CN107433624A - A kind of industrial robot waist mechanism of multi-angle operation - Google Patents
A kind of industrial robot waist mechanism of multi-angle operation Download PDFInfo
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- CN107433624A CN107433624A CN201710853556.9A CN201710853556A CN107433624A CN 107433624 A CN107433624 A CN 107433624A CN 201710853556 A CN201710853556 A CN 201710853556A CN 107433624 A CN107433624 A CN 107433624A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of industrial robot waist mechanism of multi-angle operation, including firm banking, the top of the firm banking is provided with piston cylinder, the top of piston cylinder offers piston gap, piston is slidably fitted with piston gap, and the both ends of piston are all extended to outside piston gap, the top of piston is welded with mechanical arm, the bottom of piston is welded with piston push plate, piston push plate is located in piston cylinder, the top of firm banking is welded with ram pot, ram pot is located at the side of piston cylinder, and the inside of piston cylinder is connected with the inside of ram pot by connecting tube, ram pot is provided with compression set, ram pot is provided with positioner, the side of piston cylinder is provided with tumbler.The present invention is simple in construction, easy to use, can accurately be adjusted the height of mechanical arm, and can be rotated mechanical arm, shortens the time, improves operating efficiency.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of industrial robot waist mechanism of multi-angle operation.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions, it can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Existing industrial robot, it includes support, moving platform, rotates side chain, translation side chain, drive device and installation
Seat, the support include main part and the installation portion located at the main part one end, and one end of the rotation side chain can be rotationally mounted at
On the main part of the support, the moving platform be installed in rotate side chain the other end, the translation side chain around rotate side chain lay and
Connect with the moving platform, the drive device is installed on the main part of the support and connected with translation side chain, to drive this flat
Side chain is moved, the mounting seat may be selected and removably be installed on the support, and it includes base and from the both ends of base to extension
Two support arms being bent to form are stretched, two support arms are collectively forming a receiving space with base, the base and support arm point
Together with not being installed in the installation portion and main part of support, the support is correspondingly contained in the receiving space of mounting seat, is provided
Industrial robot can flexible transformation mounting means, still, its do not have using hydraulic pressure rise robot waist function, and
And robot waist can not sufficiently be rotated, so, we have proposed a kind of industrial robot of multi-angle operation
Waist mechanism is used to solve the above problems.
The content of the invention
The invention aims to solve one of shortcoming present in prior art, and a kind of multi-angle proposed operates
Industrial robot waist mechanism.
To achieve these goals, present invention employs following technical scheme：
A kind of industrial robot waist mechanism of multi-angle operation, including firm banking, the top peace of the firm banking
Equipped with piston cylinder, the top of piston cylinder offers piston gap, piston is slidably fitted with piston gap, and the both ends of piston are equal
Extend to outside piston gap, the top of piston is welded with mechanical arm, and the bottom of piston is welded with piston push plate, and piston push plate is located at
In piston cylinder, the top of firm banking is welded with ram pot, and ram pot is located at the side of piston cylinder, and the inside of piston cylinder and liquid
The inside of pressure cylinder is connected by connecting tube, and ram pot is provided with compression set, and ram pot is provided with positioner, and the one of piston cylinder
Side is provided with tumbler.
Preferably, the compression set includes the hydraulic pressure through hole for being opened in ram pot top, is slidably installed in hydraulic pressure through hole
There is hydraulic stem, and the both ends of hydraulic stem are all extended to outside hydraulic pressure through hole, the bottom of hydraulic stem is welded with hydraulic pressure push pedal, hydraulic stem
Side is welded with rack, and ram pot is provided with the first servomotor, the first tooth is provided with the output shaft of the first servomotor
Wheel, first gear are meshed with rack.
Preferably, the hydraulic pressure push pedal overcoat is provided with the first sealing ring, and the first sealing ring is in contact with the inwall of ram pot.
Preferably, the positioner includes the support for being welded on ram pot top, and support and the first servomotor are distinguished
Positioned at the both sides of hydraulic stem, positioning through hole is offered on support, positioning wedged block, and positioning wedged block are slidably fitted with positioning through hole
Both ends all extend to outside positioning through hole, be arranged with spring outside positioning wedged block, one end of spring is welded on positioning wedged block, spring
The other end be welded on support, side of the hydraulic stem away from rack offers multiple locating grooves, locating groove and locator card
Block is slidably connected, and one end of positioning wedged block is extended to outside locating groove.
Preferably, slipmat is installed, slipmat is in contact with positioning wedged block on the inwall of the locating groove.
Preferably, rolled on the inwall of the positioning through hole and the first ball is installed, the first ball connects with positioning wedged block
Touch.
Preferably, the tumbler includes being welded on supporting plate of the piston cylinder away from ram pot side, the top of supporting plate
End is welded with the second servomotor, second gear is welded with the output shaft of the second servomotor, piston jacket is provided with the 3rd tooth
Wheel, the 3rd gear are located at the top of piston cylinder, and the 3rd gear is meshed with second gear, and the both sides of piston offer slide bar
Groove, slide bar is installed on the inwall of slide bar groove, connection sliding block is welded with the inwall of the 3rd gear, cunning is offered on connection sliding block
Block through hole, slider throughbores are connected with sliding bar, and the both ends of slide bar are all extended to outside slider throughbores.
Preferably, rolled on the inwall of the slider throughbores and the second ball is installed, the second ball is in contact with slide bar.
To achieve these goals, the present invention also adopts the following technical scheme that：
A kind of industrial robot waist mechanism of multi-angle operation, including firm banking (1), it is characterised in that described solid
The top for determining base (1) is provided with piston cylinder (2), and the top of piston cylinder (2) offers piston gap (3), and piston gap (3) is interior
Piston (4) is slidably fitted with, and the both ends of piston (4) all extend to piston gap (3) outside, the top welding of piston (4) is organic
Tool arm (20), the bottom of piston (4) are welded with piston push plate (5), and piston push plate (5) is located in piston cylinder (2), firm banking
(1) top is welded with ram pot (6), and ram pot (6) is located at the side of piston cylinder (2), and the inside of piston cylinder (2) and hydraulic pressure
The inside of cylinder (6) is connected by connecting tube (27), and ram pot (6) is provided with compression set, and ram pot (6) is provided with positioning and filled
Put, the side of piston cylinder (2) is provided with tumbler, and the compression set includes the hydraulic pressure through hole for being opened in ram pot (6) top
(7) hydraulic stem (8), is slidably fitted with hydraulic pressure through hole (7), and the both ends of hydraulic stem (8) all extend to hydraulic pressure through hole (7) outside,
The bottom of hydraulic stem (8) is welded with hydraulic pressure push pedal (9), and the side of hydraulic stem (8) is welded with rack (11), the peace of ram pot (6)
Equipped with the first servomotor (21), first gear (22), first gear are installed on the output shaft of the first servomotor (21)
(22) it is meshed with rack (11), the first sealing ring, the first sealing ring and ram pot (6) is arranged with outside the hydraulic pressure push pedal (9)
Inwall be in contact, the positioner includes being welded on the support (23) on ram pot (6) top, support (23) and the first servo
Motor (21) is located at the both sides of hydraulic stem (8) respectively, and positioning through hole (24) is offered on support (23), is slided in positioning through hole (24)
It is dynamic that positioning wedged block (25) is installed, and the both ends of positioning wedged block (25) all extend to positioning through hole (24) outside, positioning wedged block (25)
Spring (26) is arranged with outside, one end of spring (26) is welded on positioning wedged block (25), and the other end of spring (26) is welded on branch
On frame (23), side of the hydraulic stem (8) away from rack (11) offers 8 locating grooves (10), locating groove (10) and positioning
Fixture block (25) is slidably connected, and one end of positioning wedged block (25) extends to locating groove (10) outside, the locating groove (10)
Cushion pad is installed, cushion pad is in contact with positioning wedged block (25), and peace is rolled on the inwall of the positioning through hole (24) on bottom wall
Equipped with the first ball, the first ball is in contact with positioning wedged block (25), and the tumbler is remote including being welded on piston cylinder (2)
The supporting plate (12) of ram pot (6) side, the top of supporting plate (12) are welded with the second servomotor (13), the second servomotor
(13) second gear (14) is welded with output shaft, is arranged with the 3rd gear (15) outside piston (4), the 3rd gear (15) is located at
The top of piston cylinder (2), the 3rd gear (15) are meshed with second gear (14), and the both sides of piston (4) offer slide bar groove
(16) slide bar (17), is installed on the inwall of slide bar groove (16), connection sliding block (18) is welded with the inwall of the 3rd gear (15),
Slider throughbores (19) are offered on connection sliding block (18), slider throughbores (19) are slidably connected with slide bar (17), and slide bar (17)
Both ends all extend to slider throughbores (19) outside, are rolled on the inwall of the slider throughbores (19) and are provided with the second ball, the second rolling
Pearl is in contact with slide bar (17).
Compared with prior art, the beneficial effects of the invention are as follows：
In the present invention, by firm banking, piston cylinder, piston gap, piston, piston push plate, ram pot, hydraulic pressure through hole,
Hydraulic stem, hydraulic pressure push pedal, locating groove, rack, supporting plate, the second servomotor, second gear, the 3rd gear, slide bar groove, cunning
Bar, connection sliding block, slider throughbores, mechanical arm, the first servomotor, first gear, support, positioning through hole, positioning wedged block, spring
A kind of industrial robot waist mechanism of multi-angle operation is constructed jointly with connecting tube, when the height for needing adjusting mechanical arm
When, first, by the cooperation of locating groove, support, positioning through hole, positioning wedged block and spring, make positioning wedged block from locating groove
Inside skid off, then, then pass through ram pot, hydraulic pressure through hole, hydraulic stem, hydraulic pressure push pedal, rack, the first servomotor, first gear
With the cooperation of connecting tube, increase the hydraulic pressure in piston cylinder, then, in matching somebody with somebody for piston cylinder, piston gap, piston and piston push plate
Under conjunction, the height of mechanical arm is adjusted, when need rotate mechanical arm when, first, by supporting plate, the second servomotor,
The cooperation of second gear, the 3rd gear, slide bar groove, slide bar, connection sliding block and slider throughbores, piston is set to enter to rotate, so as to machine
Tool arm is rotated, and the present invention is simple in construction, easy to use, can accurately be adjusted the height of mechanical arm, and can
So that mechanical arm to be rotated, the time is shortened, improves operating efficiency.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the industrial robot waist mechanism of multi-angle operation proposed by the present invention；
Fig. 2 is a kind of side structure schematic view of the industrial robot waist mechanism of multi-angle operation proposed by the present invention；
Fig. 3 is a kind of part A structural representation of the industrial robot waist mechanism of multi-angle operation proposed by the present invention；
Fig. 4 is a kind of part B structural representation of the industrial robot waist mechanism of multi-angle operation proposed by the present invention；
Fig. 5 is a kind of C portion structural representation of the industrial robot waist mechanism of multi-angle operation proposed by the present invention.
In figure：1 firm banking, 2 piston cylinders, 3 piston gaps, 4 pistons, 5 piston push plates, 6 ram pots, 7 hydraulic pressure through holes, 8
Hydraulic stem, 9 hydraulic pressure push pedals, 10 locating grooves, 11 racks, 12 supporting plates, 13 second servomotors, 14 second gears, 15 the 3rd
Gear, 16 slide bar grooves, 17 slide bars, 18 connection sliding blocks, 19 slider throughbores, 20 mechanical arms, 21 first servomotors, 22 first teeth
Wheel, 23 supports, 24 positioning through hole, 25 positioning wedged blocks, 26 springs, 27 connecting tubes.
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 industrial robot waist mechanism of multi-angle operation, including firm banking 1, firm banking 1
Top piston cylinder 2 is installed, the top of piston cylinder 2 offers piston gap 3, piston 4 is slidably fitted with piston gap 3,
And the both ends of piston 4 are all extended to outside piston gap 3, the top of piston 4 is welded with mechanical arm 20, and the bottom of piston 4 is welded with
Piston push plate 5, piston push plate 5 are located in piston cylinder 2, and the top of firm banking 1 is welded with ram pot 6, and ram pot 6 is located at piston
The side of cylinder 2, and the inside of piston cylinder 2 is connected with the inside of ram pot 6 by connecting tube 27, ram pot 6 is provided with compression and filled
Put, ram pot 6 is provided with positioner, and the side of piston cylinder 2 is provided with tumbler, passes through firm banking 1, piston cylinder 2, piston
Opening 3, piston 4, piston push plate 5, ram pot 6, hydraulic pressure through hole 7, hydraulic stem 8, hydraulic pressure push pedal 9, locating groove 10, rack 11,
Supporting plate 12, the second servomotor 13, second gear 14, the 3rd gear 15, slide bar groove 16, slide bar 17, connection sliding block 18, sliding block
Through hole 19, mechanical arm 20, the first servomotor 21, first gear 22, support 23, positioning through hole 24, positioning wedged block 25, spring 26
A kind of industrial robot waist mechanism of multi-angle operation is constructed jointly with connecting tube 27, when the height for needing adjusting mechanical arm 20
When spending, first, by the cooperation of locating groove 10, support 23, positioning through hole 24, positioning wedged block 25 and spring 26, make locator card
Block 25 skids off out of locating groove 10, then, then by ram pot 6, hydraulic pressure through hole 7, hydraulic stem 8, hydraulic pressure push pedal 9, rack 11,
The cooperation of first servomotor 21, first gear 22 and connecting tube 27, increase the hydraulic pressure in piston cylinder 2, then, in piston cylinder
2nd, under the cooperation of piston gap 3, piston 4 and piston push plate 5, the height of mechanical arm 20 is adjusted, when needs rotate machinery
During arm 20, first, pass through supporting plate 12, the second servomotor 13, second gear 14, the 3rd gear 15, slide bar groove 16, slide bar
17th, the cooperation of connection sliding block 18 and slider throughbores 19, piston 4 is made to enter to rotate, so as to be rotated to mechanical arm, structure of the present invention
Simply, it is easy to use, the height of mechanical arm 20 can accurately be adjusted, and mechanical arm 20 can be rotated,
The time is shortened, improves operating efficiency.
Compression set includes the hydraulic pressure through hole 7 for being opened in the top of ram pot 6, and hydraulic stem is slidably fitted with hydraulic pressure through hole 7
8, and the both ends of hydraulic stem 8 are all extended to outside hydraulic pressure through hole 7, the bottom of hydraulic stem 8 is welded with hydraulic pressure push pedal 9, and the one of hydraulic stem 8
Side is welded with rack 11, and ram pot 6 is provided with the first servomotor 21, and is provided with the output shaft of the first servomotor 21
One gear 22, first gear 22 are meshed with rack 11, and the first sealing ring, the first sealing ring and liquid are arranged with outside hydraulic pressure push pedal 9
The inwall of pressure cylinder 6 is in contact, and when needing that the height of mechanical arm 20 is adjusted, starts the first servomotor 21, first watches
The output shaft for taking motor 21 drives first gear 22 to rotate, and first gear 22 is slided with carry-over bar 11, and rack 11 drives hydraulic stem 8
Slide, hydraulic stem 8 drives hydraulic pressure push pedal 9 to slide, and when hydraulic pressure push pedal 9 is slided, the hydraulic pressure in ram pot 6 changes, hydraulic pressure
Cylinder 6 drives the hydraulic pressure in piston cylinder 2 also to change, it is achieved thereby that the height of adjusting mechanical arm 20.
Positioner includes the support 23 for being welded on the top of ram pot 6, and support 23 is located at respectively with the first servomotor 21
The both sides of hydraulic stem 8, positioning through hole 24 is offered on support 23, positioning wedged block 25 is slidably fitted with positioning through hole 24, and it is fixed
The both ends of position fixture block 25 are all extended to outside positioning through hole 24, and spring 26, one end welding of spring 26 are arranged with outside positioning wedged block 25
On positioning wedged block 25, the other end of spring 26 is welded on support 23, and side of the hydraulic stem 8 away from rack 11 offers multiple
Locating groove 10, locating groove 10 are slidably connected with positioning wedged block 25, and one end of positioning wedged block 25 extends to locating groove 10
Outside, slipmat is installed, slipmat is in contact with positioning wedged block 25, on the inwall of positioning through hole 24 on the inwall of locating groove 10
Rolling is provided with the first ball, and the first ball is in contact with positioning wedged block 25, pulls positioning wedged block 25, makes positioning wedged block 25 to remote
Direction from locating groove 10 is slided, and when positioning wedged block 25 fully slides out out of locating groove 10, adjusts the height of hydraulic stem 8
Degree, when regulating height, in the presence of spring 26, positioning wedged block 25 is entered locating groove 10, realize to hydraulic stem 8
Positioning action.
Tumbler includes being welded on supporting plate 12 of the piston cylinder 2 away from the side of ram pot 6, the top welding of supporting plate 12
There is the second servomotor 13, second gear 14 is welded with the output shaft of the second servomotor 13, the 3rd tooth is arranged with outside piston 4
Wheel 15, the 3rd gear 15 is located at the top of piston cylinder 2, and the 3rd gear 15 is meshed with second gear 14, and the both sides of piston 4 are opened
Provided with slide bar groove 16, slide bar 17 is installed on the inwall of slide bar groove 16, connection sliding block 18 is welded with the inwall of the 3rd gear 15,
Slider throughbores 19 are offered on connection sliding block 18, slider throughbores 19 are slidably connected with slide bar 17, and the both ends of slide bar 17 extend
To outside slider throughbores 19, it is characterised in that rolled on the inwall of slider throughbores 19 and second ball, the second ball and slide bar are installed
17 are in contact, and when needing to rotate mechanical arm 20, first, start the second private and take motor 13, the second servomotor 13
Output shaft drives second gear 14 to be rotated, and second gear 14 drives the 3rd gear 15 to rotate, and the 3rd gear 15 drives connection
Sliding block 18 is rotated, and connection sliding block 18 rotates with moving slide-bar 17, and slide bar 17 rotates with piston 4, and the driving mechanical arm 20 of piston 4 is carried out
Rotate, so as to complete the rotation of mechanical arm 20 regulation.
Embodiment 2：
A kind of industrial robot waist mechanism of multi-angle operation, including firm banking 1, the top installation of firm banking 1
There is piston cylinder 2, the top of piston cylinder 2 offers piston gap 3, piston 4, and the two of piston 4 are slidably fitted with piston gap 3
End is all extended to outside piston gap 3, and the top of piston 4 is welded with mechanical arm 20, and the bottom of piston 4 is welded with piston push plate 5, living
Plug push pedal 5 is located in piston cylinder 2, and the top of firm banking 1 is welded with ram pot 6, and ram pot 6 is located at the side of piston cylinder 2, and
The inside of piston cylinder 2 is connected with the inside of ram pot 6 by connecting tube 27, and ram pot 6 is provided with compression set, on ram pot 6
Provided with positioner, the side of piston cylinder 2 is provided with tumbler, and the hydraulic pressure that compression set includes being opened in the top of ram pot 6 leads to
Hole 7, hydraulic stem 8 is slidably fitted with hydraulic pressure through hole 7, and the both ends of hydraulic stem 8 are all extended to outside hydraulic pressure through hole 7, hydraulic stem 8
Bottom is welded with hydraulic pressure push pedal 9, and the side of hydraulic stem 8 is welded with rack 11, and ram pot 6 is provided with the first servomotor 21,
First gear 22 is installed, first gear 22 is meshed with rack 11, outside hydraulic pressure push pedal 9 on the output shaft of first servomotor 21
The first sealing ring is arranged with, the first sealing ring is in contact with the inwall of ram pot 6, and positioner pushes up including being welded on ram pot 6
The support 23 at end, the servomotor 21 of support 23 and first are located at the both sides of hydraulic stem 8, positioning through hole are offered on support 23 respectively
24, positioning wedged block 25 is slidably fitted with positioning through hole 24, and the both ends of positioning wedged block 25 are all extended to outside positioning through hole 24, it is fixed
Spring 26 is arranged with outside the fixture block 25 of position, one end of spring 26 is welded on positioning wedged block 25, and the other end of spring 26 is welded on branch
On frame 23, side of the hydraulic stem 8 away from rack 11 offers 8 locating grooves 10, and locating groove 10 slides with positioning wedged block 25
Connection, and one end of positioning wedged block 25 is extended to outside locating groove 10, and cushion pad is provided with the bottom wall of locating groove 10, buffering
Pad is in contact with positioning wedged block 25, is rolled on the inwall of positioning through hole 24 and is provided with the first ball, the first ball and positioning wedged block
25 are in contact, and tumbler includes being welded on supporting plate 12 of the piston cylinder 2 away from the side of ram pot 6, the top weldering of supporting plate 12
The second servomotor 13 is connected to, second gear 14 is welded with the output shaft of the second servomotor 13, the 3rd is arranged with outside piston 4
Gear 15, the 3rd gear 15 are located at the top of piston cylinder 2, and the 3rd gear 15 is meshed with second gear 14, and the both sides of piston 4 are equal
Slide bar groove 16 is offered, slide bar 17 is installed on the inwall of slide bar groove 16, connection sliding block is welded with the inwall of the 3rd gear 15
18, slider throughbores 19 are offered on connection sliding block 18, and slider throughbores 19 are slidably connected with slide bar 17, and the both ends of slide bar 17 are prolonged
Extend outside slider throughbores 19, rolled on the inwall of slider throughbores 19 and second ball is installed, the second ball is in contact with slide bar 17.
In the present invention, when needing that the height of mechanical arm 20 is adjusted, first, positioning wedged block 25 is pulled, makes positioning
Fixture block 25 slides to the direction of remotely located neck 10, when positioning wedged block 25 fully slides out out of locating groove 10, starts the
One servomotor 21, the output shaft of the first servomotor 21 drive first gear 22 to rotate, and first gear 22 is slided with carry-over bar 11
Dynamic, rack 11 drives hydraulic stem 8 to slide, and hydraulic stem 8 drives hydraulic pressure push pedal 9 to slide, when hydraulic pressure push pedal 9 is slided, in ram pot 6
Hydraulic pressure change, ram pot 6 drive piston cylinder 2 in hydraulic pressure also change, when the hydraulic pressure in piston cylinder 2 changes
When, piston push plate 5 enters line slip, and piston push plate 5 slides with piston 4, the driving mechanical arm 20 of piston 4, so as to complete to machine
The height regulation of tool arm 20, when needing to rotate mechanical arm 20, first, start the second private and take motor 13, the second servo
The output shaft of motor 13 drives second gear 14 to be rotated, and second gear 14 drives the 3rd gear 15 to rotate, the 3rd gear 15
Connection sliding block 18 is driven to rotate, connection sliding block 18 rotates with moving slide-bar 17, and slide bar 17 rotates with piston 4, the driving mechanical of piston 4
Arm 20 is rotated, so as to complete the rotation of mechanical arm 20 regulation.
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 industrial robot waist mechanism of multi-angle operation, including firm banking (1), it is characterised in that the fixation
The top of base (1) is provided with piston cylinder (2), and the top of piston cylinder (2) offers piston gap (3), slided in piston gap (3)
It is dynamic that piston (4) is installed, and the both ends of piston (4) all extend to piston gap (3) outside, the top of piston (4) is welded with machinery
Arm (20), the bottom of piston (4) are welded with piston push plate (5), and piston push plate (5) is located in piston cylinder (2), firm banking (1)
Top be welded with ram pot (6), ram pot (6) is located at the side of piston cylinder (2), and the inside of piston cylinder (2) and ram pot
(6) inside is connected by connecting tube (27), and ram pot (6) is provided with compression set, and ram pot (6) is provided with positioner,
The side of piston cylinder (2) is provided with tumbler.
A kind of 2. industrial robot waist mechanism of multi-angle operation according to claim 1, it is characterised in that the pressure
Compression apparatus includes the hydraulic pressure through hole (7) for being opened in ram pot (6) top, and hydraulic stem (8) is slidably fitted with hydraulic pressure through hole (7),
And the both ends of hydraulic stem (8) all extend to hydraulic pressure through hole (7) outside, the bottom of hydraulic stem (8) is welded with hydraulic pressure push pedal (9), hydraulic pressure
The side of bar (8) is welded with rack (11), and ram pot (6) is provided with the first servomotor (21), the first servomotor (21)
Output shaft on first gear (22) is installed, first gear (22) is meshed with rack (11).
A kind of 3. industrial robot waist mechanism of multi-angle operation according to claim 2, it is characterised in that the liquid
The first sealing ring is arranged with outside pressure push pedal (9), the first sealing ring is in contact with the inwall of ram pot (6).
4. the industrial robot waist mechanism of a kind of multi-angle operation according to claim 1, it is characterised in that described fixed
Position device includes the support (23) for being welded on ram pot (6) top, and support (23) is located at liquid respectively with the first servomotor (21)
The both sides of depression bar (8), positioning through hole (24) is offered on support (23), positioning wedged block is slidably fitted with positioning through hole (24)
(25), and the both ends of positioning wedged block (25) all extend to positioning through hole (24) outside, and spring (26) is arranged with outside positioning wedged block (25),
One end of spring (26) is welded on positioning wedged block (25), and the other end of spring (26) is welded on support (23), hydraulic stem (8)
Side away from rack (11) offers multiple locating grooves (10), and locating groove (10) is slidably connected with positioning wedged block (25),
And one end of positioning wedged block (25) extends to locating groove (10) outside.
5. the industrial robot waist mechanism of a kind of multi-angle operation according to claim 4, it is characterised in that described fixed
Slipmat is installed on the inwall of position neck (10), slipmat is in contact with positioning wedged block (25).
6. the industrial robot waist mechanism of a kind of multi-angle operation according to claim 4, it is characterised in that described fixed
Rolled on the inwall of position through hole (24) and the first ball is installed, the first ball is in contact with positioning wedged block (25).
7. the industrial robot waist mechanism of a kind of multi-angle operation according to claim 1, it is characterised in that described turn
Dynamic device includes being welded on supporting plate (12) of the piston cylinder (2) away from ram pot (6) side, and the top of supporting plate (12) is welded with
Second servomotor (13), second gear (14) is welded with the output shaft of the second servomotor (13), is arranged with outside piston (4)
3rd gear (15), the 3rd gear (15) are located at the top of piston cylinder (2), and the 3rd gear (15) is mutually nibbled with second gear (14)
Close, the both sides of piston (4) offer slide bar groove (16), slide bar (17), the 3rd gear are provided with the inwall of slide bar groove (16)
(15) connection sliding block (18) is welded with inwall, slider throughbores (19), slider throughbores (19) are offered on connection sliding block (18)
It is slidably connected with slide bar (17), and the both ends of slide bar (17) all extend to slider throughbores (19) outside.
A kind of 8. industrial robot waist mechanism of multi-angle operation according to claim 7, it is characterised in that the cunning
Rolled on the inwall of block through hole (19) and the second ball is installed, the second ball is in contact with slide bar (17).
9. a kind of industrial robot waist mechanism of multi-angle operation, including firm banking (1), it is characterised in that the fixation
The top of base (1) is provided with piston cylinder (2), and the top of piston cylinder (2) offers piston gap (3), slided in piston gap (3)
It is dynamic that piston (4) is installed, and the both ends of piston (4) all extend to piston gap (3) outside, the top of piston (4) is welded with machinery
Arm (20), the bottom of piston (4) are welded with piston push plate (5), and piston push plate (5) is located in piston cylinder (2), firm banking (1)
Top be welded with ram pot (6), ram pot (6) is located at the side of piston cylinder (2), and the inside of piston cylinder (2) and ram pot
(6) inside is connected by connecting tube (27), and ram pot (6) is provided with compression set, and ram pot (6) is provided with positioner,
The side of piston cylinder (2) is provided with tumbler, and the compression set includes the hydraulic pressure through hole (7) for being opened in ram pot (6) top,
Hydraulic stem (8) is slidably fitted with hydraulic pressure through hole (7), and the both ends of hydraulic stem (8) all extend to hydraulic pressure through hole (7) outside, hydraulic pressure
The bottom of bar (8) is welded with hydraulic pressure push pedal (9), and the side of hydraulic stem (8) is welded with rack (11), and ram pot (6) are provided with
First servomotor (21), is provided with first gear (22) on the output shaft of the first servomotor (21), first gear (22) with
Rack (11) is meshed, and the first sealing ring, the inwall of the first sealing ring and ram pot (6) are arranged with outside the hydraulic pressure push pedal (9)
It is in contact, the positioner includes the support (23) for being welded on ram pot (6) top, support (23) and the first servomotor
(21) it is located at the both sides of hydraulic stem (8) respectively, positioning through hole (24) is offered on support (23), peace is slided in positioning through hole (24)
Both ends equipped with positioning wedged block (25), and positioning wedged block (25) all extend to positioning through hole (24) outside, positioning wedged block (25) overcoat
Provided with spring (26), one end of spring (26) is welded on positioning wedged block (25), and the other end of spring (26) is welded on support
(23) on, side of the hydraulic stem (8) away from rack (11) offers 8 locating grooves (10), locating groove (10) and locator card
Block (25) is slidably connected, and one end of positioning wedged block (25) extends to locating groove (10) outside, the bottom of the locating groove (10)
Cushion pad is installed, cushion pad is in contact with positioning wedged block (25), and installation is rolled on the inwall of the positioning through hole (24) on wall
There is the first ball, the first ball is in contact with positioning wedged block (25), and the tumbler includes being welded on piston cylinder (2) away from liquid
The supporting plate (12) of pressure cylinder (6) side, the top of supporting plate (12) are welded with the second servomotor (13), the second servomotor
(13) second gear (14) is welded with output shaft, is arranged with the 3rd gear (15) outside piston (4), the 3rd gear (15) is located at
The top of piston cylinder (2), the 3rd gear (15) are meshed with second gear (14), and the both sides of piston (4) offer slide bar groove
(16) slide bar (17), is installed on the inwall of slide bar groove (16), connection sliding block (18) is welded with the inwall of the 3rd gear (15),
Slider throughbores (19) are offered on connection sliding block (18), slider throughbores (19) are slidably connected with slide bar (17), and slide bar (17)
Both ends all extend to slider throughbores (19) outside, are rolled on the inwall of the slider throughbores (19) and are provided with the second ball, the second rolling
Pearl is in contact with slide bar (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710853556.9A CN107433624A (en) | 2017-09-20 | 2017-09-20 | A kind of industrial robot waist mechanism of multi-angle operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710853556.9A CN107433624A (en) | 2017-09-20 | 2017-09-20 | A kind of industrial robot waist mechanism of multi-angle operation |
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| CN107433624A true CN107433624A (en) | 2017-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710853556.9A Pending CN107433624A (en) | 2017-09-20 | 2017-09-20 | A kind of industrial robot waist mechanism of multi-angle operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297107A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of height-adjustable combination type intelligent robot |
| CN114571441A (en) * | 2022-03-29 | 2022-06-03 | 宁夏职业技术学院 | Industrial robot |
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| CN204549929U (en) * | 2015-04-13 | 2015-08-12 | 武汉科技大学 | A kind of Emergency Assistance save space hydraulic disengaging instrument |
| CN105729000A (en) * | 2016-04-22 | 2016-07-06 | 大连爱渥特机器人科技有限公司 | Truss manipulator safety protector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297107A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of height-adjustable combination type intelligent robot |
| CN114571441A (en) * | 2022-03-29 | 2022-06-03 | 宁夏职业技术学院 | Industrial robot |
| CN114571441B (en) * | 2022-03-29 | 2024-01-09 | 宁夏职业技术学院 | Industrial robot |
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