CN105583855A - Rocker for joint type industrial robot and joint type industrial robot - Google Patents
Rocker for joint type industrial robot and joint type industrial robot Download PDFInfo
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- CN105583855A CN105583855A CN201610153695.6A CN201610153695A CN105583855A CN 105583855 A CN105583855 A CN 105583855A CN 201610153695 A CN201610153695 A CN 201610153695A CN 105583855 A CN105583855 A CN 105583855A
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- CN
- China
- Prior art keywords
- rocking bar
- gusset
- industrial robot
- type industrial
- joint type
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- 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
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention provides a rocker for a joint type industrial robot. The rocker is provided with a first side, a second side, a front horizontal column, a rear horizontal column, a middle vertical column and a rib plate reinforcement type fixed limiting part, wherein the first side is connected to an RV speed reducer, the second side is opposite to the first side and is connected to a servo motor in a matched mode, the front horizontal column is located in the front and is used for being fixedly connected to the servo motor and the RV speed reducer, the rear horizontal column is opposite to the front horizontal column and is located in the back, the middle vertical column is located between the front horizontal column and the rear horizontal column, and the rib plate reinforcement type fixed limiting part is arranged on the first side of the rocker; the rib plate reinforcement type fixed limiting part protrudes and extends outwards from the first side of the rocker to the direction deviated from the second side. According to the rocker, the rib plate reinforcement type fixed limiting part protrudes and extends outwards from the first side of the rocker to the direction deviated from the second side, the rib plate reinforcement type structure is adopted on the basis of meeting the requirement of function design, and therefore the strength and the rigidity of the rocker are improved and the casting and machining technology performance of the rocker is improved.
Description
Technical field
The present invention relates to joint type industrial robot and manufacture field, relate in particular to the mechanical property excellences such as a kind of rigidity, intensity and processing technology simply for the rocking bar of joint type industrial robot (or claiming lumbar), and there is the joint type industrial robot of this rocking bar.
Background technology
Now, the global cooperation of information age is more becoming tight closely with exchanging, and the level of the productive forces is constantly progressive with science and technology, and it is ready to appear that new intelligence is manufactured the mode of production; Industrial robot relies on its flexible, efficient, high-precision intelligent operating type, by world's manufacturing industry is attracted attention. In the industrial links such as current metallurgy, automobile, logistics, heavy-load type industrial robot (or claiming joint type industrial robot) application is healed and is become extensive. But, heavy-load type industrial robot must possess and have better load capacity and kinetic stability, i.e. better speed, acceleration characteristic and quite high pose accuracy, so this is for the body construction of heavy-load type industrial robot, along with going deep into of application level and widening of range of application, the integral rigidity of heavily loaded humanoid robot is required to improve all the more.
Wherein, the rocking bar (or claiming lumbar) that connects robot the first joint and second joint is stressing conditions complexity, a lot of key components and parts of body integrated functionality the most in robot body structure, and whether the structural design of rocker elements rationally concerns revolute robot's overall performance. In meeting rigidity, intensity and Functional Requirement, whether effectively whether well the manufacturability of casting and processing also concern the problem of the processing and manufacturing costs such as the mould, cutter, tool fixture of control.
CN102029607A Chinese patent application relates to a kind of industrial robot with weight balancing system, and the wherein rocking bar of robot exquisiteness compact to design, possesses reliable gravity balance device supporting structure. But the boss feature such as this rocking bar most surfaces is curved surface, fixing limit adopts interior core to be shaped or direct solid casting, it is inner large that the contour feature of rocking bar entirety is, the design of opening convergence, and outer surface is coherent. On the one hand, in rocking bar global design, adopt the external envelope structure of non-open type, increased the difficulty of casting technique, increased design difficulty and the cost of internal cores, also increased the difficulty of the demoulding simultaneously, affect production efficiency. On the other hand, fixing limit boss is positioned at rocking bar is connected a side two places up and down with large arm, boss lofty go out volume larger, adopt external envelope design or solid slug design, the inner shaping core design difficulty of same increase, in addition, solid slug can reduce local cast properties herein, varied in thickness is larger, easily causes shrinkage cavity, the casting flaw such as loose; Be the stressed key area of rocker elements, the defect of casting character can weaken the strength and stiffness performance of rocking bar herein.
In view of this joint type industrial robot that, is necessary to provide a kind of rocking bar for joint type industrial robot and has this rocking bar is to address the above problem.
Summary of the invention
The object of the invention is to the mechanical property excellences such as a kind of rigidity, intensity and processing technology simply for the rocking bar of joint type industrial robot (or claiming lumbar), and there is the joint type industrial robot of this rocking bar.
For achieving the above object, the invention provides a kind of rocking bar for joint type industrial robot, there is the first side of connecting with RV reductor, relative with described the first side the second side in order to be connected with servomotor, described rocking bar also have in front portion and in order to connect firmly the front spreader of described servomotor and described RV reductor, relative with described front spreader at the rear spreader at rear portion, central post between described front spreader and described rear spreader, be located at the reinforced fixing limit of gusset of described rocking bar the first side; The direction that the first side direction that the reinforced fixed limit of described gusset is positioned at described rocking bar deviates from described the second side outwards protrudes out.
As a further improvement on the present invention, described front spreader comprises the mounting flange of hollow, all protrudes out to the first side and the second side the first gusset enhancing structure forming from the coated described mounting flange of periphery from the periphery of described mounting flange simultaneously, and described front spreader strengthens structure by described the first gusset and is connected with described central post.
As a further improvement on the present invention, described the first gusset strengthens structure and is the circle with a breach, and described breach is positioned at the side near described central post on described front spreader; The reinforced fixing limit of described gusset comprises and being that the upper end of described breach is connected > being of being connected of the reinforced fixing limit of the first gusset of type, the lower end that strengthens the breach of structure with described the first gusset > the reinforced fixing limit of the second gusset of type, the reinforced fixing limit of described the first gusset becomes between the upper and lower every setting with the reinforced fixing limit of the second gusset.
As a further improvement on the present invention, the wallboard of the reinforced fixing limit of described gusset is from the first side direction of described rocking bar attenuate gradually outward.
As a further improvement on the present invention, described central post comprises upwards open epicoele, and described epicoele is variation cylindrical structure, and the cross section bending radius of first half is less than the cross section bending radius of latter half; The first half of described epicoele is connected with the reinforced fixing limit of described gusset with described front spreader.
As a further improvement on the present invention, described central post also comprises the cavity of resorption that is positioned at described epicoele below, described cavity of resorption be by superposed lid, be positioned at bottom mounting flange, connect the cylinder of the downward opening that the sidewall of described lid and described mounting flange surrounds, the middle part of described lid has the mesopore that is communicated with described epicoele and described cavity of resorption, and described lid is provided with note/row fat hole of the injection and the discharge that realize the lubricating grease in cavity of resorption.
As a further improvement on the present invention, described rocking bar also has the back cavity that is positioned at described central post rear side, the bottom-up attenuation gradually of wallboard between described back cavity and described central post; The structure that forms described back cavity supports described rear spreader, and described rear spreader is the hollow posts from the first side connects described in described the second side direction.
As a further improvement on the present invention, the direction that described rear spreader deviates from described the second side from described the first side direction outwards protrudes out, and described rear spreader is segmented in described back cavity to be arranged, the length of the cylinder of close described the first side is 5 ~ 6 times of another section of cylinder length near described the second side.
As a further improvement on the present invention, described rocking bar also comprises that the some multiplex gusset, the some described positioning boss that are arranged on described rocking bar lateral surface, a pair of pipeline infantees that is respectively in described central post the first side and the second side put window, be respectively in the wing plate of described central post the first side and the second side.
For achieving the above object, the present invention also provides a kind of joint type industrial robot, comprises base, connects the first joint of described joint type industrial robot and above-mentioned rocking bar, the connecting rod of second joint, is positioned at the operator on connecting rod.
The invention has the beneficial effects as follows: the present invention has optimized the rocking bar of joint type industrial robot, the direction that the first side direction that the reinforced fixed limit of gusset is positioned at described rocking bar deviates from described the second side outwards protrudes out, on the basis that meets functional design, adopt gusset Enhanced Configuration, strengthen its strength and stiffness performance, then promote the overall performance of its applicable joint type industrial robot; Improve casting and the process industrial art performance of this rocking bar simultaneously, be convenient to the manufacture of mould and core, reduce manufacturing cost.
Brief description of the drawings
Fig. 1 is the structural representation of joint type industrial robot of the present invention.
Fig. 2 is that the joint type industrial robot shown in Fig. 1 is in the structural representation of another angle.
Fig. 3 is the perspective view of the rocking bar of the joint type industrial robot shown in Fig. 1.
Fig. 4 is that the rocking bar shown in Fig. 3 is in the perspective view of another angle.
Fig. 5 is the structural representation of the second side of the rocking bar shown in Fig. 3.
Fig. 6 is that the rocking bar shown in Fig. 5 is in the structural representation at A visual angle.
Fig. 7 is the top view of the rocking bar shown in Fig. 5.
Fig. 8 is the left view of the rocking bar shown in Fig. 5.
Fig. 9 is the cutaway view of the rocking bar shown in Fig. 8 along B-B direction.
Figure 10 is the cutaway view of the rocking bar shown in Fig. 8 along C-C direction.
Figure 11 is the rearview of the rocking bar shown in Fig. 5, is also the structural representation of the first side of rocking bar.
Figure 12 is the partial sectional view of the rocking bar shown in Figure 11 along D-D direction.
Figure 13 is the partial sectional view of the rocking bar shown in Figure 11 along E-E direction.
Figure 14 is the partial sectional view of the rocking bar shown in Figure 11 along F-F direction.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, describe the present invention below in conjunction with the drawings and specific embodiments.
As shown in Fig. 1 ~ Fig. 2, joint type industrial robot 100 comprises base 1, connect the first joint of described joint type industrial robot 100 and the rocking bar 2(of second joint or claim lumbar), connecting rod 3(or claim large arm), be positioned at the structures such as operator 4 on connecting rod 3. For clearly expressing described position and direction in the application, using joint type industrial robot 100 as reference, one end that upper arm is provided with operator 4 is front, and the other end is rear end relatively; And upper arm is positioned at the top of base 1.
One side of the body construction rocking bar 2 of joint type industrial robot 100 need to connect servomotor 5, and opposite side need to connect RV reductor 6 and connecting rod 3; Wherein servomotor 5, in order to the power input of second joint, drives large arm with upper-part and load; The power that RV reductor 6 is inputted in order to transmit servomotor 5, playing slows down increases the effect of square.
Refer to shown in Fig. 3 ~ Figure 14, rocking bar 2 of the present invention have the first side in order to be connected with described RV reductor 6, relative with described the first side in order to and the second side of being connected of servomotor 5, anterior and in order to connect firmly described servomotor 5 and described RV reductor 6 front spreader 21, relative with described front spreader 21 at the rear spreader 22 at rear portion, central post 23 between described front spreader 21 and described rear spreader 22, be located at the reinforced fixing limit 24 of gusset of described rocking bar 2 first sides.
The main body of described front spreader 21 is the mounting flange 211 of hollow, the second joint that is connected to form joint type industrial robot 100 at the first side of described front spreader 21 and RV reductor 6 and connecting rod 3, is connected with servomotor 5 servo-drive that realizes second joint in the second relative side.
Particularly, described mounting flange 211 has at middle through hole 2111 middle and that axially connect along described mounting flange 211, is distributed in the first fixing hole 2112 of the some minor diameters around described middle through hole 2111, some large diameter the second fixing hole 2113 between some described the first fixing holes 2112 and described middle through hole 2111.
Described middle through hole 2111 connects from the second side described in described the first side direction, thereby the output shaft of described servomotor 5 is connected with described RV reductor 6 through described middle through hole 2111; Further, on described output shaft, be equipped with gear shaft, described output shaft is connected by the planetary gearsets of described gear shaft and described RV reductor 6.
The diameter of described the first fixing hole 2112 is less than the diameter of described the second fixing hole 2113, and some described the first fixing holes 2112 are divided into some groups, and described in some groups, the first fixing hole 2112 is arranged at intervals on same circle; Correspondingly, some described the second fixing holes 2113 are also divided into some groups, and described in some groups, the second fixing hole 2113 is arranged at intervals on same circle; The packet count of some described the second fixing holes 2113 is identical with the packet count of some described the first fixing holes 2112, and each is organized described the second fixing hole 2113 and is positioned at correspondingly the first fixing hole 2112 inner sides described in a group.
In the present embodiment, described mounting flange 211 is provided with 2112,6 described the second fixing holes 2113 of 21 described the first fixing holes, thereby realizes connecting firmly of described RV reductor 6 and described rocking bar 2. 21 described the first fixing holes 2112 are equally divided into 3 groups, and described in three groups, the first fixing hole 2112 is arranged and is located on same circle equably; 6 described the second fixing holes 2113 are also equally divided into 3 groups, and each organizes the second fixing hole 2113 and be positioned at the inner side of corresponding one group of first fixing hole 2112, and described in three groups, the second fixing hole 2113 is arranged and is located on same circle equably.
Further, described front spreader 21 also has the first gusset enhancing structure 212 from the coated described mounting flange 211 of periphery. Particularly, shown in please refer to the drawing 10, the first gusset strengthens structure 212 and all protrudes out to the first side and the second side from the periphery of described mounting flange 211 simultaneously, adopts open structure, has good casting and processing technology when improving mechanical property. It will be appreciated by persons skilled in the art that along described front spreader 21 axially, described the first gusset strengthens the width that the width of structure 212 is greater than described mounting flange 211.
Described front spreader 21 adopts described the first gusset enhancing structure 212 to be connected with central post 23 other structural transition such as grade, both strengthened the rigidity of crucial stress area, its open structure has good casting and processing technology simultaneously, in casting process, needn't adopt core moulding, reduce mould manufacture difficulty, improve shaping efficiency, in process, open space is convenient to cutter path planning.
Particularly, described the first gusset strengthens structure 212 and is and has a circle for open breach backwards, and coated described mounting flange 211 makes described breach be positioned at the side near described central post 23 from front to back; The two ends of described breach are connected in the first half of described central post 23 at interval in the upper and lower.
The main body of described central post 23 is divided into epicoele 231 and the cavity of resorption 232 of presenting lower distribution and connection.
Described epicoele 231 is upwards open, as the installation cabin of joint type industrial robot 100 first joint servo motors 5, is also the interface of joint type industrial robot 100 electric pipeline system access bases 1 simultaneously.
Particularly, described epicoele 231 is variation cylindrical structure, and the cross section bending radius of first half is less than the cross section bending radius of latter half. The first half of described epicoele 231 is connected with the reinforced fixing limit 24 of described gusset with described front spreader 21.
In addition, please comparison diagram 7 and Figure 10, or consult shown in Fig. 9, the top of described epicoele 231 is provided with the second gusset that the chamber wall of epicoele 231 inwardly protrudes out described in self-forming and strengthens structure 233, and this second gusset strengthens structure 233 and also adopts open structure, and technique is simple.
Described cavity of resorption 232 is open downwards cylinder, by superposed lid 2321, be positioned at bottom mounting flange 2322, connect described lid 2321 and surround with the sidewall 2323 of described mounting flange 2322; The middle part of described lid 2321 has the mesopore 2324 that is communicated with described epicoele 231 and described cavity of resorption 232 particularly, and described mounting flange 2322 inwardly protrudes out from described sidewall 2323 bottoms.
Described cavity of resorption 232 is connected to form joint type industrial robot 100 first joints with the base 1 of RV reductor 6 and joint type industrial robot 100, and more than the installed surface of described mounting flange 2322, forms the lubricated closed chamber in the first joint. Further, described lid 2321 is provided with the note/row fat hole 2325 that is communicated with described closed chamber, to realize injection and the discharge of the lubricating grease in cavity of resorption 232.
Further, refer to shown in Fig. 6, Fig. 9, Figure 10 and Figure 12, described rocking bar 2 also has the back cavity 25 that is positioned at described central post 23 rear sides, described back cavity 25 has the opening of opening to the back lower place, can provide enough large volume for integrated electrical equipment, the structure that simultaneously forms described back cavity 25 supports described rear spreader 22, improves the assembling rigidity of structural strength and balance weight device. In the present embodiment, described back cavity 25 is positioned at the rear side of described epicoele 231 and is connected with the latter half of described epicoele 231.
Refer to shown in Fig. 9, the bottom-up attenuation gradually of wallboard between described back cavity 25 and described central post 23, also be the bottom-up attenuation gradually of wallboard between described back cavity 25 and described epicoele 231, this wallboard along the gradual change of withdrawing pattern direction, having isolation back cavity 25 makes it form the effect of independent dustproof space, simultaneously wallboard is sprag fashion and supports the postmedian of the rocking bar 2 of described joint type industrial robot 100, when strengthening structural parts whole rigidity, ensure the minimum deformation quantity of described rear spreader 22, also ensure the assembling rigidity of joint type industrial robot 100 balance sysmtes.
Described rear spreader 22 is positioned at described back cavity 25, in order to the bearing pin hinged with joint type industrial robot 100 bascule rear ends to be installed. Particularly, the axis of described rear spreader 22 is parallel with the axis of described front spreader 21, and in the vertical direction, and the axis of described rear spreader 22 is lower than the axis of described front spreader 21; In the present embodiment, the axis of described rear spreader 22 is than the axis biased downward 50mm ~ 80mm of described front spreader 21.
Described rear spreader 22 is from the hollow posts that described in described the second side direction, the first side connects, and the direction that described rear spreader 22 deviates from described the second side from described the first side direction outwards protrudes out; Be understandable that, the hollow space of described rear spreader 22 is communicated with described back cavity 25.
Further, described rear spreader 22 is segmented in described back cavity 25 to be arranged, the length of the cylinder of close described the first side is 5 ~ 6 times of another section of cylinder length near described the second side; Segmentation structure is conducive to the quick assembling of bearing pin, makes stress distribution reasonable.
The reinforced fixing limit of described gusset 24 is connected with described front spreader 21, described epicoele 231 simultaneously, and outwards protrudes out in the direction that the first side direction of described rocking bar 2 deviates from described the second side; The effect of the reinforced fixing limit 24 of described gusset is and moving spacing cooperation theing connect firmly on the connecting rod 3 of joint type industrial robot 100, the actuating range of the connecting rod 3 of physical restriction joint type industrial robot 100, Saving cortilage type industrial robot 100; Can also improve the rigidity of described rocking bar 2 simultaneously.
Particularly, the reinforced fixing limit 24 of described gusset comprises point two parts that are arranged, one is being of being connected of the upper end 2121 of breach that strengthens structure 212 with described the first gusset > the reinforced fixing limit 241 of the first gusset of type, comprise that with described the second gusset the upper end 2121 of breach that strengthens the first coplanar wainscot of structure, strengthen structure 212 from described the first gusset is backward to the first lower wall panels of downward-extension. Between the first wainscot and the first lower wall panels, there is gap, and the upper end 2121 of the breach of the first gusset enhancing structure 212 is connected with the junction of the first lower wall panels with the first wainscot. In addition, the part that the reinforced fixing limit 241 of described the first gusset is positioned at the first side from described epicoele 231 outwards protrudes out.
It two is being also that the lower end 2122 of breach that strengthens structure 212 with described the first gusset is connected > the reinforced fixing limit 242 of the second gusset of type, comprise upwards extand rearward to that described pipeline infantees is put the second wainscot of window, the upper end of breach that strengthens structure 212 from described the first gusset is backward to the second lower wall panels of downward-extension. Between the second wainscot and the second lower wall panels, there is gap, and the lower end 2122 of the breach of the first gusset enhancing structure 212 is connected with the junction of the second lower wall panels with the second wainscot. In addition, the part that the part-structure of the reinforced fixing limit 242 of described the second gusset is positioned at the first side from described epicoele 231 outwards protrudes out, and the part that another part is positioned at the first side from described front spreader 21 outwards protrudes out; Particularly, the part that the rear section of described the second wainscot is positioned at the first side from described epicoele 231 outwards protrudes out, the part that the forward part of described the second wainscot and described the second lower wall panels are positioned at the first side from described front spreader 21 outwards protrudes out, and the end of described the second lower wall panels extends downward backward with the lid 2321 of described cavity of resorption 232 and is connected.
The equal transition change of wall thickness of described the first wainscot, described the first lower wall panels, described the second wainscot, four wallboards of described the second lower wall panels, can optimize cast properties, the casting flaws such as loose, the shrinkage cavity of avoiding in casting process that entity limited block structure easily causes that wall thickness sudden change causes. In the present embodiment, described the first wainscot, described the first lower wall panels, described the second wainscot, described the second lower wall panels are from outwards attenuate gradually of the outside wall surface of described central post 23.
Shown in please refer to the drawing 11, Figure 13 and Figure 14, the reinforced fixing limit 24 of described gusset forms firm I-shaped structure with connected structure, both strengthened the mechanical property of this part body construction, bearing capacity and the rigidity of described joint type industrial robot 100 rocking bars 2 are improved, then promote the integral rigidity performance of joint type industrial robot 100; Avoid again casting thickness sudden change to cause foundry goods Local Property defect simultaneously.
Further, described rocking bar 2 also has a pair of pipeline infantees that is respectively in described central post 23 first sides and the second side and puts window 26, described pipeline infantees is put window 26 and is roughly trapezoidal, and totally two are also divided the both sides of the described epicoele 231 that is listed in described central post 23 symmetrically. Described pipeline infantees is put window 26 inner sides and is had from the inwall of described epicoele 231 and inwardly protrude out the thickness of formation between the reinforcement of 30mm ~ 40mm, to strengthen intensity.
Further, described rocking bar 2 also has the wing plate 27 that is respectively in described central post 23 first sides and the second side, described wing plate 27 is positioned at epicoele 231 and the cavity of resorption 232 interfacial plane places of described central post 23, totally 4 and be bilateral symmetry and arrange, point is listed in epicoele 231 both sides of described central post 23; Described wing plate 27 thickness are 30mm, and the 120mm ~ 150mm that stretches out respectively.
Further, described rocking bar 2 also has the multiplex gusset 28 of being located on described rocking bar 2 lateral surfaces, described multiplex gusset 28 is many places distributing and arranges, comprise: the first gusset 281 that is positioned at described front spreader 21 bottoms and described cavity of resorption 232 junctions (being also described rocking bar 2 lower jaw), play and improve described rocking bar 2 stress raiser rigidity, improve the effect of load-carrying properties; Be arranged in described front spreader 21 directly over the second gusset 282, be suspension ring install indwelling position; Being arranged in the 3rd gusset 283 of described rear spreader 22 upper surface body of casting positions to the front, is also that suspension ring are installed indwelling position; The 4th gusset 284 that is arranged in the both sides outside described back cavity 25 and foundry goods wall body boundary line, plays the effect that annex is installed. In addition, described the 3rd gusset 283 and two described the 4th gussets 284 are all positioned at that cast green body is stressed to be concentrated and the wall thickness place that changes, and play enhancing rigidity, and alleviation wall thickness change is improved the effect of casting manufacturability.
Further, described rocking bar 2 also has some positioning boss 29 of being located on described rocking bar 2 lateral surfaces, the architectural feature of described positioning boss 29 is triangle strip fillet, be arranged in position and the rear portion, the cylindrical lower surface of described cavity of resorption 232 of 45 ° on the lower side of described front spreader 21 flange body front end, the effect of described positioning boss 29 is dead-center positions of demarcating joint type industrial robot 100 body the first joints and second joint, in physical positioning, installation site that can indwelling sensor, is convenient to Accurate Calibration soft spacing.
In sum, the present invention has optimized the rocking bar 2 of joint type industrial robot 100, and described rocking bar 2, on the basis that meets functional design, adopts gusset Enhanced Configuration, strengthen its strength and stiffness performance, then promote the overall performance of its applicable joint type industrial robot 100; Adopt and strengthen the open structure of reinforcement, improve casting and the process industrial art performance of this rocking bar 2, be convenient to the manufacture of mould and core, reduce manufacturing cost.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not depart from the spirit and scope of technical solution of the present invention.
In this description any relevant " the present embodiment ", mean that specific function, structure or a characteristic description relevant with embodiment comprise at least one embodiment of the present invention. These appear at each local phrase of description identical embodiment of definiteness that differs. Further, specific function, structure or the details relevant to arbitrary embodiment are described, and think function relevant to other embodiment within the scope of the art, structure or characteristic.
Claims (10)
1. the rocking bar for joint type industrial robot, there is the first side of connecting with RV reductor, relative with described the first side the second side in order to be connected with servomotor, it is characterized in that: described rocking bar also have in front portion and in order to connect firmly the front spreader of described servomotor and described RV reductor, relative with described front spreader at the rear spreader at rear portion, central post between described front spreader and described rear spreader, be located at the reinforced fixing limit of gusset of described rocking bar the first side; The direction that the first side direction that the reinforced fixed limit of described gusset is positioned at described rocking bar deviates from described the second side outwards protrudes out.
2. the rocking bar for joint type industrial robot according to claim 1, it is characterized in that: described front spreader comprises the mounting flange of hollow, all protrudes out to the first side and the second side the first gusset enhancing structure forming from the coated described mounting flange of periphery from the periphery of described mounting flange simultaneously, and described front spreader strengthens structure by described the first gusset and is connected with described central post.
3. the rocking bar for joint type industrial robot according to claim 2, is characterized in that: described the first gusset strengthens structure and is the circle with a breach, and described breach is positioned at the side near described central post on described front spreader; The reinforced fixing limit of described gusset comprises and being that the upper end of described breach is connected > being of being connected of the reinforced fixing limit of the first gusset of type, the lower end that strengthens the breach of structure with described the first gusset > the reinforced fixing limit of the second gusset of type, the reinforced fixing limit of described the first gusset becomes between the upper and lower every setting with the reinforced fixing limit of the second gusset.
4. the rocking bar for joint type industrial robot according to claim 1, is characterized in that: the wallboard of the reinforced fixing limit of described gusset is from the first side direction of described rocking bar attenuate gradually outward.
5. the rocking bar for joint type industrial robot according to claim 1, it is characterized in that: described central post comprises upwards open epicoele, described epicoele is variation cylindrical structure, and the cross section bending radius of first half is less than the cross section bending radius of latter half; The first half of described epicoele is connected with the reinforced fixing limit of described gusset with described front spreader.
6. the rocking bar for joint type industrial robot according to claim 5, it is characterized in that: described central post also comprises the cavity of resorption that is positioned at described epicoele below, described cavity of resorption be by superposed lid, be positioned at bottom mounting flange, connect the cylinder of the downward opening that the sidewall of described lid and described mounting flange surrounds, the middle part of described lid has the mesopore that is communicated with described epicoele and described cavity of resorption, and described lid is provided with note/row fat hole of the injection and the discharge that realize the lubricating grease in cavity of resorption.
7. the rocking bar for joint type industrial robot according to claim 1, is characterized in that: described rocking bar also has the back cavity that is positioned at described central post rear side, the bottom-up attenuation gradually of wallboard between described back cavity and described central post; The structure that forms described back cavity supports described rear spreader, and described rear spreader is the hollow posts from the first side connects described in described the second side direction.
8. the rocking bar for joint type industrial robot according to claim 7, it is characterized in that: the direction that described rear spreader deviates from described the second side from described the first side direction outwards protrudes out, and described rear spreader is segmented in described back cavity to be arranged, the length of the cylinder of close described the first side is 5 ~ 6 times of another section of cylinder length near described the second side.
9. the rocking bar for joint type industrial robot according to claim 1, is characterized in that: described rocking bar also comprises that the some multiplex gusset, the some described positioning boss that are arranged on described rocking bar lateral surface, a pair of pipeline infantees that is respectively in described central post the first side and the second side put window, be respectively in the wing plate of described central post the first side and the second side.
10. a joint type industrial robot, comprise base, connect the first joint of described joint type industrial robot and rocking bar, the connecting rod of second joint, be positioned at the operator on connecting rod, it is characterized in that: described rocking bar is the rocking bar described in any one in claim 1 ~ 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153695.6A CN105583855B (en) | 2016-03-17 | 2016-03-17 | Rocking bar and joint type industrial robot for joint type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610153695.6A CN105583855B (en) | 2016-03-17 | 2016-03-17 | Rocking bar and joint type industrial robot for joint type industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105583855A true CN105583855A (en) | 2016-05-18 |
| CN105583855B CN105583855B (en) | 2017-12-12 |
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| CN201610153695.6A Active CN105583855B (en) | 2016-03-17 | 2016-03-17 | Rocking bar and joint type industrial robot for joint type industrial robot |
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| CN105583855B (en) | 2017-12-12 |
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Address after: 215300, No. 15, 1504-4 floor, No. 1699 Reed Road, Yushan Town, Suzhou, Jiangsu, Kunshan Applicant after: Kunshan Hua Heng robot Co., Ltd. Applicant after: Kunshan Huaheng Welding Co., Ltd. Address before: 215300, No. 15, 1504-4 floor, No. 1699 Reed Road, Yushan Town, Suzhou, Jiangsu, Kunshan Applicant before: Industrial Robot Research Co., Ltd. Of Kunshan Industrial Technology Research Institute Applicant before: Kunshan Huaheng Welding Co., Ltd. |
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