CN108202322A - A kind of robot for being equipped with fixed rotation angle and performing end - Google Patents
A kind of robot for being equipped with fixed rotation angle and performing end Download PDFInfo
- Publication number
- CN108202322A CN108202322A CN201810059682.1A CN201810059682A CN108202322A CN 108202322 A CN108202322 A CN 108202322A CN 201810059682 A CN201810059682 A CN 201810059682A CN 108202322 A CN108202322 A CN 108202322A
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- Prior art keywords
- gear
- fixed
- pair
- limited block
- rod
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robots for being equipped with fixed rotation angle and performing end, robot forearm is equipped with adjutage, and the adjutage includes the stake body, the first telescoping mechanism on stake body, the coasting mechanism being fixed on the first telescoping mechanism, the swing mechanism on coasting mechanism and the resetting apparatus on swing mechanism that are fixedly connected with forearm；The adjutage is fixedly arranged at the front end with rotating machine arm；The rotating machine arm includes a pair of of sucker group, the driving mechanism of a pair of of sucker group rotation of driving；The driving mechanism includes pedestal, rotary components, rotating driving device and latch components.The first telescoping mechanism of the present invention can elongate or shorten the total length of adjutage and forearm and adjutage, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has the function of bending；Two suckers of rotating machinery on hand can accurately rotate 180 degree.
Description
The application is that application No. is the divisional applications of 201610570861.2 applications for a patent for invention.
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of machine for being equipped with fixed rotation angle and performing end
People.
Background technology
Application for a patent for invention application No. is CN201210566463.5 discloses a kind of light-duty six axis all-purpose robot, axis
Seat is fixed on arm axle, and axle bed guard box is fixed on axle bed, and third axis driving motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving motor are placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm retarder, the 6th axis sleeve is in the 5th axis, and the 5th axis sleeve is in the 4th axis, and sleeve is in forearm in the 4th axis
Rod shell, forearm retarder and forearm are lengthened in rod shell, be respectively fixed on the 4th axis, the 5th axis and the 6th axis the 4th axis from
Moving gear, the 5th axis driven gear and the 6th axis driven gear.Light-duty six axis all-purpose robot of the prior art, forearm is only
It can drive and rotate mounted on the execution end of forearm end, it is difficult to meet the needs of practical operation.
Invention content
The present invention provides a kind of robot for being equipped with fixed rotation angle and performing end for above-mentioned technical problem.
In order to achieve the above objectives, a kind of robot for being equipped with fixed rotation angle and performing end of the invention, including pedestal
Body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the 6th motor for being fixed on large arm one end are defeated
Forearm on shaft, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member；
The forearm is equipped with adjutage, and the adjutage includes being fixedly connected with the stake body of forearm, mounted on stake body
On the first telescoping mechanism, be fixed on the first telescoping mechanism coasting mechanism, the swing mechanism on coasting mechanism and
Resetting apparatus on swing mechanism；
First telescoping mechanism includes top plate, support plate, bottom plate and four the first guide rods；First guide rod is each attached to support plate
On upper surface；Top plate is set on four the first guide rods；
Coasting mechanism includes a pair of of support base and a pair of of resting arm；Slide slot is offered on support base；Support base is solid vertically
It is scheduled on a pair of first guide rod upper surface；The parallel face setting of a pair of of support base；Resting arm is by rectangular guide rod and connecting rod；It is rectangular to lead
Bar is vertically fixed on the upper end of connecting rod；Resting arm upper end is plugged in by rectangular guide rod in the slide slot of support base, lower end is solid
It is scheduled on top plate；
Swing mechanism includes pendular body, the 9th gear and the tenth gear；First motor is fixed on the resting arm upper end in left side
On face；The output axis direction of first motor is opposite with the rectangular guide rod direction of resting arm；It is fixed on the output shaft of first motor
9th gear；Pendular body includes connector, left swing seat and right swing seat；Left swing seat and right swing seat are symmetrically fixed on connection
The bottom surface of head；Left swing seat and right swing seat are hinged in the side wall surface on top of a pair of of resting arm respectively by articulated shaft；It is left
The tenth gear is articulated on the articulated shaft of swing seat；Tenth gear is engaged with the 9th gear；The tenth left swing seat of gear face
Limiting slot is offered on one side；The limiting slot is made of the identical circular hole of several diameters and adjacent circular hole intersects；Institute
State limiting slot the center of the round-meshed center of circle and the tenth gear distance it is all identical；
Resetting apparatus includes cylinder and torsional spring；Cylinder supports seat is formed on the right side of left swing seat；Cylinder supports seat
On be fixed with the horizontal cylinder set to the left；Locating detent is fixed on the piston rod of cylinder；A pair of of positioning is formed on locating detent
Pin；A pair of of positioning pin passes through left swing seat to enter in the limiting slot of the tenth gear；Torsional spring is arranged on the articulated shaft of right swing seat；
On the side wall for the resting arm connecting rod that one end is fixed on the side wall of right swing seat, the other end is fixed on right side；
The rotating machine arm that the adjutage is fixedly arranged at the front end with；The rotating machine arm includes a pair of of sucker group and driving one
To the driving mechanism of sucker group rotation；The driving mechanism includes pedestal, rotating driving device, latch components and rotary components；
Rotary components include a pair of of locating rod, rotary support and first gear；It is solid that rotary support upper end is fixed with a pair of of locating rod, middle part
There are first gear, lower end to be articulated on pedestal surely；Latch components include unlocking part and limiting component；Unlocking part includes first
Cylinder ring, second gear, third gear, the 6th gear, the 7th gear and head rod；Second gear is fixed on the first cylinder
On the external cylindrical surface of ring；Third gear is fixed on the inner cylinder face of the first cylinder ring；Head rod passes vertically through and pivot
It is connected on the pedestal in the first cylinder ring；Head rod upper end is fixed with the 6th gear, lower end is fixed with the 7th gear；6th
Gear is engaged with third gear.
As a preferred embodiment of the above technical solution, the first telescoping mechanism further includes central rotating body, the first threaded rod, the first snail
Bar, third motor and a pair of of rotation support plate；A pair of rotation support plate is fixed on bottom plate vertically；First worm screw is articulated in a pair
Between rotation support plate；In the rotation support plate that third motor one of is fixed therein；The output shaft of third motor and the first snail
Bar connects firmly；Central rotating body includes the first cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；The
One cylinder upper end external cylindrical surface by bearing hinge joint on the supporting plate, the first worm gear is fixed on the external cylindrical surface of lower end；It revolves at center
Swivel passes through the first worm gear and the first worm engaging；First threaded rod lower end is screwed onto in the threaded hole of central rotating body, upper end
It is spirally connected with roof center.
As a preferred embodiment of the above technical solution, four the first guide rod upper ends form circular limited block, and limited block is straight
Diameter is more than the diameter of the first guide rod；The support base of coasting mechanism is fixed on vertically on the circular limited block of a pair of first guide rod；
The parallel face setting of a pair of of support base.
As a preferred embodiment of the above technical solution, first shell and second shell are included on the stake body；First shell and
Second shell is integrally fixed by several connecting poles；First telescoping mechanism is fixed on first shell by support plate and bottom plate
On inner wall；Second shell is set in outside swing mechanism and the first telescoping mechanism.
As a preferred embodiment of the above technical solution, pendular body center offers perforative transitional pore up and down, the diameter of transitional pore
More than the diameter of the first threaded rod.
As a preferred embodiment of the above technical solution, limiting component includes limited block, the first threaded rod and eighth gear；Rotation branch
Seat lower face offers limiting slot；Limiting slot is made of upper square groove and lower square groove；The size of upper square groove is rectangular under being less than
The size of slot；By upper rectangular limited block, the rectangular limited block under forms limited block；The upper rectangular limited block of limited block is rectangular under
Limited block is plugged in respectively in the upper square groove and lower square groove of limiting slot；Pedestal lower face molding below rotary support
There is guiding slot holder；The guide groove identical with limited block size rectangular under limited block is offered inside guiding slot holder；The guide groove of guiding slot holder is just
It lower square groove to limiting slot and connects；First threaded rod upper end be articulated in limiting slot upper side wall, middle part and limited block be spirally connected,
Lower end is articulated in the lower wall of guiding slot holder and passes through the lower wall of guiding slot holder；First threaded rod lower end is fixed with eighth gear；
Eighth gear is engaged with the 7th gear；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of 4th gear only has one section；4th gear
It can be engaged with first gear；5th gear is engaged with second gear.
As a preferred embodiment of the above technical solution, the rotating machine arm includes the linking arm being articulated on forearm, is fixed on
Housing on linking arm, the spill spin block outside housing, the driving mechanism are fixed on by pedestal in housing, the spill spin block
It fixes on the securing lever；The pair of sucker is fixed on spill spin block.
As a preferred embodiment of the above technical solution, the rotating driving device further includes rotation drive shaft and the first motor；The
One motor is fixed on pedestal vertically；It is fixed with the 4th gear and the 5th gear on first motor output shaft successively from top to bottom.
As a preferred embodiment of the above technical solution, rectangular limited block under the depth of the lower square groove of limiting slot and limited block
Thickness is identical；The depth of the guide groove of guiding slot holder is less than the thickness of rectangular limited block under limited block.
The beneficial effects of the present invention are：First telescoping mechanism can elongate or shorten the total of adjutage and forearm and adjutage
Length, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has curved
Bent function；The constraint of rotary components can be released by latch components and drive rotation by making the drive component of annular circumferential movement
Component rotates 180 degree, and a pair of of sucker rotates 180 degree with rotary components, can be made on manipulator by the driving mechanism of the present invention
Two suckers accurately rotate 180 degree, so that manipulator accurately picks and places material.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure diagram of the adjutage of the present invention；
Fig. 3 is the structure diagram of the internal driving mechanism of the present invention；
Fig. 4 is the structure diagram of the first telescoping mechanism of the present invention；
Fig. 5 is the side structure schematic view of the first telescoping mechanism of the present invention；
Fig. 6 is the cross-sectional view of A-A in Fig. 5 of the invention；
Fig. 7 is the coasting mechanism of the present invention and the cross-sectional view of swing mechanism；
Fig. 8 is the cylinder of resetting apparatus of the present invention and the structure diagram of the tenth gear；
Fig. 9 is the structure diagram of the rotating machine arm of the present invention；
Figure 10 is the structure diagram of the driving mechanism of the present invention；
Figure 11 is the rotating driving device of the present invention and the structure diagram of latch components；
Figure 12 is the side structure schematic view of the driving mechanism of the present invention；
Figure 13 is the cross-sectional view of C-C in Figure 12 of the invention；
Figure 14 is the structure diagram of the unlocking part of the present invention；
In figure, 10, base body；20th, waist rotation member；30th, large arm；31st, the 6th motor；40th, forearm；50th, rotating machine arm；
51st, linking arm；52nd, housing；53rd, spill spin block；60th, driving mechanism；61st, pedestal；62nd, rotating driving device；621st, the 4th gear；
6211st, teeth portion is taken turns；622nd, the 5th gear；623rd, the first motor；624th, drive shaft is rotated；63rd, latch components；631st, solution lock section
Part；6311st, the first cylinder ring；6312nd, second gear；6313rd, third gear；6314th, head rod；6315th, the 7th gear；
6316th, the 6th gear；632nd, limiting component；6321st, limiting slot；6322nd, limited block；6323rd, the first threaded rod；6324th, the 8th
Gear；64th, rotary components；641st, locating rod；642nd, rotary support；643rd, first gear；
70th, adjutage；71st, stake body；711st, first shell；712nd, second shell；72nd, coasting mechanism；721st, support base；
722nd, wall is slided；723rd, the 9th gear；724th, the tenth gear；7241st, limiting slot；725th, pendular body；726th, cylinder；7261st, gas
Cylinder support base；7262nd, locating detent；73rd, the first telescoping mechanism；731st, support plate；732nd, bottom plate；733rd, top plate；734th, center is revolved
Swivel；735th, the first threaded rod；736th, the first guide rod；737th, the first worm screw；738th, third motor；739th, support plate is rotated.
Specific embodiment
As shown in Figure 1, a kind of robot for being equipped with fixed rotation angle and performing end, including base body 10, is articulated in bottom
Waist rotation member 20 on pedestal 10, the large arm 30 being articulated on waist rotation member 20, the 6th motor 31 for being fixed on 30 one end of large arm
Forearm 40 on output shaft, waist rotation member 20 are rotated around base body 10, and large arm 30 is rotated around waist rotation member 20；
As shown in figure 3, the forearm 40 is equipped with adjutage 70, the adjutage 70 includes being fixedly connected with the branch of forearm 40
Frame body 71, the first telescoping mechanism 73 on stake body 71, the coasting mechanism 72 being fixed on the first telescoping mechanism 73, peace
Swing mechanism on coasting mechanism 72 and the resetting apparatus on swing mechanism；
As shown in Fig. 3~Fig. 6, the first telescoping mechanism 73 includes top plate 733, support plate 731, bottom plate 732 and four first
Guide rod 736；First guide rod 736 is each attached on 731 upper surface of support plate；Top plate 733 is set on four the first guide rods 736；
As shown in Fig. 3, Fig. 7, coasting mechanism 72 includes a pair of of support base 721 and a pair of of resting arm 722；On support base 721
Offer slide slot；Support base 721 is fixed on a pair of first guide rod, 736 upper surface vertically；A pair of of 721 parallel face of support base is set
It puts；Resting arm 722 is by rectangular guide rod and connecting rod；Rectangular guide rod is vertically fixed on the upper end of connecting rod；722 upper end of resting arm leads to
Cross that rectangular guide rod is plugged in the slide slot of support base 721, lower end is fixed on top plate 733；
As shown in Fig. 3, Fig. 7, Fig. 8, swing mechanism includes pendular body 725, the 9th gear 723 and the tenth gear 724；First
Motor is fixed on 722 upper surface of resting arm in left side；The output axis direction of first motor and the rectangular guide rod side of resting arm 722
To opposite；The 9th gear 723 is fixed on the output shaft of first motor；Pendular body 725 includes connector, left swing seat and right pendulum
Dynamic seat；Left swing seat and right swing seat are symmetrically fixed on the bottom surface of connector；Left swing seat and right swing seat are respectively by hinged
Axis is hinged in the side wall surface on the top of a pair of of resting arm 722；The tenth gear 724 is articulated on the articulated shaft of left swing seat；The
Ten gears 724 are engaged with the 9th gear 723；Limiting slot 7241 is offered on the one side of the left swing seat of tenth gear, 724 face；
The limiting slot 7241 is made of the identical circular hole of several diameters and adjacent circular hole intersects；The limiting slot 7241 owns
The distance at the center of circle of circular hole and the center of the tenth gear 724 is all identical；
As shown in Fig. 3, Fig. 7, Fig. 8, resetting apparatus includes cylinder 726 and torsional spring 727；It is molded on the right side of left swing seat
There is cylinder supports seat 7261；The horizontal cylinder 726 set to the left is fixed on cylinder supports seat 7261；The piston rod of cylinder 726
On be fixed with locating detent 7262；A pair of of positioning pin is formed on locating detent 7262；A pair of of positioning pin passes through left swing seat to enter the
In the limiting slot 7241 of ten gears 724；Torsional spring 727 is arranged on the articulated shaft of right swing seat；727 one end of torsional spring is fixed with right pendulum
On the side wall of dynamic seat, on the side wall of 722 connecting rod of resting arm that the other end is fixed on right side；
As shown in Fig. 1, Fig. 9, rotating machine arm 50 that the adjutage 70 is fixedly arranged at the front end with；The rotating machine arm 50 wraps
Include a pair of of sucker group and the driving mechanism 60 of a pair of of sucker group rotation of driving；The driving mechanism 60 includes pedestal 61, rotation is driven
Dynamic device 62, latch components 63 and rotary components 64；Rotary components 64 include a pair of of locating rod 641, rotary support 642 and first
Gear 643；642 upper end of rotary support be fixed with a pair of of locating rod 641, be fixedly arranged in the middle of first gear 643, lower end is articulated in base
On seat 61；Latch components 63 include unlocking part 631 and limiting component 632；Unlocking part 631 include the first cylinder ring 6311,
Second gear 6312, third gear 6313, the 6th gear 6316, the 7th gear 6315 and head rod 6314；Second gear
6312 are fixed on the external cylindrical surface of the first cylinder ring 6311；Third gear 6313 is fixed on the interior cylinder of the first cylinder ring 6311
On face；Head rod 6314 is passed vertically through and is articulated on the pedestal 61 in the first cylinder ring 6311；Head rod
6314 upper ends are fixed with the 6th gear 6316, lower end is fixed with the 7th gear 6315；6th gear 6316 and third gear 6313
Engagement.
As shown in Fig. 4~Fig. 6, the first telescoping mechanism 73 further includes central rotating body 734, the first threaded rod 735, the first snail
Bar 737, third motor 738 and a pair of of rotation support plate 739；A pair of rotation support plate 739 is fixed on vertically on bottom plate 732；The
One worm screw 737 is articulated between a pair of of rotation support plate 739；The rotation support plate 739 that third motor 738 one of is fixed therein
On；The output shaft of third motor 738 is connected firmly with the first worm screw 737；Central rotating body 734 includes the first cylinder and the first worm gear；
Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface is by bearing hinge joint in support plate
The first worm gear is fixed on 731 upper and lower end external cylindrical surfaces；Central rotating body 734 is nibbled by the first worm gear and the first worm screw 737
It closes；First threaded rod, 735 lower end is screwed onto in the threaded hole of central rotating body 734, upper end and 733 center of top plate are spirally connected.
As shown in Figure 3, Figure 4, four 736 upper ends of the first guide rod form circular limited block, and limited block diameter is more than
The diameter of first guide rod 736；The vertical circular limiting for being fixed on a pair of first guide rod 736 of the support base 721 of coasting mechanism 72
On block；A pair of of 721 parallel face of support base setting.
As shown in Figure 1 and Figure 2, first shell 711 and second shell 712 are included on the stake body 71；First shell 711
It is integrally fixed with second shell 712 by several connecting poles；First telescoping mechanism 73 is solid by support plate 731 and bottom plate 732
It is scheduled on the inner wall of first shell 711；Second shell 712 is set in outside 72 and first telescoping mechanism of swing mechanism.
As shown in Fig. 3, Fig. 7；725 center of pendular body offers perforative transitional pore up and down, and the diameter of transitional pore is more than the
The diameter of one threaded rod 735.
As shown in Fig. 9~Figure 14, limiting component 632 includes limited block 6322, the first threaded rod 6323 and eighth gear
6324；642 lower face of rotary support offers limiting slot 6321；Limiting slot 6321 is made of upper square groove and lower square groove；On
The size of square groove is less than the size of lower square groove；By upper rectangular limited block, the rectangular limited block under forms limited block 6322；Limit
The upper rectangular limited block of position block 6322 rectangular limited block under is plugged in the upper square groove of limiting slot 6321 and lower square groove respectively
In；Guiding slot holder 611 is formed positioned at 61 lower face of pedestal of 642 lower section of rotary support；It offers and limits inside guiding slot holder 611
The identical guide groove of rectangular limited block size under block 6322；The lower square groove of the guide groove face limiting slot 6321 of guiding slot holder 611 is simultaneously
And it connects；First threaded rod, 6323 upper end be articulated in 6321 upper side wall of limiting slot, middle part and limited block 6322 be spirally connected, lower end pivot joint
In the lower wall of guiding slot holder 611 and across guiding slot holder 611 lower wall；First threaded rod, 6323 lower end is fixed with eighth gear
6324；Eighth gear 6324 is engaged with the 7th gear 6315；Rotating driving device 62 includes the 4th gear 621 and the 5th gear
622；The wheel teeth portion 6211 of 4th gear 621 only has one section；4th gear 621 can be engaged with first gear 643；5th gear
622 engage with second gear 6312.As shown in Figure 9, Figure 10, the rotating machine arm 50 includes the connection being articulated on forearm 40
Arm 51, the housing 52 being fixed on linking arm 51, the spill spin block 53 outside housing 52, the driving mechanism 60 pass through pedestal 61
It is fixed in housing 52, the spill spin block 53 is fixed in locating rod 641；The pair of sucker is fixed on spill spin block 53.
As shown in figure 13, the rotating driving device 62 further includes rotation 624 and first motor 623 of drive shaft；First electricity
Machine 623 is fixed on vertically on pedestal 61；It is fixed with the 4th gear 621 and on first motor, 623 output shaft successively from top to bottom
Five gears 622.
As shown in figure 14, the depth of the lower square groove of limiting slot 6321 and the thickness of rectangular limited block under limited block 6322
It is identical；The depth of the guide groove of guiding slot holder 611 is less than the thickness of rectangular limited block under limited block 6322.
Concrete operations are as follows：First telescoping mechanism 73：Start third motor 738, third motor 738 drives the first worm screw
737 rotations, the first worm screw 737 drive central rotating body 734 to rotate by the first worm gear, and central rotating body 734 drives the first spiral shell
Rasp bar 735 rotates, and top plate 733, can only be under the driving of the first threaded rod 735 upwards due to being limited by four the first guide rods 736
Mobile, if necessary moving downward top plate 733 only need to make 738 counter-rotating of third motor；Coasting mechanism 72：Slide wall 722
It moves up and down with top plate 733, since there are slide slots on support base 721, slides wall 722 under the driving of top plate 733 along cunning
Row slot moves up and down；Swing mechanism：Pendular body 725 needs to swing certain angle, first has to start cylinder 726, cylinder 726 drives
Locating detent 7261 makes a pair of of positioning pin of locating detent 7261 be inserted into the limiting slot 7241 of the tenth gear 724 to left movement, this
When locating detent 7261 just the tenth gear 724 and pendular body 725 are integrally fixed；Then start the first motor, the first motor leads to
Crossing the 9th gear 723 drives the tenth gear 724 to rotate, and the tenth gear 724 drives pendular body to be rotated around articulated shaft；
Resetting apparatus：It first has to start cylinder 726, cylinder 726 drives locating detent 7261 to move right, makes locating detent 7261
A pair of of positioning pin be detached from the tenth gear 724 limiting slot 7241, the tenth gear 724 and pendular body 725 detach at this time；Then exist
It is resetted under the action of torsional spring 727 in 725 right swing seat of pendular body.
63 concrete operations of latch components are as follows：Initial state：Rectangular limited block lower part is located at guide groove under limited block 6322
Seat 611 is interior, top is located in the lower square groove of limiting slot 6321；So limited block 6322 limits rotary support 642, that is, rotate
Component 64, then spill spin block 53 and sucker are all limited；
Then the first motor 623 drives the 5th gear 622 to rotate；5th gear 622 drives the by second gear 6312
One cylinder ring 6311 rotates, and the first cylinder ring 6311 drives third gear 6313 to rotate, and third gear 6313 passes through the 6th gear
6316th, head rod 6314, the 7th gear 6315 and eighth gear 6324 drive the first threaded rod 6323 to rotate；First screw thread
Bar 6323 drives limited block 6322 to move upwards, in this way when limited block 6322 is driven to completely disengage guiding slot holder 611, rotary components
64 are released, while the wheel teeth portion 6211 of the 4th gear 621 is engaged with first gear 643 at this time；4th gear 621 drives rotation
Component 64 rotates；Then spill spin block 53 and sucker all rotate 180 degree；Then 623 antikinesis of the first motor, limited block are driven
6322 enter in guiding slot holder 611 again；Rotary components 64 are limited under the action of limiting component 632 again in this way.
More than content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes, the content of the present specification should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (10)
1. a kind of robot for being equipped with fixed rotation angle and performing end, including base body (10), is articulated on base body (10)
Waist rotation member (20), be articulated on waist rotation member (20) large arm (30), be fixed on the 6th motor of large arm (30) one end
(31) forearm on output shaft (40), waist rotation member (20) are rotated around base body (10), and large arm (30) turns around waist rotation member (20)
It is dynamic；It is characterized in that：
The forearm (40) is equipped with adjutage (70), the stake body of the adjutage (70) including being fixedly connected with forearm (40)
(71), the first telescoping mechanism (73) on stake body (71), the coasting mechanism being fixed on the first telescoping mechanism (73)
(72), the swing mechanism on coasting mechanism (72) and the resetting apparatus on swing mechanism.
2. a kind of robot for being equipped with fixed rotation angle and performing end is gone to according to right, it is characterised in that：
First telescoping mechanism (73) includes top plate (733), support plate (731), bottom plate (732) and four the first guide rods (736)；The
One guide rod (736) is each attached on support plate (731) upper surface；Top plate (733) is set on four the first guide rods (736)；
Or further coasting mechanism (72) includes a pair of of support base (721) and a pair of of resting arm (722)；Support base (721)
On offer slide slot；Support base (721) is fixed on a pair of first guide rod (736) upper surface vertically；A pair of of support base (721) is flat
Row face is set；Resting arm (722) is by rectangular guide rod and connecting rod；Rectangular guide rod is vertically fixed on the upper end of connecting rod；It slides
Arm (722) upper end is plugged in by rectangular guide rod in the slide slot of support base (721), lower end is fixed on top plate (733)；
Or further swing mechanism includes pendular body (725), the 9th gear (723) and the tenth gear (724)；First motor
It is fixed on resting arm (722) upper surface in left side；The output axis direction of first motor and the rectangular guide rod side of resting arm (722)
To opposite；The 9th gear (723) is fixed on the output shaft of first motor；Pendular body (725) including connector, left swing seat and
Right swing seat；Left swing seat and right swing seat are symmetrically fixed on the bottom surface of connector；Left swing seat and right swing seat pass through respectively
Articulated shaft is hinged in the side wall surface on the top of a pair of of resting arm (722)；The tenth gear is articulated on the articulated shaft of left swing seat
(724)；Tenth gear (724) is engaged with the 9th gear (723)；It is opened on the one side of the tenth left swing seat of gear (724) face
Equipped with limiting slot (7241)；The limiting slot (7241) is made of the identical circular hole of several diameters and adjacent circular hole intersects；
The limiting slot (7241) the round-meshed center of circle it is all identical with the distance at the center of the tenth gear (724)；
Or and further resetting apparatus includes cylinder (726) and torsional spring (727)；Gas is formed on the right side of left swing seat
Cylinder support base (7261)；The horizontal cylinder (726) set to the left is fixed on cylinder supports seat (7261)；The work of cylinder (726)
Locating detent (7262) is fixed on stopper rod；Locating detent forms a pair of of positioning pin on (7262)；A pair of of positioning pin is moved across left swing
Seat enters in the limiting slot (7241) of the tenth gear (724)；Torsional spring (727) is arranged on the articulated shaft of right swing seat；Torsional spring
(727) on the side wall of resting arm (722) connecting rod that one end is fixed on the side wall of right swing seat, the other end is fixed on right side；
Or the rotating machine arm (50) that the further adjutage (70) is fixedly arranged at the front end with；Rotating machine arm (50) packet
Include a pair of of sucker group and the driving mechanism (60) of a pair of of sucker group rotation of driving；The driving mechanism (60) including pedestal (61),
Rotating driving device (62), latch components (63) and rotary components (64)；Rotary components (64) including a pair of of locating rod (641),
Rotary support (642) and first gear (643)；Rotary support (642) upper end is fixed with a pair of of locating rod (641), middle part is fixed
There are first gear (643), lower end to be articulated on pedestal (61)；Latch components (63) include unlocking part (631) and limiting component
(632)；Unlocking part (631) includes the first cylinder ring (6311), second gear (6312), third gear (6313), the 6th tooth
Take turns (6316), the 7th gear (6315) and head rod (6314)；Second gear (6312) is fixed on the first cylinder ring
(6311) on external cylindrical surface；Third gear (6313) is fixed on the inner cylinder face of the first cylinder ring (6311)；First connection
Bar (6314) is passed vertically through and is articulated on the pedestal (61) in the first cylinder ring (6311)；Head rod (6314) upper end
It is fixed with the 6th gear (6316), lower end is fixed with the 7th gear (6315)；6th gear (6316) and third gear (6313)
Engagement.
3. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
First telescoping mechanism (73) further includes central rotating body (734), the first threaded rod (735), the first worm screw (737), third motor
(738) and a pair rotates support plate (739)；A pair of rotation support plate (739) is fixed on bottom plate 732 vertically) on；First worm screw
(737) it is articulated between a pair of of rotation support plate (739)；The rotation support plate that third motor (738) one of is fixed therein
(739) on；The output shaft of third motor (738) is connected firmly with the first worm screw (737)；Central rotating body (734) includes the first cylinder
With the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through bearing pivot
It is connected on support plate (731) upper and lower end external cylindrical surface and is fixed with the first worm gear；Central rotating body (734) by the first worm gear with
First worm screw (737) engages；First threaded rod (735) lower end is screwed onto in the threaded hole of central rotating body (734), upper end and top
Plate (733) center is spirally connected.
4. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
Four the first guide rod (736) upper ends form circular limited block, and limited block diameter is more than the diameter of the first guide rod (736)；
The support base (721) of coasting mechanism (72) is vertical to be fixed on the circular limited block of a pair of first guide rod (736)；A pair of support
The parallel face setting of seat (721).
5. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
Include first shell (711) and second shell (712) on the stake body (71)；First shell (711) and second shell (712)
It is integrally fixed by several connecting poles；First telescoping mechanism (73) is fixed on first by support plate (731) and bottom plate (732)
On the inner wall of housing (711)；Second shell (712) is set in outside swing mechanism (72) and the first telescoping mechanism.
6. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
Pendular body (725) center offers perforative transitional pore up and down, and the diameter of transitional pore is more than the diameter of the first threaded rod (735).
7. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
Limiting component (632) includes limited block (6322), the first threaded rod (6323) and eighth gear (6324)；Rotary support (642)
Lower face offers limiting slot (6321)；Limiting slot (6321) is made of upper square groove and lower square groove；The size of upper square groove
Less than the size of lower square groove；By upper rectangular limited block, the rectangular limited block under forms limited block (6322)；Limited block (6322)
Upper rectangular limited block and under rectangular limited block be plugged in respectively in the upper square groove and lower square groove of limiting slot (6321)；It is located at
Pedestal (61) lower face below rotary support (642) forms guiding slot holder (611)；It offers and limits inside guiding slot holder (611)
The identical guide groove of rectangular limited block size under position block (6322)；Under the guide groove face limiting slot (6321) of guiding slot holder (611)
It square groove and connects；First threaded rod (6323) upper end is articulated in limiting slot (6321) upper side wall, middle part and limited block
(6322) it is spirally connected, lower end is articulated in the lower wall of guiding slot holder (611) and passes through the lower wall of guiding slot holder (611)；First screw thread
Bar (6323) lower end is fixed with eighth gear (6324)；Eighth gear (6324) is engaged with the 7th gear (6315)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of 4th gear (621)
(6211) there was only one section；4th gear (621) can be engaged with first gear (643)；5th gear (622) and second gear
(6312) it engages.
8. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
The rotating machine arm (50) includes the linking arm (51) being articulated on forearm (40), the housing being fixed on linking arm (51)
(52), the spill spin block (53) positioned at housing (52) outside, the driving mechanism (60) are fixed on by pedestal (61) in housing (52),
The spill spin block (53) is fixed in locating rod (641)；The pair of sucker is fixed on spill spin block (53).
9. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 1 or 2, it is characterised in that：
The rotating driving device (62) further includes rotation drive shaft (624) and the first motor (623)；First motor (623) is solid vertically
It is scheduled on pedestal (61)；The 4th gear (621) and the 5th gear are fixed with successively from top to bottom on first motor (623) output shaft
(622)。
10. a kind of robot for being equipped with fixed rotation angle and performing end according to claim 7, it is characterised in that：Limit
The depth of the lower square groove of position slot (6321) is identical with the thickness of rectangular limited block under limited block (6322)；Guiding slot holder (611)
Guide groove depth be less than limited block (6322) under rectangular limited block thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810059682.1A CN108202322B (en) | 2016-07-18 | 2016-07-18 | Robot with fixed rotation angle execution tail end |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810059682.1A CN108202322B (en) | 2016-07-18 | 2016-07-18 | Robot with fixed rotation angle execution tail end |
| CN201610570861.2A CN106078712B (en) | 2016-07-18 | 2016-07-18 | A kind of robot for being equipped with fixed rotation angle and executing end |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570861.2A Division CN106078712B (en) | 2016-07-18 | 2016-07-18 | A kind of robot for being equipped with fixed rotation angle and executing end |
Publications (2)
| Publication Number | Publication Date |
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| CN108202322A true CN108202322A (en) | 2018-06-26 |
| CN108202322B CN108202322B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810059682.1A Active CN108202322B (en) | 2016-07-18 | 2016-07-18 | Robot with fixed rotation angle execution tail end |
| CN201610570861.2A Active CN106078712B (en) | 2016-07-18 | 2016-07-18 | A kind of robot for being equipped with fixed rotation angle and executing end |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610570861.2A Active CN106078712B (en) | 2016-07-18 | 2016-07-18 | A kind of robot for being equipped with fixed rotation angle and executing end |
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| CN (2) | CN108202322B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808470B (en) * | 2017-03-24 | 2017-11-10 | 合肥工业大学 | A kind of sucked type automatic loading/unloading rotating machine arm |
| CN107499927A (en) * | 2017-08-14 | 2017-12-22 | 怀宁县中坚竹胶板制造有限公司 | A kind of automatic unloading equipment of bamboo slab rubber hot press |
| CN114309185A (en) * | 2021-12-24 | 2022-04-12 | 盐城卓凌液压科技有限公司 | Hydraulic oil cylinder internal bar bending machine with manipulator structure and use method |
| WO2023187825A1 (en) * | 2022-03-29 | 2023-10-05 | Srivastava Sudhir Prem | A telescopic column assembly in a robotic arm system |
| CN117140491A (en) * | 2023-10-31 | 2023-12-01 | 广州善易贸易有限公司 | Clamping anti-drop structure of slidable manipulator |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106078712A (en) | 2016-11-09 |
| CN108202322B (en) | 2020-11-20 |
| CN106078712B (en) | 2018-08-21 |
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