CN102848402A - Joint structure of industrial robot - Google Patents
Joint structure of industrial robot Download PDFInfo
- Publication number
- CN102848402A CN102848402A CN2012103671583A CN201210367158A CN102848402A CN 102848402 A CN102848402 A CN 102848402A CN 2012103671583 A CN2012103671583 A CN 2012103671583A CN 201210367158 A CN201210367158 A CN 201210367158A CN 102848402 A CN102848402 A CN 102848402A
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- hollow
- gear
- elbow shell
- cable
- reductor
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Abstract
The invention discloses a joint structure of an industrial robot. The joint structure comprises an elbow shell, a motor, a straight gear, a hollow large gear, a hollow speed reducer, a small arm and a cable, wherein the motor is arranged on the elbow shell, an output shaft of the motor is provided with the straight gear, the straight gear is engaged with the hollow large gear supported on the elbow shell through a bearing, the hollow large gear is engaged with a planetary gear of the hollow speed reducer, the small arm is arranged on an output shaft of the hollow speed reducer, the hollow speed reducer is arranged at the other end of the elbow shell, the hollow large gear and the hollow speed reducer are provided with concentric central holes, the cable penetrates through the concentric central holes from the back face of the elbow shell to the small arm, and the cable is fixed by wire clamps at the penetrating end of the elbow shell and on the small arm. Since the cable can directly penetrate through the central holes, the structure is simple, the range of rotating space is large, and the maximum range can reach plus or minus 360 degrees.
Description
Technical field
The present invention relates to a kind of knuckle structure of industrial robot.
Background technology
In general industrial robot, the threading mode at elbow joint place adopts the U-shaped structure mostly, be about to cable and be the U shape on a shaped piece, one end of shaped piece need to connect with reductor, the other end is bearing on the crossed roller bearing, this construction machine complex structure, and the rotation space in joint is limited in scope, and maximum can reach ± 180 degree.
Summary of the invention
Technical problem to be solved by this invention provides a kind of novel articulation structure that is applied to industrial robot.
For solving this technical problem, the invention provides a kind of articulation structure for industrial robot, comprise the elbow shell, motor, spur gear, the hollow gear wheel, hollow reductor; forearm and cable; motor is installed on the elbow shell; the output shaft of motor is provided with spur gear; spur gear with by the hollow gear wheel engagement of bearings on the elbow shell; the hollow gear wheel is meshed with the planetary gear of hollow reductor; forearm is installed on the output shaft of hollow reductor; described hollow gear wheel and hollow reductor are provided with concentric centre bore; cable passes this concentric centre bore and arrives forearm from the elbow shell back side, penetrates end and forearm place use ply-yarn drill is fixed at the elbow shell.
The residing gear cavity of planetary gear of described spur gear, hollow gear wheel and hollow reductor forms annular seal space by fluid sealant, and this gear cavity is provided with oil filler point and oil outlet.
The thickness large 2 of the Thickness Ratio hollow gear wheel of described spur gear is to 3mm.
Beneficial effect: cable of the present invention can directly pass from central hole, makes it simple in structure, and the rotation space scope is large, and maximum can reach ± 360o.
Description of drawings
Fig. 1 is structural representation of the present invention.
Among the figure: 1 motor, 4 spur gears, 5 elbow shells, 6 hollow reductors, 8 forearms, 9 hollow gear wheels, 11 ply-yarn drills, 12 cables, 14 planetary gears.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done specific descriptions.
Figure 1 shows that structural representation of the present invention.
The present invention includes elbow shell 5, motor 1, spur gear 4, hollow gear wheel 9, hollow reductor 6, forearm 8 and cable 12.
Spur gear 4 is installed in by key and screw on the output shaft of motor 1, and motor 1 is installed on the elbow shell 5 by screw, and flange face and 5 on the elbow shell of motor 1 are coated with fluid sealant simultaneously.
Spur gear 4 and 9 engagements of hollow gear wheel, hollow gear wheel 9 is meshed with the planetary gear 14 of hollow reductor 6, while hollow gear wheel 9 by bearings on elbow shell 5.
Hollow reductor 6 is installed on the elbow shell 5 by screw, and forearm 8 is installed on the output shaft of hollow reductor 6 by screw.
Described hollow gear wheel 9 and hollow reductor 6 are provided with concentric centre bore.
When motor 1 rotates, drive spur gear 4 and rotate, simultaneously hollow gear wheel 9 rotations drive forearm 8 by hollow reductor 6 again and rotate, and forearm 8 can rotate ± 360 degree, and while cable 12 is also followed forearm 8 and is reversed.
For guaranteeing the good operation of spur gear 4 and hollow gear wheel 9, need in gear cavity, inject lubricating oil, be the oil leak that prevents, gear cavity forms annular seal space by fluid sealant.
For making things convenient for oiling that oil filler point and oil outlet need to be set at the gear cavity of elbow shell 5.
When the oil filler point oiling, need to open oil outlet, prevent mineralization pressure, can't oiling.
For making spur gear 4 and hollow gear wheel correct engagement, to guarantee hollow gear wheel 9 and spur gear 4 machining accuracies and centre-to-centre spacing during machined, and to make spur gear 4 than the facewidth large 2 of hollow gear wheel 9 to 3mm.
The above-mentioned embodiment of the present invention just illustrates, and is not only, all within the scope of the present invention or the change that is equal in the scope of the present invention all surrounded by the present invention.
Claims (3)
1. articulation structure for industrial robot, comprise elbow shell (5), motor (1), spur gear (4), hollow gear wheel (9), hollow reductor (6), forearm (8) and cable (12), motor (1) is arranged on elbow shell (5), the output shaft of motor (1) is provided with spur gear (4), spur gear (4) and the engagement of the hollow gear wheel (9) on elbow shell (5) by bearings, hollow gear wheel (9) is meshed with the planetary gear (14) of hollow reductor (6), forearm (8) is arranged on the output shaft of hollow reductor (6), described hollow reductor (6) is arranged on the other end of elbow shell (5), it is characterized in that: described hollow gear wheel (9) and hollow reductor (6) are provided with concentric centre bore, cable (12) passes this concentric centre bore and arrives forearm (8) from the back of elbow shell (5), elbow shell (5) penetrate end and forearm (8) locates to use line card (11) that cable (12) is fixed.
2. the articulation structure for industrial robot according to claim 1, it is characterized in that: the residing gear cavity of planetary gear (14) of described spur gear (4), hollow gear wheel (9) and hollow reductor forms annular seal space by fluid sealant, and this gear cavity is provided with oil filler point and oil outlet.
3. the articulation structure for industrial robot according to claim 1 and 2, it is characterized in that: the facewidth large 2 of the Thickness Ratio hollow gear wheel (9) of described spur gear (4) is to 3mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103671583A CN102848402A (en) | 2012-09-27 | 2012-09-27 | Joint structure of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103671583A CN102848402A (en) | 2012-09-27 | 2012-09-27 | Joint structure of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102848402A true CN102848402A (en) | 2013-01-02 |
Family
ID=47395578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012103671583A Pending CN102848402A (en) | 2012-09-27 | 2012-09-27 | Joint structure of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102848402A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723353A (en) * | 2013-12-19 | 2015-06-24 | 珠海格力电器股份有限公司 | Pivoting joint of robot and robot with same |
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN106182077A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | Multi-functional high pulling torque integrated robot joint |
| CN106994681A (en) * | 2017-04-01 | 2017-08-01 | 佛山华数机器人有限公司 | A kind of high rigidity six-joint robot |
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN107984493A (en) * | 2017-12-29 | 2018-05-04 | 南京熊猫电子股份有限公司 | The small scale robot ancon part of gear reducer and electric machine built-in |
| CN109202954A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of sixdegree-of-freedom simulation and service robot suitable for service robot |
| CN111516002A (en) * | 2020-06-23 | 2020-08-11 | 北京哈崎机器人科技有限公司 | Joint unit and joint module of robot and foot type robot with joint unit and joint module |
| WO2023051817A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | L-type actuator, mechanical arm and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014098A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| CN1733436A (en) * | 2004-08-13 | 2006-02-15 | 发那科株式会社 | Managing structure for umbilical member of industrial robot |
| CN101767290A (en) * | 2008-12-29 | 2010-07-07 | 住友重机械工业株式会社 | Processing structure of cables and the like and mechanical rotation device used in industry |
| JP2012117609A (en) * | 2010-12-01 | 2012-06-21 | Nabtesco Corp | Gear transmission |
-
2012
- 2012-09-27 CN CN2012103671583A patent/CN102848402A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014098A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| CN1733436A (en) * | 2004-08-13 | 2006-02-15 | 发那科株式会社 | Managing structure for umbilical member of industrial robot |
| CN101767290A (en) * | 2008-12-29 | 2010-07-07 | 住友重机械工业株式会社 | Processing structure of cables and the like and mechanical rotation device used in industry |
| JP2012117609A (en) * | 2010-12-01 | 2012-06-21 | Nabtesco Corp | Gear transmission |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723353A (en) * | 2013-12-19 | 2015-06-24 | 珠海格力电器股份有限公司 | Pivoting joint of robot and robot with same |
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN105945968B (en) * | 2016-07-11 | 2018-02-27 | 中国地质大学（武汉） | A kind of joint type dulcimer plays robot |
| CN106182077A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | Multi-functional high pulling torque integrated robot joint |
| CN106994681A (en) * | 2017-04-01 | 2017-08-01 | 佛山华数机器人有限公司 | A kind of high rigidity six-joint robot |
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN107984493A (en) * | 2017-12-29 | 2018-05-04 | 南京熊猫电子股份有限公司 | The small scale robot ancon part of gear reducer and electric machine built-in |
| CN107984493B (en) * | 2017-12-29 | 2024-05-10 | 南京熊猫电子股份有限公司 | Speed reducer and built-in small-size robot elbow spare of motor |
| CN109202954A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of sixdegree-of-freedom simulation and service robot suitable for service robot |
| CN111516002A (en) * | 2020-06-23 | 2020-08-11 | 北京哈崎机器人科技有限公司 | Joint unit and joint module of robot and foot type robot with joint unit and joint module |
| WO2023051817A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | L-type actuator, mechanical arm and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130102 |