CN105965543B - A kind of all-purpose robot for being equipped with rotation and performing end - Google Patents
A kind of all-purpose robot for being equipped with rotation and performing end Download PDFInfo
- Publication number
- CN105965543B CN105965543B CN201610570868.4A CN201610570868A CN105965543B CN 105965543 B CN105965543 B CN 105965543B CN 201610570868 A CN201610570868 A CN 201610570868A CN 105965543 B CN105965543 B CN 105965543B
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- gear
- fixed
- pair
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- rotation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of all-purpose robot for being equipped with rotation and performing end, robot forearm is equipped with adjutage, and the adjutage includes being fixedly connected the stake body of forearm, the first telescoping mechanism on stake body, the swing mechanism being hinged on the first telescoping mechanism, slides the second telescoping mechanism being arranged in swing mechanism slide slot and the resetting apparatus on swing mechanism；The adjutage is fixedly arranged at the front end with rotating machine arm；The rotating machine arm includes a pair of of sucker group, the rotating driving mechanism of a pair of of sucker group of driving；The driving mechanism includes pedestal, rotary components, rotating driving device and latch components.The first telescoping mechanism of the present invention can elongate or shorten the total length of adjutage and forearm and adjutage, to adapt to various operating modes.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of all-purpose robot for being equipped with rotation and performing end.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axis all-purpose robot, axis
Seat is fixed on arm axle, and axle bed guard box is fixed with axle bed, and Three-axis drive motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving motor is placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm retarder, the 6th axis sleeve is in the 5th axis, and the 5th axis sleeve is in the 4th axis, and sleeve is in forearm in the 4th axis
Rod shell, forearm retarder and forearm are lengthened in rod shell, be respectively fixed with the 4th axis, the 5th axis and the 6th axis the 4th axis from
Moving gear, the 5th axis driven gear and the 6th axis driven gear.Light-duty six axis all-purpose robot of the prior art, its forearm is only
It can drive and rotate installed in the execution end of forearm end, it is difficult to meet the needs of practical operation.
The content of the invention
The present invention is directed to above-mentioned technical problem, there is provided a kind of all-purpose robot for being equipped with rotation and performing end.
To reach above-mentioned purpose, a kind of all-purpose robot for being equipped with rotation and performing end of the invention, including base body, pivot
The waist rotation member that is connected on base body, the large arm being articulated on waist rotation member, the 6th motor output shaft for being fixed on large arm one end
On forearm, waist rotation member around base body rotate, large arm around waist rotation member rotate；
The forearm is equipped with adjutage, and the adjutage includes being fixedly connected with the stake body of forearm, installed in stake body
On the first telescoping mechanism, be hinged on the first telescoping mechanism swing mechanism, slide and be arranged in swing mechanism slide slot
Second telescoping mechanism and the resetting apparatus on swing mechanism；
First telescoping mechanism includes top plate, support plate and bottom plate；Swing mechanism includes a pair of of support base and a pair of of swing arm；
Swing arm is provided with slide slot；A pair of of swing arm lower end is respectively hinged at a pair of of support by fixed articulated shaft on a swing arm
On seat；The articulated shaft of one of swing arm and the output shaft of the 3rd motor connect firmly；Swing mechanism is fixed by a pair of of support base
On the top plate of the first telescoping mechanism；Second telescoping mechanism includes the 9th rack, the 9th gear and pendular body；9th rack is fixed
The side of the slide slot of swing arm of one of which；Pendular body includes connector and a pair of of guide holder；A pair of of guide holder is symmetrical
It is fixed on the bottom surface of connector；Guide holder includes being mutually perpendicular to fixed connecting rod and square guide rod；A pair of of guide holder leads to respectively
Square guide rod is crossed to be plugged in the slide slot of swing arm；The 4th motor is fixed with the square guide rod of one of them；4th motor
Output shaft on be fixed with the 9th gear；9th gear is engaged with the 9th rack；
Resetting apparatus includes reset components and the 3rd motor fixing device；Reset components include a pair of of reset support plate and one
To resetting spring；A pair is resetted on the top plate for the both sides that support plate is separately fixed at one of swing arm swaying direction；Reset
Spring is arranged between the side wall of swing arm and reset support plate side wall；3rd motor fixing device includes cylinder supports plate, gas
Cylinder and fixed claw；Cylinder supports plate is fixed on the top plate of the 3rd motor side；Cylinder is fixed on cylinder supports plate；The work of cylinder
Stopper rod the 3rd motor of direction；Fixed claw is fixed on the piston rod of cylinder；A pair of of positioning pin is formed on fixed claw；3rd motor with
The side of support base contact surface forms motor cabinet；A pair of first location hole is offered on motor cabinet；First location hole face
The second location hole is offered on support base side；First location hole of a pair of of positioning pin face motor cabinet of fixed claw；
The adjutage is fixedly arranged at the front end with rotating machine arm；The rotating machine arm includes a pair of of sucker group and driving is a pair of
The rotating driving mechanism of sucker group；The driving mechanism includes pedestal, rotating driving device, latch components and rotary components；Rotation
Turning component includes a pair of of locating rod, rotary support and first gear；Rotary support upper end is fixed with a pair of of locating rod, middle part is fixed
There are first gear, lower end to be articulated on pedestal；Latch components include unlocking part and limiting component；Unlocking part includes the first circle
The band of column, second gear, the 3rd gear, the 6th gear, the 7th gear and head rod；Second gear is fixed on the first cylinder ring
External cylindrical surface on；3rd gear is fixed on the inner cylinder face of the first cylinder ring；Head rod is passed vertically through and is pivotally connected
On pedestal in the first cylinder ring；Head rod upper end is fixed with the 6th gear, lower end is fixed with the 7th gear；6th tooth
Wheel is engaged with the 3rd gear.
As the preferred of above-mentioned technical proposal, the first telescoping mechanism further includes central rotating body, the first threaded rod, Ruo Gan
One guide rod, the first worm screw, the 5th motor and a pair of of rotation support plate；A pair of rotation support plate is fixed on bottom plate vertically；First
Worm screw is articulated between a pair of of rotation support plate；In the rotation support plate that 5th motor one of is fixed therein；5th motor
Output shaft is connected firmly with the first worm screw；Central rotating body includes the first cylinder and the first worm gear；Offered in the middle part of first cylinder up and down
Perforative threaded hole；First cylinder upper end external cylindrical surface is fixed with the supporting plate, on the external cylindrical surface of lower end by bearing hinge joint
First worm gear；Central rotating body passes through the first worm gear and the first worm engaging；First threaded rod lower end is screwed onto central rotating body
Threaded hole in, upper end and roof center be spirally connected；Some first guide rods are fixed on support plate upper surface；Top plate is set in some
On first guide rod.
As the preferred of above-mentioned technical proposal, some first guide rod upper ends form circular limited block, limited block diameter
More than the diameter of the first guide rod.
As the preferred of above-mentioned technical proposal, the first housing and the second housing are included on the stake body；First housing and
Second housing is integrally fixed by some connecting poles；First telescoping mechanism is fixed on the first housing by support plate and bottom plate
On inner wall；Second housing is set in outside swing mechanism and the first telescoping mechanism.
As the preferred of above-mentioned technical proposal, pendular body center offers perforative circular hole, the diameter of circular hole up and down and is more than
The diameter of first threaded rod.
As the preferred of above-mentioned technical proposal, limiting component includes limited block, the first threaded rod and eighth gear；Rotation branch
Seat lower face offers limiting slot；Limiting slot is made of upper square groove and lower square groove；The size of upper square groove is square under being less than
The size of groove；By upper square limited block, the square limited block with forms limited block；The upper square limited block of limited block is square with
Limited block is plugged in the upper square groove and lower square groove of limiting slot respectively；Pedestal lower face shaping below rotary support
There is guiding slot holder；The guide groove identical with square limited block size under limited block is offered inside guiding slot holder；The guide groove of guiding slot holder is just
Lower square groove to limiting slot and connect；First threaded rod upper end be articulated in limiting slot upper side wall, middle part and limited block be spirally connected,
Lower end is articulated in the lower wall of guiding slot holder and passes through the lower wall of guiding slot holder；First threaded rod lower end is fixed with eighth gear；
Eighth gear is engaged with the 7th gear；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of 4th gear only has one section；4th gear
It can be engaged with first gear；5th gear is engaged with second gear.
As the preferred of above-mentioned technical proposal, the rotating machine arm include be articulated on forearm linking arm, be fixed on
Housing on linking arm, the spill spin block outside housing, the driving mechanism are fixed in housing by pedestal, the spill spin block
Fix on the securing lever；The pair of sucker is fixed on spill spin block.
As the preferred of above-mentioned technical proposal, the rotating driving device further includes rotation driving axis and the first motor；The
One motor is fixed on pedestal vertically；It is fixed with the 4th gear and the 5th gear on first motor output shaft successively from top to bottom.
As the preferred of above-mentioned technical proposal, square limited block under the depth and limited block of the lower square groove of limiting slot
Thickness is identical；The depth of the guide groove of guiding slot holder is less than the thickness of square limited block under limited block.
The beneficial effects of the present invention are：First telescoping mechanism can elongate or shorten the total of adjutage and forearm and adjutage
Length, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has curved
Bent function；Second telescoping mechanism can drive pendular body to carry out straight line fine setting；Two suckers of rotating machinery on hand can be accurate
Ground rotates 180 degree.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram of the adjutage of the present invention；
Fig. 3 is the structure diagram of the internal driving mechanism of the present invention；
Fig. 4 is the structure diagram of the internal driving mechanism of the present invention；
Fig. 5 is the structure diagram of the first telescoping mechanism of the present invention；
Fig. 6 is the side structure schematic view of the first telescoping mechanism of the present invention；
Fig. 7 is the cross-sectional view of A-A in Fig. 6 of the invention；
Fig. 8 is the partial enlargement structural representation of B in Fig. 4 of the invention；
Fig. 9 is the structure diagram of the rotating machine arm of the present invention；
Figure 10 is the structure diagram of the driving mechanism of the present invention；
Figure 11 is the rotating driving device of the present invention and the structure diagram of latch components；
Figure 12 is the side structure schematic view of the driving mechanism of the present invention；
Figure 13 is the cross-sectional view of C-C in Figure 12 of the invention；
Figure 14 is the structure diagram of the unlocking part of the present invention；
In figure, 10, base body；20th, waist rotation member；30th, large arm；31st, the 6th motor；40th, forearm；50th, rotating machine arm；
51st, linking arm；52nd, housing；53rd, spill spin block；60th, driving mechanism；61st, pedestal；62nd, rotating driving device；621st, the 4th gear；
6211st, teeth portion is taken turns；622nd, the 5th gear；623rd, the first motor；624th, rotation driving axis；63rd, latch components；631st, solution lock section
Part；6311st, the first cylinder ring；6312nd, second gear；6313rd, the 3rd gear；6314th, head rod；6315th, the 7th gear；
6316th, the 6th gear；632nd, limiting component；6321st, limiting slot；6322nd, limited block；6323rd, the first threaded rod；6324th, the 8th
Gear；64th, rotary components；641st, locating rod；642nd, rotary support；643rd, first gear；
70th, adjutage；71st, stake body；711st, the first housing；712nd, the second housing；72nd, swing mechanism；721st, support base；
722nd, swing arm；7221st, the 9th rack；723rd, the 9th gear；724th, the 3rd motor；7241st, motor cabinet；725th, pendular body；73、
First telescoping mechanism；731st, support plate；732nd, bottom plate；733rd, top plate；734th, central rotating body；735th, the first threaded rod；736、
First guide rod；737th, the first worm screw；738th, the 5th motor；739th, support plate is rotated；74th, resetting apparatus；741st, reset components；
7411st, support plate is resetted；7412nd, resetting spring；742nd, the 3rd motor fixing device；7421st, cylinder supports plate；7422nd, cylinder；
7423rd, fixed claw.
Embodiment
It is equipped with rotation as shown in Figure 1, a kind of and performs the all-purpose robot of end, including base body 10, is articulated in base body
Waist rotation member 20 on 10, the large arm 30 being articulated on waist rotation member 20, the 6th motor 31 that is fixed on 30 one end of large arm export
Forearm 40 on axis, waist rotation member 20 are rotated around base body 10, and large arm 30 is rotated around waist rotation member 20；
As shown in Fig. 1~Fig. 8, the forearm is equipped with adjutage 70, and the adjutage includes being fixedly connected with the branch of forearm
Frame body 71, the first telescoping mechanism 73 on stake body, the swing mechanism 72 being hinged on the first telescoping mechanism, slide and set
Put the second telescoping mechanism in 72 slide slot of swing mechanism and the resetting apparatus 74 on swing mechanism 72；
As shown in Fig. 1~Fig. 8, the first telescoping mechanism 73 includes top plate 733, support plate 731 and bottom plate 732；Swing mechanism
72 include a pair of of support base 721 and a pair of of swing arm 722；Swing arm 722 is provided with slide slot；A pair of of 722 lower end of swing arm leads to
The articulated shaft being fixed on swing arm 722 is crossed to be respectively hinged on a pair of of support base 721；One of swing arm 722 is hinged
The output shaft of axis and the 3rd motor 724 connects firmly；Swing mechanism 72 is fixed on the first telescoping mechanism 73 by a pair of of support base 721
On top plate 733；Second telescoping mechanism includes the 9th rack 7221, the 9th gear 723 and pendular body 725；9th rack 7221 is solid
The side of the slide slot of fixed swing arm 722 of one of which；Pendular body 725 includes connector and a pair of of guide holder；A pair is led
The bottom surface of connector is symmetrically fixed on to seat；Guide holder includes being mutually perpendicular to fixed connecting rod and square guide rod；A pair is oriented to
Seat is plugged in the slide slot of swing arm 722 by square guide rod respectively；The 4th electricity is fixed with the square guide rod of one of them
Machine；The 9th gear 723 is fixed with the output shaft of 4th motor；9th gear 723 is engaged with the 9th rack 7221；
As shown in Fig. 1~Fig. 8, resetting apparatus 74 includes 741 and the 3rd motor fixing device 742 of reset components；Reset portion
Part 741 includes a pair of of reset support plate 7411 and a pair of of resetting spring 7412；A pair resets support plate 7411 and is separately fixed at it
In 722 swaying direction of swing arm both sides top plate 633 on；Resetting spring 7412 be arranged on swing arm 722 side wall and
Between reset 7411 side wall of support plate；3rd motor fixing device 742 includes cylinder supports plate 7421, cylinder 7422 and fixed claw
7423；Cylinder supports plate 7421 is fixed on the top plate 733 of 724 side of the 3rd motor；Cylinder 7422 is fixed on cylinder supports plate
On 7421；Piston rod the 3rd motor 724 of direction of cylinder 7422；Fixed claw 7423 is fixed on the piston rod of cylinder 7422；It is fixed
A pair of of positioning pin is formed on pawl 7423；The side of 3rd motor 724 and 721 contact surface of support base forms motor cabinet 7241；
A pair of first location hole is offered on motor cabinet 7241；It is fixed that second is offered on 721 side of support base of first location hole face
Position hole；First location hole of a pair of of positioning pin face motor cabinet 7241 of fixed claw 7423；
As shown in Fig. 1~Fig. 8, the adjutage 70 is fixedly arranged at the front end with rotating machine arm 50；The rotating machine arm 50 wraps
Include a pair of of sucker group and the rotating driving mechanism 60 of a pair of of sucker group of driving；The driving mechanism 60 includes pedestal 61, rotation is driven
Dynamic device 62, latch components 63 and rotary components 64；Rotary components 64 include a pair of of locating rod 641, rotary support 642 and first
Gear 643；642 upper end of rotary support be fixed with a pair of of locating rod 641, be fixedly arranged in the middle of first gear 643, lower end is articulated in base
On seat 61；Latch components 63 include unlocking part 631 and limiting component 632；Unlocking part 631 include the first cylinder ring 6311,
Second gear 6312, the 3rd gear 6313, the 6th gear 6316, the 7th gear 6315 and head rod 6314；Second gear
6312 are fixed on the external cylindrical surface of the first cylinder ring 6311；3rd gear 6313 is fixed on the interior cylinder of the first cylinder ring 6311
On face；Head rod 6314 is passed vertically through and is articulated on the pedestal 61 in the first cylinder ring 6311；Head rod
6314 upper ends are fixed with the 6th gear 6316, lower end is fixed with the 7th gear 6315；6th gear 6316 and the 3rd gear 6313
Engagement.
As shown in Fig. 1~Fig. 8, the first telescoping mechanism 73 further includes central rotating body 734, the first threaded rod 735, Ruo Gan
One guide rod 736, the first worm screw 637, the 5th motor 738 and a pair of of rotation support plate 739；A pair of rotation support plate 739 is solid vertically
It is scheduled on bottom plate 732；First worm screw 737 is articulated between a pair of of rotation support plate 739；5th motor 738 is fixed therein it
In one rotation support plate 739；The output shaft of 5th motor 738 is connected firmly with the first worm screw 737；Central rotating body 734 includes the
One cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through
Bearing hinge joint is fixed with the first worm gear on 731 upper and lower end external cylindrical surface of support plate；Central rotating body 734 passes through the first worm gear
Engaged with the first worm screw 737；First threaded rod, 735 lower end is screwed onto in the threaded hole of central rotating body 734, upper end and top plate
733 centers are spirally connected；Some first guide rods 736 are fixed on 731 upper surface of support plate；Top plate 733 is set in some first guide rods
On 736.
As shown in Fig. 1~Fig. 8, some first guide rod, 736 upper ends form circular limited block, and limited block diameter is more than the
The diameter of one guide rod 736.
As shown in Fig. 1~Fig. 8, the first housing 711 and the second housing 712 are included on the stake body 71；First housing 711
It is integrally fixed with the second housing 712 by some connecting poles；First telescoping mechanism 73 is solid by support plate 731 and bottom plate 732
It is scheduled on the inner wall of the first housing 711；Second housing 712 is set in outside 72 and first telescoping mechanism of swing mechanism.
As shown in Fig. 1~Fig. 8,725 center of pendular body offers perforative circular hole, the diameter of circular hole up and down and is more than the first spiral shell
The diameter of rasp bar 735.
As shown in Fig. 9~Figure 14, limiting component 632 includes limited block 6322, the first threaded rod 6323 and eighth gear
6324；642 lower face of rotary support offers limiting slot 6321；Limiting slot 6321 is made of upper square groove and lower square groove；On
The size of square groove is less than the size of lower square groove；By upper square limited block, the square limited block with forms limited block 6322；Limit
The upper square limited block of position block 6322 square limited block with is plugged in the upper square groove of limiting slot 6321 and lower square groove respectively
In；Guiding slot holder 611 is formed positioned at 61 lower face of pedestal of the lower section of rotary support 642；Offered inside guiding slot holder 611 with it is spacing
The identical guide groove of square limited block size under block 6322；The lower square groove of the guide groove face limiting slot 6321 of guiding slot holder 611 is simultaneously
And connect；First threaded rod, 6323 upper end be articulated in 6321 upper side wall of limiting slot, middle part and limited block 6322 be spirally connected, lower end pivot joint
In the lower wall of guiding slot holder 611 and through guiding slot holder 611 lower wall；First threaded rod, 6323 lower end is fixed with eighth gear
6324；Eighth gear 6324 is engaged with the 7th gear 6315；
As shown in Fig. 9~Figure 14, rotating driving device 62 includes the 4th gear 621 and the 5th gear 622；4th gear
621 wheel teeth portion 6211 only has one section；4th gear 621 can be engaged with first gear 643；5th gear 622 and second gear
6312 engagements.
As shown in Fig. 9~Figure 14, the rotating machine arm 50 includes linking arm 51, the company of being fixed on being articulated on forearm 40
The housing 52 on arm 51, the spill spin block 53 outside housing 52 are connect, the driving mechanism 60 is fixed on housing 52 by pedestal 61
Interior, the spill spin block 53 is fixed in locating rod 641；The pair of sucker is fixed on spill spin block 53.
As shown in Fig. 9~Figure 14, the rotating driving device 62 further includes 624 and first motor 623 of rotation driving axis；The
One motor 623 is fixed on pedestal 61 vertically；The 4th gear 621 is fixed with successively from top to bottom on first motor, 623 output shaft
With the 5th gear 622.
As shown in Fig. 9~Figure 14, depth and the square limited block under limited block 6322 of the lower square groove of limiting slot 6321
Thickness it is identical；The depth of the guide groove of guiding slot holder 611 is less than the thickness of square limited block under limited block 6322.
Concrete operations are as follows：First telescoping mechanism 73：Start the 5th motor 738, the 5th motor 738 drives the first worm screw
737 rotations, the first worm screw 737 drive central rotating body 734 to rotate by the first worm gear, and central rotating body 734 drives the first spiral shell
Rasp bar 735 rotates, and top plate 733, can only be under the driving of the first threaded rod 735 upwards due to being limited by some first guide rods 736
It is mobile, thus drive pendular body to stretch upwards；Make pendular body retracted downward only the 5th motor 738 need to be made inversely to revolve if desired
Turn；
Swing mechanism 72：Start cylinder 7422, fixed claw 7423, which travels forward, is inserted into the first positioning of motor cabinet 7241
In second location hole of hole and support base 721, such 3rd motor 724 is secured on support base 721；Due to pendular body 725
On square guide rod presence, drive the 3rd motor 724, the 3rd motor 724 can drive pendular body 725 by swing arm 722
Swing；
Second telescoping mechanism：After pendular body 725 swings certain angle, if necessary to carry out trace regulation to pendular body 725,
The 4th motor need to be driven, the 4th motor drives the 9th gear 723 to rotate, and the 9th gear 723 drives pendular body 725 along the 9th rack
7221 linear slides；
Resetting apparatus 74：Start cylinder 7422, fixed claw 7423 moves the first location hole for departing from motor cabinet 7241 backward
With the second location hole of support base 721, such 3rd motor 724 is separated with support base 721；Due to two pairs of reset support plates 7411
With resetting spring 7412 respectively positioned at the both sides of pendular body 725, so making pendular body 725 to be resetted around support base 721, then
Restart cylinder 7422, fixed claw 7423 travels forward again is inserted into the first location hole and support base 721 of motor cabinet 7241
The second location hole in, such 3rd motor 724 is secured on support base 721 and resets pendular body 725.
63 concrete operations of latch components are as follows：Initial state：Square limited block lower part is located at guide groove under limited block 6322
Seat 611 is interior, top is located in the lower square groove of limiting slot 6321；So limited block 6322 limits rotary support 642, that is, rotate
Component 64, then spill spin block 53 and sucker are all limited；
Then the first motor 623 drives the 5th gear 622 to rotate；5th gear 622 drives the by second gear 6312
One cylinder ring 6311 rotates, and the first cylinder ring 6311 drives the 3rd gear 6313 to rotate, and the 3rd gear 6313 passes through the 6th gear
6316th, head rod 6314, the 7th gear 6315 and eighth gear 6324 drive the first threaded rod 6323 to rotate；First screw thread
Bar 6323 drives limited block 6322 to move upwards, so when driving limited block 6322 to completely disengage guiding slot holder 611, rotary components
64 are released, while the wheel teeth portion 6211 of the 4th gear 621 is engaged with first gear 643 at this time；4th gear 621 drives rotation
Component 64 rotates；Then spill spin block 53 and sucker all rotate 180 degree；Then 623 antikinesis of the first motor, limited block are driven
6322 enter in guiding slot holder 611 again；So rotary components 64 are limited under the action of limiting component 632 again.
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, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (7)
1. a kind of all-purpose robot for being equipped with rotation and performing end, including base body (10), the waist that is articulated on base body (10)
Rotation member (20), the large arm (30) being articulated on waist rotation member (20), be fixed on large arm (30) one end the 6th motor (31) it is defeated
Forearm (40) on shaft, waist rotation member (20) are rotated around base body (10), and large arm (30) is rotated around waist rotation member (20)；It is special
Sign is：
The forearm is equipped with adjutage (70), and the adjutage includes being fixedly connected with the stake body (71) of forearm, installed in branch
The first telescoping mechanism (73) on frame body, the swing mechanism (72) being hinged on the first telescoping mechanism, slide and be arranged on oscillating machine
The second telescoping mechanism in structure (72) slide slot and the resetting apparatus (74) on swing mechanism (72)；
First telescoping mechanism (73) includes top plate (733), support plate (731) and bottom plate (732)；Swing mechanism (72) includes a pair
Support base (721) and a pair of of swing arm (722)；Swing arm (722) is provided with slide slot；A pair of of swing arm (722) lower end passes through
The articulated shaft being fixed on swing arm (722) is respectively hinged on a pair of of support base (721)；One of swing arm (722)
The output shaft of articulated shaft and the 3rd motor (724) connects firmly；Swing mechanism (72) is fixed on first by a pair of of support base (721) and stretches
On the top plate (733) of contracting mechanism (73)；Second telescoping mechanism includes the 9th rack (7221), the 9th gear (723) and pendular body
(725)；The side of the slide slot for the swing arm (722) that 9th rack (7221) one of is fixed therein；Pendular body (725) includes
Connector and a pair of of guide holder；A pair of of guide holder is symmetrically fixed on the bottom surface of connector；Guide holder includes being mutually perpendicular to fixation
Connecting rod and square guide rod；A pair of of guide holder is plugged in the slide slot of swing arm (722) by square guide rod respectively；Wherein it
The 4th motor is fixed with one square guide rod；The 9th gear (723) is fixed with the output shaft of 4th motor；9th gear
(723) engaged with the 9th rack (7221)；
Resetting apparatus (74) includes reset components (741) and the 3rd motor fixing device (742)；Reset components (741) include one
To resetting support plate (7411) and a pair of of resetting spring (7412)；A pair resets support plate (7411) and is separately fixed at one of them
On the top plate (633) of the both sides of swing arm (722) swaying direction；Resetting spring (7412) is arranged on the side wall of swing arm (722)
Between reset support plate (7411) side wall；3rd motor fixing device (742) includes cylinder supports plate (7421), cylinder
(7422) and fixed claw (7423)；Cylinder supports plate (7421) is fixed on the top plate (733) of the 3rd motor (724) side；Cylinder
(7422) it is fixed on cylinder supports plate (7421)；Piston rod the 3rd motor (724) of direction of cylinder (7422)；Fixed claw
(7423) it is fixed on the piston rod of cylinder (7422)；Fixed claw forms a pair of of positioning pin on (7423)；3rd motor (724) with
The side of support base (721) contact surface forms motor cabinet (7241)；A pair of first location hole is offered on motor cabinet (7241)；
The second location hole is offered on support base (721) side of first location hole face；A pair of of positioning pin of fixed claw (7423) is just
To the first location hole of motor cabinet (7241)；
The adjutage (70) is fixedly arranged at the front end with rotating machine arm (50)；The rotating machine arm (50) include a pair of of sucker group and
A pair of of rotating driving mechanism of sucker group (60) of driving；The driving mechanism (60) includes pedestal (61), rotating driving device
(62), latch components (63) and rotary components (64)；Rotary components (64) include a pair of of locating rod (641), rotary support (642)
With first gear (643)；Rotary support (642) upper end is fixed with a pair of of locating rod (641), is fixedly arranged in the middle of first gear
(643), lower end is articulated on pedestal (61)；Latch components (63) include unlocking part (631) and limiting component (632)；Unlock
Component (631) includes the first cylinder ring (6311), second gear (6312), the 3rd gear (6313), the 6th gear (6316), the
Seven gears (6315) and head rod (6314)；Second gear (6312) is fixed on the external cylindrical surface of the first cylinder ring (6311)
On；3rd gear (6313) is fixed on the inner cylinder face of the first cylinder ring (6311)；Head rod (6314) passes vertically through
And it is articulated on the pedestal (61) in the first cylinder ring (6311)；Head rod (6314) upper end is fixed with the 6th gear
(6316), lower end is fixed with the 7th gear (6315)；6th gear (6316) is engaged with the 3rd gear (6313)；
First telescoping mechanism (73) further include central rotating body (734), the first threaded rod (735), some first guide rods (736),
First worm screw (637), the 5th motor (738) and a pair of of rotation support plate (739)；A pair of rotation support plate (739) is fixed vertically
On bottom plate (732)；First worm screw (737) is articulated between a pair of of rotation support plate (739)；5th motor (738) is fixed on
In the rotation support plate (739) of one of them；The output shaft of 5th motor (738) is connected firmly with the first worm screw (737)；Central rotation
Body (734) includes the first cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end
External cylindrical surface is fixed with the first worm gear by bearing hinge joint on support plate (731) upper and lower end external cylindrical surface；Central rotating body
(734) engaged by the first worm gear with the first worm screw (737)；First threaded rod (735) lower end is screwed onto central rotating body (734)
Threaded hole in, upper end and top plate (733) center be spirally connected；Some first guide rods (736) are fixed on support plate (731) upper surface
On；Top plate (733) is set on some first guide rods (736)；
Limiting component (632) includes limited block (6322), the first threaded rod (6323) and eighth gear (6324)；Rotary support
(642) lower face offers limiting slot (6321)；Limiting slot (6321) is made of upper square groove and lower square groove；Upper square groove
Size is less than the size of lower square groove；By upper square limited block, the square limited block with forms limited block (6322)；Limited block
(6322) upper square limited block square limited block with is plugged in the upper square groove of limiting slot (6321) and lower square groove respectively
In；Pedestal (61) lower face below rotary support (642) forms guiding slot holder (611)；Opened up inside guiding slot holder (611)
There is the guide groove identical with square limited block size under limited block (6322)；The guide groove face limiting slot of guiding slot holder (611)
(6321) lower square groove and connect；First threaded rod (6323) upper end be articulated in limiting slot (6321) upper side wall, middle part with
Limited block (6322) is spirally connected, lower end is articulated in the lower wall of guiding slot holder (611) and passes through the lower wall of guiding slot holder (611)；The
One threaded rod (6323) lower end is fixed with eighth gear (6324)；Eighth gear (6324) is engaged with the 7th gear (6315)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of 4th gear (621)
(6211) there was only one section；4th gear (621) can be engaged with first gear (643)；5th gear (622) and second gear
(6312) engage.
A kind of 2. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：Some first
Guide rod (736) upper end forms circular limited block, and limited block diameter is more than the diameter of the first guide rod (736).
A kind of 3. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：The stent
Include the first housing (711) and the second housing (712) on body (71)；First housing (711) and the second housing (712) are by some
Connecting pole is integrally fixed；First telescoping mechanism (73) is fixed on the first housing by support plate (731) and bottom plate (732)
(711) on inner wall；Second housing (712) is set in outside swing mechanism (72) and the first telescoping mechanism.
A kind of 4. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：Pendular body
(725) center offers perforative circular hole up and down, and the diameter of circular hole is more than the diameter of the first threaded rod (735).
A kind of 5. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：The rotation
Manipulator (50) include be articulated on forearm (40) linking arm (51), be fixed on linking arm (51) housing (52), be located at
The spill spin block (53) of housing (52) outside, the driving mechanism (60) are fixed in housing (52) by pedestal (61), the rotation
Block (53) is fixed in locating rod (641)；The pair of sucker is fixed on spill spin block (53).
A kind of 6. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：The rotation
Driving device (62) further includes rotation driving axis (624) and the first motor (623)；First motor (623) is fixed on pedestal vertically
(61) on；The 4th gear (621) and the 5th gear (622) are fixed with successively from top to bottom on first motor (623) output shaft.
A kind of 7. all-purpose robot for being equipped with rotation and performing end according to claim 1, it is characterised in that：Limiting slot
(6321) depth of lower square groove is identical with the thickness of square limited block under limited block (6322)；Guiding slot holder (611) are led
The depth of groove is less than the thickness of square limited block under limited block (6322).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570868.4A CN105965543B (en) | 2016-07-18 | 2016-07-18 | A kind of all-purpose robot for being equipped with rotation and performing end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570868.4A CN105965543B (en) | 2016-07-18 | 2016-07-18 | A kind of all-purpose robot for being equipped with rotation and performing end |
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| Publication Number | Publication Date |
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| CN105965543A CN105965543A (en) | 2016-09-28 |
| CN105965543B true CN105965543B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610570868.4A Expired - Fee Related CN105965543B (en) | 2016-07-18 | 2016-07-18 | A kind of all-purpose robot for being equipped with rotation and performing end |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106477905B (en) * | 2016-09-30 | 2019-01-01 | 泉州市凡鼎贸易有限公司 | A kind of scale plate mobile device with micromatic setting |
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| CN205928723U (en) * | 2016-07-18 | 2017-02-08 | 佛山市联智新创科技有限公司 | All -purpose robot with rotatory end of carrying out |
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| US3549191A (en) * | 1968-11-04 | 1970-12-22 | Emhart Corp | Take-out mechanism for glassware forming machine |
| CN101391354A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
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| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
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|---|---|
| CN105965543A (en) | 2016-09-28 |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Yixuan Inventor after: Wang Zhongjin Inventor after: Fu Shuzhen Inventor before: Fu Shuzhen |
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Effective date of registration: 20180412 Address after: 623 room 3, building 32, No. 264000, Yantai economic and Technological Development Zone, Shandong, Zhujianglu Road Applicant after: Yantai creation Intelligent Technology Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
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