CN105945985B - A kind of robot for performing end and being provided with spill spin block - Google Patents
A kind of robot for performing end and being provided with spill spin block Download PDFInfo
- Publication number
- CN105945985B CN105945985B CN201610370444.3A CN201610370444A CN105945985B CN 105945985 B CN105945985 B CN 105945985B CN 201610370444 A CN201610370444 A CN 201610370444A CN 105945985 B CN105945985 B CN 105945985B
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- brake
- block
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- slide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot for performing end and being provided with spill spin block, the spill spin block, which is arranged on, performs end, and driven by drive mechanism, rotating seat that drive mechanism includes being fixedly connected with spill spin block, the latch components of unlock piece, the internal gear provided with tooth section, rotating seat and internal gear eccentric setting are used as using sliding block.During normality, tooth section and the gear on rotating seat are contactless, latch components braking rotating seat；During operation, S-shaped guide groove on the trip lever and sliding block on the internal gear of rotation coordinates, and first releases braking of the latch components to rotating seat, then resets latch components to brake rotating seat, in said process, tooth section driving rotating seat rotation predetermined angular.By above-mentioned technical proposal, the angle that spill spin block rotates every time is certain, to improve the precision of robot motion.
Description
Technical field：
The present invention relates to robotic technology field, in particular to a kind of robot for performing end and being provided with spill spin block.
Background technology：
In the prior art, pcb board cuts the special pcb board guillotine of generally use.However, operating personnel pass through craft
Pcb board to be cut is sent into pcb board guillotine by mode, then the pcb board cut is exported into pcb board guillotine, is not only worked
Amount is big, is also difficult to be improved moreover, pcb board cuts efficiency.
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.
The content of the invention：
Technical problem solved by the invention：In the prior art, the pcb board that material is picked and placeed by the manipulator of robot is cut
How machine, 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 machine for performing end and being provided with spill spin block
Device people, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, be articulated in large arm
Forearm, the execution end on forearm, waist rotation member around base body rotate, large arm around waist rotation member rotate, forearm around
Large arm rotates；
The end that performs rotates including spill spin block, a pair of sucker groups being fixedly connected with spill spin block, driving spill spin block
Drive mechanism；The drive mechanism includes rotary components, latch components, drive component；
The rotary components include rotating seat, the fixed brake disc and second gear for being set in rotating seat periphery；The rotation
Switch block is fixedly connected with rotating seat；
The latch components include being fixedly installed on the basal disc in housing, a pair of brake(-holder) blocks on basal disc, slided
The solution lock slide being arranged on basal disc；The pair of brake(-holder) block is symmetrical set in the periphery of brake disc, a pair of brake(-holder) blocks
One end is hinged, the mutual elastic connection of the other end；The solution lock slide slides bar provided with a pair, and a pair of brake(-holder) block elasticity are even
The one end connect opens up a pair of slide slots, and slide slot is in bending, and a pair of slide slots are symmetrical set, and slides bar for a pair and slides and matches somebody with somebody
Close in a pair of slide slots；
The drive component includes the annulus for being driven and being rotated by drive device, and the center line of annulus rotation deviates rotating seat
The center line of rotation, the madial wall of annulus are provided with tooth section and unlocked state, and unlocked state includes a trip lever, and the unblock is slided
Block opens up the guide groove of S-shaped, and the annulus of rotation can drive trip lever to slip into guide groove, and the trip lever slided in guide groove can drive
Make solution lock slide to basal disc center translation, when trip lever starts to drive solution lock slide to basal disc center translation, second gear with
Tooth section starts to engage, and when trip lever, which departs from, to be contacted with guide groove, solution lock slide resets and second gear disengages with tooth section.
By above-mentioned technical proposal, a kind of operation principle for performing robot of the end provided with spill spin block of the present invention is such as
Under：
First, the drive device driving annulus rotation in drive mechanism, annulus drives tooth section and unlocked state rotation thereon
Turn.
Second, 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.
3rd, no longer brake rotating seat synchronously with a pair of brake(-holder) blocks, the tooth section on annulus madial wall, i.e. annulus madial wall
On one section of tooth, start to engage with second gear, and drive second gear and be secured to connection rotating seat rotation, rotating seat
Drive a pair of sucker rotations；When rotating seat rotates 180 degree, tooth section disengages with second gear, meanwhile, trip lever
Guide groove with solving lock slide disengages, because guide groove is S-shaped, therefore, and when trip lever disengages with guide groove, unblock
Sliding block resets, and slides bar and resets therewith for a pair, and one end of a pair of brake(-holder) block elastic connections also resets therewith, and a pair of brake(-holder) blocks are again
Friction catch brake disc, and then brake rotating seat.
Pass through above-mentioned technical proposal, drive mechanism of the present invention can be such that two suckers on execution end rotate exactly
180 degree, material is picked and placeed exactly to perform end.
Illustrate as the present invention to performing a kind of of end, it is described perform linking arm that end includes being articulated on forearm,
Housing on the connecting arm is set；The drive mechanism is arranged in housing, and spill spin block is located at outside housing.Specifically, a pair
Sucker is fixed on the left and right sides of spill spin block.
The rotating seat, which is articulated on basal disc, to be illustrated to one kind of rotary components as the present invention, rotating seat is provided with one
To locating rod, the spill spin block is fixedly connected with rotating seat by a pair of locating rods.
The basal disc, which is provided with a pillar, and pillar is provided with swivel pin is illustrated to one kind of latch components as the present invention；
The pair of brake(-holder) block 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
It is hinged on the left end of the second brake(-holder) block on swivel pin, the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block is stretched by first
Contracting spring connects；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.As described above, the first adjustable spring
With the trend for closing up the first brake(-holder) block and the second brake(-holder) block, and the setting of the first fore-set and the second fore-set then has stop should
The effect of kind trend.
The pair of slide slot slides including the first slide slot and second to be illustrated to one kind of latch components as the present invention
Groove, the first slide slot are 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 the second brake(-holder) block, and first slides
Groove and the second slide slot are symmetrical set, wherein, first straight line type slide slot and second of first slide slot including connection are straight
Line style slide slot, angle circle between first straight line type slide slot and second straight line type slide slot is in 90 degree and 180 degree
Between.As described above, when solving central line translation of the lock slide to basal disc, a pair slided in a pair of slide slots slide
Bar has 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.
One kind of latch components is illustrated as the present invention, the solution lock slide is provided with a pair of alignment pins, the pair of
Alignment pin includes the first alignment pin and the second alignment pin being symmetrical set, and the right-hand member of first brake(-holder) block, which is provided with first, to be determined
Position hole, the right-hand member of the second brake(-holder) block is provided with the second positioning hole, when the first fore-set and the second fore-set offset, the solution lock slide of translation
On the first alignment pin and the second alignment pin can correspondingly insert in the first positioning hole and the second positioning hole；It is the pair of to slide bar
Bar and second is slided including first and slides bar, and first slides the top that bar is fixedly installed on the first alignment pin, and second, which slides bar, consolidates
Surely the top of the second alignment pin is arranged on, first slides the central axis of the center line of bar and the first alignment pin.By above stating
Bright, when center translation of the trip lever promotion solution lock slide to basal disc, first slides bar first in first straight line type slide slot
Translation, when the first alignment pin and the second alignment pin depart from the first positioning hole and the second positioning hole, second slides bar just into the
Two linear pattern slide slots, slide bar for a pair and open the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block；Trip lever with
The rotation of annulus after leaving away, solution lock slide resets, and slides bar and resets therewith for a pair, the first alignment pin and the second alignment pin phase
Ground the first positioning hole of insertion and the second positioning hole are answered, to lock a pair of brake(-holder) blocks.
The a kind of of interactive relationship between latch components and drive component is illustrated as the present invention, in latch components, unblock
Guide groove on sliding block includes the first arc guide groove, the second arc guide groove, the 3rd arc guide groove of connection, wherein, the
The arc center of circle of two arc guide grooves is located on the center line of annulus；In drive component, the unlocked state includes being fixed on circle
Projection, the radial bars for being fixed in radial direction on projection and pointing to the annulus center of circle in radial direction on ring madial wall；The trip lever peace
Mounted in the end of radial bars；With the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drive solution lock slide to
The center translation of basal disc, meanwhile, second gear starts to engage with tooth section, and afterwards, trip lever enters the second arc guide groove, unblock
The distance at sliding 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
Direction from basal disc center translates, and when trip lever departs from three arc guide grooves, second gear disengages with tooth section.
As described above, on the premise of annulus rotates, when trip lever moves in the first arc guide groove, trip lever
Solution lock slide is promoted to be translated to the central line of basal disc, during trip lever is mobile in the first arc guide groove, first
Slide bar to translate in first straight line type slide slot first, translated afterwards in second straight line type slide slot, the first brake(-holder) block is right
End and the second brake(-holder) block right-hand member are separated from each other, and synchronously, the first alignment pin and the second alignment pin are progressively from the first positioning hole and the
Extracted in two positioning holes；When trip lever moves in the second arc guide groove, because radial direction boom end points to the center of circle of annulus
And second the arc center of circle of arc guide groove be located on the center line of annulus, therefore, when trip lever is in the second arc guide groove
When 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.
The annulus, which is articulated in housing, and the drive device includes is illustrated to one kind of drive component as the present invention
The fixed ring gear being set on annulus madial wall, the 3rd gear engaged with ring gear, couple with the 3rd gear and be arranged on housing
The first interior motor.As described above, the first motor drives the rotation of the 3rd gear, and the 3rd gear drives circle by driving ring gear
Ring rotates.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation for performing end and being provided with the robot of spill spin block of the present invention；
Fig. 2 is the structural representation that end 50 is performed in Fig. 1；
Fig. 3 is the structural representation of drive mechanism 60 in Fig. 2；
Fig. 4 is the combining structure schematic diagram of rotary components 61 and latch components 62 in Fig. 3；
Fig. 5 be Fig. 4 in the combining structure of rotary components 61 and latch components 62 be cut after schematic diagram；
Fig. 6 is the structural representation that lock slide 623 is solved in Fig. 5；
Fig. 7 is the structural representation of brake(-holder) block 622 in Fig. 5；
Fig. 8 is the structural representation of drive component 63 in Fig. 3.
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, locating rod；
62nd, latch components；621st, basal disc；622nd, brake(-holder) block；6221st, the first adjustable spring；6222nd, the first positioning hole；
623rd, lock slide is solved；6230th, guide groove；6231st, the first arc guide groove；6232nd, the second arc guide groove；6233rd, the 3rd arc
Shape 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.
Embodiment：
Such as Fig. 1, a kind of robot for performing end and being provided with spill spin block, including base body 10, the waist that is articulated on base body
Rotation member 20, the large arm 30 being articulated on waist rotation member, the forearm 40 being articulated in large arm, the execution end on forearm
50, waist rotation member rotates around base body, and large arm rotates around waist rotation member, and forearm rotates around large arm.
With reference to Fig. 1, Fig. 2, the end that performs includes being articulated in linking arm 51 on forearm 40, set on the connecting arm
Housing 52, the spill spin block 53 outside housing, a pair of sucker groups being fixedly connected with spill spin block, the driving of driving spill spin block rotation
Mechanism 60；The drive mechanism 60 is arranged in housing.
Such as Fig. 3, the drive mechanism includes rotary components 61, latch components 62, drive component 63.
In above-mentioned drive mechanism, with reference to Fig. 4, Fig. 5, the rotary components include rotating seat 611, fixation is set in rotating seat
The brake disc 612 and second gear 613 of periphery；The spill spin block is fixedly connected with rotating seat.With reference to Fig. 4 to Fig. 7, the lock group
Basal disc 621 that part includes being fixedly installed in housing, a pair of brake(-holder) blocks 622 on basal disc, it is slidably arranged on basal disc
Solution lock slide 623；The pair of brake(-holder) block is symmetrical set mutually to be cut with scissors in the periphery of brake disc, one end of a pair of brake(-holder) blocks
Connect, the mutual elastic connection of the other end；Solution lock slide slides bar 624 provided with a pair, and one end of a pair of brake(-holder) block elastic connections is opened
If a pair of slide slots 629, slide slot is in bending, and a pair of slide slots are symmetrical set, and slides bar and is slidably fitted in one for a pair
To in slide slot.Such as Fig. 8, the drive component includes the annulus 631 for being driven and being rotated by drive device, the center of annulus rotation
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, and unlocked state includes
One trip lever 6331, the solution lock slide open up the guide groove 6230 of S-shaped, and the annulus of rotation can drive trip lever to slip into guiding
Groove, the trip lever slided in guide groove can drive solution lock slide to basal disc center translation, when trip lever starts to drive unblock to be slided
When block is to basal disc center translation, second gear starts to engage with tooth section, when trip lever, which departs from, to be contacted with guide groove, solves lock slide
Reset and second gear disengages with tooth section.
In above-mentioned rotary components 61, 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.
In above-mentioned latch components 62, the basal disc 621 is provided with a pillar 626, and pillar is provided with swivel pin；It is the pair of
Brake(-holder) block 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
The left end of two brake(-holder) blocks 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 flexible bullet
The elastic connection of spring 6221；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.
In above-mentioned latch components 62, the pair of slide slot 629 includes the first slide slot and the second slide slot, and first slides
Groove 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 the second brake(-holder) block, and the first slide slot and second are slided
Row groove is symmetrical set, wherein, the first slide slot includes the first straight line type slide slot 6291 of connection and second straight line type is slided
Row groove 6292, angle circle between first straight line type slide slot and second straight line type slide slot in 90 degree and 180 degree it
Between.
In above-mentioned latch components 62, the solution lock slide 623 is provided with a pair of alignment pins 627, the pair of alignment pin bag
The first alignment pin and the second alignment pin being symmetrical set are included, the right-hand member of first brake(-holder) block is provided with the first positioning hole
6222, the right-hand member of the second brake(-holder) block is provided with the second positioning hole, when the first fore-set and the second fore-set offset, the solution lock slide of translation
On the first alignment pin and the second alignment pin can correspondingly insert in the first positioning hole and the second positioning hole；It is the pair of to slide bar
Bar and second is slided including first and slides bar, and first slides the top that bar is fixedly installed on the first alignment pin, and second, which slides bar, consolidates
Surely the top of the second alignment pin is arranged on, first slides the central axis of the center line of bar and the first alignment pin.
In above-mentioned latch components 62, solving the guide groove 6230 on lock slide 623 includes the first arc guide groove of connection
6231st, the second arc guide groove 6232, the 3rd arc guide groove 6233, wherein, the arc center of circle of the second arc guide groove is located at
On the center line of annulus 631；In drive component 63, the unlocked state 633 includes the radial direction being fixed on the madial wall of annulus 631
Interior projection 637, the radial bars 638 for being fixed in radial direction on projection and pointing to the annulus center of circle；The trip lever 6331 is arranged on footpath
To the end of bar；With the rotation of annulus, trip lever is first slipped into the first arc guide groove, and drives solution lock slide to basal disc
621 center translation, meanwhile, second gear 613 starts to engage with tooth section 632, and afterwards, trip lever enters the second arcuate guide
The distance at groove, solution lock slide and basal disc center keeps constant, and afterwards, trip lever enters the 3rd arc guide groove, and drives unblock
Sliding block translates to the direction away from basal disc center, and when trip lever departs from three arc guide grooves, second gear departs from tooth section
Contact.
In above-mentioned drive component 63, the annulus 631 is articulated in housing 52, and the drive device includes fixation and is set in
Ring gear 635 on annulus madial wall, the 3rd gear 636 engaged with ring gear, couple and in housing with the 3rd gear
First motor.
In practical operation, the workflow of drive mechanism 60 of the present invention is as follows：
First, the drive device driving annulus 631 in drive mechanism 60 rotates, and annulus drives tooth section 632 thereon to conciliate
Lock module 633 rotates.
Second, when the trip lever 6331 being fixedly installed on annulus 631 is slipped into guide groove 6230 and drives solution lock slide
623 to basal disc 621 center translation when, solve and slide bar 624 in a manner of man-to-man in a pair of slide slots a pair on lock slide
Interior translation, because slide slot 629 is in bending, therefore, sliding bar 624 to a pair that the central line of basal disc 621 translates can drive
One end of a pair of elastic connections of brake(-holder) block 622 is opened, in this way, rotating seat 611 by initial by a pair of brake(-holder) block friction catches
State is changed into rotatable state.
3rd, no longer brake rotating seat 611 synchronously with a pair of brake(-holder) blocks 622, the tooth section 632 on the madial wall of annulus 631,
One section of tooth i.e. on annulus madial wall, starts to engage with second gear 613, and drives second gear and be secured to the rotation of connection
Swivel base 611 rotates, and rotating seat drives a pair of sucker rotations；When rotating seat 611 rotates 180 degree, tooth section 632 and second
Gear 613 disengages, meanwhile, trip lever 6331 disengages with solving the guide groove 6230 of lock slide, because guide groove is in S
Shape, therefore, when trip lever 6331 and guide groove disengage, solution lock slide 623 resets, and slides bar 624 and resets therewith for a pair, and one
One end of the elastic connection of brake(-holder) block 622 is also resetted therewith, a pair of brake(-holder) blocks friction catch brake disc 612, and then brake again
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 (8)
1. a kind of robot for performing end and being provided with spill spin block, including base body (10), the waist rotation member that is articulated on base body
(20) large arm (30) that, is articulated on waist rotation member, the forearm (40) being articulated in large arm, the execution end on forearm
(50), waist rotation member rotates around base body, and large arm rotates around waist rotation member, and forearm rotates around large arm；It is characterized in that：
The end that performs rotates including spill spin block (53), a pair of sucker groups being fixedly connected with spill spin block, driving spill spin block
Drive mechanism (60)；The drive mechanism includes rotary components (61), latch components (62), drive component (63)；
The rotary components include rotating seat (611), the fixed brake disc (612) and second gear for being set in rotating seat periphery
(613)；The spill spin block is fixedly connected with 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, the mutual elastic connection of the other end；Solution lock slide slides bar (624) provided with a pair,
One end of a pair of brake(-holder) block elastic connections 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 (631) for being driven and being rotated by drive device, and the center line of annulus rotation deviates rotation
The center line of seat rotation, the madial wall of annulus are provided with tooth section (632) and unlocked state (633), and unlocked state includes a unblock
Bar (6331), the solution lock slide open up the guide groove (6230) of S-shaped, and the annulus of rotation can drive trip lever to slip into guide groove,
The trip lever slided in guide groove can drive solution lock slide to basal disc center translation, when trip lever start to drive solution lock slide to
During basal disc center translation, second gear starts to engage with tooth section, and when trip lever, which departs from, to be contacted with guide groove, solution lock slide resets
And second gear disengages with tooth section.
A kind of 2. robot for performing end and being provided with spill spin block as claimed in claim 1, it is characterised in that：The execution end
(50) linking arm (51), the housing (52) of setting on the connecting arm being articulated on forearm (40), the drive mechanism are included
(60) it is arranged in housing, spill spin block (53) is located at outside housing.
A kind of 3. robot for performing end and being provided with spill spin block as claimed in claim 1, it is characterised in that：Rotary components (61)
In, 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) it is fixedly connected with rotating seat by a pair of locating rods.
A kind of 4. robot for performing end and being provided with spill spin block as claimed in claim 1, it is characterised in that：Latch components (62)
In, the basal disc (621) is provided with a pillar (626), and pillar is provided with swivel pin；The pair of brake(-holder) block (622) includes position
The left end hinge of the first brake(-holder) block in left side and the second brake(-holder) block positioned at right side, the left end of the first brake(-holder) block and the second brake(-holder) block
It is connected on swivel pin, the right-hand member of the right-hand member of the first brake(-holder) block and the second brake(-holder) block is connected by the first adjustable spring (6221) elasticity
Connect；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 first fore-set and the second top
Post is 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 second brake(-holder) block are equal
Semicircular in shape, the first brake(-holder) block and the second brake(-holder) block surround brake disc (612).
A kind of 5. robot for performing end and being provided with spill spin block as claimed in claim 4, it is characterised in that：Latch components (62)
In, 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 are 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.
A kind of 6. robot for performing end and being provided with spill spin block as claimed in claim 5, it is characterised in that：Latch components (62)
In, the solution lock slide (623) is provided with a pair of alignment pins (627), the pair of alignment pin including be symmetrical set the
One 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 right side of the second brake(-holder) block
End is provided with the second positioning hole, when the first fore-set and the second fore-set offset, the first alignment pin solved on lock slide of translation and the
Two alignment pins can be inserted correspondingly in the first positioning hole and the second positioning hole；The pair of bar that slides slides bar and including first
Two slide bar, and first slides the top that bar is fixedly installed on the first alignment pin, and second, which slides bar, is fixedly installed on the second alignment pin
Top, first slides the central axis of the center line of bar and the first alignment pin.
A kind of 7. robot for performing end and being provided with spill spin block as claimed in claim 6, it is characterised in that：Latch components (62)
In, the guide groove (6230) solved on lock slide (623) includes the first arc guide groove (6231) of connection, the second arc guide groove
(6232), the 3rd arc guide groove (6233), wherein, the arc center of circle of the second arc guide groove is located at the center of annulus (631)
On line；In drive component (63), the unlocked state (633) includes being fixed on projection in the radial direction on annulus (631) madial wall
(637), 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 footpath
To the end of bar；
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, solution
The distance at lock slide and basal disc center keeps constant, and afterwards, trip lever enters the 3rd arc guide groove, and drive solve lock slide to
Direction away from basal disc center translates, and when trip lever departs from three arc guide grooves, second gear disengages with tooth section.
A kind of 8. robot for performing end and being provided with spill spin block as claimed in claim 1, it is characterised in that：Drive component (63)
In, the annulus (631) is articulated in housing (52), and the drive device includes the fixed ring gear being set on annulus madial wall
(635) the 3rd gear (636), engaged with ring gear, the first motor for coupling with the 3rd gear and being arranged in housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370444.3A CN105945985B (en) | 2016-05-28 | 2016-05-28 | A kind of robot for performing end and being provided with spill spin block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370444.3A CN105945985B (en) | 2016-05-28 | 2016-05-28 | A kind of robot for performing end and being provided with spill spin block |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945985A CN105945985A (en) | 2016-09-21 |
| CN105945985B true CN105945985B (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610370444.3A Active CN105945985B (en) | 2016-05-28 | 2016-05-28 | A kind of robot for performing end and being provided with spill spin block |
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Effective date of registration: 20171212 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: 20181123 Address after: Room 103-16, Building 5, 656 Qixing Road, Wuxing District, Huzhou City, Zhejiang Province, 313028 Patentee after: Huzhou Peiyou Incubator Co., Ltd. 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: 20200730 Address after: 317500 No. 1 Happy Five Road, Zeguo Town, Wenling City, Taizhou City, Zhejiang Province Patentee after: TAIZHOU FENGDA ROBOT TECHNOLOGY Co.,Ltd. Address before: Room 103-16, Building 5, 656 Qixing Road, Wuxing District, Huzhou City, Zhejiang Province, 313028 Patentee before: Huzhou Peiyou Incubator Co.,Ltd. |