CN105619382B - A kind of small support industrial robot - Google Patents
A kind of small support industrial robot Download PDFInfo
- Publication number
- CN105619382B CN105619382B CN201610124996.6A CN201610124996A CN105619382B CN 105619382 B CN105619382 B CN 105619382B CN 201610124996 A CN201610124996 A CN 201610124996A CN 105619382 B CN105619382 B CN 105619382B
- Authority
- CN
- China
- Prior art keywords
- large arm
- servomotor
- reductor
- cable
- industrial robot
- Prior art date
- 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.)
- Expired - Fee Related
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 229920003023 plastic Polymers 0.000 claims description 5
- 239000004033 plastic Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 7
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 208000010543 22q11.2 deletion syndrome Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of small support industrial robot, including base, large arm and forearm；The second servomotor and the 3rd servomotor have been mounted side by side in large arm, bearing is also fitted with the large arm opposite side that the second reductor and the 3rd reductor are installed, the inner ring of the bearing is fitted with the support set for cable through the protection cable.Second servomotor and the 3rd servomotor are mounted side by side in the large arm so that large arm internal structure is compact, so that robot small volume, compact-sized, weight is light.The bearing of installation, meets the high and fireballing requirement of robot precision in second reductor and the large arm opposite side of the 3rd reductor installation, while the bearing capacity for greatly improving robot is strong, and stability greatly improves.The inner ring of bearing is fitted with the support set through the protection cable for cable so that cable abrasion is greatly reduced, and robot interior compact type is further improved.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of small support industrial robot.
Background technology
Usually produced in terms of industry manufacture, production and its correlative technology field using robot assisted, in the market
Multi-joint industrial robot belong to six axles (six joints) robot mostly, wherein the low-load robot in six joints is by most of
Industry is favored, but needs higher requirement in the design, and it is required to meet compact-sized in light weight, and load is big, and speed is fast, precision
It is high.But small loading robotics people realizes the high upper Shortcomings of in light weight and precision at the same time at present.Small loading robotics people is designing
During robot urgently to be resolved hurrily done while compactedness is met in precision prescribed, speed block, while also by weight reduction
To minimum and consideration robot Routing models.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of compact-sized, precision height in light weight, fireballing small negative
Carry industrial robot.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of small support industrial robot, including it is base, big
Arm and forearm；
The chassis interior is provided with the first servomotor, and the output shaft of first servomotor passes through the first synchronous pulley
It is connected with the first speed reducer drive for driving the swivel base to rotate in the horizontal direction, the large arm is arranged on the swivel base
On, the second servomotor is installed in the large arm, second servomotor is fixed in the large arm by motor flange,
The output shaft of second servomotor is provided with the second synchronous pulley, and the second reductor is also equipped with the swivel base, and this
Two speed reducer output shafts are connected with the large arm；Second reductor is provided with the 3rd synchronous pulley, second timing belt
Wheel, by toothed belt transmission, drives the second reductor to rotate, drives large arm perpendicular to the flat of horizontal plane with the 3rd synchronous pulley
Rotated on face；The 3rd servomotor is also equipped with the large arm, the 3rd servomotor is arranged on large arm by motor flange
On, motor cabinet is installed on the top of large arm, the 3rd reductor is installed on the motor cabinet, the 3rd reductor passes through timing belt
It is connected with the 3rd servo motor transmission, the output end of the 3rd reductor is connected with motor cabinet drives the forearm rotation
Turn；Characterized in that, second servomotor and the 3rd servomotor are mounted side by side in the large arm, described second slows down
Bearing is also fitted with machine and the large arm opposite side of the 3rd reductor installation, the inner ring of the bearing is fitted with wearing for cable
The support set of the overprotection cable；The cable protective sleeve that the cable passes through is additionally provided with first reductor；The set
Attached bag includes the first cable protective sleeve and the second cable protective sleeve connected up and down, and first cable protective sleeve is located at described first
The middle part of reductor, second cable protective sleeve are arranged on the bottom of first reductor by connecting lugs.
The beneficial effects of the invention are as follows：Second servomotor and the 3rd servomotor are mounted side by side in the large arm, are made
Large arm internal structure it is compact so that robot small volume, compact-sized, weight is light.
The bearing of installation in second reductor and the large arm opposite side of the 3rd reductor installation, meet robot precision it is high and
Fireballing requirement, while the bearing capacity for greatly improving robot is strong, stability greatly improves.
The inner ring of bearing is fitted with the support set through the protection cable for cable so that cable abrasion is significantly dropped
It is low, and robot interior compact type is further improved.
Cable protective sleeve can protect cable, prevent cable from wearing.Cover passes through for cable, plays the work of protection cable
With.
Further, metal washer is additionally provided between the bearing and support set, the material of the support set is plastics.
Using the beneficial effect of further technical scheme：Cooperation between metal washer bearing and support set more consolidates can
Lean on, be not easy to loosen and shift.
Support set material selection plastics, plastic construction is light, is easy to reduce the weight of robot, and can preferably protect
Cable is protected, cable is not easy to wear.
Further, the large arm top is also equipped with for driving the forearm around the central shaft axial-rotation of the forearm
4th servomotor, the cable fixed plate for fixed cable is installed above the 4th servomotor.
Using the beneficial effect of further technical scheme：Cable fixed plate is used for the cable for installing fixed top, protective wire
Cable is influenceed by the 4th servomotor high temperature, moreover it is possible to prevents from wearing.
Further, protective cover is installed on the outer wall of the large arm.
Using the beneficial effect of further technical scheme：Protective cover can effectively protect large arm internal structure.
Further, the first servomotor side is provided with the belt wheel tensioning mechanism for adjusting timing belt.
Using the beneficial effect of further technical scheme：It is easy to adjust timing belt by belt wheel tensioning mechanism.
Further, several wire clips for being used to fixing and protecting the cable are also equipped with the large arm.
Using the beneficial effect of further technical scheme：Wire clip is used for fixed cable, is easy to the cabling and arrangement of cable,
So that large arm interior spatial structure is compact, be not in the in disorder phenomenon of cabling.
Further, it is both provided with the motor shaft of second servomotor and the 3rd servomotor same for fixing second
Walk the catch of belt wheel and the 3rd synchronous pulley.
Using the beneficial effect of further technical scheme：The catch energy installed on second synchronous pulley and the 3rd synchronous pulley
Enough prevent two synchronous pulley movings.
Brief description of the drawings
Fig. 1 is the external structure schematic diagram of the small support industrial robot of the present invention；
Fig. 2 is Fig. 1 A-A structural representations；
Fig. 3 is Fig. 1 B-B structural representations.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1 to Figure 3, a kind of small support industrial robot, including base 1, large arm 2 and forearm 3；In base 1
Inside is provided with the first servomotor 4, and the output shaft of first servomotor 4 drives institute by the first synchronous pulley 24 with being used for
State the first reductor 15 that swivel base 5 rotates in the horizontal direction to be connected, the first servomotor side is provided with for adjusting
Save the belt wheel tensioning mechanism 19 of timing belt.
The large arm 2 is arranged on the swivel base 5, and the second servomotor 6 is provided with the large arm 2, and this second is watched
Take motor 6 to be fixed in the large arm 2 by motor flange, the output shaft of second servomotor 6 is provided with second synchronously
Belt wheel 25, the second reductor 7 is also equipped with the swivel base 5；Second reductor 7 is provided with the 3rd synchronous pulley 26, institute
The second synchronous pulley is stated to be driven by timing belt 23 with the 3rd synchronous pulley, by the second reductor 7 drive large arm 2 perpendicular to
Rotated in the plane of horizontal plane；The 3rd servomotor 8 is also equipped with the large arm 2, the 3rd servomotor 8 passes through motor method
Orchid is arranged in large arm 2, is installed motor cabinet on the top of large arm, the 3rd reductor 9 is provided with the motor cabinet, the 3rd subtracts
Fast machine 9 is connected by timing belt and the 3rd servomotor 8, and output end and the motor cabinet of the 3rd reductor 9 connect
Tape splicing moves the forearm 3 and rotated；Characterized in that, the servomotor 8 of the second servomotor 6 and the 3rd be mounted side by side on it is described
In large arm 2, bearing 10 is also fitted with the large arm opposite side of the reductor 9 of the second reductor 7 and the 3rd installation, the bearing
10 inner ring is fitted with the support set 11 through the protection cable 12 for cable 12.
The second servomotor and the 3rd servomotor of the present invention is mounted side by side in the large arm so that large arm internal junction
Structure is compact, so that robot small volume, compact-sized, weight is light.What the second reductor and the 3rd reductor were installed
The bearing of installation, meets the high and fireballing requirement of robot precision, while greatly improve robot in large arm opposite side
Bearing capacity it is strong, stability greatly improves so that robot architecture can do it is more compact.
Metal washer 14 is additionally provided between bearing 10 and support set 11, the material of the support set 11 is plastics, the
The cable protective sleeve that the cable 12 passes through is additionally provided with one reductor 15；The top of large arm 2 is also equipped with described for driving
Forearm 3 is provided with for fixed cable around the 4th servomotor 16 of forearm axial-rotation above the 4th servomotor 16
Cable fixed plate 17.The cover includes the first cable protective sleeve 13 and the second cable protective sleeve 20 connected up and down, described
First cable protective sleeve 13 is located at the middle part of first reductor 15, and second cable protective sleeve 20 is pacified by connecting lugs
Mounted in the bottom of first reductor 15.Several are also equipped with the large arm 2 to be used to fixing and protecting the cable 12
Wire clip 21.
Cable 12 passes through support set 11 and cable protective sleeve 13, plays a part of preventing abrasion.
Cable fixed plate 17 is used for fixed cable, and protection cable is influenceed by the 4th servomotor high temperature.Wire clip 21 is used
In fixed and protection cable 12 so that cable is compact-sized in large arm.
It is both provided with being used to fix the second synchronous pulley on the motor shaft of the second servomotor 6 and the 3rd servomotor 8
With the catch 22 of the 3rd synchronous pulley, catch 22 is used to prevent two synchronous pulley movings, greatly improves the precision of robot
And stability.
Protective cover 18 is finally installed on the outer wall of large arm 2, protective cover 18 is used to seal, and effectively protects internal structure.
Finally, these are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (7)
1. a kind of small support industrial robot, including base (1), large arm (2) and forearm (3)；It is provided with inside the base (1)
First servomotor (4), the output shaft of first servomotor (4) drive swivel base (5) to exist by the first synchronous pulley with being used for
The first reductor (15) drive connection of horizontal direction rotation, the large arm (2) are arranged on the swivel base (5), described big
The second servomotor (6) is installed in arm (2), second servomotor (6) is fixed on the large arm (2) by motor flange
On, the output shaft of second servomotor (6) is provided with the second synchronous pulley (25), and is also equipped with the swivel base (5)
Two reductors (7)；Second reductor (7) is provided with the 3rd synchronous pulley (26), second synchronous pulley (25) and the
Three synchronous pulleys (26) are driven by timing belt (23), and large arm (2) is driven perpendicular to horizontal plane by the second reductor (7)
Rotated in plane；The 3rd servomotor (8) is also equipped with the large arm (2), the 3rd servomotor (8) passes through motor flange
In large arm (2), motor cabinet is installed on the top of large arm (2), the 3rd reductor (9) is installed on the motor cabinet, should
3rd reductor (9) is connected by timing belt (23) and the 3rd servomotor (8), the 3rd reductor (9)
Output end is connected with motor cabinet drives forearm (3) rotation；Characterized in that, second servomotor (6) and the 3rd is watched
Take motor (8) to be mounted side by side in the large arm (2), second reductor (7) and the 3rd reductor (9) are arranged in large arm
The same side, the other side of horizontal level is also fitted with bearing (10) in the large arm, and the inner ring of the bearing (10) is all pacified
Passed through equipped with confession cable (12) and protect the support set (11) of the cable (12)；Confession is additionally provided with first reductor (15)
The cable protective sleeve that the cable (12) passes through；The cable protective sleeve include the first cable protective sleeve (13) for connecting up and down and
Second cable protective sleeve (20), first cable protective sleeve (13) are located at the middle part of first reductor (15), and described
Two cable protective sleeves (20) are arranged on the bottom of first reductor (15) by connecting lugs.
2. small support industrial robot according to claim 1, it is characterised in that the bearing (10) and support set (11)
Between be additionally provided with metal washer (14), the material of the support set (11) is plastics.
3. small support industrial robot according to claim 1, it is characterised in that large arm (2) top is also equipped with
For driving the forearm (3) around the 4th servomotor (16) of the central shaft axial-rotation of the forearm (3), in the 4th servo
Cable fixed plate (17) for fixed cable (12) is installed above motor (16).
4. small support industrial robot according to claim 1, it is characterised in that installed on the outer wall of the large arm (2)
There is protective cover (18).
5. small support industrial robot according to claim 1, it is characterised in that the first servomotor (4) side
Belt wheel tensioning mechanism (19) for adjusting timing belt is installed.
6. the small support industrial robot according to any one of claim 1 to 5, it is characterised in that on the large arm (2) also
Several wire clips (21) for being used to fixing and protecting the cable (12) are installed.
7. the small support industrial robot according to any one of claim 1 to 5, it is characterised in that the second servo electricity
It is both provided with being used to fix the second synchronous pulley (25) and the 3rd timing belt on the motor shaft of machine (6) and the 3rd servomotor (8)
Wheel (26) simultaneously prevents the catch (22) of two synchronous pulley movings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610124996.6A CN105619382B (en) | 2016-03-04 | 2016-03-04 | A kind of small support industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610124996.6A CN105619382B (en) | 2016-03-04 | 2016-03-04 | A kind of small support industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619382A CN105619382A (en) | 2016-06-01 |
| CN105619382B true CN105619382B (en) | 2018-03-16 |
Family
ID=56034920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610124996.6A Expired - Fee Related CN105619382B (en) | 2016-03-04 | 2016-03-04 | A kind of small support industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105619382B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108673565A (en) * | 2018-06-26 | 2018-10-19 | 埃夫特智能装备股份有限公司 | A kind of hollow wire protecting structure of industrial robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2289672B1 (en) * | 2009-08-25 | 2012-04-04 | KUKA Laboratories GmbH | Method and assembly for securely controlling a manipulator |
| CN203293191U (en) * | 2013-06-01 | 2013-11-20 | 东莞市鑫拓智能机械科技有限公司 | Six-shaft-joint coordinate industrial robot |
| CN103568002A (en) * | 2013-06-25 | 2014-02-12 | 王常勇 | Six-axis degree-of-freedom manipulator |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN104959973A (en) * | 2015-07-06 | 2015-10-07 | 江苏小铁人机床有限公司 | Multi-purpose six-axis industrial robot |
| CN204748650U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint structure |
| CN205394524U (en) * | 2016-03-04 | 2016-07-27 | 重庆华数机器人有限公司 | Little load industrial robot |
-
2016
- 2016-03-04 CN CN201610124996.6A patent/CN105619382B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2289672B1 (en) * | 2009-08-25 | 2012-04-04 | KUKA Laboratories GmbH | Method and assembly for securely controlling a manipulator |
| CN203293191U (en) * | 2013-06-01 | 2013-11-20 | 东莞市鑫拓智能机械科技有限公司 | Six-shaft-joint coordinate industrial robot |
| CN103568002A (en) * | 2013-06-25 | 2014-02-12 | 王常勇 | Six-axis degree-of-freedom manipulator |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN204748650U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint structure |
| CN104959973A (en) * | 2015-07-06 | 2015-10-07 | 江苏小铁人机床有限公司 | Multi-purpose six-axis industrial robot |
| CN205394524U (en) * | 2016-03-04 | 2016-07-27 | 重庆华数机器人有限公司 | Little load industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105619382A (en) | 2016-06-01 |
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