CN106965204A - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN106965204A CN106965204A CN201710359948.XA CN201710359948A CN106965204A CN 106965204 A CN106965204 A CN 106965204A CN 201710359948 A CN201710359948 A CN 201710359948A CN 106965204 A CN106965204 A CN 106965204A
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- China
- Prior art keywords
- forearm
- ancon
- main body
- industrial robot
- chamber
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot, including ancon and forearm, forearm body rear is docked with ancon body front end；Forearm body rear is provided with forearm motor, and the output shaft of forearm motor deviates the axial line of forearm main body, and forearm motor enters action edge by forearm synchronous pulley and transmitted；Provided with docking baffle plate in ancon main body, ancon main body is divided into front chamber and rear chamber by docking baffle plate；Harmonic speed reducer is installed, harmonic speed reducer includes wave producer, flexbile gear and firm gear in the front chamber；The axial line of wave producer is overlapped with the axial line of ancon main body；Wave producer is connected and on the same axis with the driven pulley of the forearm synchronous pulley, so that the input power into harmonic speed reducer, and is outputed power by firm gear and given forearm main body.The invention enables while the reduction of ancon dimension volume, ancon rotating eccentricity distance is reduced, reduces work space-consuming, mitigates ancon weight, rigidity, precision and the flexibility of ancon is improved, improves the aesthetics of profile.
Description
Technical field
The present invention relates to a kind of industrial robot.
Background technology
With the development of mechanical industry, automated production is realized in increasing field using industrial robot, to improve
Production efficiency and product quality.Industrial robot typically mainly includes large arm, shoulder, forearm, ancon and wrist.Prior art
In ancon be split-type structural so that ancon can take apart in order to by forearm motor be arranged on ancon in rear end part
（Forward direction is installed）, forearm motor be arranged on ancon in require that the volume size of ancon is larger, can thus cause the rotation of ancon
Turn that eccentric distance is larger, the rotating eccentricity distance of ancon refers to ancon reductor（In large arm）Center is to forearm reductor
The distance of axis, the rotating eccentricity distance of ancon is bigger, and operationally shared space is bigger for robot, is unfavorable for narrow and small
Job space, and eccentric distance more conference causes arm movements more dumb.At present, the ancon rotation of existing industrial robot
Turn eccentric distance general all in more than 30mm, such as the ancon rotating eccentricity distance of certain humanoid robot of Japanese enterprises is up to
35mm。
The forward direction installation of forearm motor also results in ancon and protruded backward, the problem of ancon weight is big so that industrial robot
Outside lines it is not smooth, motion flexibility ratio it is inadequate.Split type ancon also results in the rigidity reduction of ancon so that industrial machine
The precision reduction of people.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of industrial robot, to solve ancon in the prior art
Rotating eccentricity it is in larger distance, take that working space is big, ancon rigidity is relatively low, weight is larger, and precision is not high enough, and motion is not clever enough
Living, the slack technical problem of profile can greatly reduce the rotating eccentricity distance of ancon, improve rigidity, precision and flexibility.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme：A kind of industrial robot, including elbow
Portion and forearm, the forearm include forearm main body, and the ancon includes ancon main body；The forearm body rear and ancon main body
Dock front end；Forearm body rear is provided with forearm motor, and the output shaft of the forearm motor deviates the axial line of forearm main body,
Forearm motor enters action edge by forearm synchronous pulley and transmitted；The forearm synchronous pulley include driving wheel, driven pulley with it is synchronous
Band, driving wheel is socketed on the output shaft of forearm motor, and the axial line of driven pulley is overlapped with the axial line of forearm main body；Ancon master
In vivo provided with docking baffle plate, ancon main body is divided into front chamber and rear chamber by the docking baffle plate；The ante-chamber indoor location
There is harmonic speed reducer, the harmonic speed reducer includes wave producer, flexbile gear and firm gear；The axial line and ancon of the wave producer
The axial line of main body is overlapped；The flexbile gear is fixed on the docking baffle plate, and firm gear is fixed on the rear end face of forearm main body；Institute
State wave producer to be connected with the driven pulley of the forearm synchronous pulley and on the same axis, so as to input into harmonic speed reducer
Power, and outputed power by firm gear and give forearm main body.
In above-mentioned technical proposal, forearm motor is arranged on forearm body rear, is formed and reversely installed, with prior art just
There is advantages below to installing to compare：Forearm motor no longer takes the locus of ancon main body so that the radial direction of ancon main body
Size is reduced, and such ancon body floor is under conditions of the height of ancon decelerator is constant, the axle center of ancon main body
Line position declines, and so allows for the axial line of wave producer, i.e. harmonic speed reducer（Forearm reducing motor）Axle center line position
Decline, so as to shorten ancon rotating eccentricity distance.Because the diameter of harmonic speed reducer can be in below 120mm, then ancon master
The diameter of body can be in below 150mm, then ancon rotating eccentricity distance can narrow down to 3 ~ 8mm or so, and of the prior art
More than 30mm, reduces 7 times or so, is greatly reduced ancon rotating eccentricity distance.Also, ancon body rear is not due to having
Forearm reducing motor occupy-place, ancon body rear will not also be protruded backward again, and profile is more attractive in appearance, while alleviating the weight of ancon
Amount, improves flexibility.
It is preferred that, the ancon main body is formed in one.Because forearm motor is no longer arranged in ancon main body, this is just
Ancon main body, which is integrally formed, becomes feasible, and ancon main body, which is integrally formed, can significantly improve the rigidity of ancon, reduces deformation, improves
Precision.
It is preferred that, the center of the docking baffle plate was provided with line three-way hole, crossed line three-way hole with docking the area between baffle plate root
Domain hollow out, so as to form inner ring surface and outer ring surface, inner ring surface is fixed on outer ring surface by ribs.Because ancon main body is one
Body formed rear rigidity is improved, therefore the docking baffle plate of ancon body interior can be carried out large area hollow out further to mitigate ancon
Weight, will not cause ancon main body insufficient rigidity, but easily led if to split type ancon main body hollow out of the prior art
Cause insufficient rigidity.
Further, the outer ring surface includes the lug around the strap bolt hole of ancon main body inner wall distribution, the lug
It is vertically connected in ancon main body inner wall；The inner ring surface includes the annular base for being used to connect ribs, the annular base
It is upper to surround the lug that strap bolt hole is distributed with；The flexbile gear is bolted on outer ring surface；Also included line protective case, institute
Line protective case was stated to be bolted on inner ring surface.So, crossing line protective case can protect cable not to be involved in rotary part
It is interior, improve security performance, it is to avoid break down or damage；Flexbile gear and excessively line protective case are formed with ancon main body respectively detachably to be connected
Connect, be easy for installation and removal, and with larger fretwork area, maximized can subtract ancon body weight.
It is preferred that, the forearm main body is formed in one, and the forearm body front end, which is provided with, to be used to accommodate the U-shaped of wrist
Groove, the U-type groove both sides are arranged with installation via；The forearm main body both sides, which are provided with, to be used to install group of motors and power is passed
The side chamber of motivation structure；The forearm main body both sides are removably connected with the side cover plate for covering the side chamber.So, forearm master
Body by integral forming can improve the rigidity of forearm, be integrally formed and be combined with ancon main body, further improve rigidity and action essence
Degree；And the installation and removal of wrist is more facilitated, the visualization of installation process is improved.
The rear chamber of the ancon main body includes two side chambers in left and right and the mistake line chamber in the middle of two side chambers；It is described
It is provided with one of side chamber in ancon reductor shaft bearing assembly, another side chamber and ancon bearing is installed.So, line chamber is crossed
The cable inside industrial robot can be accommodated, cable can be coiled in line chamber so that cabling is laid out cleaner and tidier specification.
It is preferred that, the forearm body rear face is provided with convex neck, and the convex neck is provided with annular groove, the annular groove
It is embedded in sealing ring；Forearm main body is inserted by convex neck in the front chamber of ancon main body.In such manner, it is possible to greatly improve sealing
Energy.
It is preferred that, the driven pulley of the forearm synchronous pulley is docked with the end face of wave producer, and solid by screw
It is scheduled on wave producer.So, formed and be detachably connected convenient installation, change and repair.
In summary, the invention enables while the reduction of ancon dimension volume, ancon rotating eccentricity distance is reduced, is reduced
Work space-consuming, alleviates ancon weight, improves the rigidity, precision and flexibility of ancon, improve the attractive in appearance of profile
Degree.
Brief description of the drawings
Fig. 1 is the mounting structure schematic diagram of forearm motor in embodiment；
Fig. 2 is Fig. 1 rearview；
Fig. 3 is Fig. 2 partial enlarged drawing；
Fig. 4 is Fig. 2 J-J sectional views；
Fig. 5 is Fig. 2 K-K sectional views；
Fig. 6 is the stereogram of ancon main body；
Fig. 7 is Fig. 6 front view；
Fig. 8 is the structural representation of forearm main body；
Fig. 9 is the structural representation of industrial robot of the prior art.
Embodiment
The present invention is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 8, including ancon 1 and forearm 2, the forearm 2 include forearm main body to a kind of industrial robot
24, the ancon 1 includes ancon main body 11；Docked with the front end of ancon main body 11 rear end of forearm main body 24；Forearm main body 24
Rear end is provided with forearm motor 21, and the output shaft of the forearm motor 21 deviates the axial line of forearm main body 24, forearm motor 21
Enter action edge by forearm synchronous pulley to transmit；The forearm synchronous pulley includes driving wheel 22, driven pulley 23 and timing belt, main
Driving wheel 22 is socketed on the output shaft of forearm motor 21, and the axial line of driven pulley 23 is overlapped with the axial line of forearm main body 24；Elbow
Provided with docking baffle plate in portion's main body 11, ancon main body 11 is divided into front chamber and rear chamber by the docking baffle plate；The ante-chamber
Indoor location has harmonic speed reducer, and the harmonic speed reducer includes wave producer 16, flexbile gear 17 and firm gear 18；The wave producer
16 axial line is overlapped with the axial line of ancon main body 11；The flexbile gear 17 is fixed on the docking baffle plate, and firm gear 18 is fixed
On the rear end face of forearm main body 24；The wave producer is connected with the driven pulley 23 of the forearm synchronous pulley and in same axle
On line, so that the input power into harmonic speed reducer, and outputed power by firm gear 18 to forearm main body 24.
In above-mentioned technical proposal, forearm motor 21 is arranged on the rear end of forearm main body 24, is formed and reversely installed, with prior art
It is positive install to compare there is advantages below：Forearm motor 21 no longer takes the locus of ancon main body 11 so that ancon master
The radial dimension of body 11 is reduced, such bottom surface of ancon main body 11 under conditions of the height of ancon decelerator 12 is constant,
The axle center line position of ancon main body 11 declines, and so allows for the axial line of wave producer 16, i.e. harmonic speed reducer（Equivalent to existing
There is the forearm reducing motor in technology）Axle center line position decline, so as to shorten ancon rotating eccentricity distance, as shown in figure 3,
The center of ancon decelerator 12 is point O, and the axis line of harmonic speed reducer is L, and ancon rotating eccentricity distance is d.Because harmonic wave subtracts
The diameter of fast device 16 can be in below 120mm, then the diameter of ancon main body 11 can be in below 150mm, then ancon rotating eccentricity
Distance can narrow down to 3 ~ 8mm or so, reduce 7 times or so.As shown in figure 9, the ancon rotating eccentricity of existing industrial robot away from
It is larger from d, in more than 30mm, 7 times or so are reduced, ancon rotating eccentricity distance is greatly reduced.Also, ancon main body 11
Rear end will not also be protruded backward again due to no forearm reducing motor occupy-place, the rear end of ancon main body 11, and profile is more attractive in appearance, simultaneously
The weight of ancon 1 is alleviated, flexibility is improved.
In present embodiment, as shown in fig. 6, the ancon main body 11 is formed in one.Due to forearm motor 21 not
Be arranged on again in ancon main body 11, this just becomes feasible for ancon main body 11 is made of one into shaping, the one of ancon main body 11 into
Type can significantly improve the rigidity of ancon, reduce deformation, improve precision.
In present embodiment, shown in figure Fig. 7, the center of the docking baffle plate was provided with line three-way hole, cross line three-way hole with
The region hollow out between baffle plate root is docked, so as to form inner ring surface 111 and outer ring surface 112, inner ring surface 112 is solid by ribs
It is scheduled on outer ring surface 111.Improved because ancon main body 11 is integrally formed rear rigidity, therefore the docking inside ancon main body 11 is kept off
Plate can carry out large area hollow out further to mitigate ancon weight, will not cause the insufficient rigidity of ancon main body 11, if but to existing
There is the split type ancon main body hollow out in technology to be then easily caused insufficient rigidity.
In present embodiment, the outer ring surface 112 is included around the convex of the strap bolt hole of ancon main body inner wall distribution
Ear, the lug is vertically connected on the inwall of ancon main body 11；The inner ring surface 111 includes the annular base for being used to connect ribs
Around the lug that strap bolt hole is distributed with portion, the annular base；The flexbile gear of the harmonic speed reducer 16 is bolted
On outer ring surface 112；Also included line protective case 14, the line protective case 14 of crossing is bolted on inner ring surface 111.This
Sample, crossing line protective case 14 can protect cable not to be involved in rotary part, improve security performance, it is to avoid break down or damage；
Flexbile gear and excessively line protective case 14 are detachably connected with the formation of ancon main body 11 respectively, are easy for installation and removal, and with larger
Fretwork area, can it is maximized mitigation ancon weight.
In present embodiment, as shown in figure 8, the forearm main body 24 is formed in one, before the forearm main body 24
End is provided with the U-type groove for being used for accommodating wrist, and the U-type groove both sides are arranged with installation via；The both sides of forearm main body 24 are set
There is the side chamber for installing group of motors and power drive mechanism, group of motors includes wrist motor and end motor；Power transmission
Mechanism includes wrist forearm synchronous pulley and end forearm synchronous pulley, is respectively used to wrist decelerator and end decelerator biography
Graduating power；The forearm main body both sides are removably connected with the side cover plate for covering the side chamber.So, forearm main body 24 1
It is body formed to improve the rigidity of forearm, it is integrally formed and is combined with ancon main body 11, further improves rigidity and operation precision；
And the installation and removal of wrist is more facilitated, the visualization of installation process is improved.
Installed to wrist, can first by wrist main body be arranged on U-type groove in, then by the associated components of inner wrist from
Installed in the installation via feeding wrist main body of U-type groove both sides, be thus avoided that and first assemble after complete wrist, then will
Wrist is arranged on the width that the interference produced when in U-type groove, the particularly lateral dimension of associated components are more than U-type groove.
When being dismantled to wrist, the side cover plate of the both sides of forearm main body 24 is removed, wrist can just be dismantled, without
As split type forearm of the prior art, half of forearm main body and internal part are all disassembled, substantially increases and tears open
Unload efficiency.
In present embodiment, the rear chamber of the ancon main body 11 includes two side chambers in left and right and positioned at two sides
Mistake line chamber 15 in the middle of chamber；Installed in one of side chamber in ancon decelerator 12, another side chamber and ancon axle is installed
Hold 13.So, the cable inside industrial robot can be accommodated by crossing line chamber 15, and cable can be coiled in line chamber 15 so that
Cabling is laid out cleaner and tidier specification.
In present embodiment, the rear end face of forearm main body 24 is provided with convex neck, and the convex neck is provided with annular groove,
The annular groove is embedded in sealing ring；Forearm main body 24 is inserted by convex neck in the front chamber of ancon main body 11.In such manner, it is possible to
Greatly improve sealing property.
In present embodiment, the driven pulley 23 of the forearm synchronous pulley is docked with the end face of wave producer,
And be fixed by screws on wave producer.So, formed and be detachably connected convenient installation, change and repair.
Claims (9)
1. a kind of industrial robot, including ancon and forearm, it is characterised in that：The forearm includes forearm main body, the ancon
Including ancon main body；The forearm body rear is docked with ancon body front end；Forearm body rear is provided with forearm motor, institute
The output shaft for stating forearm motor deviates the axial line of forearm main body, and forearm motor enters action edge by forearm synchronous pulley and transmitted；
The forearm synchronous pulley includes driving wheel, driven pulley and timing belt, and driving wheel is socketed on the output shaft of forearm motor, driven
The axial line of wheel is overlapped with the axial line of forearm main body；Provided with docking baffle plate in ancon main body, the docking baffle plate is by ancon master
Body is divided into front chamber and rear chamber；Harmonic speed reducer is installed, the harmonic speed reducer includes ripple in the front chamber
Device, flexbile gear and firm gear；The axial line of the wave producer is overlapped with the axial line of ancon main body；The flexbile gear is fixed on described right
Connect on baffle plate, firm gear is fixed on the rear end face of forearm main body；The driven pulley of the wave producer and the forearm synchronous pulley
Connect and on the same axis, so that the input power into harmonic speed reducer, and outputed power by firm gear and give forearm main body.
2. industrial robot according to claim 1, it is characterised in that：The ancon main body is formed in one.
3. industrial robot according to claim 1, it is characterised in that：The center of the docking baffle plate was provided with line and led to
Hole, crosses line three-way hole with docking the region hollow out between baffle plate root, so as to form inner ring surface and outer ring surface, inner ring surface passes through support
Rib is fixed on outer ring surface.
4. industrial robot according to claim 3, it is characterised in that：The outer ring surface is included around ancon main body inner wall
The lug in the strap bolt hole of distribution, the lug is vertically connected in ancon main body inner wall；The inner ring surface includes being used to connect
Around the lug that strap bolt hole is distributed with the annular base of ribs, the annular base；The flexbile gear is bolted
On outer ring surface；Also included line protective case, the line protective case of crossing is bolted on inner ring surface.
5. industrial robot according to claim 1, it is characterised in that：The forearm main body is formed in one, described small
Arm body front end is provided with the U-type groove for being used for accommodating wrist, and the U-type groove both sides are arranged with installation via；The forearm main body
Both sides, which are provided with, to be used to install group of motors and the side chamber of power drive mechanism；The forearm main body both sides, which are removably connected with, to be used for
Cover the side cover plate of the side chamber.
6. industrial robot according to claim 1, it is characterised in that：The rear chamber of the ancon main body includes left and right two
Individual side chamber and the mistake line chamber in the middle of two side chambers；Ancon bearing in reduction gears group is installed in one of side chamber
Ancon bearing is installed in part, another side chamber.
7. industrial robot according to claim 1, it is characterised in that：The forearm body rear face is provided with convex neck, institute
Convex neck is stated provided with annular groove, the annular groove is embedded in sealing ring；Forearm main body inserts ancon main body by convex neck
In front chamber.
8. industrial robot according to claim 1, it is characterised in that：The driven pulley of the forearm synchronous pulley is sent out with ripple
The end face of raw device is docked, and is fixed by screws on wave producer.
9. industrial robot according to claim 1, it is characterised in that：A diameter of 110 ~ 120mm of harmonic speed reducer, elbow
A diameter of 140 ~ 150mm of portion's main body, ancon rotating eccentricity distance is 3 ~ 8mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359948.XA CN106965204B (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359948.XA CN106965204B (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106965204A true CN106965204A (en) | 2017-07-21 |
| CN106965204B CN106965204B (en) | 2018-03-27 |
Family
ID=59326739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710359948.XA Active CN106965204B (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
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| Country | Link |
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| CN (1) | CN106965204B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253632A (en) * | 2019-07-23 | 2019-09-20 | 重庆卓来科技有限责任公司 | A kind of robot end's flange and assembly |
| CN110293537A (en) * | 2018-03-22 | 2019-10-01 | 安徽欢颜机器人有限公司 | A kind of robot connecting shaft structure |
| CN113414756A (en) * | 2021-05-31 | 2021-09-21 | 安徽中科谱锐达光电有限公司 | Automatic rotating arm device for intelligently and circularly observing earth surface radiation characteristics |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02218584A (en) * | 1989-02-20 | 1990-08-31 | Tokico Ltd | Industrial robot |
| CN104308858A (en) * | 2014-10-28 | 2015-01-28 | 济南时代试金试验机有限公司 | Wrist of industrial robot |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
| CN204748649U (en) * | 2015-07-01 | 2015-11-11 | 东莞市尔必地机器人有限公司 | Heavy two -way rotary joint combined mechanism |
| CN206703057U (en) * | 2017-05-20 | 2017-12-05 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
-
2017
- 2017-05-20 CN CN201710359948.XA patent/CN106965204B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02218584A (en) * | 1989-02-20 | 1990-08-31 | Tokico Ltd | Industrial robot |
| CN104308858A (en) * | 2014-10-28 | 2015-01-28 | 济南时代试金试验机有限公司 | Wrist of industrial robot |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
| CN204748649U (en) * | 2015-07-01 | 2015-11-11 | 东莞市尔必地机器人有限公司 | Heavy two -way rotary joint combined mechanism |
| CN206703057U (en) * | 2017-05-20 | 2017-12-05 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293537A (en) * | 2018-03-22 | 2019-10-01 | 安徽欢颜机器人有限公司 | A kind of robot connecting shaft structure |
| CN110253632A (en) * | 2019-07-23 | 2019-09-20 | 重庆卓来科技有限责任公司 | A kind of robot end's flange and assembly |
| CN113414756A (en) * | 2021-05-31 | 2021-09-21 | 安徽中科谱锐达光电有限公司 | Automatic rotating arm device for intelligently and circularly observing earth surface radiation characteristics |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106965204B (en) | 2018-03-27 |
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