CN107838943A - A kind of multi-angle mount type industrial carrying machine people - Google Patents
A kind of multi-angle mount type industrial carrying machine people Download PDFInfo
- Publication number
- CN107838943A CN107838943A CN201711284331.2A CN201711284331A CN107838943A CN 107838943 A CN107838943 A CN 107838943A CN 201711284331 A CN201711284331 A CN 201711284331A CN 107838943 A CN107838943 A CN 107838943A
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- CN
- China
- Prior art keywords
- joint
- rotation seat
- mount type
- machine people
- fixed 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
Abstract
The present invention relates to industrial machinery technical field,In particular a kind of multi-angle mount type industrial carrying machine people,Including fixed seat,The surface of fixed seat is provided with rotation seat,The surface of rotation seat is provided with the first joint,First joint one end is provided with principal arm and is rotatablely connected with one end of principal arm,One end of principal arm is provided with second joint and is rotatablely connected with second joint,One end of second joint is provided with the first fixed block,First fixed block side is provided with the second fixed block in parallel,One end of second fixed block is provided with clip claw assembly,Elevating mechanism is equipped with the corner of rotation seat,The bottom of rotation seat is provided with clamping installing mechanism,The surface of rotation seat is provided with support base,The top of support base is provided with heat abstractor,Realized for any different mechanism and clamp installation,With very strong adaptability,And only need a heat abstractor to realize and the motor and joint-friction in each joint of whole robot are radiated,Robot is set uniformly to radiate in the course of the work,Add the service life of robot.
Description
Technical field
The present invention relates to industrial machinery technical field, specially a kind of multi-angle mount type industrial carrying machine people.
Background technology
Industrial robot is the multi-joint manipulator or multivariant robot towards industrial circle, is automatic execution work
The installations of work, a kind of machine of various functions is realized by self power and control ability.By main body, drive system and control
Three essential part compositions of system processed.It can receive mankind commander, can also be run according to the program of advance layout, modern
The principle guiding principle action that industrial robot can also be formulated according to artificial intelligence technology.The typical case of industrial robot includes weldering
Connect, mopping, assembling, collection and placement, Product checking and test etc.；The completion of all work all have high efficiency, persistence,
Speed and accuracy, industrial robot of the prior art is all the clamping that clamping device is controlled by cylinder, but cylinder
Transmission accuracy is not high, easily causes clamping weight to differ, the kind of drive of rack-and-pinion can bring larger frictional force, cause institute
Need power bigger, waste the energy, and wear larger, service life is low, and industrial robot is merely able in fixed height
It is operated and installs, it is necessary to is needed when the article to different height clamps by being used on other machines, no
It is only inconvenient, and cost is increased, and heat caused by servomotor is difficult to uniformly be radiated at work, in view of
This, it is proposed that a kind of multi-angle mount type industrial carrying machine people.
The content of the invention
It is an object of the invention to provide a kind of multi-angle mount type industrial carrying machine people, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides following technical scheme：
A kind of multi-angle mount type industrial carrying machine people, including fixed seat, the surface of the fixed seat are provided with rotation seat,
The surface of the rotation seat is provided with the first joint, and first joint one end is provided with principal arm and is rotatablely connected with one end of principal arm,
One end of the principal arm is provided with second joint and is rotatablely connected with second joint, and one end of the second joint is provided with first and fixed
Block, the side of first fixed block are provided with the second fixed block in parallel, are equipped with the corner of second fixed block
Fixing hole, and be fixedly connected between fixing hole by four connecting poles, one end of second fixed block is provided with clip claw assembly, institute
State and elevating mechanism is equipped with the corner of rotation seat, the bottom of the rotation seat is provided with clamping installing mechanism, the rotation seat
Surface is provided with support base, and the top of the support base is provided with heat abstractor.
Preferably, the surface of the rotation seat is provided with the first servomotor, the output shaft of first servomotor is worn
The motor axis hole crossed on the rotation seat is simultaneously coaxially provided with little gear between the rotation seat and the fixed seat, the small tooth
The side of wheel is provided with gear wheel and engaged with the gear wheel, and the top of the gear wheel is fixedly connected with rotation seat, described big
The bottom of gear is rotatablely connected with fixed seat.
Preferably, the side in first joint is provided with the second servomotor for being used for driving principal arm to rotate, the master
One end side wall of arm is provided with the 3rd servomotor for being used for driving second joint to rotate, first fixed block and described second
The 4th servomotor is provided between fixed block.
Preferably, the clip claw assembly includes the leading screw being fixedly connected with the 4th servo motor output shaft, the leading screw
End be provided with and sleeve pipe and be threadedly coupled with the screw in described sleeve pipe, the outer wall section of described sleeve pipe is described to be oval
One end of sleeve pipe is slidably connected through second fixed block and with it, and a drawing is fixedly connected with the other end of described sleeve pipe
Bar.
Preferably, the both sides of the pull bar are provided with two fixtures, one end of two fixtures is mutually turned by rotating shaft
Dynamic connection, the dead slot for being slided along rotating shaft is offered at pull bar center, and one end of the pull bar is rotatably connected to two struts,
One end of two struts is rotatablely connected with one end of two fixtures respectively, and rubber antiskid is equipped with the end of two fixtures
Head.
Preferably, the support base is provided with electric machine support, the top of the electric machine support is provided with rocking bar motor, described
The output shaft of rocking bar motor is provided with the second rocking bar and is rotatablely connected with one end of the second rocking bar, and one end of second rocking bar is set
There is the first rocking bar and be rotatablely connected with one end of the first rocking bar.
Preferably, the heat abstractor is included outside protection shell, the back cover of described protection shell one end and the protection
The shell other end is cut a smart figure, and the inside of the protection shell is provided with reducing motor, the output shaft and its one end of the reducing motor
Fan be fixedly and coaxially connected, it is described protection shell both sides be equipped with swing arm, one end of one of them swing arm and institute
One end rotation connection of the first rocking bar is stated, another described swing arm side is provided with fix bar and rotates company with one end of fix bar
Connect, the other end of the fix bar is fixed on support base.
Preferably, the elevating mechanism includes four elevating levers, the every elevating lever is separately mounted to the fixation
It is slidably connected respectively in the telescopic chute opened up at seat corner and with corresponding telescopic chute, on the every elevating lever uniformly equidistantly
Some spacing holes are offered, the through hole corresponding with the lift pin locations is offered in the side wall of the fixed seat, it is described logical
The spacer pin coordinated with the through hole and spacing hole grafting is provided with hole.
Preferably, it is described clamping installing mechanism include fixed seat bottom surface two side on guide rail and the guide rail it
Between vertically disposed two fixture blocks, be equipped with anti-slip tank on the relative facade of two fixture blocks, opened up on the inwall of the guide rail
There is chute, and the both ends of fixture block are equipped with the slip fastener being connected with slide.
Preferably, uniformly equidistantly it is provided with some lockable mechanisms, the surface of the guide rail on the inwall of the chute
Provided with pull bar, the circular hole corresponding with the lockable mechanism position is offered on the pull bar, the lockable mechanism includes connecting rod
And dead bolt, the square hole corresponding with latch bolt position is offered on the inwall of the chute, the dead bolt is slidably connected with square hole, and
It is fixedly connected by return spring with the inwall of square hole, the connecting rod is slidably connected through guide rail and with circular hole, in the connecting rod
One end be additionally provided with the anti-flake for preventing from deviating from from circular hole.
Compared with prior art, beneficial effects of the present invention are as follows：
1st, the present invention drives pinion rotation by the first servomotor, so as to drive the bull gear drive engaged, makes
Rotation seat can carry out ° comprehensive rotation along fixed seat, be driven respectively by the second servomotor and the 3rd servomotor
First joint and the rotation of second joint, enable whole principal arm Three Degree Of Freedom activity, the articulation structure of human arm is simulated, in work
Excellent effect and precision are served in industry handling process.
2nd, the present invention drives leading screw to rotate by the 4th servomotor, the sleeve pipe of ellipse is entered along the second fixed block
Row is horizontal freely be retracted and stretches out, and pulling pull bar moves forward and backward in retraction and telescopic process, utilizes the tightening force of strut
The clamping and release of two fixtures are controlled, coordinates leading screw to be driven by the 4th servomotor, the clamping essence of fixture can be made
Really arrive micron, when being clamped to article will not damage product, and be driven abrasion it is small, service life length, rubber antiskid head is also
Frictional force during clamping can be effectively increased, prevents from skidding.
3rd, by the present invention in that elevating lever raising and lowering in telescopic chute controls the height of whole robot, machine is made
People can freely adjust height, inserted after the height for being adjusted to need with spacer pin corresponding to can complete to fix in spacing hole,
Not only simple to operate, lifting is stable, and substantially increases applicability of the robot when being carried to different goods, without
The regulation of height is completed by other machines, lifting is realized using inexpensive mode, considerably increases the market competitiveness and production
Cost.
4th, the present invention drives fan quickly to rotate by reducing motor, to produce the wind of strength, from middle blowout of cutting a smart figure, and
And the rocking bar of rocking bar motor driven second is using motor shaft as circular rotatable, so as to be driven by the first rocking bar with the principle of crank rocker
Swing arm is swung, and whole heat abstractor is realized under the rotation of fix bar one end and is swung up and down, it is only necessary to which a heat abstractor is realized
The motor and joint-friction in each joint of whole robot are radiated, great amount of cost has been saved, has made robot in the course of work
In uniformly radiate, add the service life of robot.
5th, the present invention slides fastener along chute to central motion by the way that two fixture blocks are promoted along guide rail to centre
During touch the cambered surface of dead bolt, dead bolt stress is retracted into square hole, while connecting rod is retracted into circular hole, is sliding fastener
When crossing a dead bolt, dead bolt, which ejects, under the elastic force of return spring resets, and now facing directly for dead bolt prevents fixture block from moving out,
It fixture block, to be fixedly clamped in any part of some machines, can not only be carried out to central motion on level land
Install and use, can be arranged in other mechanisms and used with any angle, and dismantle simply, only need to pull up pull bar,
The Anti-extrusion effect of anti-flake is lower to pull all dead bolts to make its retraction, you can and fixture block is unclamped, it is simple to operate, can arbitrarily it adjust
The distance between fixture block, realized for any different mechanism and clamp installation, there is very strong adaptability.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram at visual angle in the present invention；
Fig. 2 is the overall structure diagram at another visual angle in the present invention；
Fig. 3 is fixed seat and the attachment structure schematic diagram of rotation seat in the present invention；
Fig. 4 is the structural representation that installing mechanism is clamped in the present invention；
Fig. 5 is the structural representation of middle guide of the present invention；
Fig. 6 is the structure enlargement diagram in A areas in the present invention；
Fig. 7 is the structural representation of clip claw assembly in the present invention；
Fig. 8 is the structural representation of heat abstractor in the present invention；
Fig. 9 is the overall structure front view of the present invention.
In figure：1st, fixed seat；10th, rotation seat；100th, motor axis hole；11st, the first servomotor；12nd, little gear；13rd, it is big
Gear；14th, telescopic chute；15th, through hole；16th, spacer pin；2nd, the first joint；20th, the second servomotor；3rd, principal arm；30th, the 3rd watch
Take motor；4th, second joint；40th, the first fixed block；41st, connecting pole；42nd, the second fixed block；43rd, fixing hole；44th, the 4th servo
Motor；45th, clip claw assembly；450th, sleeve pipe；4500th, screw；451st, leading screw；452nd, pull bar；4520th, dead slot；453rd, fixture；454、
Strut；455th, rubber antiskid head；5th, support base；50th, electric machine support；51st, the first rocking bar；52nd, the second rocking bar；53rd, rocking bar motor；
54th, fix bar；6th, heat abstractor；60th, shell is protected；61st, back cover；62nd, reducing motor；63rd, fan；64th, cut a smart figure；65th, put
Arm；7th, elevating mechanism；70th, footing；71st, elevating lever；72nd, spacing hole；8th, installing mechanism is clamped；80th, guide rail；800th, chute；
801st, lockable mechanism；802nd, square hole；8010th, connecting rod；8011st, dead bolt；8012nd, return spring；8013rd, anti-flake；81st, fixture block；
810th, anti-slip tank；811st, fastener is slided；82nd, pull bar；820th, circular hole.
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.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-9 are referred to, the present invention provides a kind of technical scheme：
A kind of multi-angle mount type industrial carrying machine people, including fixed seat 1, the surface of fixed seat 1 are provided with rotation seat 10,
The surface of rotation seat 10 is provided with the first servomotor 11, and the output shaft of the first servomotor 11 passes through the motor shaft on rotation seat 10
Hole 100 is simultaneously coaxially provided with little gear 12 between rotation seat 10 and fixed seat 1, the side of little gear 12 be provided with gear wheel 13 and with
Gear wheel 13 is engaged, and the top of gear wheel 13 is fixedly connected with rotation seat 10, and the bottom of gear wheel 13 rotates with fixed seat 1 to be connected
Connect, rotated by the first servomotor 11 with moving gear 12, so as to drive the gear wheel 13 engaged to rotate, make rotation seat 10
The rotation of 360 ° omni-directional can be carried out along fixed seat 1, the surface of rotation seat 10 is provided with the first joint 2, the one end of the first joint 2
It is rotatablely connected provided with principal arm 3 and with one end of principal arm 3, one end of principal arm 3, which is provided with second joint 4 and rotated with second joint 4, to be connected
Connect, one end of second joint 4 is provided with the first fixed block 40, and the side of the first fixed block 40 is provided with the second fixed block in parallel
42, fixing hole 43 is equipped with the corner of the second fixed block 42, and be fixedly connected between fixing hole 43 by four connecting poles 41,
The side in the first joint 2 is provided with the second servomotor 20 for being used for driving principal arm 3 to rotate, and one end side wall of principal arm 3, which is provided with, to be used
In the 3rd servomotor 30 for driving second joint 4 to rotate, pass through the second servomotor 20 and the 3rd servomotor 30 band respectively
Dynamic first joint 2 and the rotation of second joint 4, enable the whole Three Degree Of Freedom of principal arm 3 activity, simulate the joint knot of human arm
Structure, excellent effect and precision are served during industrial carrying.
The 4th servomotor 44 is provided between first fixed block 40 and the second fixed block 42, one end of the second fixed block 42 is set
There is clip claw assembly 45, clip claw assembly 45 includes the leading screw 451 being fixedly connected with the output shaft of the 4th servomotor 44, leading screw 451
End is provided with sleeve pipe 450 and is threadedly coupled with the screw 4500 in sleeve pipe 450, and the outer wall section of sleeve pipe 450 is ellipse, is covered
One end of pipe 450 is slidably connected through the second fixed block 42 and with it, and a pull bar is fixedly connected with the other end of sleeve pipe 450
452, the both sides of pull bar 452 are provided with two fixtures 453, and one end of two fixtures 453 is mutually rotatablely connected by rotating shaft, in pull bar
452 centers offer the dead slot 4520 for being slided along rotating shaft, and one end of pull bar 452 is rotatably connected to two struts 454, two
One end of strut 454 is rotatablely connected with one end of two fixtures 453 respectively, is equipped with rubber in the end of two fixtures 453 and is prevented
Slippery fellow 455, drive leading screw 451 to rotate by the 4th servomotor 44, enable oval sleeve pipe 450 along the second fixed block 42
Carry out it is horizontal freely be retracted and stretches out, pulling pull bar 452 moves forward and backward in retraction and telescopic process, utilizes strut 454
Tightening force control two fixtures 453 clamping and release, by the 4th servomotor 44 coordinate leading screw 451 be driven, energy
The clamping of fixture 453 is accurate to micron, when being clamped to article will not damage product, and be driven abrasion it is small, use
Long lifespan, rubber antiskid first 455 can also be effectively increased frictional force during clamping, prevent from skidding.
Elevating mechanism 7 is equipped with the corner of rotation seat 10, elevating mechanism 7 includes four elevating levers 71, every elevating lever
It is slidably connected respectively in 71 telescopic chutes 14 for being separately mounted to open up at 1 four jiaos of fixed seat and with corresponding telescopic chute 14, every
Some spacing holes 72 are equidistantly uniformly offered on elevating lever 71, are offered in the side wall of fixed seat 1 and the position phase of elevating lever 71
Corresponding through hole 15, through hole 15 is interior to be provided with the spacer pin 16 coordinated with through hole 15 and the grafting of spacing hole 72, by making elevating lever 71
Raising and lowering controls the height of whole robot in telescopic chute 14, robot is freely adjusted height, is being adjusted to
Being inserted after the height needed with spacer pin 16 in corresponding spacing hole 72 can complete to fix, not only simple to operate, and lifting is stable,
And applicability of the robot when being carried to different goods is substantially increased, height is completed without other machines
Regulation, realizes lifting using inexpensive mode, considerably increases the market competitiveness and production cost.
The surface of rotation seat 10 is provided with support base 5, and the top of support base 5 is provided with heat abstractor 6, and support base 5 is provided with electricity
Machine support 50, the top of electric machine support 50 are provided with rocking bar motor 53, and the output shaft of rocking bar motor 53 is provided with the second rocking bar 52 simultaneously
Be rotatablely connected with one end of the second rocking bar 52, one end of the second rocking bar 52 be provided with the first rocking bar 51 and with one end of the first rocking bar 51
Rotation connection, heat abstractor 6 include going out for protection shell 60, the back cover 61 of protection shell 60 one end and the protection other end of shell 60
Public attention 64, the inside of protection shell 60 are provided with reducing motor 62, and the output shaft of reducing motor 62 and the fan 63 of its one end are coaxial
It is fixedly connected, swing arm 65, one end of one of swing arm 65 and the one of the first rocking bar 51 is equipped with the both sides of protection shell 60
End rotation connection, another side of swing arm 65 are provided with fix bar 54 and are rotatablely connected with one end of fix bar 54, fix bar 54
The other end is fixed on support base 5, and heat abstractor 6 drives fan 63 quickly to rotate by reducing motor 62, to produce strength
Wind, blown out from cutting a smart figure in 64, and rocking bar motor 53 drives the second rocking bar 52 using motor shaft as circular rotatable, so as to pass through the
One rocking bar 51 drives swing arm 65 to swing with the principle of crank rocker, makes whole heat abstractor 6 under the rotation of the one end of fix bar 54
Realization is swung up and down, it is only necessary to and a heat abstractor 6 is realized to radiate to the motor and joint-friction in each joint of whole robot,
Great amount of cost has been saved, robot is uniformly radiated in the course of the work, has added the service life of robot.
The bottom of rotation seat 10 is provided with clamping installing mechanism 8, and clamping installing mechanism 8 is included on the bottom surface two side of fixed seat 1
Guide rail 80 and guide rail 80 between vertically disposed two fixture blocks 81, be equipped with anti-slip tank on the relative facade of two fixture blocks 81
810, chute 800 is offered on the inwall of guide rail 80, and the both ends of fixture block 81 are equipped with the slip being slidably connected with chute 800
Fastener 811, uniformly some lockable mechanisms 801 is equidistantly provided with the inwall of chute 800, the surface of guide rail 80 is provided with pull bar
82, the circular hole 820 corresponding with the position of lockable mechanism 801 is offered on pull bar 82, lockable mechanism 801 includes connecting rod 8010 and lock
Tongue 8011, for the one side of dead bolt 8011 to face directly, another side is cambered surface, is offered on the inwall of chute 800 and the position of dead bolt 8011
Corresponding square hole 802, dead bolt 8011 are slidably connected with square hole 802, and are consolidated by the inwall of return spring 8012 and square hole 802
Fixed connection, connecting rod 8010 are slidably connected through guide rail 80 and with circular hole 820, and being additionally provided with one end of connecting rod 8010 prevents from circular hole
The anti-flake 8013 deviate from 820, need be fixed on complexity position carry out in use, by two fixture blocks 81 along guide rail to
Centre promotes, and slides the cambered surface that fastener 811 touches dead bolt 8011 during along chute 800 to central motion, dead bolt
8011 stress are retracted into square hole 802, while connecting rod 8010 is retracted into circular hole 820, and a dead bolt is crossed sliding fastener 811
When 8011, under the elastic force of return spring 8012 dead bolt 8011 ejection reset, now dead bolt 8011 face directly prevent fixture block 81 to
Outer motion, you can constantly make fixture block to central motion, can not only be on level land to be fixedly clamped in any part of some machines
On installed and used, can be arranged in other mechanisms and used with any angle, and dismantle simple, only need to pull up drawing
Bar 82, all dead bolts 8011 are pulled to make its retraction under the Anti-extrusion effect of anti-flake 8013, you can to unclamp fixture block 81, operate
Simply, the distance between fixture block 81 can be arbitrarily adjusted, is realized for arbitrarily different mechanisms and clamps installation, there is very strong fit
Ying Xing.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is only the present invention
Preference, be not intended to limit the present invention, without departing from the spirit and scope of the present invention, the present invention also have it is various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent thereof.
Claims (10)
1. a kind of multi-angle mount type industrial carrying machine people, including fixed seat (1), it is characterised in that：The fixed seat (1)
Surface is provided with rotation seat (10), and the surface of the rotation seat (10) is provided with the first joint (2), and described first joint (2) one end is set
There is principal arm (3) and be rotatablely connected with one end of principal arm (3), one end of the principal arm (3) is provided with second joint (4) and closed with second
Save (4) rotation connection, one end of the second joint (4) is provided with the first fixed block (40), and the one of first fixed block (40)
Side is provided with the second fixed block (42) in parallel, and fixing hole (43) is equipped with the corner of second fixed block (42), and
It is fixedly connected between fixing hole (43) by four connecting poles (41), one end of second fixed block (42) is provided with clip claw assembly
(45) elevating mechanism (7), is equipped with the corner of the rotation seat (10), the bottom of the rotation seat (10) is provided with clamping and installed
Mechanism (8), the surface of the rotation seat (10) are provided with support base (5), and the top of the support base (5) is provided with heat abstractor (6).
2. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that：The rotation seat (10)
Surface be provided with the first servomotor (11), the output shaft of first servomotor (11) is through on the rotation seat (10)
Motor axis hole (100), first servomotor (11) are coaxially provided between the rotation seat (10) and the fixed seat (1)
Little gear (12), the side of the little gear (12) are provided with gear wheel (13), the little gear (12) and the gear wheel (13)
Engagement, the top of the gear wheel (13) are fixedly connected with rotation seat (10), bottom and the fixed seat (1) of the gear wheel (13)
Rotation connection.
3. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that：First joint
(2) side is provided with the second servomotor (20) for being used for driving principal arm (3) to rotate, and is set in one end side wall of the principal arm (3)
There is the 3rd servomotor (30) for driving second joint (4) to rotate, first fixed block (40) is fixed with described second
The 4th servomotor (44) is provided between block (42).
4. multi-angle mount type industrial carrying machine people according to claim 3, it is characterised in that：The clip claw assembly
(45) leading screw (451) being fixedly connected with the 4th servomotor (44) output shaft is included, the end of the leading screw (451) is provided with
Sleeve pipe (450) is simultaneously threadedly coupled with the screw (4500) in described sleeve pipe (450), and the outer wall section of described sleeve pipe (450) is ellipse
Circle, one end of described sleeve pipe (450) is slidably connected through second fixed block (42) and with it, in described sleeve pipe (450)
The other end be fixedly connected with a pull bar (452).
5. multi-angle mount type industrial carrying machine people according to claim 4, it is characterised in that：The pull bar (452)
Both sides be provided with two fixtures (453), one end of two fixtures (453) is mutually rotatablely connected by rotating shaft, in pull bar
(452) center offers the dead slot (4520) for being slided along rotating shaft, and one end of the pull bar (452) is rotatably connected to two supports
Bar (454), one end one end rotation connection with two fixtures (453) respectively of two struts (454), in two fixtures
(453) end is equipped with rubber antiskid head (455).
6. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that：The support base (5)
Electric machine support (50) is provided with, the top of the electric machine support (50) is provided with rocking bar motor (53), the rocking bar motor (53)
Output shaft is provided with the second rocking bar (52) and is rotatablely connected with one end of the second rocking bar (52), one end of second rocking bar (52)
It is rotatablely connected provided with the first rocking bar (51) and with one end of the first rocking bar (51).
7. multi-angle mount type industrial carrying machine people according to claim 6, it is characterised in that：The heat abstractor
(6) protection shell (60), the back cover (61) of described protection shell (60) one end and described protection shell (60) other end are included
Cut a smart figure (64), the inside of the protection shell (60) is provided with reducing motor (62), the output shaft of the reducing motor (62) and
The fan (63) of its one end is fixedly and coaxially connected, and swing arm (65) is equipped with the both sides of the protection shell (60), one of them
One end of the swing arm (65) and one end of first rocking bar (51) are rotatablely connected, and another described swing arm (65) side is provided with
Fix bar (54) is simultaneously rotatablely connected with one end of fix bar (54), and the other end of the fix bar (54) is fixed on support base (5)
On.
8. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that：The elevating mechanism
(7) four elevating levers (71) are included, what the every elevating lever (71) was separately mounted to open up at the fixed seat (1) corner stretches
It is slidably connected in contracting groove (14) and respectively with corresponding telescopic chute (14), is uniformly equidistantly opened up on the every elevating lever (71)
There are some spacing holes (72), the through hole corresponding with the elevating lever (71) position is offered in the side wall of the fixed seat (1)
(15) spacer pin (16) coordinated with the through hole (15) and spacing hole (72) grafting, is provided with the through hole (15).
9. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that：The clamping fitting machine
Structure (8) includes between guide rail (80) and the guide rail (80) on the fixed seat (1) bottom surface two side vertically disposed two
Fixture block (81), anti-slip tank (810) is equipped with the relative facade of two fixture blocks (81), is opened up on the inwall of the guide rail (80)
There is chute (800), and the both ends of fixture block (81) are equipped with the slip fastener (811) being slidably connected with chute (800).
10. multi-angle mount type industrial carrying machine people according to claim 9, it is characterised in that：The chute (800)
Inwall on be uniformly equidistantly provided with some lockable mechanisms (801), the surface of the guide rail (80) is provided with pull bar (82), described
The circular hole (820) corresponding with the lockable mechanism (801) position, lockable mechanism (801) bag are offered on pull bar (82)
Connecting rod (8010) and dead bolt (8011) are included, is offered on the inwall of the chute (800) corresponding with dead bolt (8011) position
Square hole (802), the dead bolt (8011) are slidably connected with square hole (802), and pass through return spring (8012) and square hole (802)
Inwall is fixedly connected, and the connecting rod (8010) is slidably connected through guide rail (80) and with circular hole (820), in the connecting rod (8010)
One end be additionally provided with the anti-flake (8013) for preventing the abjection from the circular hole (820).
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| WO2019109295A1 (en) * | 2017-12-07 | 2019-06-13 | 无锡艾度科技有限公司 | Industrial carrying robot installed in multiple angles |
| CN111342397A (en) * | 2020-03-10 | 2020-06-26 | 刘涛 | Outdoor building wall body intelligence electric power spool fixed robot |
| CN111994620A (en) * | 2020-08-11 | 2020-11-27 | 宁夏飞姆斯自动化技术有限公司 | Flexible feeding and discharging mechanism of bilateral drawer type robot |
| CN113410798A (en) * | 2021-08-19 | 2021-09-17 | 天津滨电电力工程有限公司 | A quick construction robot of electric power cable for epidemic prevention is emergent |
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|---|---|
| CN107838943B (en) | 2019-09-13 |
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