CN106956256A - Articulated robot - Google Patents
Articulated robot Download PDFInfo
- Publication number
- CN106956256A CN106956256A CN201710385229.5A CN201710385229A CN106956256A CN 106956256 A CN106956256 A CN 106956256A CN 201710385229 A CN201710385229 A CN 201710385229A CN 106956256 A CN106956256 A CN 106956256A
- Authority
- CN
- China
- Prior art keywords
- passage
- motor
- wiring path
- turbine
- forearm
- 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
- B25J9/126—Rotary actuators
-
- 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
Abstract
The invention discloses a kind of articulated robot, it is related to robotics, including pedestal, large arm, forearm and clamping device, motor and the wiring path for guiding cable to move towards are equipped with pedestal, large arm, forearm, cable is connected behind routed road with motor；Ring flange is provided with the clamping device, the forearm positioned at ring flange side is provided with article putting groove.The present invention is connected up by the way that the cable in multi-units robot is sorted out, and from its inside, improves its overall aesthetic property, while carrying out special line layout to motor, improves the convenience of its maintenance；It is connected simultaneously by the ring flange on clamping device from different external parts such as soldering apparatus, sprayer so that articulated robot of the invention can be applied to the operation of different work posts.
Description
Technical field
The present invention relates to robotics, in particular to a kind of articulated robot.
Background technology
In current industrial circle, including automobile industry, electronic enterprises, construction machinery industry etc. are using a large amount of industry
Robot automation's production line.Industrial robot is the advanced manufactures such as collection precise treatment, flexibility, intellectuality, software application development
Technology is in one, by detecting, controlling to implementation Process, optimize, dispatch, manage and decision-making, realizes increase yield, improves matter
Measure, reduce cost, reduce resource consumption and environmental pollution, be that the highest of industrial automation level embodies.
Existing articulated robot is used to specific occasion, and such as equipment welding, equipment spraying or equipment are carried,
Above-mentioned different occasions are required to design special robot progress operation, and whole design link is very cumbersome, it is impossible to accomplish general
Property.Cable is fixed in bellows by wiring habituation in robot simultaneously, is bound together after a plurality of cable mixing, is worked as needs
When carrying out maintaining cables, when the cable of especially motor goes wrong, the normal operation of articulated robot is directly affected,
Quickly maintenance is needed, and cable binding can cause operation inconvenience, deferred maintenance speed.
The content of the invention
To overcome disadvantages mentioned above, it is an object of the invention to provide a kind of a tractor serves several purposes and it is easy to the multi-joints of maintaining cables
Robot.
In order to reach object above, the technical solution adopted by the present invention is：A kind of articulated robot, including it is pedestal, big
Arm, forearm and clamping device, turbine base is provided with pedestal, and the turbine base is provided with solid on turbine turntable, turbine turntable
Surely turbo-dynamo is provided with, the turbo-dynamo is connected with the turbine and worm in turbine base so that turbine turntable is in turbine base
Upper 360 ° of rotations；The turbine turntable is provided with the first motor, drive shaft and the large arm of first motor
Lower end be connected so that large arm is relative to turbine turntable vertical oscillation；The lower end of the forearm is provided with the second motor, described
The drive shaft of second motor is connected with the upper end of the large arm so that forearm is relative to large arm vertical oscillation；
It is additionally provided with switch board on the pedestal, the switch board passes through cable and turbo-dynamo, the first motor and the
Two motors are connected；
The upper end of the forearm is hinged with the clamping device, and the clamping device includes being used for external ring flange, and
Provided with the first passage being connected with ring flange on clamping device；The forearm is provided with the glove being connected with first passage
Groove；
The upper surface of the turbine turntable is provided with the first wiring path, first wiring path special logical provided with first
Road, cable is connected after the first professional channel with turbo-dynamo；The large arm is hollow structure, and position is in the inner provided with the second wiring
The second designated lane is provided with road, second wiring path, cable is connected after second major passage with the first motor；Institute
Forearm is stated for hollow structure, position is provided with the 3rd wiring path, the 3rd wiring path is provided with the 3rd designated lane in the inner, cable
It is connected after the 3rd professional channel with the second motor.The present invention by the way that the cable in multi-units robot is sorted out, and
Connected up from its inside, improve its overall aesthetic property, while carrying out special line layout to motor, improve its maintenance just
Profit；It is connected simultaneously by the ring flange on clamping device from different external parts such as soldering apparatus, sprayer so that the present invention
Articulated robot can be applied to different work posts operation.
Preferably, the described forearm one end being in contact with clamping device includes master arm, one end of the master arm
The first cantilever and the second cantilever that outwardly convex formation is parallel to each other, the article putting groove are arranged on master arm；The clamping
Mechanism includes holder body, the rear and front end of holder body described in the first passage insertion, where first passage one end
Holder body on be provided with the ring flange, formed mutually positioned at the holder body outwardly convex where the first passage other end
Parallel the first clamping part and the second clamping part, first clamping part is hinged with first cantilever, second clamping part
It is hinged with second cantilever.
It is as a further improvement on the present invention, in order to improve outside the stability that external part is placed, the article putting groove
Be provided with and tighten band, the two ends for tightening band respectively be located at article putting groove the left and right sides, and respectively with the master arm card
Button connection.The external part that tightening band can be pointed in article putting groove is fixed, and then improves its stabilization on clamping device
Property.
Preferably, first designated lane is divided into two sections of passages being connected, wherein one section of passage is located at the first wiring
In road, another section of passage is located in first drawing lines, and described first drawing lines one end is fixedly linked with the first wiring path, and described the
The other end of one drawing lines is located at turbo-dynamo side.Cable is introduced by turbo-dynamo side by first drawing lines, is easy to whirlpool
The cable of turbin generator is installed, and also allows for the cable wiring that maintenance personal recognizes turbo-dynamo, improves the convenience of cable repair.
Preferably, second designated lane is divided into two sections of passages being connected, wherein one section of passage is located at the second wiring
In road, another section of passage is located in second drawing lines, and described second drawing lines one end is fixedly linked with the second wiring path, and described the
The other end of two drawing lines is located at the first motor side.Cable is introduced by the first motor one by second drawing lines
Side, is easy to the cable of the first motor to install, and also allows for the cable wiring that maintenance personal recognizes the first motor, improves line
The convenience of cable maintenance.
Preferably, the 3rd designated lane is divided into two sections of passages being connected, wherein one section of passage is located at the 3rd wiring
In road, another section of passage is located in three branch road, and described three branch road one end is fixedly linked with the 3rd wiring path, and described the
The other end in three branch road is located at the second motor side.Cable is introduced by the second motor one by three branch road
Side, is easy to the cable of the second motor to install, and also allows for the cable wiring that maintenance personal recognizes the second motor, improves line
The convenience of cable maintenance.
Brief description of the drawings
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is wire cable layout schematic perspective view of the invention；
Fig. 3 is wire cable layout diagrammatic cross-section of the invention；
Fig. 4 is the forearm of the present invention, the stereogram of clamping device linking.
In figure：
1- pedestals；101- holder bodies；The clamping parts of 102- second；103- ring flanges；The clamping parts of 104- first；2- turbines bottom
Seat；3- switch boards；4- turbine turntables；5- turbo-dynamoes；The motors of 6- first；7- large arm；The motors of 8- second；9- is small
Arm；The cantilevers of 91- first；The cantilevers of 92- second；93- article putting grooves；10- clamping devices；101- holder bodies；The clamping parts of 102- second；
103- ring flanges；The clamping parts of 104- first；11- wiring paths；111- main wirings road A；112- main wirings road B；113- main wirings road
C；12- branch drawing lines；121- branch wiring paths A；122- branch wiring paths B.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Referring to shown in accompanying drawing 1, Fig. 4, a kind of articulated robot in the present embodiment, including pedestal 1, it is provided with pedestal 1
Turbine base 2, the turbine base 2 is provided with turbine turntable 4, turbine turntable 4 and is fixed with turbo-dynamo 5, the turbine
Motor 5 is connected with the turbine and worm in turbine base 2 so that the 360 ° of rotations on turbine base 2 of turbine turntable 4.The turbine
The side of turntable 4 is raised up to form the first motor mount, and the first driving electricity is fixedly installed on the first motor mount
Machine 6；The drive shaft of first motor 6 is connected with the lower end of the large arm 7 so that large arm 7 is hung down relative to turbine turntable 4
It is straight to swing.The lower end of forearm 9 is provided with the second motor mount, second motor mount and is provided with the second motor 8,
The drive shaft of second motor 8 is connected with the upper end of the large arm 7 so that forearm 9 is relative to the vertical oscillation of large arm 7.
The upper end of the forearm 9 is hinged with the clamping device 10, and the clamping device 10 includes being used for external ring flange 103, and
Provided with the first passage being connected with ring flange 103 on clamping device 10；The forearm 9 is provided with to be connected with first passage
Article putting groove 93；Such as the external part of soldering apparatus, sprayer and ring flange 103 are fixedly linked, and its portion body can be placed on and put
On thing groove 93, Fig. 4 specifically can refer to.
As shown in figure 4, the one end of the forearm 9 being in contact with clamping device 10 includes master arm, the master arm
The formation of one end outwardly convex the first cantilever 91 and the second cantilever 92 that are parallel to each other, the article putting groove 93 is arranged on master arm
On；The clamping device 10 includes holder body 101, the rear and front end of holder body 101, position described in the first passage insertion
In being provided with the ring flange 103 on the holder body 101 where first passage one end, where the first passage other end
The first clamping part 104 and the second clamping part 102 that the formation of the outwardly convex of holder body 101 is parallel to each other, first clamping part
104 are hinged with first cantilever 91, and second clamping part 102 is hinged with second cantilever 92.When external part is installed
When on ring flange, tightened to improve to be provided with outside the stability that external part is placed, the article putting groove 93 with (figure is not marked
Know), the two ends for tightening band are located at the left and right sides of article putting groove respectively, and are snapped connection respectively with master arm.
Switch board 3 is additionally provided with the pedestal 1, the switch board 3 passes through cable and turbo-dynamo 5, the first motor 6
It is connected with the second motor 8.So switch board 3 can control articulated robot to carry out corresponding operating.Wherein, in order to improve
The aesthetic property of articulated robot, the cable that switch board 3 is drawn is placed on the inside of articulated robot, reduces as far as possible outside it
Dew.
In order to improve the stability of built-in cable, make its will not cross-mixing together, cause subsequent maintenance inconvenience.It is described
The upper surface of turbine turntable 4, which is provided with the first wiring path, first wiring path, is provided with the first designated lane, and cable is through first
It is connected after professional channel with turbo-dynamo 5；The large arm 7 is hollow structure, and position is provided with the second wiring path, described second in the inner
The second designated lane is provided with wiring path, cable is connected after second major passage with the first motor 6；The forearm 9 is
Hollow structure, position is provided with the 3rd wiring path, the 3rd wiring path is provided with the 3rd designated lane in the inner, and cable is special through the 3rd
It is connected after industry passage with the second motor 8.
Furthermore, it is understood that first designated lane in the present embodiment is divided into two sections of passages being connected, wherein one section
Passage is located in the first wiring path, and another section of passage is located in first drawing lines, described first drawing lines one end and the first wiring
Road is fixedly linked, and the other end of first drawing lines is located at turbo-dynamo side.Second designated lane is divided into two sections of phases
The passage of connection, wherein one section of passage is located in the second wiring path, another section of passage is located in second drawing lines, described second
Drawing lines one end is fixedly linked with the second wiring path, and the other end of second drawing lines is located at the first motor side.It is described
3rd designated lane is divided into two sections of passages being connected, wherein one section of passage is located in the 3rd wiring path, another section of passage is located at
In three branch road, described three branch road one end is fixedly linked with the 3rd wiring path, the other end position in the three branch road
In the second motor side.In the present embodiment, the first wiring path and first drawing lines, the second wiring path and second drawing lines,
3rd wiring path and three branch road can refer to the joining relation of the wiring path 11 and branch drawing lines 12 in Fig. 2 and Fig. 3.
It is shown in Figure 2, three main wiring roads, respectively main wiring road A111, main wiring road are provided with wiring path 11
B112, main wiring road C113；It is provided with wiring path 11 in branch drawing lines 12, shown branch drawing lines 12 and is provided with branch wiring path A121, institute
Branch wiring path A121 is stated with main wiring road B112 to be connected.
It is shown in Figure 3, three main wiring roads, respectively main wiring road A111, main wiring road are provided with wiring path 11
B112, main wiring road C113；It is provided with wiring path 11 in branch drawing lines 12, shown branch drawing lines 12 and is provided with branch wiring path A121 and branch
Do not connected between wiring path B 122, branch wiring path A121 and branch the wiring path B 122, and respectively with main wiring road B112 phases
Even, main wiring road B112 is separated into two sections of not connected passages.
The technical concept and feature of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands present disclosure and is carried out, and it is not intended to limit the scope of the present invention, all according to spirit of the invention
The equivalent change or modification that essence is done, should all cover within the scope of the present invention.
Claims (6)
1. a kind of articulated robot, it is characterised in that：Including pedestal (1), large arm (7), forearm (9) and clamping device (10),
Turbine base (2) is provided with pedestal (1), the turbine base (2) is provided with fixation on turbine turntable (4), turbine turntable (4) and set
There is turbo-dynamo (5), the turbo-dynamo (5) is connected with the turbine and worm in turbine base (2) so that turbine turntable (4) exists
The upper 360 ° of rotations of turbine base (2)；The turbine turntable (4) is provided with the first motor (6), first motor
(6) drive shaft is connected with the lower end of the large arm (7) so that large arm (7) is relative to turbine turntable (4) vertical oscillation；It is described
The lower end of forearm (9) is provided with the second motor (8), and the drive shaft of second motor (8) is upper with the large arm (7)
End is connected so that forearm (9) is relative to large arm (7) vertical oscillation；
Switch board (3) is additionally provided with the pedestal (1), the switch board (3) passes through cable and turbo-dynamo (5), the first driving
Motor (6) is connected with the second motor (8)；
The upper end of the forearm (9) is hinged with the clamping device (10), and the clamping device (10) includes being used for external method
Blue disk (103), and provided with the first passage being connected with ring flange (103) on clamping device (10)；Set on the forearm (9)
There is the article putting groove (93) being connected with first passage；
The upper surface of the turbine turntable (4), which is provided with the first wiring path, first wiring path, is provided with the first designated lane,
Cable is connected after the first professional channel with turbo-dynamo (5)；The large arm (7) is hollow structure, and position is provided with second in the inner
Wiring path, is provided with the second designated lane in second wiring path, cable after second major passage with the first motor (6)
Connection；The forearm (9) is hollow structure, and position is provided with special provided with the 3rd in the 3rd wiring path, the 3rd wiring path in the inner
With passage, cable is connected after the 3rd professional channel with the second motor (8).
2. articulated robot according to claim 1, it is characterised in that：What is be in contact with clamping device (10) is described small
Arm (9) one end includes master arm, the first cantilever (91) that one end outwardly convex formation of the support arm is parallel to each other and the
Two cantilevers (92), the article putting groove (93) is arranged on master arm；The clamping device (10) includes holder body (101),
The rear and front end of holder body (101), the holder body where first passage one end described in the first passage insertion
(101) ring flange (103) is provided with, positioned at holder body (101) outwardly convex shape where the first passage other end
Into the first clamping part (104) and the second clamping part (102) being parallel to each other, first clamping part (104) is hanged with described first
Arm (91) is hinged, and second clamping part (102) is hinged with second cantilever (92).
3. articulated robot according to claim 2, it is characterised in that：It is provided with and tightens outside the article putting groove (93)
Band, the two ends for tightening band are located at the left and right sides of article putting groove (93) respectively, and are snapped connection respectively with the master arm.
4. articulated robot according to claim 1, it is characterised in that：First designated lane is divided into two sections and is connected
Logical passage, wherein one section of passage is located in the first wiring path, another section of passage is located in first drawing lines, first branch line
Road one end is fixedly linked with the first wiring path, and the other end of first drawing lines is located at turbo-dynamo (5) side.
5. articulated robot according to claim 1, it is characterised in that：Second designated lane is divided into two sections and is connected
Logical passage, wherein one section of passage is located in the second wiring path, another section of passage is located in second drawing lines, second branch line
Road one end is fixedly linked with the second wiring path, and the other end of second drawing lines is located at the first motor (6) side.
6. articulated robot according to claim 1, it is characterised in that：3rd designated lane is divided into two sections and is connected
Logical passage, wherein one section of passage is located in the 3rd wiring path, another section of passage is located in three branch road, the three branch
Road one end is fixedly linked with the 3rd wiring path, and the other end in the three branch road is located at the second motor (8) side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385229.5A CN106956256A (en) | 2017-05-26 | 2017-05-26 | Articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385229.5A CN106956256A (en) | 2017-05-26 | 2017-05-26 | Articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956256A true CN106956256A (en) | 2017-07-18 |
Family
ID=59483020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710385229.5A Pending CN106956256A (en) | 2017-05-26 | 2017-05-26 | Articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106956256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113396034A (en) * | 2019-01-30 | 2021-09-14 | I·M·A·工业机械自动装置股份公司 | Method for producing an articulated robot and corresponding articulated robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203765634U (en) * | 2014-02-12 | 2014-08-13 | 东莞市均利自动化科技有限公司 | Structurally improved robot |
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
-
2017
- 2017-05-26 CN CN201710385229.5A patent/CN106956256A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
| CN203765634U (en) * | 2014-02-12 | 2014-08-13 | 东莞市均利自动化科技有限公司 | Structurally improved robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113396034A (en) * | 2019-01-30 | 2021-09-14 | I·M·A·工业机械自动装置股份公司 | Method for producing an articulated robot and corresponding articulated robot |
| CN113396034B (en) * | 2019-01-30 | 2024-03-05 | I·M·A·工业机械自动装置股份公司 | Manufacturing method of hinged automatic operation device and corresponding hinged automatic operation device |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170718 |
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| RJ01 | Rejection of invention patent application after publication |