CN108202322B

CN108202322B - Robot with fixed rotation angle execution tail end

Info

Publication number: CN108202322B
Application number: CN201810059682.1A
Authority: CN
Inventors: 付淑珍
Original assignee: Nanjing Yunzhu Information Technology Co Ltd
Current assignee: Nanjing Yunzhu Information Technology Co., Ltd
Priority date: 2016-07-18
Filing date: 2016-07-18
Publication date: 2020-11-20
Anticipated expiration: 2036-07-18
Also published as: CN106078712A; CN106078712B; CN108202322A

Abstract

The invention discloses a robot with a fixed rotation angle execution tail end, wherein an extension arm is arranged on a small arm of the robot, and the extension arm comprises a bracket body fixedly connected with the small arm, a first telescopic mechanism arranged on the bracket body, a sliding mechanism fixed on the first telescopic mechanism, a swinging mechanism arranged on the sliding mechanism and a resetting device arranged on the swinging mechanism; a rotary manipulator is fixed at the front end of the extension arm; the rotary manipulator comprises a pair of sucker groups and a driving mechanism for driving the sucker groups to rotate; the driving mechanism comprises a base, a rotating assembly, a rotating driving device and a locking assembly. The first telescopic mechanism can extend or shorten the total length of the extension arm, the small arm and the extension arm so as to adapt to various working conditions; the swing mechanism can swing in a certain amplitude relative to the swing driving mechanism, namely the small arm has a bending function; two suckers on the rotary manipulator can rotate 180 degrees accurately.

Description

Robot with fixed rotation angle execution tail end

This application is a divisional application of the patent application with application number 201610570861.2.

Technical Field

The invention relates to the technical field of robots, in particular to a robot with an execution tail end with a fixed rotation angle.

Background

The invention patent application with the application number of CN201210566463.5 discloses a light six-axis general robot, wherein an axle seat is fixed on an arm shaft, an axle seat protection box is fixed on the axle seat, and a third axis driving motor, a fourth axis driving motor, a fifth axis driving motor and a sixth axis driving motor are arranged in the axle seat protection box; the forearm rod shell and the forearm extension rod shell are respectively fixed at the front and rear parts of the forearm reducer, the sixth shaft is inserted in the fifth shaft, the fifth shaft is inserted in the fourth shaft, the fourth shaft is inserted in the forearm rod shell, the forearm reducer and the forearm extension rod shell, and the fourth shaft, the fifth shaft and the sixth shaft are respectively fixed with a fourth shaft driven gear, a fifth shaft driven gear and a sixth shaft driven gear. In the light six-axis universal robot in the prior art, the small arm only can drive the execution tail end arranged at the end part of the small arm to rotate, and the requirement of actual operation is difficult to meet.

Disclosure of Invention

The invention aims at the technical problem and provides a robot with an execution tail end with a fixed rotation angle.

In order to achieve the aim, the robot with the execution tail end with the fixed rotation angle comprises a base body, a waist rotating part, a big arm and a small arm, wherein the waist rotating part is pivoted on the base body;

the small arm is provided with an extension arm, and the extension arm comprises a bracket body fixedly connected with the small arm, a first telescopic mechanism arranged on the bracket body, a sliding mechanism fixed on the first telescopic mechanism, a swinging mechanism arranged on the sliding mechanism and a resetting device arranged on the swinging mechanism;

the first telescopic mechanism comprises a top plate, a supporting plate, a bottom plate and four first guide rods; the first guide rods are fixed on the upper end face of the supporting plate; the top plate is sleeved on the four first guide rods;

the sliding mechanism comprises a pair of supporting seats and a pair of sliding arms; the supporting seat is provided with a sliding groove; the supporting seat is vertically fixed on the upper end surfaces of the first guide rods; the pair of supporting seats are arranged in parallel and oppositely; the sliding arm consists of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm is inserted in the sliding groove of the supporting seat through a square guide rod, and the lower end of the sliding arm is fixed on the top plate;

the swinging mechanism comprises a swinging body, a ninth gear and a tenth gear; the first motor is fixed on the upper end surface of the left sliding arm; the direction of an output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm; a ninth gear is fixed on an output shaft of the first motor; the swinging body comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swing seat and the right swing seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms through hinge shafts; a tenth gear is pivoted on a hinge shaft of the left swinging seat; the tenth gear is meshed with the ninth gear; a limiting groove is formed in one side face, opposite to the left swinging seat, of the tenth gear; the limiting groove is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the centers of all round holes of the limiting groove and the center of the tenth gear are the same;

the reset device comprises a cylinder and a torsion spring; a cylinder supporting seat is formed on the right side surface of the left swinging seat; a cylinder horizontally arranged leftwards is fixed on the cylinder supporting seat; a piston rod of the cylinder is fixed with a positioning claw; a pair of positioning pins are formed on the positioning claw; a pair of positioning pins penetrate through the left swinging seat and enter a limiting groove of the tenth gear; a torsional spring is sleeved on the hinged shaft of the right swinging seat; one end of the torsion spring is fixed on the side wall of the right swing seat, and the other end of the torsion spring is fixed on the side wall of the right sliding arm connecting rod;

a rotary manipulator is fixed at the front end of the extension arm; the rotary manipulator comprises a pair of sucker groups and a driving mechanism for driving the sucker groups to rotate; the driving mechanism comprises a base, a rotary driving device, a lock catch assembly and a rotating assembly; the rotating assembly comprises a pair of positioning rods, a rotating support and a first gear; a pair of positioning rods is fixed at the upper end of the rotating support, a first gear is fixed at the middle part of the rotating support, and the lower end of the rotating support is pivoted on the base; the lock catch assembly comprises an unlocking part and a limiting part; the unlocking component comprises a first cylindrical ring, a second gear, a third gear, a sixth gear, a seventh gear and a first connecting rod; the second gear is fixed on the outer cylindrical surface of the first cylindrical ring; the third gear is fixed on the inner cylindrical surface of the first cylindrical ring; the first connecting rod vertically penetrates through the base and is pivoted on the first cylindrical ring; a sixth gear is fixed at the upper end of the first connecting rod, and a seventh gear is fixed at the lower end of the first connecting rod; the sixth gear is meshed with the third gear.

Preferably, the first telescoping mechanism further includes a central rotating body, a first threaded rod, a first worm, a third motor, and a pair of rotating support plates; a pair of rotating support plates are vertically fixed on the bottom plate; the first worm is pivoted between the pair of rotary supporting plates; the third motor is fixed on one of the rotary supporting plates; an output shaft of the third motor is fixedly connected with the first worm; the central rotating body comprises a first cylinder and a first worm gear; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; an outer cylindrical surface at the upper end of the first cylinder is pivoted on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the support plate through bearings, and a first worm wheel is fixed on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the first cylinder; the central rotating body is meshed with the first worm through a first worm wheel; the lower end of the first threaded rod is in threaded connection with the threaded hole of the central rotating body, and the upper end of the first threaded rod is in threaded connection with the center of the top plate.

Preferably, the upper ends of the four first guide rods are respectively formed with a circular limiting block, and the diameter of each limiting block is larger than that of each first guide rod; a supporting seat of the sliding mechanism is vertically fixed on the circular limiting blocks of the first guide rods; the pair of supporting seats are arranged in parallel and oppositely.

Preferably, the bracket body comprises a first shell and a second shell; the first shell and the second shell are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism is fixed on the inner wall of the first shell through a supporting plate and a bottom plate; the second shell is sleeved outside the swinging mechanism and the first telescopic mechanism.

Preferably, the center of the oscillating body is provided with a transition hole penetrating vertically, and the diameter of the transition hole is larger than that of the first threaded rod.

Preferably, the limiting part comprises a limiting block, a first threaded rod and an eighth gear; a limiting groove is formed in the lower end face of the rotating support; the limiting groove consists of an upper square groove and a lower square groove; the size of the upper square groove is smaller than that of the lower square groove; the limiting block consists of an upper limiting block and a lower square limiting block; the upper square limiting block and the lower square limiting block of the limiting block are respectively inserted into the upper square groove and the lower square groove of the limiting groove; a guide groove seat is formed on the lower end surface of the base below the rotary support; a guide groove with the same size as the lower square limiting block of the limiting block is formed in the guide groove seat; the guide groove of the guide groove seat is opposite to the lower square groove of the limiting groove and communicated with the lower square groove; the upper end of the first threaded rod is pivoted on the upper side wall of the limiting groove, the middle part of the first threaded rod is in threaded connection with the limiting block, and the lower end of the first threaded rod is pivoted on the lower side wall of the guide groove seat and penetrates through the lower side wall of the guide groove seat; an eighth gear is fixed at the lower end of the first threaded rod; the eighth gear is meshed with the seventh gear;

the rotary driving device comprises a fourth gear and a fifth gear; the gear tooth part of the fourth gear is only one section; the fourth gear may be meshed with the first gear; the fifth gear is meshed with the second gear.

Preferably, the rotary manipulator comprises a connecting arm pivoted to the small arm, a housing fixed to the connecting arm, and a rotary block located outside the housing, the driving mechanism is fixed in the housing through a base, and the rotary block is fixed to the positioning rod; the pair of suckers is fixed on the rotating block.

Preferably, the rotary drive device further includes a rotary drive shaft and a second motor; the second motor is vertically fixed on the base; and a fourth gear and a fifth gear are sequentially fixed on the output shaft of the second motor from top to bottom.

Preferably, the depth of the lower square groove of the limiting groove is the same as the thickness of the lower square limiting block of the limiting block; the depth of the guide groove seat is smaller than the thickness of the lower square limiting block of the limiting block.

The invention has the beneficial effects that: the first telescopic mechanism can extend or shorten the total length of the extension arm, the small arm and the extension arm so as to adapt to various working conditions; the swing mechanism can swing in a certain amplitude relative to the swing driving mechanism, namely the small arm has a bending function; the driving assembly doing circular motion can release the constraint of the rotating assembly and drive the rotating assembly to rotate 180 degrees through the locking assembly, the pair of suckers rotate 180 degrees along with the rotating assembly, and the two suckers on the mechanical arm can accurately rotate 180 degrees through the driving mechanism of the invention, so that the mechanical arm can accurately take and place materials.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of an extension arm according to the present invention;

FIG. 3 is a schematic view of the internal drive mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a first telescoping mechanism of the present invention;

FIG. 5 is a schematic side view of the first telescoping mechanism of the present invention;

FIG. 6 is a schematic cross-sectional view taken along line A-A of FIG. 5 according to the present invention;

FIG. 7 is a schematic cross-sectional view of the sled and swing mechanism of the present invention;

fig. 8 is a schematic structural view of a cylinder and a tenth gear of the resetting device of the invention;

FIG. 9 is a schematic view of the rotary robot of the present invention;

FIG. 10 is a schematic view of the drive mechanism of the present invention;

fig. 11 is a schematic structural view of the rotary drive and latch assembly of the present invention;

FIG. 12 is a side view of the driving mechanism of the present invention;

FIG. 13 is a schematic cross-sectional view of C-C of FIG. 12 in accordance with the present invention;

FIG. 14 is a schematic view of the release member of the present invention;

in the figure, 10, a base body; 20. a waist rotation member; 30. a large arm; 31. a sixth motor; 40. a small arm; 50. rotating the manipulator; 51. a connecting arm; 52. a housing; 53. rotating the block; 60. a drive mechanism; 61. a base; 62. a rotation driving device; 621. a fourth gear; 6211. a wheel tooth portion; 622. a fifth gear; 623. a second motor; 624. a rotary drive shaft; 63. a latch assembly; 631. an unlocking member; 6311. a first cylindrical ring; 6312. a second gear; 6313. a third gear; 6314. a first connecting rod; 6315. a seventh gear; 6316. a sixth gear; 632. a limiting component; 6321. a limiting groove; 6322. a limiting block; 6323. a first threaded rod; 6324. an eighth gear; 64. a rotating assembly; 641. positioning a rod; 642. rotating the support; 643. a first gear;

70. an extension arm; 71. a stent body; 711. a first housing; 712. a second housing; 72. a coasting mechanism; 721. a supporting seat; 722. a slide wall; 723. a ninth gear; 724. a tenth gear; 7241. a limiting groove; 725. a swinging body; 726. a cylinder; 7261. a cylinder supporting seat; 7262. a positioning claw; 73. a first telescoping mechanism; 731. a support plate; 732. a base plate; 733. a top plate; 734. a central rotating body; 735. a first threaded rod; 736. a first guide bar; 737. a first worm; 738. a third motor; 739. the support plate is rotated.

Detailed Description

As shown in fig. 1, a robot with an execution end of a fixed rotation angle comprises a base body 10, a waist rotation member 20 pivoted on the base body 10, a big arm 30 pivoted on the waist rotation member 20, and a small arm 40 fixed on an output shaft of a sixth motor 31 at one end of the big arm 30, wherein the waist rotation member 20 rotates around the base body 10, and the big arm 30 rotates around the waist rotation member 20;

as shown in fig. 3, an extension arm 70 is provided on the small arm 40, and the extension arm 70 includes a bracket body 71 fixedly connected to the small arm 40, a first telescoping mechanism 73 mounted on the bracket body 71, a sliding mechanism 72 fixed on the first telescoping mechanism 73, a swinging mechanism mounted on the sliding mechanism 72, and a resetting device mounted on the swinging mechanism;

as shown in fig. 3 to 6, the first telescoping mechanism 73 includes a top plate 733, a support plate 731, a bottom plate 732, and four first guide rods 736; the first guide rods 736 are all fixed on the upper end surface of the supporting plate 731; the top plate 733 is sleeved on the four first guide rods 736;

as shown in fig. 3 and 7, the runner 72 includes a pair of support seats 721 and a pair of runner arms 722; the supporting seat 721 is provided with a sliding groove; the supporting base 721 is vertically fixed on the upper end surfaces of the pair of first guide rods 736; a pair of supporting seats 721 are arranged oppositely in parallel; the sliding arm 722 is composed of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm 722 is inserted in the sliding groove of the supporting seat 721 through a square guide rod, and the lower end is fixed on the top plate 733;

as shown in fig. 3, 7, and 8, the oscillating mechanism includes an oscillating body 725, a ninth gear 723, and a tenth gear 724; the first motor is fixed on the upper end face of the left sliding arm 722; the direction of the output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm 722; a ninth gear 723 is fixed on an output shaft of the first motor; the swinging body 725 comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swing seat and the right swing seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms 722 through hinge shafts; a tenth gear 724 is pivoted on a hinge shaft of the left swinging seat; the tenth gear 724 meshes with a ninth gear 723; a limit groove 7241 is formed in one side face, opposite to the left swinging seat, of the tenth gear 724; the limit groove 7241 is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the centers of all circular holes of the limit groove 7241 and the center of the tenth gear 724 are the same;

as shown in fig. 3, 7 and 8, the reset device includes a cylinder 726 and a torsion spring 727; a cylinder supporting seat 7261 is formed on the right side surface of the left swinging seat; a cylinder 726 which is horizontally arranged leftwards is fixed on the cylinder supporting seat 7261; a piston rod of the cylinder 726 is fixed with a positioning pawl 7262; a pair of positioning pins are formed on the positioning pawl 7262; a pair of positioning pins penetrate through the left swinging seat and enter the limiting groove 7241 of the tenth gear 724; a torsional spring 727 is sleeved on a hinged shaft of the right swinging seat; one end of the torsion spring 727 is fixed on the side wall of the right swinging seat, and the other end is fixed on the side wall of the right sliding arm 722 connecting rod;

as shown in fig. 1 and 9, a rotary robot 50 fixed to a front end of the extension arm 70; the rotary manipulator 50 comprises a pair of sucker groups and a driving mechanism 60 for driving the sucker groups to rotate; the driving mechanism 60 comprises a base 61, a rotary driving device 62, a locking assembly 63 and a rotating assembly 64; the rotation assembly 64 includes a pair of positioning rods 641, a rotation mount 642, and a first gear 643; a pair of positioning rods 641 is fixed at the upper end of the rotating support 642, a first gear 643 is fixed at the middle part, and the lower end is pivoted on the base 61; the latch assembly 63 includes an unlocking part 631 and a limiting part 632; the unlocking member 631 includes a first cylindrical ring 6311, a second gear 6312, a third gear 6313, a sixth gear 6316, a seventh gear 6315, and a first connecting rod 6314; the second gear 6312 is fixed to the outer cylindrical surface of the first cylindrical ring 6311; a third gear 6313 is fixed to the inner cylindrical surface of the first cylindrical ring 6311; a first connecting rod 6314 passes vertically through and is pivoted to the base 61 inside the first cylindrical ring 6311; a sixth gear 6316 is fixed at the upper end of the first connecting rod 6314, and a seventh gear 6315 is fixed at the lower end; the sixth gear 6316 meshes with the third gear 6313.

As shown in fig. 4 to 6, the first telescoping mechanism 73 further includes a center rotating body 734, a first threaded rod 735, a first worm 737, a third motor 738, and a pair of rotating support plates 739; a pair of rotating support plates 739 is vertically fixed to the base plate 732; the first worm 737 is pivoted between a pair of rotating support plates 739; the third motor 738 is fixed to one of the rotation support plates 739; an output shaft of the third motor 738 is fixedly connected with the first worm 737; the central rotating body 734 includes a first cylinder and a first worm wheel; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; an outer cylindrical surface at the upper end of the first cylinder is pivoted on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the supporting plate 731 through bearings, and a first worm wheel is fixed on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the first cylinder; the center rotary body 734 is engaged with the first worm 737 through the first worm wheel; the first screw rod 735 is screwed into the screw hole of the center rotator 734 at its lower end and screwed into the center of the top plate 733 at its upper end.

As shown in fig. 3 and 4, a circular limiting block is formed at the upper end of each of the four first guide rods 736, and the diameter of the limiting block is larger than that of the first guide rods 736; a support seat 721 of the sliding mechanism 72 is vertically fixed on the circular limiting blocks of the pair of first guide rods 736; a pair of supporting seats 721 are arranged in parallel and opposite to each other.

As shown in fig. 1 and 2, the support body 71 includes a first housing 711 and a second housing 712; the first shell 711 and the second shell 712 are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism 73 is fixed to the inner wall of the first housing 711 via a support plate 731 and a bottom plate 732; the second housing 712 is sleeved outside the swing mechanism 72 and the first telescoping mechanism.

As shown in fig. 3 and 7; the center of the swing body 725 is provided with a transition hole which penetrates through the swing body up and down, and the diameter of the transition hole is larger than that of the first threaded rod 735.

As shown in fig. 9 to 14, the limiting member 632 includes a limiting block 6322, a first threaded rod 6323 and an eighth gear 6324; a limiting groove 6321 is formed in the lower end face of the rotating support 642; the limit groove 6321 is composed of an upper square groove and a lower square groove; the size of the upper square groove is smaller than that of the lower square groove; the limiting block 6322 is composed of an upper limiting block and a lower limiting block; an upper square limiting block and a lower square limiting block of the limiting block 6322 are respectively inserted into the upper square groove and the lower square groove of the limiting groove 6321; a guide groove seat 611 is formed on the lower end surface of the base 61 below the rotating support 642; a guide groove with the same size as the lower square limiting block of the limiting block 6322 is formed in the guide groove seat 611; the guide groove of the guide groove seat 611 faces the lower square groove of the limit groove 6321 and is communicated with the lower square groove; the upper end of the first threaded rod 6323 is pivoted on the upper side wall of the limit groove 6321, the middle part thereof is screwed with the limit block 6322, and the lower end thereof is pivoted on the lower side wall of the guide groove seat 611 and penetrates through the lower side wall of the guide groove seat 611; an eighth gear 6324 is fixed at the lower end of the first threaded rod 6323; the eighth gear 6324 meshes with the seventh gear 6315; the rotation driving means 62 includes a fourth gear 621 and a fifth gear 622; tooth portion 6211 of fourth gear 621 has only one segment; the fourth gear 621 may mesh with the first gear 643; the fifth gear 622 meshes with the second gear 6312. As shown in fig. 9 and 10, the rotary manipulator 50 includes a connecting arm 51 pivotally connected to the small arm 40, a housing 52 fixed to the connecting arm 51, and a rotary block 53 located outside the housing 52, the driving mechanism 60 is fixed in the housing 52 by a base 61, and the rotary block 53 is fixed to a positioning rod 641; the pair of suction cups is fixed to the rotating block 53.

As shown in fig. 13, the rotary drive device 62 further includes a rotary drive shaft 624 and a second motor 623; the second motor 623 is vertically fixed on the base 61; a fourth gear 621 and a fifth gear 622 are fixed to the output shaft of the second motor 623 from top to bottom in sequence.

As shown in fig. 14, the depth of the lower square groove of the limiting groove 6321 is the same as the thickness of the lower square limiting block of the limiting block 6322; the depth of the guide groove seat 611 is smaller than the thickness of the lower square limiting block of the limiting block 6322.

The specific operation is as follows: first telescoping mechanism 73: the third motor 738 is started, the third motor 738 drives the first worm 737 to rotate, the first worm 737 drives the central rotating body 734 to rotate through the first worm wheel, the central rotating body 734 drives the first threaded rod 735 to rotate, the top plate 733 can only move upwards under the driving of the first threaded rod 735 due to being limited by the four first guide rods 736, and if necessary, the top plate 733 can only move downwards and only the third motor 738 needs to rotate reversely; the skid mechanism 72: the sliding wall 722 moves up and down along with the top plate 733, and the sliding wall 722 moves up and down along the sliding groove under the driving of the top plate 733 due to the sliding groove on the support seat 721; a swinging mechanism: the oscillating body 725 needs to oscillate by a certain angle, firstly, the cylinder 726 is started, the cylinder 726 drives the positioning pawl 7262 to move leftwards, so that a pair of positioning pins of the positioning pawl 7262 are inserted into the limiting groove 7241 of the tenth gear 724, and at the moment, the positioning pawl 7262 fixes the tenth gear 724 and the oscillating body 725 into a whole; then, the first motor is started, the first motor drives the tenth gear 724 to rotate through the ninth gear 723, and the tenth gear 724 drives the swinging body to rotate around the hinge shaft;

resetting the device: firstly, the cylinder 726 is started, the cylinder 726 drives the positioning pawl 7262 to move rightwards, so that a pair of positioning pins of the positioning pawl 7262 are separated from the limiting groove 7241 of the tenth gear 724, and at the moment, the tenth gear 724 is separated from the swinging body 725; and then reset by the torsion spring 727 on the right swing seat of the swing body 725.

The latch assembly 63 operates specifically as follows: the initial state is as follows: the lower part of the lower square limiting block of the limiting block 6322 is located in the guide groove seat 611, and the upper part of the lower square limiting block is located in the lower square groove of the limiting groove 6321; the stop block 6322 limits the rotation of the support 642, i.e., the rotation assembly 64, and thus the rotation block 53 and the suction cup;

the second motor 623 then drives the fifth gear 622 in rotation; the fifth gear 622 drives the first cylindrical ring 6311 to rotate through the second gear 6312, the first cylindrical ring 6311 drives the third gear 6313 to rotate, and the third gear 6313 drives the first threaded rod 6323 to rotate through the sixth gear 6316, the first connecting rod 6314, the seventh gear 6315 and the eighth gear 6324; the first threaded rod 6323 drives the limit block 6322 to move upward, so that when the limit block 6322 is driven to completely disengage from the slot guide 611, the rotating assembly 64 is released, and at the same time, the gear tooth 6211 of the fourth gear 621 is engaged with the first gear 643; the fourth gear 621 drives the rotating component 64 to rotate; then the rotating block 53 and the sucker rotate 180 degrees; then, the second motor 623 is driven to reversely run, and the limit block 6322 enters the guide groove seat 611 again; the rotation member 64 is thus again restrained by the restraining member 632.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description herein, since various changes and modifications can be made in the details of the embodiment and the application range according to the spirit of the present invention.

Claims

1. A robot provided with an execution tail end with a fixed rotation angle comprises a base body (10), a waist rotating part (20) pivoted on the base body (10), a large arm (30) pivoted on the waist rotating part (20), and a small arm (40) fixed on an output shaft of a sixth motor (31) at one end of the large arm (30), wherein the waist rotating part (20) rotates around the base body (10), and the large arm (30) rotates around the waist rotating part (20); the method is characterized in that:

the small arm (40) is provided with an extension arm (70), the extension arm (70) comprises a bracket body (71) fixedly connected with the small arm (40), a first telescopic mechanism (73) arranged on the bracket body (71), a sliding mechanism (72) fixed on the first telescopic mechanism (73), a swinging mechanism arranged on the sliding mechanism (72) and a resetting device arranged on the swinging mechanism;

the first telescopic mechanism (73) comprises a top plate (733), a supporting plate (731), a bottom plate (732) and four first guide rods (736); the first guide rods (736) are fixed on the upper end surface of the supporting plate (731); the top plate (733) is sleeved on the four first guide rods (736);

the sliding mechanism (72) comprises a pair of supporting seats (721) and a pair of sliding arms (722); a sliding groove is arranged on the supporting seat (721); the supporting seat (721) is vertically fixed on the upper end surfaces of the first guide rods (736); a pair of supporting seats (721) are arranged in parallel and opposite to each other; the sliding arm (722) consists of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm (722) is inserted in the sliding groove of the supporting seat (721) through a square guide rod, and the lower end is fixed on the top plate (733);

the swinging mechanism comprises a swinging body (725), a ninth gear (723) and a tenth gear (724); the first motor is fixed on the upper end surface of the left sliding arm (722); the direction of the output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm (722); a ninth gear (723) is fixed on an output shaft of the first motor; the swinging body (725) comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swinging seat and the right swinging seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms (722) through hinge shafts; a tenth gear (724) is pivoted on a hinge shaft of the left swinging seat; the tenth gear (724) is meshed with the ninth gear (723); a limit groove (7241) is formed in one side face, opposite to the left swinging seat, of the tenth gear (724); the limiting groove (7241) is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the centers of all round holes of the limiting groove (7241) and the center of the tenth gear (724) are the same;

the reset device comprises an air cylinder (726) and a torsion spring (727); a cylinder supporting seat (7261) is formed on the right side surface of the left swinging seat; an air cylinder (726) horizontally arranged leftwards is fixed on the air cylinder supporting seat (7261); a piston rod of the cylinder (726) is fixed with a positioning claw (7262); a pair of positioning pins are formed on the positioning claw (7262); a pair of positioning pins penetrate through the left swinging seat and enter a limiting groove (7241) of a tenth gear (724); a torsional spring (727) is sleeved on a hinged shaft of the right swinging seat; one end of the torsion spring (727) is fixed on the side wall of the right swinging seat, and the other end of the torsion spring is fixed on the side wall of the right sliding arm (722) connecting rod;

a rotary manipulator (50) is fixed at the front end of the extension arm (70); the rotary manipulator (50) comprises a pair of sucker groups and a driving mechanism (60) for driving the sucker groups to rotate; the driving mechanism (60) comprises a base (61), a rotary driving device (62), a lock catch assembly (63) and a rotating assembly (64); the rotating assembly (64) comprises a pair of positioning rods (641), a rotating support (642) and a first gear (643); a pair of positioning rods (641) are fixed at the upper end of the rotating support (642), a first gear (643) is fixed at the middle part, and the lower end is pivoted on the base (61); the locking buckle assembly (63) comprises an unlocking part (631) and a limiting part (632); the unlocking member (631) comprises a first cylindrical ring (6311), a second gear (6312), a third gear (6313), a sixth gear (6316), a seventh gear (6315) and a first connecting rod (6314); the second gear (6312) is fixed on the outer cylindrical surface of the first cylindrical ring (6311); the third gear (6313) is fixed on the inner cylindrical surface of the first cylindrical ring (6311); a first connecting rod (6314) passes vertically through and is pivoted on the base (61) inside the first cylindrical ring (6311); a sixth gear (6316) is fixed at the upper end of the first connecting rod (6314), and a seventh gear (6315) is fixed at the lower end; the sixth gear (6316) is meshed with the third gear (6313);

the first telescoping mechanism (73) further comprises a central rotating body (734), a first threaded rod (735), a first worm (737), a third motor (738) and a pair of rotating support plates (739); a pair of rotating support plates (739) vertically fixed on the base plate (732); the first worm (737) is pivoted between the pair of rotating support plates (739); the third motor (738) is fixed on one of the rotary supporting plates (739); an output shaft of the third motor (738) is fixedly connected with the first worm (737); the central rotating body (734) comprises a first cylinder and a first worm gear; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; an outer cylindrical surface at the upper end of the first cylinder is pivoted on the outer cylindrical surfaces at the upper end and the lower end of the supporting plate (731) through bearings, and a first worm wheel is fixed on the outer cylindrical surface; the central rotating body (734) is meshed with the first worm (737) through a first worm wheel; the lower end of the first threaded rod (735) is screwed in the threaded hole of the central rotating body (734), and the upper end of the first threaded rod is screwed with the center of the top plate (733);

round limiting blocks are formed at the upper ends of the four first guide rods (736), and the diameters of the limiting blocks are larger than those of the first guide rods (736); a supporting seat (721) of the sliding mechanism (72) is vertically fixed on a circular limiting block of a pair of first guide rods (736); a pair of supporting seats (721) are arranged in parallel and opposite to each other;

the bracket body (71) comprises a first shell (711) and a second shell (712); the first shell (711) and the second shell (712) are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism (73) is fixed on the inner wall of the first shell (711) through a supporting plate (731) and a bottom plate (732); the second shell (712) is sleeved outside the swinging mechanism (72) and the first telescopic mechanism;

the center of the swinging body (725) is provided with a transition hole which penetrates through the swinging body up and down, and the diameter of the transition hole is larger than that of the first threaded rod (735).

2. A robot provided with a fixed rotation angle performing tip as set forth in claim 1, wherein: the limiting component (632) comprises a limiting block (6322), a first threaded rod (6323) and an eighth gear (6324); a limiting groove (6321) is formed in the lower end face of the rotating support (642); the limiting groove (6321) consists of an upper square groove and a lower square groove; the size of the upper square groove is smaller than that of the lower square groove; the limiting block (6322) is composed of an upper limiting block and a lower limiting block; an upper square limiting block and a lower square limiting block of the limiting block (6322) are respectively inserted into the upper square groove and the lower square groove of the limiting groove (6321); a guide groove seat (611) is formed on the lower end face of the base (61) below the rotating support (642); a guide groove with the same size as the lower square limiting block of the limiting block (6322) is formed in the guide groove seat (611); the guide groove of the guide groove seat (611) is opposite to and communicated with the lower square groove of the limiting groove (6321); the upper end of the first threaded rod (6323) is pivoted on the upper side wall of the limiting groove (6321), the middle part of the first threaded rod is in threaded connection with the limiting block (6322), and the lower end of the first threaded rod is pivoted on the lower side wall of the guide groove seat (611) and penetrates through the lower side wall of the guide groove seat (611); an eighth gear (6324) is fixed at the lower end of the first threaded rod (6323); the eighth gear (6324) is meshed with the seventh gear (6315);

the rotation driving device (62) comprises a fourth gear (621) and a fifth gear (622); the tooth portion (6211) of the fourth gear (621) has only one segment; the fourth gear (621) may be meshed with the first gear (643); the fifth gear (622) meshes with the second gear (6312).

3. A robot provided with a fixed rotation angle performing tip as set forth in claim 2, wherein: the rotary manipulator (50) comprises a connecting arm (51) pivoted on the small arm (40), a shell (52) fixed on the connecting arm (51) and a rotary block (53) positioned outside the shell (52), the driving mechanism (60) is fixed in the shell (52) through a base (61), and the rotary block (53) is fixed on the positioning rod (641); the pair of suction cups is fixed to the rotating block (53).

4. A robot provided with a fixed rotation angle performing tip according to claim 3, wherein: the rotary drive device (62) further comprises a rotary drive shaft (624) and a second motor (623); the second motor (623) is vertically fixed on the base (61); a fourth gear (621) and a fifth gear (622) are fixed on the output shaft of the second motor (623) from top to bottom in sequence.

5. A robot provided with a fixed rotation angle performing tip as set forth in claim 4, wherein: the depth of the lower square groove of the limiting groove (6321) is the same as the thickness of the lower square limiting block of the limiting block (6322); the depth of the guide groove seat (611) is smaller than the thickness of the square limiting block below the limiting block (6322).