CN107282955A - A kind of robot device - Google Patents
A kind of robot device Download PDFInfo
- Publication number
- CN107282955A CN107282955A CN201710745301.0A CN201710745301A CN107282955A CN 107282955 A CN107282955 A CN 107282955A CN 201710745301 A CN201710745301 A CN 201710745301A CN 107282955 A CN107282955 A CN 107282955A
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- China
- Prior art keywords
- ring
- spiral shell
- groove
- actuation means
- ladder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B29/00—Holders for non-rotary cutting tools; Boring bars or boring heads; Accessories for tool holders
- B23B29/02—Boring bars
- B23B29/027—Steadies for boring bars
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot device, including clamping piece, hold body, vertical actuation means, horizontal actuation means and clamping device, a strip is provided with the left of the clamping piece, what right side upper and lower end face was each provided with fore-and-aft direction leads a bar, a fore-and-aft direction is provided with the right side of the end body, with it is described lead that a bar slides cooperation lead a shrinkage pool, the vertical actuation means are installed the left side of the end body and penetrated to the right and penetrated after first groove in the ladder group of the clamping piece right flank middle-end, the clamping device is mounted on the vertical actuation means on the left of the end body, the horizontal actuation means are arranged on the clamping device；Size Control of the present invention is convenient, and simple operation both can guarantee that machining accuracy, processing efficiency can be improved again.
Description
Technical field
The present invention relates to processing of robots field, particularly a kind of robot device.
Background technology
The fast development processed with intelligent robot, often uses robot manipulation, to pipe fitting when being processed to pipe fitting
During the processing of pore inwall, typically easily trembled in process, so that cause pore inner wall roughness poor, in addition,
When pore inwall is processed, the vertical dimension and located lateral size of pore inwall are difficult to control.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of robot device, and it can solve the problem that above-mentioned show in the art
The problem of.
The present invention is achieved through the following technical solutions：A kind of robot device of the present invention, including clamping piece, end
A strip, right side upper and lower side are provided with the left of body, vertical actuation means, horizontal actuation means and clamping device, the clamping piece
What face was each provided with fore-and-aft direction leads a bar, and right flank middle-end fore-and-aft direction is provided with one by the first ladder, the second ladder
The ladder group constituted with the 3rd ladder, the strip side is additionally provided with the right side of rubber tabletting, the end body and is provided with before and after one
Direction, with it is described lead that a bar slides cooperation lead a shrinkage pool, set with described lead above and below a shrinkage pool in and close at front end
The first groove of a left and right directions is equipped with, a board slot for being used to install guide plate is provided with above first groove,
The left-hand notch of first groove sets a deep gouge, and the ladder that the upper surface of the end body is additionally provided with a right low left high is recessed
Hole, the vertical actuation means, which are installed the left side of the end body and penetrated to the right, penetrates the clamping piece right side after first groove
In the ladder group of side middle-end, the clamping device is mounted on the vertical actuation means on the left of the end body, institute
Horizontal actuation means are stated on the clamping device.
Further, the vertical actuation means include steering spindle, pedestal, eccentric wheel, slide block, knife plate and knife plate and reset
A dead slot for being used to receive the eccentric wheel is provided with the left of device, the pedestal, the top of the dead slot is provided with upper and lower
To T-shaped shrinkage pool, the bottom of dead slot is provided with the second groove of a left and right directions, and the steering spindle penetrates second groove,
The end of the steering spindle in the dead slot positioned at the pedestal is fixedly mounted the eccentric wheel, and the steering spindle is close to right-hand member
A toothed wheel, the toothed wheel and the tooth being fixed in the first ladder of the clamping piece ladder group are fixedly mounted on partial axle
Shape bar coordinates, and the block that slides respectively sets a projection to constitute T-shaped guide plate close on the front-back on right side, and the T-shaped is led
The T-shaped shrinkage pool of position plate and the pedestal is constituted and can vertically slided, and the knife plate, the cunning are fixed in the block left surface that slides
The knife plate resetting means is installed, in addition, the lower end for sliding block sets one between the bottom of row block and the eccentric wheel
Spiral shell shape hole.
Further, the clamping device includes a left end close to the pedestal right side of the vertical actuation means and consolidated
Be scheduled on the sleeve in the steering spindle, and two close to the pedestal and with the sleeve lateral surface constitutes that gap coordinates slides ring
Device, and three the second elastic components slided described between ring, and three groups of two ends are respectively hinged at the ring that slides and filled
Put the pole of outside, and the top pressing board installed in the pole top, and three staggered 60 degree and one with second elastic component
End, which is fixed on left side, which slides the loop device other end, can glidingly penetrate the groove that the left and right directions set on loop device is slided on right side
The first position guiding rod, and positioned at it is described slide on the right side of ring, be fixed on the sleeve lateral surface and lateral surface is provided with spiral shell shape
Line and the spiral shell shape ring for being provided with three left and right directions grooves, and one be located at the spiral shell shape ring right-hand member and can glidingly be set in described
Pressure on sleeve lateral surface consolidates ring, and three penetrate the groove being arranged on the spiral shell shape ring, left end and slide ring with the right side
Device connects the other end and second position guiding rod for pressing solid ring to be fixedly connected, and is set in the solid ring of the pressure and an end body left side
The 3rd elastic component between the deep gouge bottom land of side, in addition, the sleeve is provided with one close on the lateral surface of right-hand member with being arranged on
Guide plate in the top board slot of first groove of the end body slides the first board slot of cooperation.
Further, the loop device that slides includes outer shroud, inner ring and clutch shaft bearing, and the clutch shaft bearing is arranged on described
Between outer shroud and inner ring, the lower end of the pole and the inner ring external articulation.
Further, the horizontal actuation means include the spiral shell that a middle-end is provided with the spiral shell shape ring with the clamping device
The spiral shell shape groove and left side middle-end that shape line coordinates are provided with the transfer ring of an annular groove, and one be arranged in the annular groove the
Two bearings, and a right side be provided with one be used for be arranged on the second bearing in restricted driving ring, and each setting one can be with up and down
The restricted driving hook of steering.
Further, the projection of the clamping piece is fixed on the arm of the robot on hand.
Further, so being provided with measurer on the right side of clamping piece upper surface and on the left of the end body upper surface.
Further, the knife plate middle-end is provided with an above-below direction, installation groove for fixed cutting tool.
Further, the knife plate resetting means includes spiral shell staple, pressing fixed blocks and the first elastic component, and the spiral shell staple is installed
In the spiral shell shape hole of the lower end for sliding block, the pressing fixed blocks are fixed on the lower end of the spiral shell staple and the eccentric wheel end face
Contradict, first elastic component be mounted on pressing fixed blocks upper surface on the right side of the spiral shell staple and the pedestal dead slot upper wall it
Between.
The beneficial effects of the invention are as follows：
1. leading a bar and toothed wheel and the cooperation of tooth form bar by being provided between clamping piece and end body, clamping piece is clamped in machine
The arm of device people drives steering spindle to be further driven to eccentric wheel on hand and in robot transverse shifting by toothed wheel transmission
Rotate, the upward jack-up of block will be slided using eccentric wheel, the cutting knife jack-up that will be clamped in knife plate and the vertical shifting for realizing cutting knife
It is dynamic, so as to realize the processing of pore inwall.In addition, by being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface
Measurer, can easily control cutting knife cut depth, so as to efficiently control the vertical dimension of pore inwall.
2. transferring ring due to being provided with a spiral shell shape ring and one, coordinated by adjusting spiral shell shape ring and transferring the screw thread between ring
Position, the lateral separation between cutting knife point of a knife on the left of restricted driving ring can be adjusted, so as to more accurately control to be processed
The located lateral size of pore inwall.
3. due to being provided with the 3rd elastic component and being fixed with the solid ring of pressure of 3 the second position guiding rods, robot arm hand to
When moving left, the 3rd elastic component presses to solid ring, and by the second position guiding rod drive on the right side of the loop device that slides be moved to the left and make
Left and right is slided loop device and mutually shifted near, so that pole drives top pressing board to press to pipe fitting endoporus hole wall, realizes the present apparatus to pipe fitting
Clamping and serve self centering.Further, since there is provided toothed wheel, in arm hand in leftward or rightward moving process,
Toothed wheel coordinates with tooth form bar to be remained to be in mated condition and realize the vertical feeding of cutting knife or vertically retract cutting knife.In addition, by
Slide that loop device moving range is larger in left and right two, i.e., the scope that top pressing board rises is larger, therefore, available for different pore size
The clamping of the pore inwall of pipe fitting.
4. due to being provided with the second elastic component between loop device in left and right slide, when arm hand moves right, the second elasticity
Part is automatic to be slided loop device by two and pushes away and realize top pressing board and leave conflict with pipe fitting endoporus hole wall, is laterally moved back the present apparatus with profit
Go out pipe fitting endoporus.
5. due to being provided with knife plate resetting means, by adjusting the extension elongation of spiral shell staple, it can adjust and slide the perpendicular of block
To size, with the processing for the pore inwall for adapting to different pore size.
6. the present invention is simple in construction, control is simple, and simple operation can not only improve operating efficiency, moreover it is possible to efficiently control
The machining accuracy of pore inwall.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following specific embodiment and accompanying drawing.
Fig. 1 is a kind of robot device's overall structure diagram of the invention；
Fig. 2 is the top view of robot device of the present invention a kind of；
Fig. 3 is a kind of normal section schematic diagram of the clamping piece of robot device of the present invention；
Fig. 4 is a kind of full sectional view of the end body of robot device of the present invention；
Fig. 5 is a kind of side view of the end body of robot device of the present invention；
Fig. 6 is a kind of full sectional view of the pedestal of the vertical actuation means of robot device of the present invention；
Fig. 7 is the partial enlargement structural representation at I in Fig. 1；
Fig. 8 slides loop device structural representation for the clamping device of robot device of the present invention a kind of.
Embodiment
As Figure 1-Figure 8, a kind of robot device of the invention, including clamping piece 1, end body 2, vertical actuation means,
Horizontal actuation means and clamping device, the left side of clamping piece 1 are provided with a strip 11, and right side upper and lower end face is each provided with one
Fore-and-aft direction leads a bar 12, and right flank middle-end fore-and-aft direction is provided with one by the first ladder 13, the second ladder 14 and the 3rd rank
The ladder group of the composition of ladder 15, the side of strip 11 is additionally provided with rubber tabletting 111, and the right side of end body 2 is provided with before and after one
Direction, with it is described lead that a bar 12 slides cooperation lead a shrinkage pool 21, leading a shrinkage pool about 21 in and before with described
The first groove 22 of a left and right directions is provided with end, one is provided with the top of first groove 22 is used to install guide plate
Board slot 24, one deep gouge 23 is set in the left-hand notch of first groove 22, it is left that the upper surface of the end body 2 is additionally provided with one
High right low ladder shrinkage pool 25, the vertical actuation means install the left side of the end body 2 and penetrate first groove to the right
In the ladder group that the right flank middle-end of clamping piece 1 is penetrated after 22, the clamping device is mounted on the left side of end body 2
On the vertical actuation means, the horizontal actuation means are arranged on the clamping device.
Wherein, the vertical actuation means include steering spindle 31, pedestal 32, eccentric wheel 33, slide block 34, knife plate 35 and knife
Sheet reset device, the left side of pedestal 32 is provided with a dead slot 321 for being used to receive the eccentric wheel 33, the dead slot 321
Top is provided with the T-shaped shrinkage pool 322 of above-below direction, and the bottom of dead slot 321 is provided with the second groove 323 of a left and right directions, institute
State steering spindle 31 and penetrate second groove 323, the end of the steering spindle 31 in the dead slot 321 positioned at the pedestal 32
The eccentric wheel 33 is fixedly mounted, a toothed wheel 37, the tooth are fixedly mounted close on the axle of right end portion for the steering spindle 31
Shape wheel 37 coordinates with the tooth form bar 38 being fixed in the first ladder 13 of the ladder group of clamping piece 1, and the block 34 that slides is approached
A projection is respectively set to constitute T-shaped guide plate 341, the T-shaped of the T-shaped guide plate and the pedestal 32 on the front-back on right side
Shrinkage pool 322 is constituted and can vertically slided, and the knife plate 35, the lower end for sliding block 34 are fixed in the left surface of block 34 that slides
The knife plate resetting means is installed, in addition, the lower end for sliding block 34 sets a spiral shell shape hole between portion and the eccentric wheel 33.
Wherein, the clamping device includes a left end close to the right side of pedestal 32 of the vertical actuation means and fixed
Sleeve 41 in the steering spindle 31, and two close to the pedestal 32 and with the lateral surface of sleeve 41 constitute gap coordinate
Loop device 42 is slided, and three are arranged on second elastic component 43 slided between ring 42, and three groups of two ends are respectively hinged at
The pole 44 slided outside loop device 42, and the top pressing board 45 installed in the top of pole 44, and three and described the
Two elastic components stagger 60 degree and one end is fixed on left side and slides the other end of loop device 42 and can glidingly penetrate right side and slides loop device
First position guiding rod 46 of the groove of the left and right directions set on 42, and slide the right side of ring 42 positioned at described, be fixed on the sleeve
On 41 lateral surfaces and lateral surface is provided with whorl and is provided with the spiral shell shape ring 47 of three left and right directions grooves, and one is located at institute
The solid ring 48 of the pressure stating the right-hand member of spiral shell shape ring 47 and can glidingly be set on the lateral surface of sleeve 41, and three penetrate and be arranged on institute
State the groove on spiral shell shape ring 47, left end and the right side and slide loop device 42 and be connected the other end and be fixedly connected with the solid ring 48 of the pressure
The second position guiding rod 49, and the 3rd elasticity being set between the solid ring 48 of pressure and the bottom land of deep gouge 23 in the left side of the end body 2
Part 49, in addition, the sleeve 41 is provided with one and the first groove 22 installed in the end body 2 close on the lateral surface of right-hand member
Guide plate in top board slot 24 slides the first board slot 411 of cooperation.
Wherein, the loop device 42 that slides includes outer shroud 421, inner ring 422 and clutch shaft bearing 423, the clutch shaft bearing 423
Between the outer shroud 421 and inner ring 422, the lower end of the pole 44 and the external articulation of inner ring 422.
Further, the horizontal actuation means are provided with the spiral shell shape ring 47 with the clamping device including a middle-end
Spiral shell shape groove 511 and left side middle-end that whorl coordinates are provided with the transfer ring 51 of an annular groove 512, and one is arranged on the ring
Second bearing 52 in shape groove 512, and one right side be provided with one be used for be arranged on the second bearing 52 in restricted driving ring 53, and
It is each up and down that a restricted driving hook 54 that can be turned to is set.
Wherein, the projection 11 of the clamping piece 1 is fixed on the arm of the robot on hand.
Wherein, so being provided with measurer on the right side of the upper surface of clamping piece 1 and on the left of the upper surface of end body 2.
Wherein, the middle-end of knife plate 35 is provided with an above-below direction, installation groove for fixed cutting tool.
Wherein, the knife plate resetting means includes spiral shell staple 361, the elastic component 363 of pressing fixed blocks 362 and first, the spiral shell shape
Nail 361 is arranged in the spiral shell shape hole of the lower end for sliding block 34, and the pressing fixed blocks 362 are fixed under the spiral shell staple 361
Hold and the end face of the eccentric wheel 33 is contradicted, first elastic component 363 is mounted on the pressing fixed blocks on the right side of spiral shell staple 361
Between 362 upper surfaces and the upper wall of 32 dead slot of the pedestal 321.
Before use, first contradict the pressing fixed blocks of eccentric wheel lowest part and knife plate resetting means, and by the diameter of pipe fitting endoporus
The extension elongation of big minor adjustment spiral shell staple, then rotates the lateral attitude transferred between ring and spiral shell shape ring of horizontal actuation means,
With adjust the left side of restricted driving ring with the distance between with cutting knife point of a knife so that the transverse direction for adjusting pore inwall to be processed is determined
Position size.
In use, first by the clamping piece clamping of the present apparatus robot arm on hand, transfer arm hand is penetrated the present apparatus
Pipe fitting endoporus is until the right side conflict of restricted driving ring and pipe fitting, then proceedes to the swing arm hand that moves right, pass through the 3rd resilient element urges
The loop device that slides that the solid ring of pressure simultaneously makes right side by the second position guiding rod is moved to the left, and so that pole shrink make top pressing board support to
Pipe fitting endoporus and realize to pipe fitting self-centering clamp；Then, horizontal mobile arm hand, is being arranged between clamping piece and end body
It is provided with and leads a bar and toothed wheel and the rotation of tooth form bar mating band movable eccentric wheel, the upward jack-up of block will be slided using eccentric wheel, i.e.,
The cutting knife jack-up being clamped in knife plate is realized into the vertically movable of cutting knife, so as to realize the processing of pore inwall.Pass through observation
By the measurer being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface, to control the processing of pore inwall deep
Degree, after required size is machined to, horizontal mobile arm hand makes arm hand outwards remove, and passes through toothed wheel and tooth form bar mating band
Dynamic steering spindle reversion, so that eccentric wheel is also inverted, presses to pressing fixed blocks so that sliding block retraction pedestal in the first elastic component
In dead slot, cutting knife withdrawing is realized.After withdrawing, arm hand is moved right, during the 3rd elastic component unclamps, slide loop device and exist
In the presence of second elastic component, pole bounces back and realizes that top pressing board leaves pipe fitting endoporus hole wall, continue to move right swing arm hand until
The present apparatus completes the processing of pipe fitting pore inwall when all removing pipe fitting.
The beneficial effects of the invention are as follows：
1. leading a bar and toothed wheel and the cooperation of tooth form bar by being provided between clamping piece and end body, clamping piece is clamped in machine
The arm of device people drives steering spindle to be further driven to eccentric wheel on hand and in robot transverse shifting by toothed wheel transmission
Rotate, the upward jack-up of block will be slided using eccentric wheel, the cutting knife jack-up that will be clamped in knife plate and the vertical shifting for realizing cutting knife
It is dynamic, so as to realize the processing of pore inwall.In addition, by being arranged on the right side of clamping piece upper surface and on the left of the end body upper surface
Measurer, can easily control cutting knife cut depth, so as to efficiently control the vertical dimension of pore inwall.
2. transferring ring due to being provided with a spiral shell shape ring and one, coordinated by adjusting spiral shell shape ring and transferring the screw thread between ring
Position, the lateral separation between cutting knife point of a knife on the left of restricted driving ring can be adjusted, so as to more accurately control to be processed
The located lateral size of pore inwall.
3. due to being provided with the 3rd elastic component and being fixed with the solid ring of pressure of 3 the second position guiding rods, robot arm hand to
When moving left, the 3rd elastic component presses to solid ring, and by the second position guiding rod drive on the right side of the loop device that slides be moved to the left and make
Left and right is slided loop device and mutually shifted near, so that pole drives top pressing board to press to pipe fitting endoporus hole wall, realizes the present apparatus to pipe fitting
Clamping and serve self centering.Further, since there is provided toothed wheel, in arm hand in leftward or rightward moving process,
Toothed wheel coordinates with tooth form bar to be remained to be in mated condition and realize the vertical feeding of cutting knife or vertically retract cutting knife.In addition, by
Slide that loop device moving range is larger in left and right two, i.e., the scope that top pressing board rises is larger, therefore, available for different pore size
The clamping of the pore inwall of pipe fitting.
4. due to being provided with the second elastic component between loop device in left and right slide, when arm hand moves right, the second elasticity
Part is automatic to be slided loop device by two and pushes away and realize top pressing board and leave conflict with pipe fitting endoporus hole wall, is laterally moved back the present apparatus with profit
Go out pipe fitting endoporus.
5. due to being provided with knife plate resetting means, by adjusting the extension elongation of spiral shell staple, it can adjust and slide the perpendicular of block
To size, with the processing for the pore inwall for adapting to different pore size.
6. the present invention is simple in construction, control is simple, and simple operation can not only improve operating efficiency, moreover it is possible to efficiently control
The machining accuracy of pore inwall.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, should all be included within the scope of the present invention.Therefore, it is of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (9)
1. a kind of robot device, including clamping piece, end body, vertical actuation means, horizontal actuation means and clamping device, it is special
Levy and be：It is provided with a strip on the left of the clamping piece, right side upper and lower end face is each provided with a bar of leading for fore-and-aft direction, right
Side middle-end fore-and-aft direction is provided with a ladder group being made up of the first ladder, the second ladder and the 3rd ladder, the strip side
Face is additionally provided with rubber tabletting, be provided with the right side of the end body fore-and-aft direction, with it is described lead that a bar slides cooperation lead position
Shrinkage pool, is being provided with the first groove of a left and right directions, described with described lead in and close at front end above and below a shrinkage pool
A board slot for being used to install guide plate is provided with above one groove, one deep gouge is set in the left-hand notch of first groove,
The upper surface of the end body is additionally provided with the ladder shrinkage pool of a right low left high, and the vertical actuation means install a left side for the end body
Side and penetrating to the right is penetrated after first groove in the ladder group of the clamping piece right flank middle-end, and the clamping device is installed
On the vertical actuation means on the left of the end body, the horizontal actuation means are arranged on the clamping device.
2. a kind of robot device according to claim 1, it is characterised in that：The vertical actuation means include turning to
Axle, pedestal, eccentric wheel, slide block, knife plate and knife plate resetting means, one is provided with the left of the pedestal is used to receive the bias
The dead slot of wheel, the top of the dead slot is provided with the T-shaped shrinkage pool of above-below direction, and the bottom of dead slot is provided with the of a left and right directions
Two grooves, the steering spindle penetrates second groove, and the end of the steering spindle in the dead slot positioned at the pedestal is consolidated
Dingan County fills the eccentric wheel, and a toothed wheel is fixedly mounted close on the axle of right end portion for the steering spindle, and the toothed wheel is with consolidating
The tooth form bar being scheduled in the first ladder of the clamping piece ladder group coordinates, and the block that slides respectively is set close on the front-back on right side
Put a projection to constitute T-shaped guide plate, the T-shaped shrinkage pool of the T-shaped guide plate and the pedestal, which is constituted, vertically to be slided,
The block left surface that slides fixes the knife plate, and the knife plate is installed between the bottom for sliding block and the eccentric wheel and is answered
Position device, in addition, the lower end for sliding block sets a spiral shell shape hole.
3. according to a kind of any described robot device of claim 1 and 2, it is characterised in that：The clamping device includes one
Left end is close to the pedestal right side of the vertical actuation means and the sleeve that is fixed in the steering spindle, and two close to described
Pedestal and with the sleeve lateral surface constitutes that gap coordinates slides loop device, and three be arranged on it is described slide between ring the
Two elastic components, and three groups of two ends are respectively hinged at the pole slided outside loop device, and installed in the pole top
Top pressing board, and three with second elastic component stagger 60 degree and one end be fixed on left side slide the loop device other end can be glidingly
The first position guiding rod that the groove of the left and right directions set on loop device is slided on right side is penetrated, and is slided positioned at described on the right side of ring, admittedly
The spiral shell shape ring that on the sleeve lateral surface and lateral surface is provided with whorl and is provided with three left and right directions grooves is scheduled on, and
One is located at the spiral shell shape ring right-hand member and the solid ring of the pressure that can glidingly be set on the sleeve lateral surface, and three penetrate and are arranged on
Groove, left end on the spiral shell shape ring and the right side slide that loop device is connected that the other end is fixedly connected with the solid ring of the pressure the
Two position guiding rods, and the 3rd elastic component being set between the deep gouge bottom land on the left of the solid ring of pressure and the end body, in addition, described
Sleeve is provided with one and the guide plate in the top board slot of the first groove of the end body close on the lateral surface of right-hand member
Slide the first board slot of cooperation.
4. a kind of robot device according to claim 3, it is characterised in that：The loop device that slides includes outer shroud, interior
Ring and clutch shaft bearing, the clutch shaft bearing are arranged between the outer shroud and inner ring, outside the lower end of the pole and the inner ring
Portion is hinged.
5. a kind of robot device according to claim 1, it is characterised in that：The horizontal actuation means include a middle-end
It is provided with spiral shell shape groove that whorl on the spiral shell shape ring with the clamping device coordinates and left side middle-end is provided with an annular groove
Transfer ring, and one be arranged on the annular groove in second bearing, and one right side be provided with one be used for be arranged on described second
Restricted driving ring in bearing, and the restricted driving hook that each setting one can be turned to up and down.
6. a kind of robot device according to claim 1, it is characterised in that：The projection of the clamping piece is fixed on described
The arm of robot is on hand.
7. a kind of robot device according to claim 1, it is characterised in that：So on the right side of clamping piece upper surface and described
End is provided with measurer on the left of body upper surface.
8. a kind of robot device according to claim 2, it is characterised in that：The knife plate middle-end is provided with a upper and lower
To, installation groove for fixed cutting tool.
9. a kind of robot device according to claim 2, it is characterised in that：The knife plate resetting means includes spiral shell shape
Nail, pressing fixed blocks and the first elastic component, the spiral shell staple are arranged in the spiral shell shape hole of the lower end for sliding block, and the pressing fixed blocks are consolidated
The lower end and the eccentric wheel end face for being scheduled on the spiral shell staple are contradicted, and it is right that first elastic component is mounted on the spiral shell staple
Between the pressing fixed blocks upper surface of side and the pedestal dead slot upper wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745301.0A CN107282955A (en) | 2017-08-26 | 2017-08-26 | A kind of robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745301.0A CN107282955A (en) | 2017-08-26 | 2017-08-26 | A kind of robot device |
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| CN107282955A true CN107282955A (en) | 2017-10-24 |
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| CN201710745301.0A Pending CN107282955A (en) | 2017-08-26 | 2017-08-26 | A kind of robot device |
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