CN211682116U - Mechanical arm with wrist capable of rotating at large angle and industrial equipment applying mechanical arm - Google Patents
Mechanical arm with wrist capable of rotating at large angle and industrial equipment applying mechanical arm Download PDFInfo
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- CN211682116U CN211682116U CN201922352439.1U CN201922352439U CN211682116U CN 211682116 U CN211682116 U CN 211682116U CN 201922352439 U CN201922352439 U CN 201922352439U CN 211682116 U CN211682116 U CN 211682116U
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Abstract
The utility model discloses a but wrist wide-angle pivoted manipulator and use its industrial equipment, the manipulator includes work end subassembly, main mounting panel and main drive assembly, main drive assembly includes main motor, main speed reducer and main output flange, main speed reducer includes first work portion and second work portion, the second work portion is installed at the main mounting panel, main output flange is installed in first work portion, first spacing portion is installed to second work portion, main output flange has arranged the spacing portion of second, main output flange installs the spacing portion of third, the spacing position of third is between first spacing portion and ring channel. The main output flange drives the third limiting part to rotate, the third limiting part abuts against the second limiting part, the second limiting part rotates until the third limiting part abuts against the second limiting part, and the main output flange rotates to the maximum angle. The second limiting part is designed to be a movable limiting structure, and the rotating range of the working end assembly is enlarged. The utility model discloses it is rational in infrastructure, but wide application in automation technology field.
Description
Technical Field
The utility model relates to an automatic technical field, in particular to but wrist wide-angle pivoted manipulator and use its industrial equipment.
Background
In the common industrial robot at present, the mechanical hard limiting structure generally adopts a fixed structure, so that the maximum angle range of the robot is only 170 degrees when the working end of the robot rotates forwards and backwards, the fixed structure limits the moving range of the robot and cannot meet the application in more scenes, such as spraying, gluing and other application scenes which need the moving range of the robot to be larger, and the application scenes require the rotating range of the working end of the robot to reach more than 300 degrees.
SUMMERY OF THE UTILITY MODEL
For solving above-mentioned technical problem, enlarge pivoted angle scope, the utility model provides a but wrist wide-angle pivoted manipulator and use its industrial equipment, the technical scheme who adopts as follows:
the mechanical arm with the wrist capable of rotating in a large angle provided by the utility model comprises a working end component, a main mounting plate and a main driving component, wherein the main driving component comprises a main motor, a main speed reducer and a main output flange, the main speed reducer is mounted on the main mounting plate, the main motor drives the working end component to rotate through the main speed reducer, the main speed reducer drives the working end component to rotate through the main output flange, the main speed reducer comprises a first working part and a second working part, the second working part is mounted on the main mounting plate, the main output flange is mounted on the first working part, the second working part is provided with a first limiting part, the main output flange is provided with a second limiting part for supporting the first limiting part, the main output flange is formed with a ring groove for supporting the second limiting part along the movement, the main output flange is provided with a third limiting part for supporting the second limiting part, the third limiting part is positioned between the first limiting part and the annular groove.
Further, a movable annular part is arranged in the annular groove, and the second limiting part is located on the upper side of the annular part.
Furthermore, the manipulator further comprises a wire passing pipe, and the wire passing pipe penetrates through the middle part of the main speed reducer and the middle part of the main output flange.
Further, the work end assembly includes a work end mount mounted to the main output flange.
The utility model provides an industrial equipment includes the manipulator.
Further, the industrial equipment further comprises at least one of a Z-axis assembly for lifting the manipulator, an X-axis assembly for moving the manipulator in the X-axis direction and a Y-axis assembly for moving the manipulator in the Y-axis direction.
Further, the Z axle subassembly includes Z axle mounting panel, Z axle motor and is used for driving the Z axle roof beam that the manipulator removed, the Z axle motor passes through Z axle belt and drives Z axle roof beam goes up and down, the both ends of Z axle belt are installed through the belt clamp plate respectively the lateral wall of Z axle roof beam.
Further, the X-axis assembly comprises an X-axis motor, an X-axis cross beam and an X-axis moving plate used for driving the manipulator to move, the X-axis motor drives the X-axis moving plate to move through an X-axis belt, and two ends of the X-axis belt are respectively installed on the X-axis cross beam through belt pressing plates.
Furthermore, the Y-axis assembly comprises a Y-axis motor, a Y-axis beam and a Y-axis belt transmission mechanism for driving the manipulator to move, and the Y-axis motor is installed at one end of the Y-axis beam.
Has the advantages that: the main output flange drives the third limiting part to rotate when rotating, the third limiting part abuts against the second limiting part, the second limiting part rotates along with the third limiting part, and when the third limiting part abuts against the second limiting part, the main output flange rotates to the maximum angle, and the main output flange rotates reversely. The movable limiting structure of the second limiting part is designed, so that the rotating range of the manipulator working end assembly is expanded. The utility model discloses it is rational in infrastructure, but wide application in automation technology field.
Drawings
FIG. 1 is a block diagram of an industrial plant;
FIG. 2 is a block diagram of the X-axis assembly;
FIG. 3 is a block diagram of the Y-axis assembly;
FIG. 4 is a block diagram of a Z-axis assembly;
FIG. 5 is a block diagram of a robot;
FIG. 6 is a cross-sectional view of an assembly structure of a main mounting plate, a main reducer, a main output flange, and a working end mounting base;
fig. 7 is a structural view of the first position-limiting portion, the second position-limiting portion and the third position-limiting portion.
Detailed Description
The present invention will be further described with reference to fig. 1 to 7.
The utility model relates to a but wrist wide-angle pivoted manipulator, it includes work end subassembly, main mounting panel 11 and main drive assembly, and main drive assembly includes main motor 12, main speed reducer and main output flange 13, and main speed reducer is installed at main mounting panel 11, and main motor 12 passes through main speed reducer drive work end subassembly and rotates, and main speed reducer passes through main output flange 13 and drives the rotation of work end subassembly. The main speed reducer comprises a first working portion 14 and a second working portion 15, the second working portion 15 is installed on the main installation plate 11, the main output flange 13 is installed on the first working portion 14, and the first working portion 14 drives the main output flange 13 to rotate.
The main motor 12 is installed on the upper side of the main installation plate 11 through a motor installation seat, the main speed reducer is installed on the lower side of the main installation plate 11, the main motor 12 drives the main speed reducer through a toothed belt, a driving wheel is installed at the output end of the main motor 12, and a driven wheel is installed on the second working portion 15.
The first limiting part 16 is installed on the second working part 15, the first limiting part 16 is fixed on the second working part 15 through screws, the second limiting part 17 used for abutting against the first limiting part 16 is arranged on the main output flange 13, an annular groove for the second limiting part 17 to move along is formed in the main output flange 13, and the second limiting structure is movable. The main output flange 13 is provided with a third limiting part 18 used for abutting against the second limiting part 17, the third limiting part 18 is arranged on the main output flange 13 through a screw, the third limiting part 18 rotates along with the main output flange 13, and the third limiting part 18 is positioned between the first limiting part 16 and the annular groove.
When the main speed reducer drives the working end assembly to rotate, the rotation angle is limited by the first limiting part 16, the second limiting part 17 and the third limiting part 18. When the main output flange 13 rotates clockwise, the third limiting part 18 rotates along with the main output flange 13, and the third limiting part 18 pushes the second limiting part 17 to rotate until the second limiting part 17 rotates to a position where the second limiting part 17 abuts against the first limiting part 16, which indicates that the main output flange 13 rotates to a clockwise limiting position; similarly, when the main output flange 13 rotates counterclockwise, the third position-limiting portion 18 pushes the second position-limiting portion 17 to rotate to a position abutting against the first position-limiting portion 16, which indicates that the main output flange 13 has rotated to a position limited in the counterclockwise direction.
The rotation range of the main output flange 13 can be adjusted by designing the size of the first limiting portion 16 and the second limiting portion 17, and in some embodiments, the rotation angle of the main output flange 13 can reach 330 °.
In some embodiments, the annular groove is provided with a movable annular portion 19, the second limiting portion 17 is located on the upper side of the annular portion 19, and the second limiting portion 17 rotates in the annular groove through the annular portion 19, so that the smooth rotation can be ensured, and the failure of position deviation of the second limiting portion 17 can be avoided. The annular part 19 and the main output flange 13 are structurally independent from each other, and the annular part 19 with the second limiting part 17 is a movable limiting structure.
In some embodiments, with reference to the same rotation direction, the first limiting portion 16 is formed with a first front limiting surface and a first rear limiting surface facing opposite directions along the circumferential direction, the second limiting portion 17 is formed with a second front limiting surface and a second rear limiting surface facing opposite directions along the circumferential direction, and the third limiting portion 18 is formed with a third front limiting surface and a third rear limiting surface facing opposite directions along the circumferential direction. When the third limiting part 18 rotates along with the main output flange 13, the third front limiting surface abuts against the second rear limiting surface to enable the second limiting part 17 to rotate until the second limiting part 17 rotates to the position where the second front limiting surface abuts against the first rear limiting surface, which indicates that the main output flange 13 has rotated to the maximum angle; the main output flange 13 drives the third limiting portion 18 to rotate reversely, the third rear limiting surface abuts against the second front limiting surface to enable the second limiting portion 17 to rotate until the second limiting portion 17 rotates to the position where the second rear limiting surface abuts against the first front limiting surface, which indicates that the main output flange 13 rotates reversely to the maximum angle.
In some embodiments, the working end assembly includes a working end mount 21 mounted to the main output flange 13, the working end mount 21 being mounted to the main output flange 13 by a plurality of screws.
In some embodiments, the manipulator further includes a wire guide 20, the wire guide 20 passes through the middle of the main speed reducer and the middle of the main output flange 13, and the lower end of the wire guide 20 is fastened to the working end mounting seat 21 by a plurality of screws. In some embodiments, the driven wheel is sleeved over the conduit 20.
The utility model relates to an industrial equipment, it includes the manipulator. In certain embodiments, the industrial apparatus further comprises at least one of a Z-axis assembly for lifting the manipulator, an X-axis assembly for moving the manipulator in an X-axis direction, and a Y-axis assembly for moving the manipulator in a Y-axis direction.
In some embodiments, the Z-axis assembly includes a Z-axis mounting plate 22, a Z-axis motor 24, and a Z-axis beam 23 for moving the robot. The Z-axis beam 23 is hollow, so that the wire passing is convenient, the manipulator is installed on the lower portion of the Z-axis beam 23, and the main installation plate 11 is installed on the lower end of the Z-axis beam 23 through a plurality of screws. Z axle motor 24 installs at Z axle mounting plate 22, and Z axle motor 24 drives Z axle roof beam 23 through Z axle belt 25 and goes up and down, and Z axle belt 25 chooses for use the cog belt, and the lateral wall at Z axle roof beam 23 is installed through the belt clamp plate respectively at the both ends of Z axle belt 25, and Z axle mounting plate 22 has arranged at least one take-up pulley that is used for tensioning Z axle belt 25. The output end of the Z-axis motor 24 is provided with a Z-axis gear, and the Z-axis beam 23 moves up and down through the meshing transmission of the Z-axis gear and the Z-axis belt 25. At least one Z-axis fixed sliding block is arranged on the Z-axis mounting plate 22, and at least one Z-axis guide rail is arranged on the side wall of the Z-axis beam 23.
In some embodiments, the X-axis assembly includes an X-axis motor 26, an X-axis cross beam 27, and an X-axis moving plate 28 for driving the robot to move, the X-axis motor 26 drives the X-axis moving plate 28 to move through an X-axis belt 29, the X-axis belt 29 is a toothed belt, two ends of the X-axis belt 29 are respectively mounted on the X-axis cross beam 27 through belt pressing plates, and at least one tensioning wheel for tensioning the X-axis belt 29 is disposed on the X-axis moving plate 28. An X-axis gear is mounted at the output end of the X-axis motor 26, and the X-axis moving plate reciprocates through the meshing transmission of the X-axis gear and an X-axis belt 29. The X-axis beam 27 is mounted with at least one X-axis guide rail along which the X-axis moving plate 28 moves by at least one X-axis slider.
In some embodiments, the Y-axis assembly includes a Y-axis motor 30, a Y-axis beam 31, and a Y-axis belt transmission mechanism for driving the robot to move, the Y-axis motor 30 is installed at one end of the Y-axis beam 31, and the Y-axis motor 30 drives the robot to move through the Y-axis belt transmission mechanism. The Y-axis belt transmission mechanism comprises a Y-axis driving wheel, a Y-axis driven wheel and a Y-axis transmission belt, the Y-axis driving wheel is installed at the output end of the Y-axis motor 30, and the Y-axis driving wheel and the Y-axis driven wheel are respectively located at two ends of the Y-axis cross beam 31. The Y-axis transmission belt is provided with a Y-axis moving plate 32 used for driving the manipulator to move, at least one Y-axis guide rail is arranged on the Y-axis cross beam 31, and the Y-axis moving plate 32 moves along the Y-axis guide rail through at least one Y-axis sliding block.
A preferred embodiment of the industrial apparatus is described below. The industrial equipment comprises a manipulator, an X-axis assembly, a Y-axis assembly and a Z-axis assembly, wherein the manipulator is installed at the lower end of a Z-axis beam 23, a Z-axis installation plate 22 is installed on a Y-axis moving plate 32, and one end of a Y-axis cross beam 31 is installed on an X-axis moving plate 28.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. The utility model provides a but wrist wide-angle pivoted manipulator which characterized in that: including work end subassembly, main mounting panel (11) and main drive subassembly, the main drive subassembly includes main motor (12), main speed reducer and main output flange (13), main speed reducer installs main mounting panel (11), main motor (12) pass through the main speed reducer drive the work end subassembly rotates, main speed reducer passes through main output flange (13) and drives the work end subassembly rotates, main speed reducer includes first work portion (14) and second work portion (15), second work portion (15) are installed main mounting panel (11), main output flange (13) are installed first work portion (14), first spacing portion (16) are installed to second work portion (15), main output flange (13) are arranged and are used for supporting spacing portion (17) of second of first spacing portion (16), the shaping of main output flange (13) has the confession spacing portion of second (17) along the ring channel that removes, main output flange (13) are installed and are used for supporting spacing portion of third (18) of spacing portion of second (17), spacing portion of third (18) are located first spacing portion (16) with between the ring channel.
2. The wrist-wide angle rotatable robot of claim 1, wherein: a movable annular part (19) is arranged in the annular groove, and the second limiting part (17) is positioned on the upper side of the annular part (19).
3. The wrist-wide angle rotatable robot of claim 1, wherein: the transmission line device is characterized by further comprising a line passing pipe (20), wherein the line passing pipe (20) penetrates through the middle of the main speed reducer and the middle of the main output flange (13).
4. The robot hand of claim 1 or 3, wherein the wrist is rotatable at a large angle, and the robot hand comprises: the working end assembly comprises a working end mounting seat (21) mounted on the main output flange (13).
5. Industrial plant, characterized by: comprising a robot as claimed in any of claims 1 to 4.
6. The industrial plant according to claim 5, characterized in that: the manipulator further comprises at least one of a Z-axis assembly used for lifting the manipulator, an X-axis assembly used for moving the manipulator to move along the X-axis direction and a Y-axis assembly used for moving the manipulator to move along the Y-axis direction.
7. The industrial plant according to claim 6, characterized in that: z axle subassembly includes Z axle mounting panel (22), Z axle motor (24) and is used for driving Z axle roof beam (23) that the manipulator removed, Z axle motor (24) drive through Z axle belt (25) Z axle roof beam (23) go up and down, install through the belt clamp plate respectively at the both ends of Z axle belt (25) the lateral wall of Z axle roof beam (23).
8. The industrial plant according to claim 6, characterized in that: the X axle subassembly includes X axle motor (26), X axle crossbeam (27) and is used for driving X axle movable plate (28) that the manipulator removed, X axle motor (26) drive through X axle belt (29) X axle movable plate (28) remove, install through the belt clamp plate respectively at the both ends of X axle belt (29) X axle crossbeam (27).
9. The industrial plant according to claim 6, characterized in that: the Y-axis assembly comprises a Y-axis motor (30), a Y-axis beam (31) and a Y-axis belt transmission mechanism for driving the manipulator to move, wherein the Y-axis motor (30) is installed at one end of the Y-axis beam (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922352439.1U CN211682116U (en) | 2019-12-24 | 2019-12-24 | Mechanical arm with wrist capable of rotating at large angle and industrial equipment applying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922352439.1U CN211682116U (en) | 2019-12-24 | 2019-12-24 | Mechanical arm with wrist capable of rotating at large angle and industrial equipment applying mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN211682116U true CN211682116U (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922352439.1U Active CN211682116U (en) | 2019-12-24 | 2019-12-24 | Mechanical arm with wrist capable of rotating at large angle and industrial equipment applying mechanical arm |
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| CN (1) | CN211682116U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
-
2019
- 2019-12-24 CN CN201922352439.1U patent/CN211682116U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220608 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 511356 No. 97, Tianyuan Road, Yonghe Development Zone, Guangzhou, Guangdong Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
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| TR01 | Transfer of patent right |