CN107398895A - A kind of rotatable industrial robot of both arms - Google Patents

A kind of rotatable industrial robot of both arms Download PDF

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Publication number
CN107398895A
CN107398895A CN201710853264.5A CN201710853264A CN107398895A CN 107398895 A CN107398895 A CN 107398895A CN 201710853264 A CN201710853264 A CN 201710853264A CN 107398895 A CN107398895 A CN 107398895A
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CN
China
Prior art keywords
welded
groove
hole
bar
block
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.)
Pending
Application number
CN201710853264.5A
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Chinese (zh)
Inventor
赵龙灿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Ouka Robot Co Ltd
Original Assignee
Liuzhou Ouka Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liuzhou Ouka Robot Co Ltd filed Critical Liuzhou Ouka Robot Co Ltd
Priority to CN201710853264.5A priority Critical patent/CN107398895A/en
Publication of CN107398895A publication Critical patent/CN107398895A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041Cylindrical coordinate type
    • B25J9/042Cylindrical coordinate type comprising an articulated arm

Abstract

The invention discloses a kind of rotatable industrial robot of both arms, including base, the top of the base symmetrically offers two the first grooves, rotating shaft is rotatablely equipped with first groove, and the top of rotating shaft is extended to outside the first groove, fixed cover is provided with first gear in rotating shaft, two the first servomotors for being symmetrically welded at base top are provided between two rotating shafts, second gear is installed with the output shaft of first servomotor, second gear engages with first gear, the top of rotating shaft is welded with hydraulic cylinder, support block is welded with hydraulic cylinder, the top of support block is provided with telescopic component, telescopic component is provided with latch assembly, latch assembly is provided with Buffer Unit.The present invention is simple in construction, easy to operate, and material crawl position can be positioned well, and adds protection device to material when crawl.

Description

A kind of rotatable industrial robot of both arms
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of rotatable industrial robot of both arms.
Background technology
With in the increasing mechanical processing process of the development of mechanical industry automation is realized using industrial robot Production, in actual applications, it is necessary in different environment and space mounting industrial robot.
Existing Robot Dual-Arm rotation and flexible method, including gripper sliding block are provided with firm rotating shaft, mechanical arm It is fixed on by firm rotating shaft on gripper sliding block, the mechanical arm includes postbrachium, middle arm and forearm, and one end of wherein postbrachium is fixed In on gripper sliding block, the other end of postbrachium is hinged by one end of bearing pin and middle arm, and the other end of middle arm is by bearing pin with before One end of arm is hinged, and the other end of forearm is fixed with gripper, rotating shaft is respectively equipped with postbrachium, middle arm and forearm, postbrachium is with Connected between the rotating shaft of arm by bearing with mechanical arm motor-driven jack, pass through bearing and machinery between the rotating shaft of middle arm and forearm Arm motor-driven jack is connected, and gripper fixing axle is fixedly connected with the forearm of mechanical arm, and machinery is connected with gripper fixing axle Pawl rotating shaft, it is articulated with gripper rotating shaft in the middle part of gripper, the tail end of gripper is electronic very heavy with gripper by connecting rod The one end on top is hinged, and the other end of the gripper motor-driven jack is hinged by the forearm of bearing pin and mechanical arm, this mechanical arm Telescopic method be that mechanical arm is divided into forearm, middle arm, postbrachium, be then mutually hinged, entered using motor-driven jack Row control is flexible, and the telescopic method of this mechanical arm makes the motion of gripper become extremely complex, it is difficult to accurate localization machine The position of machinery claw gripping.
And in existing technology, industrial robot does not all have buffer structure when capturing material, in the mistake of crawl material Due to being rigid collision in journey, it is easy to cause the damage of material, therefore the present invention proposes solution with regard to problem above.
The content of the invention
The invention aims to solve one of shortcoming present in prior art, and a kind of both arms proposed are rotatable Industrial robot.
To achieve these goals, present invention employs following technical scheme:
A kind of rotatable industrial robot of both arms, including base, the top of the base symmetrically offer two first Groove, rotating shaft is rotatablely equipped with the first groove, and the top of rotating shaft is extended to outside the first groove, fixed cover is provided with the in rotating shaft One gear, be provided between two rotating shafts and be symmetrically welded at two the first servomotors of base top, the first servomotor it is defeated Second gear is installed with shaft, second gear engages with first gear, and the top of rotating shaft is welded with hydraulic cylinder, hydraulic cylinder On be welded with support block, the top of support block is provided with telescopic component, and telescopic component is provided with latch assembly, and latch assembly is provided with Buffer Unit.
Preferably, clutch shaft bearing is rotatablely equipped with first groove, clutch shaft bearing is rotated and is set in rotating shaft.
Preferably, the telescopic component includes being welded on support bar at the top of support block, support bar away from support block one End offers the second groove, motion bar is slidably fitted with the second groove, and one end of motion bar is extended to outside the second groove.
Preferably, the first stopper slot is symmetrically offered on the both sides inwall of second groove, motion bar is recessed positioned at second One end in groove is welded with the first limited block, and the first limited block is slidably mounted in the first stopper slot, and the first stopper slot is kept away The first spring is welded with the side inwall of mouth, the first spring is welded and fixed with the first limited block.
Preferably, chute is offered at the top of the support bar, chute is connected with the first stopper slot, and peace is slided in chute Equipped with sliding block, and extended at the top of sliding block outside chute, the second stopper slot is symmetrically offered on the both sides inwall of chute, sliding block Both sides are symmetrically welded with the second limited block, and the second limited block is slidably mounted in the second stopper slot, the top balanced welding of support bar Two supports are connected to, same crossbeam is welded with the top of two supports, the bottom of crossbeam is welded with rack, the top weldering of sliding block The second servomotor is connected to, the 3rd gear, the engagement of the 3rd wheel and rack are welded with the output shaft of the second servomotor.
Preferably, the latch assembly includes the fixed block being welded on one end that motion bar is located at outside the second groove, Gu Determine side of the block away from motion bar and offer the 3rd groove, be slidably fitted with first clamping plate in the 3rd groove, and first clamping plate Side is extended to outside the 3rd groove, second clamping plate is installed with the 3rd groove bottom side inwall, and the side of second clamping plate is prolonged Extend outside the 3rd groove, the 4th groove being opened at the top of second clamping plate is provided with the 3rd groove, is rotatablely installed in the 4th groove There is a second bearing, turning set is provided with connecting rod in second bearing, and the top of connecting rod is extended to outside the 4th groove, the top of fixed block First through hole is offered, is provided with the second through hole for being opened in first clamping plate bottom in the 3rd groove, the top of connecting rod sequentially passes through Second through hole and first through hole are simultaneously extended to outside fixed block.
Preferably, internal thread is offered on the inwall of second through hole, offers external screw thread on connecting rod, the second through hole with Connecting rod is threadedly coupled by internal thread and external screw thread, and the side roof part that fixed block is located at connecting rod is welded with the 3rd servomotor, the The 4th gear is welded with the output shaft of three servomotors, the top of fixed block is provided with fixed the 5th tooth being set on connecting rod Wheel, the 4th gear and the engagement of the 5th gear.
Preferably, the Buffer Unit includes being opened in the third through-hole at the top of first clamping plate, and peace is slided in third through-hole Both ends equipped with push rod, and push rod are all extended to outside third through-hole, and the bottom of push rod is welded with buffer board, is offered on push rod more Individual spacing hole, gag lever post is slidably fitted with spacing hole, and the both ends of gag lever post are all extended to outside spacing hole, gag lever post is close to solid The one end for determining block is welded with bar shaped sliding block, and bar shaped chute is offered at the top of first clamping plate, and bar shaped sliding block is slidably mounted on bar shaped In chute, bar shaped chute is welded with push-rod electric machine on the side inwall away from fixed block, and output shaft and the bar shaped of push-rod electric machine are slided Block welding is fixed, and the both sides of push rod are arranged with the fourth hole being opened at the top of first clamping plate, and fourth hole is slidably installed There is buffer bar, and the both ends of buffer bar are all extended to outside fourth hole, and two the 3rd are symmetrically offered on the inwall of fourth hole Stopper slot, fixed cover is provided with the 3rd limited block on buffer bar, and the 3rd limited block is slidably mounted in the 3rd stopper slot, and the 3rd is spacing Groove is welded with the second spring being set on buffer bar on the side inwall away from buffer board, second spring is welded with the 3rd limited block Fixation is connect, bottom and the buffer board of buffer bar are welded and fixed.
To achieve these goals, the present invention also adopts the following technical scheme that:
A kind of rotatable industrial robot of both arms, including base, the top of the base symmetrically offer two first Groove, rotating shaft is rotatablely equipped with the first groove, and the top of rotating shaft is extended to outside the first groove, fixed cover is provided with the in rotating shaft One gear, be provided between two rotating shafts and be symmetrically welded at two the first servomotors of base top, the first servomotor it is defeated Second gear is installed with shaft, second gear engages with first gear, and the top of rotating shaft is welded with hydraulic cylinder, hydraulic cylinder On be welded with support block, the top of support block is provided with telescopic component, and telescopic component is provided with latch assembly, and latch assembly is provided with Buffer Unit, clutch shaft bearing is rotatablely equipped with first groove, clutch shaft bearing is rotated and is set in rotating shaft, described flexible group Part includes being welded on the support bar at the top of support block, and the one end of support bar away from support block offers the second groove, the second groove Motion bar is inside slidably fitted with, and one end of motion bar is extended to outside the second groove, it is right on the both sides inwall of second groove Title offers the first stopper slot, and one end that motion bar is located in the second groove is welded with the first limited block, and the first limited block slides In the first stopper slot, the first stopper slot is welded with the first spring, the first spring and on the side inwall away from opening One limited block is welded and fixed, and chute is offered at the top of the support bar, and chute is connected with the first stopper slot, is slided in chute Sliding block is installed, and extended at the top of sliding block outside chute, the second stopper slot, sliding block are symmetrically offered on the both sides inwall of chute Both sides be symmetrically welded with the second limited block, the second limited block is slidably mounted in the second stopper slot, and the top of support bar is symmetrical Two supports are welded with, same crossbeam is welded with the top of two supports, the bottom of crossbeam is welded with rack, the top of sliding block The second servomotor is welded with, the 3rd gear, the engagement of the 3rd wheel and rack, institute are welded with the output shaft of the second servomotor Stating latch assembly includes being welded on fixed block on one end that motion bar is located at outside the second groove, fixed block away from motion bar one Side offers the 3rd groove, first clamping plate is slidably fitted with the 3rd groove, and the side of first clamping plate extends to the 3rd groove Outside, second clamping plate is installed with the 3rd groove bottom side inwall, and the side of second clamping plate is extended to outside the 3rd groove, the 3rd The 4th groove being opened at the top of second clamping plate is provided with groove, is rotatablely equipped with second bearing in the 4th groove, second bearing Interior turning set is provided with connecting rod, and the top of connecting rod is extended to outside the 4th groove, offers first through hole at the top of fixed block, and the 3rd The second through hole for being opened in first clamping plate bottom is provided with groove, the top of connecting rod sequentially passes through the second through hole and first through hole simultaneously Extend to outside fixed block, internal thread offered on the inwall of second through hole, offer external screw thread on connecting rod, the second through hole with Connecting rod is threadedly coupled by internal thread and external screw thread, and the side roof part that fixed block is located at connecting rod is welded with the 3rd servomotor, the The 4th gear is welded with the output shaft of three servomotors, the top of fixed block is provided with fixed the 5th tooth being set on connecting rod Wheel, the 4th gear and the engagement of the 5th gear, the Buffer Unit include being opened in the third through-hole at the top of first clamping plate, threeway Push rod is slidably fitted with hole, and the both ends of push rod are all extended to outside third through-hole, the bottom of push rod is welded with buffer board, push rod On offer 7 spacing holes, be arranged at intervals between 7 spacing holes, gag lever post be slidably fitted with spacing hole, it is each described The diameter of spacing hole is more than the diameter of the gag lever post, and the both ends of gag lever post are all extended to outside spacing hole, and gag lever post is close to solid The one end for determining block is welded with bar shaped sliding block, and bar shaped chute is offered at the top of first clamping plate, and bar shaped sliding block is slidably mounted on bar shaped In chute, bar shaped chute is welded with push-rod electric machine on the side inwall away from fixed block, and output shaft and the bar shaped of push-rod electric machine are slided Block welding is fixed, and the both sides of push rod are arranged with the fourth hole being opened at the top of first clamping plate, and fourth hole is slidably installed There is buffer bar, and the both ends of buffer bar are all extended to outside fourth hole, and two the 3rd are symmetrically offered on the inwall of fourth hole Stopper slot, fixed cover is provided with the 3rd limited block on buffer bar, and the 3rd limited block is slidably mounted in the 3rd stopper slot, and the 3rd is spacing Groove is welded with the second spring being set on buffer bar on the side inwall away from buffer board, second spring is welded with the 3rd limited block Fixation is connect, bottom and the buffer board of buffer bar are welded and fixed.
Compared with prior art, the beneficial effects of the invention are as follows:
In the present invention, pass through base, the first groove, rotating shaft, first gear, the first servomotor, second gear, hydraulic pressure Cylinder, support block, support bar, the second groove, motion bar, the first stopper slot, the first limited block, the first spring, chute, sliding block, branch Frame, crossbeam, rack, the second servomotor, the 3rd gear, fixed block, the 3rd groove, first clamping plate, second clamping plate, connecting rod, Three through holes, push rod, buffer board, spacing hole, gag lever post, bar shaped sliding block, bar shaped chute, fourth hole, buffer bar construct jointly A kind of rotatable industrial robot of both arms, by the cooperation of above structure, the flexible track of telescopic component can be made along straight line Motion, very easily can be positioned to the crawl position of latch assembly, while Buffer Unit is installed on latch assembly, be prevented Damage is produced to material when capturing material, the present invention is simple in construction, easy to operate, and material crawl position can be determined well Position, and protection device is added to material when crawl.
Brief description of the drawings
Fig. 1 is a kind of cross section structure diagram of the main view of the rotatable industrial robot of both arms proposed by the present invention;
Fig. 2 is a kind of cross section structure diagram of the part A of the rotatable industrial robot of both arms proposed by the present invention;
Fig. 3 is a kind of cross section structure diagram of the part B of the rotatable industrial robot of both arms proposed by the present invention;
Fig. 4 is a kind of cross section structure diagram of the C portion of the rotatable industrial robot of both arms proposed by the present invention;
Fig. 5 is a kind of cross section structure diagram of the D parts of the rotatable industrial robot of both arms proposed by the present invention.
In figure:1 base, 2 first grooves, 3 rotating shafts, 4 first gears, 5 first servomotors, 6 second gears, 7 hydraulic cylinders, 8 support blocks, 9 support bars, 10 second grooves, 11 motion bars, 12 first stopper slots, 13 first limited blocks, 14 first springs, 15 are slided Groove, 16 sliding blocks, 17 supports, 18 crossbeams, 19 racks, 20 second servomotors, 21 the 3rd gears, 22 fixed blocks, 23 the 3rd grooves, 24 first clamping plates, 25 second clamping plates, 26 connecting rods, 27 third through-holes, 28 push rods, 29 buffer boards, 30 spacing holes, 31 gag lever posts, 32 Bar shaped sliding block, 33 bar shaped chutes, 34 fourth holes, 35 buffer bars.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment 1:
Reference picture 1-5, a kind of rotatable industrial robot of both arms, including base 1, the top of base 1 symmetrically offer Two the first grooves 2, rotating shaft 3 is rotatablely equipped with the first groove 2, and the top of rotating shaft 3 is extended to outside the first groove 2, rotating shaft 3 Upper fixed cover is provided with first gear 4, and two the first servomotors for being symmetrically welded at the top of base 1 are provided between two rotating shafts 3 5, second gear 6 is installed with the output shaft of the first servomotor 5, and second gear 6 engages with first gear 4, rotating shaft 3 Top is welded with hydraulic cylinder 7, is welded with support block 8 on hydraulic cylinder 7, and the top of support block 8 is provided with telescopic component, on telescopic component Provided with latch assembly, latch assembly is provided with Buffer Unit, starts the first servomotor 5, the gear that the first servomotor 5 drives 6 rotate, and second gear 6 drives rotating shaft 3 to rotate by first gear 4, and rotating shaft 3 drives hydraulic cylinder 7 to rotate, and hydraulic cylinder 7 passes through branch Bracer 8 drives telescopic component to rotate, and telescopic component can be driven to move up and down by starting hydraulic cylinder 7.
Clutch shaft bearing is rotatablely equipped with first groove 2, clutch shaft bearing is rotated and is set in rotating shaft 3, and telescopic component includes The support bar 9 at the top of support block 8 is welded on, the one end of support bar 9 away from support block 8 offers the second groove 10, the second groove Motion bar 11 is slidably fitted with 10, and one end of motion bar 11 is extended to outside the second groove 10, in the both sides of the second groove 10 The first stopper slot 12 is symmetrically offered on wall, one end that motion bar 11 is located in the second groove 10 is welded with the first limited block 13, First limited block 13 is slidably mounted in the first stopper slot 12, and the first stopper slot 12 is welded with the side inwall away from opening One spring 14, the first spring 14 are welded and fixed with the first limited block 13, and the top of support bar 9 offers chute 15, chute 15 with First stopper slot 12 is connected, and sliding block 16 is slidably fitted with chute 15, and the top of sliding block 16 is extended to outside chute 15, chute The second stopper slot is symmetrically offered on 15 both sides inwall, the both sides of sliding block 16 are symmetrically welded with the second limited block, and second is spacing Block is slidably mounted in the second stopper slot, and the top of support bar 9 is symmetrically welded with two supports 17, the top weldering of two supports 17 Same crossbeam 18 is connected to, the bottom of crossbeam 18 is welded with rack 19, and the top of sliding block 16 is welded with the second servomotor 20, the The 3rd gear 21 is welded with the output shaft of two servomotors 20, the 3rd gear 21 engages with rack 19, is watched by starting second Taking motor 20, the output shaft of the second servomotor 20 drives the 3rd gear 21 to rotate, because the 3rd gear 21 engages with rack 19, Second servomotor 20 moves with movable slider 16 in chute 15, and sliding block 16 drives the first limited block 13 in the first stopper slot 12 Mobile, the first limited block 13 drives motion bar 11 to move.
Latch assembly includes the fixed block 22 being welded on one end that motion bar 11 is located at outside the second groove 10, fixed block 22 Side away from motion bar 11 offers the 3rd groove 23, and first clamping plate 24, and the first folder are slidably fitted with the 3rd groove 23 The side of plate 24 is extended to outside the 3rd groove 23, and second clamping plate 25, and second are installed with the bottom side inwall of the 3rd groove 23 The side of clamping plate 25 is extended to outside the 3rd groove 23, and it is recessed to be provided with the 4th be opened at the top of second clamping plate 25 in the 3rd groove 23 Groove, second bearing is rotatablely equipped with the 4th groove, turning set is provided with connecting rod 26, and the top extension of connecting rod 26 in second bearing To outside the 4th groove, the top of fixed block 22 offers first through hole, is provided with the 3rd groove 23 and is opened in the bottom of first clamping plate 24 Second through hole in portion, the top of connecting rod 26 sequentially pass through the second through hole and first through hole and extended to outside fixed block 22, and second is logical Internal thread is offered on the inwall in hole, external screw thread is offered on connecting rod 26, the second through hole passes through internal thread and outer spiral shell with connecting rod 26 Line is threadedly coupled, and the side roof part that fixed block 22 is located at connecting rod 26 is welded with the 3rd servomotor, the output of the 3rd servomotor Be welded with the 4th gear on axle, the top of fixed block 22 is provided with fixed the 5th gear being set on connecting rod 26, the 4th gear and 5th gear is engaged, and the material that needs are captured first is put into second clamping plate 25, starts the 3rd servomotor, the 3rd servo electricity The output shaft of machine drives the 4th pinion rotation, and the 4th gear drivening rod 26 rotates, and the rotation of connecting rod 26 drives first clamping plate 24 Move down.
Buffer Unit includes the third through-hole 27 for being opened in the top of first clamping plate 24, and top is slidably fitted with third through-hole 27 Bar 28, and the both ends of push rod 28 are all extended to outside third through-hole 27, the bottom of push rod 28 is welded with buffer board 29, is opened on push rod 28 Provided with multiple spacing holes 30, gag lever post 31 is slidably fitted with spacing hole 30, and the both ends of gag lever post 31 all extend to spacing hole Outside 30, gag lever post 31 is welded with bar shaped sliding block 32 close to one end of fixed block 22, and the top of first clamping plate 24 offers bar shaped cunning Groove 33, bar shaped sliding block 32 are slidably mounted in bar shaped chute 33, and bar shaped chute 33 welds on the side inwall away from fixed block 22 There is push-rod electric machine, output shaft and the bar shaped sliding block 32 of push-rod electric machine are welded and fixed, and the both sides of push rod 28, which are arranged with, is opened in The fourth hole 34 at the top of one clamping plate 24, fourth hole 34 is slidably fitted with buffer bar 35, and the both ends of buffer bar 35 are prolonged Extend outside fourth hole 34, symmetrically offer two the 3rd stopper slots on the inwall of fourth hole 34, fixed cover on buffer bar 35 Provided with the 3rd limited block, the 3rd limited block is slidably mounted in the 3rd stopper slot, the 3rd side of the stopper slot away from buffer board 29 The second spring being set on buffer bar 35 is welded with inwall, second spring is welded and fixed with the 3rd limited block, buffer bar 35 Bottom be welded and fixed with buffer board 29, now start push-rod electric machine, push-rod electric machine promotes bar shaped sliding block 32 in bar shaped chute 33 Interior movement, bar shaped sliding block 32 pull out gag lever post 31 out of spacing hole 3O, due to the rotation of connecting rod 26, first clamping plate 24 and second The distance between clamping plate 25 slowly reduces, when material contacts with buffer board 29, between first clamping plate 24 and second clamping plate 25 Distance continues to reduce, and material drives buffer board 29 to move up, and buffer board 29 drives push rod 28 to move up, and push rod 28 drives the Three limited blocks first move in the 3rd stopper slot, the 3rd limited block compression second spring, form the cushioning effect to material.
Embodiment 2:
Referring to Fig. 1-Fig. 5, a kind of rotatable industrial robot of both arms, including base 1, the top of the base 1 are symmetrical Two the first grooves 2 are offered, rotating shaft 3 are rotatablely equipped with the first groove 2, and the top of rotating shaft 3 extends to the first groove 2 Outside, fixed cover is provided with first gear 4 in rotating shaft 3, and be symmetrically welded at the top of base 1 two first are provided between two rotating shafts 3 Servomotor 5, second gear 6 is installed with the output shaft of the first servomotor 5, second gear 6 is nibbled with first gear 4 To close, the top of rotating shaft 3 is welded with hydraulic cylinder 7, support block 8 is welded with hydraulic cylinder 7, and the top of support block 8 is provided with telescopic component, Telescopic component is provided with latch assembly, and latch assembly is provided with Buffer Unit, first axle is rotatablely equipped with first groove 2 Hold, clutch shaft bearing is rotated and is set in rotating shaft 3, and the telescopic component includes the support bar 9 for being welded on the top of support block 8, support The one end of bar 9 away from support block 8 offers the second groove 10, and motion bar 11, and motion bar are slidably fitted with the second groove 10 11 one end is extended to outside the second groove 10, and the first stopper slot 12 is symmetrically offered on the both sides inwall of second groove 10, One end that motion bar 11 is located in the second groove 10 is welded with the first limited block 13, and the first limited block 13 is slidably mounted on the first limit In the groove 12 of position, the first stopper slot 12 is welded with the first spring 14, the first spring 14 and the first limit on the side inwall away from opening Position block 13 is welded and fixed, and the top of the support bar 9 offers chute 15, and chute 15 is connected with the first stopper slot 12, chute Sliding block 16 is slidably fitted with 15, and the top of sliding block 16 is extended to outside chute 15, is symmetrically opened up on the both sides inwall of chute 15 There is the second stopper slot, the both sides of sliding block 16 are symmetrically welded with the second limited block, and the second limited block is slidably mounted on the second stopper slot Interior, the top of support bar 9 is symmetrically welded with two supports 17, and the top of two supports 17 is welded with same crossbeam 18, crossbeam 18 bottom is welded with rack 19, and the top of sliding block 16 is welded with the second servomotor 20, the output shaft of the second servomotor 20 On be welded with the 3rd gear 21, the 3rd gear 21 engages with rack 19, and the latch assembly includes being welded on motion bar 11 and being located at The fixed block 22 on one end outside second groove 10, side of the fixed block 22 away from motion bar 11 offer the 3rd groove 23, the First clamping plate 24 is slidably fitted with three grooves 23, and the side of first clamping plate 24 is extended to outside the 3rd groove 23, the 3rd groove Second clamping plate 25 is installed with 23 bottom side inwalls, and the side of second clamping plate 25 is extended to outside the 3rd groove 23, the 3rd is recessed The 4th groove for being opened in the top of second clamping plate 25 is provided with groove 23, second bearing, the second axle are rotatablely equipped with the 4th groove Hold interior turning set and be provided with connecting rod 26, and the top of connecting rod 26 is extended to outside the 4th groove, the top of fixed block 22 offers first Through hole, the 3rd groove 23 is interior provided with the second through hole for being opened in the bottom of first clamping plate 24, and the top of connecting rod 26 sequentially passes through second Through hole and first through hole are simultaneously extended to outside fixed block 22, and internal thread is offered on the inwall of second through hole, is opened on connecting rod 26 Provided with external screw thread, the second through hole is threadedly coupled with connecting rod 26 by internal thread and external screw thread, and fixed block 22 is located at the one of connecting rod 26 Side roof part is welded with the 3rd servomotor, and the 4th gear, the top of fixed block 22 are welded with the output shaft of the 3rd servomotor Provided with fixed the 5th gear being set on connecting rod 26, the 4th gear and the engagement of the 5th gear, the Buffer Unit include opening up Third through-hole 27 at the top of first clamping plate 24, push rod 28 is slidably fitted with third through-hole 27, and the both ends of push rod 28 are prolonged Extend outside third through-hole 27, the bottom of push rod 28 is welded with buffer board 29, is offered on push rod 28 described in 7 spacing holes 30,7 It is arranged at intervals between spacing hole 30, gag lever post 31 is slidably fitted with spacing hole 30, the diameter of each spacing hole 30 is more than The diameter of the gag lever post 31, and the both ends of gag lever post 31 are all extended to outside spacing hole 30, gag lever post 31 is close to fixed block 22 One end is welded with bar shaped sliding block 32, and the top of first clamping plate 24 offers bar shaped chute 33, and bar shaped sliding block 32 is slidably mounted on bar In shape chute 33, bar shaped chute 33 is welded with push-rod electric machine, the output shaft of push-rod electric machine on the side inwall away from fixed block 22 It is welded and fixed with bar shaped sliding block 32, the both sides of push rod 28 are arranged with the fourth hole 34 for being opened in the top of first clamping plate 24, the Four through holes 34 are slidably fitted with buffer bar 35, and the both ends of buffer bar 35 are all extended to outside fourth hole 34, fourth hole 34 Inwall on symmetrically offer two the 3rd stopper slots, fixed cover is provided with the 3rd limited block on buffer bar 35, and the 3rd limited block is slided Dynamic to be arranged in the 3rd stopper slot, the 3rd stopper slot is welded with the side inwall away from buffer board 29 and is set on buffer bar 35 Second spring, second spring is welded and fixed with the 3rd limited block, and bottom and the buffer board 29 of buffer bar 35 are welded and fixed.
In the present invention, when needing to capture material, start the first servomotor 5, the band of the first servomotor 5 first Dynamic gear 6 rotates, and second gear 6 drives rotating shaft 3 to rotate by first gear 4, and rotating shaft 3 drives hydraulic cylinder 7 to rotate, hydraulic cylinder 7 drive telescopic component to rotate by support block 8, telescopic component can be driven to move up and down by starting hydraulic cylinder 7, in flexible group By starting the second servomotor 20 in part, the output shaft of the second servomotor 20 drives the 3rd gear 21 to rotate, due to the 3rd Gear 21 engages with rack 19, and the second servomotor 20 moves with movable slider 16 in chute 15, and the drive first of sliding block 16 is spacing Block 13 moves in the first stopper slot 12, the first limited block 13 drive motion bar 11 move, can with the crawl position of positioning materials, In latch assembly, the material that needs are captured first is put into second clamping plate 25, starts the 3rd servomotor, the 3rd servo electricity The output shaft of machine drives the 4th pinion rotation, and the 4th gear drivening rod 26 rotates, and the rotation of connecting rod 26 drives first clamping plate 24 Move down, in Buffer Unit, start push-rod electric machine first, push-rod electric machine promotes bar shaped sliding block 32 to be moved in bar shaped chute 33 Dynamic, bar shaped sliding block 32 pulls out gag lever post 31 out of spacing hole 3O, due to the rotation of connecting rod 26, first clamping plate 24 and second clamping plate The distance between 25 slowly reduce, when material contacts with buffer board 29, the distance between first clamping plate 24 and second clamping plate 25 Continue to reduce, material drives buffer board 29 to move up, and buffer board 29 drives push rod 28 to move up, and push rod 28 drives the 3rd limit Position block first moves in the 3rd stopper slot, the 3rd limited block compression second spring, forms the cushioning effect to material.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (9)

1. a kind of rotatable industrial robot of both arms, including base (1), it is characterised in that the top of the base (1) is symmetrical Offer two the first grooves (2), be rotatablely equipped with rotating shaft (3) in the first groove (2), and the top of rotating shaft (3) extends to the Outside, fixed cover is provided with first gear (4) to one groove (2) in rotating shaft (3), is provided between two rotating shafts (3) and is symmetrically welded at base (1) two the first servomotors (5) at the top of, second gear (6) is installed with the output shaft of the first servomotor (5), Second gear (6) engages with first gear (4), and the top of rotating shaft (3) is welded with hydraulic cylinder (7), and hydraulic cylinder is welded with branch on (7) Bracer (8), the top of support block (8) are provided with telescopic component, and telescopic component is provided with latch assembly, and latch assembly is provided with buffering Component.
A kind of 2. rotatable industrial robot of both arms according to claim 1, it is characterised in that first groove (2) clutch shaft bearing is rotatablely equipped with, clutch shaft bearing is rotated and is set in rotating shaft (3).
A kind of 3. rotatable industrial robot of both arms according to claim 1, it is characterised in that the telescopic component bag The support bar (9) being welded at the top of support block (8) is included, the one end of support bar (9) away from support block (8) offers the second groove (10) motion bar (11), is slidably fitted with the second groove (10), and one end of motion bar (11) extends to the second groove (10) Outside.
A kind of 4. rotatable industrial robot of both arms according to claim 3, it is characterised in that second groove (10) the first stopper slot (12) is symmetrically offered on both sides inwall, motion bar (11) is located at one end weldering in the second groove (10) The first limited block (13) is connected to, the first limited block (13) is slidably mounted in the first stopper slot (12), and the first stopper slot (12) is remote Leave and the first spring (14) is welded with the side inwall of mouth, the first spring (14) is welded and fixed with the first limited block (13).
A kind of 5. rotatable industrial robot of both arms according to claim 3, it is characterised in that the support bar (9) Top offer chute (15), chute (15) is connected with the first stopper slot (12), is slidably fitted with sliding block in chute (15) (16), and at the top of sliding block (16) chute (15) is extended to outside, it is spacing symmetrically to offer second on the both sides inwall of chute (15) Groove, the both sides of sliding block (16) are symmetrically welded with the second limited block, and the second limited block is slidably mounted in the second stopper slot, support bar (9) two supports (17) are symmetrically welded with the top of, same crossbeam (18), crossbeam are welded with the top of two supports (17) (18) bottom is welded with rack (19), and the second servomotor (20), the second servomotor are welded with the top of sliding block (16) (20) the 3rd gear (21) is welded with output shaft, the 3rd gear (21) engages with rack (19).
A kind of 6. rotatable industrial robot of both arms according to claim 1, it is characterised in that the latch assembly bag Include and be welded on the fixed block (22) that motion bar (11) is located on the one end of the second groove (10) outside, fixed block (22) is away from motion bar (11) side offers the 3rd groove (23), and first clamping plate (24), and first clamping plate are slidably fitted with the 3rd groove (23) (24) side extends to the 3rd groove (23) outside, and second clamping plate (25) is installed with the 3rd groove (23) bottom side inwall, It is provided with and the side of second clamping plate (25) extends to the 3rd groove (23) outside, in the 3rd groove (23) and is opened in second clamping plate (25) 4th groove at top, second bearing being rotatablely equipped with the 4th groove, turning set is provided with connecting rod (26) in second bearing, and even The top of bar (26) is extended to outside the 4th groove, and first through hole is offered at the top of fixed block (22), is set in the 3rd groove (23) There is the second through hole for being opened in first clamping plate (24) bottom, the top of connecting rod (26) sequentially passes through the second through hole and first through hole simultaneously Extend to fixed block (22) outside.
7. the rotatable industrial robot of a kind of both arms according to claim 6, it is characterised in that second through hole Internal thread is offered on inwall, external screw thread is offered on connecting rod (26), the second through hole passes through internal thread and outer spiral shell with connecting rod (26) Line is threadedly coupled, and the side roof part that fixed block (22) is located at connecting rod (26) is welded with the 3rd servomotor, the 3rd servomotor The 4th gear is welded with output shaft, the top of fixed block (22) is provided with fixed the 5th gear being set on connecting rod (26), the Four gears and the engagement of the 5th gear.
A kind of 8. rotatable industrial robot of both arms according to claim 1, it is characterised in that the Buffer Unit bag The third through-hole (27) being opened at the top of first clamping plate (24) is included, push rod (28) is slidably fitted with third through-hole (27), and push up The both ends of bar (28) all extend to third through-hole (27) outside, and the bottom of push rod (28) is welded with buffer board (29), on push rod (28) Multiple spacing holes (30) are offered, are slidably fitted with gag lever post (31) in spacing hole (30), and the both ends of gag lever post (31) are prolonged Extend spacing hole (30) outside, gag lever post (31) is welded with bar shaped sliding block (32), first clamping plate close to one end of fixed block (22) (24) bar shaped chute (33) is offered at the top of, bar shaped sliding block (32) is slidably mounted in bar shaped chute (33), bar shaped chute (33) push-rod electric machine is welded with the side inwall away from fixed block (22), output shaft and the bar shaped sliding block (32) of push-rod electric machine weld Fixation is connect, the both sides of push rod (28) are arranged with the fourth hole (34) being opened at the top of first clamping plate (24), fourth hole (34) be slidably fitted with buffer bar (35), and the both ends of buffer bar (35) all extend to fourth hole (34) outside, fourth hole (34) two the 3rd stopper slots are symmetrically offered on inwall, fixed cover is provided with the 3rd limited block, the 3rd limit on buffer bar (35) Position block be slidably mounted in the 3rd stopper slot, the 3rd stopper slot be welded with the side inwall away from buffer board (29) be set in it is slow Second spring on jumper bar (35), second spring are welded and fixed with the 3rd limited block, the bottom of buffer bar (35) and buffer board (29) it is welded and fixed.
9. a kind of rotatable industrial robot of both arms, including base (1), it is characterised in that the top of the base (1) is symmetrical Offer two the first grooves (2), be rotatablely equipped with rotating shaft (3) in the first groove (2), and the top of rotating shaft (3) extends to the Outside, fixed cover is provided with first gear (4) to one groove (2) in rotating shaft (3), is provided between two rotating shafts (3) and is symmetrically welded at base (1) two the first servomotors (5) at the top of, second gear (6) is installed with the output shaft of the first servomotor (5), Second gear (6) engages with first gear (4), and the top of rotating shaft (3) is welded with hydraulic cylinder (7), and hydraulic cylinder is welded with branch on (7) Bracer (8), the top of support block (8) are provided with telescopic component, and telescopic component is provided with latch assembly, and latch assembly is provided with buffering Component, first groove (2) is interior to be rotatablely equipped with clutch shaft bearing, and clutch shaft bearing is rotated and is set in rotating shaft (3), described flexible Component includes being welded on the support bar (9) at the top of support block (8), and the one end of support bar (9) away from support block (8) offers second Groove (10), the second groove (10) is interior to be slidably fitted with motion bar (11), and one end of motion bar (11) extends to the second groove (10) outside, the first stopper slot (12) is symmetrically offered on the both sides inwall of second groove (10), motion bar (11) is positioned at the One end in two grooves (10) is welded with the first limited block (13), and the first limited block (13) is slidably mounted on the first stopper slot (12) Interior, the first stopper slot (12) is welded with the first spring (14), the first spring (14) and the first limit on the side inwall away from opening Position block (13) is welded and fixed, and chute (15), chute (15) and the first stopper slot (12) phase are offered at the top of the support bar (9) Connection, chute (15) is interior to be slidably fitted with sliding block (16), and extends to chute (15) outside at the top of sliding block (16), chute (15) The second stopper slot is symmetrically offered on the inwall of both sides, the both sides of sliding block (16) are symmetrically welded with the second limited block, the second limited block It is slidably mounted in the second stopper slot, two supports (17), the top of two supports (17) is symmetrically welded with the top of support bar (9) Portion is welded with same crossbeam (18), and the bottom of crossbeam (18) is welded with rack (19), and sliding block is welded with second at the top of (16) Servomotor (20), the 3rd gear (21), the 3rd gear (21) and rack are welded with the output shaft of the second servomotor (20) (19) engage, the latch assembly includes being welded on the fixed block that motion bar (11) is located on the one end of the second groove (10) outside (22), side of the fixed block (22) away from motion bar (11) offers the 3rd groove (23), is slidably installed in the 3rd groove (23) There is first clamping plate (24), and the side of first clamping plate (24) extends to the 3rd groove (23) outside, the 3rd groove (23) bottom side inwall On be installed with second clamping plate (25), and the side of second clamping plate (25) extends to the 3rd groove (23) outside, the 3rd groove (23) the 4th groove being opened at the top of second clamping plate (25) is provided with, second bearing is rotatablely equipped with the 4th groove, second Turning set is provided with connecting rod (26) in bearing, and the top of connecting rod (26) is extended to outside the 4th groove, and fixed block is opened at the top of (22) Provided with first through hole, the second through hole for being opened in first clamping plate (24) bottom, the top of connecting rod (26) are provided with the 3rd groove (23) End sequentially passes through the second through hole and first through hole and extends to fixed block (22) outside, is offered on the inwall of second through hole interior Screw thread, external screw thread is offered on connecting rod (26), the second through hole is threadedly coupled with connecting rod (26) by internal thread and external screw thread, fixed The side roof part that block (22) is located at connecting rod (26) is welded with the 3rd servomotor, and is welded with the output shaft of the 3rd servomotor Four gears, the top of fixed block (22) are provided with fixed the 5th gear being set on connecting rod (26), the 4th gear and the 5th gear Engagement, the Buffer Unit include being opened in the third through-hole (27) at the top of first clamping plate (24), slided in third through-hole (27) Push rod (28) is installed, and the both ends of push rod (28) all extend to third through-hole (27) outside, the bottom of push rod (28) is welded with slow Punching (29), 7 spacing holes (30) are offered on push rod (28), are arranged at intervals between 7 spacing holes (30), spacing hole (30) gag lever post (31) is slidably fitted with, the diameter of each spacing hole (30) is more than the diameter of the gag lever post (31), And the both ends of gag lever post (31) all extend to spacing hole (30) outside, gag lever post (31) is welded with bar close to one end of fixed block (22) Shape sliding block (32), bar shaped chute (33) is offered at the top of first clamping plate (24), and bar shaped sliding block (32) is slidably mounted on bar shaped cunning In groove (33), bar shaped chute (33) is welded with push-rod electric machine, the output of push-rod electric machine on the side inwall away from fixed block (22) Axle is welded and fixed with bar shaped sliding block (32), and the both sides of push rod (28) are arranged with the four-way being opened at the top of first clamping plate (24) Hole (34), fourth hole (34) is slidably fitted with buffer bar (35), and the both ends of buffer bar (35) all extend to fourth hole (34) outside, two the 3rd stopper slots are symmetrically offered on the inwall of fourth hole (34), fixed cover is provided with the on buffer bar (35) Three limited blocks, the 3rd limited block are slidably mounted in the 3rd stopper slot, side inwall of the 3rd stopper slot away from buffer board (29) On be welded with the second spring being set on buffer bar (35), second spring is welded and fixed with the 3rd limited block, buffer bar (35) Bottom be welded and fixed with buffer board (29).
CN201710853264.5A 2017-09-20 2017-09-20 A kind of rotatable industrial robot of both arms Pending CN107398895A (en)

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CN108148979A (en) * 2017-12-25 2018-06-12 芜湖市鸿坤汽车零部件有限公司 A kind of vehicle steering wheel steering linkage fixing device
CN108436961A (en) * 2018-03-05 2018-08-24 天津朗硕机器人科技有限公司 A kind of robot replaces the transition apparatus of end effector automatically
CN108582039A (en) * 2018-04-27 2018-09-28 旌德县瀚海星云智能化技术研发有限公司 A kind of detachable mechanical arm
CN108608409A (en) * 2018-05-02 2018-10-02 阜阳盛东智能制造技术研发有限公司 A kind of automatic lifting adjustable width mechanical arm
CN108631199A (en) * 2018-05-07 2018-10-09 安徽申能建设工程有限公司 A kind of crawler type intelligent substation robot for overhauling and its intelligent repair method
CN109304707A (en) * 2018-10-22 2019-02-05 甯歌开 A kind of stalk plate production system paving line mechanical arm
CN109591028A (en) * 2018-12-29 2019-04-09 丁风海 A kind of anti-terrorism robot creeped for pipeline
CN109760079A (en) * 2018-12-25 2019-05-17 武汉理工大学 A kind of restructural clamper of robot end of Metal Sheets for Body-manufacturing assembly
CN110026975A (en) * 2019-05-16 2019-07-19 烟台汽车工程职业学院 A kind of universal manipulator of industrial automation assembly line
CN110380361A (en) * 2019-07-27 2019-10-25 烟台三新新能源科技有限公司 A kind of winding displacement industrial robot
CN110695960A (en) * 2019-08-28 2020-01-17 北京点域科技有限公司 Mechanical grabbing device for industrial robot
CN112533414A (en) * 2020-11-27 2021-03-19 云南电网有限责任公司信息中心 Three-defense type data synchronous monitoring device based on big data platform

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CN108148979A (en) * 2017-12-25 2018-06-12 芜湖市鸿坤汽车零部件有限公司 A kind of vehicle steering wheel steering linkage fixing device
CN108436961A (en) * 2018-03-05 2018-08-24 天津朗硕机器人科技有限公司 A kind of robot replaces the transition apparatus of end effector automatically
CN108582039A (en) * 2018-04-27 2018-09-28 旌德县瀚海星云智能化技术研发有限公司 A kind of detachable mechanical arm
CN108608409A (en) * 2018-05-02 2018-10-02 阜阳盛东智能制造技术研发有限公司 A kind of automatic lifting adjustable width mechanical arm
CN108631199A (en) * 2018-05-07 2018-10-09 安徽申能建设工程有限公司 A kind of crawler type intelligent substation robot for overhauling and its intelligent repair method
CN109304707A (en) * 2018-10-22 2019-02-05 甯歌开 A kind of stalk plate production system paving line mechanical arm
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CN109760079A (en) * 2018-12-25 2019-05-17 武汉理工大学 A kind of restructural clamper of robot end of Metal Sheets for Body-manufacturing assembly
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CN110026975A (en) * 2019-05-16 2019-07-19 烟台汽车工程职业学院 A kind of universal manipulator of industrial automation assembly line
CN110380361A (en) * 2019-07-27 2019-10-25 烟台三新新能源科技有限公司 A kind of winding displacement industrial robot
CN110695960A (en) * 2019-08-28 2020-01-17 北京点域科技有限公司 Mechanical grabbing device for industrial robot
CN112533414A (en) * 2020-11-27 2021-03-19 云南电网有限责任公司信息中心 Three-defense type data synchronous monitoring device based on big data platform
CN112533414B (en) * 2020-11-27 2022-08-09 云南电网有限责任公司信息中心 Three-defense type data synchronous monitoring device based on big data platform

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Application publication date: 20171128