CN105150191A - Horizontal multi-joint robot - Google Patents
Horizontal multi-joint robot Download PDFInfo
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- CN105150191A CN105150191A CN201510505699.1A CN201510505699A CN105150191A CN 105150191 A CN105150191 A CN 105150191A CN 201510505699 A CN201510505699 A CN 201510505699A CN 105150191 A CN105150191 A CN 105150191A
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Abstract
The invention relates to a horizontal multi-joint robot which mainly comprises a supporting seat, a welding machine supporting frame, a large robot arm, a small robot arm, a lifting arm, a fixed support and a center-adjustable support. The large robot arm and the small robot arm are integrally and horizontally installed, and connection and transmission among all the components are achieved mainly through gapless transmission mechanisms and motors matched with the gapless transmission mechanisms. By means of the structure of the horizontal multi-joint robot, five linkage shafts can be simultaneously controlled, the controllability precision is high, and the large industrial-level standard of a welding environment is achieved.
Description
Technical field
The present invention relates to mechanical equipment technical field, particularly relate to a kind of horizontal articulated robot.
Background technology
Robot is of a great variety, and application is wide, totally can be divided into general and special two large classes; Popular industrial machine people refers to jointed arm robot, account for the overwhelming majority of robot use amount at present, mainly for the manufacture of industry, current domestic use horizontal articulated robot number of motion axes only have four, navigability is poor, and existing horizontal articulated machine is per capita according to the research and development of miniature electric assembly environment, does not have the special horizontal articulated robot of large scale industry level for welding surroundings.
Summary of the invention
In order to solve deficiency of the prior art, the invention provides a kind of horizontal articulated robot, reasonable in design, can be manipulated by five universal driving shafts, reach the large scale industry level level of welding surroundings.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of horizontal articulated robot, is characterized in that: comprise supporting seat, welding machine bracing frame, robot ' s arm, robot forearm, lifting arm, fixed support and adjusting center support;
Described welding machine bracing frame and robot ' s arm are structure as a whole, welding machine bracing frame and robot ' s arm are all fixedly connected with a mounting sleeve A, robot ' s arm end side is provided with mounting sleeve B, described mounting sleeve A inside is flexibly connected with supporting seat by gapless drive mechanism A, and is provided with connected large arm motor bottom gapless drive mechanism A;
Described robot forearm one side end is provided with mounting sleeve C, robot forearm end side is provided with the groove that is slidably installed, described mounting sleeve C inside is flexibly connected with the mounting sleeve B of robot ' s arm by gapless drive mechanism B, and is provided with connected forearm motor bottom gapless drive mechanism B;
What described lifting arm was slidably arranged in robot forearm by guide rail and tooth bar is slidably installed in groove, lifting arm is the body of hollow structure, a rotating shaft is provided with in lifting arm, rotating shaft top is connected with gapless drive mechanism C by shaft coupling, gapless drive mechanism C top is provided with connected shaft rotating motor, and gapless drive mechanism C is fixed on lifting arm top by terminal pad; Be connected and fixed by bearing and lifting arm inwall bottom rotating shaft, and end passes described lifting arm and described fixed support is connected and fixed, the lifting arm drive motors with guide rail adaptation is provided with in described robot forearm, lifting arm drive motors is connected with the input of one speed reducer, and the output of reductor is connected with a joggle by wheel and rack;
Be fixed with swinging axle motor inside described fixed support, swinging axle motor is flexibly connected with adjusting center support by gapless drive mechanism D;
Described adjusting center support is fixed with welding gun.
Further, circular connection plug and rectangular patch plug is provided with bottom described welding machine bracing frame.
Further, it is firmly spacing that described robot ' s arm is provided with robot forearm adaptation.
Further, describedly firmly spacingly the end of robot ' s arm end face near mounting sleeve B is arranged on.
Further, further comprises and wear conduit, wear conduit and be arranged on outside lifting arm, wearing conduit both side ends by wearing conduit support frame and lifting arm is connected and fixed.
Further, further comprises an electric brake mechanism be connected with lifting arm drive motors.
Further, further comprises the photoelectric sensor of robot ' s arm, robot forearm, lifting arm, rotating shaft and adjusting center support adaptation.
Wherein, gapless drive mechanism comprises the driving wheel be loaded on driving shaft and the driven pulley be loaded on driven shaft, driving wheel and driven pulley are connected with a joggle, the gear that wherein driving wheel or driven pulley are arranged by two laminatings is formed, and one of them gear can to its drive gap auto-compensation in driving wheel and driven pulley transmission process, realize gapless, high accuracy transmission, the service life of transmission mechanism can be improve, reduce the maintenance cost of transmission mechanism.
The invention has the beneficial effects as follows:
1, this device can be manipulated by five universal driving shafts, and robot ' s arm and robot forearm integral level are installed, and can manipulate precision high, reach the large scale industry level level of welding surroundings.
2, this device is not limited only to boost productivity, and alleviates labor strength, can also bear the work of the complex precise be manually difficult to, and ensures crudy, easily exchanges different production tasks.
3, this device has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.
4, be applicable to the welding under industrial environment, cutting, carrying, assembling, spraying, some glue etc., mainly for labor-intensive traditional manufacture, be conducive to promoting made in China 2025 strategy implementation.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 of the present inventionly looks up structural representation;
Fig. 2 is the cross-sectional view of " A-A " in Fig. 1;
Fig. 3 is perspective view of the present invention;
In figure: 1 supporting seat, 2 welding machine bracing frames, 3 robot ' s arms, 4 robot forearms, 5 lifting arms, 6 rotating shafts, 7 fixed supports, 8 adjusting center supports, 9 welding guns, 10 large arm motors, 11 forearm motors, 12 lifting arm drive motors, 13 shaft rotating motors, 14 swinging axle motors, 15 photoelectric sensors, 16 circular connection plugs, 17 rectangular patch plugs, 18 is firmly spacing, 19 gapless drive mechanism A, 20 mounting sleeve A, 21 mounting sleeve B, 22 mounting sleeve C, 23 electric brake mechanisms, 24 decelerators, 25 gears, 26 bearings, 27 wear conduit support frame, 28 guide rails, 29 wear conduit, 30 tooth bars, 31 gapless drive mechanism B, 32 gapless drive mechanism C, 33 shaft couplings, 34 terminal pads, 35 gapless drive mechanism D.
Detailed description of the invention
As shown in Figure 1, 2, 3: a kind of horizontal articulated robot, supporting seat 1, welding machine bracing frame 2, robot ' s arm 3, robot forearm 4, lifting arm 5, fixed support 7 and adjusting center support 8 is mainly comprised;
Described welding machine bracing frame 2 and robot ' s arm 3 are structure as a whole, welding machine bracing frame 2 and robot ' s arm 3 all weld with a mounting sleeve A20, welding machine bracing frame 2 and robot ' s arm 3 are symmetricly set on mounting sleeve A20 both sides, robot ' s arm 3 end side is provided with mounting sleeve B21, described mounting sleeve A20 inside is flexibly connected with supporting seat 1 by gapless drive mechanism A19, and bottom gapless drive mechanism A19, be provided with connected large arm motor 10, robot ' s arm 3 can be driven on supporting seat 1 to carry out Horizontal rotating movable by large arm motor 10,
Described robot forearm 4 one side end is provided with mounting sleeve C22, robot forearm 4 end side is provided with the groove that is slidably installed, described mounting sleeve C22 inside is flexibly connected with the mounting sleeve B21 of robot ' s arm 3 by gapless drive mechanism B31, robot ' s arm 3 and robot forearm 4 integral level are installed, and bottom gapless drive mechanism B31, be provided with connected forearm motor 11, robot forearm 4 can be driven on robot ' s arm 3 to carry out Horizontal rotating movable by forearm motor 11;
What described lifting arm 5 was slidably arranged in robot forearm 4 by guide rail 28 and tooth bar 30 is slidably installed in groove, be slidably installed in groove and be provided with the slide block with guide rail 28 adaptation, for coordinating with guide rail 28 location realizing lifting arm 5, lifting arm 5 is the body of hollow structure, a rotating shaft 6 is provided with in lifting arm 5, rotating shaft 6 top is connected with gapless drive mechanism C32 by shaft coupling 33, gapless drive mechanism C32 top is provided with connected shaft rotating motor 13, shaft rotating motor 13 can rotate by driven rotary axle 6, gapless drive mechanism C32 is fixed on lifting arm 5 top by terminal pad 34, be connected and fixed by bearing 26 and lifting arm 5 inwall bottom rotating shaft 6, and end passes described lifting arm 5 and described fixed support 7 is connected and fixed, fixed support 7 can be synchronized with the movement with rotating shaft 6, the lifting arm drive motors 12 with guide rail 28 adaptation is provided with in described robot forearm 4, lifting arm drive motors 12 is connected with the input of one speed reducer 24, the output of reductor is connected with a joggle by gear 25 and tooth bar 30, make lifting arm drive motors 12 can drive moving up and down of lifting arm 5, be connected with electric brake mechanism 23 on rear side of described lifting arm drive motors 12, lifting arm drive motors 12 can be braked by electric brake mechanism 23 when power-off, prevent lifting arm drive motors 12 under effect of inertia, driving lifting arm 5 to move,
Swinging axle motor 14 is fixed with inside described fixed support 7, swinging axle motor 14 is flexibly connected with adjusting center support 8 by gapless drive mechanism D35, adjusting center support 8 is fixed with welding gun 9, swinging axle motor 14 can drive fixed support 7 to rotate, for regulating the position of welding gun 9;
Be provided with circular connection plug 16 and rectangular patch plug 17 bottom described welding machine bracing frame 2, circular connection plug 16 and rectangular patch plug 17, for being connected with the power line of different model, achieve the power supply access of integral device.
Described robot ' s arm 3 is provided with robot forearm 4 adaptation firmly spacing 18, firmly spacing 18 are arranged on robot ' s arm 3 end face near the end of mounting sleeve B21, firmly spacing 18 for limiting the activity of robot forearm 4, can stop robot forearm 4 activity and cause damage to parts such as lifting arm 5, adjusting center supports 8.
Described firmly spacing 18 are arranged on robot ' s arm 3 end face near the end of mounting sleeve B21.
This device further comprises wears conduit 29, wears conduit 29 and is arranged on outside lifting arm 5, wearing conduit 29 both side ends and is connected and fixed with lifting arm 5 by wearing conduit support frame 27, wearing conduit 29 for wearing discharge lines, control line etc.
This device further comprises the photoelectric sensor 15 of robot ' s arm 3, robot forearm 4, lifting arm 5, rotating shaft 6 and adjusting center support 8 adaptation, photoelectric sensor 15 positions when resetting for each parts, so that accurately can locate according to input parameter when this device reuses.
The foregoing is only preferred embodiments of the present invention, as long as realize object technical scheme of the present invention with basic same approach, all belong within protection scope of the present invention.
Claims (7)
1. a horizontal articulated robot, is characterized in that: comprise supporting seat, welding machine bracing frame, robot ' s arm, robot forearm, lifting arm, fixed support and adjusting center support;
Described welding machine bracing frame and robot ' s arm are structure as a whole, welding machine bracing frame and robot ' s arm are all fixedly connected with a mounting sleeve A, robot ' s arm end side is provided with mounting sleeve B, described mounting sleeve A inside is flexibly connected with supporting seat by gapless drive mechanism A, and is provided with connected large arm motor bottom gapless drive mechanism A;
Described robot forearm one side end is provided with mounting sleeve C, robot forearm end side is provided with the groove that is slidably installed, described mounting sleeve C inside is flexibly connected with the mounting sleeve B of robot ' s arm by gapless drive mechanism B, and is provided with connected forearm motor bottom gapless drive mechanism B;
What described lifting arm was slidably arranged in robot forearm by guide rail and tooth bar is slidably installed in groove, lifting arm is the body of hollow structure, a rotating shaft is provided with in lifting arm, rotating shaft top is connected with gapless drive mechanism C by shaft coupling, gapless drive mechanism C top is provided with connected shaft rotating motor, and gapless drive mechanism C is fixed on lifting arm top by terminal pad; Be connected and fixed by bearing and lifting arm inwall bottom rotating shaft, and end passes described lifting arm and described fixed support is connected and fixed, the lifting arm drive motors with guide rail adaptation is provided with in described robot forearm, lifting arm drive motors is connected with the input of one speed reducer, and the output of reductor is connected with a joggle by wheel and rack;
Be fixed with swinging axle motor inside described fixed support, swinging axle motor is flexibly connected with adjusting center support by gapless drive mechanism D;
Described adjusting center support is fixed with welding gun.
2. basis
rightrequire the horizontal articulated robot of one described in 1, it is characterized in that: bottom described welding machine bracing frame, be provided with circular connection plug and rectangular patch plug.
3. basis
rightrequire the horizontal articulated robot of one described in 1, it is characterized in that: it is firmly spacing that described robot ' s arm is provided with robot forearm adaptation.
4. basis
rightrequire the horizontal articulated robot of one described in 3, it is characterized in that: described be firmly spacingly arranged on the end of robot ' s arm end face near mounting sleeve B.
5. basis
rightrequiring the horizontal articulated robot of one described in 1, it is characterized in that: further comprises and wear conduit, wear conduit and be arranged on outside lifting arm, wearing conduit both side ends by wearing conduit support frame and lifting arm is connected and fixed.
6. basis
rightrequire the horizontal articulated robot of one described in 1, it is characterized in that: further comprises an electric brake mechanism be connected with lifting arm drive motors.
7. basis
rightrequire the horizontal articulated robot of one described in 1, it is characterized in that: the photoelectric sensor that further comprises robot ' s arm, robot forearm, lifting arm, rotating shaft and adjusting center support adaptation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510505699.1A CN105150191A (en) | 2015-08-11 | 2015-08-11 | Horizontal multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510505699.1A CN105150191A (en) | 2015-08-11 | 2015-08-11 | Horizontal multi-joint robot |
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| CN105150191A true CN105150191A (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510505699.1A Pending CN105150191A (en) | 2015-08-11 | 2015-08-11 | Horizontal multi-joint robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537823A (en) * | 2016-01-21 | 2016-05-04 | 中信重工机械股份有限公司 | Device for annular workpiece build-up welding |
| CN105563473A (en) * | 2016-03-10 | 2016-05-11 | 温州职业技术学院 | Plane joint manipulator |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN105880882A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Robot system for welding pipe fittings |
| CN105965499A (en) * | 2016-06-29 | 2016-09-28 | 佛山市西岭机电设备有限公司 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
| CN105965541A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Light six-axis universal robot with extending arm provided with execution terminal |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| CN106041383A (en) * | 2016-06-30 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Safety automatic welding manipulator |
| CN106181979A (en) * | 2016-08-26 | 2016-12-07 | 浙江新跃机床有限公司 | A kind of cantilever joint clamping mechanical hand |
| CN106312385A (en) * | 2016-09-07 | 2017-01-11 | 泉州圆创机械技术开发有限公司 | Efficient attachment welding equipment |
| CN106514647A (en) * | 2016-12-05 | 2017-03-22 | 无锡明珠增压器制造有限公司 | Simple and fast automatic welder mechanical hand |
| CN107042506A (en) * | 2017-06-05 | 2017-08-15 | 重庆盛学科技有限公司 | A kind of processing of stone machine people |
| CN107160070A (en) * | 2017-05-26 | 2017-09-15 | 清远初曲智能科技有限公司 | A kind of real-time automatic deviation correction Intelligent welding robot workstation accurately guided |
| CN108500458A (en) * | 2018-04-19 | 2018-09-07 | 深圳市大德激光技术有限公司 | A method of being suitable for rectangular coil motor laser welding and assembles |
| CN109175755A (en) * | 2018-09-18 | 2019-01-11 | 安徽伟宏钢结构集团股份有限公司 | A kind of live general assembly welding equipment of profile iron tube bank |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
| CN111421571A (en) * | 2019-01-09 | 2020-07-17 | 苏州吉泰兴机电设备有限公司 | Four-axis robot |
| CN114193501A (en) * | 2021-12-31 | 2022-03-18 | 杭州电子科技大学 | Underwater robot manipulator with flexible claws |
-
2015
- 2015-08-11 CN CN201510505699.1A patent/CN105150191A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537823A (en) * | 2016-01-21 | 2016-05-04 | 中信重工机械股份有限公司 | Device for annular workpiece build-up welding |
| CN105563473A (en) * | 2016-03-10 | 2016-05-11 | 温州职业技术学院 | Plane joint manipulator |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN105880882A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Robot system for welding pipe fittings |
| CN105855769B (en) * | 2016-06-08 | 2019-06-25 | 江门金力五金实业有限公司 | A kind of Intelligent welding robot |
| CN105965499A (en) * | 2016-06-29 | 2016-09-28 | 佛山市西岭机电设备有限公司 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| CN106041383A (en) * | 2016-06-30 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Safety automatic welding manipulator |
| CN105965541B (en) * | 2016-07-18 | 2018-08-03 | 余佩佩 | The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage |
| CN105965541A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Light six-axis universal robot with extending arm provided with execution terminal |
| CN106181979A (en) * | 2016-08-26 | 2016-12-07 | 浙江新跃机床有限公司 | A kind of cantilever joint clamping mechanical hand |
| CN106312385A (en) * | 2016-09-07 | 2017-01-11 | 泉州圆创机械技术开发有限公司 | Efficient attachment welding equipment |
| CN106514647A (en) * | 2016-12-05 | 2017-03-22 | 无锡明珠增压器制造有限公司 | Simple and fast automatic welder mechanical hand |
| CN107160070A (en) * | 2017-05-26 | 2017-09-15 | 清远初曲智能科技有限公司 | A kind of real-time automatic deviation correction Intelligent welding robot workstation accurately guided |
| CN107042506A (en) * | 2017-06-05 | 2017-08-15 | 重庆盛学科技有限公司 | A kind of processing of stone machine people |
| CN108500458A (en) * | 2018-04-19 | 2018-09-07 | 深圳市大德激光技术有限公司 | A method of being suitable for rectangular coil motor laser welding and assembles |
| CN109175755A (en) * | 2018-09-18 | 2019-01-11 | 安徽伟宏钢结构集团股份有限公司 | A kind of live general assembly welding equipment of profile iron tube bank |
| CN109175755B (en) * | 2018-09-18 | 2021-03-16 | 安徽伟宏钢结构集团股份有限公司 | On-spot final assembly welding equipment of dysmorphism steel tube bank |
| CN111421571A (en) * | 2019-01-09 | 2020-07-17 | 苏州吉泰兴机电设备有限公司 | Four-axis robot |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
| CN114193501A (en) * | 2021-12-31 | 2022-03-18 | 杭州电子科技大学 | Underwater robot manipulator with flexible claws |
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Application publication date: 20151216 |