CN110370312A - Small scale robot off-load cradle head - Google Patents
Small scale robot off-load cradle head Download PDFInfo
- Publication number
- CN110370312A CN110370312A CN201910753686.4A CN201910753686A CN110370312A CN 110370312 A CN110370312 A CN 110370312A CN 201910753686 A CN201910753686 A CN 201910753686A CN 110370312 A CN110370312 A CN 110370312A
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- China
- Prior art keywords
- retarder
- cradle head
- load
- small scale
- forearm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of small scale robot off-load cradle heads, are related to robotic technology field.Small scale robot off-load cradle head of the invention, including the retarder being connected respectively with large arm and forearm, one end of the retarder is arranged in large arm, the other end is arranged in forearm, since the inside of forearm is protruded into the end of retarder, and bearing is set between retarder and forearm, therefore it can will act on the radial load off-load on the output shaft and flexbile gear of retarder (shifting) to the shell of retarder, to which radial load is born by the shell of retarder, the output shaft and flexbile gear of retarder are solely subjected to torque, it is not subject to radial Unloading Effect, the alternating load acted on output shaft and flexbile gear is set to be changed into simple torsional load, thus the bearing capacity of retarder can be improved, and reduce the volume and weight of retarder, to improve the bearing capacity of cradle head, reduce the volume and total amount of cradle head.
Description
Technical field
The present invention relates to robotic technology field, a kind of particularly small scale robot off-load cradle head.
Background technique
Currently, the application field of robot is more and more, the type of robot is also more and more.To the volume of robot,
The requirement of weight, bearing capacity also increases accordingly, certain industrial robots, especially some specialized robots, it is desirable that and it is small in size,
Total amount is light, large carrying capacity.No small problem is proposed to the design of robot in this way.Fig. 1 is that existing there are 5 rotations to close
The operation schematic diagram of robot is saved, Fig. 2, Fig. 3 are the mechanical models that the robot simplifies around third joint, such as the institute of Fig. 2 and 3
Show, the load born on third joint has radial load F, torque M；Fig. 4 is the structure chart in third joint, is transmitted by forearm
Come load F, torque M be respectively acting on the output shaft of harmonic speed reducer, Fig. 5 be harmonic speed reducer load (stress) effect show
It is intended to, on output shaft, load F makes the flexbile gear of harmonic speed reducer and output shaft generates bending, and torque M produces flexbile gear and output shaft
Raw torsion, the synergy of flexbile gear and output shaft bending moment and torque are soft when the flexbile gear of harmonic speed reducer and output shaft rotation
The load of wheel and output shaft is alternating load, it is well known that in alternate load effect, component is also easy to produce fatigue rupture, and reduction is set
Standby bearing capacity and service life.Sometimes, in order to improve the bearing capacity and service life of equipment, it has to be set using increasing
The mode of standby size, weight meets the requirement of bearing capacity and service life, in this way, the volume of equipment, weight etc. can become
It is very big.
Summary of the invention
The present invention provides a kind of small scale robot off-load cradle head, for improving the bearing capacity of retarder, and reduces
The volume and weight of retarder reduce the volume and total amount of cradle head to improve the bearing capacity of cradle head.
The present invention provides a kind of small scale robot off-load cradle head, including the deceleration being connected respectively with large arm and forearm
One end of device, the retarder is arranged in large arm, and the other end is arranged in forearm；
Wherein, bearing is provided between the shell and forearm of the retarder.
In one embodiment, it is provided with the first joint hole on the forearm, the end setting of the retarder is the
In one joint hole, the bearing is arranged between the shell of the retarder and the inner wall in first joint hole.
In one embodiment, the inner bottom wall in first joint hole and the output shaft of the retarder use bolt phase
Connection.
In one embodiment, a grade ring is additionally provided on the shell of the retarder, one end of the shelves ring is connected to
On the step of the retarder, the other end is connected to the end in first joint hole.
In one embodiment, second joint hole is provided in the large arm, the ring flange setting of the retarder exists
In the second joint hole.
In one embodiment, side opposite with the second joint hole in the large arm is provided with connecting hole, institute
It states large arm and the ring flange of the retarder is formed a fixed connection by the bolt in the connecting hole.
It in one embodiment, further include motor, the ring flange of the motor and the retarder is separately positioned on institute
The two sides of large arm are stated, the output shaft of the motor protrudes into the axis hole of the retarder, and is formed with the axis hole of the retarder
Key connection.
In one embodiment, the retarder is harmonic speed reducer or RV retarder.
In one embodiment, the motor is servo motor.
Compared with the prior art, the advantages of the present invention are as follows: since the inside of forearm is protruded into the end of retarder, and
Bearing is set between retarder and forearm, therefore the radial load off-load on the output shaft and flexbile gear of retarder can be will act at
On (shift) to the shell of retarder, so that radial load is born by the shell of retarder, the output shaft of retarder and soft
Wheel is solely subjected to torque, is not subject to radial Unloading Effect, is changed into the alternating load acted on output shaft and flexbile gear simple
Torsional load, thus can be improved the bearing capacity of retarder, and reduce the volume and weight of retarder, to improve cradle head
Bearing capacity, reduce the volume and total amount of cradle head.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is operation schematic diagram in the prior art with 5 cradle head robots；
Fig. 2 and Fig. 3 is the mechanical model that cradle head robot shown in FIG. 1 simplifies around joint 3 respectively；
Fig. 4 is the structure chart in third joint shown in FIG. 1；
Fig. 5 is the effect schematic diagram of retarder stress shown in Fig. 4；
Fig. 6 is the structural schematic diagram of small humanoid robot off-load cradle head in the embodiment of the present invention.
Appended drawing reference:
The existing articulated robot of 100-；The first joint 110-；120- second joint；130- third joint；140- the 4th
Joint；The 5th joint 150-；2 '-large arm；6 '-forearms；
1 '-motor；3 '-retarders；31 '-shells；32 '-bearings；33 '-flexbile gears；34 '-cams；7 '-motor seat boards；
1- motor；2- large arm, 21- second joint hole；22- connecting hole；3- retarder；31- shell；32- ring flange；4- gear
Ring；5- rolling bearing；6- forearm；The first joint 61- hole.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
As shown in Figs. 1-5, existing articulated robot 100 includes the first joint 110, second joint 120, third joint
130, the 4th joint 140, the 5th joint 150, large arm 2 ' and forearm 6 '.Upper the born radial load F in third joint 130 and
Torque M is as shown in Figures 2 and 3.As shown in figure 4, existing third joint 130 includes motor 1 ', motor seat board 7 ' and retarder 3 '.
As shown in figure 5, load F makes the flexbile gear 33 ' of retarder 3 ' and output shaft generate bending, and torque M makes flexbile gear 33 ' on output shaft
And output shaft generate torsion, the synergy of flexbile gear 33 ' and output shaft bending moment and torque, when retarder 3 ' flexbile gear 33 ' and
When output shaft rotates, the load of flexbile gear 33 ' and output shaft is alternating load.And under the action of alternating load, component is also easy to produce
Fatigue rupture, and then reduce the bearing capacity and service life of equipment.
As shown in fig. 6, the present invention provides a kind of small scale robot off-load cradle head comprising respectively with large arm 2 and small
One end of the connected retarder 3 of arm 6, retarder 3 is arranged in large arm 2, and the other end is arranged in forearm 6.Wherein, retarder 3
Shell and forearm 6 between be provided with bearing 5, bearing 5 can be rolling bearing.Specifically, the first joint is provided on forearm 6
The end in hole 61, retarder 3 is arranged in the first joint hole 61, and shell 31 and the first joint hole of retarder 3 is arranged in bearing 5
Between 61 inner wall.Further, the inner bottom wall in the first joint hole 61 is connected with the output shaft of retarder 3 using bolt.
Different from the technical solution that the end of retarder 3 ' in the prior art is connected with the end of forearm 6 ', of the invention is small
The inside of forearm 6 is protruded into humanoid robot off-load cradle head, the end of retarder 3, that is, is arranged in the first joint hole 61, and
And bearing 5 is set between retarder 3 and forearm 6, therefore the output shaft that can will act at retarder 3 and the radial direction on flexbile gear
In load off-load (shifting) to the shell 31 of retarder 3, so that radial load is born by the shell 31 of retarder 3, slow down
The output shaft and flexbile gear of device 3 are solely subjected to torque, are not subject to radial Unloading Effect, make the alternating download acted on output shaft and flexbile gear
Lotus is changed into simple torsional load, and the bearing capacity of retarder 3 thus can be improved, and reduces the volume and weight of retarder 3,
To improve the bearing capacity of cradle head, reduce the volume and total amount of cradle head.
In one embodiment, it is additionally provided with grade ring 4 on the shell 31 of retarder 3, one end of shelves ring 4 is connected to retarder
On 3 step, the other end is connected to the end in the first joint hole 61.In other words shelves ring 4 be arranged in the ring flange 32 of retarder 3 with
And retarder 3 is arranged between the end in the first joint hole 61, for providing positioning action for forearm 6.
Further, as shown in fig. 6, the first side of large arm 2 is provided with second joint hole 21, the ring flange of retarder 3 is set
It sets in second joint hole 21.The side opposite with second joint hole 21 in large arm 2, i.e. second side are provided with connecting hole 22, greatly
Arm 2 and the ring flange of retarder 3 are formed a fixed connection by the bolt in connecting hole 22.
In addition, small scale robot off-load cradle head of the invention further includes motor 1, the ring flange of motor 1 and retarder 3
32 are separately positioned on the two sides of large arm 2, that is to say, that the first side of large arm 2 is arranged in retarder 3, and motor 1 is arranged in large arm 2
Second side, the output shaft of motor 1 protrudes into the axis hole of retarder 3, and is formed and be keyed with the axis hole of retarder 3.
Different from the technical solution that existing motor 1 ' is connected by motor seat board 7 ' with retarder 3 ', of the invention is small-sized
The ring flange 32 of robot off-load cradle head, motor 1 and retarder 3 is separately positioned on the two sides of large arm 2, as shown in fig. 6,
Large arm 2 at least coats a part of a part of motor 1 and the ring flange 32 of retarder 3 respectively, to improve the intensity of connection.
In a specific embodiment, retarder 3 is harmonic speed reducer or RV retarder.
In a specific embodiment, motor 1 is servo motor.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (9)
1. a kind of small scale robot off-load cradle head, which is characterized in that including what is be connected respectively with large arm (2) and forearm (6)
One end of retarder (3), the retarder (3) is arranged in large arm (2), and the other end is arranged in forearm (6)；
Wherein, bearing (5) are provided between the shell and forearm (6) of the retarder (3).
2. small scale robot off-load cradle head according to claim 1, which is characterized in that be arranged on the forearm (6)
There is the first joint hole (61), the end of the retarder (3) is arranged in the first joint hole (61), and bearing (5) setting exists
Between the shell of the retarder (3) and the inner wall in first joint hole (61).
3. small scale robot off-load cradle head according to claim 2, which is characterized in that first joint hole (61)
Inner bottom wall be connected with the output shaft of the retarder (3) using bolt.
4. small scale robot off-load cradle head according to claim 2 or 3, which is characterized in that the retarder (3)
It is additionally provided on shell a grade ring (4), one end of the shelves ring (4) is connected on the step of the retarder (3), and the other end abuts
In the end in first joint hole (61).
5. small scale robot off-load cradle head according to claim 2 or 3, which is characterized in that set on the large arm (2)
It is equipped with second joint hole (21), the ring flange of the retarder (3) is arranged in the second joint hole (21).
6. small scale robot off-load cradle head according to claim 5, which is characterized in that on the large arm (2) and institute
It states the opposite side in second joint hole (21) to be provided with connecting hole (22), the ring flange of the large arm (2) and the retarder (3)
It is formed a fixed connection by the bolt in the connecting hole (22).
7. small scale robot off-load cradle head according to any one of claim 1-3, which is characterized in that further include electricity
The ring flange of machine (1), the motor (1) and the retarder (3) is separately positioned on the two sides of the large arm (2), the motor
(1) output shaft protrudes into the axis hole of the retarder (3), and is formed and be keyed with the axis hole of the retarder (3).
8. small scale robot off-load cradle head according to any one of claim 1-3, which is characterized in that the deceleration
Device (3) is harmonic speed reducer or RV retarder.
9. small scale robot off-load cradle head according to claim 7, which is characterized in that the motor (1) is servo
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753686.4A CN110370312A (en) | 2019-08-15 | 2019-08-15 | Small scale robot off-load cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753686.4A CN110370312A (en) | 2019-08-15 | 2019-08-15 | Small scale robot off-load cradle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110370312A true CN110370312A (en) | 2019-10-25 |
Family
ID=68259446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910753686.4A Pending CN110370312A (en) | 2019-08-15 | 2019-08-15 | Small scale robot off-load cradle head |
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| Country | Link |
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| CN (1) | CN110370312A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2525147B1 (en) * | 1982-04-16 | 1989-04-28 | Sahlin Int Inc | APPARATUS FOR LOADING AND UNLOADING INDUSTRIAL PRESSES |
| CN201041219Y (en) * | 2007-05-23 | 2008-03-26 | 上海减速机械厂有限公司 | Cycloidal planetary gear speed reducer possessing input axis system unloading structure |
| CN201105445Y (en) * | 2007-06-14 | 2008-08-27 | 北京联合大学生物化学工程学院 | Mechanical arm wrist having unloading device |
| CN107504052A (en) * | 2017-08-24 | 2017-12-22 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
| CN209175756U (en) * | 2018-09-18 | 2019-07-30 | 河北科创微宏自动化科技有限公司 | A kind of six axis all positon cutting robots |
-
2019
- 2019-08-15 CN CN201910753686.4A patent/CN110370312A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2525147B1 (en) * | 1982-04-16 | 1989-04-28 | Sahlin Int Inc | APPARATUS FOR LOADING AND UNLOADING INDUSTRIAL PRESSES |
| CN201041219Y (en) * | 2007-05-23 | 2008-03-26 | 上海减速机械厂有限公司 | Cycloidal planetary gear speed reducer possessing input axis system unloading structure |
| CN201105445Y (en) * | 2007-06-14 | 2008-08-27 | 北京联合大学生物化学工程学院 | Mechanical arm wrist having unloading device |
| CN107504052A (en) * | 2017-08-24 | 2017-12-22 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
| CN209175756U (en) * | 2018-09-18 | 2019-07-30 | 河北科创微宏自动化科技有限公司 | A kind of six axis all positon cutting robots |
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