CN108673565A - A kind of hollow wire protecting structure of industrial robot - Google Patents
A kind of hollow wire protecting structure of industrial robot Download PDFInfo
- Publication number
- CN108673565A CN108673565A CN201810671742.5A CN201810671742A CN108673565A CN 108673565 A CN108673565 A CN 108673565A CN 201810671742 A CN201810671742 A CN 201810671742A CN 108673565 A CN108673565 A CN 108673565A
- Authority
- CN
- China
- Prior art keywords
- hollow
- line set
- industrial robot
- wire protecting
- protecting structure
- 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
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims abstract description 14
- 230000007704 transition Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 229920006324 polyoxymethylene Polymers 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 3
- 239000011796 hollow space material Substances 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 239000004519 grease Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of hollow wire protecting structures of industrial robot; including motor cabinet, hollow reducer; the output end of the hollow reducer is connected with wrist body, hollow shaft driving end is connected with driving pulley, further include both ends be separately mounted in the seam allowance of wrist body and on driving pulley it is hollow cross line set, the T-type being connected on motor cabinet crosses line set, crosses line set and T-type crosses line set and is banded in T-type Guo Xiantaoshang robots cable by band across hollow.The invention can ensure that crossing, line set is concentric with speed reducer, avoids the hollow abrasion crossed line and covered；Cable biasing is also can avoid, cable is reduced and crosses being in direct contact for line set with hollow, play the role of secondary protection, it is effective to improve cable service life so that the reliability of cable greatly promotes, and to ensure the stability of robot, reduces maintenance cost.
Description
Technical field
The present invention relates to the built-in routing technology field of industrial robot, specifically a kind of industrial robot hollow line
Cable protection structure.
Background technology
Currently, being directed to small loading robotics people, cable is typically either built into body interior, the quality of robot cable state,
Can robot body be directly affected stable operation.For hollow type cabling occasion, cable needs guiding through high speed hollow shaft, if
Cable is in direct contact with high speed hollow shaft, and at runtime, Internal cable is easily worn speed reducer, when cable is worn
To a certain degree when, robot will shut down, even cause danger, and then generate high maintenance cost.To solve the problem,
Manufacturer of domestic and international robot in cable surface smear grease, or by increasing line set mostly by improving the abrasion of cable
Situation.
But served as line set it is not placed in the middle when, be easily in contact with high speed hollow shaft, wore line set, and then to Internal cable
Also will produce certain abrasion, at the same it is simple lubricating grease is smeared on cable, also can not fundamentally ensure that cable is not sent out
Raw abrasion.
Therefore, for the hollow occasion for crossing line, active demand is a kind of fundamentally can effectively to avoid cable from wearing
String-passing structure.
Invention content
In order to avoid with solve above-mentioned technical problem, the present invention proposes a kind of hollow cable protection knot of industrial robot
Structure.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of hollow wire protecting structure of industrial robot, including motor cabinet, hollow reducer, the hollow reducer
Output end is connected with wrist body, hollow shaft driving end is connected with driving pulley, further includes that both ends are separately mounted to stopping for wrist body
Hollow in mouthful and on driving pulley crosses line set, the T-type being connected on motor cabinet crosses line set, passes through and hollow crosses line set and T-type mistake
Line covers and is banded in T-type Guo Xiantaoshang robots cable by band.
Preferably, it is coaxial with the hollow shaft of hollow reducer to cross line set for hollow line set, the T-type excessively.
Preferably, there are gap a for the hollow outer wall for crossing line set and the hollow shaft of hollow reducer.
Preferably, the hollow material for crossing line set is polyformaldehyde, and the hollow line set of crossing includes big end, small end, greatly
End is interference fit with the radial and axial of wrist body, and axially presses positioning, small end using the output end of hollow reducer
Radial and axial with wrist body is transition or clearance fit.
Preferably, the hollow line inlet and outlet of crossing for crossing line set are smooth fillet transition.
Preferably, the material that the T-type crosses line set is polyformaldehyde, and the through-hole of four even cloth is radially equipped on right end.
Preferably, the line inlet and outlet of crossing that the T-type crosses line set are smooth fillet transition.The T-type crosses the upper end of line set
Equipped with the installation through-hole being connected to for screw on motor cabinet.
Preferably, the inner ring of the driving pulley is equipped with for installing the hollow bearing for crossing line set.
Preferably, the bearing is mounted on using interference fit on the inner ring of driving pulley.
Preferably, the material of the driving pulley is 7075, and inner ring interference fit is mounted in hollow reducer.
Preferably, equipped with being set with the aperture of bearing fit, rear outside, there are three screws to pacify for the front of the driving pulley
Fill hole and the installation aperture with the hollow shaft driving end cooperation of hollow reducer.
The beneficial effects of the invention are as follows：
Compared with prior art, the present invention crosses line cover material and structure by using reasonable design, it is ensured that crosses line
Set is concentric with speed reducer, avoids the hollow abrasion crossed line and covered；In addition, cable can be at middle position, cable biasing is can avoid, is subtracted
Few cable crosses being in direct contact for line set with hollow, plays the role of secondary protection；Meanwhile the hollow output crossed line set and be in speed reducer
End, though cable with mistake line set be in contact, rotating speed is very low, can effectively improve cable service life so that cable it is reliable
Property greatly promote, to ensure the stability of robot, reduce maintenance cost.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the diagrammatic cross-section of the overall structure of the present invention；
Fig. 2 is the hollow diagrammatic cross-section for crossing line set of the present invention；
Fig. 3 is the dimensional structure diagram that T-type crosses line set in the present invention；
Fig. 4 is the cross-sectional view of driving pulley in the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 4, the hollow wire protecting structure of a kind of industrial robot, including motor cabinet 3, connected by screw
The output end of the hollow reducer 2 being connected on motor cabinet 3, the hollow reducer 2 is connected with wrist body 1, hollow shaft driving end
It is connected with driving pulley 5, further includes that both ends are separately mounted in the seam allowance of wrist body 1 and the hollow line set excessively on driving pulley 5
4, the T-type being connected on motor cabinet 3 crosses line set 7, crosses line set 7 across the hollow set of line excessively 4 and T-type and be banded in T-type by band
Cross the robot cable 8 on line set 7.
It is described it is hollow cross line set 4, that T-type crosses line set is 7 coaxial with the hollow shaft of hollow reducer 2.
There are gap a for the hollow outer wall for crossing line set 4 and the hollow shaft of hollow reducer 2.The gap a is more than zero.
The hollow material for crossing line set 4 is polyformaldehyde, and the hollow line set 4 of crossing includes big end 41, small end 43, big end
41 with the radial and axial of wrist body 1 be interference fit, and axially presses positioning using the output end of hollow reducer 2, small
End 43 is transition or clearance fit with wrist body 1.The inner ring of the driving pulley 5 is equipped with covers 4 for installing hollow line of crossing
Bearing 6.The bearing 6 is using interference fit on the inner ring of driving pulley 5.In use, the hollow big end 41 for crossing line set 4
It is engaged in the aperture of wrist body 1, is pressed axially through the output end of hollow reducer 2, hollow line set 4 of crossing can be positioned to hollow
The output end of speed reducer 2, small end 43 are engaged to the endoporus of bearing 6, it is ensured that and hollow line set 4 of crossing is concentric with hollow reducer 2, from
And can avoid it is hollow cross line set 4 with high speed shaft contact wear, while it is hollow cross line set 4 positioning to hollow reducer 2 output end,
Its rotating speed is relatively low, and can effectively protect Internal cable avoids wearing.
The hollow line inlet and outlet of crossing for crossing line set 4 are smooth fillet transition.The hollow smooth circle crossed on line set 4
Angle transition includes 42,44.
The material that the T-type crosses line set 7 is polyformaldehyde, and the through-hole 72 of four even cloth is radially equipped on right end.It uses
When, robot cable 8 passed through line to import and export, and cable is positioned at T-type across through-hole 72 by band and crosses line by the rear end of cable
On set 7, cable can be kept to be in middle position, reduced and the hollow contact for crossing line set 4.
The line inlet and outlet of crossing that the T-type crosses line set 7 are smooth fillet transition 73.The upper end that the T-type crosses line set 7 is equipped with
The installation through-hole 71 being connected to for screw on motor cabinet 3.
The material of the driving pulley 5 is 7075, and inner ring interference fit is mounted in hollow reducer 2.
Screw mounting hole there are three the front of the driving pulley 5 is equipped with the aperture 51 coordinated with bearing 6, rear outside is set
52 and the installation aperture 53 with the hollow shaft of hollow reducer 2 driving end cooperation.In use, bearing 6 is first installed on driving
In the aperture 51 of belt wheel 5, then bearing 6 that driving pulley 5 is connected with hollow reducer 2, while is installed on driving pulley 5
Minor diameter fit is crossed hollow on line set 4, when motor drives driving pulley 5 to rotate, because bearing 6 acts on, hollow line of crossing can be made to cover 4
Between two parties, it does not shift.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of hollow wire protecting structure of industrial robot, including motor cabinet (3), hollow reducer (2), the hollow deceleration
The output end of machine (2) is connected with wrist body (1), hollow shaft driving end is connected with driving pulley (5), it is characterised in that：Further include
What both ends were separately mounted in the seam allowance of wrist body (1) and on driving pulley (5) hollow cross line set (4), is connected to motor cabinet (3)
On T-type cross line set (7), pass through it is hollow cross line set (4) and T-type cross line set (7) and be banded in the machine that T-type is crossed on line set (7)
People's cable (8).
2. the hollow wire protecting structure of a kind of industrial robot according to claim 1, it is characterised in that：The hollow mistake
It is coaxial with the hollow shaft of hollow reducer (2) that line set (4), T-type cross line set (7).
3. the hollow wire protecting structure of a kind of industrial robot according to claim 1, it is characterised in that：The hollow mistake
There are gap a with the hollow shaft of hollow reducer (2) for the outer wall of line set (4).
4. the hollow wire protecting structure of a kind of industrial robot according to any one of claim 1 to 3, feature exist
In：The hollow material for crossing line set (4) is polyformaldehyde, and big end (41) and the radial and axial of wrist body (1) are interference
Cooperation.
5. the hollow wire protecting structure of a kind of industrial robot according to any one of claim 1 to 4, feature exist
In：The hollow line inlet and outlet of crossing for crossing line set (4) are smooth fillet transition.
6. the hollow wire protecting structure of a kind of industrial robot according to claim 1, it is characterised in that：The T-type mistake
The material of line set (7) is polyformaldehyde, and the through-hole (72) of four even cloth is radially equipped on right end.
7. the hollow wire protecting structure of a kind of industrial robot according to claim 1 or 6, it is characterised in that：The T-type
The line inlet and outlet of crossing for crossing line set (7) are smooth fillet transition (73).
8. the hollow wire protecting structure of a kind of industrial robot according to claim 1, it is characterised in that：The driving band
The inner ring of wheel (5) is equipped with for installing the hollow bearing (6) for crossing line set (4).
9. the hollow wire protecting structure of a kind of industrial robot according to claim 8, it is characterised in that：The bearing
(6) using interference fit on the inner ring of driving pulley (5).
10. the hollow wire protecting structure of a kind of industrial robot according to claim 1 or 8, it is characterised in that：The drive
The material of movable belt pulley (5) is 7075, and inner ring interference fit is mounted in hollow reducer (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671742.5A CN108673565A (en) | 2018-06-26 | 2018-06-26 | A kind of hollow wire protecting structure of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671742.5A CN108673565A (en) | 2018-06-26 | 2018-06-26 | A kind of hollow wire protecting structure of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108673565A true CN108673565A (en) | 2018-10-19 |
Family
ID=63812048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671742.5A Pending CN108673565A (en) | 2018-06-26 | 2018-06-26 | A kind of hollow wire protecting structure of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108673565A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328984A (en) * | 1993-12-27 | 1995-12-19 | Inst Advanced Engineering | Industrial robot |
| JP2001113490A (en) * | 1999-08-12 | 2001-04-24 | Nachi Fujikoshi Corp | Wrist driving device for industrial robot |
| US20060170384A1 (en) * | 2003-03-05 | 2006-08-03 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
| CN205704281U (en) * | 2016-06-15 | 2016-11-23 | 广州启帆工业机器人有限公司 | A kind of non-hollow mechanical hand string-passing structure |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
-
2018
- 2018-06-26 CN CN201810671742.5A patent/CN108673565A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328984A (en) * | 1993-12-27 | 1995-12-19 | Inst Advanced Engineering | Industrial robot |
| JP2001113490A (en) * | 1999-08-12 | 2001-04-24 | Nachi Fujikoshi Corp | Wrist driving device for industrial robot |
| US20060170384A1 (en) * | 2003-03-05 | 2006-08-03 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
| CN205704281U (en) * | 2016-06-15 | 2016-11-23 | 广州启帆工业机器人有限公司 | A kind of non-hollow mechanical hand string-passing structure |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
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