CN208681578U - One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot - Google Patents
One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot Download PDFInfo
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- CN208681578U CN208681578U CN201821148022.2U CN201821148022U CN208681578U CN 208681578 U CN208681578 U CN 208681578U CN 201821148022 U CN201821148022 U CN 201821148022U CN 208681578 U CN208681578 U CN 208681578U
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- retarder
- armed
- exhibition
- connecting plate
- shaft portion
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Abstract
The utility model relates to one kind to be based on long-armed four shaft portion connection structure of exhibition six-DOF robot, the retarder being connected including motor cabinet, output shaft with motor cabinet, the forearm connecting plate being connected with retarder, transition plates is connected on motor cabinet, transition plates is equipped with inner ring and is mounted on forearm connecting plate and along the bearing of retarder axis distribution.The utility model can only need mainly to consider torsional performance in retarder type selecting, advantageously reduce cost, and have relatively reliable performance；Waterproof and dustproof, damp proof effect can be played using closed structure simultaneously, help to improve the service life of retarder.
Description
Technical field
The utility model relates to Industrial Robot Technology fields, specifically a kind of to be based on long-armed exhibition six degree of freedom machine
Four shaft portion connection structure of people.
Background technique
With the fast development of Industrial Robot Technology, application also extends to rapidly various industries.Wherein arc-welding, spraying
The terminal light load in equal fields, but it is larger to motion range.Currently used settling mode is larger curved using that can bear
The RV retarder of square power selects big model harmonic speed reducer.But when the moment of flexure needed for meeting, the torque of speed reducer
Can be many beyond needing, cause waist performance.If can have a kind of structure that can eliminate or reduce moment of flexure suffered by retarder,
Its provided torque index is mainly considered when type selecting, can greatly reduce cost.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the utility model proposes one kind be based on long-armed exhibition six degree of freedom machine
Four shaft portion connection structure of people.
Technical problem to be solved in the utility model is realized using following technical scheme:
One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor cabinet, output shaft and motor
Seat connected retarder, the forearm connecting plate that is connected with retarder, be connected with transition plates on the motor cabinet, in the transition plates
It is mounted on equipped with inner ring on forearm connecting plate and along the bearing of retarder axis distribution.
Preferably, the bearing is set as two along the axis of forearm connecting plate side by side.
Preferably, the retarder is any one of RV retarder or harmonic speed reducer.
Preferably, the junction of the retarder and forearm connecting plate is equipped with the O-ring seal A for sealing.
Preferably, the junction of the retarder and motor cabinet is equipped with the O-ring seal B for sealing.
Preferably, the motor cabinet is equipped with and is mounted at the axis of retarder and forearm connecting plate and for cable, tracheae
And the line set excessively that harness passes through.
Preferably, be equipped with side by side on the forearm connecting plate along its axis be mounted on line cover upper retainer ring, small bearing with
And outside framework oil seal.
Preferably, the junction for crossing line set and motor cabinet is equipped with the O-ring seal C for sealing.
The beneficial effects of the utility model are: the structure design of the utility model is reasonable, can only be needed in retarder type selecting
It is main to consider torsional performance, cost is advantageously reduced, and have relatively reliable performance；It simultaneously can using closed structure
Waterproof and dustproof, damp proof effect are played, the service life of retarder is helped to improve；Crossing line set then can be the phases such as cable and tracheae
It closes harness and protection is provided, extend the whole service life of robot.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is partial enlarged view at the I of Fig. 1；
Fig. 3 is partial enlarged view at the II of Fig. 1；
Fig. 4 is partial enlarged view at the III of Fig. 1；
Fig. 5 is partial enlarged view at the IV of Fig. 1.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, under
It is further described in face of the utility model.
As shown in Figures 1 to 5, a kind of to be based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor
Seat 1, the retarder 2 that output shaft is connected with motor cabinet 1, the forearm connecting plate 4 being connected with retarder 2, connect on the motor cabinet 1
There is transition plates 3, the transition plates 3 is equipped with inner ring and is mounted on forearm connecting plate 4 and along the bearing 5 of 2 axis of retarder distribution.
Wherein, motor cabinet 1 plays the role of supporting three axis or four spindle motors and retarder 2, and one end of forearm connecting plate 4
For connecting retarder 2, the wrist of the other end and robot is connected, and is supported on forearm by the way that bearing 5 is arranged in transition plates 3
It on connecting plate 4, can bear perpendicular to 1 normal force of motor cabinet, to protect internal retarder 2, and bearing 5 can play
The effect for supporting forearm connecting plate 4 and retarder 2, can bear the power for being parallel to retarder mounting surface, use this structure can be with
So that retarder 2 is not subject to or bear the radial force of very little, the bending resistance enhancing of total itself, therefore selects slow down at this time
Device 2 need to consider its torsional performance, can avoid waist performance.
The bearing 5 is set as two along the axis of forearm connecting plate 4 side by side.Using duplex bearing 5, it can be enhanced and forearm is connected
The supporting role of fishplate bar 4 and retarder 2.
The retarder 2 is any one of RV retarder or harmonic speed reducer.
The junction of the retarder 2 and forearm connecting plate 4 is equipped with the O-ring seal A9 for sealing.The retarder 2
The O-ring seal B11 for sealing is equipped with the junction of motor cabinet 1.In this way, retarder 2 can be constituted and is sealed
Structure is closed, waterproof and dustproof and damp proof effect is realized, helps to improve the service life of retarder.
The motor cabinet 1 be equipped be mounted at the axis of retarder 2 and forearm connecting plate 4 and for cable, tracheae and
What harness passed through crosses line set 10.
Be equipped with side by side on the forearm connecting plate 4 along its axis the retainer ring 6 being mounted on line set 10, small bearing 7 and
Outside framework oil seal 8.The junction for crossing line set 10 and motor cabinet 1 is equipped with the O-ring seal C12 for sealing.Using this side
Formula can will cross line set 10 with the region that other interconnecting pieces are constituted and form enclosed construction, realize waterproof and dustproof and damp proof work
With, facilitate extend robot whole service life.
When the utility model is used:
Firstly, the cooperation of retarder 2 O-ring seal B11 is fastened on motor cabinet 1, transition plates 3 is connected by bolt
It connects and is fixed on motor cabinet 1, then retainer ring 6, small bearing 7 are mounted on forearm connecting plate 4, while being installed on forearm connecting plate 3
After two bearings 5 side by side, and cooperates and fixation is bolted with retarder 2 after O-ring seal A9.
Then, O-ring seal C12 was mounted on line set 10, line set 10 was made to pass through retarder 2, and kept one end logical
It crosses O-ring seal C12 and is sealedly connected on motor cabinet 1, and the small bearing 7 of the other end is mounted on forearm connecting plate 4, and then by bone
Frame oil sealing 8, which was mounted on to seal on line set 10 with forearm connecting plate, to be cooperated.
By the installation of structure everywhere above, so that only needing mainly to consider torque when carrying out retarder type selecting
Can, it can be realized the reduction of cost and more reliable performance be provided；Simultaneously closed structure to waterproof and dustproof, it is damp proof have well
Effect, helps to improve the service life of retarder；The use for crossing line set can provide for five, six axis cables and tracheae isocorrelate beam
Protection, extends the whole service life of robot.
Basic principles, main features, and advantages of the present invention has been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these changes and improvements are both fallen in claimed invention.The requires of the utility model protection
Range is defined by the appending claims and its equivalent thereof.
Claims (8)
1. one kind is based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor cabinet (1), output shaft and motor
It seat (1) connected retarder (2), the forearm connecting plate (4) that is connected with retarder (2), it is characterised in that: the motor cabinet (1)
On be connected with transition plates (3), the transition plates (3) be equipped with inner ring be mounted on forearm connecting plate (4) and along retarder (2) axis
The bearing (5) of line distribution.
2. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
Be: the bearing (5) is set as two along the axis of forearm connecting plate (4) side by side.
3. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
Be: the retarder (2) is any one of RV retarder or harmonic speed reducer.
4. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
Be: the junction of the retarder (2) and forearm connecting plate (4) is equipped with the O-ring seal A (9) for sealing.
5. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
Be: the junction of the retarder (2) and motor cabinet (1) is equipped with the O-ring seal B (11) for sealing.
6. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
Be: the motor cabinet (1) be equipped be mounted at the axis of retarder (2) and forearm connecting plate (4) and for cable, tracheae with
And mistake line set (10) that harness passes through.
7. according to claim 6 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is: is equipped with the retainer ring (6) being mounted on line set (10), small bearing (7) on the forearm connecting plate (4) side by side along its axis
And outside framework oil seal (8).
8. it is according to claim 6 or 7 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, it is special
Sign is: the junction for crossing line set (10) and motor cabinet (1) is equipped with the O-ring seal C (12) for sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821148022.2U CN208681578U (en) | 2018-07-19 | 2018-07-19 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821148022.2U CN208681578U (en) | 2018-07-19 | 2018-07-19 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208681578U true CN208681578U (en) | 2019-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821148022.2U Active CN208681578U (en) | 2018-07-19 | 2018-07-19 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
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| Country | Link |
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| CN (1) | CN208681578U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705520A (en) * | 2018-07-19 | 2018-10-26 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
-
2018
- 2018-07-19 CN CN201821148022.2U patent/CN208681578U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705520A (en) * | 2018-07-19 | 2018-10-26 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
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