CN106393079A - Four-degree-of-freedom joint industrial robot structure - Google Patents
Four-degree-of-freedom joint industrial robot structure Download PDFInfo
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- CN106393079A CN106393079A CN201610389954.5A CN201610389954A CN106393079A CN 106393079 A CN106393079 A CN 106393079A CN 201610389954 A CN201610389954 A CN 201610389954A CN 106393079 A CN106393079 A CN 106393079A
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- armed lever
- spindle motor
- motor
- seats
- base
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a four-degree-of-freedom joint industrial robot structure which comprises a base, a rotary base, a two-axis motor base, a large arm lever, a tri-axis motor base, a small arm lever, a four-axis motor base, a flange connecting plate and a terminal flange, wherein the two-axis motor base can rotate around the base, the large arm lever is mounted on the side surface of the two-axis motor base, the large arm level can rotate around the two-axis motor base, the other end of the large arm lever is fixedly equipped with the tri-axis motor base, the side surface of the tri-axis motor base is connected with the small arm lever, the small arm lever can rotate around the tri-axis motor base, the other end of the small arm lever is fixedly equipped with the four-axis motor base, the flange connecting plate is connected with the four-axis motor base, and can rotate around the four-axis motor base, and the terminal flange is fixedly arranged on the flange connecting plate, so that a four-degree-of-freedom joint is formed. The four-degree-of-freedom joint industrial robot structure has the advantages of being compact in structure, high in motion speed, high in repeated positioning precision, convenient in control, and the like, and can be applied to an automatic production line in industrial production.
Description
Technical field
The present invention relates to industrial robot structure technical field, more particularly, to a kind of four-degree-of-freedom articulated robot structure.
Background technology
With the raising of artificial production cost, manufacturing upgrading and transformation, as the visual plant of intelligence equipment, it is artificial that increasing enterprise selects industrial robot to replace to industrial robot.Industrial robot is mainly used in the higher-end businesses such as automobile making at present, and with industrial technology development, more and more repeatability are high, the low side industry of high labor intensive begins to use industrial machine.
But because low side industry major part scope of the enterprise is little, fund is not rich, the six-DOF robot of main flow is expensive in the market, and product performance for low-end applications occasion is superfluous, causes the cost that enterprise is unnecessary.Because some occasion productive temps are very fast, it requires that there is joint velocity faster in robot, it is also desirable to have very high position precision simultaneously.
The pipeline of existing robot mostly exposed outside robot, on the one hand had influence on the aesthetics of robot, bring certain impact on the other hand can to the motion of robot, the pipeline exposing cause in robot kinematics with the pullling and rubbing of extraneous facility, pipeline occurs and to a certain degree weares and teares, then periodically need to safeguard and change, maintenance cost is higher, and service life is relatively short.
Content of the invention
It is an object of the invention to provide a kind of compact conformation, movement velocity fast, easy to use it is adaptable to a kind of four-degree-of-freedom articulated robot structure of the light high-speed of various automated production occasions.
The technical problem to be solved employs the following technical solutions to realize：
A kind of four-degree-of-freedom articulated robot structure, including base, swivel base, two spindle motor seats, big armed lever, three spindle motor seats, little armed lever, four spindle motor seats, flange connecting plate, end flange, described base top is provided with swivel base and two spindle motor seats, described two spindle motor seats can be around base rotary motion, the side of described two spindle motor seats is provided with big armed lever, described big armed lever can be around two spindle motor seat rotary motions, the described big armed lever other end fixedly mounts three spindle motor seats, the side of described three spindle motor seats is connected with little armed lever, described little armed lever can be around three spindle motor seat rotary motions, the described little armed lever other end fixedly mounts four spindle motor seats, described flange connecting plate is connected with four spindle motor seats, and can be around four spindle motor seat rotary motions, it is fixed with end flange on described flange connecting plate.
It is wound with the Electric Wires ＆ Cables being connected with base, two spindle motor seats, three spindle motor seats, four spindle motor seats respectively in chassis interior, Electric Wires ＆ Cables are drawn after passing through big armed lever inside after chassis interior extraction again, are then then passed through inside little armed lever.
Electric Wires ＆ Cables are except, in addition to big and small arms rotation portion, all Electric Wires ＆ Cables and I/O holding wire and gas circuit all adopt internal cabling, hiding mounting means, and no expose joint.
First motor and the first decelerator are installed on described base, described first decelerator is connected with swivel base, described first motor drives swivel base to drive two spindle motor seat rotations by driving the first decelerator.
Second motor and the second decelerator are installed on described two spindle motor seats, described second decelerator is connected with big armed lever, described second motor drives big armed lever rotation by driving the second decelerator.
3rd motor and the 3rd decelerator are installed on described three spindle motor seats, described 3rd decelerator is connected with little armed lever, described 3rd motor drives little armed lever rotation by driving the 3rd decelerator.
Described four spindle motor seats install the 4th motor and the 4th decelerator, and described 4th decelerator is connected with flange connecting plate, and described 4th motor drives flange connecting plate to rotate by driving the 4th decelerator.
Electric Wires ＆ Cables are connected with the first motor, the second motor, the 3rd motor, the 4th motor respectively.
Described first motor is arranged on chassis interior, described second motor the first motor cover is wrapped in inside two spindle motor seats, described 3rd motor the second motor cover is wrapped in inside three spindle motor seats, described 4th motor the 3rd motor cover is wrapped in inside four spindle motor seats, avoid the first motor, the second motor, the 3rd motor, the 4th motor to be destroyed by extraneous factor, make robot overall structure more aesthetically pleasing simultaneously.
The overcoat of one layer of soft abrasion-resistant material of Electric Wires ＆ Cables outer wrap.
Described little armed lever is respectively provided on two sides with I/O signal output and gas circuit delivery outlet, each I/O signal output and gas circuit delivery outlet are formed around installing hole, Signal connector or gas path joint can be directly installed on little armed lever, in addition can be with an external transition part, user can select to install other Signal connectors and gas path joint according to their needs.
On described two spindle motor seats, line pipe fixing board is installed, described line pipe fixing board is provided with pipeline fixing clip, electrical cable is after base extraction, it is fixed on pipeline installing plate with pipeline fixing clip through after line pipe fixing board bending, described big armed lever side has large arm cable intake, and then electrical cable is introduced inside big armed lever by large arm cable intake.
Described big armed lever another side has large arm cable outlet, and big armed lever internal electric cable passes through large arm cable outlet and draws, then introduces inside little armed lever through the forearm cable intake opening up on little armed lever.
The clamping element clamping electrical cable using in pairs is mounted on described large arm cable intake, large arm cable outlet and forearm cable intake, to prevent electrical cable play.
Described pipeline installing plate is provided with for cabling and clamps the trace openings of electrical cable.
It is bolted fixation between the clamping element using in pairs.
Described base is provided with electric interfaces installing plate, and described electric interfaces installing plate is provided with I/O signal input interface, gas circuit input interface, and the input for internal electric cable and I/O holding wire and gas circuit connects.
Described base, swivel base, two spindle motor seats, big armed lever, three spindle motor seats, little armed lever, four spindle motor seats, flange connecting plate are all using aluminum alloy material.
The invention has the beneficial effects as follows：The present invention adopts new structure, and each shutdown is directly connected to be driven using motor and decelerator, reduces driving error accumulation, it is possible to achieve robot each joint high-speed motion, and has very high positioning precision.Body interior adaptation I/O holding wire and gas circuit, in addition client need not add when using, convenient use.It is particularly suitable for the fast automatic production line of the rhythm of production such as carrying, piling.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the main structure diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is electrical cable and line pipe fixing board, the scheme of installation of big armed lever of the present invention；
Fig. 4 is the attachment structure schematic diagram with line pipe fixing board for the electrical cable of the present invention；
Fig. 5 is the structural representation that is connected with little armed lever of electrical cable of the present invention；
Fig. 6 is the structural representation that is connected with clamping element of electrical cable of the present invention；
Fig. 7 is the left view of the little armed lever of the present invention；
Fig. 8 is the right view of the little armed lever of the present invention；
Fig. 9 is the perspective view of the base of the present invention；
Figure 10 is the perspective view of the pipeline installing plate of the present invention.
Specific embodiment
In order that the technological means of present invention realization and creation characteristic are easy to understand, below the present invention is expanded on further.
As shown in Figures 1 to 10，A kind of four-degree-of-freedom articulated robot structure，Including base 2、Swivel base 4、Two spindle motor seats 5、Big armed lever 12、Three spindle motor seats 11、Little armed lever 23、Four spindle motor seats 19、Flange connecting plate 18、End flange 17，Described base 2 top is provided with swivel base 4 and two spindle motor seats 5，Described two spindle motor seats 5 can be around base 2 rotary motion，The side of described two spindle motor seats 5 is provided with big armed lever 12，Described big armed lever 12 can be around two spindle motor seat 5 rotary motion，Described big armed lever 12 other end fixedly mounts three spindle motor seats 11，The side of described three spindle motor seats 11 is connected with little armed lever 23，Described little armed lever 23 can be around three spindle motor seat 11 rotary motion，Described little armed lever 23 other end fixedly mounts four spindle motor seats 19，Described flange connecting plate 18 is connected with four spindle motor seats 19，And can be around four spindle motor seat 19 rotary motion，It is fixed with end flange 17 on described flange connecting plate 18.
There are the Electric Wires ＆ Cables 14 being connected with base 2, two spindle motor seats 5, three spindle motor seats 11, four spindle motor seats 19 respectively in base 2 inner wrap, Electric Wires ＆ Cables 14 are drawn after passing through big armed lever 12 inside after the internal extraction of base 2 again, are then then passed through little armed lever internal 23.
Electric Wires ＆ Cables 14 are except, in addition to big and small arms rotation portion, all Electric Wires ＆ Cables 14 and I/O holding wire and gas circuit all adopt internal cabling, hiding mounting means, and no expose joint.
First motor 1 and the first decelerator 3 are installed on described base 2, described first decelerator 3 is connected with swivel base 4, described first motor 1 drives swivel base 4 to drive two spindle motor seats 5 to rotate by driving the first decelerator 3.
Second motor 6 and the second decelerator 13 are installed on described two spindle motor seats 5, described second decelerator 13 is connected with big armed lever 12, described second motor 6 drives big armed lever 12 to rotate by driving the second decelerator 13.
3rd motor 10 and the 3rd decelerator 8 are installed on described three spindle motor seats 11, described 3rd decelerator 8 is connected with little armed lever 23, described 3rd motor 10 drives little armed lever 23 to rotate by driving the 3rd decelerator 8.
Described four spindle motor seat 19 installs the 4th motor 20 and the 4th decelerator 15, and described 4th decelerator 15 is connected 18 with flange connecting plate, and described 4th motor 20 drives flange connecting plate 18 to rotate by driving the 4th decelerator 15.
Electric Wires ＆ Cables 14 are connected with the first motor 1, the second motor 6, the 3rd motor 10, the 4th motor 20 respectively.
The all of drive mechanism of the present invention to drive rotation by the way of motor direct drive decelerator, and drive mechanism is simple, and driving-chain is few, and driving error is little, such that it is able to obtain accurate positioning precision.
Described first motor 1 is arranged on inside base 2, described second motor 6 first motor cover 7 is wrapped in inside two spindle motor seats 5, described 3rd motor 10 second motor cover 9 is wrapped in inside three spindle motor seats 11, described 4th motor 20 the 3rd motor cover 21 is wrapped in inside four spindle motor seats 19, avoid the first motor 1, the second motor 6, the 3rd motor 10, the 4th motor 20 to be destroyed by extraneous factor, make robot overall structure more aesthetically pleasing simultaneously.
Overcoat in Electric Wires ＆ Cables 14 one layer of soft abrasion-resistant material of outer wrap used.
Described little armed lever 23 is respectively provided on two sides with I/O signal output 16 and gas circuit delivery outlet 22, each I/O signal output 16 and gas circuit delivery outlet 22 are formed around installing hole, Signal connector or gas path joint can be directly installed on little armed lever 23, in addition can be with an external transition part, user can select to install other Signal connectors and gas path joint according to their needs.
On described two spindle motor seats 5, line pipe fixing board 24 is installed, described line pipe fixing board 24 is provided with pipeline fixing clip 25, electrical cable 14 is after base 2 extraction, it is fixed on pipeline installing plate 24 with pipeline fixing clip 25 through after line pipe fixing board 24 bending, described big armed lever 12 side has large arm cable intake, then electrical cable 14 is introduced inside big armed lever 12 by large arm cable intake, is above provided with the clamping element 26 clamping electrical cable 14.
Described big armed lever 12 another side has large arm cable outlet, and big armed lever 12 internal electric cable 14 passes through large arm cable outlet and draws, then introduces inside little armed lever 23 through the forearm cable intake opening up on little armed lever 23.
The clamping element 26 clamping electrical cable 14 using in pairs is mounted on described large arm cable intake, large arm cable outlet and forearm cable intake.
Described pipeline installing plate 24 is provided with for cabling and clamps trace openings 24a of electrical cable 14.
It is bolted fixation between the clamping element 26 using in pairs.
Described base 2 is provided with electric interfaces installing plate 27, and described electric interfaces installing plate 27 is provided with I/O signal input interface 28, gas circuit input interface 29, and the input for internal electric cable and I/O holding wire and gas circuit connects.
Described base 2, swivel base 4, two spindle motor seats 5, big armed lever 12, three spindle motor seats 11, little armed lever 23, four spindle motor seats 19, flange connecting plate 18, all using aluminum alloy material, have the advantages that light weight, structural strength are high.
During work, swivel base 4 rotates, and big armed lever 12, little armed lever 23 and flange connecting plate 18 swing up and down motion, thus meeting the robot work requirements of reality.
The mode of the internal cabling of the present invention is conducive to robot itself cable protective, prevents cable abrasion and breaks ring, makes contour structures more compact attractive in appearance simultaneously；And reduce due to expose pipeline cause in robot kinematics with the pullling and rubbing of extraneous facility, extend the service life of robot cable, reduce robot and safeguard spent cost.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every equivalent structure made using present specification or the technical fields being directly or indirectly used in other correlations without alteration, are all included in the same manner in the scope of the claims of the present invention.
Claims (10)
1. a kind of four-degree-of-freedom articulated robot structure, including base (2), swivel base (4), two spindle motors
Seat (5), big armed lever (12), three spindle motor seats (11), little armed lever (23), four spindle motor seats (19),
Flange connecting plate (18), described base (2) top is provided with swivel base (4) and two spindle motor seats (5),
It is characterized in that：
Described two spindle motor seats (5) can be around base (2) rotary motion, and described big armed lever (12) is installed
In the side of two spindle motor seats (5), described big armed lever (12) can be around two spindle motor seat (5) rotation fortune
Dynamic, described big armed lever (12) other end fixedly mounts three spindle motor seats (11), described three spindle motor seats (11)
Side be connected with little armed lever (23), described little armed lever (23) can around three spindle motor seats (11) rotate
Motion, described little armed lever (23) other end fixedly mounts four spindle motor seats (19), described flange connecting plate
(18) it is connected with four spindle motor seats (19), and can be around four spindle motor seat (19) rotary motions, institute
State and end flange (17) is fixed with flange connecting plate (18)；
Base (2) inner wrap have respectively with base (2), two spindle motor seats (5), three spindle motor seats
(11), the Electric Wires ＆ Cables (14) that four spindle motor seats (19) are connected, Electric Wires ＆ Cables (14) are from base (2)
Draw again after passing through big armed lever (12) inside after internal extraction, be then then passed through little armed lever internal (23).
2. a kind of four-degree-of-freedom articulated robot structure according to claim 1 it is characterised in that：Institute
State base (2) upper installation the first motor (1) and the first decelerator (3), described first decelerator (3)
It is connected with swivel base (4), described first motor (1) passes through to drive the first decelerator (3) to turn to drive
Seat (4) drives two spindle motor seat (5) rotations；
Described two spindle motor seats (5) are upper to install the second motor (6) and the second decelerator (13), institute
State the second decelerator (13) to be connected with big armed lever (12), described second motor (6) passes through driving the
Two decelerators (13) come to drive big armed lever (12) rotate；
Described three spindle motor seats (11) are upper to install the 3rd motor (10) and the 3rd decelerator (8), institute
State the 3rd decelerator (8) to be connected with little armed lever (23), described 3rd motor (10) passes through driving the
Three decelerators (8) come to drive little armed lever (23) rotate；
Described four spindle motor seats (19) install the 4th motor (20) and the 4th decelerator (15), institute
State the 4th decelerator (15) to be connected with flange connecting plate (18), described 4th motor (20) passes through
The 4th decelerator (15) is driven to drive flange connecting plate (18) to rotate；
Electric Wires ＆ Cables (14) respectively with the first motor (1), the second motor (6), the 3rd drive
Dynamic motor (10), the 4th motor (20) are connected.
3. a kind of four-degree-of-freedom articulated robot structure according to claim 2 it is characterised in that：Institute
State the first motor (1) and be arranged on base (2) inside, described second motor (6) is electric with first
Hood (7) is wrapped in two spindle motor seats (5) inside, and described 3rd motor (10) uses the second motor cover
(9) it is wrapped in three spindle motor seats (11) internal, described 4th motor (20) is with the 3rd motor cover (21)
It is wrapped in four spindle motor seats (19) internal.
4. a kind of four-degree-of-freedom articulated robot structure according to claim 1 and 2 it is characterised in that：
The overcoat of one layer of soft abrasion-resistant material of Electric Wires ＆ Cables (14) outer wrap.
5. a kind of four-degree-of-freedom articulated robot structure according to claim 1 it is characterised in that：Institute
State little armed lever (23) and be respectively provided on two sides with I/O signal output (16) and gas circuit delivery outlet (22).
6. a kind of four-degree-of-freedom articulated robot structure according to claim 1 and 2 it is characterised in that：
Line pipe fixing board (24) is provided with described two spindle motor seats (5), described line pipe fixing board (24) sets
Have pipeline fixing clip (25), electrical cable (14) base (2) extraction after, through line pipe fixing board (24)
It is fixed on pipeline installing plate (24) with pipeline fixing clip (25) after bending, described big armed lever (12)
Side has large arm cable intake, and then electrical cable (14) introduces big armed lever by large arm cable intake
(12) internal；
Described big armed lever (12) another side has large arm cable outlet, big armed lever (12) internal electric
Cable (14) passes through large arm cable outlet and draws, then the forearm cable opening up on little armed lever (23)
It is internal that line intake introduces little armed lever (23)；
It is mounted on described large arm cable intake, large arm cable outlet and forearm cable intake in pairs
The clamping element (26) that electrical cable (14) is clamped using.
7. a kind of four-degree-of-freedom articulated robot structure according to claim 6 it is characterised in that：Institute
State pipeline installing plate (24) to be provided with for cabling and clamp the trace openings (24a) of electrical cable (14).
8. a kind of four-degree-of-freedom articulated robot structure according to claim 6 it is characterised in that：Become
It is bolted fixation between the clamping element (26) using.
9. a kind of four-degree-of-freedom articulated robot structure according to claim 1 it is characterised in that：Institute
State base (2), swivel base (4), two spindle motor seats (5), big armed lever (12), three spindle motor seats (11),
Little armed lever (23), four spindle motor seats (19), flange connecting plate (18) are all using aluminum alloy material.
10. a kind of four-degree-of-freedom articulated robot structure according to claim 1 it is characterised in that：Institute
State base (2) and be provided with electric interfaces installing plate (27), described electric interfaces installing plate (27) is upper to install
There are I/O signal input interface (28), gas circuit input interface (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610389954.5A CN106393079A (en) | 2016-06-04 | 2016-06-04 | Four-degree-of-freedom joint industrial robot structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610389954.5A CN106393079A (en) | 2016-06-04 | 2016-06-04 | Four-degree-of-freedom joint industrial robot structure |
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| CN106393079A true CN106393079A (en) | 2017-02-15 |
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| CN201610389954.5A Pending CN106393079A (en) | 2016-06-04 | 2016-06-04 | Four-degree-of-freedom joint industrial robot structure |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938459A (en) * | 2017-04-01 | 2017-07-11 | 佛山华数机器人有限公司 | A kind of six-joint robot of cabling flexibility |
| CN107571252A (en) * | 2017-06-02 | 2018-01-12 | 佛山华数机器人有限公司 | A kind of bispin articulated robot |
| CN107877500A (en) * | 2017-12-15 | 2018-04-06 | 浙江钱江机器人有限公司 | A kind of robot palletizer |
| CN108453786A (en) * | 2018-03-26 | 2018-08-28 | 埃夫特智能装备股份有限公司 | A kind of industrial robot flip side dress wire protecting structure |
| CN108515514A (en) * | 2018-04-28 | 2018-09-11 | 上海发那科机器人有限公司 | A kind of robot multi-freedom line holder |
| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN110076765A (en) * | 2019-06-15 | 2019-08-02 | 吴芳 | Four articulated robots |
| CN110202561A (en) * | 2019-07-18 | 2019-09-06 | 江苏金恒信息科技股份有限公司 | A kind of industrial robot of internal cabling |
| CN110549320A (en) * | 2019-09-26 | 2019-12-10 | 芜湖博士联合智能装备有限公司 | Four-degree-of-freedom hybrid robot |
| CN107571252B (en) * | 2017-06-02 | 2024-06-04 | 佛山华数机器人有限公司 | Double-rotation joint robot |
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| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN110076765A (en) * | 2019-06-15 | 2019-08-02 | 吴芳 | Four articulated robots |
| CN110202561A (en) * | 2019-07-18 | 2019-09-06 | 江苏金恒信息科技股份有限公司 | A kind of industrial robot of internal cabling |
| CN110549320A (en) * | 2019-09-26 | 2019-12-10 | 芜湖博士联合智能装备有限公司 | Four-degree-of-freedom hybrid robot |
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Application publication date: 20170215 |