CN108638051A - A kind of high protection bispin articulated robot - Google Patents
A kind of high protection bispin articulated robot Download PDFInfo
- Publication number
- CN108638051A CN108638051A CN201810991418.1A CN201810991418A CN108638051A CN 108638051 A CN108638051 A CN 108638051A CN 201810991418 A CN201810991418 A CN 201810991418A CN 108638051 A CN108638051 A CN 108638051A
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- component
- screw
- joint
- arm component
- wrist joint
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of high protection bispin articulated robots, including base assembly, turn to sit component, big arm component, small arm component, wrist joint component, end joint assembly and wire passing device, the wire passing device is connected to the big arm component and the small arm component, the wrist joint component internal is equipped with the second speed reducer, second speed reducer is connected with the end joint assembly, second gear group is equipped in second speed reducer, the second through slot of the hollow formation in middle part of the second gear group, second through slot penetrates through the inside of the inside and the end joint assembly of the wrist joint component.A kind of high protection articulated robot of the present invention can directly work under environment of spraying water, pass through hollow setting, make robot communication and power cable in robot interior cabling, separately connected using air-tightness, ensure that robot interior space is relatively independent, to realize the purpose of waterproof, reach the technique effect of high protection.
Description
Technical field
The invention belongs to robotic technology fields, specifically, being related to a kind of high protection bispin articulated robot.
Background technology
Machine substitute human labor usually uses robot assisted to produce, mesh in terms of industry manufacture, production and its correlative technology field
Preceding multi-joint industrial robot in the market belongs to common six axis (six joints) robot mostly, however for production efficiency requirement
Higher and higher industry, there is an urgent need for the robot speed of service, maximum economic benefit are improved in the case where not increasing energy consumption.
There are a large amount of articulated type six-joint robots on the market at present, each comparison of first three axis is similar, and rear three-axis robot is main
It is divided into two classes, for the first kind using kuka as the motor postposition formula articulated robot of representative, it is representative that the second class, which is with UNAC, peace river etc.,
Motor preposition formula articulated robot, motor is all to be transversely mounted, such robot arm volume size depend on motor length,
Most of mechanical arm heavier-weight is caused, causes robot weight itself bigger than normal.
Application No. is 201710812007.7, apply for the application for a patent for invention of entitled " a kind of bispin articulated robot ",
A kind of bispin articulated robot is disclosed, large arm setting associated with forearm is used, makes flexible movements, the inertia of forearm
It is small, be swift in motion.With a wide range of use of such robot, the requirement to robot degree of protection is higher and higher, especially
Partial joint robot needs the use limitation in the equipment such as CNC machine, glass machine under environment of spraying water for a long time, is unable to reach
Enough degree of protection.
Invention content
The technical problem to be solved of the present invention is to provide a kind of environment that can be used to spray water, has high safeguard function
Articulated robot.
The present invention solve above-mentioned technical problem technical solution be：
A kind of high protection bispin articulated robot, including base assembly, turn seat component, big arm component, small arm component, wrist joint group
Part, end joint assembly and wire passing device, the base assembly, described turn of seat component, the big arm component, the forearm group
Part, the wrist joint component are organized successively with the end joint assembly merges relatively movable connection, the wire passing device connection
The big arm component and the small arm component, the wrist joint component internal are equipped with the second speed reducer, second speed reducer with
The end joint assembly is connected, and second gear group is equipped in second speed reducer, and the middle part of the second gear group is hollow
Form the second through slot, second through slot penetrates through the interior of the inside of the wrist joint component and the end joint assembly
Portion.
Specifically, the wrist joint component further includes having wrist joint motor, the wrist joint motor drives the wrist joint
Component, the wrist joint motor are fixed on the inside end of the small arm component, and the wrist is run through in the end of the small arm component
The input terminal of joint assembly and with the tangent setting of wrist joint component, the inside of the small arm component and the wrist joint component
Inside be mutually communicated.
Specifically, the small arm component includes screw-casing and forearm, the screw-casing is set in the head end of the forearm,
The big arm component includes upper joint sleeve, large arm and lower joint sleeve, and the upper joint sleeve is respectively sleeved at the lower joint sleeve
The both ends of the large arm, the upper joint sleeve match with the screw-casing, upper joint sleeve phase nested with the screw-casing
Even, the upper joint sleeve is externally provided with the second screw motor, and second screw motor is fixed on the upper joint sleeve and penetrates through
The upper joint sleeve drives the small arm component to be rotated, and described wire passing device one end is arranged on the upper joint sleeve, separately
One end is connected to the inside of the screw-casing.
Specifically, forearm motor and the first speed reducer are equipped in the screw-casing, the forearm motor and the forearm
The output end in the screw-casing is arranged in center-biased, first speed reducer, and the forearm is fixed with first speed reducer
Connection, first speed reducer is interior to be equipped with first gear group, the first through slot of the hollow formation in middle part of the first gear group, institute
State the inside that the first through slot penetrates through the inside and the forearm of the screw-casing.
Specifically, the upper joint sleeve is equipped with outlet hole with the large arm junction, the outlet hole is located at described second
Below screw motor, the wire passing device is located at the top of second screw motor.
Specifically, the wire passing device includes spiral bell and spigot joint, bellows and corrugated pipe connector, the spiral bell and spigot joint is solid
It is scheduled on above the screw-casing, the corrugated pipe connector is fixed on the upper joint sleeve, and the bellows penetrates through the spiral
Bell and spigot joint and the corrugated pipe connector.
Specifically, described turn is sat component and include the first screw motor and turn seat platform, the seat platform that turns rotatably is nested in institute
It states on base assembly, first screw motor setting turns seat platform side and turn seat platform and the lower connection through described described
Seat is connected, and first screw motor drives the big arm component.
Specifically, the base assembly is internally provided with base electrical machinery, turn seat platform described in the base electrical machinery driving.
Specifically, the base assembly sits component and the big arm component with described turn of seat the connecting of component, described turn
Connection, the connecting of the big arm component and the small arm component, the small arm component and the wrist joint component connect, described
The connection of wrist joint component and the end joint assembly is air-tightness connection.
The present invention's has the advantages that：By hollow setting, the communication of robot and power cable is made to exist
Robot interior cabling is separately connected using air-tightness, ensures that robot interior space is relatively independent, to realize the mesh of waterproof
, so that high protection articulated robot provided by the invention is directly worked under environment of spraying water, reaches the skill of high protection
Art effect.
Description of the drawings
Fig. 1 is the high dimensional structure diagram for protecting articulated robot of the present invention.
Fig. 2 is the high cross section structure schematic diagram for protecting articulated robot of the present invention.
Fig. 3 is the enlarged structure schematic diagram at the positions A of the present invention.
Fig. 4 is the enlarged structure schematic diagram at the positions B of the present invention.
The meaning that each serial number indicates in attached drawing is as follows：
1 base assembly, 11 base electrical machineries, 2 turns of seat components, 21 turns of seat platforms, 22 first screw motors, 3 big arm components, 31 second spiral shells
Rotation motor, 32 upper joint sleeves, 33 large arm, 34 lower joint sleeves, 35 outlet holes, 4 small arm components, 41 screw-casings, 42 forearm motors, 43
First gear group, 44 first through slots, 45 forearms, 5 wrist joint components, 51 wrist joint motors, 52 second gear groups, 53 second pass through
Straight slot, 6 end joint assemblies, 7 wire passing devices, 71 spiral bell and spigot joints, 72 bellowss, 73 corrugated pipe connectors.
Specific implementation mode
It elaborates below in conjunction with the accompanying drawings to the present invention.
A kind of high protection bispin articulated robot of the embodiment of the present invention, including base assembly 1, turn seat component 2, large arm group
Part 3, small arm component 4, wrist joint component 5, end joint assembly 6 and wire passing device 7, the base assembly 1, described turn of seat component
2, the big arm component 3, the small arm component 4, the wrist joint component 5 are organized successively with the end joint assembly 6 merges phase
To movable connection, the wire passing device 7 is connected to the big arm component 3 and the small arm component 4, in the wrist joint component 5
Portion is equipped with the second speed reducer, and second speed reducer is connected with the end joint assembly 6, equipped with the in second speed reducer
Two gear sets 52, the second through slot 53 of the hollow formation in middle part of the second gear group 52, second through slot 53 penetrate through institute
State the inside of the inside and the end joint assembly 6 of wrist joint component 5.Cable penetrate through successively the base assembly 1, described turn
Component 2, the big arm component 3, the wire passing device 7, the small arm component 4, the wrist joint component 5 and the end is sat to close
Component 6 is saved, by hollow setting by built in cable, outside setting waterproof improves degree of protection, and then enables articulated robot
Enough smooth operations in the environment of water spray.
Specifically, the wrist joint component 5 further includes having wrist joint motor 51, the wrist joint motor 51 drives the wrist
Joint assembly 5, the wrist joint motor 51 are fixed on the inside end of the small arm component 4, and the end of the small arm component 4 is passed through
Wear the input terminal of the wrist joint component 5 and with 5 tangent setting of the wrist joint component, the inside of the small arm component 4 and institute
The inside for stating wrist joint component 5 is mutually communicated.Wrist joint motor 51 is set up directly in small arm component 4, to avoid exposure to
The external world ensure that its degree of protection to be sprayed onto by the water in extraneous environment of spraying water.
Specifically, the small arm component 4 includes screw-casing 41 and forearm 45, the screw-casing 41 is set in the forearm
45 head end, the big arm component 3 include upper joint sleeve 32, large arm 33 and lower joint sleeve 34, the upper joint sleeve 32 with it is described
Lower joint sleeve 34 is respectively sleeved at the both ends of the large arm 33, and the upper joint sleeve 32 matches with the screw-casing 41, described
Upper joint sleeve 32 and the screw-casing 41 are nested to be connected, and the upper joint sleeve 32 is externally provided with the second screw motor 31, and described second
Screw motor 31, which is fixed on the upper joint sleeve 32 and penetrates through the upper joint sleeve 32, drives 4 turns of the small arm component
Dynamic, 7 one end of the wire passing device is arranged on the upper joint sleeve 32, and the other end is connected to the inside of the screw-casing 41.Second
Screw motor 31 is fixed on upper joint sleeve 32, due to 32 position of upper joint sleeve height, is generally not in water spray environment, second
The rotation of screw motor 31 can drive screw-casing 41 to be rotated, since screw-casing 41 is connected with forearm 45, screw-casing 41
Rotation can drive forearm 45 to rotate, and then wrist joint component 5 is driven to be carried with the circular motion of 6 vertical direction of end joint assembly
The driving of vertical direction displacement is carried out for forearm 45.
Specifically, the screw-casing 41 in be equipped with forearm motor 42 and the first speed reducer, the forearm motor 42 with it is described
The center-biased of forearm 45, first speed reducer are arranged the output end in the screw-casing 41, the forearm 45 and described the
One speed reducer is fixedly connected, and first gear group 43 is equipped in first speed reducer, and the middle part of the first gear group 43 is hollow
The first through slot 44 is formed, first through slot 44 penetrates through the inside of the inside and the forearm 45 of the screw-casing 41.The
The presence of one through slot 44, enables cable to be placed directly into when entering in screw-casing 41 in forearm 45, do not have to it is external, carry
High degree of protection.
Specifically, the upper joint sleeve 32 is equipped with outlet hole 35 with 33 junction of the large arm, the outlet hole 35 is located at
Second screw motor, 31 lower section, the wire passing device 7 are located at the top of second screw motor 31.Outlet hole 35 is main
Be for cable to be released from large arm 33 and is entered by corrugated pipe connector 73, hence into making in cable to wire passing device 7,
Herein since large arm is provided in outside running equipment such as glass machine, CNC machine, it is not necessarily to enter in water, will not be splashed by water, because
This, out protective equipment can be not provided with from outlet hole 35 into the cable before wire passing device 7.
Specifically, the wire passing device 7 includes spiral bell and spigot joint 71, bellows 72 and corrugated pipe connector 73, the spiral
Bell and spigot joint 71 is fixed on 41 top of the screw-casing, and the corrugated pipe connector 73 is fixed on the upper joint sleeve 32, the wave
Line pipe 72 penetrates through the spiral bell and spigot joint 71 and the corrugated pipe connector 73.The setting can ensure that wire passing device 7 does not interfere with
To the rotation of screw-casing 41, it can also ensure that cable is not exposed to the top, leads to the decline of its degree of protection.
Specifically, it includes the first screw motor 22 and turn seat platform 21 that described turn, which is sat component 2, described to turn seat platform 21 rotatable embedding
It is sleeved on the base assembly 1, first screw motor 22 setting turns 21 side of seat platform and turn seat platform through described described
21 are connected with the lower connecting base, and first screw motor 22 drives the big arm component 3.Specifically, the base assembly 1
It is internally provided with base electrical machinery 11, the base electrical machinery 11, which drives, described turns seat platform 21.Pedestal is fixed on lathe, passes through pedestal electricity
The effect of machine 11 enables turn seat component 2 is opposite to carry out circular motion with pedestal, and the first screw motor 22 makes big arm component 3
It can be similar to hinged connection with the seat formation of component 2 is turned, keep the entire high operational range for protecting articulated robot wider.
Specifically, the base assembly 1 sits component 2 and the big arm component with described turn of seat the connecting of component 2, described turn
3 connect, the connecting of the big arm component 3 and the small arm component 4, the company of the small arm component 4 and the wrist joint component 5
It connects, the connection of the wrist joint component 5 and the end joint assembly 6 is air-tightness connection.Air-tightness connection makes the present invention
The degree of protection of high protection articulated robot integrally reach the grade of IP67, can use, meet existing in environment of spraying water
The demand of environment is suitable for commercial Application.
The above content is combine specific preferred embodiment to the further description done of the present invention, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (7)
1. a kind of high protection bispin articulated robot, including base assembly（1）, turn sit component（2）, big arm component（3）, forearm group
Part（4）, wrist joint component（5）, end joint assembly（6）With wire passing device（7）, the base assembly（1）, described turn seat component
（2）, the big arm component（3）, the small arm component（4）, the wrist joint component（5）With the end joint assembly（6）According to
The relatively movable connection of secondary group of merging, the wire passing device（7）It is connected to the big arm component（3）With the small arm component（4）,
It is characterized in that：The wrist joint component（5）It is internally provided with the second speed reducer, second speed reducer and the end joint assembly
（6）It is connected, second gear group is equipped in second speed reducer（52）, the second gear group（52）Middle part hollow form the
Two through slots（53）, second through slot（53）Penetrate through the wrist joint component（5）Inside and the end joint assembly
（6）Inside, the wrist joint component（5）Further include having wrist joint motor（51）, the wrist joint motor（51）Described in driving
Wrist joint component（5）, the wrist joint motor（51）It is fixed on the small arm component（4）Inside end, the small arm component
（4）End run through the wrist joint component（5）Input terminal and with the wrist joint component（5）Tangent setting, the forearm
Component（4）Inside and the wrist joint component（5）Inside be mutually communicated, the small arm component（4）It include screw-casing
（41）With forearm（45）, the screw-casing（41）It is set in the forearm（45）Head end, the big arm component（3）Including upper company
Female connector（32）, large arm（33）With lower joint sleeve（34）, the upper joint sleeve（32）With the lower joint sleeve（34）It is respectively sleeved at
The large arm（33）Both ends, the upper joint sleeve（32）With the screw-casing（41）Match, the upper joint sleeve（32）With
The screw-casing（41）Nesting is connected, the upper joint sleeve（32）It is externally provided with the second screw motor（31）, the second spiral electricity
Machine（31）It is fixed on the upper joint sleeve（32）It goes up and penetrates through the upper joint sleeve（32）Drive the small arm component（4）Turned
It is dynamic, the wire passing device（7）One end is arranged in the upper joint sleeve（32）On, the other end is connected to the screw-casing（41）It is interior
Portion.
2. high protection bispin articulated robot according to claim 1, it is characterised in that：The screw-casing（41）Inside it is equipped with
Forearm motor（42）With the first speed reducer, the forearm motor（42）With the forearm（45）Center-biased, described first subtracts
Fast machine is arranged in the screw-casing（41）Output end, the forearm（45）It is fixedly connected with first speed reducer, described
First gear group is equipped in one speed reducer（43）, the first gear group（43）The first through slot of the hollow formation in middle part（44）,
First through slot（44）Penetrate through the screw-casing（41）Inside and the forearm（45）Inside.
3. high protection bispin articulated robot according to claim 1, it is characterised in that：The upper joint sleeve（32）With institute
State large arm（33）Junction is equipped with outlet hole（35）, the outlet hole（35）Positioned at second screw motor（31）Lower section, institute
State wire passing device（7）Positioned at second screw motor（31）Top.
4. high protection bispin articulated robot according to claim 3, it is characterised in that：The wire passing device（7）Including
Spiral bell and spigot joint（71）, bellows（72）With corrugated pipe connector（73）, the spiral bell and spigot joint（71）It is fixed on the screw-casing
（41）Top, the corrugated pipe connector（73）It is fixed on the upper joint sleeve（32）On, the bellows（72）Penetrate through the spiral shell
Rotation set connector（71）With the corrugated pipe connector（73）.
5. high protection bispin articulated robot according to any one of claims 1-4, it is characterised in that：Described turn of seat group
Part（2）Including the first screw motor（22）With turn seat platform（21）, described to turn seat platform（21）Rotatably it is nested in the base assembly
（1）On, first screw motor（22）It is arranged and turns seat platform described（21）Side simultaneously turns seat platform through described（21）With it is described
Lower connecting base is connected, first screw motor（22）Drive the big arm component（3）.
6. high protection bispin articulated robot according to claim 5, it is characterised in that：The base assembly（1）It is internal
Equipped with base electrical machinery（11）, the base electrical machinery（11）Turn seat platform described in driving（21）.
7. high protection bispin articulated robot according to claim 6, it is characterised in that：The base assembly（1）With institute
It states and turns to sit component（2）Connect, described turn seat component（2）With the big arm component（3）Connect, the big arm component（3）With
The small arm component（4）Connect, the small arm component（4）With the wrist joint component（5）Connect, the wrist joint component
（5）With the end joint assembly（6）Connection be air-tightness connection.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107389945 | 2018-07-06 | ||
| CN201810738994.5A CN108515516A (en) | 2018-07-06 | 2018-07-06 | A kind of high protection bispin articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638051A true CN108638051A (en) | 2018-10-12 |
Family
ID=63428577
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738994.5A Pending CN108515516A (en) | 2018-07-06 | 2018-07-06 | A kind of high protection bispin articulated robot |
| CN201810991418.1A Pending CN108638051A (en) | 2018-07-06 | 2018-08-29 | A kind of high protection bispin articulated robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738994.5A Pending CN108515516A (en) | 2018-07-06 | 2018-07-06 | A kind of high protection bispin articulated robot |
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| CN (2) | CN108515516A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
| CN113524211A (en) * | 2021-06-29 | 2021-10-22 | 广州数控设备有限公司 | High-protection robot with rotatable swing arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571542B (en) * | 2018-12-10 | 2019-09-24 | 葛启震 | A kind of various dimensions robot movable joint |
| CN112743518A (en) * | 2020-12-28 | 2021-05-04 | 国工信(沧州)机器人有限公司 | Multipurpose industrial robot with hollow wrist |
| CN114290378A (en) * | 2022-01-21 | 2022-04-08 | 重庆智能机器人研究院 | Industrial robot with pipeline anti-abrasion structure and internal pipeline arrangement method |
| CN115416874B (en) * | 2022-08-22 | 2023-09-29 | 哈尔滨工业大学（深圳） | Modularized reconfigurable multi-arm spacecraft and reconstruction method thereof |
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| JP2514789Y2 (en) * | 1989-02-09 | 1996-10-23 | 川崎重工業株式会社 | Wrist structure of industrial robot |
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| CN111975760A (en) * | 2020-07-31 | 2020-11-24 | 西安航天精密机电研究所 | One-shaft rotating mechanism applicable to multi-shaft robot and having IP65 protection grade |
| CN113524211A (en) * | 2021-06-29 | 2021-10-22 | 广州数控设备有限公司 | High-protection robot with rotatable swing arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108515516A (en) | 2018-09-11 |
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Application publication date: 20181012 |