CN103192376A - Routing structure of mechanical hand with side column - Google Patents
Routing structure of mechanical hand with side column Download PDFInfo
- Publication number
- CN103192376A CN103192376A CN2012100038052A CN201210003805A CN103192376A CN 103192376 A CN103192376 A CN 103192376A CN 2012100038052 A CN2012100038052 A CN 2012100038052A CN 201210003805 A CN201210003805 A CN 201210003805A CN 103192376 A CN103192376 A CN 103192376A
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- CN
- China
- Prior art keywords
- heel post
- big arm
- rotating actuator
- arm component
- wiring structure
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention discloses a routing structure of a mechanical hand with a side column. The routing structure comprises a big arm assembly, a side column body and a rotation transmission mechanism mounted in the side column body, wherein the rotation transmission mechanism is used for driving the big arm assembly to rotate; and a central cable barrel is arranged in the rotation transmission mechanism and used for a cable and an air pipe routing line to pass through the side column body to be communicated into the big arm assembly. According to the routing structure, an inner routing mode of the central cable barrel is adopted, so that the pollution risk caused by an outer routing mode is avoided and the cleanness of the whole system is improved; and meanwhile, due to the adoption of the inner routing mode, the volume of the mechanical hand with the side column can be smaller.
Description
Technical field
The present invention relates to a kind of Wiring structure, particularly relate to a kind of Wiring structure that is applied in the heel post manipulator.
Background technology
Along with the continuous expansion of commercial production scale, human cost constantly rises, and the requirement of industrial automation is more and more higher.And robot will be widely used as a kind of advanced person's science and technology.The design of robot is a kind of design of complexity, relates to the technological know-how of each subject.Wherein, the design of cable and tracheae Wiring structure is a very important aspect.
In the application of heel post manipulator, adopt two groups of rotation decelerators of coaxial arrangement to form rotating actuator, simplified side pillar construction, reduced side column bulk.But the cable between heel post and the arm and tracheae can be a kind of very undesirable cabling form structures from the outside cabling of decelerator only.
Summary of the invention
In view of above content, be necessary to provide a kind of and can overcome the heel post manipulator Wiring structure that cable and tracheae are gone here and there out from decelerator.
A kind of heel post manipulator Wiring structure, comprise a big arm component, a heel post body, an and rotating actuator that is installed in described heel post body interior, described rotating actuator drives described big arm component and rotates, be provided with center cable tube in the described rotating actuator, current supply cable and tracheae cabling are communicated in the described big arm component from described heel post body process.
Further, the center cable tube in the described rotating actuator is coaxial with described rotating actuator.
Further, the center cable tube in the described rotating actuator extends upwardly to described big arm component bottom.
Further, the side of the center cable tube in the described rotating actuator is left trough.
Further, described trough is opened in described center cable tube near described big arm component end.
Further, connected by an elastic error compensation mechanism between the internal mechanism of described rotating actuator and described big arm component, described elastic error compensation mechanism guarantees to transmit motion between rotating actuator and the big arm component.
Further, described rotating actuator drives described big arm component rotation by inner harmonic speed reducer.
Compared with prior art, above-mentioned heel post manipulator Wiring structure, because cabling adopts the inner cabling mode of center cable tube, the pollution risk of having avoided outside cabling to bring has improved the cleanliness factor of whole system.Simultaneously, above-mentioned heel post manipulator Wiring structure adopts inner cabling, makes the volume of heel post manipulator can do forr a short time.
Description of drawings
Fig. 1 is a diagram of the preferred embodiment of a kind of heel post manipulator of the present invention Wiring structure.
Fig. 2 is the cutaway view of a kind of heel post manipulator of the present invention Wiring structure preferred embodiment center cable tube 4.
The main element symbol description
Trough 1
Big arm component 2
Elastic error compensation mechanism 3
Rotating actuator 5
Heel post body 6
Associated component 7
The following specific embodiment will further specify the present invention in conjunction with above-mentioned accompanying drawing.
The specific embodiment
Please refer to Fig. 1 to Fig. 2, the preferred embodiment of a kind of heel post manipulator of the present invention Wiring structure, comprise a big arm component 2, a heel post body 6, an and rotating actuator 5 that is installed in heel post body 6 inside, described rotating actuator 5 drives described big arm component 2 and rotates.
Be provided with a center cable tube 4 in the described rotating actuator 5.Described center cable tube 4 current supply cables and tracheae cabling be from described heel post body 6 processes, and then be communicated in the described big arm component 2.Center cable tube 4 in the described rotating actuator 5 is coaxial with described rotating actuator 5.And the center cable tube 4 in the described rotating actuator 5 extends upwardly to described big arm component 2 bottoms.The side of 5 center cable tube 4 also offers trough 1 in the described rotating actuator.Described trough 1 is opened in described center cable tube 4 near an end of described big arm component 2.Described trough 1 and described center cable tube 4 current supply cable and tracheae cabling together and then are communicated in the described big arm component 2 from described heel post body 6 processes.A kind of heel post manipulator of Fig. 2 the present invention Wiring structure preferred embodiment center cable tube 4 cutaway views.
Described rotating actuator 5 drives described big arm component 2 by inner harmonic speed reducer and rotates.Connected by an elastic error compensation mechanism 3 between the internal mechanism of described rotating actuator 5 and described big arm component 2, described elastic error compensation mechanism 3 is in order to guarantee transmitting motion between rotating actuator 5 and the big arm component 2.
Above-mentioned heel post manipulator Wiring structure, because cabling adopts the inner cabling mode of center cable tube, the pollution risk of having avoided outside cabling to bring has improved the cleanliness factor of whole system.Simultaneously, above-mentioned heel post manipulator Wiring structure adopts inner cabling, makes the volume of heel post manipulator can do forr a short time.
One skilled in the relevant art can make corresponding change or adjustment in conjunction with the actual needs of producing according to invention scheme of the present invention and inventive concept, and these changes and adjustment all should belong to the protection domain of claim of the present invention.
Claims (7)
1. heel post manipulator Wiring structure, described heel post manipulator Wiring structure comprises a big arm component, a heel post body, an and rotating actuator that is installed in described heel post body interior, described rotating actuator drives described big arm component and rotates, it is characterized in that: be provided with center cable tube in the described rotating actuator, current supply cable and tracheae cabling are communicated in the described big arm component from described heel post body process.
2. heel post manipulator Wiring structure as claimed in claim 1 is characterized in that: the center cable tube in the described rotating actuator is coaxial with described rotating actuator.
3. heel post manipulator Wiring structure as claimed in claim 2 is characterized in that: the center cable tube in the described rotating actuator extends upwardly to described big arm component bottom.
4. heel post manipulator Wiring structure as claimed in claim 3 is characterized in that: the side of the center cable tube in the described rotating actuator is left trough.
5. heel post manipulator Wiring structure as claimed in claim 4 is characterized in that: described trough is opened in described center cable tube near described big arm component end.
6. heel post manipulator Wiring structure as claimed in claim 1, it is characterized in that: connected by an elastic error compensation mechanism between the internal mechanism of described rotating actuator and described big arm component, described elastic error compensation mechanism guarantees to transmit motion between rotating actuator and the big arm component.
7. heel post manipulator Wiring structure as claimed in claim 1 is characterized in that: described rotating actuator drives described big arm component by inner harmonic speed reducer and rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100038052A CN103192376A (en) | 2012-01-06 | 2012-01-06 | Routing structure of mechanical hand with side column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100038052A CN103192376A (en) | 2012-01-06 | 2012-01-06 | Routing structure of mechanical hand with side column |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103192376A true CN103192376A (en) | 2013-07-10 |
Family
ID=48715284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100038052A Pending CN103192376A (en) | 2012-01-06 | 2012-01-06 | Routing structure of mechanical hand with side column |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103192376A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
| CN107855432A (en) * | 2016-09-22 | 2018-03-30 | 范建红 | Tracheae protection device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61168478A (en) * | 1985-01-22 | 1986-07-30 | 株式会社三協精機製作所 | Multi-joint robot |
| EP0621112A1 (en) * | 1992-10-28 | 1994-10-26 | Fanuc Ltd. | Industrial robot having joints using a hollow reduction gear |
| CN2267347Y (en) * | 1995-09-06 | 1997-11-12 | 李冠喜 | Mechanism driven mask couplings |
| CN2628794Y (en) * | 2003-06-14 | 2004-07-28 | 东风汽车公司 | On-line workpiece rotary driving flexible coupling apparatus |
| CN1750908A (en) * | 2003-04-01 | 2006-03-22 | 本田技研工业株式会社 | Cable guide for joints |
| CN101038014A (en) * | 2006-10-20 | 2007-09-19 | 重庆大学 | High elastic rubber alloy shaft coupling device |
| CN101272886A (en) * | 2005-09-27 | 2008-09-24 | 株式会社安川电机 | Multi-joint manipulator |
| CN101927496A (en) * | 2009-06-19 | 2010-12-29 | 住友重机械工业株式会社 | Power transmission device |
-
2012
- 2012-01-06 CN CN2012100038052A patent/CN103192376A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61168478A (en) * | 1985-01-22 | 1986-07-30 | 株式会社三協精機製作所 | Multi-joint robot |
| EP0621112A1 (en) * | 1992-10-28 | 1994-10-26 | Fanuc Ltd. | Industrial robot having joints using a hollow reduction gear |
| CN2267347Y (en) * | 1995-09-06 | 1997-11-12 | 李冠喜 | Mechanism driven mask couplings |
| CN1750908A (en) * | 2003-04-01 | 2006-03-22 | 本田技研工业株式会社 | Cable guide for joints |
| CN2628794Y (en) * | 2003-06-14 | 2004-07-28 | 东风汽车公司 | On-line workpiece rotary driving flexible coupling apparatus |
| CN101272886A (en) * | 2005-09-27 | 2008-09-24 | 株式会社安川电机 | Multi-joint manipulator |
| CN101038014A (en) * | 2006-10-20 | 2007-09-19 | 重庆大学 | High elastic rubber alloy shaft coupling device |
| CN101927496A (en) * | 2009-06-19 | 2010-12-29 | 住友重机械工业株式会社 | Power transmission device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855432A (en) * | 2016-09-22 | 2018-03-30 | 范建红 | Tracheae protection device |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
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| 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: 20130710 |