CN106078729A - Articulation structure and there is its robot - Google Patents
Articulation structure and there is its robot Download PDFInfo
- Publication number
- CN106078729A CN106078729A CN201610649745.XA CN201610649745A CN106078729A CN 106078729 A CN106078729 A CN 106078729A CN 201610649745 A CN201610649745 A CN 201610649745A CN 106078729 A CN106078729 A CN 106078729A
- Authority
- CN
- China
- Prior art keywords
- articulation structure
- electric machine
- machine support
- support
- articulation
- 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.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention provides a kind of articulation structure and have its robot, articulation structure includes that knuckle support, articulation structure also include: electric machine support, and electric machine support is arranged on the side of knuckle support, and electric machine support is structure as a whole with knuckle support.Knuckle support in the present invention solves the problem that the processing cost of robot of the prior art is higher.
Description
Technical field
The present invention relates to can only field of machines, in particular to a kind of articulation structure and the robot with it.
Background technology
Along with the popularization and application of industrial automation, the use of mechanical hand is more extensive, relates to all trades and professions.
At present, being split between joint portion and electric machine support, this is accomplished by individually processing both parts, machines
After, then both is assembled, and the joint portion and the motor supporting structure that fit together are complex, profile is the most beautiful
See.
Visible, owing to the Split type structure between joint portion of the prior art and electric machine support makes the assembling of robot imitate
Rate is relatively low, processing cost is higher.
Summary of the invention
Present invention is primarily targeted at and a kind of articulation structure is provided and there is its robot, to solve in prior art
The higher problem of the processing cost of robot.
To achieve these goals, according to an aspect of the invention, it is provided a kind of articulation structure, including articular branches
Frame, articulation structure also includes: electric machine support, and electric machine support is arranged on the side of knuckle support, and electric machine support with knuckle support is
Integrative-structure.
Further, electric machine support and knuckle support are integrated casting.
Further, knuckle support includes interconnective rotating part and supporting part, and electric machine support is arranged on supporting part.
Further, supporting part has the first installation sidewall and second being oppositely arranged and installs sidewall, and electric machine support is arranged
Installing on sidewall first, second installs sidewall is used for installing reductor.
Further, the second installation sidewall is provided with the first installing hole, reductor is provided with the second installing hole, supports
Portion and reductor are connected by the securing member being located in the first installing hole and the second installing hole.
Further, the first installing hole and/or the second installing hole are screwed hole, and securing member is suitable with screwed hole tight
Gu screw.
Further, supporting part being provided with driving hole, the motor being arranged on electric machine support and reductor pass through transmission
Hole is in transmission connection.
Further, rotating part being provided with locating part, locating part is for limiting the anglec of rotation of rotating part.
According to a further aspect in the invention, it is provided that a kind of robot, including articulation structure, articulation structure is above-mentioned pass
Nodule structure.
Further, robot includes the first articulation structure and second joint structure, and second joint structure is rotatably pacified
Being contained on the first articulation structure, second joint structure is above-mentioned articulation structure.
Articulation structure in the present invention includes knuckle support and electric machine support, owing to electric machine support is integrated with knuckle support
Structure, this way it is possible to avoid the assembling between knuckle support and electric machine support, simplifies the overall structure of articulation structure, solves
The problem that the processing cost of robot of the prior art is higher.
Accompanying drawing explanation
The Figure of description of the part constituting the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and explanation thereof are used for explaining the present invention, are not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the structural representation of the embodiment of the articulation structure according to the present invention；And
Fig. 2 shows the A-A sectional view of the articulation structure in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, knuckle support；11, rotating part；111, locating part；12, supporting part；121, second sidewall is installed；122, first
Installing hole；123, driving hole；20, electric machine support；30, reductor；31, the second installing hole；40, motor.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The invention provides a kind of articulation structure, refer to Fig. 1 and Fig. 2, this articulation structure includes knuckle support 10, joint
Structure also includes: electric machine support 20, and electric machine support 20 is arranged on the side of knuckle support 10, electric machine support 20 and knuckle support 10
It is structure as a whole.
Articulation structure in the present invention includes knuckle support 10 and electric machine support 20, due to electric machine support 20 and knuckle support
10 are structure as a whole, this way it is possible to avoid the assembling between knuckle support and electric machine support, simplify the overall knot of articulation structure
Structure, solves the problem that the processing cost of robot of the prior art is higher.
Specifically, electric machine support 20 and knuckle support 10 are integrated casting.As such, it is possible to realize electricity more easily
Integrative-structure between machine support 20 and knuckle support 10.
The concrete structure of knuckle support 10 is, knuckle support 10 includes interconnective rotating part 11 and supporting part 12, electricity
Machine support 20 is arranged on supporting part 12.Rotating part 11 is for being connected with base or other articulation structure.Preferably, herein
Articulation structure is second joint, and rotating part 11 is arranged on the first joint.
In the present embodiment, as in figure 2 it is shown, supporting part 12 has the first installation sidewall and the second installation side being oppositely arranged
Wall 121, electric machine support 20 is arranged on the first installation sidewall, and second installs sidewall 121 is used for installing reductor 30.Motor 40 is pacified
Being contained on electric machine support 20, so, motor 40 and reductor 30 are separately mounted to the opposite sides of supporting part 12.
The concrete connected mode between reductor 30 and supporting part 12 in the present embodiment is, as in figure 2 it is shown, second installs
It is provided with the first installing hole 122 on sidewall 121, reductor 30 is provided with the second installing hole 31, supporting part 12 and reductor 30
Connected by the securing member being located in the first installing hole 122 and the second installing hole 31.
Specifically, the first installing hole 122 and/or the second installing hole 31 are screwed hole, and securing member is suitable with screwed hole
Trip bolt.Preferably, the first installing hole 122 is screwed hole, and the second installing hole 31 is unthreaded hole.Preferably, the second installing hole
31 is counter sink, and the nut portion of screw is positioned at the countersunk head portion of counter sink.Preferably, reductor 30 has flange portion, the second peace
Dress hole 31 is arranged in flange portion.
In order to realize the connection between motor 40 and reductor 30, as in figure 2 it is shown, be provided with driving hole on supporting part 12
123, the motor 40 being arranged on electric machine support 20 is in transmission connection by driving hole 123 with reductor 30.Visible, reductor 30 with
Motor 40 is in transmission connection in driving hole 123.The motor shaft of motor 40 is connected with reductor 30 by power transmission shaft.
In order to this articulation structure is carried out spacing, as in figure 2 it is shown, be provided with locating part 111, locating part on rotating part 11
111 for limiting the anglec of rotation of rotating part 11.This articulation structure is installed in rotation on other joints or the end by rotating part
On seat, other joints or base are provided with the keeper that coordinate spacing with locating part 111.
Present invention also offers a kind of robot, including articulation structure, articulation structure is above-mentioned articulation structure.This enforcement
The articulation structure of the robot in example has simple in construction, the advantage being prone to processing.
Specifically, robot includes the first articulation structure and second joint structure, and second joint structure is rotatably mounted
On the first articulation structure, second joint structure is above-mentioned articulation structure.
The artificial four axle robots of machine in the technical program, it can be applicable to carry out on the production line of all trades and professions article
Take, move, transport etc..
The technical program uses DD motor as driving means, and during its work, the moment of output is bigger, replaces traditional watching
Taking motor configuration reducing motor or the driving means of gear train composition, feed speed control is better, whole four axis robot
Integration degree more preferably.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
Articulation structure in the present invention includes knuckle support and electric machine support, owing to electric machine support is integrated with knuckle support
Structure, this way it is possible to avoid the assembling between knuckle support and electric machine support, simplifies the overall structure of articulation structure, solves
The problem that the processing cost of robot of the prior art is higher.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. an articulation structure, including knuckle support (10), it is characterised in that described articulation structure also includes:
Electric machine support (20), described electric machine support (20) is arranged on the side of described knuckle support (10), described electric machine support
(20) it is structure as a whole with described knuckle support (10).
Articulation structure the most according to claim 1, it is characterised in that described electric machine support (20) and described knuckle support
(10) it is integrated casting.
Articulation structure the most according to claim 1, it is characterised in that described knuckle support (10) includes interconnective rotation
Transfer part (11) and supporting part (12), described electric machine support (20) is arranged on described supporting part (12).
Articulation structure the most according to claim 3, it is characterised in that described supporting part (12) has first be oppositely arranged
Installing sidewall and second and install sidewall (121), described electric machine support (20) is arranged on described first and installs on sidewall, and described second
Sidewall (121) is installed be used for reductor (30) is installed.
Articulation structure the most according to claim 4, it is characterised in that described second installs and be provided with the on sidewall (121)
One installing hole (122), described reductor (30) is provided with the second installing hole (31), described supporting part (12) and described reductor
(30) securing member by being located in described first installing hole (122) and described second installing hole (31) connects.
Articulation structure the most according to claim 5, it is characterised in that described first installing hole (122) and/or described second
Installing hole (31) is screwed hole, and described securing member is the trip bolt suitable with described screwed hole.
Articulation structure the most according to claim 4, it is characterised in that described supporting part is provided with driving hole on (12)
(123) motor (40), being arranged on described electric machine support (20) is passed by described driving hole (123) with described reductor (30)
It is dynamically connected.
Articulation structure the most according to claim 3, it is characterised in that described rotating part is provided with locating part on (11)
(111), described locating part (111) is used for limiting the anglec of rotation of described rotating part (11).
9. a robot, including articulation structure, it is characterised in that described articulation structure is institute any one of claim 1 to 8
The articulation structure stated.
Robot the most according to claim 9, it is characterised in that described robot includes the first articulation structure and second
Articulation structure, described second joint structure is rotatably installed on described first articulation structure, and described second joint structure is
Articulation structure according to any one of claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649745.XA CN106078729A (en) | 2016-08-09 | 2016-08-09 | Articulation structure and there is its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649745.XA CN106078729A (en) | 2016-08-09 | 2016-08-09 | Articulation structure and there is its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078729A true CN106078729A (en) | 2016-11-09 |
Family
ID=57455896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610649745.XA Pending CN106078729A (en) | 2016-08-09 | 2016-08-09 | Articulation structure and there is its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078729A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956246A (en) * | 2017-04-28 | 2017-07-18 | 广西壮族自治区机械工业研究院 | Multi-joint industrial robot's waist mechanism |
| CN110561486A (en) * | 2019-09-07 | 2019-12-13 | 埃夫特智能装备股份有限公司 | Rapid connecting mechanism for modular joints of robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6420993A (en) * | 1987-07-15 | 1989-01-24 | Fanuc Ltd | Joint structure of industrial robot |
| CN103192369A (en) * | 2013-04-18 | 2013-07-10 | 岳强 | Novel waist rotating device of robot palletizer |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN205111421U (en) * | 2015-11-06 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Arm robot |
| CN205129890U (en) * | 2015-11-17 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
| CN105583855A (en) * | 2016-03-17 | 2016-05-18 | 昆山工研院工业机器人研究所有限公司 | Rocker for joint type industrial robot and joint type industrial robot |
| CN206011090U (en) * | 2016-08-09 | 2017-03-15 | 珠海格力智能装备有限公司 | Articulation structure and the robot with which |
-
2016
- 2016-08-09 CN CN201610649745.XA patent/CN106078729A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6420993A (en) * | 1987-07-15 | 1989-01-24 | Fanuc Ltd | Joint structure of industrial robot |
| CN103192369A (en) * | 2013-04-18 | 2013-07-10 | 岳强 | Novel waist rotating device of robot palletizer |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN205111421U (en) * | 2015-11-06 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Arm robot |
| CN205129890U (en) * | 2015-11-17 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
| CN105583855A (en) * | 2016-03-17 | 2016-05-18 | 昆山工研院工业机器人研究所有限公司 | Rocker for joint type industrial robot and joint type industrial robot |
| CN206011090U (en) * | 2016-08-09 | 2017-03-15 | 珠海格力智能装备有限公司 | Articulation structure and the robot with which |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956246A (en) * | 2017-04-28 | 2017-07-18 | 广西壮族自治区机械工业研究院 | Multi-joint industrial robot's waist mechanism |
| CN110561486A (en) * | 2019-09-07 | 2019-12-13 | 埃夫特智能装备股份有限公司 | Rapid connecting mechanism for modular joints of robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |