CN207578405U - A kind of robot palletizer - Google Patents
A kind of robot palletizer Download PDFInfo
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- CN207578405U CN207578405U CN201721763209.9U CN201721763209U CN207578405U CN 207578405 U CN207578405 U CN 207578405U CN 201721763209 U CN201721763209 U CN 201721763209U CN 207578405 U CN207578405 U CN 207578405U
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- arm
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- protected tube
- driving
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Abstract
The utility model provides a kind of robot palletizer, belongs to field of mechanical technique.It solves existing robot device and cable can be caused to damage, and influences its service life；In addition the excess length portion head of cable easily touches with other component, there are problems that security risk.This robot palletizer includes pedestal, the first arm being rotatably installed on pedestal, the second arm being rotatably connected on the first arm and the driving cable for being powered to the driving motor of the second arm of driving, cable passage is equipped in first arm, the entrance of cable passage is opened in the lower end of the first arm left side, the outlet of cable passage is opened in the middle part of the first arm right side, driving cable stretches out from pedestal and enters cable passage from the entrance of cable passage, is then stretched out from the outlet of cable passage and extends upwardly to the rear end of the second arm and be fixed on the rear end of the second arm.This robot palletizer driving cable arrangement circuit reasonable design, avoids driving cable from being touched by other components and wears.
Description
Technical field
The utility model belongs to field of mechanical technique, more particularly to a kind of robot palletizer.
Background technology
Pile is by neat, the regular operation for putting into stack of article.The appearance of robot palletizer facilitates pile work
Industry.Existing stacking machine type is various, and some is exclusively used in the pile of cargo, and some is exclusively used in the machining of parts, and what is had is special
For the transmission of cargo.In order to articulated robot is made to be acted by expectation, need for the servomotor set on each joint
Supply the power cable of required power and for being moved in each servomotor or for detecting the rotation of servomotor
Signal cable of receiving and transmitting signal etc. between the detector of work.Robot palletizer needs to arrange 3 spindle motors and connection in the place of shoulder
Dynamic corner bracket, general motor are arranged in the first arm right side, if linkage corner bracket and motor homonymy arrangement, while structure would need motor
It is coaxial with linkage corner bracket, linkage angle at this moment can only be supported on the outside of motor with a larger cross roller bearing holder (housing, cover)
Frame, and a larger cross roller bearing is expensive.Also one kind is that motor is arranged in the first arm right side, linkage
Corner bracket is arranged in the first arm left side, and robot cable is typically located at the first arm left side, is directly usually at this time direct
Cable upper end is fixed on linkage corner bracket, and the corner bracket that links in robot operational process can maintain parastate always, and machine
2,3 axis joints of device people can then change always, and cable can be clamped and generate abrasion, and since cable bending angle is big, cloth
Put the arrangement that tracheae and I/O lines cannot too slightly, can be limited in this way of cable.
Someone devises processing tectosome and the robot device of a kind of robot driving cable thus【Application publication number
CN104275707A】, which disclose following technical solutions：Robot includes：Operating member can be acted so as to be somebody's turn to do
Robot has arbitrary position and posture；With non-action portion, independently fixed with the position of above-mentioned robot and posture,
The above-mentioned operating member of above-mentioned robot includes：Main body is turned round, is installed in a manner of it can be turned round around axis of rotation above-mentioned non-
Operating member；1st arm is installed on above-mentioned revolution main body in a manner of it can be rotated around the 1st rotation axis；With the 2nd arm, with energy
Enough modes rotated around the 2nd rotation axis are installed on above-mentioned 1st arm, and driving cable includes at least power cable and signal cable,
The power cable is used to, to for the motor of above-mentioned revolution main body, above-mentioned 1st arm and above-mentioned 2nd arm to be driven to be powered, be somebody's turn to do
Signal cable is used for the receiving and transmitting signal between above-mentioned motor, which includes being used for respectively by above-mentioned driving cable
The 1st fixing component that can not be slided and the 2nd fixing component relative to the 1st fixing component independence are fixed as, the above-mentioned 1st is solid
Determine component to be set as integrally turning round at the rear of above-mentioned revolution main body and above-mentioned revolution main body, above-mentioned 2nd fixing component with
The mode separated on the direction parallel with above-mentioned 1st rotation axis with above-mentioned 1st fixing component is set on above-mentioned non-action portion, above-mentioned
Driving cable is fixed as with the above-mentioned 2nd consolidating in above-mentioned 1st fixing component by above-mentioned 1st fixing component and above-mentioned 2nd fixing component
Determine in a manner of convex bending upward to extend between component.
Although the situation that said program avoids cable and supporting structure, cover etc. from being in contact and wears to a certain extent
Generation, but the cable in the program is substantially exposed on the outside of robot body, special in this way when robot is when rolling over
When being not the first revolution of arm, touching, friction etc. can occur with the first arm for cable, and still cable can be caused to damage in this way, influenced
Its service life；In addition in this scenario, the excess length portion head of cable easily touches with other component, and it is hidden to there is safety
Suffer from.
Invention content
The purpose of this utility model is that there are the above problems for existing technology, it is proposed that a kind of robot palletizer, it should
Robot palletizer the technical problem to be solved is that how to prevent driving cable because and robot other components occur touching or
It is worn caused by person's interference.
The purpose of this utility model can be realized by following technical proposal：A kind of robot palletizer, including pedestal, rotation
The first arm on pedestal, the second arm being rotatably connected on the first arm and for being supplied to the driving motor of the second arm of driving
To the driving cable of power, which is characterized in that cable passage is equipped in first arm, the entrance of the cable passage is opened in
The lower end of first arm left side, the outlet of the cable passage are opened in the middle part of the first arm right side, and the driving cable is certainly
It is stretched out in pedestal and enters cable passage from the entrance of cable passage, then stretching extends upwardly to the from the outlet of cable passage
The rear end of two arms is simultaneously fixed on the rear end of the second arm.
The principle of the utility model is as follows：The first arm right side and first are separately positioned in driving motor and linkage corner bracket
In the case of arm left side, by opening up cable passage in the first arm, cable, which is located at from pedestal at the first arm left side, draws,
Entered inside the first arm by entrance, be then pierced by from the outlet of the first arm right side and extend upwardly to the second arm rear end, so
It is fixed on access on the second arm rear end afterwards to be arranged on the driving motor of the second arm rear end, drives cable that can avoid setting in this way
With linkage corner bracket touching and interference will not occur for the linkage corner bracket in the first arm upper left-hand face, so as to protect driving line
Cable will not be worn.
In a kind of above-mentioned robot palletizer, the first thread-protected tube is equipped between the entrance and pedestal of the cable passage,
The second thread-protected tube is equipped between the outlet of the cable passage and the rear end of the second arm, the driving cable sequentially passes through the first shield
Spool, cable passage and the second thread-protected tube.By setting the first thread-protected tube and the second thread-protected tube so that driving cable can be complete
Full cladding, will not be exposed, accordingly even when once in a while because fortuitous event causes to drive cable and the touching of other components, it will not be to driving
Cable causes to damage.
In a kind of above-mentioned robot palletizer, the pedestal and fixation are inserted into the lower end of first thread-protected tube, described
The upper end of first thread-protected tube is fixed on by the first fixing piece on the madial wall of the entrance, and the lower end of second thread-protected tube leads to
It crosses the second fixing piece to be fixed on the lateral wall of outlet, the upper end of second thread-protected tube is fixed on described by third fixing piece
The rear end of second arm.The position for making the first thread-protected tube by the first fixing piece is fixed, and drives cable that can also be positioned in this way
Firmly, it thus is avoided that due to driving cable shaking and is touched with other components；Make by the second fixing piece and third fixing piece
The position of two thread-protected tubes is fixed, in this way drive cable can also be positioned, thus be avoided that because drive cable shake due to and its
He touches component.
In a kind of above-mentioned robot palletizer, the outer rim positioned at the outlet of the first arm right side is equipped with first and is oriented to
The lower end of second thread-protected tube is fixed on the first guide plate by plate, second fixing piece, and the rear end of second arm is set
There is the second guide plate, the upper end of second thread-protected tube is fixed on the second guide plate by the third fixing piece, and described first
Guide plate and the second guide plate collective effect make the second thread-protected tube be in the first arm right side direction on the second thread-protected tube
Convex curvature forms redundancy portion.The tendency of the second thread-protected tube is guided by the first guide plate and the second guide plate, is formed it into superfluous
Remaining part can make the bending amplitude of the bearing for driving cable and the second arm being located in the second thread-protected tube slow down, bend in this way
Angle is relatively small, facilitates in driving cable and integrates more signal wire or power cord.
In a kind of above-mentioned robot palletizer, the redundancy portion parabolically shape or arc-shaped, the redundancy portion to
The maximum distance value of outer protrusion is less than or equal to the air line distance of the second thread-protected tube lower end to the second thread-protected tube upper end.Using parabolic
Line or arc-shaped redundancy portion, the bending angle of the driving cable in the second thread-protected tube is small, and arrangement is facilitated to be integrated with more letters
The driving cable of number line and power cord.
In a kind of above-mentioned robot palletizer, first fixing piece, the second fixing piece and third fixing piece are card
One kind in hoop, clip, binding band.First thread-protected tube or can conveniently be fixed using clip, clip and binding band
Two thread-protected tubes.
In a kind of above-mentioned robot palletizer, first thread-protected tube and the second thread-protected tube are bourdon tube, bellows
Or one kind in rubber tube.Bourdon tube, bellows or rubber tube are respectively provided with certain elasticity, can buffer touching impact in this way,
Reduce impact force of other components to driving cable.
Compared with prior art, the robot palletizer of the utility model has the following advantages：1st, the driving line of reasonable design
Cable arranges circuit, perfect to get around linkage corner bracket, and driving cable is avoided to be touched by other components and is worn；2nd, by setting thread-protected tube
Report cladding is carried out to driving cable, avoids its exposed outside, while thread-protected tube is fixed, prevents driving cable random device people
Action and generate shaking, further avoid in this way driving cable by other components shock or friction；3rd, it is led by setting
To plate, the second thread-protected tube is made to form redundancy portion, reduce the bending angle of its internal driving cable, so as to be that driving cable can
More signal wires and power cord are integrated, is conducive to improve the control accuracy of robot；Guide plate is to the second thread-protected tube simultaneously
Tendency guides restriction, and the second thread-protected tube is enable to be maintained in certain area, can facilitate other structures in robot in this way
The arrangement of part or the arrangement for facilitating other components in space residing for robot avoid other components from generating the second thread-protected tube dry
It relates to or touches, and then protect driving cable.
Description of the drawings
Fig. 1 is the structure diagram at the front left side visual angle of the robot palletizer in embodiment.
Fig. 2 is the structure diagram at the left rear side visual angle of the robot palletizer in embodiment.
Fig. 3 is the structure diagram of the left side perspective of the robot palletizer in embodiment.
Fig. 4 is the A-A sectional views of Fig. 3.
In figure, 1, pedestal；2nd, the first arm；2a, cable passage；2b, entrance；2c, outlet；3rd, the second arm；4th, cable is driven；
5th, the first thread-protected tube；6th, the second thread-protected tube；6a, redundancy portion；7th, the first fixing piece；8th, the second fixing piece；9th, third fixing piece；
10th, the first guide plate；11st, the second guide plate；12nd, link corner bracket.
Specific embodiment
It is specific embodiment of the utility model and with reference to attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these embodiments.
As depicted in figs. 1 and 2, this robot palletizer includes pedestal 1, the first arm 2 being rotatably installed on pedestal 1, rotation
The second arm 3 being connected on the first arm 2 and the driving cable 4 for being powered to the driving motor of the second arm 3 of driving, first
Cable passage 2a is equipped in arm 2, the entrance 2b of cable passage 2a is opened in the lower end of 2 left side of the first arm, cable passage 2a's
Outlet 2c is opened in the middle part of 2 right side of the first arm, and driving cable 4 stretches out from pedestal 1 and from the entrance 2b of cable passage 2a
Into cable passage 2a, then the rear end of the second arm 3 is extended upwardly to from the outlet 2c of cable passage 2a stretchings and be fixed on the
On the rear end of two arms 3.
Specifically, the first thread-protected tube 5 is equipped between the entrance 2b of cable passage 2a and pedestal 1, cable passage 2a's goes out
The second thread-protected tube 6 is equipped between mouth 2c and the rear end of the second arm 3, driving cable 4 sequentially passes through the first thread-protected tube 5, cable passage
It is coated completely after 2a and the second thread-protected tube 6, will not be exposed, accordingly even when once in a while because fortuitous event causes to drive cable 4 and its
He touches component, and driving cable 4 will not be caused to damage.In the present embodiment, the first thread-protected tube 5 and the second thread-protected tube 6 are
Bourdon tube, bourdon tube have certain rigidity and certain elasticity, realize rigid flexible system, the first thread-protected tube 5 and the second thread-protected tube 6
Also have the effects that be oriented to while protection is provided for driving cable 4, slow down impact force, prevent from shaking.In addition, bourdon tube is also
Bellows or rubber tube may be used to substitute.
As shown in Figures 2 and 3, the lower end of the first thread-protected tube 5 is inserted into pedestal 1 and is fixed, and the upper end of the first thread-protected tube 5 passes through
First fixing piece 7 is fixed on the madial wall of entrance 2b, and the lower end of the second thread-protected tube 6 is fixed on outlet by the second fixing piece 8
On the lateral wall of 2c, the upper end of the second thread-protected tube 6 is fixed on the rear end of the second arm 3 by third fixing piece 9.Positioned at the first arm 2
The outer rim of the outlet 2c of right side is equipped with the first guide plate 10, and the lower end of the second thread-protected tube 6 is fixed on the by the second fixing piece 8
On one guide plate 10, the rear end of the second arm 3 is equipped with the second guide plate 11, and third fixing piece 9 fixes the upper end of the second thread-protected tube 6
On the second guide plate 11, the first guide plate 10 and 11 collective effect of the second guide plate make the second shield line on the second thread-protected tube 6
Pipe 6 is formed by bending redundancy portion 6a to 2 right side direction of the first arm is convex.In the present embodiment, the first fixing piece 7, second is solid
It is clip to determine part 8 and third fixing piece 9.Facilitate the dismounting and debugging of the first thread-protected tube 5 and the second thread-protected tube 6 using clip.
In addition in the other embodiment of the utility model, the first fixing piece 7, the second fixing piece 8 and third fixing piece 9 can also use
Clip, binding band etc. instead of using.
In the present embodiment, redundancy portion 6a parabolically shapes or arc-shaped, the maximum distance that redundancy portion 6a is outwardly protruded
Value is less than or equal to 6 lower end of the second thread-protected tube to the air line distance of 6 upper end of the second thread-protected tube, is threaded through the second thread-protected tube 6 in this way
The bending angle of interior driving cable 4 becomes smaller, and driving cable 4 can integrate more signal wires and power cord, so as in robot
It is upper to arrange more sensors and driving mechanism, improve operation precision and the flexibility of robot.
The principle of the utility model is as follows：Driving motor and linkage corner bracket 12 be separately positioned on 2 right side of the first arm and
In the case of first arm, 2 left side, by opening up cable passage 2a in the first arm 2, cable is located at 2 left side of the first arm from pedestal 1
It draws, is entered inside the first arm 2 by entrance 2b, then the outlet 2c from 2 right side of the first arm is pierced by and prolongs upwards at side
3 rear end of the second arm is extended to, access on 3 rear end of the second arm is then attached to and is arranged on the driving motor of 3 rear end of the second arm, in this way
Driving cable 4 can avoid being arranged on the linkage corner bracket 12 in 2 upper left-hand face of the first arm, will not be touched with linkage corner bracket 12
And interference, so as to which driving cable 4 is protected not to be worn.Simultaneously because driving cable 4 is by the first thread-protected tube 5 and the
The protection of two thread-protected tubes 6 can avoid contacting with other extraneous components, further reduced the risk of touching, abrasion.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Described specific embodiment can be done various modifications or additions or using similar by belonging to those skilled in the art
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (7)
1. a kind of robot palletizer including pedestal (1), the first arm (2) being rotatably installed on pedestal (1), is rotatably connected on
The second arm (3) on one arm (2) and the driving cable (4) for the driving motor of the second arm of driving (3) to be given to be powered, it is special
Sign is, cable passage (2a) is equipped in first arm (2), and the entrance (2b) of the cable passage (2a) is opened in the first arm
(2) lower end of left side, the outlet (2c) of the cable passage (2a) are opened in the middle part of the first arm (2) right side, the drive
Moving-wire cable (4) stretches out in the pedestal (1) and from the entrance (2b) of cable passage (2a) into cable passage (2a), then from cable
Outlet (2c) stretching of channel (2a) extends upwardly to the rear end of the second arm (3) and is fixed on the rear end of the second arm (3).
A kind of 2. robot palletizer according to claim 1, which is characterized in that the entrance (2b) of the cable passage (2a)
Be equipped with the first thread-protected tube (5) between pedestal (1), the outlet (2c) of the cable passage (2a) and the rear end of the second arm (3) it
Between be equipped with the second thread-protected tube (6), it is described driving cable (4) sequentially pass through the first thread-protected tube (5), cable passage (2a) and second protect
Spool (6).
3. a kind of robot palletizer according to claim 2, which is characterized in that insert the lower end of first thread-protected tube (5)
Enter the pedestal (1) and fix, the upper end of first thread-protected tube (5) is fixed on the entrance by the first fixing piece (7)
On the madial wall of (2b), the lower end of second thread-protected tube (6) is fixed on the lateral wall of outlet (2c) by the second fixing piece (8)
On, the upper end of second thread-protected tube (6) is fixed on the rear end of second arm (3) by third fixing piece (9).
4. a kind of robot palletizer according to claim 3, which is characterized in that positioned at the outlet of the first arm (2) right side
The outer rim of (2c) is equipped with the first guide plate (10), and second fixing piece (8) fixes the lower end of second thread-protected tube (6)
On the first guide plate (10), the rear end of second arm (3) is equipped with the second guide plate (11), and the third fixing piece (9) will
The upper end of second thread-protected tube (6) is fixed on the second guide plate (11), and first guide plate (10) and described second is led
Make the second thread-protected tube (6) convex curved to the first arm (2) right side direction on the second thread-protected tube (6) to plate (11) collective effect
It is curved into redundancy portion (6a).
5. a kind of robot palletizer according to claim 4, which is characterized in that the redundancy portion (6a) parabolically shape or
Person is arc-shaped, and the maximum distance value that the redundancy portion (6a) outwardly protrudes is less than or equal to the second thread-protected tube (6) lower end to second
The air line distance of thread-protected tube (6) upper end.
6. according to a kind of robot palletizer described in claim 3 or 4 or 5, which is characterized in that first fixing piece (7),
Two fixing pieces (8) and third fixing piece (9) are one kind in clip, clip, binding band.
A kind of 7. robot palletizer according to Claims 2 or 3 or 4 or 5, which is characterized in that first thread-protected tube (5)
It is one kind in bourdon tube, bellows or rubber tube with the second thread-protected tube (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721763209.9U CN207578405U (en) | 2017-12-15 | 2017-12-15 | A kind of robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721763209.9U CN207578405U (en) | 2017-12-15 | 2017-12-15 | A kind of robot palletizer |
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| Publication Number | Publication Date |
|---|---|
| CN207578405U true CN207578405U (en) | 2018-07-06 |
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ID=62738572
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721763209.9U Active CN207578405U (en) | 2017-12-15 | 2017-12-15 | A kind of robot palletizer |
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| Country | Link |
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| CN (1) | CN207578405U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877500A (en) * | 2017-12-15 | 2018-04-06 | 浙江钱江机器人有限公司 | A kind of robot palletizer |
-
2017
- 2017-12-15 CN CN201721763209.9U patent/CN207578405U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877500A (en) * | 2017-12-15 | 2018-04-06 | 浙江钱江机器人有限公司 | A kind of robot palletizer |
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