CN209111074U - A kind of robot leg telescoping mechanism - Google Patents
A kind of robot leg telescoping mechanism Download PDFInfo
- Publication number
- CN209111074U CN209111074U CN201821030608.9U CN201821030608U CN209111074U CN 209111074 U CN209111074 U CN 209111074U CN 201821030608 U CN201821030608 U CN 201821030608U CN 209111074 U CN209111074 U CN 209111074U
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- fixed underpan
- robot
- telescoping mechanism
- teaching machine
- lever
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Abstract
The utility model discloses a kind of robot leg telescoping mechanisms, including fixed underpan and connecting rod, the side of the fixed underpan is equipped with connecting line and teaching machine, and the teaching machine is connect with fixed underpan by connecting line, and the connecting rod is partially submerged into and is arranged in fixed underpan, the side of the fixed underpan is equipped with power supply line, and the power supply line and teaching machine are electrically connected, this kind of robot leg telescoping mechanism, be provided with hydraulic pump and elevating lever be adjusted by teaching machine it is flexible, and rotating disc is cooperated to be rotated so that robot retractable convenient, increase flexibility, and idler wheel can be driven to be moved by small arm axle, facilitate robot to carry out 360 degree of rotations in this way to write to the workpiece of needs, it is limited when flexible using limit plate, so that elevating lever is flexible, there are certain limits, during operation, It can be limited by graduated scale, reach precise measurement.
Description
Technical field
The utility model relates to telescoping mechanism technical field, specially a kind of robot leg telescoping mechanism.
Background technique
General robot arm has 3 freedom degrees, i.e. the flexible of arm, left and right revolution and lifting (or pitching) movement, hand
Revolution of arm and elevating movement are realized by the column of base, and the transverse shifting of column is the traversing of arm, arm it is each
Kind movement is usually realized that 3 freedom degrees of arm can have different movements (certainly by driving mechanism and various transmission mechanisms
By spending) combination, the Chinese patent " Extensible spherical robot mechanism " of Publication No. CN103317512B includes ectosphere frame, is caused
Ball telescoping mechanism, rolling mechanism, the ectosphere frame is connected with connecting rod by hinge by link block to be formed, and constitutes 3 mutually
Parallelogram mechanism of the vertical circular frame as main frame and 6 square frames；The cause ball telescoping mechanism includes a left side
Fixed plate and right fixed plate, the left fixed plate and right fixed plate are fixed on the link block；The cause ball telescoping mechanism and
Rolling mechanism passes through center axis connection.
Existing robot leg is flexible quite inconvenient, and there are a large amount of connecting lines for robot, it has not been convenient to rotation and liter
Drop, needs us further to improve.
So how to design a kind of robot leg telescoping mechanism, becoming us will currently be solved the problems, such as.
Utility model content
The purpose of this utility model is to provide a kind of robot leg telescoping mechanisms, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the utility model provides the following technical solutions: a kind of robot leg telescoping mechanism, including
Fixed underpan and connecting rod, the side of the fixed underpan are equipped with connecting line and teaching machine, and the teaching machine and fixed underpan
It is connected by connecting line, and the connecting rod is partially submerged into and is arranged in fixed underpan, the side of the fixed underpan is equipped with electricity
Source line, and the power supply line and teaching machine are electrically connected, the bottom of the fixed underpan is equipped with universal wheel, the fixed underpan
Inside be equipped with hydraulic pump, and hydraulic pump insertion is arranged in fixed underpan, and the top of the connecting rod is equipped with rotating disc
With robot principal arm, and the robot principal arm is connect with connecting rod by rotating disc, and the top of the robot principal arm is equipped with
Driving lever, and the driving lever is flexibly connected with robot principal arm, the top of the driving lever is equipped with small armed lever, and the forearm
Bar is flexibly connected with driving lever, and the side of the small armed lever is equipped with small arm axle and idler wheel, and the small arm axle passes through with driving lever
Idler wheel connects.
Further, the top of the hydraulic pump is equipped with elevating lever, and the elevating lever and hydraulic pump pass through hydraulic drive.
Further, graduated scale is carved in the side of the driving lever.
Further, the top of the fixed underpan is equipped with limit plate, and the limit plate and fixed underpan pass through glue
Bonding.
Further, the bottom of the small arm axle is equipped with chalk, and the chalk is partially submerged into and is arranged in small arm axle.
Further, the top of the elevating lever is equipped with spring, and the spring is fitted closely with elevating lever.
Compared with prior art, the utility model has the beneficial effects that this kind of robot leg telescoping mechanism, is provided with liquid
Press pump and elevating lever are adjusted flexible by teaching machine, and are cooperated rotating disc to be rotated so that robot retractable convenient, are increased
Flexibility is added, and idler wheel can be driven to carry out mobile so that it is convenient to which robot carries out 360 degree of rotations to needs by small arm axle
Workpiece writes, and is limited when flexible using limit plate, so that elevating lever is flexible, there are certain limit, the processes of operation
In, it can be limited by graduated scale, reach precise measurement.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the fixed underpan longitudinal section view of the utility model；
Fig. 3 is the driving lever sectional side elevation of utility model；
In figure: 1- fixed underpan；2- power supply line；3- connecting line；4- teaching machine；5- robot principal arm；6- driving lever；7- is small
Armed lever；The small arm axle of 8-；9- chalk；10- rotating disc；11- universal wheel；12- hydraulic pump；13- elevating lever；14- graduated scale；15- rolling
Wheel；16- limit plate；17- connecting rod；18- spring.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of robot leg telescoping mechanism, including it is solid
Determine chassis 1 and connecting rod 17, the side of the fixed underpan 1 is equipped with connecting line 3 and teaching machine 4, and the teaching machine 4 and fixation
Chassis 1 is connected by connecting line 3, and the connecting rod 17 is partially submerged into and is arranged in fixed underpan 1, the fixed underpan 1
Side is equipped with power supply line 2, and the power supply line 2 and teaching machine 4 are electrically connected, and the bottom of the fixed underpan 1 is equipped with universal
Wheel 11, the inside of the fixed underpan 1 is equipped with hydraulic pump 12, and the insertion of the hydraulic pump 12 is arranged in fixed underpan 1, described
The top of connecting rod 17 is equipped with rotating disc 10 and robot principal arm 5, and the robot principal arm 5 and connecting rod 17 pass through rotating disc
10 connections, the top of the robot principal arm 5 are equipped with driving lever 6, and the driving lever 6 is flexibly connected with robot principal arm 5, institute
The top for stating driving lever 6 is equipped with small armed lever 7, and the small armed lever 7 is flexibly connected with driving lever 6, and the side of the small armed lever 7 is set
There are small arm axle 8 and idler wheel 15, and the small arm axle 8 is connected with driving lever 6 by idler wheel 15.
Further, the top of the hydraulic pump 12 is equipped with elevating lever 13, and the elevating lever 13 passes through with hydraulic pump 12
Hydraulic drive, the elevating lever 13 by hydraulic pump 12 provide it is certain it is hydraulic can be carried out to flexible, facilitate robot to specifying
Position work.
Further, graduated scale 14 is carved in the side of the driving lever 6, and the graduated scale 14 is used for needing chalk to write
Robot be accurately positioned, accuracy is more preferably high.
Further, the top of the fixed underpan 1 is equipped with limit plate 16, and the limit plate 16 and fixed underpan 1 are logical
Glue bonding is crossed, the limit plate 16 plays the role of go up and down to elevating lever 13 well positioning.
Further, the bottom of the small arm axle 8 is equipped with chalk 9, and the chalk 9 is partially submerged into and is arranged in small arm axle 8
In, the chalk 9 plays the role of conveniently writing, and replaces also more convenient.
Further, the top of the elevating lever 13 is equipped with spring 18, and the spring 18 is fitted closely with elevating lever 13,
The spring 18 plays the role of well being supported 13 stress of elevating lever.
Working principle: firstly, robot is placed into the place of production for needing work by staff in advance, plug in line later
2, parameter has been adjusted by teaching machine 4, has needed the height of work to be adjusted robot principal arm 5, active according to robot
The movement of bar 6 and small arm axle 8, small arm axle 8 can accurately be positioned by graduated scale 14, by the way that small 8 bottom of arm axle is arranged in
Idler wheel 15 is rolled, and rotation rotating disc 10 can carry out carrying out robot principal arm 5 360 degree of adjustings, passes through 9 pairs of need of chalk later
The enterprising row write word of the workpiece wanted, the parameter that teaching machine 4 is arranged carry out control raising to hydraulic pump 12 or reduce elevating lever 13
Position, is positioned finally by limit plate 16, is stretched to robot in this way so that output increased, also greatly improves simultaneously
Efficiency can carry out certain rotation containing electronic inside small armed lever 7.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of robot leg telescoping mechanism, including fixed underpan (1) and connecting rod (17), it is characterised in that: the fixation
The side on chassis (1) is equipped with connecting line (3) and teaching machine (4), and the teaching machine (4) and fixed underpan (1) pass through connecting line
(3) it connects, and the connecting rod (17) is partially submerged into and is arranged in fixed underpan (1), the side of the fixed underpan (1) is equipped with
Power supply line (2), and the power supply line (2) and teaching machine (4) are electrically connected, the bottom of the fixed underpan (1) is equipped with universal
It takes turns (11), the inside of the fixed underpan (1) is equipped with hydraulic pump (12), and the hydraulic pump (12) insertion is arranged in fixed underpan
(1) in, the top of the connecting rod (17) is equipped with rotating disc (10) and robot principal arm (5), and the robot principal arm (5) and
Connecting rod (17) is connected by rotating disc (10), and the top of the robot principal arm (5) is equipped with driving lever (6), and the active
Bar (6) is flexibly connected with robot principal arm (5), and the top of the driving lever (6) is equipped with small armed lever (7), and the small armed lever (7)
It is flexibly connected with driving lever (6), the side of the small armed lever (7) is equipped with small arm axle (8) and idler wheel (15), and the small arm axle
(8) it is connected with driving lever (6) by idler wheel (15).
2. a kind of robot leg telescoping mechanism according to claim 1, it is characterised in that: the top of the hydraulic pump (12)
Portion is equipped with elevating lever (13), and the elevating lever (13) and hydraulic pump (12) pass through hydraulic drive.
3. a kind of robot leg telescoping mechanism according to claim 1, it is characterised in that: the side of the driving lever (6)
It is carved with graduated scale (14) in face.
4. a kind of robot leg telescoping mechanism according to claim 1, it is characterised in that: the fixed underpan (1)
Top is equipped with limit plate (16), and the limit plate (16) and fixed underpan (1) are bonded by glue.
5. a kind of robot leg telescoping mechanism according to claim 1, it is characterised in that: the bottom of the small arm axle (8)
Portion is equipped with chalk (9), and the chalk (9) is partially submerged into and is arranged in small arm axle (8).
6. a kind of robot leg telescoping mechanism according to claim 2, it is characterised in that: the top of the elevating lever (13)
Portion is equipped with spring (18), and the spring (18) is fitted closely with elevating lever (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821030608.9U CN209111074U (en) | 2018-07-02 | 2018-07-02 | A kind of robot leg telescoping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821030608.9U CN209111074U (en) | 2018-07-02 | 2018-07-02 | A kind of robot leg telescoping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209111074U true CN209111074U (en) | 2019-07-16 |
Family
ID=67195922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821030608.9U Active CN209111074U (en) | 2018-07-02 | 2018-07-02 | A kind of robot leg telescoping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209111074U (en) |
-
2018
- 2018-07-02 CN CN201821030608.9U patent/CN209111074U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A telescopic mechanism for robot legs Effective date of registration: 20200825 Granted publication date: 20190716 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: FOSHAN GUANBO MACHINERY TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2020980005342 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |