CN105583855B - Rocking bar and joint type industrial robot for joint type industrial robot - Google Patents
Rocking bar and joint type industrial robot for joint type industrial robot Download PDFInfo
- Publication number
- CN105583855B CN105583855B CN201610153695.6A CN201610153695A CN105583855B CN 105583855 B CN105583855 B CN 105583855B CN 201610153695 A CN201610153695 A CN 201610153695A CN 105583855 B CN105583855 B CN 105583855B
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- China
- Prior art keywords
- rocking bar
- gusset
- spreader
- industrial robot
- joint type
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Classifications
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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
-
- 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 kind of rocking bar for joint type industrial robot, with with the first side that RV reductors connect, the second side to be connected with servomotor relative with first side, the rocking bar also have positioned at it is anterior and to connect firmly the preceding spreader of the servomotor and the RV reductors, it is relative with the preceding spreader positioned at the rear spreader at rear portion, the central post between the preceding spreader and the spreader afterwards, the reinforced fixing limit of gusset located at the side of rocking bar first；The first direction for laterally deviating from second side that the reinforced fixed limit of gusset is located at the rocking bar protrudes outward.The first direction for laterally deviating from second side that the reinforced fixed limit of gusset of the present invention is located at the rocking bar protrudes outward, on the basis of functional design is met, using gusset Enhanced Configuration, strengthen its strength and stiffness performance, while improve casting and the process industrial art performance of the rocking bar.
Description
Technical field
The present invention relates to joint type industrial robot manufacturing field, more particularly to the mechanical property such as a kind of rigidity, intensity are excellent
Different and processing technology is simply to the rocking bar of joint type industrial robot（Or lumbar）, and its joint with the rocking bar
Type industrial robot.
Background technology
Now, the global cooperation of information age is more becoming tight close with exchanging, and productivity level is constantly progressive with science and technology,
The new intelligence manufacture mode of production is ready to appear；Industrial robot relies on its flexible, efficient, high-precision intelligent operation side
Formula, attracted attention by world's manufacturing industry.In the industrial link such as current metallurgy, automobile, logistics, heavy-load type industrial robot（Or
Claim joint type industrial robot）Using more extensive.However, heavy-load type industrial robot, which must possess, more preferable load capacity
And kinetic stability, i.e. more preferably speed, acceleration characteristic and at a relatively high pose accuracy, so this is for heavy-load type work
For the body construction of industry robot, with going deep into for application level and widening for application, to the whole of heavily loaded humanoid robot
Body rigid requirements improve all the more.
Wherein, the rocking bar of the joint of robot first and second joint is connected（Or lumbar）It is in robot body structure
Whether the key components and parts that stressing conditions are the most complicated, Ontology integration function is a lot of, the structure design of rocker elements rationally concern
The overall performance of revolute robot.While rigidity, intensity and Functional Requirement is met, the manufacturability of casting and processing
Whether whether good also concern effectively the mould of control machine people, cutter, tool fixture etc. can fabricate asking for cost
Topic.
CN102029607A Chinese patent applications are related to a kind of industrial robot with weight balancing system, wherein machine
The rocking bar exquisiteness compact to design of device people, possesses reliable gravity balance device supporting structure.However, the rocking bar most surfaces are
The boss such as curved surface, fixing limit feature is shaped using interior core or direct solid casting, and the overall contour feature of rocking bar is in interior
Portion is big, and be open convergent design, and outer surface links up.On the one hand, the external envelope structure of non-open type is used in rocking bar global design,
The difficulty of casting technique is added, that is, adds the design difficulty and cost of internal cores, while also increases the difficulty of the demoulding,
Influence production efficiency.On the other hand, fixing limit boss is located at rocking bar and is connected up and down at two of side with large arm, boss it is lofty go out
Volume is larger, is designed using external envelope design or solid slug, the same internal shaping core design difficulty of increase, in addition, solid
Block can reduce cast properties local herein, and thickness change is larger, easily causes the casting flaw such as shrinkage cavity, loose；It is rocking bar herein
The key area of part stress, the strength and stiffness performance of rocking bar can be weakened the defects of casting character.
In view of this, it is necessary to which a kind of rocking bar for joint type industrial robot and the joint type with the rocking bar are provided
Industrial robot is to solve the above problems.
The content of the invention
It is an object of the invention to the excellent in mechanical performance such as a kind of rigidity, intensity and processing technology to be simply to joint type
The rocking bar of industrial robot（Or lumbar）, and the joint type industrial robot with the rocking bar.
For achieving the above object, the invention provides a kind of rocking bar for joint type industrial robot, have with
The first side, the second side to be connected with servomotor relative with first side of RV reductors connection, it is described to shake
Bar also has positioned at anterior and to connect firmly the preceding spreader of the servomotor and the RV reductors, relative with the preceding spreader
Positioned at rear portion rear spreader, positioned at the preceding spreader and it is described after central post between spreader, located at the side of rocking bar first
The reinforced fixing limit of gusset；The reinforced fixed limit of gusset is located at the first of the rocking bar side for laterally deviating from second side
To protruding outward；The central post includes epicoele open upwards, and the epicoele is cut in variation cylindrical structure, first half
Face bending radius is less than the section flexure radius of latter half；The first half of the epicoele and the preceding spreader and the gusset
Reinforced fixing limit is connected;The central post also includes the cavity of resorption below the epicoele, and the cavity of resorption is by positioned at top
Lid, the circle of downward opening that surrounds of the mounting flange positioned at bottom, the side wall of the connection lid and the mounting flange
Cylinder, the middle part of the lid has the mesopore for connecting the epicoele and the cavity of resorption, and the lid is provided with and realized
The note of injection and the discharge of lubricating grease in cavity of resorption/row's fat hole.
As a further improvement on the present invention, the preceding spreader includes hollow mounting flange, from the mounting flange
Periphery protrudes out the first gusset enhancing structure to be formed and the mounting flange is coated from periphery, institute to the first side and the second side simultaneously
Spreader is connected by the first gusset enhancing structure with the central post before stating.
As a further improvement on the present invention, the first gusset enhancing structure is in the circle with a breach, described
Breach is located on the preceding spreader close to the side of the central post；The reinforced fixing limit of gusset includes and the breach
Upper end connection be in>The reinforced fixing limit of the first gusset of type, it is connected with the lower end of the breach of the first gusset enhancing structure
Be in>The reinforced fixing limit of the second gusset of type, the reinforced fixing limit of first gusset and the reinforced fixing limit of the second gusset
It is arranged at intervals into upper and lower.
As a further improvement on the present invention, the wallboard of the reinforced fixing limit of the gusset is lateral from the first of the rocking bar
It is outer to be gradually thinned.
As a further improvement on the present invention, the rocking bar also has the back cavity on rear side of the central post, after described
Wallboard between chamber and the central post is bottom-up gradually thinning；The structure support rear spreader of the back cavity is formed,
Spreader is the hollow posts from the described second lateral first side insertion after described.
As a further improvement on the present invention, after described spreader from described first laterally away from the direction of second side to
Protrude out outside, and the rear spreader in the rear in segmented arrange by intracavitary, the length close to the cylinder of first side is another
5 ~ 6 times of the cylinder length of close second side of section.
As a further improvement on the present invention, the rocking bar also includes being arranged at some multi-purpose on the rocking bar lateral surface
Gusset, some positioning boss, a pair of pipeline infantees being respectively in the side of central post first and the second side put window, are respectively in institute
State the wing plate of the side of central post first and the second side.
For achieving the above object, the present invention also provides a kind of joint type industrial robot, including described in base, connection
First joint of joint type industrial robot and the above-mentioned rocking bar of second joint, connecting rod, the manipulator on connecting rod.
The beneficial effects of the invention are as follows：Present invention optimizes the rocking bar of joint type industrial robot, the reinforced fixed limit of gusset
First positioned at the rocking bar laterally protrudes outward away from the direction of second side, on the basis of functional design is met,
Using gusset Enhanced Configuration, strengthen its strength and stiffness performance, then lift the whole of its applicable joint type industrial robot
Machine performance；Casting and the process industrial art performance of the rocking bar are improved simultaneously, is easy to the manufacture of mould and core, reduce manufacturing cost.
Brief description of the drawings
Fig. 1 is the structural representation of the joint type industrial robot of the present invention.
Fig. 2 is joint type industrial robot shown in Fig. 1 in the structural representation of another angle.
Fig. 3 is the dimensional structure diagram of the rocking bar of the joint type industrial robot shown in Fig. 1.
Fig. 4 is rocking bar shown in Fig. 3 in the dimensional structure diagram of another angle.
Fig. 5 is the structural representation of the second side of the rocking bar shown in Fig. 3.
Fig. 6 is rocking bar shown in Fig. 5 in the structural representation at A visual angles.
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 sectional view of the rocking bar along B-B directions shown in Fig. 8.
Figure 10 is sectional view of the rocking bar along C-C directions shown in Fig. 8.
Figure 11 is the rearview of the rocking bar shown in Fig. 5, namely the structural representation of the first side of rocking bar.
Figure 12 is partial sectional view of the rocking bar along D-D directions shown in Figure 11.
Figure 13 is partial sectional view of the rocking bar along E-E directions shown in Figure 11.
Figure 14 is partial sectional view of the rocking bar along F-F directions shown in Figure 11.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in Fig. 1 ~ Fig. 2, joint type industrial robot 100 includes base 1, the connection joint type industrial robot
100 the first joint and the rocking bar 2 of second joint（Or lumbar）, connecting rod 3（Or large arm）, operation on connecting rod 3
The structures such as hand 4.Clearly to express position and direction described in the application, ginseng is used as using joint type industrial robot 100
According to before one end that upper arm is provided with manipulator 4 is, opposite other end is rear end；And upper arm is located at the top of base 1.
The side of the body construction rocking bar 2 of joint type industrial robot 100 needs to connect servomotor 5, and opposite side needs
Connect RV reductors 6 and connecting rod 3；Wherein servomotor 5 inputs to the power of second joint, and driving large arm is with upper-part and bears
Carry；For RV reductors 6 to transmit the power of the input of servomotor 5, playing a part of slowing down increases square.
Refer to shown in Fig. 3 ~ Figure 14, rocking bar 2 of the invention have to be connected with the RV reductors 6 first
Side, it is relative with first side to be connected with servomotor 5 the second side, positioned at front portion and to connect firmly described watch
Take the preceding spreader 21 of motor 5 and the RV reductors 6, relative with the preceding spreader 21 rear spreader 22 positioned at rear portion, be located at
Central post 23 between the preceding spreader 21 and the rear spreader 22, the reinforced fixed limit of gusset located at the side of rocking bar 2 first
Position 24.
The main body of the preceding spreader 21 is hollow mounting flange 211, is slowed down in the first side of the preceding spreader 21 and RV
Machine 6 and connecting rod 3 connect the second joint for forming joint type industrial robot 100, are connected in the second relative side with servomotor 5
Realize the servo-drive of second joint.
Specifically, the mounting flange 211 have positioned at it is middle and along the mounting flange 211 axially through middle through hole
It is first fixing hole 2112 of some minor diameters the 2111st, being distributed in around the middle through hole 2111, solid between some described first
Determine the second fixing hole 2113 of some major diameters between hole 2112 and the middle through hole 2111.
The middle through hole 2111 is from the described first lateral second side insertion, so that the servomotor 5 is defeated
Shaft is connected through the middle through hole 2111 with the RV reductors 6；Further, sprocket drive spindle is assembled on the output shaft,
The output shaft is connected by the planetary gearsets of the gear shaft and the RV reductors 6.
The diameter of first fixing hole 2112 is less than the diameter of second fixing hole 2113, and some described first is solid
Determine hole 2112 and be divided into some groups, the first fixing hole 2112 is arranged at intervals on same circle described in some groups；Correspondingly, it is some
Second fixing hole 2113 is also divided into some groups, and the second fixing hole 2113 is arranged at intervals at same circle described in some groups
On；The packet count of some second fixing holes 2113 is identical and each with the packet count of some first fixing holes 2112
Group second fixing hole 2113 is positioned at the correspondingly inner side of the first fixing hole 2112 described in one group.
In the present embodiment, it is solid that the mounting flange 211 is provided with 21 first fixing holes 2112,6 described second
Hole 2113 is determined, so as to realize connecting firmly for the RV reductors 6 and the rocking bar 2.21 average marks of the first fixing hole 2112
For 3 groups, and the first fixing hole 2112 described in three groups is equably arranged on same circle；6 second fixing holes 2113
3 groups are equally divided into, each group of the second fixing hole 2113 is located at the inner side of corresponding one group of first fixing hole 2112, and described in three groups
Second fixing hole 2113 is equably arranged on same circle.
Further, also there is the preceding spreader 21 the first gusset that the mounting flange 211 is coated from periphery to strengthen knot
Structure 212.Specifically, please join shown in Figure 10, the first gusset enhancing structure 212 is from the periphery of the mounting flange 211 simultaneously to the
Side and the second side protrude out, using open structure, with good casting and processing technology while improving mechanical property
Property.It will be appreciated by persons skilled in the art that, the width of the first gusset enhancing structure 212. along the preceding spreader 21 axially
Width of the degree more than the mounting flange 211.
The preceding spreader 21 is connected using the first gusset enhancing structure 212 with other structures transition such as central posts 23,
Both the rigidity of crucial stress area had been enhanced, while its open structure has good casting and processing technology, is casting
During core need not be used to be molded, reduce Making mold difficulty, improve shaping efficiency, open space is just in process
Planned in cutter path.
Specifically, the first gusset enhancing structure 212 is in the circle with a breach opened backwards, from front to back
Coating the mounting flange 211 causes the breach to be located at close to the side of the central post 23；Above and below the both ends of the breach
Compartment of terrain is connected to the first half of the central post 23.
The main body of the central post 23 is divided into the epicoele 231 and cavity of resorption 232 for being distributed and connecting up and down.
The epicoele 231 opens upwards, the installation cabin as the joint servo motor 5 of joint type industrial robot 100 first,
It is also the interface of the electric pipeline system access base 1 of joint type industrial robot 100 simultaneously.
Specifically, the epicoele 231 is less than latter half in variation cylindrical structure, the section flexure radius of first half
Section flexure radius.The first half of the epicoele 231 and the preceding spreader 21 and the reinforced phase of fixing limit 24 of the gusset
Even.
In addition, comparison diagram 7 and Figure 10 are asked, or as shown in fig.9, the top of the epicoele 231 is provided with described in self-forming
The second gusset enhancing structure 233 that the cavity wall of chamber 231 inwardly protrudes out, the second gusset enhancing structure 233 is also using open knot
Structure, technique are simple.
The cavity of resorption 232 is cylinder open downwards, by superposed lid 2321, the mounting flange positioned at bottom
2322nd, the side wall 2323 for connecting the lid 2321 and the mounting flange 2322 surrounds；Specifically in the lid 2321
Between position there is the mesopore 2324 for connecting the epicoele 231 and the cavity of resorption 232, the mounting flange 2322 is from the side wall
2323 bottoms inwardly protrude out.
The cavity of resorption 232 is connected to form joint type industry with the base 1 of RV reductors 6 and joint type industrial robot 100
The joint of robot 100 first, and in the lubrication closed chamber in mounting surface the first joint formed above of the mounting flange 2322.Enter
One step, note/row's fat hole 2325 of the closed chamber is communicated with the lid 2321, to realize the lubrication in cavity of resorption 232
The injection and discharge of fat.
Further, refer to shown in Fig. 6, Fig. 9, Figure 10 and Figure 12, the rocking bar 2, which also has, is located at the central post 23
The back cavity 25 of rear side, the back cavity 25 have the opening opened to the back lower place, it is possible to provide sufficiently large volume is used for integrated electrical
Equipment, while the structure support rear spreader 22 for forming the back cavity 25, raising structural strength and balance weight device
Assemble rigidity.In the present embodiment, the back cavity 25 be located at the rear side of the epicoele 231 and with the latter half of the epicoele 231
Connection.
Referring to shown in Fig. 9, the wallboard between the back cavity 25 and the central post 23 is bottom-up gradually thinning, namely
Bottom-up gradually thinning, this wallboard along the gradual change of withdrawing pattern direction of wallboard between the back cavity 25 and the epicoele 231, tool
There is isolation back cavity 25 and form it into independent dustproof space, while wallboard supports the joint type industrial machine in sprag fashion
The postmedian of the rocking bar 2 of people 100, ensured while enhancing structure part integral rigidity it is described after spreader 22 minimum deformation quantity,
Also the assembling rigidity of the balance system of joint type industrial robot 100 is ensured.
It is described after spreader 22 be located in the back cavity 25, to install with after the bascule of joint type industrial robot 100
The be hinged bearing pin in end.Specifically, the diameter parallel of the axis and the preceding spreader 21 of the rear spreader 22, and in vertical direction
On, the axis of the rear spreader 22 is less than the axis of the preceding spreader 21；In the present embodiment, the axis ratio of the rear spreader 22
Axis biased downward 50mm ~ 80mm of the preceding spreader 21.
After described spreader 22 be from the hollow posts of the described second lateral first side insertion, and it is described after spreader 22 from institute
First is stated laterally to protrude outward away from the direction of second side；It is understood that it is described after spreader 22 hollow space with
The back cavity 25 connects.
Further, the rear spreader 22 is arranged in chamber 25 in segmented in the rear, the cylinder close to first side
Length be another section of 5 ~ 6 times of cylinder length close to second side；Segmentation structure is advantageous to the quick assembling of bearing pin,
Make stress distribution reasonable.
The reinforced fixing limit 24 of gusset is connected with the preceding spreader 21, the epicoele 231 simultaneously, and shaken in described
The first of bar 2 laterally protrudes outward away from the direction of second side；The effect of the reinforced fixing limit 24 of gusset is and pass
The dynamic spacing cooperation connected firmly on the connecting rod 3 of nodal pattern industrial robot 100, the company of physical limitation joint type industrial robot 100
The actuating range of bar 3, Saving cortilage type industrial robot 100；The rigidity of the rocking bar 2 can also be improved simultaneously.
Specifically, the reinforced fixing limit 24 of the gusset includes the two parts being provided separately, and one is and first muscle
What the upper end 2121 of the breach of plate enhancing structure 212 connected is in>The reinforced fixing limit 241 of the first gusset of type, including with it is described
The first coplanar wainscot of second gusset enhancing structure, from the upper end 2121 of the breach of the first gusset enhancing structure 212 to
The first lower wall panels extended downwardly afterwards.There is gap, and the first gusset enhancing structure between first wainscot and the first lower wall panels
The upper end 2121 of 212 breach is connected with the junction of the first wainscot and the first lower wall panels.In addition, first gusset adds
The part that strong type fixing limit 241 is located at the first side from the epicoele 231 protrudes outward.
Secondly for the breach with the first gusset enhancing structure 212 lower end 2122 be connected be also in>Second muscle of type
The reinforced fixing limit 242 of plate, including extand rearward to the pipeline infantees upwards and put the second wainscot of window, from described first
The second lower wall panels that the upper end of the breach of gusset enhancing structure 212 extends downwardly backward.Second wainscot and the second lower wall panels it
Between there is gap, and the wainscot of lower end 2122 and second of the breach of the first gusset enhancing structure 212 and the company of the second lower wall panels
The place of connecing is connected.In addition, the part-structure of the reinforced fixing limit 242 of the second gusset is located at the first side from the epicoele 231
Part protrude outward, the part that another part is located at the first side from the preceding spreader 21 protrudes outward；Specifically, on described second
The part that the rear part of wallboard is located at the first side from the epicoele 231 protrudes outward, the forward part of second wainscot and institute
State the second lower wall panels and be located at the part of the first side from the preceding spreader 21 and protrude outward, and the end of second lower wall panels is backward
Extend downward into and be connected with the lid 2321 of the cavity of resorption 232.
First wainscot, first lower wall panels, second wainscot, second lower wall panels four wallboards
The equal transition change of wall thickness, can optimize cast properties, avoid wall thickness in the casting process that physical limit block structure is easily caused from being mutated
The casting flaws such as caused loose, shrinkage cavity.In the present embodiment, first wainscot, first lower wall panels, on described second
Wallboard, second lower wall panels are faced out from the outer wall of the central post 23 and are gradually thinned.
It please join shown in Figure 11, Figure 13 and Figure 14, the reinforced fixing limit 24 of gusset forms firm work with connected structure
Font structure, the mechanical property of this part body structure was both strengthened, and had made the carrying of the rocking bar 2 of joint type industrial robot 100
Ability and rigidity improve, and then lift the integral rigidity performance of joint type industrial robot 100；Casting thickness is avoided to dash forward again simultaneously
Change causes casting Local Property defect.
Further, the rocking bar 2 also has a pair of pipeline bags for being respectively in the side of central post 23 first and the second side
Window 26 is arranged, the pipeline infantees puts that window 26 is substantially trapezoidal, totally two and symmetrically divides and is listed in the central post 23
The both sides of the epicoele 231.The pipeline infantees puts the inner side of window 26 to be formed with inwardly protruding out from the inwall of the epicoele 231
Thickness between 30mm ~ 40mm reinforcement, to strengthen intensity.
Further, the rocking bar 2 also has the wing plate 27 for being respectively in the side of central post 23 first and the second side, described
Wing plate 27 is located at epicoele 231 and the interfacial plane of cavity of resorption 232 of the central post 23, totally 4 pieces and is arranged symmetrically in both sides, point row
In the both sides of epicoele 231 of the central post 23；The thickness of wing plate 27 is 30mm, and the 120mm ~ 150mm that stretches out respectively.
Further, the rocking bar 2 also has the multi-purpose gusset 28 on the lateral surface of rocking bar 2, the multi-purpose muscle
Plate 28 in many places distributing arrange, including：Positioned at the preceding bottom of spreader 21 and the junction of cavity of resorption 232（Namely described shake
The lower jaw of bar 2）The first gusset 281, play and improve the stress raiser of rocking bar 2 rigidity, improve the effect of load-carrying properties；Arrangement
The second gusset 282 in the surface of the preceding spreader 21, it is the indwelling position of suspension ring installation；Arrangement is in the rear on spreader 22
3rd gusset 283 of surface body of casting position to the front, and suspension ring installation indwelling position；It is arranged in the back cavity 25 and casting wall body
4th gusset 284 of the both sides outside boundary line, play a part of annex installation.In addition, described in the 3rd gusset 283 and two
4th gusset 284 is all located at that cast green body stress is concentrated and wall thickness changes place, plays enhancing rigidity, alleviation wall thickness change changes
The effect of kind casting manufacturability.
Further, the rocking bar 2 also has some positioning boss 29 on the lateral surface of rocking bar 2, described fixed
The architectural feature of position boss 29 is triangle strip fillet, is arranged in the opening position of 45 ° on the lower side of the 21 flange body front end of preceding spreader
With the lower surface rear portion of the cylinder of cavity of resorption 232, the effect of the positioning boss 29 is demarcation joint type industrial robot 100
The joint of body first and the dead-center position of second joint, can be with the installation site of indwelling sensor, just while physical positioning
It is soft spacing in Accurate Calibration.
In summary, present invention optimizes the rocking bar 2 of joint type industrial robot 100, the rocking bar 2 to meet feature
On the basis of design, using gusset Enhanced Configuration, strengthen its strength and stiffness performance, then lift its applicable joint type work
The overall performance of industry robot 100；Using reinforcement opening structure is strengthened, casting and the processing technology of the rocking bar 2 are improved
Can, it is easy to the manufacture of mould and core, reduces manufacturing cost.
The above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferred embodiment to this hair
It is bright to be described in detail, it will be understood by those within the art that, technical scheme can be modified
Or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
It is any related " the present embodiment " in this specification, it is meant that the specific function of one relevant with embodiment, knot
Structure or characteristic description include at least one embodiment of the present invention.These appear in each local phrase of specification not necessarily
Refer to identical embodiment.Further, specific function, structure or the detailed description related to any embodiment, then it is assumed that be
The function related to other embodiment, structure or characteristic in the range of the art.
Claims (8)
1. a kind of rocking bar for joint type industrial robot, there is the first side being connected with RV reductors and first side
Relative the second side to be connected with servomotor, it is characterised in that：The rocking bar also have positioned at it is anterior and to
Connect firmly the preceding spreader, the rear spreader positioned at rear portion relative with the preceding spreader, position of the servomotor and the RV reductors
Central post between the preceding spreader and the rear spreader, the reinforced fixing limit of gusset located at the side of rocking bar first；Institute
State the reinforced fixed limit of gusset and be located at the first of the rocking bar and laterally protruded outward away from the direction of second side；The central post
Including epicoele open upwards, the epicoele is in variation cylindrical structure, and the section flexure radius of first half is less than latter half of
The section flexure radius divided；The first half of the epicoele is connected with the preceding spreader and the reinforced fixing limit of the gusset;Institute
Stating central post also includes being located at the cavity of resorption below the epicoele, and the cavity of resorption is by superposed lid, consolidating positioned at bottom
Determine the cylinder for the downward opening that the side wall of flange, the connection lid and the mounting flange surrounds, the centre of the lid
Position has the mesopore for connecting the epicoele and the cavity of resorption, and the lid is provided with the injection for the lubricating grease realized in cavity of resorption
With note/row's fat hole of discharge.
2. the rocking bar according to claim 1 for joint type industrial robot, it is characterised in that：The preceding spreader includes
Hollow mounting flange, protrude out to be formed from periphery to the first side and the second side simultaneously from the periphery of the mounting flange and coat institute
The first gusset enhancing structure of mounting flange is stated, the preceding spreader is connected by the first gusset enhancing structure and the central post
Connect.
3. the rocking bar according to claim 2 for joint type industrial robot, it is characterised in that：First gusset increases
Strong structure is in the circle with a breach, and the breach is located on the preceding spreader close to the side of the central post；It is described
The reinforced fixing limit of gusset is included with what the upper end of the breach was connected>The reinforced fixing limit of the first gusset of type, with it is described
The breach of first gusset enhancing structure lower end connection be in>The reinforced fixing limit of the second gusset of type, first gusset add
Strong type fixing limit and the reinforced fixing limit of the second gusset are arranged at intervals into upper and lower.
4. the rocking bar according to claim 1 for joint type industrial robot, it is characterised in that：The gusset is reinforced
The wallboard of fixing limit is laterally gradually thinned outside from the first of the rocking bar.
5. the rocking bar according to claim 1 for joint type industrial robot, it is characterised in that：The rocking bar also has
Back cavity on rear side of the central post, the wallboard between the back cavity and the central post are bottom-up gradually thinning；Formed
The structure support rear spreader of the back cavity, the rear spreader are from the hollow of the described second lateral first side insertion
Post.
6. the rocking bar according to claim 5 for joint type industrial robot, it is characterised in that：Spreader is from institute after described
First is stated laterally to protrude outward away from the direction of second side, and the rear spreader in the rear in segmented arrange by intracavitary,
Length close to the cylinder of first side is another section of 5 ~ 6 times close to the cylinder length of second side.
7. the rocking bar according to claim 1 for joint type industrial robot, it is characterised in that：The rocking bar also includes
Some multi-purpose gussets for being arranged on the rocking bar lateral surface, some positioning boss, it is respectively in the side of central post first and
A pair of pipeline infantees of two sides put window, are respectively in the wing plate of the side of central post first and the second side.
8. a kind of joint type industrial robot, including base, the first joint and second of the connection joint type industrial robot
The rocking bar in joint, connecting rod, the manipulator on connecting rod, it is characterised in that：The rocking bar is any one in claim 1 ~ 7
Described rocking bar.
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 |
|---|---|---|---|
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| EP2301727A1 (en) * | 2009-09-29 | 2011-03-30 | KUKA Roboter GmbH | Industrial robot with a weight balancing system |
| CN203495974U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Forearm structure of manipulator |
| CN104827489A (en) * | 2015-05-05 | 2015-08-12 | 南通金坤机械设备有限公司 | Energy storage equilibrium regulating device used for intelligent palletizing robot |
| CN104942789A (en) * | 2015-06-12 | 2015-09-30 | 邓莉莉 | Four-shaft transfer robot |
| CN205630683U (en) * | 2016-03-17 | 2016-10-12 | 昆山工研院工业机器人研究所有限公司 | A rocker and articulated industrial robot for articulated industrial robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10015411C1 (en) * | 2000-03-28 | 2001-07-26 | Kuka Roboter Gmbh | Weight compensation device for robot, with several parallel hose elements having ends fixed to common fixing elements |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2301727A1 (en) * | 2009-09-29 | 2011-03-30 | KUKA Roboter GmbH | Industrial robot with a weight balancing system |
| CN203495974U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Forearm structure of manipulator |
| CN104827489A (en) * | 2015-05-05 | 2015-08-12 | 南通金坤机械设备有限公司 | Energy storage equilibrium regulating device used for intelligent palletizing robot |
| CN104942789A (en) * | 2015-06-12 | 2015-09-30 | 邓莉莉 | Four-shaft transfer robot |
| CN205630683U (en) * | 2016-03-17 | 2016-10-12 | 昆山工研院工业机器人研究所有限公司 | A rocker and articulated industrial robot for articulated industrial robot |
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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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