: snap close group
In part (62), solve the gathering sill (6230) on lock slide (623) include connection the first arc guide groove (6231),
Second arc guide groove (6232), the 3rd arc guide groove (6233), wherein, the curved circular of the second arc guide groove
The heart is positioned on the centrage of annulus (631)；Driving in assembly (63), described unlocked state (633) includes fixing
Projection (637) in radial direction on annulus (631) medial wall, be fixed on radially on projection and the sensing annulus center of circle
Radial bars (638)；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 solution lock slide to basal disc (621)
Center translation, meanwhile, the second gear (613) starts to engage with tooth section (632), and afterwards, trip lever enters the
Two arc guide grooves, solve lock slide and keep constant with the distance at basal disc center, and afterwards, trip lever enters the 3rd arc and leads
To groove, and order about and solve lock slide and translate to the direction away from basal disc center, when trip lever departs from three arc guide grooves,
Second gear disengages with tooth section.
A kind of end that performs the most as claimed in claim 1 is provided with the robot of spill spin block, it is characterised in that: driving group
In part (63), described annulus (631) is articulated in housing (52), and described driving means includes that fixed cover is located at circle
The 3rd gear (636) that ring gear (635) on ring medial wall engages with ring gear couples with the 3rd gear and is arranged on
The first motor in housing.
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| CN201610370444.3A CN105945985B (en) | 2016-05-28 | 2016-05-28 | A kind of robot for performing end and being provided with spill spin block |
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| CN201610370444.3A CN105945985B (en) | 2016-05-28 | 2016-05-28 | A kind of robot for performing end and being provided with spill spin block |
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| CN105945985B CN105945985B (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN106545050A (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 rainwater catching device of water receiving variable area |
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| CN106545051B (en) * | 2016-11-03 | 2018-12-18 | 泉州市进光贸易有限公司 | A kind of water receiving component of straight line stretching, extension |
| CN106545050B (en) * | 2016-11-03 | 2018-12-18 | 泉州市龙行贸易有限公司 | A kind of rainwater catching device of water receiving variable area |
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| CN106638772A (en) * | 2016-11-25 | 2017-05-10 | 东莞市联洲知识产权运营管理有限公司 | External extended water collecting device |
| CN106759822A (en) * | 2016-11-25 | 2017-05-31 | 东莞市联洲知识产权运营管理有限公司 | A kind of tank of pool wall lifting |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN107542364A (en) * | 2017-10-13 | 2018-01-05 | 东莞市天合机电开发有限公司 | A kind of tracking solar photovoltaic window assembly |
| CN107829665A (en) * | 2017-10-13 | 2018-03-23 | 东莞市天合机电开发有限公司 | A kind of solar energy power generating window |
| CN107749739A (en) * | 2017-11-08 | 2018-03-02 | 东莞市联洲知识产权运营管理有限公司 | A kind of angular adjustment component of high-efficiency solar-powered photovoltaic electricity generation system |
| CN108274230A (en) * | 2018-02-06 | 2018-07-13 | 东莞市益汇知识产权服务有限公司 | Electronic organ sound control spring automatic charging assemble mechanism and its assembly technology |
| CN108274230B (en) * | 2018-02-06 | 2020-07-31 | 宿州学院 | Automatic feeding and assembling mechanism for sound control spring of electronic organ and assembling process thereof |
| CN114260934A (en) * | 2022-01-14 | 2022-04-01 | 北京科技大学 | Unlocking limiting mechanism for operation of space manipulator |
| CN114260934B (en) * | 2022-01-14 | 2023-04-07 | 北京科技大学 | Unlocking limiting mechanism for operation of space manipulator |
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