CN105881524B - A kind of forearm is provided with the robot that the fixed anglec of rotation performs end - Google Patents
A kind of forearm is provided with the robot that the fixed anglec of rotation performs end Download PDFInfo
- Publication number
- CN105881524B CN105881524B CN201610370513.0A CN201610370513A CN105881524B CN 105881524 B CN105881524 B CN 105881524B CN 201610370513 A CN201610370513 A CN 201610370513A CN 105881524 B CN105881524 B CN 105881524B
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- Prior art keywords
- gear
- pair
- brake
- guide groove
- block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/18—Means for removing cut-out material or waste
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the robot that a kind of forearm is provided with fixed anglec of rotation execution end, the forearm of robot is provided with swingable adjutage, rotatable execution end is provided with swing arm.Linking arm, the housing of setting on the connecting arm, the drive mechanism in housing, the spill spin block being connected with drive mechanism for performing end and including being arranged on swing mechanism；A pair of suckers are installed, the angle that the drive mechanism can drive spill spin block to rotate every time exactly is certain on spill spin block.Robot of the present invention applies to pcb board guillotine, it is ensured that a pair of suckers rotate 180 degree exactly.
Description
Technical field
The present invention relates to robotic technology field, is provided with the fixed anglec of rotation in particular to a kind of forearm and performs
The robot of end.
Background technology
Application No. CN201520484088.9 utility model discloses a kind of manipulator by robot and picks and places material
Pcb board guillotine, wherein, two sucker groups are set on the manipulator of robot, sucker group draws PCB by vacuum suction mode
Plate and waste material.Described two sucker groups can carry out 180 degree of rotations, to facilitate two sucker groups to pick and place pcb board or waste material extremely
Corresponding station.
Robot in above-mentioned utility model can use Application No. CN201210566463.5 application for a patent for invention
A kind of described light-duty six axles all-purpose robot, wherein, axle bed is fixed on arm axle, and axle bed guard box is fixed with axle bed, the
Three-axis drive motor, the 4th axle motor, the 5th axle motor and the 6th axle motor are placed in axle bed guard box；It is small
Armed lever housing and forearm lengthen the front and rear part that rod shell is separately fixed at forearm decelerator, and the 6th axle sleeve is in the 5th axle, and the
Five axle sleeves are in the 4th axle, and sleeve is in forearm rod shell, forearm decelerator and forearm lengthen rod shell in the 4th axle, and the 4th
The 4th axle driven gear, the 5th axle driven gear and the 6th axle driven gear are respectively fixed with axle, the 5th axle and the 6th axle.
The content of the invention
Technical problem solved by the invention：First, robot of the prior art, its forearm is only capable of driving installed in small
The execution end of arm end rotates, it is difficult to meets the needs of practical operation；Second, picked and placeed by the manipulator of robot
How the pcb board guillotine of material, two suckers installed on a robotic arm rotate 180 degree exactly.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of forearm is provided with the fixed anglec of rotation
Perform end robot, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm,
The forearm in large arm, the adjutage on forearm, the execution end on adjutage are articulated in, waist rotation member is the bottom of around
Pedestal rotates, and large arm rotates around waist rotation member, and forearm rotates around large arm；
The adjutage includes being fixedly connected with the stake body of forearm, the first telescoping mechanism and second on stake body
Telescoping mechanism, the swing mechanism being hinged on the first telescoping mechanism, the swing guiding mechanism being fixed on the second telescoping mechanism；Institute
State and gear wheel, the second middle gear, the first little gear, power transmission shaft be articulated with stake body, the power transmission shaft be vertically arranged and with peace
Power set connection on stake body, the gear wheel are fixed on power transmission shaft, and gear wheel engages with the second middle gear, the
Two middle gears engage with the first little gear；First telescoping mechanism includes the first stud of fixed setting, the first small tooth
The centre of wheel opens up the screwed hole being spirally connected with the first stud；Second telescoping mechanism includes the second stud of fixed setting,
The centre of second middle gear opens up the screwed hole being spirally connected with the second stud；Stake body be provided with to the first telescoping mechanism and
The flexible guide rod being oriented to of second telescoping mechanism；The swing mechanism include the first axle that be arranged in parallel and the second axle,
The second power set coupled with first axle, the swing guiding mechanism include linear guide groove, are arranged on linear guiding
Groove end and connected with linear guide groove sector-like guide groove, be arranged on linear guide groove end and with linear guide groove
A pair of scalable guide rods of linking；Second axle is hinged by connecting rod and the first telescoping mechanism, first axle and the second axle
It is slidably fitted in linear guide groove, the distance value of first axle and the second axle is equal to the fan-shaped radius value of sector-like guide groove, institute
State the second power set to be used to drive first axle to swing in sector-like guide groove, the second power set are slidably mounted on swing and are oriented to
In mechanism；
It is described to perform linking arm that end includes being arranged on swing mechanism, housing on the connecting arm is set, is arranged on
Drive mechanism in housing, the spill spin block being connected with drive mechanism；The drive mechanism driving spill spin block rotation；The driving machine
Structure includes rotary components, latch components, drive component；The rotary components include rotating seat, fixation is set in rotating seat periphery
Brake disc and second gear；The spill spin block is fixedly connected with rotating seat；The latch components include being fixedly installed in housing
Basal disc, a pair of brake(-holder) blocks on basal disc, the solution lock slide being slidably arranged on basal disc；The pair of brake(-holder) block or so
The periphery of brake disc is symmetricly set on, one end of a pair of brake(-holder) blocks is hinged and other end elastic connection；Solve lock slide and be provided with one
To sliding bar, one end of a pair of brake(-holder) block elastic connections opens up a pair of slide slots, and slide slot is in bending, a pair of slide slots or so
It is symmetrical arranged, slides bar and be slidably fitted in a pair of slide slots for a pair；The drive component includes being driven and being revolved by drive device
The annulus turned, the center line of annulus rotation deviate the center line of rotating seat rotation, and the madial wall of annulus is provided with tooth section and unblock
Module, unlocked state include a trip lever, and the solution lock slide opens up the guide groove of S-shaped.
By above-mentioned technical proposal, a kind of forearm of the present invention is provided with the robot of fixed anglec of rotation execution end
Operation principle is as follows：
First, in adjutage, power set driving power transmission shaft rotation, power transmission shaft drives gear wheel rotation, canine tooth wheel drive
Second middle gear rotates, and the second middle gear drives the rotation of the first little gear；Second middle gear drives the second stud to decline, the
Two studs drive the second telescoping mechanism to decline, and first little gear drives the first stud to rise, and the first stud drives first to stretch
Contracting mechanism rises；First telescoping mechanism drives swing mechanism to rise, and the second telescoping mechanism, which drives, swings guiding mechanism decline, and first
Axle and the second axle are slided in linear guide groove first, and afterwards, first axle is slided between a pair of scalable guide rods, until
First axle is against in the side wall of sector-like guide groove, and now, the second axle is still in linear guide groove；Afterwards, scalable lead for a pair
Retract and swung in guiding mechanism to bar, first axle can be swung in sector-like guide groove；Afterwards, the second power set driving first axle
Swung in sector-like guide groove, the execution end on swing mechanism is also swung therewith.
Second, when oscillating function of the robot without using adjutage, the second power set interrupt to be conveyed to first axle
Power；Afterwards, under the driving of power set, the first telescoping mechanism declines and the second telescoping mechanism rises, and the second axle is straight
Slided in linear guide groove to reset, first axle moves in sector-like guide groove to the direction of reset, because first axle is in sector
Swung in guide groove, therefore, first axle deviates linear guide groove, and still, first axle can be close to sector-like guide groove
A pair of angled side is returned to the connectivity part of sector-like guide groove and linear guide groove, enters back into linear guide groove；Work as first axle
When entering linear guide groove with the second axle, swing mechanism is limited.
3rd, perform in end, the driving annulus rotation of drive device in drive mechanism, annulus drive tooth section thereon and
Unlocked state rotates.When the trip lever being fixedly installed on annulus is slipped into guide groove and drives center of the solution lock slide to basal disc
During translation, sliding bar a pair and translated in a manner of man-to-man in a pair of slide slots on lock slide is solved, because slide slot is in curved
Shape is rolled over, therefore, sliding bar to a pair that basal disc central line translates can drive one end of a pair of brake(-holder) block elastic connections to be opened, such as
This, rotating seat is changed into rotatable state by the initial state by a pair of brake(-holder) block friction catches.With a pair of brakings
Piece no longer brakes rotating seat synchronously, the tooth section on annulus madial wall, i.e. one on annulus madial wall section tooth, is opened with second gear
Begin to engage, and drive second gear and be secured to the rotating seat rotation of connection, rotating seat drives a pair of sucker rotations；Work as rotation
When seat rotates 180 degree, tooth section disengages with second gear, meanwhile, the guide groove of trip lever and solution lock slide, which departs from, to be connect
Touch, because guide groove is S-shaped, therefore, when trip lever and guide groove disengage, solution lock slide resets, and slides bar therewith a pair
Reset, one end of a pair of brake(-holder) block elastic connections also resets therewith, a pair of brake(-holder) blocks friction catch brake disc, and then brake again
Rotating seat.
Pass through above-mentioned technical proposal, the present invention have the following technical effect that：The first, the first telescoping mechanism and the second telescopic machine
The inverted running of structure makes swing mechanism rapid relative to the lifting action for swinging guiding mechanism, to improve operating efficiency；The second, the
The length of adjutage can be elongated or shortened to the counter motion of one telescoping mechanism and the second telescoping mechanism, and then elongate or shorten forearm
With the total length of adjutage, to adapt to various operating modes；3rd, swing mechanism can make certain amplitude relative to guiding mechanism is swung
Swing, that is, the function of small brachiocylloosis is imparted, to adapt to various operating modes；4th, drive mechanism of the present invention can make to perform end
Two suckers on end rotate 180 degree exactly, and material is picked and placeed exactly to perform end.
The stake body, which includes base, support plate, to be illustrated to one kind of adjutage as the present invention；The base fixed setting
On forearm, the guide rod is fixed on base, and the support plate is fixed on the top of guide rod；In the gear wheel, second
Gear, the first little gear are articulated on support plate, and the top of the power transmission shaft is articulated on support plate, and the bottom of power transmission shaft is articulated in bottom
On seat；First telescoping mechanism includes the first flexible chassis, a pair of first telescopic blocks；Described first flexible chassis opens up first
Guiding slot port, the first guiding slot port are slidably matched with guide rod；The quantity of first stud is two, and two the first studs erect
It is straight to be arranged on the first flexible chassis, a pair of first through hole are opened up on the support plate, a pair of first studs are logical through a pair first
Hole；The quantity of first little gear is two, and two the first little gears are spirally connected in a manner of man-to-man with a pair of first studs；
The pair of first telescopic block is arranged on the top of two the first studs in a manner of man-to-man, and the swing mechanism is arranged on one
To the top of the first telescopic block；Second telescoping mechanism includes the second flexible chassis, flexible disk；Open on the described second flexible chassis
If the second guiding slot port, the second guiding slot port is slidably matched with guide rod；The quantity of second stud is two, two second
Stud is vertically arranged on the second flexible chassis, and the second flexible chassis is positioned at the lower section on the first flexible chassis；Described first is flexible
Chassis opens up the second through hole, and third through-hole is opened up on the support plate, and two the second studs are upward through the second through hole and threeway
Hole；The quantity of second middle gear is two, and two the second middle gears are spirally connected in a manner of man-to-man with two the second studs,
Two the second middle gears are engaged with gear wheel, and two the second middle gears are nibbled in a manner of man-to-man with two the first little gears
Close；The flexible disk is arranged on the top of the second stud, and the swing guiding mechanism is arranged on flexible disk；On the flexible disk
Fourth hole is opened up, first stud passes through fourth hole, and first telescopic block is located at the top of flexible disk.
As described above, a pair of second middle gears that the canine tooth wheel drive is symmetrical set, a pair of second middle gears
Drive a pair of first little gears being symmetrical set.The pair of second middle gear drives a pair of second studs to rise, a pair
Second stud drives flexible disk to decline, and the disk that stretches drives swing guiding mechanism mounted thereto to decline.The pair of first is small
Gear drives a pair of first studs to rise, and a pair of first studs drive a pair of first telescopic blocks to rise, a pair of first telescopic block bands
Dynamic swing mechanism mounted thereto rises.
Second middle gear, which includes second gear portion and second gear, to be illustrated to one kind of adjutage as the present invention
The second articulated section that portion is coaxially disposed；The centre in the second gear portion and the second articulated section be provided with insertion second gear portion and
The screwed hole of second articulated section；Second articulated section is articulated in the third through-hole of support plate；First little gear includes the
One gear part, the first articulated section being coaxially disposed with first gear portion；The centre in the first gear portion and the first articulated section
Screwed hole provided with insertion first gear portion and the first articulated section；First articulated section is articulated in the first through hole of support plate.
One kind of adjutage is illustrated as the present invention, the 4th stud, the are vertically arranged with the described second flexible chassis
Six studs, the 4th stud, the 6th stud are upward through the first flexible chassis and support plate, the flexible disk be arranged on the 4th stud,
The top of 6th stud；The 4th middle gear, the 6th middle gear, the 4th middle gear, the 6th middle gear position are articulated with the support plate
Between support plate and the first flexible chassis, centre, the centre of the 6th middle gear of the 4th middle gear open up screwed hole, the
Four studs are screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel, and the 6th stud is screwed onto in the 6th
In the screwed hole of gear, the 6th middle gear engages with gear wheel.As described above, gear wheel is in a pair of second middle gear rotations of driving
While turning, the 4th middle gear and the rotation of the 6th middle gear are driven, the 4th middle gear and the 6th middle gear correspondingly drive the 4th
Stud and the lifting of the 6th stud, the 4th stud and the 6th stud and a pair of second middle gears drive flexible disk lifting jointly.
As the present invention to adjutage one kind illustrate, the power set include installed in power transmission shaft bottom worm gear,
The worm screw engaged with worm gear, the first servomotor coupled with worm screw, worm screw are articulated on base, and the first servomotor is arranged on
On base.As described above, the worm and gear that the rotation of power transmission shaft is driven by the first servomotor drives, because worm and gear has
There is good auto-lock function, therefore, swing mechanism of the present invention can stably rest on appointing for space in swing process
Meaning position.
The swing mechanism, which includes pendular body, the first axle and second, to be illustrated to one kind of adjutage as the present invention
Axle is fixed on pendular body, and pendular body is provided with the mounting flange that connection robot performs end；The swing guiding mechanism bag
The guide plate being fixed on flexible disk is included, the linear guide groove and sector-like guide groove are opened on guide plate, and described second
Power set are slidably mounted on guide plate.
Based on the above-mentioned explanation to adjutage, in adjutage, second power set include being slidably mounted on guide plate
The upper and U-shaped sliding block across linear guide groove, the second servomotor being fixed on U-shaped sliding block, one end and the second servo electricity
Second connecting rod of machine output axis connection, the oscillating rod installed in the second connecting rod other end, oscillating rod is fixed with first axle to be connected
Connect, the axial line of the second servo motor output shaft overlaps with the axial line of the second axle.As described above, driven in the first telescoping mechanism
Dynamic swing mechanism rises during the driving swing guiding mechanism decline of the second telescoping mechanism, and first axle and the second axle are with pendulum
While motivation structure rises, U-shaped sliding block is also as swing mechanism rises；Specifically, guide plate is provided with line slideway, and U-shaped is slided
Block opens up the chute being slidably matched with line slideway.
Based on the above-mentioned explanation to adjutage, in adjutage, the pair of scalable guide rod, which slides, is plugged in guide plate
In, rack is located in the side wall of scalable guide rod, rack is engaged with little gear, and little gear couples with the 3rd servomotor, the
Three servomotors are fixed on guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can stretch into sector and lead
Into groove, the passage between a pair of scalable guide rods forms a complete linear guide channel with linear guide groove.Press
Described above, every scalable guide rod is equipped with rack in a pair of scalable guide rods, and the rotation of little gear can drive rack
Extended or retracted guide plate, the extended or retracted guide plate of the scalable guide rod of rack drives；Specifically, scalable guide rod is stretched
Go out the end that guide plate stretches out linear guide groove, into sector-like guide groove, enter sector-like guide groove for first axle straight line
It is oriented to；When first axle need to be swung in sector-like guide groove, a pair of scalable guide rod retraction guide plates, in this way, first
Axle can be swung in sector-like guide groove.
One kind of adjutage is illustrated as the present invention, the first housing, the first housing and bottom are enclosed with the stake body
Seat is fixedly connected with support plate；The second housing is enclosed with the flexible disk, the second housing is fixedly connected with flexible disk, and described first
Telescoping mechanism and the second telescoping mechanism are located in second shell body.
Illustrate that the rotating seat is articulated on basal disc to performing a kind of of rotary components in end as the present invention, rotate
Seat is provided with a pair of locating rods, and the spill spin block is fixedly connected with rotating seat by a pair of locating rods.
Illustrate as the present invention to performing a kind of of latch components in end, the basal disc is provided with a pillar, on pillar
Provided with swivel pin；The pair of brake(-holder) block include positioned at left side the first brake(-holder) block and the second brake(-holder) block positioned at right side, first
The left end of the left end of brake(-holder) block and the second brake(-holder) block is hinged on swivel pin, the right-hand member of the first brake(-holder) block and the right side of the second brake(-holder) block
End passes through the first adjustable spring elastic connection；The right-hand member of first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with
Second fore-set, the first fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；It is described
First brake(-holder) block and the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc.As described above,
First adjustable spring has and makes the trend that the first brake(-holder) block and the second brake(-holder) block close up, and the setting of the first fore-set and the second fore-set
Then have the function that to stop this kind of trend.
Illustrate that the pair of slide slot includes the first slide slot to performing a kind of of latch components in end as the present invention
With the second slide slot, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in the right side of the second brake(-holder) block
End, the first slide slot and the second slide slot are symmetrical set, wherein, the first straight line type that the first slide slot includes connection slides
Groove and second straight line type slide slot, angle circle between first straight line type slide slot and second straight line type slide slot in 90 degree and
Between 180 degree.As described above, when solving central line translation of the lock slide to basal disc, slided in a pair of slide slots
The bar that slides for a pair there are the trend of the right-hand member of the right-hand member for making the first brake(-holder) block and the second brake(-holder) block separation.
Illustrate as the present invention to performing a kind of of latch components in end, the solution lock slide is provided with a pair of positioning
Pin, the pair of alignment pin include the first alignment pin and the second alignment pin being symmetrical set, the right side of first brake(-holder) block
End is provided with the first positioning hole, and the right-hand member of the second brake(-holder) block is provided with the second positioning hole, flat when the first fore-set and the second fore-set offset
The first alignment pin and the second alignment pin on the solution lock slide of shifting can be inserted correspondingly in the first positioning hole and the second positioning hole；Institute
State to slide bar a pair and slide bar and second including first and slide bar, first slides the top that bar is fixedly installed on the first alignment pin,
Second slides the top that bar is fixedly installed on the second alignment pin, and the first center line for sliding the center line and the first alignment pin of bar hangs down
Directly.As described above, when center translation of the trip lever promotion solution lock slide to basal disc, first slides bar first in first straight line
Translated in type slide slot, when the first alignment pin and the second alignment pin the first positioning hole of disengaging and the second positioning hole, second slides
Bar just enters second straight line type slide slot, slides bar and opens the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block for a pair；
After trip lever is left away with the rotation of annulus, solution lock slide resets, and slides bar and resets therewith for a pair, the first alignment pin and the
Two alignment pins correspondingly insert the first positioning hole and the second positioning hole, to lock a pair of brake(-holder) blocks.
As the present invention, to performing, a kind of of interactive relationship illustrates between latch components and drive component in end, lock group
In part, solving the guide groove on lock slide includes the first arc guide groove, the second arc guide groove, the 3rd arcuate guide of connection
Groove, wherein, the arc center of circle of the second arc guide groove is located on the center line of annulus；In drive component, the unlocked state bag
The radial bars for include projection in the radial direction being fixed on annulus madial wall, being fixed in radial direction on projection and point to the annulus center of circle；Institute
State the end that trip lever is arranged on radial bars；With the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drives
Center translation of the lock slide to basal disc is solved, meanwhile, second gear starts to engage with tooth section, and afterwards, trip lever enters the second arc
The distance at guide groove, solution lock slide and basal disc center keeps constant, and afterwards, trip lever enters the 3rd arc guide groove, and drives
Lock slide is solved to translate to the direction away from basal disc center, when trip lever departs from three arc guide grooves, second gear and tooth section
Disengage.As described above, on the premise of annulus rotates, when trip lever moves in the first arc guide groove, unblock
Bar is to promote solution lock slide to be translated to the central line of basal disc, during trip lever is mobile in the first arc guide groove, the
One slides bar translates in first straight line type slide slot first, is translated afterwards in second straight line type slide slot, the first brake(-holder) block
Right-hand member and the second brake(-holder) block right-hand member are separated from each other, synchronously, the first alignment pin and the second alignment pin progressively from the first positioning hole and
Extracted in second positioning hole；When trip lever moves in the second arc guide groove, because radial direction boom end points to the circle of annulus
The arc center of circle of the heart and the second arc guide groove is located on the center line of annulus, therefore, when trip lever is in the second arc guide groove
When interior mobile, the centre distance for solving lock slide and annulus keeps constant, and then, solution lock slide and the distance at basal disc center are kept not
Become, a pair of brake(-holder) blocks keep open configuration, rotate freely rotating seat；When trip lever moves in the 3rd arc guide groove,
Trip lever is to promote solution lock slide to be moved to the direction rectilinear translation away from basal disc center, trip lever in the 3rd arc guide groove
During, first slides bar travels in first straight line type slide slot by second straight line type slide slot, the first brake(-holder) block right-hand member and
Second brake(-holder) block right-hand member is mutually drawn close to lock brake disc, and synchronously, the first alignment pin and the second alignment pin progressively insert first
Positioning hole and the second positioning hole are to lock the first brake(-holder) block and the second brake(-holder) block.In described above, when trip lever is in the first arc
When being moved in guide groove, second gear engages with tooth section, when trip lever, which departs from, to be contacted with the 3rd arc guide groove, second gear
Disengaged with tooth section, start to contact to trip lever to depart to contact with guide groove with guide groove in trip lever, second gear driving
Rotating seat rotates 180 degree, i.e. spill spin block rotates 180 degree.
Illustrate that the annulus is articulated in housing, the drive to performing a kind of of drive component in end as the present invention
Dynamic device includes the fixed ring gear being set on annulus madial wall, is engaged with ring gear the 3rd gear, couple with the 3rd gear and
The first motor in housing.As described above, the first motor drives the rotation of the 3rd gear, and the 3rd gear passes through sliding tooth
Ring and drive annulus to rotate.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is that a kind of forearm of the present invention is provided with the structural representation that the fixed anglec of rotation performs the robot of end；
Fig. 2 is the structural representation of adjutage a in Fig. 1；
Fig. 3 is that adjutage a conceals the structural representation after the first housing a66 and the second housing a67 in Fig. 2；
Fig. 4 is Fig. 3 medium-height trestle bodies a61, the first telescoping mechanism a62, the second telescoping mechanism a63 combining structure schematic diagram；
Fig. 5 be in Fig. 4 A-A to sectional view；
Fig. 6 is the assembling schematic diagram of the second middle gear a612 and support plate a617 in Fig. 5；
Fig. 7 is swing mechanism a64 and swing guiding mechanism a65 combining structure schematic diagram in Fig. 3；
Fig. 8 is the structural representation that guiding mechanism a65 is swung in Fig. 7；
Fig. 9 is the structural representation of swing mechanism a64 in Fig. 7；
Figure 10 is that the first axle a641 in Fig. 7 in swing mechanism a64 rises to sector-like guide groove in swing guiding mechanism a65
Operating diagram during a652 tip positions；
Figure 11 is that the first axle a641 in Fig. 7 in swing mechanism a64 is swinging guiding mechanism a65 sector-like guide groove a652
Operating diagram during interior swing；
Figure 12 is the structural representation that end 50 (concealing spill spin block 53) is performed in Fig. 1；
Figure 13 is the structural representation of drive mechanism 60 in Figure 12；
Figure 14 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Figure 13；
Figure 15 be Figure 14 in the combining structure of rotary components 61 and latch components 62 be cut after schematic diagram；
Figure 16 is the structural representation that lock slide 623 is solved in Figure 15；
Figure 17 is the structural representation of brake(-holder) block 622 in Figure 15；
Figure 18 is the structural representation of drive component 63 in Figure 13.
Symbol description in figure：
10th, base body；20th, waist rotation member；30th, large arm；40th, forearm；50th, end is performed；51st, linking arm；52nd, housing；
53rd, spill spin block；60th, drive mechanism；61st, rotary components；611st, rotating seat；612nd, brake disc；613rd, second gear；614th, position
Bar；62nd, latch components；621st, basal disc；622nd, brake(-holder) block；6221st, the first adjustable spring；6222nd, positioning hole；623rd, unblock is slided
Block；6230th, guide groove；6231st, the first arc guide groove；6232nd, the second arc guide groove；6233rd, the 3rd arc guide groove；
624th, bar is slided；626th, pillar；627th, alignment pin；629th, slide slot；6291st, first straight line type slide slot；6292nd, second straight line
Type slide slot；63rd, drive component；631st, annulus；632nd, tooth section；633rd, unlocked state；6331st, trip lever；635th, ring gear；636、
3rd gear；637th, projection in radial direction；638th, radial bars；
A, adjutage；A61, stake body；A611, gear wheel；A612, the second middle gear；A6121, second gear portion；
A6122, the second articulated section；A6123, screwed hole；A613, the first little gear；A614, power transmission shaft；A615, guide rod；A616, bottom
Seat；A617, support plate；A618, the 4th middle gear；A619, the 6th middle gear；A62, the first telescoping mechanism；A621, the first stud；
A623, the first flexible chassis；A624, the first telescopic block；A626, the first guiding slot port；A63, the second telescoping mechanism；A631,
Two studs；A633, the second flexible chassis；A634, flexible disk；A636, the second guiding slot port；A637, the 4th stud；A638,
Six studs；A64, swing mechanism；A640, pendular body；A641, first axle；A642, the second axle；A643, connecting rod；A644, installation
Flange；A646, U-shaped sliding block；A647, the second servomotor；A648, oscillating rod；A65, swing guiding mechanism；A650, guide plate；
A651, linear guide groove；A652, sector-like guide groove；A 653, scalable guide rod；A654, rack；A655, little gear；
A656, the 3rd servomotor；A66, the first housing；A67, the second housing.
Embodiment
Such as Fig. 1, a kind of forearm is provided with the robot that the fixed anglec of rotation performs end, including base body 10, is articulated in
Waist rotation member 20 on base body, the large arm 30 being articulated on waist rotation member, the forearm 40 being articulated in large arm, installed in forearm
On adjutage a, the execution end 50 on adjutage, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic, forearm rotates around large arm.
With reference to Fig. 2 to Figure 11, the adjutage includes being fixedly connected with the stake body a61 of forearm, on stake body
First telescoping mechanism a62 and the second telescoping mechanism a63, the swing mechanism a64 being hinged on the first telescoping mechanism, it is fixed on second
Swing guiding mechanism a65 on telescoping mechanism.Gear wheel a611, the second middle gear a612, first are articulated with the stake body
Little gear a613, power transmission shaft a614, the power transmission shaft is vertically arranged and coupled with the power set on stake body, described
Gear wheel is fixed on power transmission shaft, and gear wheel engages with the second middle gear, and the second middle gear engages with the first little gear.Described
One telescoping mechanism includes the first stud a621 of fixed setting, and the centre of first little gear opens up to be spirally connected with the first stud
Screwed hole.Second telescoping mechanism includes the second stud a631 of fixed setting, and the centre of second middle gear is opened
If the screwed hole being spirally connected with the second stud.Stake body is provided with and the first telescoping mechanism and the flexible of the second telescoping mechanism is led
To guide rod a615.The swing mechanism includes the first axle a641 be arrangeding in parallel and the second axle a642, coupled with first axle
The second power set, it is described swing guiding mechanism include linear guide groove a651, be arranged on linear guide groove end and
Sector-like guide groove a652 with the connection of linear guide groove, it is arranged on linear guide groove end and is connected with linear guide groove
A pair of scalable guide rod a653.Second axle is hinged by connecting rod a643 and the first telescoping mechanism, first axle and
Two axles are slidably fitted in linear guide groove, and the distance value of first axle and the second axle is equal to the fan-shaped radius of sector-like guide groove
Value, second power set are used to drive first axle to swing in sector-like guide groove, and the second power set are slidably mounted on pendulum
In action-oriented mechanism.
In adjutage a, the stake body includes base a616, support plate a617.The base is fixedly installed on forearm, institute
State guide rod a615 to be fixed on base, the support plate is fixed on the top of guide rod.The gear wheel a611, the second middle gear
A612, the first little gear a613 are articulated on support plate, and the top of the power transmission shaft a614 is articulated on support plate, the bottom of power transmission shaft
It is articulated on base.First telescoping mechanism includes the first flexible chassis a623, a pair of first telescopic block a624；Described first
Flexible chassis opens up the first guiding slot port a626, and the first guiding slot port is slidably matched with guide rod.The first stud a621's
Quantity is two, and two the first studs are vertically arranged on the first flexible chassis, opens up a pair of first through hole on the support plate, one
A pair of first through hole are passed through to the first stud.The quantity of first little gear is two, and two the first little gears are with one-to-one
Mode be spirally connected with a pair of first studs；The pair of first telescopic block is arranged on two the first studs in a manner of man-to-man
Top, the swing mechanism are arranged on the top of a pair of first telescopic blocks；Second telescoping mechanism includes the second flexible chassis
A633, flexible disk a634.Described second flexible chassis opens up the second guiding slot port a636, and the second guiding slot port slides with guide rod
Coordinate；The quantity of the second stud a631 is two, and two the second studs are vertically arranged on the second flexible chassis, and second stretches
Contracting chassis is positioned at the lower section on the first flexible chassis；Described first flexible chassis opens up the second through hole, and the 3rd is opened up on the support plate
Through hole, two the second studs are upward through the second through hole and third through-hole；The quantity of the second middle gear a612 be two, two
Individual second middle gear is spirally connected in a manner of man-to-man with two the second studs, and two the second middle gears engage with gear wheel, and two
Individual second middle gear is engaged in a manner of man-to-man with two the first little gears.The flexible disk is arranged on the top of the second stud
Portion, the swing guiding mechanism are arranged on flexible disk.Open up fourth hole on the flexible disk, first stud is through the
Four through holes, first telescopic block are located at the top of flexible disk.
In adjutage a, the second middle gear a612 includes second gear portion a6121, is coaxially disposed with second gear portion
The second articulated section a6122；The centre in the second gear portion and the second articulated section is provided with insertion second gear portion and second
The screwed hole a6123 of articulated section；Second articulated section is articulated in support plate a617 third through-hole.First little gear
A613 includes first gear portion, the first articulated section being coaxially disposed with first gear portion；The first gear portion and the first pivot joint
The centre in portion is provided with the screwed hole of insertion first gear portion and the first articulated section；First articulated section is articulated in support plate a617
First through hole in.
In adjutage a, the first housing a66, the first housing and base a616 and support plate are enclosed with the stake body a61
A617 is fixedly connected；The second housing a67 is enclosed with the flexible disk a634, the second housing is fixedly connected with flexible disk, described
First telescoping mechanism a62 and the second telescoping mechanism a63 are located in second shell body.
In adjutage a, the 4th stud a637, the 6th stud a638 are vertically arranged with the described second flexible chassis a633,
4th stud, the 6th stud are upward through the first flexible chassis a623 and support plate a617, and the flexible disk a634 is arranged on the 4th
The top of stud, the 6th stud；It is articulated with the 4th middle gear a618, the 6th middle gear a619 on the support plate, the 4th middle gear,
6th middle gear is located between support plate and the first flexible chassis, and centre, the centre of the 6th middle gear of the 4th middle gear are equal
Screwed hole is opened up, the 4th stud is screwed onto in the screwed hole of the 4th middle gear, and the 4th middle gear engages with gear wheel a611, and the 6th
Stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.
In adjutage a, the power set include the worm gear a661 installed in power transmission shaft a614 bottoms, engaged with worm gear
Worm screw a662, the first servomotor a663 coupled with worm screw, worm screw are articulated on base, and the first servomotor is arranged on base
On.
In adjutage a, the swing mechanism a64 consolidates including pendular body a640, the first axle a641 and the second axle a642
It is scheduled on pendular body, pendular body is provided with the mounting flange a644 that connection robot performs end；The swing guiding mechanism a65
Including the guide plate a650 being fixed on flexible disk a634, the linear guide groove a651 and sector-like guide groove a652 are opened in
On guide plate, second power set are slidably mounted on guide plate.
In adjutage a, second power set include being slidably mounted on guide plate a650 and are oriented to across linear
Groove a651 U-shaped sliding block a646, the second servomotor a647 being fixed on U-shaped sliding block, one end and the second servomotor export
Second connecting rod of axis connection, the oscillating rod a648 installed in the second connecting rod other end, oscillating rod are fixed with first axle a641
Connection, the axial line of the second servo motor output shaft overlap with the axial line of the second axle.
In adjutage a, the pair of scalable guide rod a653, which is slided, to be plugged in guide plate a650, scalable guide rod
Side wall on be located at rack a654, rack is engaged with little gear a655, and little gear couples with the 3rd servomotor a656, the 3rd
Servomotor is fixed on guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can stretch into fan-shaped guiding
In groove a652, the passage between a pair of scalable guide rods forms a complete linear and be oriented to linear guide groove a651 to be led to
Road.
With reference to Figure 12 to Figure 18, linking arm 51, the company of being arranged on for performing end 50 and including being arranged on swing mechanism
Connect the housing 52 on arm, the drive mechanism 60 in housing, the spill spin block 53 being connected with drive mechanism.The drive mechanism
Drive spill spin block rotation；The drive mechanism includes rotary components 61, latch components 62, drive component 63；The rotary components
Including rotating seat 611, the fixed brake disc 612 and second gear 613 for being set in rotating seat periphery；The spill spin block is fixedly connected
Rotating seat；The latch components include be fixedly installed on the basal disc 621 in housing, a pair of brake(-holder) blocks 622 on basal disc,
The solution lock slide 623 being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of systems
One end of moving plate is hinged and other end elastic connection；Solution lock slide slides bar 624, a pair of brake(-holder) block elastic connections provided with a pair
One end open up a pair of slide slots 629, slide slot is in bending, and a pair of slide slots are symmetrical set, and slides bar slip for a pair
Coordinate in a pair of slide slots；The drive component includes the annulus 631 for being driven and being rotated by drive device, in annulus rotation
Heart line deviates the center line of rotating seat rotation, and the madial wall of annulus is provided with tooth section 632 and unlocked state 633, unlocked state bag
A trip lever 6331 is included, the solution lock slide opens up the guide groove 6230 of S-shaped.
Performing in end 50, the rotating seat 611 is articulated on basal disc 621, and rotating seat is provided with a pair of locating rods 614,
The spill spin block 53 is fixedly connected with rotating seat by a pair of locating rods.
Perform in end 50, the basal disc 621 is provided with a pillar 626, and pillar is provided with swivel pin；The pair of braking
Piece 622 includes the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second system
The left end of moving plate is hinged on swivel pin, and the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block passes through the first adjustable spring
6221 elastic connections；The right-hand member of first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, and first
Fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block and
The equal semicircular in shape of second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc 612.The pair of slide slot 629 wraps
The first slide slot and the second slide slot are included, the first slide slot is opened in the right-hand member of the first brake(-holder) block, and the second slide slot is opened in
The right-hand member of two brake(-holder) blocks, the first slide slot and the second slide slot are symmetrical set, wherein, the first slide slot includes the of connection
One linear pattern slide slot 6291 and second straight line type slide slot 6292, first straight line type slide slot and second straight line type slide slot it
Between angle circle between 90 degree and 180 degree.
Perform in end 50, the solution lock slide 623 is provided with a pair of alignment pins 627, and the pair of alignment pin includes a left side
Right symmetrically arranged first alignment pin and the second alignment pin, the right-hand member of first brake(-holder) block are provided with the first positioning hole 6222, the
The right-hand member of two brake(-holder) blocks is provided with the second positioning hole, when the first fore-set and the second fore-set offset, the on the solution lock slide of translation
One alignment pin and the second alignment pin can be inserted correspondingly in the first positioning hole and the second positioning hole；The pair of bar that slides includes the
One slides bar and second slides bar, and first slides the top that bar is fixedly installed on the first alignment pin, and second slides bar fixed setting
The central axis of the center line of bar and the first alignment pin is slided in the top of the second alignment pin, first.
Perform in end 50, the guide groove 6230 solved on lock slide 623 includes the first arc guide groove 6231 of connection, the
Two arc guide grooves 6232, the 3rd arc guide groove 6233, wherein, the arc center of circle of the second arc guide groove is located at annulus 631
Center line on；In drive component 63, the unlocked state 633 includes being fixed on projection in the radial direction on the madial wall of annulus 631
637th, it is fixed in radial direction on projection and points to the radial bars 638 in the annulus center of circle；The trip lever 6331 is arranged on radial bars
End；With the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drives solution lock slide into basal disc 621
The heart translates, meanwhile, second gear 613 starts to engage with tooth section 632, and afterwards, trip lever enters the second arc guide groove, and unblock is slided
The distance at block and basal disc center keeps constant, and afterwards, trip lever enters the 3rd arc guide groove, and drives and solve lock slide to remote
The direction translation at basal disc center, when trip lever departs from three arc guide grooves, second gear disengages with tooth section.
Perform in end 50, the annulus 631 is articulated in housing 52, and the drive device includes fixation and is set in annulus
Ring gear 635 on madial wall, the 3rd gear 636 engaged with ring gear, couple with the 3rd gear and first in housing
Motor.
In practical operation, a kind of forearm of the present invention is provided with the work that the fixed anglec of rotation performs the robot of end
Flow is as follows：
In first, adjutage a, power set driving power transmission shaft a614 rotations, power transmission shaft drives gear wheel a611 rotations, greatly
Gear drives the second middle gear a612 rotations, and the second middle gear drives the first little gear a613 rotations；Second middle gear
A612 drives the second stud a631 to decline, and the second stud drives the second telescoping mechanism a63 to decline, and the first little gear a613 drives
Dynamic first stud a621 rises, and the first stud drives the first telescoping mechanism a62 to rise；First telescoping mechanism drives swing mechanism
A64 rises, and the second telescoping mechanism a63, which drives, swings guiding mechanism a65 declines；First axle a641 and the second axle a642 are first straight
Slided in linear guide groove a651, afterwards, first axle is slided between a pair of scalable guide rod a653, until first axle a641
It is against in sector-like guide groove a652 side wall, now, the second axle a642 is still in linear guide groove a651；Afterwards, a pair can
Flexible guide rod a653, which retracts, to be swung in guiding mechanism a65, and first axle a641 can be swung in sector-like guide groove a652；Afterwards,
Second power set driving first axle a641 is swung in sector-like guide groove a652, the robot on swing mechanism a64
End 50 is performed also to swing therewith.
Second, when oscillating function of the robot without using adjutage a, the second power set are interrupted to first axle a641
The power of conveying；Afterwards, under the driving of power set, the first telescoping mechanism a62 declines and the second telescoping mechanism a63 rises,
Second axle a642 is slided to reset in linear guide groove a651, and first axle a641 is in sector-like guide groove a652 to reset
Direction is moved, and because first axle a641 is swung in sector-like guide groove a652, therefore, first axle a641, which deviates linear, to be led
To groove a651, still, a pair of angled side that first axle a641 can be close to sector-like guide groove a652 is returned to sector-like guide groove
A652 and linear guide groove a651 connectivity part, enter back into linear guide groove a651；As first axle a641 and the second axle
When a642 enters linear guide groove a651, swing mechanism a64 is limited.
3rd, perform in end 50, the drive device driving annulus 631 in drive mechanism 60 rotates, and annulus drives thereon
Tooth section 632 and unlocked state 633 rotate.When the trip lever 6331 being fixedly installed on annulus 631 is slipped into guide groove 6230
And drive center translation from solution lock slide 623 to basal disc 621 when, solve and slide bar 624 with man-to-man side a pair on lock slide
Formula translates in a pair of slide slots, because slide slot 629 is in bending, therefore, a pair of the cunnings translated to the central line of basal disc 621
Row bar 624 can drive one end of a pair of elastic connections of brake(-holder) block 622 to be opened, in this way, rotating seat 611 is braked by initial by a pair
The state of piece friction catch is changed into rotatable state.It is synchronous that rotating seat 611 is no longer braked with a pair of brake(-holder) blocks 622
Ground, the tooth section 632 on the madial wall of annulus 631, i.e. one on annulus madial wall section tooth, starts to engage, and drive with second gear 613
Dynamic second gear and the rotating seat 611 for being secured to connect rotate, and rotating seat drives a pair of suckers rotations；When rotating seat 611 revolves
When turning 180 degree, tooth section 632 disengages with second gear 613, meanwhile, the guide groove of trip lever 6331 and solution lock slide
6230 disengage, and because guide groove is S-shaped, therefore, when trip lever 6331 disengages with guide groove, solution lock slide 623 is multiple
Position, slides bar 624 and resets therewith for a pair, and one end of a pair of elastic connections of brake(-holder) block 622 also resets therewith, and a pair of brake(-holder) blocks are again
Friction catch brake disc 612, and then brake rotating seat 611.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (10)
1. a kind of forearm is provided with the robot that the fixed anglec of rotation performs end, including base body (10), it is articulated in base body
On waist rotation member (20), be articulated on waist rotation member large arm (30), be articulated in large arm forearm (40), installed in forearm
On adjutage (a), the execution end (50) on adjutage, waist rotation member around base body rotate, large arm is around waist transfer part
Part rotates, and forearm rotates around large arm；It is characterized in that：
The adjutage includes being fixedly connected with the stake body (a61) of forearm, the first telescoping mechanism (a62) on stake body
With the second telescoping mechanism (a63), the swing mechanism (a64) being hinged on the first telescoping mechanism, be fixed on the second telescoping mechanism
Swing guiding mechanism (a65)；Gear wheel (a611), the second middle gear (a612), the first small tooth are articulated with the stake body
(a613), power transmission shaft (a614) are taken turns, the power transmission shaft is vertically arranged and coupled with the power set on stake body, described
Gear wheel is fixed on power transmission shaft, and gear wheel engages with the second middle gear, and the second middle gear engages with the first little gear；Described
One telescoping mechanism includes the first stud (a621) of fixed setting, and the centre of first little gear opens up and the first stud spiral shell
The screwed hole connect；Second telescoping mechanism includes the second stud (a631) of fixed setting, the center of second middle gear
Place opens up the screwed hole being spirally connected with the second stud；Stake body be provided with to the first telescoping mechanism and the second telescoping mechanism stretch into
The guide rod (a615) that row is oriented to；The swing mechanism include the first axle (a641) that be arranged in parallel and the second axle (a642) and
Second power set of first axle connection, the swing guiding mechanism include linear guide groove (a651), are arranged on linear
Guide groove end and connected with linear guide groove sector-like guide groove (a652), be arranged on linear guide groove end and with it is straight
A pair of scalable guide rods (a653) of linear guide groove linking；Second axle passes through connecting rod (a643) and the first telescopic machine
Structure is hinged, and first axle and the second axle are slidably fitted in linear guide groove, and first axle and the distance value of the second axle are equal to sector
The fan-shaped radius value of guide groove, second power set are used to drive first axle to swing in sector-like guide groove, the second power
Device, which is slidably mounted on, to be swung on guiding mechanism；
It is described to perform linking arm (51) that end includes being arranged on swing mechanism, housing (52) on the connecting arm, peace are set
Drive mechanism (60) in housing, the spill spin block (53) being connected with drive mechanism；The drive mechanism driving spill spin block rotation
Turn；The drive mechanism includes rotary components (61), latch components (62), drive component (63)；The rotary components include rotation
Swivel base (611), the fixed brake disc (612) and second gear (613) for being set in rotating seat periphery；The spill spin block is fixedly connected
Rotating seat；The latch components include being fixedly installed on the basal disc (621) in housing, a pair of brake(-holder) blocks on basal disc
(622) the solution lock slide (623), being slidably arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the outer of brake disc
Enclose, one end of a pair of brake(-holder) blocks is hinged and other end elastic connection；Solution lock slide slides bar (624), a pair of systems provided with a pair
One end of moving plate elastic connection opens up a pair of slide slots (629), and slide slot is in bending, and a pair of slide slots are symmetrical set,
Slide bar and be slidably fitted in a pair of slide slots for a pair；The drive component includes the annulus for being driven and being rotated by drive device
(631), the center line of annulus rotation deviates the center line of rotating seat rotation, and the madial wall of annulus is conciliate provided with tooth section (632)
Lock module (633), unlocked state include a trip lever (6331), and the solution lock slide opens up the guide groove (6230) of S-shaped.
2. a kind of forearm as claimed in claim 1 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
In adjutage (a), the stake body includes base (a616), support plate (a617)；The base is fixedly installed on forearm, described
Guide rod (a615) is fixed on base, and the support plate is fixed on the top of guide rod；Tooth in the gear wheel (a611), second
Wheel (a612), the first little gear (a613) are articulated on support plate, and the top of the power transmission shaft (a614) is articulated on support plate, transmission
The bottom of axle is articulated on base；
First telescoping mechanism includes the first flexible chassis (a623), a pair of first telescopic blocks (a624)；Described first is flexible
Chassis opens up the first guiding slot port (a626), and the first guiding slot port is slidably matched with guide rod；First stud (a621)
Quantity is two, and two the first studs are vertically arranged on the first flexible chassis, opens up a pair of first through hole on the support plate, one
A pair of first through hole are passed through to the first stud；The quantity of first little gear is two, and two the first little gears are with one-to-one
Mode be spirally connected with a pair of first studs；The pair of first telescopic block is arranged on two the first studs in a manner of man-to-man
Top, the swing mechanism are arranged on the top of a pair of first telescopic blocks；
Second telescoping mechanism includes second flexible chassis (a633), flexible disk (a634)；Described second flexible chassis opens up
Second guiding slot port (a636), the second guiding slot port are slidably matched with guide rod；The quantity of second stud (a631) is two
Individual, two the second studs are vertically arranged on the second flexible chassis, and the second flexible chassis is positioned at the lower section on the first flexible chassis；Institute
State the first flexible chassis and open up the second through hole, third through-hole is opened up on the support plate, it is logical that two the second studs are upward through second
Hole and third through-hole；The quantity of second middle gear (a612) be two, two the second middle gears in a manner of man-to-man with
Two the second studs are spirally connected, and two the second middle gears engage with gear wheel, two the second middle gears in a manner of man-to-man with
Two the first little gear engagements；The flexible disk is arranged on the top of the second stud, and the swing guiding mechanism is arranged on flexible
On disk；Fourth hole is opened up on the flexible disk, first stud passes through fourth hole, and first telescopic block is positioned at flexible
The top of disk；
The second pivot joint that second middle gear (a612) includes second gear portion (a6121), is coaxially disposed with second gear portion
Portion (a6122)；The centre in the second gear portion and the second articulated section is provided with insertion second gear portion and the second articulated section
Screwed hole (a6123)；Second articulated section is articulated in support plate (a617) third through-hole；First little gear (a613)
The first articulated section being coaxially disposed including first gear portion, with first gear portion；The first gear portion and the first articulated section
Centre is provided with the screwed hole of insertion first gear portion and the first articulated section；First articulated section is articulated in support plate (a617)
In first through hole；
The first housing (a66) is enclosed with the stake body (a61), the first housing and base (a616) and support plate (a617) are fixed
Connection；The second housing (a67) is enclosed with the flexible disk (a634), the second housing is fixedly connected with flexible disk, and described first
Telescoping mechanism (a62) and the second telescoping mechanism (a63) are located in second shell body.
3. a kind of forearm as claimed in claim 2 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
In adjutage (a), the 4th stud (a637), the 6th stud (a638) are vertically arranged with described second flexible chassis (a633),
4th stud, the 6th stud are upward through the first flexible chassis (a623) and support plate (a617), flexible disk (a634) installation
At the top of the 4th stud, the 6th stud；The 4th middle gear (a618), the 6th middle gear (a619) are articulated with the support plate,
4th middle gear, the 6th middle gear are located between support plate and the first flexible chassis, the centre of the 4th middle gear, the 6th middle gear
Centre open up screwed hole, the 4th stud is screwed onto in the screwed hole of the 4th middle gear, the 4th middle gear and gear wheel
(a611) engage, the 6th stud is screwed onto in the screwed hole of the 6th middle gear, and the 6th middle gear engages with gear wheel.
4. a kind of forearm as claimed in claim 2 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
In adjutage (a), the power set include the worm gear (a661) installed in power transmission shaft (a614) bottom, the snail engaged with worm gear
Bar (a662), the first servomotor (a663) coupled with worm screw, worm screw is articulated on base, and the first servomotor is arranged on bottom
On seat.
5. a kind of forearm as claimed in claim 1 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
In adjutage (a), the swing mechanism (a64) includes pendular body (a640), the first axle (a641) and the second axle (a642)
It is fixed on pendular body, pendular body is provided with the mounting flange (a644) that connection robot performs end；The swing Guiding machine
Structure (a65) includes the guide plate (a650) being fixed on flexible disk (a634), and the linear guide groove (a651) and sector are led
It is opened in groove (a652) on guide plate, second power set are slidably mounted on guide plate；
Second power set include being slidably mounted on guide plate (a650) and across linear guide groove (a651) U-shaped
Sliding block (a646), the second servomotor (a647) being fixed on U-shaped sliding block, one end are connected with the second servo motor output shaft
Second connecting rod, the oscillating rod (a648) installed in the second connecting rod other end, oscillating rod are fixedly connected with first axle (a641),
The axial line of second servo motor output shaft overlaps with the axial line of the second axle；
The pair of scalable guide rod (a653) is slided and is plugged in guide plate (a650), is set in the side wall of scalable guide rod
At rack (a654), rack is engaged with little gear (a655), and little gear couples with the 3rd servomotor (a656), the 3rd servo electricity
Machine is fixed on guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can stretch into sector-like guide groove
(a652) in, the passage between a pair of scalable guide rods forms a complete linear with linear guide groove (a651) and is oriented to
Passage.
6. a kind of forearm as claimed in claim 1 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
Performing in end (50), the rotating seat (611) is articulated on basal disc (621), and rotating seat is provided with a pair of locating rods (614),
The spill spin block (53) is fixedly connected with rotating seat by a pair of locating rods.
7. a kind of forearm as claimed in claim 1 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
Perform in end (50), the basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of brake(-holder) block
(622) the first brake(-holder) block positioned at left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second system are included
The left end of moving plate is hinged on swivel pin, and the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block passes through the first adjustable spring
(6221) elastic connection；The right-hand member of first brake(-holder) block is provided with the first fore-set, and the right-hand member of the second brake(-holder) block is provided with the second fore-set, the
One fore-set and the second fore-set are oppositely arranged, and the first fore-set and the second fore-set are located in the first adjustable spring；First brake(-holder) block
With the equal semicircular in shape of the second brake(-holder) block, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612)；
The pair of slide slot (629) includes the first slide slot and the second slide slot, and the first slide slot is opened in the first brake(-holder) block
Right-hand member, the second slide slot is opened in the right-hand member of the second brake(-holder) block, and the first slide slot and the second slide slot are symmetrical set, its
In, the first slide slot includes the first straight line type slide slot (6291) and second straight line type slide slot (6292) of connection, and first is straight
Angle circle between line style slide slot and second straight line type slide slot is between 90 degree and 180 degree.
8. a kind of forearm as claimed in claim 7 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
Perform in end (50), the solution lock slide (623) is provided with a pair of alignment pins (627), and the pair of alignment pin includes left and right
Symmetrically arranged first alignment pin and the second alignment pin, the right-hand member of first brake(-holder) block are provided with the first positioning hole (6222), the
The right-hand member of two brake(-holder) blocks is provided with the second positioning hole, when the first fore-set and the second fore-set offset, the on the solution lock slide of translation
One alignment pin and the second alignment pin can be inserted correspondingly in the first positioning hole and the second positioning hole；The pair of bar that slides includes the
One slides bar and second slides bar, and first slides the top that bar is fixedly installed on the first alignment pin, and second slides bar fixed setting
The central axis of the center line of bar and the first alignment pin is slided in the top of the second alignment pin, first.
9. a kind of forearm as claimed in claim 8 is provided with the robot that the fixed anglec of rotation performs end, it is characterised in that：
Perform in end (50), solving the guide groove (6230) on lock slide (623) includes the first arc guide groove (6231) of connection, the
Two arc guide grooves (6232), the 3rd arc guide groove (6233), wherein, the arc center of circle of the second arc guide groove is located at annulus
(631) on center line；In drive component (63), the unlocked state (633) includes being fixed on annulus (631) madial wall
Projection (637), the radial bars (638) for being fixed in radial direction on projection and pointing to the annulus center of circle in radial direction；The trip lever
(6331) it is arranged on the end of radial bars；With the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drives solution
Center translation from lock slide to basal disc (621), meanwhile, second gear (613) starts to engage with tooth section (632), afterwards, trip lever
Into the second arc guide groove, the distance at solution lock slide and basal disc center keeps constant, and afterwards, trip lever is led into the 3rd arc
To groove, and solution lock slide is driven to be translated to the direction away from basal disc center, when trip lever departs from three arc guide grooves, second
Gear disengages with tooth section.
10. a kind of forearm as claimed in claim 1 is provided with the robot that the fixed anglec of rotation performs end, its feature exists
In：Perform in end (50), the annulus (631) is articulated in housing (52), and the drive device includes fixation and is set in circle
Ring gear (635) on ring madial wall, the 3rd gear (636) engaged with ring gear, couple and in housing with the 3rd gear
The first motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370513.0A CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370513.0A CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881524A CN105881524A (en) | 2016-08-24 |
| CN105881524B true CN105881524B (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610370513.0A Active CN105881524B (en) | 2016-05-28 | 2016-05-28 | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end |
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| CN105881524A (en) | 2016-08-24 |
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Effective date of registration: 20171213 Address after: Five Wenling city Taizhou road Zeguo town of happiness of 317500 cities in Zhejiang province No. 1 Applicant after: Taizhou Feng Da Robot Technology Co., Ltd. Address before: 523000 Guangdong province Dongguan City Songshan Lake high tech Industrial Zone Building 406 industrial development productivity Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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Effective date of registration: 20180730 Address after: 150069 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection. Patentee after: Harbin strengthen the joint venture capital enterprise (limited partnership) Address before: 317500 1 happy five road, Ze Guo Town, Wenling City, Taizhou, Zhejiang Patentee before: Taizhou Feng Da Robot Technology Co., Ltd. |
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Effective date of registration: 20190109 Address after: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee after: Hakda robotics group (Jiangsu) Huazi Intelligent Equipment Co., Ltd. Address before: 150069 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection. Patentee before: Harbin strengthen the joint venture capital enterprise (limited partnership) |
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Address after: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee after: Huacui Intelligent Equipment Co.,Ltd. Address before: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee before: HIT ROBOT GROUP (JIANGSU) HUACUI INTELLIGENT EQUIPMENT Co.,Ltd. |
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