CN106041991A - Robot terminal hollow rotating structure - Google Patents
Robot terminal hollow rotating structure Download PDFInfo
- Publication number
- CN106041991A CN106041991A CN201610616712.5A CN201610616712A CN106041991A CN 106041991 A CN106041991 A CN 106041991A CN 201610616712 A CN201610616712 A CN 201610616712A CN 106041991 A CN106041991 A CN 106041991A
- Authority
- CN
- China
- Prior art keywords
- robot
- reductor
- hollow
- execution unit
- hollow rotating
- 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.)
- Pending
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot terminal hollow rotating structure mounted on a front end arm of a robot. The robot terminal hollow rotating structure comprises a main body, a speed reducer for connecting with a terminal actuation part, and a driving mechanism; the side part of the main body is mounted on the front end arm of the robot; the speed reducer is a speed reducer with a hollow structure, and is arranged in the main body; the main body is provided with a through hole corresponding to the hollow structure of the speed reducer; the hollow structure of the speed reducer and the through hole of the main body form a wire arranging space for a wire pipe of the terminal actuation part; and the driving mechanism is arranged on one side of the exterior of the main body, and is connected with the speed reducer. The robot terminal hollow rotating structure can solve the problems of potential safety hazards and limited action range of the front end arm caused by winding of the front end arm of the robot by the wire pipe of the terminal actuation part, is compact in robot terminal structure, and improves the action degree of freedom of the robot.
Description
Technical field
The present invention relates to robotics, more particularly, it relates to a kind of robot end's hollow rotating structure.
Background technology
The instrument towards application-specific the most generally to be installed by industrial robot, will end execution unit,
This end execution unit is arranged on end arms before robot by end structure.In various fields, robot is needed to pass through
Material carried by end execution unit quickly and accurately, install, weld and the operation such as spraying.
The end structure being currently used for installing end execution unit can have the disadvantage in that
1, the spool of end execution unit is typically directly fixed on outside front end arms, and spool is exposed outside robot body
Face, in forearm end course of action, easily produces spool and is wound around the phenomenon of forearm end, the most do not only exist reliability hidden danger, superfluous
Remaining mixed and disorderly, and make the actuating range of front end arms limited, largely effect on the degree of freedom of robot.
2, for driving the motor of end execution unit to be arranged on inside end structure, not only make to walk inside end structure
Line is numerous and diverse, and keeps in repair inconvenient and install the most inconvenient.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that a kind of robot end's hollow rotating
Structure, before this structure can solve the spool winding robot of end execution unit, end arms causes there is potential safety hazard and front end arms is moved
Make the problem that scope is limited, so that robot end's compact conformation, improve the degree of freedom of motion of robot.
In order to achieve the above object, the technical scheme is that: a kind of robot end's hollow rotation
Rotation structure, is arranged on before robot in end arms；It is characterized in that: include body, for connecting the reductor of end execution unit
And drive mechanism；Described body side is arranged on before robot in end arms；Described reductor is the reductor of hollow structure, and with
Body connects, and body is provided with the through hole corresponding with reductor hollow structure, the hollow structure of reductor and the through hole of body
Connect and be formed for the cabling space for end execution unit spool；Described drive mechanism is arranged on body exterior side,
And be connected with reductor.
In such scheme, the hollow structure of the reductor of the present invention and the through hole of body are formed for performing for end
The cabling space of parts spool, therefore, can penetrate and end enforcement division from body and reductor with the spool of end execution unit
Part connects, and when before robot, end arms work rotates, in reductor work process, the end being located in reductor hollow structure is held
The spool of row parts is unaffected, also will not produce the phenomenon of end arms before being wound around, so, before this structure makes robot, end arms can
The spool solving end execution unit produces the problem that the front end arms of winding causes there is potential safety hazard, so that the fortune of front end arms
Dynamic space is unrestricted, substantially increases the freedom of motion of front end arms.
Described drive mechanism includes motor and the actuating device being arranged on body exterior side, and described motor is filled by transmission
Put and be connected with reductor.The motor of the present invention is arranged on the outside side of body, the structure being the most directly connected with reductor,
The hollow structure that can retain reductor provides the cabling space of spool, it is therefore desirable to use actuating device by the power transmission of motor
To reductor.Meanwhile, motor be arranged on body exterior side can be easy to maintenance and install.
Power synchronous wheel, belt and the synchronization wheel that described actuating device includes with motor connects；Described synchronization is taken turns and is slowed down
The power shaft of machine connects, and is connected with power synchronous wheel by belt.The present invention uses bel-drivenn side robot end
Formula, it is the most convenient to process, install and keep in repair.
Described synchronization takes turns the synchronization wheel for hollow structure；The hollow structure synchronizing wheel is relative with the hollow structure of reductor.
The present invention uses the wheel that synchronizes of hollow structure to can be used as the drive disk assembly of motor power, and can provide the cabling sky of spool
Between.
Present invention additionally comprises end execution unit, described end execution unit is connected with the output shaft of reductor.
Present invention additionally comprises the spool of end execution unit, the spool of end execution unit stretches into deceleration from the through hole of body
The hollow structure of machine and the hollow structure of synchronization wheel, be connected with end execution unit.
Described end execution unit is welding gun or wire-feeding pipe.
Compared with prior art, the invention have the advantages that and beneficial effect: robot end's hollow rotating of the present invention
Before structure can solve the spool winding robot of end execution unit, end arms causes there is potential safety hazard and front end arms actuating range
Limited problem, so that robot end's compact conformation, improves the degree of freedom of motion of robot.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that robot end's hollow rotating structure of the present invention is connected with front end arms and welding gun；
Fig. 2 is D directional profile schematic diagram in Fig. 1；
Wherein, 1 be body, 2 for welding gun, 3 for reductor, 4 for motor, 5 for power synchronous wheel, 6 for belt, 7 for synchronization
Wheel, 8 be spool, 9 be front end arms.
Detailed description of the invention
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment one
The present embodiment as a example by end execution unit is as welding gun to being illustrated below.
As illustrated in fig. 1 and 2, robot end's hollow rotating structure of the present invention, it is mounted in before robot in end arms 9, should
End hollow rotating structure include body 1, welding gun 2, the spool 8 of welding gun 2, for connecting reductor 3 and the driving machine of welding gun 2
Structure；Wherein, body 1 sidepiece is arranged on before robot in end arms 9, and reductor 3 is the reductor of hollow structure, and with body 1 even
Connecing, body 1 is provided with the through hole corresponding with reductor 3 hollow structure, the hollow structure of reductor 3 connects with the through hole of body 1
Leading to and be formed for for the cabling space of welding gun 2 spool 8, drive mechanism is arranged on the outside side of body 1, and with reductor 3
Connect.Welding gun 2 is connected with the output shaft of reductor 3.
The drive mechanism of the present invention includes motor 4 and the actuating device being arranged on the outside side of body 1, and motor 4 is by passing
Dynamic device is connected with reductor 3.Wherein, actuating device includes power synchronous wheel 5, belt 6 and the Tong Bu wheel 7 connected with motor 4,
Synchronize wheel 7 to be connected with the power shaft of reductor 3, and be connected with power synchronous wheel 7 by belt 6.This synchronization wheel 7 is hollow structure
Synchronization wheel, synchronize wheel 7 hollow structure relative with the hollow structure of reductor 3.The synchronization wheel 7 of the present invention can be used as electricity
The drive disk assembly of machine 4 power, and the cabling space of spool 8 can be provided.
The spool 8 of the welding gun 2 of the present invention stretches into the hollow structure of reductor 3 from the through hole of body 1 and synchronizes the hollow of wheel 7
Structure, is connected with welding gun 2.When before robot, end arms 9 work rotates, in reductor 3 work process, it is located in reductor 3
The spool 8 of the welding gun 2 of hollow structure is unaffected, also will not produce the phenomenon of end arms 9 before being wound around, so, this structure makes machine
Before people end arms 9 can solve the spool 8 of welding gun 2 produce be wound around before end arms 9 cause existing the problem of potential safety hazard, so that front end
The space of arm 9 is unrestricted, substantially increases the freedom of motion of front end arms 9.
Embodiment two
The present embodiment the difference is that only with embodiment one: end execution unit can be the processing components such as wire-feeding pipe, uses
Operate in material carried, installs, weld and spraying etc..
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (7)
1. robot end's hollow rotating structure, is arranged on before robot in end arms；It is characterized in that: include body, use
In the reductor and the drive mechanism that connect end execution unit；Described body side is arranged on before robot in end arms；Described subtract
Speed machine is the reductor of hollow structure, and is connected with body, body is provided with the through hole corresponding with reductor hollow structure, subtracts
The speed hollow structure of machine connects with the through hole of body and is formed for the cabling space for end execution unit spool；Described drive
Motivation structure is arranged on body exterior side, and is connected with reductor.
Robot end's hollow rotating structure the most according to claim 1, it is characterised in that: described drive mechanism includes setting
Putting the motor in body exterior side and actuating device, described motor is connected with reductor by actuating device.
Robot end's hollow rotating structure the most according to claim 2, it is characterised in that: described actuating device include with
Power synchronous wheel, belt and the synchronization wheel that motor connects；Described synchronize wheel is connected with the power shaft of reductor, and pass through belt and
Power synchronous wheel connects.
Robot end's hollow rotating structure the most according to claim 3, it is characterised in that: the described wheel that synchronizes is tied for hollow
The synchronization wheel of structure；The hollow structure synchronizing wheel is relative with the hollow structure of reductor.
Robot end's hollow rotating structure the most according to claim 4, it is characterised in that: also include end enforcement division
Part, described end execution unit is connected with the output shaft of reductor.
Robot end's hollow rotating structure the most according to claim 5, it is characterised in that: also include end execution unit
Spool, the spool of end execution unit from the through hole of body stretch into reductor hollow structure and synchronize wheel hollow structure,
It is connected with end execution unit.
Robot end's hollow rotating structure the most according to claim 5, it is characterised in that: described end execution unit is
Welding gun or wire-feeding pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616712.5A CN106041991A (en) | 2016-07-28 | 2016-07-28 | Robot terminal hollow rotating structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616712.5A CN106041991A (en) | 2016-07-28 | 2016-07-28 | Robot terminal hollow rotating structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041991A true CN106041991A (en) | 2016-10-26 |
Family
ID=57196742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610616712.5A Pending CN106041991A (en) | 2016-07-28 | 2016-07-28 | Robot terminal hollow rotating structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041991A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253180A (en) * | 2019-07-08 | 2019-09-20 | 山东耐垦智能装备有限公司 | The cable of groove cut-off apparatus, which is worn, puts structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006026748A (en) * | 2004-07-12 | 2006-02-02 | Daihen Corp | Robot wrist mechanism and operation method of end effector fitted thereto |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN203265978U (en) * | 2013-05-17 | 2013-11-06 | 扬州金源机器人自动化设备有限公司 | Five-axis linkage welding mechanical hand |
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
| CN205889242U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Terminal cavity revolution mechanic of robot |
-
2016
- 2016-07-28 CN CN201610616712.5A patent/CN106041991A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006026748A (en) * | 2004-07-12 | 2006-02-02 | Daihen Corp | Robot wrist mechanism and operation method of end effector fitted thereto |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN203265978U (en) * | 2013-05-17 | 2013-11-06 | 扬州金源机器人自动化设备有限公司 | Five-axis linkage welding mechanical hand |
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
| CN205889242U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Terminal cavity revolution mechanic of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253180A (en) * | 2019-07-08 | 2019-09-20 | 山东耐垦智能装备有限公司 | The cable of groove cut-off apparatus, which is worn, puts structure |
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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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180929 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Applicant after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Applicant before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |