CN112309777A - Relay arm end installation formula joint robot - Google Patents
Relay arm end installation formula joint robot Download PDFInfo
- Publication number
- CN112309777A CN112309777A CN202011226907.1A CN202011226907A CN112309777A CN 112309777 A CN112309777 A CN 112309777A CN 202011226907 A CN202011226907 A CN 202011226907A CN 112309777 A CN112309777 A CN 112309777A
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- Prior art keywords
- sliding block
- locking
- joint
- guide base
- driving mechanism
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/64—Driving arrangements between movable part of magnetic circuit and contact
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a relay arm end mounting type joint robot which comprises a robot base, a first joint, a second joint and two shockproof self-locking relay devices, wherein the robot base is provided with a first connecting rod and a second connecting rod; the relay device comprises an insulating shell, a closing driving mechanism, an opening driving mechanism, a guide base, a longitudinal sliding block, a static contact block, a movable contact block, a one-way friction locking mechanism, an opening pushing frame, a transverse sliding block and a swinging rod; the guide base is provided with a guide track; when the relay device is in a switching-on state, the transverse sliding block slides to the rightmost end of the guide rail, the swing rod is perpendicular to the guide base and the longitudinal sliding block, and the one-way friction locking mechanism is in a locking state; when the brake is in an opening state, the brake opening pushing frame firstly enables the one-way friction locking mechanism to be in an unlocking state and then pushes the transverse sliding block to slide leftwards; the invention realizes longitudinal locking to the moving contact by using the dead point of the swing rod, provides continuous rigid supporting force, has high reliability, adapts to working conditions with stronger vibration and impact and has high joint reaction sensitivity.
Description
Technical Field
The invention relates to a relay arm end mounting type joint robot.
Background
The electromagnetic relay is an electronic control device, is usually used for circuit switching actuating mechanism of electric control system, it is an automatic switch which uses smaller current and lower voltage to control larger current and higher voltage, and plays the role of automatic regulation, safety protection, switching circuit, etc. in the circuit.
In the conventional electromagnetic relay, two movable contacts are in contact with two fixed contacts by thrust generated by an electromagnetic coil, so that the two fixed contacts are electrically connected together, and a high-voltage loop is conducted; in the process, the electromagnetic coil continuously generates thrust to enable the movable contact to be kept in contact with the fixed contact, so that the continuous work of the high-voltage loop is guaranteed.
However, the existing electromagnetic relay only keeps the movable contact in contact with the fixed contact through the thrust generated by the electromagnetic coil, and the thrust generated by the electromagnetic coil is limited, so that unexpected tripping of the movable contact due to insufficient holding pressure is easily caused under the condition of vibration or impact, the reliability is low, and the working condition with strong vibration and impact cannot be met.
Disclosure of Invention
The invention aims to overcome the defects and provide a relay arm end mounting type joint robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a relay arm end mounting type joint robot comprises a robot base, a first joint and a second joint, wherein one end of the first joint is connected to the robot base, and one end of the second joint is connected to the other end of the first joint; the vibration-proof type self-locking relay device is characterized by further comprising two vibration-proof type self-locking relay devices, wherein one vibration-proof type self-locking relay device is arranged at the other end of the first joint, and the other vibration-proof type self-locking relay device is arranged at the other end of the second joint.
The invention further provides a shockproof self-locking relay device which comprises an insulating shell, a switching-on driving mechanism, a switching-off driving mechanism, a guide base, a longitudinal sliding block, a static contact block, a dynamic contact block, a one-way friction locking mechanism, a switching-off pushing frame, a transverse sliding block and a swinging rod, wherein the insulating shell is provided with a first end and a second end;
the insulating shell is provided with an accommodating space and a top cover; the guide base is arranged in the accommodating space and is provided with a guide track and two guide columns arranged at intervals; the closing driving mechanism is arranged on the left side of the guide base; the brake opening driving mechanism is arranged on the right side of the guide base; the longitudinal sliding block is sleeved on the two guide posts in a sliding manner; the static contact block is arranged on the top cover; the static contact block is provided with two static contacts arranged at intervals and two high-voltage terminals which correspond to the two static contacts one by one; the two high-voltage terminals penetrate out of the top cover upwards; the movable contact block is sleeved on the two guide posts in a sliding manner and is positioned above the longitudinal sliding block; the top surface of the movable contact block is provided with two movable contacts which are arranged in one-to-one correspondence with the two fixed contacts and are electrically connected with the two fixed contacts; the transverse sliding block is connected in the guide rail in a sliding mode, and the left side of the transverse sliding block is connected with the power output end of the closing driving mechanism; the one-way friction locking mechanism is arranged in the guide base and is connected with the right side of the transverse sliding block; the one-way friction locking mechanism has a locked state and an unlocked state; wherein, in the locked state, the lateral slider is restricted from sliding leftward; when in the unlocking state, the transverse sliding block can freely slide leftwards; the opening pushing frame is arranged on the right side of the guide base, one end of the opening pushing frame movably extends into the guide base, and the other end of the opening pushing frame is connected with the power output end of the opening driving mechanism; one end of the swing rod is hinged to the front side of the transverse sliding block, and the other end of the swing rod is hinged to the front side of the longitudinal sliding block;
the shockproof self-locking relay device has a switching-on state and a switching-off state; when the switch-on state is achieved, the transverse sliding block slides to the rightmost end of the guide rail under the driving of the switch-on driving mechanism, the swing rod is perpendicular to the guide base and the longitudinal sliding block, and the one-way friction locking mechanism is in a locking state and limits the transverse sliding block to slide leftwards; when the brake is in the brake opening state, the brake opening pushing frame drives the brake opening driving mechanism to firstly enable the one-way friction locking mechanism to be in the unlocking state and then push the transverse sliding block to slide leftwards.
The invention further comprises a contact pressing spring which is arranged between the longitudinal sliding block and the movable contact block; the sliding stroke of the longitudinal sliding block is larger than the distance between the movable contact and the fixed contact.
Furthermore, the opening pushing frame is provided with two driving cross arms arranged at intervals up and down and a connecting arm extending backwards; the left ends of the two driving cross arms movably extend into the guide base leftwards; the front end of the connecting arm is vertically connected with the right ends of the two driving cross arms, and the rear end of the connecting arm is connected with the power output end of the opening driving mechanism.
The one-way friction locking mechanism further comprises a friction plate and two elastic locking claw assemblies arranged on the upper side and the lower side of the friction plate; the friction plate is movably embedded in the guide base, and the left end of the friction plate is fixed on the right side of the transverse sliding block; the two elastic locking claw assemblies respectively comprise a friction locking claw, a locking claw pressing elastic sheet and a contact roller; the friction locking claw is axially connected in the guide base, and one end of the friction locking claw inclines rightwards and abuts against the surface of the friction plate; the locking claw pressing elastic sheet is fixed in the guide base, is positioned on the right side of the friction locking claw and is abutted against the right side surface of the friction locking claw; the contact roller is connected to the other end of the friction locking claw in a shaft mode, and the topmost end or the lowest end of the contact roller and the bottom surface or the top surface of the driving cross arm are located on the same horizontal plane.
The left end part of the driving cross arm is provided with an unlocking contact surface.
Furthermore, the closing driving mechanism and the opening driving mechanism comprise magnetic conductive seats, electromagnetic coils, movable iron cores and sliding rods; the magnetic conduction seat is fixed on the guide base; the electromagnetic coil is arranged in the magnetic conduction seat; one end of a sliding rod of the switching-on driving mechanism is connected to the transverse sliding block, and one end of a sliding rod of the switching-off driving mechanism is connected to the switching-off pushing frame; the movable iron core is arranged in the electromagnetic coil and connected with the other end of the sliding rod.
The invention further provides the shockproof self-locking relay device which further comprises a balancing weight, wherein the balancing weight is arranged on the rear side of the longitudinal sliding block.
The invention has the beneficial effects that: according to the invention, through the matching of the closing drive mechanism, the guide rail and the one-way friction locking mechanism, the longitudinal locking of the movable contact is realized by utilizing the dead point of the swing rod, meanwhile, the continuous rigid supporting force is provided for the movable contact, the reliability is high, the anti-vibration and anti-impact capabilities of the movable contact are improved, and the working condition of stronger vibration and impact is adapted.
The invention ensures that the swing of each joint is more accurate and improves the response sensitivity of the whole joint robot.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded schematic view of the shock resistant latching relay assembly of the present invention;
FIG. 3 is a cross-sectional view of the anti-rattle latching relay device of the present invention in a closed position;
FIG. 4 is a schematic view of a portion of the shockproof latching relay device of the present invention in a closed position;
FIG. 5 is a perspective view of the one-way friction lock mechanism of the present invention;
FIG. 6 is a schematic view of the construction of the guide base of the present invention;
description of reference numerals: a1, robot base; a2, first joint; a3, second joint; a4, shockproof self-locking relay device; 1. an insulating housing; 11. a top cover; 2. a closing drive mechanism; 3. a brake opening driving mechanism; 4. a guide base; 41. a guide rail; 42. a guide post; 5. a longitudinal slide block; 6. a stationary contact block; 7. a movable contact block; 8. a one-way friction locking mechanism; 81. a friction plate; 82. an elastic locking pawl assembly; 821. a friction locking pawl; 822. the locking claw compresses the elastic sheet; 823. a contact roller; 9. opening the brake pushing frame; 91. driving the cross arm; 92. a connecting arm; 10. a transverse slide block; 20. a swing rod; 30. a contact hold down spring; 40. and a balancing weight.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 6, the relay arm end mounting type joint robot according to the present embodiment includes a robot base a1, a first joint a2 and a second joint a3, wherein one end of the first joint a2 is connected to the robot base a1, and one end of the second joint a3 is connected to the other end of the first joint a 2; the joint further comprises two shockproof self-locking relay devices a4, wherein one shockproof self-locking relay device a4 is arranged at the other end of the first joint a2, and the other shockproof self-locking relay device a4 is arranged at the other end of the second joint a 3.
When the shockproof self-locking relay device is used in practice, the two shockproof self-locking relay devices a4 are directly and correspondingly arranged on the first joint a2 and the second joint a3 one by one, so that the swinging precision of the first joint a2 and the second joint a3 is higher, the reaction sensitivity of the first joint a3 and the second joint a3 is improved, the swinging delay of the first joint a2 and the second joint a3 caused by control delay and/or signal attenuation of an external high-voltage circuit is avoided, and the shockproof self-locking relay device a4 is adopted to ensure that the shockproof self-locking relay device can still reliably work when swinging along with the first joint a2 or the second joint a3 without being influenced by inertia, so that the reliability is high.
Based on the above embodiment, further, the shockproof self-locking relay device a4 includes an insulating housing 1, a closing driving mechanism 2, an opening driving mechanism 3, a guide base 4, a longitudinal slider 5, a static contact block 6, a movable contact block 7, a one-way friction locking mechanism 8, an opening pushing frame 9, a transverse slider 10 and a swing rod 20;
the insulating shell 1 is provided with an accommodating space and a top cover 11; the guide base 4 is arranged in the accommodating space, and the guide base 4 is provided with a guide rail 41 and two guide columns 42 arranged at intervals; the closing driving mechanism 2 is arranged on the left side of the guide base 4; the brake opening driving mechanism 3 is arranged on the right side of the guide base 4; the longitudinal sliding block 5 is sleeved on the two guide posts 42 in a sliding manner; the static contact block 6 is arranged on the top cover 11; the static contact block 6 is provided with two static contacts arranged at intervals and two high-voltage terminals corresponding to the two static contacts one by one; the two high-voltage terminals penetrate out of the top cover 11 upwards; the movable contact block 7 is sleeved on the two guide posts 42 in a sliding manner and is positioned above the longitudinal sliding block 5; the top surface of the movable contact block 7 is provided with two movable contacts which are arranged in one-to-one correspondence with the two fixed contacts and are electrically connected with the two fixed contacts; the transverse sliding block 10 is connected in the guide track 41 in a sliding manner, and the left side of the transverse sliding block 10 is connected with the power output end of the closing drive mechanism 2; the one-way friction locking mechanism 8 is arranged in the guide base 4 and is connected with the right side of the transverse sliding block 10; the one-way friction locking mechanism 8 has a locked state and an unlocked state; wherein, in the locked state, the lateral slider 10 is restricted from sliding to the left; in the unlocked state, the transverse slider 10 can freely slide leftwards; the opening pushing frame 9 is arranged on the right side of the guide base 4, one end of the opening pushing frame 9 movably extends into the guide base 4, and the other end of the opening pushing frame 9 is connected with the power output end of the opening driving mechanism 3; one end of the swing rod 20 is hinged to the front side of the transverse slider 10, and the other end of the swing rod 20 is hinged to the front side of the longitudinal slider 5;
the shockproof self-locking relay device a4 has a closing state and an opening state; in the closing state, the transverse slider 10 slides to the rightmost end of the guide rail 41 under the driving of the closing driving mechanism 2, the swing rod 20 is perpendicular to the guide base 4 and the longitudinal slider 5, and the one-way friction locking mechanism 8 is in a locking state and limits the transverse slider 10 to slide leftwards; in the brake opening state, the brake opening pushing frame 9 drives the brake opening driving mechanism 3 to firstly enable the one-way friction locking mechanism 8 to be in the unlocking state and then push the transverse sliding block 10 to slide leftwards.
The working mode of the embodiment is as follows: when the device works, the one-way friction locking mechanism 8 is in a locking state by utilizing the one-way locking characteristic of the one-way friction locking mechanism 8, the closing driving mechanism 2 can still drive the transverse slider 10 to move rightwards, the transverse slider 10 drives the oscillating bar 20 to oscillate from an inclined state to a vertical state, the oscillating bar 20 pushes the movable contact block 7 to move upwards through the longitudinal slider 5, so that the two moving contacts on the moving contact block 7 are in one-to-one corresponding contact connection with the two stationary contacts when the swing rod 20 is in a vertical state, and meanwhile, the transverse sliding block 10 slides to the rightmost end of the guide rail 41, that is, the guide rail 41 limits the lateral slider 10 from continuing to move rightward while the swing link 20 is in the dead point position, while the lateral slider 10 is limited from moving rightward and leftward, therefore, the movable contact is longitudinally locked by utilizing the dead point of the swing rod 20, and the swing rod 20 can continuously provide enough rigid supporting force for the movable contact; when the movable contact is required to be disconnected from the fixed contact, the opening pushing frame 9 is driven by the opening driving mechanism 3 to move leftwards, the one-way friction locking mechanism 8 is enabled to be in an unlocking state firstly, the transverse sliding block 10 is pushed to slide leftwards for a certain distance after the movement is continued leftwards, the transverse sliding block 10 drives the oscillating bar 20 to move, so that the oscillating bar 20 crosses the dead point position, and then the movable contact is driven by the longitudinal sliding block 5 to be separated from the fixed contact, so that the purpose of disconnecting the external high-voltage loop is achieved.
In the embodiment, the closing driving mechanism 2, the guide rail 41 and the one-way friction locking mechanism 8 are matched, so that the movable contact is longitudinally locked by using the dead point of the swing rod 20, continuous rigid supporting force is provided for the movable contact, the reliability is high, and the vibration and impact resistance of the movable contact is improved so as to adapt to the working conditions of strong vibration and impact.
Based on the above embodiment, further, the shockproof self-locking relay device a4 further includes a contact hold-down spring 30, and the contact hold-down spring 30 is disposed between the longitudinal sliding block 5 and the movable contact block 7. So set up, utilize contact pressure spring 30's elasticity to compress tightly the movable contact, can also absorb external vibrations and the energy that strikes the production simultaneously, play the cushioning effect, the reliability is higher, and anti-vibration, shock resistance are stronger.
Based on the above embodiment, further, the sliding stroke of the longitudinal sliding block 5 is greater than the distance between the movable contact and the fixed contact. With the arrangement, when the movable contact moves upwards to be in contact with the static contact to connect with an external high-voltage loop, the longitudinal sliding block 5 continues to extrude the contact pressing spring 30 to move upwards, so that the elastic potential energy of the contact pressing spring 30 is larger, larger elastic pressing force is applied to the movable contact, and the reliability, the vibration resistance and the impact resistance are further improved.
Based on the above embodiment, further, the opening pushing frame 9 has two driving cross arms 91 arranged at intervals up and down and a connecting arm 92 extending backwards; the left ends of the two driving cross arms 91 movably extend into the guide base 4 leftwards; the front end of the connecting arm 92 is vertically connected with the right ends of the two driving cross arms 91, and the rear end of the connecting arm 92 is connected with the power output end of the opening driving mechanism 3. With such an arrangement, the opening driving mechanism 3 drives the two driving cross arms 91 to slide through the connecting arm 92, and the two driving cross arms 91 are matched with the one-way friction locking mechanism 8 to unlock the one-way friction locking mechanism 8 and push the transverse sliding block 10 to drive the swing rod 20 to separate from the dead point position.
Based on the above embodiment, further, the one-way friction locking mechanism 8 includes a friction plate 81 and two elastic locking pawl assemblies 82 arranged on the upper and lower sides of the friction plate 81; the friction plate 81 is movably embedded in the guide base 4, and the left end of the friction plate 81 is fixed on the right side of the transverse sliding block 10; the two elastic locking claw assemblies 82 respectively comprise a friction locking claw 821, a locking claw pressing elastic sheet 822 and a contact roller 823; the friction locking claw 821 is axially connected in the guide base 4, and one end of the friction locking claw 821 is inclined to the right and is abutted on the surface of the friction plate 81; the locking claw pressing spring 822 is fixed in the guide base 4, is positioned at the right side of the friction locking claw 821, and abuts against the right side surface of the friction locking claw 821; the contact roller 823 is coupled to the other end of the friction locking claw 821, and the topmost or bottommost end of the contact roller 823 is located on the same horizontal plane as the bottom surface or the top surface of the driving cross arm 91. Through the structural arrangement, the driving cross arm 91 is matched with the contact roller 823, the friction locking claw 821 is driven to squeeze the locking claw rightwards to press the elastic sheet 822, namely the friction locking claw 821 is separated from contact with the friction sheet 81, so that the one-way friction locking mechanism 8 is in an unlocking state, the movement of the transverse sliding block 10 leftwards is not limited, and the brake opening process is further realized.
In this embodiment, the left end of the driving cross arm 91 is preferably provided with an unlocking contact surface, so that the driving cross arm 91 is in contact fit with the contact roller 823, and the contact roller 823 is prevented from being damaged by the driving cross arm 91.
Based on the above embodiment, further, the closing driving mechanism 2 and the opening driving mechanism 3 both include a magnetic conductive seat, an electromagnetic coil, a movable iron core, and a sliding rod; the magnetic conduction seat is fixed on the guide base 4; the electromagnetic coil is arranged in the magnetic conduction seat; one end of a sliding rod of the closing driving mechanism 2 is connected to the transverse sliding block 10, and one end of a sliding rod of the opening driving mechanism 3 is connected to the opening pushing frame 9; the movable iron core is arranged in the electromagnetic coil and connected with the other end of the sliding rod. In the closing drive mechanism 2, the electromagnetic coil is electrified to drive the movable iron core to drive the sliding rod to move, the sliding rod pushes the transverse slider 10 to move, when the transverse slider 10 moves to the rightmost end of the guide rail 41, the electromagnetic coil is powered off, and at the moment, the oscillating bar 20 locks the movable contact under the action of the guide rail 41 and the one-way friction locking mechanism 8, so that the electromagnetic coil is not required to be continuously electrified, the consumption of electric energy is greatly reduced, the generation of heat is reduced, and the heat dissipation load of an electrical control system is reduced; the operation principle of the opening driving mechanism 3 is the same as that of the closing driving mechanism 2, and is not described herein again.
Based on the above embodiment, further, the shockproof self-locking relay device a4 further includes a weight block 40, and the weight block 40 is disposed at the rear side of the longitudinal sliding block 5. When the brake is opened, the transverse slider 10 is pushed by the driving cross arm 91 to move leftwards for a certain distance, so that the swing rod 20 is driven to be separated from the dead point position, then under the action of the gravity of the counterweight block 40 and the self weight of the longitudinal slider 5, the movable contact moves downwards to be separated from the contact with the fixed contact, and therefore the brake closing driving mechanism 2 or the brake opening driving mechanism 3 is not needed to be used for driving the transverse slider 10 to move to realize the brake opening action, the control is simpler, and the electric energy consumption is reduced.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (8)
1. The utility model provides a relay arm end installation formula joint robot which characterized in that: the robot comprises a robot base (a1), a first joint (a2) and a second joint (a3), wherein one end of the first joint (a2) is connected to the robot base (a1), and one end of the second joint (a3) is connected to the other end of the first joint (a 2); the shockproof type self-locking relay device is characterized by further comprising two shockproof type self-locking relay devices (a4), wherein one shockproof type self-locking relay device (a4) is arranged at the other end of the first joint (a2), and the other shockproof type self-locking relay device (a4) is arranged at the other end of the second joint (a 3).
2. The relay arm end-mounted joint robot according to claim 1, wherein: the shockproof self-locking relay device (a4) comprises an insulating shell (1), a closing driving mechanism (2), an opening driving mechanism (3), a guide base (4), a longitudinal sliding block (5), a static contact block (6), a movable contact block (7), a one-way friction locking mechanism (8), an opening pushing frame (9), a transverse sliding block (10) and a swing rod (20);
the insulating shell (1) is provided with an accommodating space and a top cover (11);
the guide base (4) is arranged in the accommodating space, and the guide base (4) is provided with a guide rail (41) and two guide columns (42) arranged at intervals;
the closing driving mechanism (2) is arranged on the left side of the guide base (4);
the brake opening driving mechanism (3) is arranged on the right side of the guide base (4);
the longitudinal sliding block (5) is sleeved on the two guide columns (42) in a sliding manner;
the static contact block (6) is arranged on the top cover (11); the static contact block (6) is provided with two static contacts arranged at intervals and two high-voltage terminals which correspond to the two static contacts one by one; the two high-voltage terminals penetrate out of the top cover (11) upwards;
the movable contact block (7) is sleeved on the two guide columns (42) in a sliding manner and is positioned above the longitudinal sliding block (5); the top surface of the movable contact block (7) is provided with two movable contacts which are arranged in one-to-one correspondence with the two fixed contacts and are electrically connected with the two fixed contacts;
the transverse sliding block (10) is connected in the guide rail (41) in a sliding mode, and the left side of the transverse sliding block (10) is connected with the power output end of the closing driving mechanism (2);
the one-way friction locking mechanism (8) is arranged in the guide base (4) and is connected with the right side of the transverse sliding block (10); the one-way friction locking mechanism (8) has a locked state and an unlocked state; wherein, in the locked state, the lateral slider (10) is restricted from sliding to the left; in the unlocked state, the transverse slider (10) can freely slide leftwards;
the brake opening pushing frame (9) is arranged on the right side of the guide base (4), one end of the brake opening pushing frame (9) movably extends into the guide base (4), and the other end of the brake opening pushing frame (9) is connected with the power output end of the brake opening driving mechanism (3);
one end of the swing rod (20) is hinged to the front side of the transverse sliding block (10), and the other end of the swing rod (20) is hinged to the front side of the longitudinal sliding block (5);
wherein the shockproof self-locking relay device (a4) has a closing state and an opening state; in the closing state, the transverse sliding block (10) slides to the rightmost end of the guide rail (41) under the driving of the closing driving mechanism (2), the swing rod (20) is perpendicular to the guide base (4) and the longitudinal sliding block (5), the one-way friction locking mechanism (8) is in a locking state, and the transverse sliding block (10) is limited to slide leftwards; when the brake is in the brake opening state, the brake opening pushing frame (9) drives the brake opening driving mechanism (3) to firstly enable the one-way friction locking mechanism (8) to be in the unlocking state and then push the transverse sliding block (10) to slide leftwards.
3. The relay arm end-mounted joint robot according to claim 2, wherein: the shockproof self-locking relay device (a4) further comprises a contact pressing spring (30), and the contact pressing spring (30) is arranged between the longitudinal sliding block (5) and the movable contact block (7); the sliding stroke of the longitudinal sliding block (5) is larger than the distance between the movable contact and the fixed contact.
4. The relay arm end-mounted joint robot according to claim 2, wherein: the brake opening pushing frame (9) is provided with two driving cross arms (91) arranged at intervals up and down and a connecting arm (92) extending backwards; the left ends of the two driving cross arms (91) movably extend into the guide base (4) leftwards; the front end of the connecting arm (92) is vertically connected with the right ends of the two driving cross arms (91), and the rear end of the connecting arm (92) is connected with the power output end of the opening driving mechanism (3).
5. The relay arm end-mounted joint robot according to claim 5, wherein: the one-way friction locking mechanism (8) comprises a friction plate (81) and two elastic locking claw assemblies (82) arranged on the upper side and the lower side of the friction plate (81); the friction plate (81) is movably embedded in the guide base (4), and the left end of the friction plate (81) is fixed on the right side of the transverse sliding block (10); the two elastic locking claw assemblies (82) respectively comprise a friction locking claw (821), a locking claw pressing elastic sheet (822) and a contact roller (823); the friction locking claw (821) is axially connected in the guide base (4), one end of the friction locking claw (821) inclines rightwards and abuts against the surface of the friction plate (81); the locking claw pressing elastic sheet (822) is fixed in the guide base (4), is positioned on the right side of the friction locking claw (821), and abuts against the right side surface of the friction locking claw (821); the contact roller (823) is coupled to the other end of the friction locking claw (821) in a shaft mode, and the topmost end or the bottommost end of the contact roller (823) is located on the same horizontal plane with the bottom surface or the top surface of the driving cross arm (91).
6. The relay arm end mounting type joint robot according to claim 6, wherein: and the left end part of the driving cross arm (91) is provided with an unlocking contact surface.
7. The relay arm end-mounted joint robot according to any one of claims 2 to 7, wherein: the shockproof self-locking relay device (a4) further comprises a balancing weight (40), and the balancing weight (40) is arranged on the rear side of the longitudinal sliding block (5).
8. The relay arm end-mounted joint robot according to any one of claims 2 to 7, wherein: the shockproof self-locking relay device (a4) further comprises a balancing weight (40), and the balancing weight (40) is arranged on the rear side of the longitudinal sliding block (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226907.1A CN112309777A (en) | 2020-11-06 | 2020-11-06 | Relay arm end installation formula joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011226907.1A CN112309777A (en) | 2020-11-06 | 2020-11-06 | Relay arm end installation formula joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112309777A true CN112309777A (en) | 2021-02-02 |
Family
ID=74325073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011226907.1A Withdrawn CN112309777A (en) | 2020-11-06 | 2020-11-06 | Relay arm end installation formula joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112309777A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115440532A (en) * | 2022-10-09 | 2022-12-06 | 国网山东省电力公司淄博供电公司 | Static contact insulation sheath temperature indicating opening and closing type knife switch |
-
2020
- 2020-11-06 CN CN202011226907.1A patent/CN112309777A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115440532A (en) * | 2022-10-09 | 2022-12-06 | 国网山东省电力公司淄博供电公司 | Static contact insulation sheath temperature indicating opening and closing type knife switch |
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Application publication date: 20210202 |
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| WW01 | Invention patent application withdrawn after publication |