CN205799578U - A kind of end that performs is provided with the transfer robot of spill spin block - Google Patents
A kind of end that performs is provided with the transfer robot of spill spin block Download PDFInfo
- Publication number
- CN205799578U CN205799578U CN201620762640.0U CN201620762640U CN205799578U CN 205799578 U CN205799578 U CN 205799578U CN 201620762640 U CN201620762640 U CN 201620762640U CN 205799578 U CN205799578 U CN 205799578U
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- China
- Prior art keywords
- gear
- limited block
- fixed
- articulated
- spill spin
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- 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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Abstract
The utility model discloses a kind of end that performs and be provided with the transfer robot of spill spin block, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, the mechanical hand that is arranged on forearm, waist rotation member rotates around base body, large arm rotates around waist rotation member, and forearm rotates around large arm.Described mechanical hand includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate；Described drive mechanism includes pedestal, rotary components, rotating driving device and latch components.The assembly that drives making annular circumferential motion of the present utility model can release the constraint of rotary components by latch components and drive rotary components to revolve turnback, and a pair sucker revolves turnback along with rotary components.Two suckers on mechanical hand can be made to revolve turnback exactly by drive mechanism of the present utility model, in order to mechanical hand picks and places material exactly.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of end that performs and is provided with the conveying robot of spill spin block
People.
Background technology
In prior art, cutting of pcb board generally uses special pcb board guillotine.But, operator are by manual
Pcb board to be cut is sent into pcb board guillotine, then the pcb board output pcb board guillotine that will have cut by mode, not only works
Amount is big, and, pcb board cuts efficiency to be also difficult to be improved.
The utility model of Application No. CN201520484088.9 discloses a kind of mechanical hand by robot and picks and places material
Pcb board guillotine, wherein, the mechanical hand of robot sets two sucker groups, sucker group draws PCB by vac sorb mode
Plate and waste material.Said two sucker group can carry out 180 degree of rotations, to facilitate two sucker groups to pick and place pcb board or waste material to accordingly
Station.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that a kind of installation two suckers on a robotic arm can revolve exactly
The end that performs of turnback is provided with the transfer robot of spill spin block.
For reaching above-mentioned purpose, a kind of end that performs of the present utility model is provided with the transfer robot of spill spin block, the end of including
Pedestal, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, installation
Mechanical hand on forearm；
Described mechanical hand includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate；Described drive mechanism bag
Include pedestal, rotating driving device, latch components and rotary components；Rotary components includes a pair location bar, rotary support and first
Gear；Rotary support upper end be fixed with a pair location bar, be fixedly arranged in the middle of the first gear, lower end is articulated on pedestal；Snap close group
Part includes unlocking feature and limiting component；Unlocking feature include the first cylinder ring, the second gear, the 3rd gear, the 6th gear,
Seven gears and head rod；Second gear is fixed on the external cylindrical surface of the first cylinder ring；3rd gear is fixed on the first circle
On the inner cylinder face of the band of column；Head rod passes vertically through and is articulated on the pedestal in the first cylinder ring；Head rod
Upper end is fixed with the 6th gear, lower end is fixed with the 7th gear；6th gear and the engagement of the 3rd gear；
Limiting component includes limited block, the first threaded rod and eighth gear；Rotary support lower surface offers stopper slot；Limit
Position groove is made up of upper square groove and lower square groove；The size of square groove under being smaller in size than of upper square groove；Limited block is by upper square
Limited block and under square limited block composition；The upper square limited block of limited block and under square limited block be plugged in stopper slot respectively
In upper square groove and lower square groove；It is positioned at the pedestal lower surface below rotary support and forms guiding slot holder；Offer inside guiding slot holder
There is the guide groove that square limited block is equivalently-sized with under limited block；The guide groove of guiding slot holder just lower square groove and company to stopper slot
Logical；First threaded rod upper end is articulated in stopper slot upper side wall, middle part and limited block are spirally connected, lower end is articulated in the lower wall of guiding slot holder
Go up and pass the lower wall of guiding slot holder；First threaded rod lower end is fixed with eighth gear；Eighth gear engages with the 7th gear；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of the 4th gear only has one section；4th gear
Can engage with the first gear；5th gear and the engagement of the second gear.
Preferred as technique scheme, described mechanical hand includes the linking arm being articulated on forearm, is fixed on connection
Housing on arm, the spill spin block being positioned at outside housing, described drive mechanism is fixed in housing by pedestal, and described spill spin block is fixed
On the securing lever；The pair of sucker is fixed on spill spin block.
Preferred as technique scheme, described rotating driving device also includes rotating driveshaft and the first motor；The
One motor is vertically fixed on pedestal；The 4th gear and the 5th gear it is fixed with the most successively on first motor output shaft.
Preferred as technique scheme, described large arm is fixed with the second motor, and the output shaft of the second motor is with little
Arm couples；Being fixed with the 3rd motor on described forearm, the output shaft of the 3rd motor couples with mechanical hand；Mechanical hand turns around forearm
Dynamic rotation centerline is perpendicular to the rotation centerline of rotary support in rotary components.
Preferred as technique scheme, the degree of depth of the lower square groove of stopper slot and square limited block under limited block
Thickness is identical；The degree of depth of the guide groove of guiding slot holder is less than the thickness of square limited block under limited block.
The beneficial effects of the utility model are: the driving assembly making annular circumferential motion can be released by latch components
The constraint of rotary components also drives rotary components to revolve turnback, and a pair sucker revolves turnback along with rotary components.By this reality
Two suckers on mechanical hand can be made to revolve turnback exactly by novel drive mechanism, in order to mechanical hand picks and places material exactly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of mechanical hand of the present utility model；
Fig. 3 is the structural representation of drive mechanism of the present utility model；
Fig. 4 is the structural representation of rotating driving device of the present utility model and latch components；
Fig. 5 is the side-looking structural representation of drive mechanism of the present utility model；
Fig. 6 is the cross-sectional view of A-A in Fig. 5 of the present utility model；
Fig. 7 is the structural representation of unlocking feature of the present utility model；
In figure, 10, base body；20, waist rotation member；30, large arm；31, the second motor；40, forearm；41, the 3rd motor；
50, mechanical hand；51, linking arm；52, housing；53, spill spin block；60, drive mechanism；61, pedestal；62, rotating driving device；
621, the 4th gear；6211, wheel teeth portion；622, the 5th gear；623, the first motor；624, rotating driveshaft；63, snap close group
Part；631, unlocking feature；6311, the first cylinder ring；6312, the second gear；6313, the 3rd gear；6314, head rod；
6315, the 7th gear；6316, the 6th gear；632, limiting component；6321, stopper slot；6322, limited block；6323, the first spiral shell
Rasp bar；6324, eighth gear；64, rotary components；641, location bar；642, rotary support；643, the first gear.
Detailed description of the invention
As shown in Fig. 1～Fig. 7, a kind of end that performs is provided with the transfer robot of spill spin block, including base body 10, is articulated in
Waist rotation member 20 on base body 10, the large arm 30 being articulated on waist rotation member 20, the forearm 40 being articulated in large arm 30, installation
Mechanical hand 50 on forearm 40；Described mechanical hand 50 includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate
60；Described drive mechanism 60 includes pedestal 61, rotating driving device 62, latch components 63 and rotary components 64；Rotary components 64
Including a pair location bar 641, rotary support 642 and the first gear 643；Rotary support 642 upper end is fixed with a pair location bar
641, be fixedly arranged in the middle of the first gear 643, lower end is articulated on pedestal 61；Latch components 63 includes unlocking feature 631 and spacing
Parts 632；Unlocking feature 631 include first cylinder ring the 6311, second gear the 6312, the 3rd gear the 6313, the 6th gear 6316,
7th gear 6315 and head rod 6314；Second gear 6312 is fixed on the external cylindrical surface of the first cylinder ring 6311；The
Three gears 6313 are fixed on the inner cylinder face of the first cylinder ring 6311；Head rod 6314 passes vertically through and is articulated in
On pedestal 61 in one cylinder ring 6311；Head rod 6314 upper end is fixed with the 6th gear 6316, lower end is fixed with the 7th
Gear 6315；6th gear 6316 engages with the 3rd gear 6313；Limiting component 632 includes limited block the 6322, first threaded rod
6323 and eighth gear 6324；Rotary support 642 lower surface offers stopper slot 6321；Stopper slot 6321 by upper square groove and under
Square groove forms；The size of square groove under being smaller in size than of upper square groove；Limited block 6322 by upper square limited block and under square
Limited block forms；The upper square limited block of limited block 6322 and under square limited block be plugged in the upper square of stopper slot 6321 respectively
In groove and lower square groove；It is positioned at pedestal 61 lower surface below rotary support 642 and forms guiding slot holder 611；Guiding slot holder 611 is internal
Offer and the limited block guide groove that 6322 times square limited block is equivalently-sized；The guide groove of guiding slot holder 611 is just to stopper slot 6321
Lower square groove and connect；First threaded rod 6323 upper end is articulated in stopper slot 6321 upper side wall, middle part and limited block 6322
Be spirally connected, lower end is articulated in the lower wall of guiding slot holder 611 and passes the lower wall of guiding slot holder 611；First threaded rod 6323 lower end
It is fixed with eighth gear 6324；Eighth gear 6324 engages with the 7th gear 6315；Rotating driving device 62 includes the 4th gear
621 and the 5th gear 622；The wheel teeth portion 6211 of the 4th gear 621 only one section；4th gear 621 can be nibbled with the first gear 643
Close；5th gear 622 engages with the second gear 6312.
As shown in Figure 1 and Figure 2, described mechanical hand 50 includes the linking arm 51 being articulated on forearm 40, is fixed on linking arm 51
On housing 52, the spill spin block 53 that is positioned at outside housing 52, described drive mechanism 60 is fixed in housing 52 by pedestal 61, described
Spill spin block 53 is fixed on the bar 641 of location；The pair of sucker is fixed on spill spin block 53.
As shown in Figure 6, described rotating driving device 62 also includes rotating driveshaft 624 and the first motor 623；First motor
623 are vertically fixed on pedestal 61；The 4th gear 621 and the 5th it is fixed with the most successively on first motor 623 output shaft
Gear 622.
As shown in Figure 1 and Figure 2, described large arm 30 is fixed with the second motor 31, the output shaft of the second motor 31 and forearm 40
Couple；Being fixed with the 3rd motor 41 on described forearm 40, the output shaft of the 3rd motor 41 couples with mechanical hand 50；Mechanical hand 50 encloses
The rotation centerline rotated around forearm 40 is perpendicular to the rotation centerline of rotary support 642 in rotary components 64.
As shown in Figure 6, the degree of depth of the lower square groove of stopper slot 6321 and the thickness of 6322 times square limited blocks of limited block
Identical；The degree of depth of the guide groove of guiding slot holder 611 is less than the thickness of 6322 times square limited blocks of limited block.
Latch components 63 concrete operations are as follows: initial state: 6322 times square limited block bottoms of limited block are positioned at guide groove
The lower square groove that seat 611 is interior, top is positioned at stopper slot 6321；So limited block 6322 limits rotary support 642, i.e. rotate
Assembly 64, spill spin block 53 and sucker are all limited then；
Then the first motor 623 drives the 5th gear 622 to rotate；5th gear 622 drives the by the second gear 6312
One cylinder ring 6311 rotates, and the first cylinder ring 6311 drives the 3rd gear 6313 to rotate, and the 3rd gear 6313 is by the 6th gear
6316, head rod the 6314, the 7th gear 6315 and eighth gear 6324 drive the first threaded rod 6323 to rotate；First screw thread
Bar 6323 drives limited block 6322 to move upward, so when driving limited block 6322 to completely disengage from guiding slot holder 611, and rotary components
64 is released, and the most now the wheel teeth portion 6211 of the 4th gear 621 engages with the first gear 643；4th gear 621 is rotated
Assembly 64 rotates；Then spill spin block 53 and sucker all revolve turnback；Then the first motor 623 antikinesis, limited block are driven
6322 enter again in guiding slot holder 611；So rotary components 64 is again limited under the effect of limiting component 632.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (5)
1. perform end and be provided with a transfer robot for spill spin block, including base body (10), be articulated on base body (10)
Waist rotation member (20), the large arm (30) being articulated on waist rotation member (20), the forearm (40) being articulated in large arm (30), it is arranged on
Mechanical hand (50) on forearm (40)；
It is characterized in that: described mechanical hand (50) includes a pair sucker group, the drive mechanism (60) driving a pair sucker group to rotate；
Described drive mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components (64)；Rotate
Assembly (64) includes a pair location bar (641), rotary support (642) and the first gear (643)；Rotary support (642) upper end is solid
Surely have a pair location bar (641), be fixedly arranged in the middle of the first gear (643), lower end is articulated on pedestal (61)；Latch components (63)
Including unlocking feature (631) and limiting component (632)；Unlocking feature (631) includes the first cylinder ring (6311), the second gear
(6312), the 3rd gear (6313), the 6th gear (6316), the 7th gear (6315) and head rod (6314)；Second tooth
Wheel (6312) is fixed on the external cylindrical surface of the first cylinder ring (6311)；3rd gear (6313) is fixed on the first cylinder ring
(6311) on inner cylinder face；Head rod (6314) passes vertically through and is articulated in the pedestal in the first cylinder ring (6311)
(61) on；Head rod (6314) upper end is fixed with the 6th gear (6316), lower end is fixed with the 7th gear (6315)；6th
Gear (6316) engages with the 3rd gear (6313)；
Limiting component (632) includes limited block (6322), the first threaded rod (6323) and eighth gear (6324)；Rotary support
(642) lower surface offers stopper slot (6321)；Stopper slot (6321) is made up of upper square groove and lower square groove；Upper square groove
It is smaller in size than the size of lower square groove；Limited block (6322) by upper square limited block and under square limited block form；Limited block
(6322) upper square limited block and under square limited block be plugged in the upper square groove of stopper slot (6321) and lower square groove respectively
In；Pedestal (61) lower surface being positioned at rotary support (642) lower section forms guiding slot holder (611)；Guiding slot holder (611) is internal to be offered
There is the guide groove equivalently-sized with square limited block under limited block (6322)；The guide groove of guiding slot holder (611) is just to stopper slot
(6321) lower square groove and connecting；First threaded rod (6323) upper end be articulated in stopper slot (6321) upper side wall, middle part with
In the lower wall that limited block (6322) is spirally connected, lower end is articulated in guiding slot holder (611) and through the lower wall of guiding slot holder (611)；The
One threaded rod (6323) lower end is fixed with eighth gear (6324)；Eighth gear (6324) engages with the 7th gear (6315)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of the 4th gear (621)
(6211) only one section；4th gear (621) can engage with the first gear (643)；5th gear (622) and the second gear
(6312) engagement.
A kind of end that performs the most according to claim 1 is provided with the transfer robot of spill spin block, it is characterised in that: described machine
Tool hands (50) includes the linking arm (51) being articulated on forearm (40), be fixed on linking arm (51) housing (52), it is positioned at shell
Body (52) spill spin block (53) outward, described drive mechanism (60) is fixed in housing (52) by pedestal (61), described spill spin block
(53) it is fixed on location bar (641)；The pair of sucker is fixed on spill spin block (53).
A kind of end that performs the most according to claim 1 is provided with the transfer robot of spill spin block, it is characterised in that: described rotation
Rotary driving device (62) also includes rotating driveshaft (624) and the first motor (623)；First motor (623) is vertically fixed on base
On seat (61)；The 4th gear (621) and the 5th gear (622) it is fixed with the most successively on first motor (623) output shaft.
A kind of end that performs the most according to claim 1 is provided with the transfer robot of spill spin block, it is characterised in that: described greatly
Being fixed with the second motor (31) on arm (30), the output shaft of the second motor (31) couples with forearm (40)；On described forearm (40)
Being fixed with the 3rd motor (41), the output shaft of the 3rd motor (41) couples with mechanical hand (50)；Mechanical hand (50) is around forearm
(40) rotation centerline rotated is perpendicular to the rotation centerline of rotary support (642) in rotary components (64).
A kind of end that performs the most according to claim 1 is provided with the transfer robot of spill spin block, it is characterised in that: stopper slot
(6321) degree of depth of lower square groove is identical with the thickness of square limited block under limited block (6322)；Leading of guiding slot holder (611)
The degree of depth of groove is less than the thickness of square limited block under limited block (6322).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762640.0U CN205799578U (en) | 2016-07-18 | 2016-07-18 | A kind of end that performs is provided with the transfer robot of spill spin block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762640.0U CN205799578U (en) | 2016-07-18 | 2016-07-18 | A kind of end that performs is provided with the transfer robot of spill spin block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799578U true CN205799578U (en) | 2016-12-14 |
Family
ID=57508662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620762640.0U Expired - Fee Related CN205799578U (en) | 2016-07-18 | 2016-07-18 | A kind of end that performs is provided with the transfer robot of spill spin block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799578U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965539A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Transfer robot with rotary block arranged at executing tail end |
-
2016
- 2016-07-18 CN CN201620762640.0U patent/CN205799578U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965539A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Transfer robot with rotary block arranged at executing tail end |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170502 Address after: 528300 Guangdong, Shunde, Beijiao Town, West Village martyrs Road, West Sea Road, No. 150 Patentee after: Shunde District, Foshan Rui Rui mechanical and Electrical Technology Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20190718 |