CN105619382A - Small-load industrial robot - Google Patents

Small-load industrial robot Download PDF

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Publication number
CN105619382A
CN105619382A CN201610124996.6A CN201610124996A CN105619382A CN 105619382 A CN105619382 A CN 105619382A CN 201610124996 A CN201610124996 A CN 201610124996A CN 105619382 A CN105619382 A CN 105619382A
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CN
China
Prior art keywords
servomotor
arm
gear
cable
industrial robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610124996.6A
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Chinese (zh)
Other versions
CN105619382B (en
Inventor
杨伦
王群
杨海滨
王毅
杨林
杨帆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHONGQING HUASHU ROBOTICS Co Ltd
Original Assignee
CHONGQING HUASHU ROBOTICS Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by CHONGQING HUASHU ROBOTICS Co Ltd filed Critical CHONGQING HUASHU ROBOTICS Co Ltd
Priority to CN201610124996.6A priority Critical patent/CN105619382B/en
Publication of CN105619382A publication Critical patent/CN105619382A/en
Application granted granted Critical
Publication of CN105619382B publication Critical patent/CN105619382B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

The invention relates to a small-load industrial robot which comprises a base, a big arm and a small arm. A second servo motor and a third servo motor are mounted in the big arm side by side, bearings are mounted in the other side of the big arm which is provided with a second speed reducer and a third speed reducer, supporting sleeves are mounted on inner rings of the bearings, and cables penetrate through the supporting sleeves to be protected. The second servo motor and the third servo motor are mounted in the big arm side by side, so that the internal structure of the big arm is compact, and the robot is small in size, compact in structure and low in weight. The bearings are mounted in the other side of the big arm which is provided with the second speed reducer and the third speed reducer, so that the requirements for the high precision and the high speed of the robot are met; meanwhile, the bearing capacity of the robot is greatly improved, and stability of the robot is substantially improved. The supporting sleeves are mounted on the inner rings of the bearings, and the cables penetrate through the supporting sleeves to be protected, so that abrasion of the cables is substantially lowered, and the internal structure compactness of the robot is further improved.

Description

A kind of little load industrial robot
Technical field
The present invention relates to robot technology field, it is specifically related to a kind of little load industrial robot.
Background technology
Robot assisted is usually adopted to produce in industry manufacture, production and correlative technology field thereof, multi-joint industrial robot in existing market belongs to six axles (six joints) robot mostly, wherein the low load robot in six joints is favored by most industries, but need higher requirement in the design, it is light that it is required to meet compact construction weight, load is big, and speed is fast, precision height. But weight is light and Shortcomings on precision height realizing simultaneously in current little load robot. Little load robot in the design process robot urgently to be resolved hurrily while meeting compactedness requiring precision to do, speed block, simultaneously also will by weight reduction to minimum and consider robot Routing models.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of compact construction, the light precision height of weight, fireballing little load industrial robot.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of little load industrial robot, comprises base, large arm and forearm;
Described base inside is provided with the first servomotor, the output shaft of this first servomotor is connected with the first speed reducer drive rotated in the horizontal direction for turning seat described in driving by the first synchronous belt wheel, described large arm turns on seat described in being arranged on, 2nd servomotor is installed in described large arm, 2nd servomotor is fixed in described large arm by motor flange, the output shaft of described 2nd servomotor is provided with the 2nd synchronous belt wheel, also being provided with the 2nd step-down gear on described turn of seat, the 2nd speed reducer output shaft is connected with described large arm; Described 2nd step-down gear is provided with the 3rd synchronous belt wheel, and the described 2nd synchronous belt wheel belt wheel synchronous with the 3rd, by synchronous V belt translation, drives the 2nd step-down gear to rotate, and drives large arm being perpendicular in the plane of horizontal plane to rotate; 3rd servomotor is also installed in described large arm, 3rd servomotor is arranged in large arm by motor flange, motor seat is installed on the top of large arm, this motor seat is provided with the 3rd step-down gear, 3rd step-down gear is connected with described 3rd servo motor transmission by synchronous band, and the output terminal of described 3rd step-down gear is connected the described forearm of drive and rotates with motor seat; It is characterized in that; described 2nd servomotor and the 3rd servomotor are arranged in described large arm side by side; also all being provided with bearing in another side of large arm that described 2nd step-down gear and the 3rd step-down gear are installed, the inner ring of this bearing is all provided with for cable through the support set protecting this cable.
The invention has the beneficial effects as follows: the 2nd servomotor and the 3rd servomotor are arranged in described large arm side by side so that large arm internal structure is compact, so that robot volume is less, compact construction, weight is light.
The bearing installed in another side of large arm that 2nd step-down gear and the 3rd step-down gear are installed, meets robot precision's height and fireballing requirement, and the supporting capacity that simultaneously improve robot greatly is strong, and stability significantly improves.
The inner ring of bearing is all provided with for cable through the support set protecting this cable so that cable abrasion much slower, and robot interior compact type is improved further.
Further, being also provided with metal washer between described bearing and support set, the material of described support set is plastics.
Adopt the useful effect of further technical scheme: the cooperation between metal washer bearing and support set is more solid and reliable, not easily loosen and displacement.
Support set material selection plastics, plastics structure is light, is convenient to reduce the weight of robot, and can better protect cable, and cable is not easy to wear.
Further, described first step-down gear is also provided with the cable protective cover that described cable passes.
Adopt the useful effect of further technical scheme: cable protective cover can protect cable, prevent cable from wearing and tearing.
Further, described large arm top is also provided with for driving described forearm around axial the 4th servomotor rotated of central shaft of this forearm (3), is provided with the cable retaining plate for fixed cable above the 4th servomotor.
Adopt the useful effect of further technical scheme: cable retaining plate is for installing the cable on fixing top, and protection cable is by the impact of the 4th servomotor high temperature, moreover it is possible to prevent abrasion.
Further, the outer wall of described large arm is provided with anti-protecting cover.
Adopt the useful effect of further technical scheme: anti-protecting cover can available protecting large arm internal structure.
Further feature, described first servomotor side is provided with the belt wheel tensioning mechanism (19) for regulating synchronous band.
Adopt the useful effect of further technical scheme: be convenient to by belt wheel tensioning mechanism regulate synchronous band.
Further, described cover comprises the first cable protective cover and the 2nd cable protecting jacket being connected up and down, described first cable protective cover is positioned at the middle part of described first step-down gear, and described 2nd cable protecting jacket is arranged on the bottom of described first step-down gear by connecting an ear.
Adopt the useful effect of further technical scheme: cover is used for cable and passes, and plays the effect of protection cable.
Further, described large arm being also provided with some for fixing and protects the line ball of described cable to press from both sides.
Adopt the useful effect of further technical scheme: line ball folder is used for fixed cable, and what be convenient to cable walks line and layout so that large arm interior spatial structure is compact, there will not be to walk the phenomenon that line is in disorder.
Further, the motor shaft of described 2nd servomotor and the 3rd servomotor is all provided with for fixing the 2nd synchronous belt wheel and the gear sheet of the 3rd synchronous belt wheel.
Adopt the useful effect of further technical scheme: the gear sheet installed on the 2nd synchronous belt wheel and the 3rd synchronous belt wheel can prevent these two synchronous belt wheels from collecting together.
Accompanying drawing explanation
Fig. 1 is the outside structural representation of the little load industrial robot of the present invention;
Fig. 2 is the A-A structural representation of Fig. 1;
Fig. 3 is the B-B structural representation of Fig. 1.
Embodiment
The principle of the present invention and feature being described below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit the scope of the present invention.
As shown in Figure 1 to Figure 3, a kind of little load industrial robot, comprises base 1, large arm 2 and forearm 3; First servomotor 4 is installed in the inside of base 1, the output shaft of this first servomotor 4 is in transmission connection by the first synchronous belt wheel 24 and the first step-down gear 15 rotated in the horizontal direction for turning seat 5 described in driving, and described first servomotor side is provided with the belt wheel tensioning mechanism 19 for regulating synchronous band.
Described large arm 2 turns on seat 5 described in being arranged on, 2nd servomotor 6 is installed in described large arm 2,2nd servomotor 6 is fixed in described large arm 2 by motor flange, the output shaft of described 2nd servomotor 6 is provided with the 2nd synchronous belt wheel 25, and described turn of seat 5 is also provided with the 2nd step-down gear 7; Described 2nd step-down gear 7 is provided with the 3rd synchronous belt wheel 26, and the described 2nd synchronous belt wheel belt wheel synchronous with the 3rd, by 23 transmissions of synchronous band, drives large arm 2 being perpendicular in the plane of horizontal plane to rotate by the 2nd step-down gear 7; 3rd servomotor 8 is also installed in described large arm 2,3rd servomotor 8 is arranged in large arm 2 by motor flange, motor seat 10 is installed on the top of large arm, this motor seat 10 is provided with the 3rd step-down gear 9,3rd step-down gear 9 is in transmission connection by synchronously band and described 3rd servomotor 8, and the output terminal of described 3rd step-down gear 9 is connected the described forearm 3 of drive and rotates with motor seat; It is characterized in that; described 2nd servomotor 6 and the 3rd servomotor 8 are arranged in described large arm 2 side by side; also all being provided with bearing 10 in another side of large arm that described 2nd step-down gear 7 and the 3rd step-down gear 9 are installed, the inner ring of this bearing 10 is all provided with for cable 12 through the support set 11 protecting this cable 12.
2nd servomotor and the 3rd servomotor of the present invention are arranged in described large arm side by side so that large arm internal structure is compact, so that robot volume is less, compact construction, weight is light. The bearing installed in another side of large arm that 2nd step-down gear and the 3rd step-down gear are installed, meet robot precision's height and fireballing requirement, the supporting capacity that simultaneously improve robot greatly is strong, and stability significantly improves, such that it is able to what make that robot architecture can do is more compact.
Also being provided with metal washer 14 between bearing 10 and support set 11, the material of described support set 11 is plastics, and the first step-down gear 15 is also provided with the cable protective cover that described cable 12 passes; Large arm 2 top is also provided with the 4th servomotor 16 for driving described forearm 3 axially to rotate around forearm, is provided with the cable retaining plate 17 for fixed cable above the 4th servomotor 16. Described cover comprises the first cable protective cover 13 and the 2nd cable protecting jacket 20 being connected up and down, described first cable protective cover 13 is positioned at the middle part of described first step-down gear 15, and described 2nd cable protecting jacket 20 is arranged on the bottom of described first step-down gear 15 by connecting an ear. Described large arm 2 is also provided with some for fixing and protect the line ball folder 21 of described cable 12.
Cable 12, through support set 11 and cable protective cover 13, plays the effect preventing abrasion.
Cable retaining plate 17 is for fixed cable, and protection cable is by the impact of the 4th servomotor high temperature. Line ball folder 21 is for fixing and protection cable 12 so that the compact construction of cable in large arm.
The motor shaft of the 2nd servomotor 6 and the 3rd servomotor 8 is all provided with for fixing the 2nd synchronous belt wheel and the gear sheet 22 of the 3rd synchronous belt wheel, gear sheet 22 for preventing these two synchronous belt wheels collect together, significantly improve the precision and stability of robot.
Finally anti-protecting cover 18 is installed on the outer wall of large arm 2, anti-protecting cover 18 for sealing, available protecting internal structure.
Finally, these are only the better embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (9)

1. a little load industrial robot, comprises base (1), large arm (2) and forearm (3), described base (1) inside is provided with the first servomotor (4), the output shaft of this first servomotor (4) is turned the first step-down gear (15) that seat (5) rotates in the horizontal direction by the first synchronous belt wheel be in transmission connection with for driving, described large arm (2) turns on seat (5) described in being arranged on, 2nd servomotor (6) is installed in described large arm (2), 2nd servomotor (6) is fixed in described large arm (2) by motor flange, the output shaft of described 2nd servomotor (6) is provided with the 2nd synchronous belt wheel (25), described turn of seat (5) is also provided with the 2nd step-down gear (7), described 2nd step-down gear (7) is provided with the 3rd synchronous belt wheel (26), described 2nd synchronous belt wheel (25) belt wheel (26) synchronous with the 3rd, by (23) transmission of synchronous band, drives large arm (2) being perpendicular in the plane of horizontal plane to rotate by the 2nd step-down gear (7), 3rd servomotor (8) is also installed in described large arm (2), 3rd servomotor (8) is arranged in large arm (2) by motor flange, motor seat (10) is installed on the top of large arm (2), this motor seat (10) is provided with the 3rd step-down gear (9), 3rd step-down gear (9) is in transmission connection with described 3rd servomotor (8) by synchronous band (23), and the output terminal of described 3rd step-down gear (9) is connected the described forearm of drive (3) and rotates with motor seat (10), it is characterized in that, described 2nd servomotor (6) and the 3rd servomotor (8) are arranged in described large arm (2) side by side, the same side that described 2nd step-down gear (7) and the 3rd step-down gear (9) are arranged in large arm, in this large arm, the other side of level attitude is also all provided with bearing (10), and the inner ring of this bearing (10) is all provided with and passes for cable (12) and protect the support set (11) of this cable (12).
2. little load industrial robot according to claim 1, it is characterized in that, also being provided with metal washer (14) between described bearing (10) and support set (11), the material of described support set (11) is plastics.
3. little load industrial robot according to claim 1, it is characterised in that, described first step-down gear (15) is also provided with for the cable protective cover that described cable (12) passes.
4. little load industrial robot according to claim 1, it is characterized in that, described large arm (2) top is also provided with for driving described forearm (3) around axial the 4th servomotor (16) rotated of central shaft of this forearm (3), is provided with the cable retaining plate (17) for fixed cable (12) in the 4th servomotor (16) top.
5. little load industrial robot according to claim 1, it is characterised in that, the outer wall of described large arm (2) is provided with anti-protecting cover (18).
6. little load industrial robot according to claim 1, it is characterised in that, described first servomotor (4) side is provided with the belt wheel tensioning mechanism (19) for regulating synchronous band.
7. little load industrial robot according to claim 3, it is characterized in that, described cable protective cover comprises the first cable protective cover (13) and the 2nd cable protecting jacket (20) that are connected up and down, described first cable protective cover (13) is positioned at the middle part of described first step-down gear (15), and described 2nd cable protecting jacket (20) is arranged on the bottom of described first step-down gear (15) by connecting an ear.
8. little load industrial robot according to the arbitrary item of claim 1 to 7, it is characterised in that, described large arm (2) is also provided with some for fixing and protect line ball folder (21) of described cable (12).
9. little load industrial robot according to the arbitrary item of claim 1 to 7, it is characterized in that, the motor shaft of described 2nd servomotor (6) and the 3rd servomotor (8) is all provided with for fixing the 2nd synchronous belt wheel (25) and the 3rd synchronous belt wheel (26) and prevents the gear sheet (22) that these two synchronous belt wheels are collected together.
CN201610124996.6A 2016-03-04 2016-03-04 A kind of small support industrial robot Active CN105619382B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610124996.6A CN105619382B (en) 2016-03-04 2016-03-04 A kind of small support industrial robot

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Application Number Priority Date Filing Date Title
CN201610124996.6A CN105619382B (en) 2016-03-04 2016-03-04 A kind of small support industrial robot

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CN105619382B CN105619382B (en) 2018-03-16

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2289672B1 (en) * 2009-08-25 2012-04-04 KUKA Laboratories GmbH Method and assembly for securely controlling a manipulator
CN203293191U (en) * 2013-06-01 2013-11-20 东莞市鑫拓智能机械科技有限公司 Six-shaft-joint coordinate industrial robot
CN103568002A (en) * 2013-06-25 2014-02-12 王常勇 Six-axis degree-of-freedom manipulator
CN104308837A (en) * 2014-09-25 2015-01-28 深圳大宇精雕科技有限公司 Six-axis robot
CN204658443U (en) * 2015-06-03 2015-09-23 聊城鑫泰机床有限公司 A kind of robotic mechanism
CN104959973A (en) * 2015-07-06 2015-10-07 江苏小铁人机床有限公司 Multi-purpose six-axis industrial robot
CN204748650U (en) * 2015-07-02 2015-11-11 成都三译智能技术有限公司 Robot joint structure
CN205394524U (en) * 2016-03-04 2016-07-27 重庆华数机器人有限公司 Little load industrial robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2289672B1 (en) * 2009-08-25 2012-04-04 KUKA Laboratories GmbH Method and assembly for securely controlling a manipulator
CN203293191U (en) * 2013-06-01 2013-11-20 东莞市鑫拓智能机械科技有限公司 Six-shaft-joint coordinate industrial robot
CN103568002A (en) * 2013-06-25 2014-02-12 王常勇 Six-axis degree-of-freedom manipulator
CN104308837A (en) * 2014-09-25 2015-01-28 深圳大宇精雕科技有限公司 Six-axis robot
CN204658443U (en) * 2015-06-03 2015-09-23 聊城鑫泰机床有限公司 A kind of robotic mechanism
CN204748650U (en) * 2015-07-02 2015-11-11 成都三译智能技术有限公司 Robot joint structure
CN104959973A (en) * 2015-07-06 2015-10-07 江苏小铁人机床有限公司 Multi-purpose six-axis industrial robot
CN205394524U (en) * 2016-03-04 2016-07-27 重庆华数机器人有限公司 Little load industrial robot

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