CN106881728A - The small arm mechanism of multi-joint industrial robot - Google Patents
The small arm mechanism of multi-joint industrial robot Download PDFInfo
- Publication number
- CN106881728A CN106881728A CN201710294198.2A CN201710294198A CN106881728A CN 106881728 A CN106881728 A CN 106881728A CN 201710294198 A CN201710294198 A CN 201710294198A CN 106881728 A CN106881728 A CN 106881728A
- Authority
- CN
- China
- Prior art keywords
- forearm
- armed lever
- small
- installation
- 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.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of small arm mechanism of multi-joint industrial robot, including ancon, small armed lever and forearm, described ancon is provided with two installation through-holes I, described small armed lever one end is located in one of installation through-hole I, the other end connection forearm of small armed lever, and one end of forearm and the connection of small armed lever is interior empty cylindrical structure, the other end is U-shape structure, the wall of U-shape structure two is provided with corresponding installation through-hole II, and the cavity for placing drive mechanism is provided with the middle part of forearm, and cavity is connected with cylindrical structure.The present invention is structure lightened, and rationally, front end load is larger for motor cabling.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of small arm mechanism of multi-joint industrial robot.
Background technology
At present, industrial robot has been widely used for the fields such as automobile, metallurgy, electric, electronics, chemical industry, engineering machinery,
To reducing labour intensity, improve production efficiency plays an important role.Generally, industrial robot executing agency include pedestal,
The part such as large arm and forearm, sets motor and drives to form multiple joints between all parts, the forearm weight of current industrial robot
Amount is larger, and motor cabling is unreasonable, and the load of forearm front end is small.
The content of the invention
The technical problems to be solved by the invention are：There is provided a kind of structure lightened, motor cabling rationally, front end load compared with
The small arm mechanism of big multi-joint industrial robot.
The technical solution adopted in the present invention is：A kind of robot forearm mechanism is provided, including ancon, small armed lever and small
Arm, described ancon is provided with two installation through-holes I, and described small armed lever one end is located in one of installation through-hole I, small armed lever
Other end connection forearm, one end of forearm and the connection of small armed lever is interior empty cylindrical structure, and the other end is U-shape structure, U-shaped knot
The wall of structure two is provided with corresponding installation through-hole II, and the cavity for placing drive mechanism, cavity and cylindrical structure are provided with the middle part of forearm
Connection.
Described cylindrical structure and forearm is integrally formed.
After using above structure, two installation through-holes I that robot forearm mechanism of the present invention passes through setting on ancon can
Forearm and large arm are preferably connected, on the basis of bulk strength and rigidity is ensured, equipment overall structure lightens, and reaches
Light-weighted effect；The wiring of the motor of drive mechanism can be carried out interior by the cylindrical structure, cavity and the installation through-hole that set
Portion installs, and wiring, cabling are relatively reasonable；Ancon is moved after setting the center of gravity for making forearm, and forearm front end load is increased.
Brief description of the drawings
Fig. 1 is the structural representation of the small arm mechanism of multi-joint industrial robot of the present invention.
Fig. 2 is the structural representation of forearm of the invention.
Fig. 3 is the A-A views of Fig. 1.
Fig. 4 is the stereogram of ancon of the invention.
Specific embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
As shown in Figure 1 to 4, robot forearm mechanism of the present invention, including ancon 3, small armed lever 2 and forearm 1, ancon 3 set
There are two installation through-holes I, two installation through-holes I are vertically arranged but are not communicated with, i.e., it is spatially vertical, it is convenient as the He of forearm 4
The transfer connection of large arm, one end of small armed lever 2 is located in one of installation through-hole I, the other end connection forearm 1 of small armed lever 2, small
One end of arm 1 and the connection of small armed lever 2 is interior empty cylindrical structure, and the other end is U-shape structure, and the wall of U-shape structure two is provided with accordingly
Installation through-hole II, the middle part of forearm 1 is provided with the cavity for placing drive mechanism, and cavity connect with cylindrical structure, cavity for or so
Both-side opening, cylindrical structure and forearm 1 are integrally formed.
The present invention in the specific implementation, sets the 6th axial brake device, by installation through-hole II at the U-shape structure of forearm 1
Rotated with forearm 1 and connected, the 5th axial brake device is located in the cavity at the middle part of forearm 1, drive wrist to rotate.
The present invention can preferably be connected forearm and large arm, on the basis of bulk strength and rigidity is ensured, if
Standby overall structure lightens, and reaches light-weighted effect, and the wiring of the motor of drive mechanism can be by cylindrical structure, the sky of setting
Chamber and installation through-hole carry out internal installation, and wiring, cabling are relatively reasonable, and ancon is moved after setting the center of gravity for making forearm, forearm front end
Load is increased.
Embodiments of the invention have been described in detail above, but the content is only presently preferred embodiments of the present invention, it is impossible to
It is considered as limiting practical range of the invention.All impartial changes made according to the scope of the invention and improvement etc., all should still return
Belong within this patent covering scope.
Claims (2)
1. the small arm mechanism of a kind of multi-joint industrial robot, it is characterised in that：Including ancon, small armed lever and forearm, described elbow
Portion is provided with two installation through-holes I, and described small armed lever one end is located in one of installation through-hole I, and the other end of small armed lever connects
Forearm is connect, one end that forearm and small armed lever are connected is interior empty cylindrical structure, and the other end is U-shape structure, is set on the wall of U-shape structure two
There is corresponding installation through-hole II, the cavity for placing drive mechanism is provided with the middle part of forearm, cavity is connected with cylindrical structure.
2. the small arm mechanism of multi-joint industrial robot according to claim 1, it is characterised in that：Described cylindrical structure and
Forearm is integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710294198.2A CN106881728A (en) | 2017-04-28 | 2017-04-28 | The small arm mechanism of multi-joint industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710294198.2A CN106881728A (en) | 2017-04-28 | 2017-04-28 | The small arm mechanism of multi-joint industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106881728A true CN106881728A (en) | 2017-06-23 |
Family
ID=59183733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710294198.2A Pending CN106881728A (en) | 2017-04-28 | 2017-04-28 | The small arm mechanism of multi-joint industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106881728A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571540A (en) * | 2018-09-11 | 2019-04-05 | 衡芷电子科技(上海)有限公司 | A kind of cooperation joint of robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014037044A (en) * | 2012-08-20 | 2014-02-27 | Fanuc Ltd | Articulated robot having both ends-support arm member |
| CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
| CN205766229U (en) * | 2016-05-09 | 2016-12-07 | 欢颜自动化设备（上海）有限公司 | A kind of industrial robot little wrist layout structure of end load 20KG |
| CN106217364A (en) * | 2016-08-31 | 2016-12-14 | 江苏汇博机器人技术股份有限公司 | A kind of six-shaft industrial robot of fast assembling-disassembling |
| CN106313026A (en) * | 2016-10-31 | 2017-01-11 | 广西大学 | Light welding robot |
| CN206344142U (en) * | 2016-12-27 | 2017-07-21 | 广东半岛集团有限公司 | A kind of light-duty multi-axis robot |
| CN206925891U (en) * | 2017-04-28 | 2018-01-26 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
-
2017
- 2017-04-28 CN CN201710294198.2A patent/CN106881728A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014037044A (en) * | 2012-08-20 | 2014-02-27 | Fanuc Ltd | Articulated robot having both ends-support arm member |
| CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
| CN205766229U (en) * | 2016-05-09 | 2016-12-07 | 欢颜自动化设备（上海）有限公司 | A kind of industrial robot little wrist layout structure of end load 20KG |
| CN106217364A (en) * | 2016-08-31 | 2016-12-14 | 江苏汇博机器人技术股份有限公司 | A kind of six-shaft industrial robot of fast assembling-disassembling |
| CN106313026A (en) * | 2016-10-31 | 2017-01-11 | 广西大学 | Light welding robot |
| CN206344142U (en) * | 2016-12-27 | 2017-07-21 | 广东半岛集团有限公司 | A kind of light-duty multi-axis robot |
| CN206925891U (en) * | 2017-04-28 | 2018-01-26 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571540A (en) * | 2018-09-11 | 2019-04-05 | 衡芷电子科技(上海)有限公司 | A kind of cooperation joint of robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170623 |