CN209633078U - A kind of waist rotating mechanism of robot - Google Patents

Abstract

The utility model discloses a kind of waist rotating mechanisms of robot, including being mounted on the rotating base of loading stand upper end and driving the pedestal rotating electric machine of rotating base rotation, rotating base includes rotating pedestal and positioned at rotation pedestal two sides and the pedestal left arm and pedestal right arm of parallelly distribute on, rotate pedestal upper surface mounting seat rotating electric machine, loading stand upper surface is fixedly connected with the first speed reducer inner ring, and the outer lower end surface for rotating pedestal is fixedly connected with the first speed reducer outer ring that can be rotated along ring outer wall in the first speed reducer.The utility model overall structure is firm, and assembly is simple and reliable, operating is brisk flexibly, securely and reliably.

Description

A kind of waist rotating mechanism of robot

Technical field

The utility model relates to robot part fields, more particularly, to a kind of waist rotating mechanism of robot.

Background technique

Robot palletizing technology is the up-and-coming youngster of material flows automation technical field, in recent years in automatic production line, object It is used widely in the fields such as stream.With the sustainable development of Chinese national economy and the continuous expansion of production scale of enterprise and respectively The increasingly raising of industry automation level, robot palletizing technology are being improved production efficiency, are being promoted economic benefit, guarantor with it Card product quality improves working conditions, optimize outstanding role that operation is laid out etc. and obtain the generally favor of people, It advances at an unprecedented rate.As the core part of robot, the design of waist rotating mechanism seems especially heavy It wants, the movement displaying of waist rotating mechanism is the rotation of robot horizontal direction, and structure is complicated, body for existing waist rotating mechanism Product is more huge, and assembly is inconvenient, and operation is not flexible enough, and its safeguard procedures after not powering off, and has much room for improvement.

Utility model content

The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of waist whirler of robot Structure, overall structure is firm, and assembly is simple and reliable, operating is brisk flexibly, securely and reliably.

To achieve the goals above, the utility model adopts the following technical solution:

A kind of waist rotating mechanism of robot, including being mounted on the rotating base of loading stand upper end and driving rotation bottom The pedestal rotating electric machine of seat rotation, the rotating base include rotating pedestal and positioned at rotation pedestal two sides and the bottom of parallelly distribute on Seat left arm and pedestal right arm, the rotation pedestal upper surface are equipped with pedestal rotating electric machine, and the erecting bed upper surface is fixed to be connected It is connected to the first speed reducer inner ring, the outer lower end surface of the rotation pedestal is fixedly connected with can be along ring outer wall in the first speed reducer The lower end of first speed reducer outer ring of rotation, the pedestal rotating electric machine passes through rotation pedestal and synchronized links have first gear, The first gear engages second gear, and the second gear is mounted in the first tooth shaft, and second is located in first tooth shaft The lower section of gear is equipped with the third gear with second gear synchronous rotary, engages multiple 4th gears, institute on the third gear It states the 4th gear and is mounted on the first speed reducer inner ring upper surface, the upper and lower side outer wall of first tooth shaft, which is interference fitted, to be equipped with First bearing, the outer ring of two first bearings are separately mounted on rotation pedestal and the first speed reducer inner ring, the pedestal left arm It is equipped with forearm motor erecting bed, the pedestal right arm is equipped with large arm motor erecting bed, the upper end center of the loading stand Be connected with inner cylinder, the upper end of the inner cylinder extends through the center of rotation pedestal, the center of the outer wall of inner cylinder and rotation pedestal it Between be sealed by a seal ring.

Platen groove is equipped in the loading stand at the rear of rotating base, the platen groove is equipped with groove Counterbore plugs locating shaft on the groove counterbore, is arranged the spacing projection of L-type on the locating shaft, solid in the loading stand Surely there is the pressing plate of insertion locating shaft upper end.

The lower end fitting insertion groove counterbore of the locating shaft, the external wall of upper portion fitting sle of locating shaft is equipped with axle sleeve, described The lower end of spacing projection is equipped with pillar through-hole, and the center of the pressing plate, which is run through, is equipped with pressing plate through-hole, the upper end of the locating shaft to On protruded into pressing plate through-hole across pillar through-hole and being bonded, the outer wall of the axle sleeve is bonded pillar through-hole.

The lower end two sides of the spacing projection are fitted with buffer stopper.

The lower end two sides of the spacing projection are equipped with side screw hole, and the buffer stopper is equipped with to be delayed correspondingly with side screw hole It rushes block through-hole and buffer stopper through-hole is penetrated by screw and side screw hole is fixed.

The quantity of the buffer stopper is four, and the every side in the lower end of the spacing projection is distributed two buffer stoppers.

The front end of the rotating base is equipped with the collision of shock spacing projection after rotation overtravel.

The pedestal left arm is equipped with first connecting rod connector portions.

Spring strut connector portions are equipped with positioned at the top of large arm motor erecting bed on the pedestal right arm.

The rotation pedestal is equipped with the pedestal rotating electric machine erecting bed installed for pedestal rotating electric machine.

The beneficial effects of the utility model are: the output of pedestal rotating electric machine is slowed down by RV retarder, it is entire to revolve It is brisk flexibly and assembly is simple and reliable to turn pedestal operating, the mounting structure of entire rotating base is firm, and passes through setting Impactor With associated spacing projection, buffer stopper is arranged in spacing projection two sides, can play buffer function after a loss of power, reduces accident Generation, securely and reliably.

Detailed description of the invention

Fig. 1 is the perspective view of the utility model；

Fig. 2 is the top view of the utility model；

Fig. 3 be Fig. 2 in A-A to cross-sectional view；

Fig. 4 is the cross-sectional view of B-B direction in Fig. 2；

Fig. 5 is the explosive view of the utility model；

Fig. 6 is the enlarged drawing in Fig. 5 at C；

Fig. 7 is that the utility model is installed to the perspective view in robot；

Fig. 8 is the perspective view of the rotating base of the utility model

Fig. 9 is the large arm of the utility model and the cooperation perspective view of forearm actuating arm；

Figure 10 is the top view of Fig. 9；

Figure 11 be Figure 10 in D-D to cross-sectional view；

Figure 12 is the explosive view of Fig. 9；

Figure 13 is the perspective view of the large arm of robot；

Figure 14 is the perspective view of the forearm actuating arm of robot；

Figure 15 is the perspective view of the forearm of robot；

Figure 16 is the perspective view of the wrist brace of robot；

Figure 17 is the installation explosive view of the handgrip rotating electric machine of robot；

Figure 18 is the installation cross-sectional view of the handgrip rotating electric machine of robot；

Figure 19 is the partial top view of robot；

Figure 20 be Figure 19 in E-E to cross-sectional view；

Figure 21 be Figure 19 in F-F to cross-sectional view.

In figure: robot base 1, control cabinet 11, loading stand 12, hanging ring 13, spacing projection 14, platen groove 15, recessed Slot counterbore 16, locating shaft 17, buffer stopper 18, pressing plate 19, pillar through-hole 110, side screw hole 111, pressing plate through-hole 112, axle sleeve 113, Buffer stopper through-hole 114, rotating base 2, rotation pedestal 21, pedestal rotating electric machine erecting bed 22, pedestal left arm 23, pedestal right arm 24, forearm motor erecting bed 25, first connecting rod connector portions 26, large arm motor erecting bed 27, spring strut connector portions 28, Impactor 29, pedestal rotating electric machine 3, first gear 31, second gear 32, third gear 33, the 4th gear 34, inner cylinder 35, first slow down It is machine outer ring 36, the first speed reducer inner ring 37, first bearing 38, sealing ring 39, large arm driving motor 4, forearm driving motor 41, big Arm driving motor shaft 42, the second speed reducer inner ring 43, the second speed reducer outer ring 44, large arm end cap 45, forearm driving motor turn Axis 46, third speed reducer inner ring 47, third speed reducer outer ring 48, forearm actuating arm end cap 49, connecting shaft 410, second bearing 411, large arm 5, large arm mounting disc 51, forearm attachment base 52, forearm actuating arm 53, forearm actuating arm mounting disc 54, forearm driving Arm link attachment base 55, forearm 6, attachment base 62 before attachment base 61, forearm after forearm, connects in forearm forearm driving arm link 56 Joint chair 63, wrist brace 7, wrist brace chassis 71, wrist brace attachment base 72, third connecting rod attachment base 73, wrist brace are oblique Disk 74, handgrip rotating electric machine 8, the 5th gear 81, the 6th gear 82, the 7th gear 83, eighth gear 84, handgrip motor axis 85, the 4th speed reducer inner ring 86, the 4th speed reducer outer ring 87, handgrip connector 88,3rd bearing 89, first connecting rod 9, second connect Bar 91, third connecting rod 92, front rod 93, back link 94, connecting rod erecting bed 95, spring strut 96, buffer bar 97, push plate 98, cover board 99, nut 910, guide sleeve 911, spring strut rotating seat 912, forearm spring side axis 913, fourth bearing 914, spring 915.

Specific embodiment

The utility model is further described with reference to the accompanying drawings and detailed description:

As shown in FIG. 1 to FIG. 21, a kind of waist rotating mechanism of robot, the rotation including being mounted on 12 upper end of loading stand The rotation of the pedestal rotating electric machine 3 for turning pedestal 2 and rotating base 2 being driven to rotate, i.e. pedestal rotating electric machine 3 can drive itself and rotation Pedestal 2 rotates together.

The rotating base 2 includes rotating pedestal 21 and positioned at rotation 21 two sides of pedestal and the pedestal left arm 23 of parallelly distribute on With pedestal right arm 24,21 upper surface of rotation pedestal is equipped with pedestal rotating electric machine 3, and the rotation pedestal 21 is equipped with the bottom of for The pedestal rotating electric machine erecting bed 22 that seat rotating electric machine 3 is installed.

12 upper surface of loading stand is fixedly connected with the first speed reducer inner ring 37, under the outer of the rotation pedestal 21 End face is fixedly connected with the first speed reducer outer ring 36 that can be rotated along 37 outer wall of the first speed reducer inner ring, the first speed reducer inner ring 37 and first speed reducer outer ring 36 be RV retarder a part, the technology of RV retarder is the prior art, is not made herein in detail It introduces, below the second speed reducer inner ring 43 and the second speed reducer outer ring 44, third speed reducer inner ring 47 and third speed reducer outer ring 48, the 4th speed reducer inner ring 86 and the 4th speed reducer outer ring 87 are a part of RV retarder.

The lower end of the pedestal rotating electric machine 3 passes through rotation pedestal 21 and synchronized links have a first gear 31, and described first Gear 31 engages second gear 32, and the second gear 32 is mounted in the first tooth shaft, and the second tooth is located in first tooth shaft The lower section of wheel 32 is equipped with the third gear 33 with 32 synchronous rotary of second gear, engages multiple 4th teeth on the third gear 33 Wheel 34, the 4th gear 34 are mounted on 37 upper surface of the first speed reducer inner ring, and decelerating effect is played in multiple gear cooperations.

The upper and lower side outer wall of first tooth shaft, which is interference fitted, is equipped with first bearing 38, two first bearings 38 it is outer Circle is separately mounted on rotation pedestal 21 and the first speed reducer inner ring 37, and the pedestal left arm 23 is equipped with forearm motor erecting bed 25, the pedestal right arm 24 is equipped with large arm motor erecting bed 27, is equipped with forearm driving motor on forearm motor erecting bed 25 41, large arm driving motor 4 is installed on large arm motor erecting bed 27.

The upper end center of the loading stand 12 is connected with inner cylinder 35, and the upper end of the inner cylinder 35 extends through rotation pedestal The inner wall of 21 center, the outer wall of inner cylinder 35 and the first speed reducer inner ring 37, the inner wall of the first tooth shaft have gap, inner cylinder 35 It is sealed between outer wall and the center for rotating pedestal 21 by sealing ring 39.

It is located at the rear of rotating base 2 in the loading stand 12 and is equipped with platen groove 15, on the platen groove 15 Equipped with groove counterbore 16, locating shaft 17 is plugged on the groove counterbore 16, the spacing projection of L-type is arranged on the locating shaft 17 14, the pressing plate 19 of insertion 17 upper end of locating shaft is fixed in the loading stand 12.

The lower end fitting insertion groove counterbore 16 of the locating shaft 17, the external wall of upper portion fitting sle of locating shaft 17 are equipped with axle sleeve 113, the lower end of the spacing projection 14 is equipped with pillar through-hole 110, and the center of the pressing plate 19, which is run through, is equipped with pressing plate through-hole 112, The upper end of the locating shaft 17 is upward through pillar through-hole 110 and is bonded and protrudes into pressing plate through-hole 112, outside the axle sleeve 113 Wall is bonded pillar through-hole 110.The material of axle sleeve 113 is copper, and wearability is good.

The lower end two sides of the spacing projection 14 are fitted with buffer stopper 18.Buffer stopper 18 is flexible material.

The lower end two sides of the spacing projection 14 are equipped with side screw hole 111, and the buffer stopper 18 is equipped with and side screw hole 111 1 One corresponding buffer stopper through-hole 114 simultaneously penetrates buffer stopper through-hole 114 by screw and side screw hole 111 is fixed.

The quantity of the buffer stopper 18 is four, and the every side in lower end of the spacing projection 14 is distributed two buffer stoppers 18.

The front end of the rotating base 2 is equipped with the Impactor 29 of shock spacing projection 14 after rotation overtravel.

When the present apparatus powers off suddenly in work process, rotating base 2 may be because that inertia continues to rotate, and rotate in this way Pedestal 2 will exceed its stroke range, and Impactor 29 will knock spacing projection 14, and spacing projection 14 will be along axle sleeve 113 Rotation, spacing projection 14 drive the buffer stopper 18 of one side to hit the side wall of platen groove 15, play buffer function, reduce accident Generation, it is ensured that the safety used, the setting of pressing plate 19 ensure that spacing projection 14 is not fallen out.

The pedestal left arm 23 is equipped with first connecting rod connector portions 26.

Spring strut connector portions 28 are equipped with positioned at the top of large arm motor erecting bed 27 on the pedestal right arm 24.

The robot of the utility model further includes robot base 1, and waist rotating mechanism is located at 1 upper end of robot base, Big forearm linkage mechanism is connected on waist rotating mechanism, big forearm linkage mechanism front end connects handgrip rotating mechanism, big forearm connection Motivation structure includes each component for driving control large arm 5 and forearm 6 to run by large arm driving motor 4 and forearm driving motor 41, Handgrip rotating mechanism includes each component for driving control handgrip connector 88 to run by handgrip rotating electric machine 8.

The upper surface of robot base 1 is equipped with loading stand 12, and waist rotating mechanism is mounted in loading stand 12, machine Control cabinet 11 is additionally provided on people's pedestal 1, control cabinet 11 is used to control the coordination of each motor.Four angles of loading stand 12 On be equipped with hanging ring 13, the handling of robot may be implemented by hanging ring 13.

The inner wall of the large arm motor erecting bed 27 is connected with the second speed reducer outer ring 44, the large arm driving motor 4 Output end is connected with large arm driving motor shaft 42, the large arm driving motor shaft 42 be connected with can be along the second speed reducer outside The second speed reducer inner ring 43 of 44 inner walls rotation is enclosed, the inner side end of the second speed reducer inner ring 43 is connected with large arm 5, described One end of large arm 5 is equipped with the large arm mounting disc 51 being connected with the inner side end of the second speed reducer inner ring 43, and the other end of large arm 5 is set There is forearm attachment base 52, drives large arm 5 to swing by large arm driving motor 4.

The end face outside of large arm motor erecting bed 27 is connected with large arm end cap 45, and large arm end cap 45 is by the second speed reducer inner ring 43 and second speed reducer outer ring 44 be coated in.

The inner wall of the forearm motor erecting bed 25 is connected with third speed reducer outer ring 48, the forearm driving motor 41 Output end is connected with forearm driving motor shaft 46, the forearm driving motor shaft 46 be connected with can be along third speed reducer outside The third speed reducer inner ring 47 of 48 inner walls rotation is enclosed, the inner side end of the third speed reducer inner ring 47 is connected with forearm actuating arm 53, the rear end of the forearm actuating arm 53 is equipped with the forearm actuating arm installation connecting with the inner side end of third speed reducer inner ring 47 Disk 54, the front end of forearm actuating arm 53 are equipped with forearm and drive arm link attachment base 55, and forearm driving motor 41 drives forearm driving Arm 53 is swung.

The end face outside of forearm motor erecting bed 25 is connected with forearm actuating arm end cap 49, and forearm actuating arm end cap 49 is by In three speed reducer outer rings 48 and third speed reducer inner ring 47 are coated on.

The inner side end of the large arm mounting disc 51 is connected with connecting shaft 410, and the connecting shaft 410 protrudes into forearm actuating arm Second bearing 411 is equipped in 53 and between the outer wall of connecting shaft 410 and the inner wall of forearm actuating arm 53, such connecting shaft 410 rises To the effect of support forearm actuating arm 53, so that relatively reliable when 5 each self-swinging of forearm actuating arm 53 and large arm, it is not easy bite.

Forearm 6 is hinged on the forearm attachment base 52, the rear end of the forearm 6 is equipped with attachment base 61 after forearm, forearm 6 Front end be equipped with attachment base 62 before forearm, be located on forearm 6 after forearm before attachment base 61 and forearm be equipped between attachment base 62 with Attachment base 63 in the hinged forearm in the inside of forearm attachment base 52, attachment base 61 and forearm drive arm link attachment base after the forearm Arm link 56 is driven to be articulated and connected by forearm between 55, i.e. the rear end of forearm driving arm link 56 is hinged on forearm actuating arm company On bar attachment base 55, after forearm drives the front end of arm link 56 to be hinged on forearm on attachment base 61.I.e. forearm driving motor 41 is most It is that driving forearm 6 is swung eventually.

Second connecting rod 91, the rear end and first of the second connecting rod 91 are hinged on the outside of one end of the forearm attachment base 52 It is articulated and connected between linkage connector portion 26 by first connecting rod 9, i.e. the rear end of first connecting rod 9 is hinged on first connecting rod connector portions 26 On, the front end of first connecting rod 9 is hinged on the rear end of second connecting rod 91.

Wrist brace 7 is hinged with before the forearm on attachment base 62, the wrist brace 7 includes 71 He of wrist brace chassis It is vertically positioned at the wrist brace swash plate 74 of 71 side of wrist brace chassis, 74 upper end of wrist brace swash plate is equipped with third connecting rod The front end of attachment base 73, the third connecting rod attachment base 73 and second connecting rod 91 is articulated and connected by third connecting rod 92, i.e. third The rear end of connecting rod 92 is hinged on the front end of second connecting rod 91, and the front end of third connecting rod 92 is hinged on third connecting rod attachment base 73.

The rear end of wrist brace swash plate 74 is equipped with for the wrist brace attachment base with 62 coordination hinge of attachment base before forearm 72, attachment base 62 is located at 72 inside of wrist brace attachment base specially before forearm.

The upper end on the wrist brace chassis 71 is connected with handgrip rotating electric machine 8, the lower end on the wrist brace chassis 71 It is connected with the 4th speed reducer outer ring 87, being equipped in the 4th speed reducer outer ring 87 can rotate along 87 inner wall of the 4th speed reducer outer ring The 4th speed reducer inner ring 86, the lower end of the handgrip rotating electric machine 8 is equipped with the 5th gear 81 across wrist brace chassis 71, 5th gear 81 engages the 6th gear 82, and the 6th gear 82 is mounted in the second tooth shaft, and second tooth shaft is located at The lower section of 6th gear 82 is equipped with the 7th gear 83 with 82 synchronous rotary of the 6th gear, and the equal interference of the upper and lower side of the second tooth shaft is matched Conjunction is equipped with 3rd bearing 89, and the outer ring of upper and lower two 3rd bearings 89 is fitted in wrist brace chassis 71 and the 4th respectively and slows down On machine inner ring 86.

7th gear 83 engages multiple eighth gears 84, and multiple eighth gears 84 are mounted on the 4th speed reducer inner ring 86 Upper surface, the center on wrist brace chassis 71 is equipped with handgrip motor axis 85, and handgrip motor axis 85 is fixedly connected on the 4th On the lower end surface inner edge of speed reducer inner ring 86.

The lower end fitting of the 4th speed reducer inner ring 86 is equipped with handgrip connector 88, and handgrip connector 88 is for connecting Grab the handgrip of article.

It is articulated and connected between the other side outer end and spring strut connector portions 28 of the forearm attachment base 52 by buffer unit.

The buffer unit includes spring strut 96, the spring being mounted in spring strut 96 915 and protrudes into the slow of spring strut 96 One end of jumper bar 97, the buffer bar 97 is hinged in spring strut connector portions 28, and the other end of buffer bar 97 is connected with push plate 98, The push plate 98 is located in spring strut 96 and push plate 98 is against the middle of spring 915.The outer diameter of push plate 98 is greater than spring 915 Internal diameter is to guarantee that push plate 98 is not fallen out.Push plate 98 is detachable installation, and push plate 98 passes through after being inserted into the end of buffer bar 97 The fixation that nut 910 realizes push plate 98 is screwed into the end of buffer bar 97.

One end of the spring strut 96 is equipped with cover board 99, and the center of the cover board 99 is equipped with the guiding being located in spring strut 96 Set 911, the buffer bar 97 are flexible along guide sleeve 911.

The other end opposite with 99 place end of cover board is equipped with spring strut rotating seat 912, the forearm on the spring strut 96 The end face outside of middle attachment base 63 is connected with forearm spring side axis 913, and bullet is inserted in the outer end of forearm spring side axis 913 In spring cylinder rotating seat 912 and forearm spring side axis 913 and spring strut rotating seat 912 pass through articulated connection.

Forearm spring side axis 913 is across forearm attachment base 52 and forearm spring side axis 913 and forearm attachment base Bearing is equipped between 52.

Fourth bearing 914 is equipped between forearm spring side axis 913 and spring strut rotating seat 912.

The second connecting rod 91 includes the front rod 93 and back link 94 being distributed in obtuse angle, the front rod 93 and back link 94 intersection is formed and connecting rod erecting bed 95 hinged on the outside of one end of forearm attachment base 52.

The front end of the front rod 93 and the rear end of third connecting rod 92 are hinged, the rear end of the back link 94 and first connecting rod 9 front end is hinged.

The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model Within the scope of shield.

Claims (10)

1. a kind of waist rotating mechanism of robot, it is characterised in that: the rotation bottom including being mounted on loading stand (12) upper end Seat (2) and drive rotating base (2) rotation pedestal rotating electric machine (3), the rotating base (2) include rotate pedestal (21) and On rotation pedestal (21) two sides and the pedestal left arm (23) and pedestal right arm (24) of parallelly distribute on, the rotation pedestal (21) End face is equipped with pedestal rotating electric machine (3), and loading stand (12) upper surface is fixedly connected with the first speed reducer inner ring (37), The outer lower end surface of rotation pedestal (21) is fixedly connected with can rotate along the first speed reducer inner ring (37) outer wall first The lower end of speed reducer outer ring (36), the pedestal rotating electric machine (3) passes through rotation pedestal (21) and synchronized links have first gear (31), the first gear (31) engagement second gear (32), the second gear (32) are mounted in the first tooth shaft, and described the Lower section in one tooth shaft positioned at second gear (32) is equipped with third gear (33) with second gear (32) synchronous rotary, and described the Multiple 4th gears (34) are engaged on three gears (33), the 4th gear (34) is mounted on first speed reducer inner ring (37) upper end Face, the upper and lower side outer wall of first tooth shaft, which is interference fitted, to be equipped with first bearing (38), two first bearings (38) it is outer Circle is separately mounted on rotation pedestal (21) and the first speed reducer inner ring (37), and the pedestal left arm (23) is equipped with forearm motor Erecting bed (25), the pedestal right arm (24) is equipped with large arm motor erecting bed (27), in the upper end of the loading stand (12) The heart is connected with inner cylinder (35), and the upper end of the inner cylinder (35) extends through the center of rotation pedestal (21), the outer wall of inner cylinder (35) It is sealed between the center of rotation pedestal (21) by sealing ring (39).

2. a kind of waist rotating mechanism of robot as described in claim 1, it is characterised in that: the loading stand (12) is upper Platen groove (15) are equipped at the rear of rotating base (2), the platen groove (15) is equipped with groove counterbore (16), described It is plugged on groove counterbore (16) locating shaft (17), the spacing projection (14) of L-type, the erecting bed is arranged on the locating shaft (17) The pressing plate (19) of insertion locating shaft (17) upper end is fixed on plate (12).

3. a kind of waist rotating mechanism of robot as claimed in claim 2, it is characterised in that: the lower end of the locating shaft (17) The external wall of upper portion fitting sle of fitting insertion groove counterbore (16), locating shaft (17) is equipped with axle sleeve (113), the spacing projection (14) Lower end be equipped with pillar through-hole (110), the center of the pressing plate (19), which is run through, is equipped with pressing plate through-hole (112), the locating shaft (17) upper end is upward through pillar through-hole (110) and is bonded and protrudes into pressing plate through-hole (112), the outer wall of the axle sleeve (113) It is bonded pillar through-hole (110).

4. a kind of waist rotating mechanism of robot as claimed in claim 3, it is characterised in that: under the spacing projection (14) End two sides are fitted with buffer stopper (18).

5. a kind of waist rotating mechanism of robot as claimed in claim 4, it is characterised in that: under the spacing projection (14) Two sides are held to be equipped with side screw hole (111), the buffer stopper (18) is equipped with and the one-to-one buffer stopper through-hole of side screw hole (111) (114) and buffer stopper through-hole (114) is penetrated by screw and side screw hole (111) is fixed.

6. a kind of waist rotating mechanism of robot as described in claim 4 or 5, it is characterised in that: the buffer stopper (18) Quantity is four, and the every side in lower end of the spacing projection (14) is distributed two buffer stoppers (18).

7. a kind of waist rotating mechanism of robot as described in claim 4 or 5, it is characterised in that: the rotating base (2) Front end is equipped with the Impactor (29) of shock spacing projection (14) after rotation overtravel.

8. a kind of waist rotating mechanism of robot as described in claim 1, it is characterised in that: set on the pedestal left arm (23) There are first connecting rod connector portions (26).

9. a kind of waist rotating mechanism of robot as described in claim 1, it is characterised in that: the pedestal right arm (24) is upper Spring strut connector portions (28) are equipped in the top of large arm motor erecting bed (27).

10. a kind of waist rotating mechanism of robot as described in claim 1, it is characterised in that: on the rotation pedestal (21) Equipped with the pedestal rotating electric machine erecting bed (22) installed for pedestal rotating electric machine (3).