CN107322634A - Industrial robot rotation joint structure for hollow cabling - Google Patents
Industrial robot rotation joint structure for hollow cabling Download PDFInfo
- Publication number
- CN107322634A CN107322634A CN201710683941.3A CN201710683941A CN107322634A CN 107322634 A CN107322634 A CN 107322634A CN 201710683941 A CN201710683941 A CN 201710683941A CN 107322634 A CN107322634 A CN 107322634A
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- CN
- China
- Prior art keywords
- cylindrical
- joint structure
- industrial robot
- positioning pins
- rotation joint
- 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.)
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Classifications
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- 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
- B25J17/0241—One-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot rotation joint structure for hollow cabling：Including connection ring bearing is positioned for connecting reductor, and by positioning hole, fixed by screw；Locating ring, positions for connecting robot links, and by positioning hole, is fixed by screw；Connection ring bearing front is provided with the U-type groove for being used for being connected with locating ring plug-in；Locating ring is fixed in U-type groove by the cylindrical positioning pins of the cylindrical setting of connection ring bearing；And, the end of cylindrical positioning pins is connected with U-type groove inner surface plug-in, and the head end of cylindrical positioning pins is fixed in cylindrical positioning pins via by jackscrew.Integral disassembly, assembly is convenient, and compact conformation, easy care, mechanical arm structural member screw is easy for installation.
Description
Technical field
The present invention relates to a kind of attachment structure, and in particular to a kind of industrial robot rotary joint knot for hollow cabling
Structure.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, the principle guiding principle that modern industrial robot can also be formulated according to artificial intelligence technology
Action.But some problems are found in our present use processes, such as modularization fast-assembling mechanical arm dismounting is inconvenient, and structure is not
It is compact, safeguard cumbersome.Also such as, mechanical arm section structural screw installation difficulty；Also such as, construction weight is big,
Scope of activities is limited.
The content of the invention
Rotated in view of the above-mentioned problems of the prior art, the present invention provides a kind of industrial robot for hollow cabling
Articulation structure.
To achieve these goals, the technical solution adopted by the present invention is：A kind of industrial robot for hollow cabling
Rotation joint structure：Including：Connection ring bearing, positions for connecting reductor, and by positioning hole, is fixed by screw；It is fixed
Position ring, positions for connecting robot links, and by positioning hole, is fixed by screw；Connection ring bearing front, which is provided with, to be used for
The U-type groove being connected with locating ring plug-in；Locating ring is fixed on U-type groove by the cylindrical positioning pins of the cylindrical setting of connection ring bearing
It is interior；And, the end of cylindrical positioning pins is connected with U-type groove inner surface plug-in, and the head end of cylindrical positioning pins is fixed by jackscrew
In cylindrical positioning pins via.
Preferably, the outer surface of U-type groove coordinates with the cylindrical gap of locating ring.
Preferably, locating ring bottom surface is positioned with U-type groove underrun positioning hole.
Preferably, cylindrical positioning pins number of vias is four, it is in uniform annular spread.
Preferably, installation through-hole is distributed with positioning ring outer surface uniform ring shape, cylindrical positioning pins are plugged with installation through-hole
Formula is connected and gap coordinates.
Installed preferably, connection ring bearing is coordinated by shoulder and positioning hole with reductor；Robot links pass through platform
Shoulder and positioning hole coordinate with locating ring to be installed.
Preferably, being additionally provided with shield between reductor and robot links, shield is located at connection ring support outer.
Compared with prior art, the advantage of the invention is that：
1. structure is applied to modularization fast-assembling mechanical arm, convenient disassembly, compact conformation, easy care；
2. effectively solve mechanical arm section structural mounting screw difficult problem；
3. alignment pin is uniformly distributed, radially 360 ° of any directions can be born and apply certain active force.
Brief description of the drawings
Mating connection structural representations of the Fig. 1 for the present invention for the industrial robot rotation joint structure of hollow cabling.
Left view structural representations of the Fig. 2 for the present invention for the industrial robot rotation joint structure of hollow cabling.
E-E schematic cross-sections of the Fig. 3 for the present invention for the industrial robot rotation joint structure of hollow cabling.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of industrial robot rotation joint structure for hollow cabling：Including connection ring bearing 2 subtracts for connecting
Fast machine 1, and positioned by positioning hole, fixed by screw；Locating ring 4, for connecting robot links 5, and passes through positioning hole
Positioning, is fixed by screw；The front of connection ring bearing 2 is provided with the U-type groove for being used for being connected with the plug-in of locating ring 4；Locating ring 4 leads to
The cylindrical positioning pins 7 for crossing the cylindrical setting of connection ring bearing 2 are fixed in U-type groove；And, the end of cylindrical positioning pins 7 and U-type groove
Inner surface plug-in is connected, and the head end of cylindrical positioning pins 7 is fixed in straight pin via by jackscrew 6.The outer surface of U-type groove with
The cylindrical gap of locating ring 4 coordinates.The bottom surface of locating ring 4 is positioned with U-type groove underrun positioning hole.Straight pin number of vias
For four, it is in uniform annular spread.Installation through-hole is distributed with the uniform annular in the outer surface of locating ring 4, and cylindrical positioning pins 7 are logical with installing
Hole plug-in connection and gap cooperation.Connection ring bearing 2 is coordinated by shoulder and positioning hole with reductor 1 to be installed；Robot connects
Bar 5 is coordinated by shoulder and positioning hole with locating ring 4 to be installed.Shield 3, shield are additionally provided between reductor 1 and robot links 5
3 are located at the outside of connection ring bearing 2.
From the figure 3, it may be seen that installation through-hole bottom can be provided with polyurethane rings, the bottom of cylindrical positioning pins 7 in cone and with poly- ammonia
Ester ring plug-in is connected, and is conducive to playing a part of damping and confinement, it is to avoid the vibration in the course of work causes jackscrew 6 to loosen,
So as to influence overall running.
In one embodiment, as shown in Fig. 2 connection ring bearing 2 is arranged on the upper surface of reductor 1, locating ring 4 is arranged on
Mechanical arm body upper surface, connection ring bearing 2 is docked with locating ring 4, connects ring bearing, outer surface assembling cylindrical positioning pins 7 will even
Connect ring bearing 2 to be located by connecting with locating ring 4, realize that mechanical arm moment of torsion is transmitted.
In another embodiment, as shown in figure 1, connection ring bearing 2, determines for connecting reductor 1, and by positioning hole
Position, is fixed by screw；Locating ring 4, positions for connecting robot links 5, and by positioning hole, is fixed by screw；Even
Connect the front of ring bearing 2 and be provided with the U-type groove for being used for being connected with the plug-in of locating ring 4；Locating ring 4 is set by the way that connection ring bearing 2 is cylindrical
The cylindrical positioning pins 7 put are fixed in U-type groove, structure be applied to modularization fast-assembling mechanical arm, convenient disassembly, compact conformation, easily
Safeguard, mounting screw is convenient.
In another embodiment, as shown in figure 3, cylindrical positioning pins number of vias is four, it is in uniform annular spread, fixed
Installation through-hole is distributed with the position uniform annular of ring outer surface, and cylindrical positioning pins are connected with installation through-hole plug-in and gap coordinates, fixed
Position pin is uniformly distributed, and can be born radially 360 ° of any directions and be applied certain active force.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from the spirit or scope of the present invention.Therefore, this hair
It is bright to be limited to the embodiments shown herein, but to accord with principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (7)
1. a kind of industrial robot rotation joint structure for hollow cabling, it is characterised in that：
Including,
Connection ring bearing, positions for connecting reductor, and by positioning hole, is fixed by screw；
Locating ring, positions for connecting robot links, and by positioning hole, is fixed by screw；
The connection ring bearing front is provided with the U-type groove for being used for being connected with locating ring plug-in；The locating ring passes through connection ring
The cylindrical positioning pins of the cylindrical setting of bearing are fixed in U-type groove；And, end and the U-type groove inner surface of the cylindrical positioning pins
Plug-in is connected, and the head end of cylindrical positioning pins is fixed in cylindrical positioning pins via by jackscrew.
2. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
The outer surface of U-type groove coordinates with the cylindrical gap of locating ring.
3. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
Locating ring bottom surface is positioned with U-type groove underrun positioning hole.
4. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
Cylindrical positioning pins number of vias is four, and it is in uniform annular spread.
5. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
Installation through-hole is distributed with positioning ring outer surface uniform ring shape, and cylindrical positioning pins are connected with installation through-hole plug-in and gap coordinates.
6. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
Connection ring bearing is coordinated by shoulder and positioning hole with reductor to be installed；The robot links are by shoulder and positioning hole with determining
Position ring, which coordinates, to be installed.
7. the industrial robot rotation joint structure according to claim 1 for hollow cabling, it is characterised in that：It is described
Shield is additionally provided between reductor and robot links, shield is located at connection ring support outer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683941.3A CN107322634A (en) | 2017-08-11 | 2017-08-11 | Industrial robot rotation joint structure for hollow cabling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683941.3A CN107322634A (en) | 2017-08-11 | 2017-08-11 | Industrial robot rotation joint structure for hollow cabling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322634A true CN107322634A (en) | 2017-11-07 |
Family
ID=60199259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710683941.3A Pending CN107322634A (en) | 2017-08-11 | 2017-08-11 | Industrial robot rotation joint structure for hollow cabling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322634A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347403A (en) * | 2018-12-21 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Modular component mounting mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014100A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| CN201320822Y (en) * | 2009-04-22 | 2009-10-07 | 华创天元实业发展有限责任公司 | Automatic stretching and locating pin used for composite plastic pipeline with skeleton |
| CN203738795U (en) * | 2014-02-18 | 2014-07-30 | 江苏小铁人机床有限公司 | Industrial robot arm unit for spraying |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
| CN105234957A (en) * | 2015-11-17 | 2016-01-13 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
-
2017
- 2017-08-11 CN CN201710683941.3A patent/CN107322634A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014100A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| CN201320822Y (en) * | 2009-04-22 | 2009-10-07 | 华创天元实业发展有限责任公司 | Automatic stretching and locating pin used for composite plastic pipeline with skeleton |
| CN203738795U (en) * | 2014-02-18 | 2014-07-30 | 江苏小铁人机床有限公司 | Industrial robot arm unit for spraying |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
| CN105234957A (en) * | 2015-11-17 | 2016-01-13 | 珠海格力电器股份有限公司 | Robot and robot joint structure thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347403A (en) * | 2018-12-21 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Modular component mounting mechanism |
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| PB01 | Publication | ||
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Application publication date: 20171107 |