CN107671851A - A kind of device for adjusting posture of industrial robot - Google Patents
A kind of device for adjusting posture of industrial robot Download PDFInfo
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- CN107671851A CN107671851A CN201710849531.1A CN201710849531A CN107671851A CN 107671851 A CN107671851 A CN 107671851A CN 201710849531 A CN201710849531 A CN 201710849531A CN 107671851 A CN107671851 A CN 107671851A
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- arm
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of device for adjusting posture of industrial robot, including mechanical large arm, in the machinery of mechanical large arm side arm and in machinery arm side mechanical forearm, the mechanical large arm is rotatablely connected with arm in machinery, arm is rotatablely connected with mechanical forearm in the machinery, active chamber is offered in the mechanical large arm, opened up on the side inwall of the active chamber fluted, the side of the closely mechanical large arm of arm rest is welded with rotating shaft in the machinery, the active chamber offers first through hole on the side inwall of arm in machinery, the one end of the rotating shaft away from arm in machinery through first through hole and is extended in active chamber.The present invention is simple in construction, easy to use, is rotated by arm in motor can driving mechanical and mechanical forearm, while arm and mechanical forearm rotate in machinery, can be bent by Two axle drive motor with driving mechanical forearm, simple to operate.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of device for adjusting posture of industrial robot.
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.
The device for adjusting posture of existing underwater spectroradiometer, it is by integral support, quality block assembly, pitch regulation
Mechanism and rolling governor motion composition；The integral support is made up of left end cap, right end cap and central shaft, left end cap and right end cap
Between be fixed with central shaft；Setting on center shaft can rotate freely and mobile left support disk and right support around central shaft
Cell panel is set on disk, left support disk and right support disk, battery quality block is housed on cell panel, collectively constitutes quality block assembly；
The support plate that moves that can be moved freely along central shaft is set on the central shaft, fore-stock and after-poppet are set on mobile support plate,
Mobile motor, decelerator, power transmission shaft are laid thereon, the big carrier wheel of small carrier wheel and power transmission shaft on reducer output shaft
Engage, the travelling gear on power transmission shaft engages with the rack on central shaft, and the housing and pull bar of linear displacement transducer are solid respectively
It is connected in after-poppet and on left end cap, above-mentioned part collectively constitutes pitching adjusting mechanism；Electric rotating is installed on the mobile support plate
Machine, decelerator and rotational potentiometer support, the small rotation gear on reducer output shaft are nibbled with the big rotation gear on central shaft
Close, rotational potentiometer is placed on rotational potentiometer support, and above-mentioned part collectively constitutes rolling governor motion, together constitutes one
Kind saves space, reduction using single mass regulation rolling and the underwater spectroradiometer device for adjusting posture of luffing angle
Cost, but it the small details of robot can not be adjusted, such as the limbs of arm etc, it is impossible to it is turned
Dynamic and bending, so a kind of device for adjusting posture of industrial robot is we provided, it is set forth above for solving the problems, such as.
The content of the invention
Based on one of technical problem existing for background technology, the present invention proposes a kind of pose adjustment of industrial robot
Device.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of device for adjusting posture of industrial robot, including mechanical large arm, in the machinery of mechanical large arm side
Arm and in machinery arm side mechanical forearm, the mechanical large arm with machinery in arm be rotatablely connected, it is described machinery in arm
It is rotatablely connected with mechanical forearm, offers active chamber in the mechanical large arm, opened up on the side inwall of the active chamber
Fluted, the side of the closely mechanical large arm of arm rest is welded with rotating shaft in the machinery, the active chamber in machinery arm one
First through hole is offered on the inwall of side, the one end of the rotating shaft away from arm in machinery is through first through hole and extends to active chamber
Interior, side of the arm away from rotating shaft is welded with connecting pole, the side welding of mechanical forearm arm in machinery in the machinery
There are two symmetrically arranged rectangular columns, the connecting pole is between two rectangular columns.
Preferably, motor, the driving electricity are installed with side inwall of the groove away from groove notch
Connecting rod is welded with the output shaft of machine, the one end of the connecting rod away from motor is extended in active chamber, and is connected
The outside fixed cover of bar is provided with first gear.
Preferably, rotation slot is offered on the both sides inwall of the active chamber, the rotation slot is located at the upper of groove
It is square, same motion bar is rotatablely equipped with two rotation slots, the outside both ends difference fixed cover of the motion bar is provided with second
Gear and the 3rd gear, the second gear are meshed with first gear, and the outside fixed cover of the rotating shaft is provided with the 4th gear,
3rd gear is meshed with the 4th gear.
Preferably, the top side of the connecting pole offers intercommunicating pore, is provided with roll shaft in the intercommunicating pore, and roll shaft
Both ends are rotatably connected on two rectangular column sides close to each other respectively, and the second through hole is offered at the top of the roll shaft, described
Two axle drive motor is installed with second through hole, connection is welded with two output shafts of the Two axle drive motor
Axle, the both ends of two connecting shafts are welded with card column, and two rectangular column sides close to each other offer neck, the neck
It is connected with the second through hole, two card columns are respectively clamped into corresponding neck.
Preferably, mechanical large arm side of arm in machinery is welded with two arc shaped sliders, arm in the machinery
Endless glide is provided with close to the side of mechanical large arm, the endless glide is slidably connected with two arc shaped sliders.
Preferably, side of the motor away from groove notch is welded with fixed plate, and the fixed plate is close to groove
The side corner of notch offers bolt hole, and the bolt hole internal thread is connected with bolt, and the motor passes through bolt
Hole and bolt are fixedly mounted on side inwall of the groove away from groove notch.
Preferably, two embedded grooves are offered on the inwall of second through hole, limited location is embedded in two embedded grooves
Block, two limited blocks side close to each other are in close contact with Two axle drive motor.
Preferably, the card column is rectangular configuration, and neck is rectangular configuration, and the surrounding side wall of the neck is provided with close
Seal, the card column pass through sealing ring and neck tight clamping fit.
To achieve the above object, the present invention also adopts the following technical scheme that：
A kind of device for adjusting posture of industrial robot, including mechanical large arm, in the machinery of mechanical large arm side
Arm and in machinery arm side mechanical forearm, the mechanical large arm with machinery in arm be rotatablely connected, it is described machinery in arm
It is rotatablely connected with mechanical forearm, offers active chamber in the mechanical large arm, opened up on the side inwall of the active chamber
Fluted, the side of the closely mechanical large arm of arm rest is welded with rotating shaft in the machinery, the active chamber in machinery arm one
First through hole is offered on the inwall of side, the one end of the rotating shaft away from arm in machinery is through first through hole and extends to active chamber
Interior, side of the arm away from rotating shaft is welded with connecting pole, the side welding of mechanical forearm arm in machinery in the machinery
Have two symmetrically arranged rectangular columns, the connecting pole between two rectangular columns, the groove away from groove notch one
Motor is installed with the inwall of side, connecting rod is welded with the output shaft of the motor, the connecting rod is remote
One end of motor is extended in active chamber, and the outside fixed cover of connecting rod is provided with first gear, the active chamber
Both sides inwall on offer rotation slot, the rotation slot is located at the top of groove, is rotatablely equipped with two rotation slots same
One motion bar, the outside both ends difference fixed cover of the motion bar are provided with second gear and the 3rd gear, the second gear
It is meshed with first gear, the outside fixed cover of the rotating shaft is provided with the 4th gear, and the 3rd gear is mutually nibbled with the 4th gear
Close, the top side of the connecting pole offers intercommunicating pore, is provided with roll shaft in the intercommunicating pore, and the both ends of roll shaft rotate respectively
Two rectangular column sides close to each other are connected to, the second through hole is offered at the top of the roll shaft, is consolidated in second through hole
Dingan County is equipped with Two axle drive motor, and connecting shaft, two connecting shafts are welded with two output shafts of the Two axle drive motor
Both ends be welded with card column, two rectangular column sides close to each other offer neck, the neck and the second through hole phase
Connection, two card columns are respectively clamped into corresponding neck, also set up between two card columns and the corresponding neck
There is a cushion pad, mechanical large arm side of arm in machinery is welded with two arc shaped sliders, the nearly machine of arm rest in the machinery
The side of tool large arm is provided with endless glide, and the endless glide is slidably connected with two arc shaped sliders, and the motor is remote
The side of groove notch is welded with fixed plate, and the fixed plate offers bolt hole close to the side corner of groove notch, institute
State bolt hole internal thread and be connected with bolt, the motor is fixedly mounted on groove away from groove groove by bolt hole and bolt
On the side inwall of mouth, two embedded grooves are offered on the inwall of second through hole, limited location is embedded in two embedded grooves
Block, two limited blocks side close to each other are in close contact with Two axle drive motor, and the card column is rectangular configuration, and neck is
Rectangular configuration, the surrounding side wall of the neck are provided with sealing ring, and the card column passes through sealing ring and neck tight clamping fit.
The beneficial effects of the invention are as follows：Pass through mechanical large arm, active chamber, groove, motor, connecting rod, the first tooth
Wheel, rotation slot, motion bar, second gear, the 3rd gear, machinery in arm, rotating shaft, first through hole, the 4th gear, arc shaped slider and
Endless glide is engaged, and motor can drive connecting rod to be rotated, and so as to which arm is rotated in driving mechanical, passes through company
Connect post, rectangular column, intercommunicating pore, roll shaft, the second through hole, Two axle drive motor, connecting shaft, card column, neck, mechanical forearm, insertion
Groove and limited block are engaged, and Two axle drive motor can drive connecting shaft to be rotated, so as to which driving mechanical forearm is bent,
The present invention is simple in construction, easy to use, is rotated by arm in motor can driving mechanical and mechanical forearm, in machine
While arm and mechanical forearm rotate in tool, it can be bent by Two axle drive motor with driving mechanical forearm, it is simple to operate.
Brief description of the drawings
Fig. 1 is a kind of front view of the device for adjusting posture of industrial robot proposed by the present invention；
Fig. 2 is a kind of top view of the device for adjusting posture of industrial robot proposed by the present invention；
Fig. 3 is the sectional view of mechanical large arm in a kind of device for adjusting posture of industrial robot proposed by the present invention；
Fig. 4 is the connection figure of motion bar in a kind of device for adjusting posture of industrial robot proposed by the present invention；
Fig. 5 is a kind of part A enlarged drawing of the device for adjusting posture of industrial robot proposed by the present invention.
In figure：1 mechanical large arm, 2 active chambers, 3 grooves, 4 motors, 5 connecting rods, 6 first gears, 7 rotation slots, 8
Arm in motion bar, 9 second gears, 10 the 3rd gears, 11 machineries, 12 rotating shafts, 13 first through hole, 14 the 4th gears, 15 connecting poles,
16 rectangular columns, 17 intercommunicating pores, 18 roll shafts, 19 second through holes, 20 Two axle drive motors, 21 connecting shafts, 22 card columns, 23 necks, 24
Mechanical forearm, 25 embedded grooves, 26 limited blocks.
Embodiment
The present invention is made with reference to specific embodiment further to explain.
Embodiment 1：
With reference to figure 1-5, a kind of device for adjusting posture of industrial robot, including mechanical large arm are proposed in the present embodiment
1st, in the machinery of the mechanical side of large arm 1 arm 11 and in machinery arm side mechanical forearm 24, mechanical large arm 1 and machine
Arm 11 is rotatablely connected in tool, and arm 11 is rotatablely connected with mechanical forearm 24 in machinery, and active chamber 2 is offered in mechanical large arm 1, living
Fluted 3 are opened up on the side inwall of dynamic chamber 2, arm 11 is welded with rotating shaft 12 close to the side of mechanical large arm 1 in machinery, activity
Chamber 2 offers first through hole 13 on the side inwall of arm 11 in machinery, and the one end of rotating shaft 12 away from arm 11 in machinery is passed through
Wear first through hole 13 and extend in active chamber 2, the outside fixed cover of rotating shaft 12 is provided with the 4th gear 14, and arm 11 is remote in machinery
Side from rotating shaft 12 is welded with connecting pole 15, and mechanical forearm 24 side of arm 11 in machinery is welded with two and is symmetrical arranged
Rectangular column 16, connecting pole 15 is between two rectangular columns 16, fixed peace on side inwall of the groove 3 away from the notch of groove 3
Equipped with motor 4, connecting rod 5, one end extension of the connecting rod 5 away from motor 4 are welded with the output shaft of motor 4
To active chamber 2, and the outside fixed cover of connecting rod 5 is provided with first gear 6, is opened up on the both sides inwall of active chamber 2
There is rotation slot 7, rotation slot 7 is located at the top of groove 3, same motion bar 8, motion bar 8 are rotatablely equipped with two rotation slots 7
Outside both ends difference fixed cover be provided with the gear 10 of second gear 9 and the 3rd, second gear 9 is meshed with first gear 6, the 3rd
Gear 10 is meshed with the 4th gear 14, and the top side of connecting pole 15 offers intercommunicating pore 17, and roll shaft is provided with intercommunicating pore 17
18, and the both ends of roll shaft 18 are rotatably connected on two sides close to each other of rectangular column 16 respectively, the top of roll shaft 18 offers
Second through hole 19, is installed with Two axle drive motor 20 in the second through hole 19, on two output shafts of Two axle drive motor 20
Connecting shaft 21 is welded with, the both ends of two connecting shafts 21 are welded with card column 22, two rectangular columns 16 side close to each other
Neck 23 is offered, neck 23 is connected with the second through hole 19, and two card columns 22 are respectively clamped into corresponding neck 23, are opened
Dynamic motor 4, motor 4 will drive connecting rod 5 to be rotated, and connecting rod 5 will drive 6 turns of first gear
Dynamic, when first gear 6 rotates, first gear 6 will drive motion bar 8 be rotated by second gear 9, then so that the
Four gears 14 drive the 3rd gear 10 to be rotated so that rotating shaft 12 starts to rotate, and utilizes arm 11 in the driving mechanical of rotating shaft 12
Rotated with mechanical forearm 24, when being rotated when arm 11 in machinery and mechanical forearm 24 are opened, start Two axle drive motor 20, profit
Drive connecting shaft 21 to be rotated with Two axle drive motor 20, and drive two card columns 22 to rotate using connecting shaft 21, when two
When card column 22 rotates, bent come driving mechanical forearm 24 using card column 22 and the phase clamping of neck 23, in mechanical large arm 1, lived
Dynamic chamber 2, groove 3, motor 4, connecting rod 5, first gear 6, rotation slot 7, motion bar 8, second gear 9, the 3rd gear
10th, arm 11 in machinery, rotating shaft 12, first through hole 13, the 4th gear 14, arc shaped slider and endless glide cooperation under, driving electricity
Machine 4 can drive connecting rod 5 to be rotated, and so as to which arm 11 is rotated in driving mechanical, in connecting pole 15, rectangular column 16, connect
It is through hole 17, roll shaft 18, the second through hole 19, Two axle drive motor 20, connecting shaft 21, card column 22, neck 23, mechanical forearm 24, embedding
Under the cooperation for entering groove 25 and limited block 26, Two axle drive motor 20 can drive connecting shaft 21 to be rotated, so as to driving mechanical
Forearm 24 is rotated, and the present invention is simple in construction, easy to use, utilizes arm 11 and machine in the can driving mechanical of motor 4
Tool forearm 24 is rotated, can band using Two axle drive motor 20 while arm 11 and mechanical forearm 24 rotate in machinery
Motivation tool forearm 24 is bent, simple to operate.
In the present embodiment, mechanical large arm 1 side of arm 11 in machinery is welded with two arc shaped sliders, arm 11 in machinery
Endless glide is provided with close to the side of mechanical large arm 1, endless glide is slidably connected with two arc shaped sliders, and motor 4 is remote
The side of the notch of groove 3 is welded with fixed plate, and fixed plate offers bolt hole, bolt close to the side corner of the notch of groove 3
Hole internal thread is connected with bolt, and motor 4 is fixedly mounted on one of groove 3 away from the notch of groove 3 by bolt hole and bolt
On the inwalls of side, two embedded grooves 25 are offered on the inwall of the second through hole 19, limited block 26 is embedded with two embedded grooves 25,
Two limited blocks 26 side close to each other is in close contact with Two axle drive motor 20, and card column 22 is rectangular configuration, and neck 23
For rectangular configuration, the surrounding side wall of neck 23 is provided with sealing ring, and card column 22 is by sealing ring and the tight clamping fit of neck 23, in machine
Tool large arm 1, active chamber 2, groove 3, motor 4, connecting rod 5, first gear 6, rotation slot 7, motion bar 8, second gear
9th, arm 11, rotating shaft 12, the cooperation of first through hole 13, the 4th gear 14, arc shaped slider and endless glide in the 3rd gear 10, machinery
Under, motor 4 can drive connecting rod 5 to be rotated, so as to which arm 11 is rotated in driving mechanical, in connecting pole 15, square
Shape post 16, intercommunicating pore 17, roll shaft 18, the second through hole 19, Two axle drive motor 20, connecting shaft 21, card column 22, neck 23, machinery
Under the cooperation of forearm 24, embedded groove 25 and limited block 26, Two axle drive motor 20 can drive connecting shaft 21 to be rotated, so as to
Driving mechanical forearm 24 is rotated, and the present invention is simple in construction, easy to use, using in the can driving mechanical of motor 4
Arm 11 and mechanical forearm 24 are rotated, and while arm 11 and mechanical forearm 24 rotate in machinery, utilize Two axle drive motor
20 can be bent with driving mechanical forearm 24, simple to operate.
Embodiment 2：
Referring to shown in Fig. 1-5, a kind of device for adjusting posture of industrial robot, including mechanical large arm 1, positioned at machinery
In the machinery of the side of large arm 1 arm 11 and in machinery arm side mechanical forearm 24, mechanical large arm 1 and machinery in 11 turns of arm
Dynamic to connect, arm 11 is rotatablely connected with mechanical forearm 24 in machinery, and active chamber 2 is offered in mechanical large arm 1, active chamber 2
Fluted 3 are opened up on the inwall of side, arm 11 is welded with rotating shaft 12 close to the side of mechanical large arm 1 in machinery, and active chamber 2 is close
First through hole 13 is offered in machinery on the side inwall of arm 11, first through hole is run through in the one end of rotating shaft 12 away from arm 11 in machinery
13 and extend in active chamber 2, side of the arm 11 away from rotating shaft 12 is welded with connecting pole 15 in machinery, and mechanical forearm 24 is close
The side of arm 11 is welded with two symmetrically arranged rectangular columns 16 in machinery, and connecting pole 15 is recessed between two rectangular columns 16
Groove 3 is installed with motor 4 on the side inwall away from the notch of groove 3, and connection is welded with the output shaft of motor 4
Bar 5, the one end of connecting rod 5 away from motor 4 are extended in active chamber 2, and the outside fixed cover of connecting rod 5 is provided with first
Gear 6, rotation slot 7 is offered on the both sides inwall of active chamber 2, rotation slot 7 is located at the top of groove 3, two rotation slots 7
Same motion bar 8 is inside rotatablely equipped with, the outside both ends difference fixed cover of motion bar 8 is provided with the gear of second gear 9 and the 3rd
10, second gear 9 is meshed with first gear 6, and the outside fixed cover of rotating shaft 12 is provided with the 4th gear 14, the 3rd gear 10 and
Four gears 14 are meshed, and the top side of connecting pole 15 offers intercommunicating pore 17, and roll shaft 18, and roll shaft 18 are provided with intercommunicating pore 17
Both ends be rotatably connected on two sides close to each other of rectangular column 16 respectively, the top of roll shaft 18 offers the second through hole 19,
Two axle drive motor 20 is installed with second through hole 19, connection is welded with two output shafts of Two axle drive motor 20
Axle 21, the both ends of two connecting shafts 21 are welded with card column 22, and two sides close to each other of rectangular column 16 offer neck
23, neck 23 is connected with the second through hole 19, and two card columns 22 are respectively clamped into corresponding neck 23, two card columns 22 and phase
Cushion pad is additionally provided between corresponding neck 23, mechanical large arm 1 side of arm 11 in machinery is welded with two arcs and slided
Block, machinery in arm 11 be provided with endless glide close to the side of mechanical large arm 1, endless glide is slidably connected with two arc shaped sliders,
Side of the motor 4 away from the notch of groove 3 is welded with fixed plate, and fixed plate opens up close to the side corner of the notch of groove 3
There is a bolt hole, bolt hole internal thread is connected with bolt, and it is remote that motor 4 by bolt hole and bolt is fixedly mounted on groove 3
On the side inwall of the notch of groove 3, two embedded grooves 25 are offered on the inwall of the second through hole 19, it is embedding in two embedded grooves 25
Equipped with limited block 26, two limited blocks 26 side close to each other is in close contact with Two axle drive motor 20, and card column 22 is rectangle
Structure, and neck 23 is rectangular configuration, the surrounding side wall of neck 23 is provided with sealing ring, and card column 22 passes through sealing ring and neck 23
Tight clamping fit.
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 device for adjusting posture of industrial robot, including mechanical large arm (1), the machine positioned at mechanical large arm (1) side
In tool arm (11) and in machinery arm side mechanical forearm (24), the mechanical large arm (1) with machinery in arm (11) turn
Dynamic to connect, arm (11) is rotatablely connected with mechanical forearm (24) in the machinery, it is characterised in that is opened on the mechanical large arm (1)
Provided with active chamber (2), opened up fluted (3) on the side inwall of the active chamber (2), arm (11) is close in the machinery
The side of mechanical large arm (1) is welded with rotating shaft (12), and the active chamber (2) is opened on the side inwall of arm (11) in machinery
Provided with first through hole (13), the one end of the rotating shaft (12) away from arm (11) in machinery through first through hole (13) and extends to work
In dynamic chamber (2), side of the arm (11) away from rotating shaft (12) is welded with connecting pole (15), the mechanical forearm in the machinery
(24) side of arm (11) is welded with two symmetrically arranged rectangular columns (16) in machinery, and the connecting pole (15) is located at two
Between individual rectangular column (16).
A kind of 2. device for adjusting posture of industrial robot according to claim 1, it is characterised in that the groove
(3) motor (4) is installed with the side inwall away from groove (3) notch, on the output shaft of the motor (4)
Connecting rod (5) is welded with, the one end of the connecting rod (5) away from motor (4) is extended in active chamber (2), and is connected
The outside fixed cover of bar (5) is provided with first gear (6).
A kind of 3. device for adjusting posture of industrial robot according to claim 1, it is characterised in that the movable chamber
Rotation slot (7) is offered on the both sides inwall of room (2), the rotation slot (7) is located at the top of groove (3), two rotation slots
(7) same motion bar (8) is rotatablely equipped with, the outside both ends difference fixed cover of the motion bar (8) is provided with second gear
(9) it is meshed with the 3rd gear (10), the second gear (9) with first gear (6), the outside fixed cover of the rotating shaft (12)
Provided with the 4th gear (14), the 3rd gear (10) is meshed with the 4th gear (14).
A kind of 4. device for adjusting posture of industrial robot according to claim 1, it is characterised in that the connecting pole
(15) top side offers intercommunicating pore (17), and roll shaft (18), and the both ends of roll shaft (18) are provided with the intercommunicating pore (17)
Two rectangular column (16) sides close to each other are rotatably connected on respectively, and the second through hole is offered at the top of the roll shaft (18)
(19), it is installed with Two axle drive motor (20) in second through hole (19), two of the Two axle drive motor (20)
Connecting shaft (21) is welded with output shaft, the both ends of two connecting shafts (21) are welded with card column (22), two rectangular columns
(16) side close to each other offers neck (23), and the neck (23) is connected with the second through hole (19), two card columns
(22) it is respectively clamped into corresponding neck (23).
5. the device for adjusting posture of a kind of industrial robot according to claim 1, it is characterised in that the machinery is big
Arm (1) side of arm (11) in machinery is welded with two arc shaped sliders, and arm (11) is close to mechanical large arm (1) in the machinery
Side be provided with endless glide, the endless glide is slidably connected with two arc shaped sliders.
A kind of 6. device for adjusting posture of industrial robot according to claim 2, it is characterised in that the driving electricity
Side of the machine (4) away from groove (3) notch is welded with fixed plate, and the fixed plate is equal close to the side corner of groove (3) notch
Bolt hole is offered, the bolt hole internal thread is connected with bolt, and the motor (4) fixes peace by bolt hole and bolt
On side inwall of the groove (3) away from groove (3) notch.
7. the device for adjusting posture of a kind of industrial robot according to claim 4, it is characterised in that described second is logical
Two embedded grooves (25) are offered on the inwall in hole (19), limited block (26), two limits are embedded with two embedded grooves (25)
Position block (26) side close to each other is in close contact with Two axle drive motor (20).
A kind of 8. device for adjusting posture of industrial robot according to claim 4, it is characterised in that the card column
(22) it is rectangular configuration, and neck (23) is rectangular configuration, the surrounding side wall of the neck (23) is provided with sealing ring, the card
Post (22) passes through sealing ring and neck (23) tight clamping fit.
9. a kind of device for adjusting posture of industrial robot, including mechanical large arm (1), the machine positioned at mechanical large arm (1) side
In tool arm (11) and in machinery arm side mechanical forearm (24), the mechanical large arm (1) with machinery in arm (11) turn
Dynamic to connect, arm (11) is rotatablely connected with mechanical forearm (24) in the machinery, it is characterised in that is opened on the mechanical large arm (1)
Provided with active chamber (2), opened up fluted (3) on the side inwall of the active chamber (2), arm (11) is close in the machinery
The side of mechanical large arm (1) is welded with rotating shaft (12), and the active chamber (2) is opened on the side inwall of arm (11) in machinery
Provided with first through hole (13), the one end of the rotating shaft (12) away from arm (11) in machinery through first through hole (13) and extends to work
In dynamic chamber (2), side of the arm (11) away from rotating shaft (12) is welded with connecting pole (15), the mechanical forearm in the machinery
(24) side of arm (11) is welded with two symmetrically arranged rectangular columns (16) in machinery, and the connecting pole (15) is located at two
Between individual rectangular column (16), the groove (3) is installed with motor (4) on the side inwall away from groove (3) notch,
Connecting rod (5) is welded with the output shaft of the motor (4), the one end of the connecting rod (5) away from motor (4) is prolonged
Extend in active chamber (2), and the outside fixed cover of connecting rod (5) is provided with first gear (6), the two of the active chamber (2)
Rotation slot (7) is offered on the inwall of side, the rotation slot (7) is located at the top of groove (3), rotated in two rotation slots (7)
Same motion bar (8) is installed, the outside both ends difference fixed cover of the motion bar (8) is provided with second gear (9) and the 3rd
Gear (10), the second gear (9) are meshed with first gear (6), and the outside fixed cover of the rotating shaft (12) is provided with the 4th
Gear (14), the 3rd gear (10) are meshed with the 4th gear (14), and the top side of the connecting pole (15) offers
Intercommunicating pore (17), the intercommunicating pore (17) is interior to be provided with roll shaft (18), and the both ends of roll shaft (18) are rotatably connected on two squares respectively
Shape post (16) side close to each other, the second through hole (19), second through hole (19) are offered at the top of the roll shaft (18)
Two axle drive motor (20) is inside installed with, connecting shaft is welded with two output shafts of the Two axle drive motor (20)
(21), the both ends of two connecting shafts (21) are welded with card column (22), and two rectangular column (16) sides close to each other open up
There is neck (23), the neck (23) is connected with the second through hole (19), and two card columns (22) are respectively clamped into corresponding neck
(23) in, cushion pad, the mechanical large arm are additionally provided between two card columns (22) and the corresponding neck (23)
(1) side of arm (11) is welded with two arc shaped sliders in machinery, and arm (11) is close to mechanical large arm (1) in the machinery
Side is provided with endless glide, and the endless glide is slidably connected with two arc shaped sliders, and the motor (4) is away from groove
(3) side of notch is welded with fixed plate, and the fixed plate offers bolt hole close to the side corner of groove (3) notch,
The bolt hole internal thread is connected with bolt, and the motor (4) is fixedly mounted on groove (3) far by bolt hole and bolt
On side inwall from groove (3) notch, two embedded grooves (25) are offered on the inwall of second through hole (19), two embedding
Enter and limited block (26) is embedded with groove (25), two limited blocks (26) side close to each other is tight with Two axle drive motor (20)
Contiguity is touched, and the card column (22) is rectangular configuration, and neck (23) is rectangular configuration, is set in the surrounding side wall of the neck (23)
There is sealing ring, the card column (22) passes through sealing ring and neck (23) tight clamping fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710849531.1A CN107671851A (en) | 2017-09-20 | 2017-09-20 | A kind of device for adjusting posture of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710849531.1A CN107671851A (en) | 2017-09-20 | 2017-09-20 | A kind of device for adjusting posture of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671851A true CN107671851A (en) | 2018-02-09 |
Family
ID=61135757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710849531.1A Pending CN107671851A (en) | 2017-09-20 | 2017-09-20 | A kind of device for adjusting posture of industrial robot |
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| Country | Link |
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| CN (1) | CN107671851A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481855A (en) * | 2018-12-26 | 2019-03-19 | 兰卫光 | A kind of tumour radiotherapy fixed frame |
| CN113442166A (en) * | 2021-05-18 | 2021-09-28 | 黄丽丹 | Arm capable of flexibly rotating angle for robot |
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| WO2015132549A1 (en) * | 2014-03-07 | 2015-09-11 | Cambridge Medical Robotics Limited | Surgical arm |
| CN205254981U (en) * | 2015-12-25 | 2016-05-25 | 济宁技术学院实习厂 | Industrial robot suitable for use in machinery workshop |
| CN105773598A (en) * | 2016-05-05 | 2016-07-20 | 四川大学 | Manipulator based on rope tension transmission |
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| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| WO2015132549A1 (en) * | 2014-03-07 | 2015-09-11 | Cambridge Medical Robotics Limited | Surgical arm |
| CN104709369A (en) * | 2015-03-09 | 2015-06-17 | 浙江理工大学 | Planetary differential obstacle-crossing type tracked robot |
| CN205254981U (en) * | 2015-12-25 | 2016-05-25 | 济宁技术学院实习厂 | Industrial robot suitable for use in machinery workshop |
| CN105773598A (en) * | 2016-05-05 | 2016-07-20 | 四川大学 | Manipulator based on rope tension transmission |
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| CN109481855A (en) * | 2018-12-26 | 2019-03-19 | 兰卫光 | A kind of tumour radiotherapy fixed frame |
| CN109481855B (en) * | 2018-12-26 | 2021-01-15 | 兰卫光 | Tumor radiotherapy fixing frame |
| CN113442166A (en) * | 2021-05-18 | 2021-09-28 | 黄丽丹 | Arm capable of flexibly rotating angle for robot |
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Application publication date: 20180209 |