CN108213999A - A kind of improved-type robot device - Google Patents
A kind of improved-type robot device Download PDFInfo
- Publication number
- CN108213999A CN108213999A CN201710745295.9A CN201710745295A CN108213999A CN 108213999 A CN108213999 A CN 108213999A CN 201710745295 A CN201710745295 A CN 201710745295A CN 108213999 A CN108213999 A CN 108213999A
- Authority
- CN
- China
- Prior art keywords
- ring
- spiral shell
- straight slot
- control device
- clamping piece
- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
Abstract
The invention discloses a kind of improved-type robot devices, including clamping piece, hold body, vertical control device, lateral control device and clamping device, a strip is provided on the left of the clamping piece, right side upper and lower end face is each provided with one and in the front-back direction leads an item, it is in the front-back direction that one is provided on the right side of the end body, with it is described lead that an item slides cooperation lead a shrinkage pool, the vertical control device is installed the left side of the end body and is penetrated in the ladder group of clamping piece right side middle-end after penetrating first straight slot to the right, the clamping device is mounted on the vertical control device on the left of the end body, the transverse direction control device is mounted on the clamping device；Size Control of the present invention is convenient, and simple operation not only can guarantee machining accuracy, but also can improve processing efficiency.
Description
Technical field
The present invention relates to processing of robots field, particularly a kind of improved-type robot device.
Background technology
With the fast development that intelligent robot is processed, robot manipulation is often used when being processed to pipe fitting, to pipe fitting
During the processing of pore inner wall, generally easily tremble in process, it is poor so as to cause pore inner wall roughness, in addition,
During pore inwall processing, the vertical dimension and located lateral size of pore inner wall are not easy to control.
Invention content
The technical problems to be solved by the invention are to provide a kind of improved-type robot device, can solve above-mentioned present
The problems in technology.
The present invention is achieved through the following technical solutions：A kind of improved-type robot device of the present invention, including folder
Firmware, end body, vertical control device, lateral control device and clamping device, the clamping piece left side are provided with a strip, right side
Upper and lower end face be each provided with one it is in the front-back direction lead an item, right side middle-end front-rear direction is provided with one by the first ladder,
The ladder group of two ladders and third ladder composition, the strip side are additionally provided with rubber tabletting, are provided on the right side of the end body
It is one in the front-back direction, with it is described lead that an item slides cooperation lead a shrinkage pool, leading an above and below shrinkage pool in and before with described
The first straight slot of a left and right directions is provided at end, one is provided with above first straight slot for installing the plate of guide plate
Slot sets a deep gouge in the left-hand notch of first straight slot, and the upper surface of the end body is additionally provided with the rank of a right low left high
Terraced shrinkage pool, the vertical control device left side of the end body is installed and penetrate to the right after first straight slot penetrate it is described clamping
In the ladder group of part right side middle-end, the clamping device is mounted on the vertical control device on the left of the end body
On, the transverse direction control device is mounted on the clamping device, and hand lift device is additionally provided in the clamping piece.
Further, the vertical control device includes steering shaft, pedestal, eccentric wheel, sliding block, knife plate and knife plate reset
Device, the pedestal left side are provided with one for receiving the empty slot of the eccentric wheel, and the top of the empty slot is provided with upper and lower
To T-shaped shrinkage pool, the bottom of empty slot is provided with the second straight slot of a left and right directions, and the steering shaft penetrates second straight slot,
The end of the steering shaft in the empty slot positioned at the pedestal is fixedly mounted the eccentric wheel, and the steering shaft is close to right end
A toothed wheel, the toothed wheel and the tooth being fixed in the first ladder of the clamping piece ladder group are fixedly mounted on partial axis
Shape item coordinates, and the sliding block respectively sets a convex block close on the front-back on right side, and to form T-shaped guide plate, the T-shaped is led
Position plate and the T-shaped shrinkage pool composition of the pedestal can be slided vertically, and the knife plate, the cunning are fixed in the sliding block left side
The knife plate resetting apparatus is installed, in addition, the lower end setting one of the sliding block between the lower end of row block and the eccentric wheel
Spiral shell shape hole.
Further, the clamping device includes a left end close to the pedestal right side of the vertical control device and consolidates
The sleeve being scheduled in the steering shaft and two close to the pedestal and with the sleeve lateral surface form gap cooperation slide ring
Device and three the second elastic components slided described between ring and three groups of both ends are respectively hinged at the ring that slides and fill
It puts external strut and is staggered 60 degree and one mounted on the top pressing board on the strut top and three and second elastic component
End, which is fixed on left side, which slides the loop device other end, can glidingly penetrate the straight slot that the left and right directions set on loop device is slided on right side
The first position guiding rod and positioned at it is described slide on the right side of ring, be fixed on the sleeve lateral surface and lateral surface be provided with spiral shell shape
Line and setting are located at the spiral shell shape ring right end there are three the spiral shell shape ring of left and right directions straight slot and one and can glidingly be set in described
Pressing ring on sleeve lateral surface and three penetrate the straight slot being arranged on the spiral shell shape ring, left end and the right side and slide ring
The second position guiding rod and be set in the pressing ring and an end body left side that the device connection other end is fixedly connected with the pressing ring
Third elastic component between the sink groove bottom of side, in addition, the sleeve is provided with one close on the lateral surface of right end with being mounted on
Guide plate in the top board slot of first straight slot of the end body slides the first board slot of cooperation.
Further, the loop device that slides includes outer shroud, inner ring and clutch shaft bearing, and the clutch shaft bearing is mounted on described
Between outer shroud and inner ring, the lower end of the strut and the inner ring external articulation.
Further, the lateral control device includes the spiral shell that a middle-end is provided on the spiral shell shape ring with the clamping device
The spiral shell shape straight slot and left side middle-end of shape line cooperation be provided with the transfer ring of an annular groove and one be mounted in the annular groove the
Two bearings and a right side be provided with one for the restricted driving ring in the second bearing and respectively set up and down one can be with
The restricted driving hook of steering.
Further, the convex block of the clamping piece is fixed on the arm of the robot on hand.
Further, so being provided with measurer on the right side of clamping piece upper surface and on the left of the end body upper surface.
Further, the knife plate middle-end is provided with a upper and lower directions, installation straight slot for fixed cutting tool.
Further, the knife plate resetting apparatus includes spiral shell staple, pressing fixed blocks and the first elastic component, the spiral shell staple installation
In the spiral shell shape hole of the lower end of the sliding block, the pressing fixed blocks are fixed on the lower end of the spiral shell staple and the eccentric wheel end face
Contradict, first elastic component be mounted on pressing fixed blocks upper surface on the right side of the spiral shell staple and the pedestal empty slot upper wall it
Between.
Further, the hand lift device includes the hand lift ring for being fixedly mounted on the clamping piece upper and lower end face, the hand
The hand lift hole of front and rear break-through is provided in lift ring.
The beneficial effects of the invention are as follows：
1. leading an item and toothed wheel and the cooperation of tooth form item by being provided between clamping piece and end body, clamping piece is clamped in machine
The arm of device people moves steering shaft so as to be further driven to eccentric wheel on hand and in robot transverse shifting, by toothed wheel transmission belt
Rotation, is jacked up sliding block using eccentric wheel upwards, and the cutter that will be clamped in knife plate jacks up and realize the vertical shifting of cutter
It is dynamic, so as to fulfill the processing of pore inner wall.In addition, by being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface
Measurer, can easily control cutter cut depth, so as to efficiently control the vertical dimension of pore inner wall.
2. ring is transferred due to being provided with a spiral shell shape ring and one, by adjusting spiral shell shape ring and transferring the thread fitting between ring
Position, the lateral distance between cutter point of a knife on the left of restricted driving ring can be adjusted, it is to be processed so as to more accurately control
The located lateral size of pore inner wall.
3. due to being provided with third elastic component and being fixed with the pressing ring of 3 the second position guiding rods, robot arm hand to
When moving left, third elastic component presses to pressing ring, and the loop device that slides for driving right side by the second position guiding rod is moved to the left to make
Left and right is slided loop device and is mutually shifted near, and so as to make strut that top pressing board be driven to press to pipe fitting endoporus hole wall, realizes the present apparatus to pipe fitting
Clamping and serve self centering.Further, since there is provided toothed wheel, in arm hand in leftward or rightward moving process,
Toothed wheel coordinates with tooth form item to be remained to be in mated condition and realize the vertical feeding of cutter or vertically retract cutter.In addition, by
Slide that loop device moving range is larger in left and right two, i.e., the range that top pressing board rises is larger, therefore, available for different pore size
The clamping of the pore inner wall of pipe fitting.
4. due to being provided with the second elastic component between loop device in left and right slide, when arm hand moves right, the second elasticity
Part slides loop device by two automatically and pushes away and realize that top pressing board and pipe fitting endoporus hole wall leave conflict, are laterally moved back the present apparatus with profit
Go out pipe fitting endoporus.
5. due to being provided with knife plate resetting apparatus, by adjusting the extension elongation of spiral shell staple, the perpendicular of sliding block can be adjusted
To size, to adapt to the processing of the pore inner wall of different pore size.
6. the configuration of the present invention is simple, control is simple, and simple operation can not only improve working efficiency, moreover it is possible to efficiently control
The machining accuracy of pore inner wall.
Description of the drawings
For ease of explanation, the present invention is described in detail by following specific embodiment and attached drawing.
Fig. 1 is a kind of improved-type robot device's overall structure diagram of the present invention；
Fig. 2 is the vertical view of improved-type robot device of the present invention a kind of；
Fig. 3 is a kind of normal section schematic diagram of the clamping piece of improved-type robot device of the present invention；
Fig. 4 is a kind of full sectional view of the end body of improved-type robot device of the present invention；
Fig. 5 is a kind of side view of the end body of improved-type robot device of the present invention；
Fig. 6 is a kind of full sectional view of the pedestal of the vertical control device of improved-type robot device of the present invention；
Fig. 7 is the partial enlargement structural representation at I in Fig. 1；
Fig. 8 slides loop device structure diagram for the clamping device of improved-type robot device of the present invention a kind of.
Specific embodiment
As Figure 1-Figure 8, a kind of improved-type robot device of the invention, including clamping piece 1, end body 2, vertical manipulation
Device, lateral control device and clamping device, 1 left side of clamping piece are provided with a strip 11, and right side upper and lower end face is respectively set
Have one it is in the front-back direction lead an item 12, right side middle-end front-rear direction is provided with one by the first ladder 13,14 and of the second ladder
The ladder group that third ladder 15 forms, 11 side of strip are additionally provided with rubber tabletting 111, and 2 right side of end body is provided with
It is one in the front-back direction, with it is described lead that an item 12 slides cooperation lead a shrinkage pool 21, with it is described lead a shrinkage pool about 21 in and
The first straight slot 22 of a left and right directions is provided with close at front end, one is provided in the top of first straight slot 22 for installing
The board slot 24 of guide plate sets a deep gouge 23 in the left-hand notch of first straight slot 22, and the upper surface of the end body 2 is also set up
There is a ladder shrinkage pool 25 of a right low left high, the vertical control device installs the left side of the end body 2 and penetrates described the to the right
It is penetrated after one straight slot 22 in the ladder group of the 1 right side middle-end of clamping piece, the clamping device is mounted on the end body 2
On the vertical control device in left side, the transverse direction control device is mounted on the clamping device, in the clamping piece 1 also
It is provided with hand lift device.
Wherein, the vertical control device includes steering shaft 31, pedestal 32, eccentric wheel 33, sliding block 34, knife plate 35 and knife
Sheet reset device, 32 left side of pedestal are provided with one for receiving the empty slot 321 of the eccentric wheel 33, the empty slot 321
Top is provided with the T-shaped shrinkage pool 322 of upper and lower directions, and the bottom of empty slot 321 is provided with the second straight slot 323 of a left and right directions, institute
It states steering shaft 31 and penetrates second straight slot 323, the end of the steering shaft 31 in the empty slot 321 positioned at the pedestal 32
The eccentric wheel 33 is fixedly mounted, a toothed wheel 37, the tooth are fixedly mounted close on the axis of right end portion for the steering shaft 31
Shape wheel 37 coordinates with the tooth form item 38 being fixed in the first ladder 13 of the 1 ladder group of clamping piece, and the sliding block 34 is close
One convex block is respectively set on the front-back on right side to form T-shaped guide plate 341, the T-shaped of the T-shaped guide plate and the pedestal 32
The composition of shrinkage pool 322 can be slided vertically, and the knife plate 35, the lower end of the sliding block 34 are fixed in 34 left side of sliding block
The knife plate resetting apparatus is installed, in addition, the lower end of the sliding block 34 sets a spiral shell shape hole between portion and the eccentric wheel 33.
Wherein, the clamping device includes a left end close to the 32 right side of pedestal of the vertical control device and fixes
Sleeve 41 and two in the steering shaft 31 forms gap cooperation close to the pedestal 32 and with 41 lateral surface of sleeve
It slides loop device 42 and three is respectively hinged at mounted on second elastic component 43 slided between ring 42 and three groups of both ends
The strut 44 slided outside loop device 42 and mounted on the top pressing board 45 on 44 top of strut and three and described the
Two elastic components are staggered 60 degree and one end is fixed on left side and slides 42 other end of loop device and can glidingly penetrate right side and slides loop device
It first position guiding rod 46 of the straight slot of the left and right directions set on 42 and slides the right side of ring 42 positioned at described, be fixed on the sleeve
On 41 lateral surfaces and lateral surface is provided with whorl and sets there are three the spiral shell shape rings 47 and one of left and right directions straight slot to be located at institute
It states 47 right end of spiral shell shape ring and the pressing ring 48 that can be glidingly set on 41 lateral surface of sleeve and three penetrates and are arranged on institute
It states the straight slot on spiral shell shape ring 47, left end and with the right side slides loop device 42 and connect the other end and be fixedly connected with the pressing ring 48
The second position guiding rod 49 and the third elasticity that is set between the pressing ring 48 and 23 slot bottom of deep gouge in the left side of the end body 2
Part 49, in addition, the sleeve 41 is provided with one and the first straight slot 22 mounted on the end body 2 close on the lateral surface of right end
Guide plate in top board slot 24 slides the first board slot 411 of cooperation.
Wherein, the loop device 42 that slides includes outer shroud 421, inner ring 422 and clutch shaft bearing 423, the clutch shaft bearing 423
Between the outer shroud 421 and inner ring 422, the lower end of the strut 44 and 422 external articulation of inner ring.
Further, the lateral control device is provided with including a middle-end on the spiral shell shape ring 47 with the clamping device
The transfer ring 51 and one that the spiral shell shape straight slot 511 and left side middle-end of whorl cooperation are provided with an annular groove 512 is mounted on the ring
The right side of second bearing 52 and one in shape slot 512 be provided with one for the restricted driving ring 53 in the second bearing 52 and
One restricted driving hook 54 that can be turned to respectively is set up and down.
Wherein, the convex block 11 of the clamping piece 1 is fixed on the arm of the robot on hand.
Wherein, so being provided with measurer on the right side of 1 upper surface of clamping piece and on the left of 2 upper surface of end body.
Wherein, 35 middle-end of knife plate is provided with a upper and lower directions, installation straight slot for fixed cutting tool.
Wherein, the knife plate resetting apparatus includes spiral shell staple 361,362 and first elastic component 363 of pressing fixed blocks, the spiral shell shape
Nail 361 is mounted in the spiral shell shape hole of the lower end of the sliding block 34, and the pressing fixed blocks 362 are fixed under the spiral shell staple 361
It holds and 33 end face of the eccentric wheel contradicts, first elastic component 363 is mounted on the pressing fixed blocks on 361 right side of spiral shell staple
Between 321 upper wall of 362 upper surfaces and 32 empty slot of the pedestal.
Wherein, the hand lift device includes the hand lift ring 105 for being fixedly mounted on 1 upper and lower end face of clamping piece, the hand
The hand lift hole 106 of front and rear break-through is provided in lift ring 105, by the way that hand is set to lift device so as to conveniently lift the present apparatus by the present apparatus
Mounted on robot arm on hand.
Before use, first the pressing fixed blocks of eccentric wheel lowest part and knife plate resetting apparatus are contradicted, and by the diameter of pipe fitting endoporus
Then the extension elongation of big minor adjustment spiral shell staple rotates the lateral position transferred between ring and spiral shell shape ring of lateral control device,
To adjust the left side of restricted driving ring and the distance between with cutter point of a knife, the transverse direction so as to adjust pore inner wall well to be processed is determined
Position size.
In use, first by the clamping piece clamping of the present apparatus robot arm on hand, moving arm hand is penetrated the present apparatus
Pipe fitting endoporus then proceedes to the swing arm hand that moves right, passes through third resilient element urges until the conflict of the right side of restricted driving ring and pipe fitting
Pressing ring and pass through the second position guiding rod make right side the loop device that slides be moved to the left, so as to make strut shrink and make top pressing board support to
Pipe fitting endoporus and realize to pipe fitting self-centering clamp；Then, horizontal mobile arm hand is being arranged between clamping piece and end body
It is provided with and leads an item and toothed wheel and the rotation of tooth form mating band movable eccentric wheel, jacked up sliding block upwards using eccentric wheel, i.e.,
The cutter being clamped in knife plate is jacked up and realizes the vertically movable of cutter, so as to fulfill the processing of pore inner wall.Pass through observation
By the measurer being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface, to control the processing of pore inner wall deep
Degree, after required size is machined to, horizontal mobile arm hand makes arm hand remove outward, passes through toothed wheel and tooth form mating band
Dynamic steering shaft reversion, so as to which eccentric wheel be made also to invert, presses to pressing fixed blocks so as to make sliding block retraction pedestal in the first elastic component
In empty slot, cutter withdrawing is realized.After withdrawing, arm hand is made to move right, during third elastic component unclamps, slide loop device and exist
Under the action of second elastic component, strut bounces back and realizes that top pressing board leaves pipe fitting endoporus hole wall, continue to move right swing arm hand until
The processing of pipe fitting pore inner wall is completed when the present apparatus all removes pipe fitting.
The beneficial effects of the invention are as follows：
1. leading an item and toothed wheel and the cooperation of tooth form item by being provided between clamping piece and end body, clamping piece is clamped in machine
The arm of device people moves steering shaft so as to be further driven to eccentric wheel on hand and in robot transverse shifting, by toothed wheel transmission belt
Rotation, is jacked up sliding block using eccentric wheel upwards, and the cutter that will be clamped in knife plate jacks up and realize the vertical shifting of cutter
It is dynamic, so as to fulfill the processing of pore inner wall.In addition, by being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface
Measurer, can easily control cutter cut depth, so as to efficiently control the vertical dimension of pore inner wall.
2. ring is transferred due to being provided with a spiral shell shape ring and one, by adjusting spiral shell shape ring and transferring the thread fitting between ring
Position, the lateral distance between cutter point of a knife on the left of restricted driving ring can be adjusted, it is to be processed so as to more accurately control
The located lateral size of pore inner wall.
3. due to being provided with third elastic component and being fixed with the pressing ring of 3 the second position guiding rods, robot arm hand to
When moving left, third elastic component presses to pressing ring, and the loop device that slides for driving right side by the second position guiding rod is moved to the left to make
Left and right is slided loop device and is mutually shifted near, and so as to make strut that top pressing board be driven to press to pipe fitting endoporus hole wall, realizes the present apparatus to pipe fitting
Clamping and serve self centering.Further, since there is provided toothed wheel, in arm hand in leftward or rightward moving process,
Toothed wheel coordinates with tooth form item to be remained to be in mated condition and realize the vertical feeding of cutter or vertically retract cutter.In addition, by
Slide that loop device moving range is larger in left and right two, i.e., the range that top pressing board rises is larger, therefore, available for different pore size
The clamping of the pore inner wall of pipe fitting.
4. due to being provided with the second elastic component between loop device in left and right slide, when arm hand moves right, the second elasticity
Part slides loop device by two automatically and pushes away and realize that top pressing board and pipe fitting endoporus hole wall leave conflict, are laterally moved back the present apparatus with profit
Go out pipe fitting endoporus.
5. due to being provided with knife plate resetting apparatus, by adjusting the extension elongation of spiral shell staple, the perpendicular of sliding block can be adjusted
To size, to adapt to the processing of the pore inner wall of different pore size.
6. the configuration of the present invention is simple, control is simple, and simple operation can not only improve working efficiency, moreover it is possible to efficiently control
The machining accuracy of pore inner wall.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, it is of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (10)
1. a kind of improved-type robot device, including clamping piece, end body, vertical control device, lateral control device and clamping dress
It puts, it is characterised in that：It is provided with a strip on the left of the clamping piece, right side upper and lower end face is each provided with one and in the front-back direction leads
Position item, right side middle-end front-rear direction is provided with a ladder group being made of the first ladder, the second ladder and third ladder, described
Strip side is additionally provided with rubber tabletting, be provided on the right side of the end body it is one in the front-back direction, slide cooperation with an item of leading
Lead a shrinkage pool, with first straight slot led an above and below shrinkage pool and a left and right directions is provided in and close at front end,
One is provided with above first straight slot for installing the board slot of guide plate, one is set in the left-hand notch of first straight slot
Deep gouge, the upper surface of the end body are additionally provided with the ladder shrinkage pool of a right low left high, and the vertical control device installs the end
The left side of body is simultaneously penetrated in the ladder group of clamping piece right side middle-end after penetrating first straight slot to the right, the clamping dress
It puts on the vertical control device being mounted on the left of the end body, the transverse direction control device is mounted on the clamping dress
It puts, hand lift device is additionally provided in the clamping piece.
2. a kind of improved-type robot device according to claim 1, it is characterised in that：The vertical control device includes
Steering shaft, pedestal, eccentric wheel, sliding block, knife plate and knife plate resetting apparatus, it is described for receiving that the pedestal left side is provided with one
The empty slot of eccentric wheel, the top of the empty slot are provided with the T-shaped shrinkage pool of upper and lower directions, and the bottom of empty slot is provided with a left and right directions
The second straight slot, the steering shaft penetrates second straight slot, the end of the steering shaft in the empty slot positioned at the pedestal
The eccentric wheel is fixedly mounted in portion, and a toothed wheel, the toothed wheel are fixedly mounted close on the axis of right end portion for the steering shaft
Coordinate with the tooth form item being fixed in the first ladder of the clamping piece ladder group, the sliding block is close on the front-back on right side
Respectively one convex block of setting to form T-shaped guide plate, can vertically slide by the T-shaped shrinkage pool composition of the T-shaped guide plate and the pedestal
Row fixes the knife plate, between the lower end of the sliding block and the eccentric wheel described in installation in the sliding block left side
Knife plate resetting apparatus, in addition, the lower end of the sliding block sets a spiral shell shape hole.
3. according to a kind of any improved-type robot device of claim 1 and 2, it is characterised in that：The clamping device
It is connect including a left end close to the pedestal right side and sleeve being fixed in the steering shaft of the vertical control device and two
The nearly pedestal and with the sleeve lateral surface form gap cooperation slide loop device and three be mounted on it is described slide ring it
Between the second elastic component and three groups of both ends be respectively hinged at the strut slided outside loop device and mounted on the strut
The top pressing board on top and three and second elastic component are staggered 60 degree and one end be fixed on left side slide the loop device other end can
The first position guiding rod of the straight slot of the left and right directions set on loop device is slided on the right side of glidingly penetrating and slides the ring right side positioned at described
Side, be fixed on the sleeve lateral surface and lateral surface be provided with whorl and setting there are three left and right directions straight slot spiral shell shape
Ring and one it is located at the spiral shell shape ring right end and the pressing ring that can be glidingly set on the sleeve lateral surface and three penetrate
Straight slot, the left end being arranged on the spiral shell shape ring slide loop device and connect the other end and fixed with the pressing ring with the right side to be connected
Third elastic component between the second position guiding rod connect and the sink groove bottom being set on the left of the pressing ring and the end body, this
Outside, the sleeve is provided with close on the lateral surface of right end in the top board slot of first straight slot with being mounted on the end body
Guide plate slides the first board slot of cooperation.
4. a kind of improved-type robot device according to claim 3, it is characterised in that：The loop device that slides is including outer
Ring, inner ring and clutch shaft bearing, the clutch shaft bearing be mounted between the outer shroud and inner ring, the lower end of the strut with it is described interior
Ring external articulation.
5. a kind of improved-type robot device according to claim 1, it is characterised in that：The transverse direction control device includes
The spiral shell shape straight slot of whorl cooperation and left side middle-end that one middle-end is provided on the spiral shell shape ring with the clamping device are provided with one
The transfer ring of annular groove and a second bearing being mounted in the annular groove and a right side are provided with one for mounted on institute
It states the restricted driving ring in second bearing and a restricted driving hook that can be turned to respectively is set up and down.
6. a kind of improved-type robot device according to claim 1, it is characterised in that：The convex block of the clamping piece is fixed
The robot arm on hand.
7. a kind of improved-type robot device according to claim 1, it is characterised in that：So on the right side of clamping piece upper surface
End body upper surface left side is provided with measurer.
8. a kind of improved-type robot device according to claim 2, it is characterised in that：The knife plate middle-end is provided with one
Upper and lower directions, installation straight slot for fixed cutting tool.
9. a kind of improved-type robot device according to claim 2, it is characterised in that：The knife plate resetting apparatus includes
Spiral shell staple, pressing fixed blocks and the first elastic component, the spiral shell staple are mounted in the spiral shell shape hole of the lower end of the sliding block, the pressing
Block is fixed on the lower end of the spiral shell staple and the eccentric wheel end face and contradicts, and first elastic component is mounted on the spiral shell shape
Between pressing fixed blocks upper surface and the pedestal empty slot upper wall of following closely right side.
10. a kind of improved-type robot device according to claim 1, it is characterised in that：The hand lift device includes solid
Hand of the Dingan County mounted in the clamping piece upper and lower end face lifts ring, and the hand lift hole of front and rear break-through is provided in the hand lift ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745295.9A CN108213999A (en) | 2017-08-26 | 2017-08-26 | A kind of improved-type robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745295.9A CN108213999A (en) | 2017-08-26 | 2017-08-26 | A kind of improved-type robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108213999A true CN108213999A (en) | 2018-06-29 |
Family
ID=62655347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710745295.9A Withdrawn CN108213999A (en) | 2017-08-26 | 2017-08-26 | A kind of improved-type robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108213999A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06155143A (en) * | 1992-11-13 | 1994-06-03 | Daiyu Kk | Cutting device for small bore pipe |
| CN102785087A (en) * | 2012-04-26 | 2012-11-21 | 扬州博世特工具有限公司 | Umbrella-holding type pipeline tensioning mechanism |
| DE102013103174A1 (en) * | 2013-03-27 | 2014-10-02 | Wessendorf Systembeschichtungen GmbH | Apparatus for cutting facade anchors |
| CN205057188U (en) * | 2015-09-18 | 2016-03-02 | 南京航空航天大学 | Aperture grooving mechanism with it is flexible |
| CN105689785A (en) * | 2016-05-01 | 2016-06-22 | 羊丁 | Steel strip tube internal support ring-cutting robot |
-
2017
- 2017-08-26 CN CN201710745295.9A patent/CN108213999A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06155143A (en) * | 1992-11-13 | 1994-06-03 | Daiyu Kk | Cutting device for small bore pipe |
| CN102785087A (en) * | 2012-04-26 | 2012-11-21 | 扬州博世特工具有限公司 | Umbrella-holding type pipeline tensioning mechanism |
| DE102013103174A1 (en) * | 2013-03-27 | 2014-10-02 | Wessendorf Systembeschichtungen GmbH | Apparatus for cutting facade anchors |
| CN205057188U (en) * | 2015-09-18 | 2016-03-02 | 南京航空航天大学 | Aperture grooving mechanism with it is flexible |
| CN105689785A (en) * | 2016-05-01 | 2016-06-22 | 羊丁 | Steel strip tube internal support ring-cutting robot |
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Application publication date: 20180629 |