CN208005723U - Rotary caging device and robot with it - Google Patents

Abstract

The utility model provides a kind of rotary caging device and the robot with it.Rotary caging device includes：Pedestal, pedestal are provided with pockets；Turntable, turntable are disposed adjacently with pedestal, turntable with respect to pedestal rotatably arranged with；Limit assembly, one end of limit assembly is rotatablely arranged in pockets, the other end of limit assembly extends to outside pockets, turntable can be rotated in a first direction to first position, or, turntable can be rotated in the second direction opposite to the first direction to the second position, and when turntable is located at first position or the second position, turntable is abutted with limit assembly.Directly the pockets of limitation limited block are played in setting on pedestal, are arranged to avoid in this way and need to be arranged additional fixed block in the prior art and cause rotary caging device from great problem.Have dead weight small using the rotary caging device of the application, appearance is regular so that using the structure of the robot of the rotary caging device is simpler, dead weight is small, running precision is high.

Description

Rotary caging device and robot with it

Technical field

The utility model is related to robot device's technical fields, in particular to a kind of rotary caging device and have Its robot.

Background technology

The 1st axis of industrial robot is mostly rotating shaft, usually turns round action request ± 180 °, revolution dress in the prior art Set it is common fixed can not meet this requirement, common fixed limiting device most multipotency reaches ± 175 ° of limit limit Position.Using slewing equipment in the prior art robot have job area it is small, it is inconvenient to use the problems such as.Further, It is formed in the prior art generally by block is fastened and fixed by screw or other connectors on pedestal for limiting limit The limit space of position block, is arranged due to increasing additional fixation block assembly in this way so that the weight of slewing equipment increases, simultaneously So that there are uneven, mold complexity for crucible former, casting cost height, unsightly, casting dead weight is larger for casting shape, production The problems such as processing cost is higher.

Utility model content

It is existing to solve the main purpose of the utility model is to provide a kind of rotary caging device and with its robot There is the rotary caging device of robot in technology from great problem.

To achieve the goals above, one side according to the present utility model provides a kind of rotary caging device, packet It includes：Pedestal is provided with pockets on pedestal；Turntable, turntable are disposed adjacently with pedestal, and turntable is rotationally set with respect to pedestal It sets；One end of limit assembly, limit assembly is rotatablely arranged in pockets, and the other end of limit assembly extends to receiving Outside groove, turntable can be rotated in a first direction to first position, alternatively, turntable can be revolved along the second direction opposite with first direction The second position is gone to, when turntable is located at first position or the second position, turntable is abutted with limit assembly.

Further, it takes the shape of the letter U structure along the longitudinal section of the width direction of pockets.

Further, along the width of the longitudinal section of the width direction of pockets from the bottom of pockets to pockets The width of notch gradually increase.

Further, limit assembly includes：Connecting shaft, connecting shaft are set in pockets；Limited block, the of limited block One end is connected with connecting shaft, and the second end of limited block extends to outside pockets, and limited block can be around connecting shaft in pockets Two cell walls between swing back and forth.

Further, limited block includes：The first end of first composition section, the first composition section is connected with connecting shaft；Second Composition section, the first end of the second composition section are connected with the first composition section second end, and the second end of the second composition section extends to appearance It receives outside groove, first end to the cross section of second end of the second composition section gradually increases.

Further, the second composition section has the first confined planes and the second confined planes being oppositely arranged, and is provided on turntable Collision block, collision block have initial position, and when turntable is rotated in a first direction to first position, collision block can be rotated from initial position 180 ° abut against to first position and with the first confined planes.

Further, when turntable is rotated in a second direction, to the second position, collision block can from initial position rotate 180 ° to The second position is simultaneously abutted against with the second confined planes.

Further, turntable can be rotated by 360 ° from first position to the second position.

Further, the junction on the surface of the first confined planes and/or the second confined planes and the first composition section is in cambered surface mistake It crosses.

Further, pockets are set on the top of pedestal, and turntable is located at the top of pedestal.

Further, the surface junction of the cell wall of pockets and pedestal is in cambered surface transition.

Another aspect according to the present utility model provides a kind of robot, including rotary caging device, slewing limit dress It is set to above-mentioned rotary caging device.

Using the technical solution of the utility model, using the rotary caging device in the application, due to be on pedestal it is straight The pockets that limitation limited block is played in setting are connect, is arranged to avoid in this way and needs to be arranged additional fixed block in the prior art and lead Cause rotary caging device from great problem.Have dead weight small using the rotary caging device of the application, appearance is regular so that adopts With the structure of the robot of the rotary caging device is simpler, dead weight is small, running precision is high.

Description of the drawings

The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality Novel illustrative embodiments and their description are not constituted improper limits to the present invention for explaining the utility model. In the accompanying drawings：

Fig. 1 shows the structural schematic diagram of the first embodiment of slewing equipment according to the present utility model；

Fig. 2 shows A-A in Fig. 1 to schematic cross-sectional view；

Fig. 3 shows the structural schematic diagram of the second embodiment of slewing equipment according to the present utility model；

Fig. 4 shows the schematic cross-sectional view of the 3rd embodiment of slewing equipment according to the present utility model；

Fig. 5 shows in Fig. 4 enlarged structure schematic diagram at A.

Wherein, above-mentioned attached drawing includes the following drawings label：

10, pedestal；11, pockets；

20, turntable；21, collision block；

30, limit assembly；31, connecting shaft；32, limited block；321, the first composition section；322, the second composition section；

41, the first confined planes；42, the second confined planes.

Specific implementation mode

It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.

It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.

It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, " Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way Term can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side The intrinsic other steps of method, product or equipment or unit.

Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein Formula.It should be understood that thesing embodiments are provided so that disclosure herein is thoroughly and complete, and these are shown The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand The big thickness of layer and region, and make that identical device is presented with like reference characters, thus omission retouches them It states.

In conjunction with shown in Fig. 1 to Fig. 5, embodiment according to the present utility model provides a kind of rotary caging device.

Specifically, as shown in Figure 1 and Figure 5, rotary caging device includes pedestal 10, turntable 20 and limit assembly 30.Pedestal Pockets 11 are provided on 10.Turntable 20 is disposed adjacently with pedestal 10, turntable 20 with respect to pedestal 10 rotatably arranged with.Limit One end of hyte part 30 is rotatablely arranged in pockets 11, and the other end of limit assembly extends to outside pockets 11, Turntable 20 can be rotated in a first direction to first position, alternatively, turntable 20 can rotate in the second direction opposite to the first direction To the second position, when turntable 20 is located at first position or the second position, turntable 20 is abutted with limit assembly 30.Preferably, hold Groove of receiving is set on the top of pedestal, and turntable is located at the top of pedestal, and the cell wall of pockets 11 connects with the surface of pedestal 10 It is in cambered surface transition to meet place.

In the present embodiment, using the rotary caging device in the application, due to being that directly limit is played in setting on pedestal The pockets of limited block processed, setting avoids in this way needs to be arranged additional fixed block slewing limit is caused to fill in the prior art It sets from great problem.Have dead weight small using the rotary caging device of the application, appearance is regular so that uses the slewing limit The structure of the robot of device is simpler, dead weight is small, running precision is high.Preferably, in the present embodiment, turntable 20 can be It moves in a circle, then first direction also refers to clockwise, second direction is then counterclockwise.

Wherein, as shown in Fig. 2, taking the shape of the letter U structure along the longitudinal section of the width direction of pockets 11.That is pockets 11 Depth direction vertically opens up.Width along the longitudinal section of the width direction of pockets 11 is from the bottom of pockets 11 Width to the notch of pockets 11 gradually increases.Setting can improve the movable model in the horizontal direction of limit assembly 30 in this way It encloses.

Specifically, limit assembly 30 includes connecting shaft 31 and limited block 32.Connecting shaft 31 is set in pockets 11.Limit The first end of position block 32 is connected with connecting shaft 31.The second end of limited block 32 extends to outside pockets 11, and limited block 32 can It swings back and forth between two cell walls of pockets 11 around connecting shaft 31.Setting can effectively improve limit assembly in this way Reliability.In the present embodiment, the axis of connecting shaft 31 and the axis of turntable are mutually perpendicular to.

Limited block 32 includes the first composition section 321 and the second composition section 322.The first end of first composition section 321 and connection Axis 31 is connected.The first end of second composition section 322 is connected with 321 second end of the first composition section, and the of the second composition section 322 Two ends extend to outside pockets 11, and first end to the cross section of second end of the second composition section 322 gradually increases.It is arranged in this way The reliability of limit assembly can be further improved.

Wherein, the second composition section 322 has the first confined planes 41 and the second confined planes 42 being oppositely arranged.It is set on turntable 20 It is equipped with collision block 21.Collision block 21 has initial position, and when turntable 20 is rotated in a first direction to first position, collision block 21 can be from first Beginning position rotates 180 ° and is abutted against to first position and with the first confined planes 41.I.e. in the present embodiment, collision block 21 is located at initial When position, collision block is oppositely disposed with limited block 32, by the way that fixed collision block is arranged on turntable so that it is right that limit assembly passes through The limit of collision block then realizes that the limit to turntable, in this way setting can be effectively improved the reliable of the rotary caging device Property.Wherein, collision block can be provided in the bottom of turntable.

When turntable 20 is rotated in a second direction, to the second position, collision block 21 can rotate 180 ° to second from initial position It sets and is abutted against with the second confined planes 42.In the present embodiment, as shown in Figures 2 and 3, it when collision block 21 is abutted with limited block, hits The surface of block fits with the first confined planes 41 or the second confined planes 42, i.e., the surface of collision block 21 at this time and the first confined planes 41 Or second confined planes 42 it is parallel.

Wherein, turntable 20 can be rotated by 360 ° from first position to the second position.Setting enables to turntable limiting in this way Under the limit of component, 360 ° of rotations can be realized.Improve the limit accuracy of the rotary caging device.

The junction on the surface of the first confined planes 41 and the second confined planes 42 and the first composition section 321 is in cambered surface transition.This Sample setting can effectively reduce the collision between limited block and pedestal, while the cell wall for increasing limited block and limiting groove is straight The contact area connect is effectively improved the stability of limit assembly.

Rotary caging device in above-described embodiment can be also used for robot device's technical field, according to the utility model Another aspect, provide a kind of robot.The robot includes rotary caging device, and rotary caging device is above-described embodiment In rotary caging device.

Specifically, as shown in Figure 1 and Figure 2, collision block is fixed on turntable, and when turntable turns round, collision block turns round therewith, when hitting For block in initial position, rotating shaft is in 0 ° of position, and when collision block returns back to first position, it is (anti-that rotating shaft is in+180 ° of positions To for -180 ° of positions), collision block bumps against with limited block and realizes limit at this time.

When reversed such as Fig. 4, turned round with turntable, collision block returns back to initial position from first position before, then proceedes to back Turning, finally returns back to the second position, swing mechanism completes+180 ° to -180 ° of revolution, i.e. swing mechanism has turned round 360 °, Collision block stirs limited block at this time and the cell wall of limiting groove abuts against, and limiting device comes into force, and mechanism shuts down.

In the prior art, the form of limited block is placed using horizontal direction, for crucible former there are uneven, mold is multiple Miscellaneous, casting cost is high, and unsightly, casting dead weight is larger for casting shape, produces and processes the problems such as cost is higher.

Using the slewing equipment, it can will be arranged to the form of plane at the top of pedestal, limiting groove is hollowly set to In the plane at top, crucible former shape can be made smooth, reduce casting flaw, reduce casting cost, mitigated casting dead weight, reduce Production cost, appearance is more beautiful.In the present embodiment, limited block reaches wanting for ± 180 ° of limit in perpendicular wobbling action It asks.

Entire limit device structure is simplified, external structure is reduced, crucible former shape is more attractive, and processing is simpler.

As shown in figure 5, similar with original structure operation principle, collision block is fixed on turntable, and when turntable turns round, collision block is therewith Revolution, when collision block returns back to+180 ° of positions from 0 ° of position, collision block bumps against with limited block, and limited block deflects certain angle around the shaft Degree bumps against with two shoulders of groove afterwards, and entire limiting device works at this time, and swing mechanism stops revolution, that is, is limited.

For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ", " ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and And respective explanations are made to the opposite description in space used herein above.

Than that described above, it is also necessary to which explanation is " one embodiment " spoken of in the present specification, " another implementation Example ", " embodiment " etc. refer to that specific features, structure or the feature of embodiment description is combined to be included in the application summary Property description at least one embodiment in.It is not centainly to refer to the same reality that statement of the same race, which occur, in multiple places in the description Apply example.Furthermore, it is understood that when describing a specific features, structure or feature in conjunction with any embodiment, what is advocated is knot Other embodiment is closed to realize that this feature, structure or feature are also fallen in the scope of the utility model.

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment Point, it may refer to the associated description of other embodiment.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (12)

1. a kind of rotary caging device, which is characterized in that including：

Pedestal (10) is provided with pockets (11) on the pedestal (10)；

Turntable (20), the turntable (20) are disposed adjacently with the pedestal (10), the relatively described pedestal of turntable (20) (10) rotatably arranged with；

One end of limit assembly (30), the limit assembly (30) is rotatablely arranged in the pockets (11), described The other end of limit assembly extends to the pockets (11) outside, and the turntable (20) can be rotated in a first direction to first It sets, alternatively, the turntable (20) can be rotated along second direction opposite to the first direction to the second position, when the turntable (20) when being located at the first position or the second position, the turntable (20) abuts with the limit assembly (30).

2. rotary caging device according to claim 1, which is characterized in that the width direction along the pockets (11) Longitudinal section take the shape of the letter U structure.

3. rotary caging device according to claim 1, which is characterized in that the width direction along the pockets (11) Width of the width from the bottom of the pockets (11) to the notch of the pockets (11) of longitudinal section gradually increase.

4. rotary caging device according to claim 1, which is characterized in that the limit assembly (30) includes：

Connecting shaft (31), the connecting shaft (31) are set in the pockets (11)；

The first end of limited block (32), the limited block (32) is connected with the connecting shaft (31), the limited block (32) Second end extends to the pockets (11) outside, and the limited block (32) can be around the connecting shaft (31) in the pockets (11) it swings back and forth between two cell walls.

5. rotary caging device according to claim 4, which is characterized in that the limited block (32) includes：

The first end of first composition section (321), first composition section (321) is connected with the connecting shaft (31)；

Second composition section (322), the first end of second composition section (322) and the first composition section (321) second end phase Connection, the second end of second composition section (322) extend to the pockets (11) outside, second composition section (322) First end to the cross section of second end gradually increase.

6. rotary caging device according to claim 5, which is characterized in that second composition section (322) has opposite The first confined planes (41) and the second confined planes (42) being arranged are provided with collision block (21), the collision block on the turntable (20) (21) there is initial position, when the turntable (20) turns to the first position along the first direction, the collision block (21) 180 ° can be rotated from the initial position to abut against to the first position and with first confined planes (41).

7. rotary caging device according to claim 6, which is characterized in that when the turntable (20) is along the second direction When turning to the second position, the collision block (21) can from the initial position rotate 180 ° to the second position and with institute The second confined planes (42) are stated to abut against.

8. rotary caging device according to claim 6, which is characterized in that the turntable (20) can be from the first position It is rotated by 360 ° to the second position.

9. rotary caging device according to claim 6, which is characterized in that first confined planes (41) and/or described The junction on the second confined planes (42) and the surface of first composition section (321) is in cambered surface transition.

10. rotary caging device according to claim 1, which is characterized in that the pockets (11) are set to described On the top of pedestal (10), the turntable (20) is located at the top of the pedestal (10).

11. rotary caging device according to claim 1, which is characterized in that the cell wall of the pockets (11) and institute The surface junction for stating pedestal (10) is in cambered surface transition.

12. a kind of robot, including rotary caging device, which is characterized in that the rotary caging device is claim 1 to 11 Any one of described in rotary caging device.