CN206937346U - Robot end's structure and welding robot - Google Patents
Robot end's structure and welding robot Download PDFInfo
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- CN206937346U CN206937346U CN201720802936.5U CN201720802936U CN206937346U CN 206937346 U CN206937346 U CN 206937346U CN 201720802936 U CN201720802936 U CN 201720802936U CN 206937346 U CN206937346 U CN 206937346U
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- 238000003466 welding Methods 0.000 title claims abstract description 19
- 210000000707 wrist Anatomy 0.000 claims abstract description 154
- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 210000000245 forearm Anatomy 0.000 claims abstract description 85
- 230000005540 biological transmission Effects 0.000 claims description 42
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The utility model provides a kind of robot end's structure and welding robot.Robot end's structure, including the robot forearm of interconnection and robot wrist；The robot forearm includes forearm connecting portion, the first forearm beam and the second forearm beam of described forearm connecting portion the same side are connected to side by side, the wrist swinging drive mechanism being arranged in the first forearm beam, and the wrist rotary drive mechanism being arranged in the second forearm beam；The robot wrist includes wrist main body, is respectively arranged at the wrist swinging arm and wrist force transferring structure of the wrist main body both sides, and the wrist force export structure being connected with the wrist force transferring structure；The wrist swinging arm is connected with the wrist swinging drive mechanism, and the wrist force transferring structure is connected with the wrist rotary drive mechanism.Technical scheme provided by the utility model, it is possible to increase end load, and improve the precision and stability of wrist portion.
Description
Technical field
Robot automation's equipment technical field is the utility model is related to, more particularly to a kind of robot end's structure and weldering
Welding robot.
Background technology
In traditional factory, carry, the work such as welding is substantially to be completed by manually, have labor intensity it is big,
It is time-consuming it is more, uninteresting, working environment is severe, easily causes the problems such as pollution.Secondly, manually-operated process consistency is more difficult
Reach, quality control is not easy, so as to increase the cost of enterprise.Therefore, in these areas, pole needs robot accurately fast
Fast ground, which is carried to material, installed, welded, spray etc., to be operated.
Therefore, a kind of six-joint robot arises at the historic moment, and it is free to the carry out activity in three dimensions, can be accurate
A large amount of repetitive works such as rapidly carried, welded, being sprayed.But the six-joint robot in conventional art is also present
Many deficiencies, are primarily present following shortcoming；6th spindle motor and the 5th spindle motor are mounted on forearm front end, increase six axle machines
The deadweight of device people end so that robot end's payload capability substantially reduces, and forearm cabling is numerous and diverse；Wrist portion only has single
Individual 5th axis connection portion, bearing capacity is limited, robot end weigh it is larger in the case of, after long-term use of, do not reach coaxial
Degree requires that precision and stability reduce.
Utility model content
Based on this, to solve the above problems, the utility model provides a kind of robot end's structure and welding robot, can
Increase end load, and improve the precision and stability of wrist portion.
Its technical scheme is as follows：
A kind of robot end's structure, including the robot forearm of interconnection and robot wrist；
The robot forearm includes forearm connecting portion, is connected to first forearm of described forearm connecting portion the same side side by side
Beam and the second forearm beam, the wrist swinging drive mechanism being arranged in the first forearm beam, and to be arranged at described second small
Wrist rotary drive mechanism in arm beam；
The robot wrist includes wrist main body, is respectively arranged at the wrist swinging arm and hand of the wrist main body both sides
Wrist power transmission structure, and the wrist force export structure being connected with the wrist force transferring structure；The wrist swinging
Arm is connected with the wrist swinging drive mechanism, and the wrist force transferring structure is connected with the wrist rotary drive mechanism.
Further technical scheme is illustrated below：
Further, the wrist swinging drive mechanism includes being arranged in the first forearm beam and close to the forearm
5th axle motor of connecting portion, and be arranged on the first forearm beam and be connected with the 5th axle motor
5th spindle motor Poewr transmission mechanism, the 5th spindle motor Poewr transmission mechanism are connected with the wrist swinging arm.
Further, the 5th spindle motor Poewr transmission mechanism include be arranged at described first forearm beam one end and with institute
State the 5th axle motor connection the first driving pulley, be arranged at the first forearm beam other end and with the wrist swinging
First driven pulley of arm connection, and the first timing belt of connection first driving pulley and the first driven pulley.
Further, the 5th spindle motor Poewr transmission mechanism also includes first be arranged on the first forearm beam
Belt wheel output shaft, the first pulley output shaft are connected with first driven pulley；
The wrist swinging arm includes the wrist swing arm connecting portion being connected with the wrist main body, and is put with the wrist
First reduction gear of arm connecting portion connection, first reduction gear and first pulley output axis connection.
Further, the wrist rotary drive mechanism includes being arranged in the second forearm beam and close to the forearm
6th axle motor of connecting portion, and be arranged on the second forearm beam and be connected with the 6th axle motor
6th spindle motor Poewr transmission mechanism, the 6th spindle motor Poewr transmission mechanism are connected with the wrist force transferring structure.
Further, the 6th spindle motor Poewr transmission mechanism include be arranged at described second forearm beam one end and with institute
State the 6th axle motor connection the second driving pulley, be arranged at the second forearm beam other end and with the wrist force
Second driven pulley of transferring structure connection, and the second synchronization of connection second driving pulley and the second driven pulley
Band.
Further, the 6th spindle motor Poewr transmission mechanism also includes second be arranged on the second forearm beam
Belt wheel output shaft, the second belt wheel output shaft are connected with second driven pulley；
The wrist force transferring structure includes the wrist force transmission axle being arranged in the wrist main body, sets respectively
Power input gear mechanism and power output gear mechanism in the wrist force transmission axle both ends, the power input gear
Mechanism is connected with second belt wheel output axis connection, the power output gear mechanism with the wrist force export structure.
In addition, the utility model also proposes a kind of welding robot, including base, the machine being rotationally connected with the base
Device people's large arm, the end swing arm with robot's arm rotation connection, and be rotatablely connected with the end swing arm
Robot end's structure as described above.
Further, the base includes pedestal, the large arm rotating drive mechanism being arranged on the pedestal, and with institute
The rotating seat of large arm rotary drive mechanism connection is stated, the robot's arm is connected on the rotating seat；
The robot's arm includes being arranged at large arm swing driving mechanism on the rotating seat, and one end with it is described
The large arm main body of large arm swing driving mechanism connection, the large arm main body other end are connected on the end swing arm.
Further, the end swing arm includes being arranged at the end structure wobble drive of the large arm main body other end
Mechanism, the end swing arm main body that one end is connected with the end structure swing driving mechanism, and it is connected to the end swing arm
The end structure rotary drive mechanism of the main body other end, the end structure rotary drive mechanism and robot end's structure
Connection.
The utility model has the advantages that：Robot end's structure can expand the 5th axle motor, the 6th
The scope of application of axle motor and reductor, purchase cost is reduced, internal cabling is succinct, and robot motion is accurate, six axle machines
Device people end payload capability greatly improves；In addition, also making the tighter specification of cabling of structure, expand actuating range and improve dynamic
Make precision, reduce manufacturing cost, improve stability.
Brief description of the drawings
Fig. 1 is the forward sight structural representation of welding robot described in the utility model embodiment；
Fig. 2 is the forward sight structural representation of robot end's structure of welding robot described in the utility model embodiment；
Fig. 3 is the overlooking the structure diagram of robot end's structure of welding robot described in the utility model embodiment；
Fig. 4 is the partial enlargement structural representation of the local A in Fig. 3.
Description of reference numerals：
100- bases, 110- pedestals, 120- rotating seats, 130- large arm rotating drive mechanisms, 200- robot's arms, 210-
Large arm main body, 220- large arm swing driving mechanisms, 230- end structure swing driving mechanisms, 240- ends swing arm main body, 250-
End structure rotary drive mechanism, the axle motors of 252- the 4th, 300- robot forearms, 302- forearm connecting portions, 310-
One forearm beam, 320- wrist swinging drive mechanisms, the axle motors of 322- the 5th, the driving pulleys of 324- first, 326- first are same
Step band, the driven pulleys of 328- first, 329- first pulley output shafts, 330- the second forearm beams, 340- wrist rotary drive mechanisms,
The axle motors of 342- the 6th, the driving pulleys of 344- second, the timing belts of 346- second, the driven pulleys of 348- second, 349- second
Belt wheel output shaft, 400- robot wrists, 410- wrist main bodys, 412- wrist forces transmit pipeline, 420- wrist force transmission
Structure, 440- wrist swinging arms, the reduction gears of 450- first, 460- wrist force export structures.
Embodiment
Embodiment of the present utility model is described in detail below：
As shown in figure 1, the utility model proposes a kind of welding robot, including base 100, the base is rotationally connected with
Robot's arm 200 on 100, the end swing arm with the robot's arm 200 rotation connection, and put with the end
Robot end's structure of swing arm rotation connection.The robot's arm 200 can rotate around the base 100, and the machine
People's large arm 200 can also be swung in described one end of base 100.In addition, the end swing arm can be around the robot's arm 200
One end is swung, and robot end's structure can rotate in the end swing arm, so that the welding robot can be with
Freely moved in three dimensions, the works of a large amount of repeatability such as can quickly and accurately be carried, welded, sprayed
Make, so as to reduce artificial use, reduce the cost of production.
Specifically, the base 100 includes pedestal 110, the large arm rotating drive mechanism being arranged on the pedestal 110
130, and the rotating seat 120 being connected with the large arm rotating drive mechanism 130, the robot's arm 200 is connected to described
On rotating seat 120.By the large arm rotating drive mechanism 130 rotating seat 120 can be driven to turn on the pedestal 110
It is dynamic, so as to drive the robot's arm 200 being arranged on the rotating seat 120 to be rotated around the pedestal 110.It is moreover, described
Large arm rotating drive mechanism 130 includes the first axle motor being arranged on the pedestal 110, and the connection first axle
First decelerator of motor and the rotating seat 120.By the first axle motor described first can be driven to subtract
Fast device, so as to drive the rotating seat 120 to rotate, so as to drive the robot's arm 200, end swing arm, robot end
End structure rotates around the pedestal 110.
In addition, the robot's arm 200 includes the large arm swing driving mechanism 220 being arranged on the rotating seat 120,
And the large arm main body 210 that one end is connected with the large arm swing driving mechanism 220, the other end of large arm main body 210 connection
In on the end swing arm.By the large arm swing driving mechanism 220 can drive the large arm main body 210 with it is described
The junction of rotating seat 120 is swung, so as to drive the end swing arm and robot that are connected with the large arm main body 210 end
End structure is swung.Moreover, the large arm swing driving mechanism 220 includes the second axle driving being arranged on the rotating seat 120
Motor, and connect the second axle motor and the second decelerator of the large arm main body 210.Driven by second axle
Dynamic motor can drive second decelerator, so as to drive the large arm main body 210 to swing, so as to drive the end to swing
Arm and robot end's structure are swung.
In addition, the end swing arm includes being arranged at the end structure wobble drive of the other end of large arm main body 210
Mechanism 230, the end swing arm main body 240 that one end is connected with the end structure swing driving mechanism 230, and be connected to described
The end structure rotary drive mechanism 250 of the other end of end swing arm main body 240, the end structure rotary drive mechanism 250 with
Robot end's structure connection.The end swing arm master can be driven by the end structure swing driving mechanism 230
Body 240 and robot end's structure are swung, and can drive the robot by the end structure rotary drive mechanism 250
End structure rotates.Moreover, the end structure swing driving mechanism 230 includes being arranged at the end of large arm main body 210
Three-axis drive motor, and connect the Three-axis drive motor and the 3rd decelerator of the end swing arm main body 240.It is logical
The 3rd decelerator can be driven by crossing the Three-axis drive motor, so as to drive the end swing arm main body 240 to swing.This
Outside, the end structure rotary drive mechanism 250 includes the 4th axle driving electricity for being arranged at the end of end swing arm main body 240
Machine 252, and connect the 4th axle motor and the 4th decelerator of robot end's structure.Pass through the described 4th
Axle motor 252 can drive the 4th decelerator, so as to drive robot end's structure to rotate.
In addition, robot end's structure includes robot forearm 300 and the robot wrist 400 being connected with each other, and
The robot forearm 300 is connected with the end swing arm main body 240 by the end structure rotary drive mechanism 250.It is logical
Crossing the end structure rotary drive mechanism 250 can drive the robot forearm 300 and robot wrist 400 to rotate.
Moreover, as shown in Figure 2 to Figure 3, the robot forearm 300 includes what is be connected with the end swing arm main body 240
Forearm connecting portion 302, the first forearm beam 310 and the second forearm beam of described the same side of forearm connecting portion 302 are connected to side by side
330, the wrist swinging drive mechanism 320 being arranged in the first forearm beam 310, and it is arranged at the second forearm beam
Wrist rotary drive mechanism 340 in 330；The robot wrist 400 includes wrist main body 410, is respectively arranged at the hand
The wrist swinging arm 440 and wrist force transferring structure 420 of the both sides of wrist main body 410, and with the wrist force transferring structure
The wrist force export structure 460 of 420 connections；The wrist swinging arm 440 is connected with the wrist swinging drive mechanism 320,
The wrist force transferring structure 420 is connected with the wrist rotary drive mechanism 340.By in the first forearm beam 310
The wrist swinging drive mechanism 320 of setting can drive the wrist swinging arm 440 and the wrist main body 410 to swing, so as to
The robot wrist 400 is driven to swing.It can be driven by the wrist rotary drive mechanism 340 in the second forearm beam 330
Start wrist power transmission structure 420, so as to drive the wrist force export structure being connected with the wrist force transferring structure 420
460 rotations.Moreover, the side of wrist main body 410, which is additionally provided with wrist force, transmits pipeline 412, the wrist force transmission
Structure 420 is arranged at the wrist force and transmitted in the pipeline of pipeline 412.So, on the one hand it is easy to cabling, on the other hand will not also
Influence articulation scope.
So, the actuating unit (i.e. motor) and wrist of the wrist swinging drive mechanism 320 can be rotated and driven
The actuating unit (i.e. motor) of motivation structure 340 is mounted on the rear end of robot forearm 300 (with the end swing arm master
The connection end of body 240), reduce the deadweight of six-joint robot end so that and robot end's payload capability greatly improves, and
Simplify the cabling of robot forearm 300.In addition, by the way that the robot forearm 300 is arranged into couple structure, (first is small
The forearm beam 330 of arm beam 310 and second), if desired by the actuating unit (i.e. motor) and wrist of wrist swinging drive mechanism 320
The actuating unit (i.e. motor) of rotary drive mechanism 340 while when being installed on 300 rear end of robot forearm, motor assembles not
Can be by forearm space constraint, it is possible to use larger-size motor, reduce cost, general degree is also higher.It is moreover, described
First forearm beam 310 and the second forearm beam 330 are disposed as hollow structure, wrist swinging drive mechanism 320 and the wrist rotation
Turn drive mechanism 340 to may be contained within hollow structure, the so convenient cabling inside hollow structure, eliminate and walked outside forearm
Existing reliability hidden danger during line, will not also produce that the exposed redundancy outside robot body of cable is mixed and disorderly, restricted part joint
The problem of actuating range, moreover it is possible to protect cable well.In addition, the wrist swinging drive mechanism 320 and wrist rotation driving
Mechanism 340, will not be to the wrist swinging drive mechanism respectively in the first forearm beam 310 and the cabling of the second forearm beam 330
Signal between 320 and the cable and end high-current equipment of wrist rotary drive mechanism 340 produces interference, makes data transfer can
Lean on, also without limitation on the wrist swinging drive mechanism 320 and the scope of application of the reductor of wrist rotary drive mechanism 340.
In addition, by setting connecting portion (wrist force transferring structure 420 and wrist swinging arm 440) in wrist portion both sides, make wrist portion
It is more firm, further improve bearing capacity.After long-term use in the case that robot end's load-bearing is larger, it can also reach
To axiality requirement, its precision and stability are kept.On the other hand, can also simplify the welding gun that is used in robot end or
It is the cabling of other instruments.
Moreover, the wrist swinging drive mechanism 320 includes being arranged in the first forearm beam 310 and close to described small
5th axle motor 322 of arm connecting portion 302, and be arranged on the first forearm beam 310 and driven with the 5th axle
The 5th spindle motor Poewr transmission mechanism that dynamic motor 322 connects, the 5th spindle motor Poewr transmission mechanism are put with the wrist
Swing arm 440 connects.The 5th spindle motor Poewr transmission mechanism is driven by the 5th axle motor 322, so as to utilize
The 5th spindle motor Poewr transmission mechanism drives the wrist swinging arm 440 to swing, and the wrist main body 410 is driven to realize
And robot wrist 400 swings.Further, the 5th spindle motor Poewr transmission mechanism includes being arranged at first forearm
The one end of beam 310 and the first driving pulley 324 being connected with the 5th axle motor 322, are arranged at the first forearm beam
310 other ends and the first driven pulley 328 being connected with the wrist swinging arm 440, and connection first driving pulley
324 and first driven pulley 328 the first timing belt 326.The 5th axle motor 322 drives first driving pulley
324 rotate, so as to drive first driven pulley 328 to rotate using first timing belt 326, so as to drive the wrist
Swing arm 440 is swung.
Moreover, as shown in figure 4, the 5th spindle motor Poewr transmission mechanism also includes being arranged at the first forearm beam
First pulley output shaft 329 on 310, the first pulley output shaft 329 are connected with first driven pulley 326.Moreover,
The wrist swinging arm 440 includes the wrist swing arm connecting portion that is connected with the wrist main body 410, and with the wrist swing arm
First reduction gear 450 of connecting portion connection, first reduction gear 450 connect with first pulley output shaft 329
Connect.First driven pulley 328 can drive first pulley output shaft 329 to rotate, so as to drive the first reducing gear turbine
Structure 450 operates, so as to drive the wrist swinging arm 440 to swing.
In addition, the wrist rotary drive mechanism 340 includes being arranged in the second forearm beam 330 and close to described small
6th axle motor 342 of arm connecting portion, and be arranged on the second forearm beam 330 and drive electricity with the 6th axle
The 6th spindle motor Poewr transmission mechanism that machine 342 connects, the 6th spindle motor Poewr transmission mechanism pass with the wrist force
Structure 420 is passed to connect.The 6th spindle motor Poewr transmission mechanism is driven by the 6th axle motor 342, so as to profit
The wrist force transferring structure 420 is driven to rotate with the 6th spindle motor Poewr transmission mechanism, so as to realize to the hand
The rotation of wrist power output structure 460 and power transmission.Further, the 6th spindle motor Poewr transmission mechanism includes setting
In described one end of second forearm beam 330 and the second driving pulley 344 for being connected with the 6th axle motor 342, it is arranged at
The other end of second forearm beam 330 and the second driven pulley 348 being connected with the wrist force transferring structure 420, and
Connect the second timing belt 346 of the driven pulley 348 of the second driving pulley 344 and second.The 6th axle motor 342
Second driving pulley 344 is driven to rotate, so as to drive second driven pulley 348 using second timing belt 346
Rotate, so as to drive the wrist force transferring structure 420 to rotate.
Moreover, as shown in figure 4, the 6th spindle motor Poewr transmission mechanism also includes being arranged at the second forearm beam
The second belt wheel output shaft 349 on 330, the second belt wheel output shaft 349 are connected with second driven pulley 348.It is described
Wrist force transferring structure 420 includes the wrist force being arranged in the wrist force transmission pipeline 412 of the wrist main body 410
Transmission axle 422, it is respectively arranged at the power input gear mechanism 424 and power output at the both ends of wrist force transmission axle 422
Gear mechanism 426, the power input gear mechanism 424 are connected with the second belt wheel output shaft 349, the power output tooth
Wheel mechanism 426 is connected with the wrist force export structure 460.Second driven pulley 348 can the output of turn drives second tape wheel
Axle 349 rotates, so as to drive the wrist force transferring structure 420 to operate.It can drive and the second belt wheel output shaft
The power input gear mechanism 424 of 349 connections operates, so as to drive the wrist force transmission axle 422 to rotate, so as to drive
State power output gear mechanism 426 to rotate, to realize power output and the rotation to the wrist force export structure 460.And
And the power input gear mechanism 424 may be configured as bevel gear transmission or Worm and worm-wheel gearing, thus it is possible to vary
Power transmission direction.In addition, the wrist force export structure 460 could be arranged to tube-in-tube structure, can be directly connected to welding gun,
The structures such as spray gun, handling gripper, quickly and accurately being carried to material, installing, welding, the operation such as spraying.It is in addition, described
Power input gear mechanism 424 and power output gear mechanism 426 use gear clearance elimination treatment process, improve gear drive essence
Degree, ensure that the accuracy of robot motion.
Robot end's structure provided by the utility model and welding robot, the 5th axle motor, can be expanded
The scope of application of six axle motors and reductor, purchase cost is reduced, internal cabling is succinct, and robot motion is accurate, six axles
Robot end's payload capability greatly improves；In addition, also making the tighter specification of cabling of structure, expand actuating range and improve
Precision is acted, manufacturing cost is reduced, improves stability.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of robot end's structure, it is characterised in that robot forearm and robot wrist including interconnection；
The robot forearm includes forearm connecting portion, be connected to side by side described forearm connecting portion the same side the first forearm beam and
Second forearm beam, the wrist swinging drive mechanism being arranged in the first forearm beam, and it is arranged at the second forearm beam
In wrist rotary drive mechanism；
The robot wrist includes wrist main body, and the wrist swinging arm and wrist for being respectively arranged at the wrist main body both sides move
Power transferring structure, and the wrist force export structure being connected with the wrist force transferring structure；The wrist swinging arm with
The wrist swinging drive mechanism connection, the wrist force transferring structure are connected with the wrist rotary drive mechanism.
2. robot end's structure according to claim 1, it is characterised in that the wrist swinging drive mechanism includes setting
It is placed in the first forearm beam and close to the 5th axle motor of the forearm connecting portion, and to be arranged at described first small
The 5th spindle motor Poewr transmission mechanism being connected on arm beam and with the 5th axle motor, the 5th spindle motor power pass
Mechanism is passed to be connected with the wrist swinging arm.
3. robot end's structure according to claim 2, it is characterised in that the 5th spindle motor Poewr transmission mechanism
Including the first driving pulley for being arranged at described first forearm beam one end and being connected with the 5th axle motor, institute is arranged at
State the first forearm beam other end and the first driven pulley being connected with the wrist swinging arm, and connection first drive belt
First timing belt of wheel and the first driven pulley.
4. robot end's structure according to claim 3, it is characterised in that the 5th spindle motor Poewr transmission mechanism
Also include being arranged at first pulley output shaft on the first forearm beam, the first pulley output shaft and described first driven
Belt wheel connects；
The wrist swinging arm includes the wrist swing arm connecting portion being connected with the wrist main body, and connects with the wrist swing arm
First reduction gear of socket part connection, first reduction gear and first pulley output axis connection.
5. according to robot end's structure described in claim 1-4 any one, it is characterised in that the wrist rotation driving
Mechanism includes being arranged in the second forearm beam and close to the 6th axle motor of the forearm connecting portion, and is arranged at
The 6th spindle motor Poewr transmission mechanism being connected on the second forearm beam and with the 6th axle motor, the 6th axle
Motor power transmission mechanism is connected with the wrist force transferring structure.
6. robot end's structure according to claim 5, it is characterised in that the 6th spindle motor Poewr transmission mechanism
Including the second driving pulley for being arranged at described second forearm beam one end and being connected with the 6th axle motor, institute is arranged at
State the second forearm beam other end and the second driven pulley being connected with the wrist force transferring structure, and connection described second
Second timing belt of driving pulley and the second driven pulley.
7. robot end's structure according to claim 6, it is characterised in that the 6th spindle motor Poewr transmission mechanism
Also include being arranged at the second belt wheel output shaft on the second forearm beam, the second belt wheel output shaft and described second driven
Belt wheel connects；
The wrist force transferring structure includes the wrist force transmission axle being arranged in the wrist main body, is respectively arranged at institute
State the power input gear mechanism and power output gear mechanism at wrist force transmission axle both ends, the power input gear mechanism
Axis connection is exported with second belt wheel, the power output gear mechanism is connected with the wrist force export structure.
A kind of 8. welding robot, it is characterised in that including base, the robot's arm being rotationally connected with the base, with
The end swing arm of the robot's arm rotation connection, and with end swing arm rotation connection such as claim 1-
Robot end's structure described in 7 any one.
9. welding robot according to claim 8, it is characterised in that the base includes pedestal, is arranged at the base
Large arm rotating drive mechanism on seat, and the rotating seat being connected with the large arm rotary drive mechanism, the robot's arm
It is connected on the rotating seat；
The robot's arm includes the large arm swing driving mechanism being arranged on the rotating seat, and one end and the large arm
The large arm main body of swing driving mechanism connection, the large arm main body other end are connected on the end swing arm.
10. welding robot according to claim 9, it is characterised in that the end swing arm is described including being arranged at
The end structure swing driving mechanism of the large arm main body other end, the end that one end is connected with the end structure swing driving mechanism
Swing arm main body, and it is connected to the end structure rotary drive mechanism of the end swing arm main body other end, the end structure
Rotary drive mechanism is connected with robot end's structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802936.5U CN206937346U (en) | 2017-07-03 | 2017-07-03 | Robot end's structure and welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802936.5U CN206937346U (en) | 2017-07-03 | 2017-07-03 | Robot end's structure and welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206937346U true CN206937346U (en) | 2018-01-30 |
Family
ID=61366941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720802936.5U Expired - Fee Related CN206937346U (en) | 2017-07-03 | 2017-07-03 | Robot end's structure and welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206937346U (en) |
-
2017
- 2017-07-03 CN CN201720802936.5U patent/CN206937346U/en not_active Expired - Fee Related
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Address after: 523470 No. 29 Xianghe Road, Shanxia Village, Hengli Town, Dongguan City, Guangdong Province Patentee after: Dongguan Lianjian Intelligent Equipment Co.,Ltd. Address before: 523470 opposite the gemstone factory of Shuibian Pingxiang Village, Hengli Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN LIANJIANG MACHINERY PARTS CO.,LTD. |
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Granted publication date: 20180130 |