CN108705520A - One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot - Google Patents
One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot Download PDFInfo
- Publication number
- CN108705520A CN108705520A CN201810798536.0A CN201810798536A CN108705520A CN 108705520 A CN108705520 A CN 108705520A CN 201810798536 A CN201810798536 A CN 201810798536A CN 108705520 A CN108705520 A CN 108705520A
- Authority
- CN
- China
- Prior art keywords
- retarder
- armed
- exhibition
- shaft portion
- connection 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.)
- Granted
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 28
- 238000007789 sealing Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 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
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot, the retarder being connected with motor cabinet including motor cabinet, output shaft, the forearm connecting plate being connected with retarder, rebound is connected on motor cabinet, rebound is equipped with inner ring and is mounted on forearm connecting plate and along the bearing of retarder axis distribution.The present invention can only need mainly to consider torsional performance in retarder type selecting, advantageously reduce cost, and have relatively reliable performance；Waterproof and dustproof, damp proof effect can be played using closed structure simultaneously, help to improve the service life of retarder.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, specifically a kind of to be based on long-armed exhibition six-DOF robot four
Shaft portion connection structure.
Background technology
With the fast development of Industrial Robot Technology, application also extends to rapidly various industries.Wherein arc-welding, spraying
The terminal light load in equal fields, but it is larger to motion range.Currently used settling mode is larger curved using that can bear
The RV retarders of square power select big model harmonic speed reducer.But needed for the satisfaction when moment of flexure, the torque of speed reducer
Can be many beyond needing, cause waist performance.If can have a kind of structure that can eliminate or reduce the moment of flexure suffered by retarder,
Its torque index provided is mainly provided when type selecting, can greatly reduce cost.
Invention content
In order to avoid with solve above-mentioned technical problem, the present invention, which proposes, a kind of being based on long-armed exhibition six-DOF robot four
Shaft portion connection structure.
The technical problems to be solved by the invention are realized using following technical scheme：
One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor cabinet, output shaft and motor
Seat connected retarder, the forearm connecting plate that is connected with retarder, be connected with rebound on the motor cabinet, on the rebound
It is mounted on forearm connecting plate and along the bearing of retarder axis distribution equipped with inner ring.
Preferably, the bearing is set as two side by side along the axis of forearm connecting plate.
Preferably, the retarder is any one of RV retarders or harmonic speed reducer.
Preferably, the junction of the retarder and forearm connecting plate is equipped with the O-ring seal A for sealing.
Preferably, the junction of the retarder and motor cabinet is equipped with the O-ring seal B for sealing.
Preferably, the motor cabinet is equipped at the axis of retarder and forearm connecting plate and for cable, tracheae
And the line set excessively that harness passes through.
Preferably, its axis of the forearm connecting plate upper edge be equipped with side by side be mounted on the upper retainer ring of line set, small bearing with
And outside framework oil seal.
Preferably, the junction for crossing line set and motor cabinet is equipped with the O-ring seal C for sealing.
The beneficial effects of the invention are as follows：Structure of the invention reasonable design only need to can mainly consider in retarder type selecting
Torsional performance advantageously reduces cost, and has relatively reliable performance；It can be played using closed structure simultaneously anti-
Water, dust-proof, damp proof effect, help to improve the service life of retarder；It can be then cable and tracheae isocorrelate beam to cross line set
Protection is provided, the whole service life of robot is extended.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is partial enlarged view at the I of Fig. 1；
Fig. 3 is partial enlarged view at the II of Fig. 1；
Fig. 4 is partial enlarged view at the III of Fig. 1；
Fig. 5 is partial enlarged view at the IV of Fig. 1.
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 5, a kind of to be based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor
Seat 1, the retarder 2 that output shaft is connected with motor cabinet 1, the forearm connecting plate 4 being connected with retarder 2 connect on the motor cabinet 1
There are rebound 3, the rebound 3 to be equipped with inner ring and be mounted on forearm connecting plate 4 and along the bearing 5 of 2 axis of retarder distribution.
Wherein, motor cabinet 1 plays the role of supporting three axis or four spindle motors and retarder 2, and one end of forearm connecting plate 4
For connecting retarder 2, the wrist of the other end and robot connects, and forearm is supported on by the way that bearing 5 is arranged on rebound 3
On connecting plate 4, it can bear perpendicular to 1 normal force of motor cabinet, to protect internal retarder 2, and bearing 5 can play
The effect for supporting forearm connecting plate 4 and retarder 2, can bear the power for being parallel to retarder mounting surface, use this structure can be with
So that retarder 2 is not subject to or bear the radial load of very little, the bending resistance enhancing of total itself, therefore selects slow down at this time
Device 2 need to consider its torsional performance, can avoid waist performance.
The bearing 5 is set as two side by side along the axis of forearm connecting plate 4.Using duplex bearing 5, it can enhance and forearm is connected
The supporting role of fishplate bar 4 and retarder 2.
The retarder 2 is any one of RV retarders or harmonic speed reducer.
The junction of the retarder 2 and forearm connecting plate 4 is equipped with the O-ring seal A9 for sealing.The retarder 2
The O-ring seal B11 for sealing is equipped with the junction of motor cabinet 1.In this way, retarder 2 can be constituted and is sealed
Structure is closed, waterproof and dustproof and damp proof effect is realized, helps to improve the service life of retarder.
The motor cabinet 1 be equipped at the axis of retarder 2 and forearm connecting plate 4 and for cable, tracheae and
What harness passed through crosses line set 10.
4 upper edge of forearm connecting plate its axis be equipped with side by side the retainer ring 6 being mounted on line set 10, small bearing 7 and
Outside framework oil seal 8.The junction for crossing line set 10 and motor cabinet 1 is equipped with the O-ring seal C12 for sealing.Using this side
Formula can will cross line set 10 and form enclosed construction with the region that other interconnecting pieces are constituted, realize waterproof and dustproof and damp proof work
With, contribute to extend robot whole service life.
When the present invention uses：
First, the cooperation of retarder 2 O-ring seal B11 is fastened on motor cabinet 1, rebound 3 is connected by bolt
It connects and is fixed on motor cabinet 1, then retainer ring 6, small bearing 7 are mounted on forearm connecting plate 4, while being installed on forearm connecting plate 3
After two bearings 5 side by side, and coordinates and fixation is bolted with retarder 2 after O-ring seal A9.
Then, O-ring seal C12 was mounted on line set 10, line set 10 was made to pass through retarder 2, and kept one end logical
It crosses O-ring seal C12 and is sealedly connected on motor cabinet 1, and the small bearing 7 of the other end is mounted on forearm connecting plate 4, and then by bone
Frame oil sealing 8, which was mounted on to seal with forearm connecting plate on line set 10, to be coordinated.
Pass through the installation of structure everywhere above so that only need mainly to consider torque when carrying out retarder type selecting
Can, it is capable of the reduction of cost of implementation and more reliable performance is provided；Simultaneously closed structure to waterproof and dustproof, it is damp proof have well
Effect, helps to improve the service life of retarder；Crossing the use of line set can provide for five, six axis cables and tracheae isocorrelate beam
Protection, extends the whole service life of robot.
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 (8)
1. one kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot, including motor cabinet (1), output shaft and motor
Seat (1) connected retarder (2), the forearm connecting plate (4) that is connected with retarder (2), it is characterised in that：The motor cabinet (1)
On be connected with rebound (3), the rebound (3) is equipped with inner ring and is mounted on forearm connecting plate (4) and along retarder (2) axis
The bearing (5) of line distribution.
2. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：The bearing (5) is set as two side by side along the axis of forearm connecting plate (4).
3. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：The retarder (2) is any one of RV retarders or harmonic speed reducer.
4. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：The junction of the retarder (2) and forearm connecting plate (4) is equipped with the O-ring seal A (9) for sealing.
5. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：The junction of the retarder (2) and motor cabinet (1) is equipped with the O-ring seal B (11) for sealing.
6. according to claim 1 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：The motor cabinet (1) be equipped at the axis of retarder (2) and forearm connecting plate (4) and for cable, tracheae with
And the line set (10) excessively that harness passes through.
7. according to claim 6 a kind of based on long-armed four shaft portion connection structure of exhibition six-DOF robot, feature
It is：Described its axis of forearm connecting plate (4) upper edge is equipped with retainer ring (6), the small bearing (7) being mounted on line set (10) side by side
And outside framework oil seal (8).
8. one kind described according to claim 6 or 7 is based on long-armed four shaft portion connection structure of exhibition six-DOF robot, special
Sign is：The junction for crossing line set (10) and motor cabinet (1) is equipped with the O-ring seal C (12) for sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798536.0A CN108705520B (en) | 2018-07-19 | 2018-07-19 | Four-axis part connecting structure based on robot with six degrees of freedom of long arm extension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798536.0A CN108705520B (en) | 2018-07-19 | 2018-07-19 | Four-axis part connecting structure based on robot with six degrees of freedom of long arm extension |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108705520A true CN108705520A (en) | 2018-10-26 |
| CN108705520B CN108705520B (en) | 2024-10-18 |
Family
ID=63875179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810798536.0A Active CN108705520B (en) | 2018-07-19 | 2018-07-19 | Four-axis part connecting structure based on robot with six degrees of freedom of long arm extension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705520B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805572A (en) * | 2020-07-20 | 2020-10-23 | 伯朗特机器人股份有限公司 | Robot joint |
| CN114559420A (en) * | 2022-03-22 | 2022-05-31 | 中国核工业中原建设有限公司 | Knife edge adjustable mechanical arm and method for scaffold deicing |
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|---|---|---|---|---|
| GB968559A (en) * | 1961-06-21 | 1964-09-02 | Falk Corp | Improvements in power transmission and speed reduction apparatus |
| JP2001254787A (en) * | 2000-03-15 | 2001-09-21 | Teijin Seiki Co Ltd | Speed reducer and articulated device for robot |
| US20060170384A1 (en) * | 2003-03-05 | 2006-08-03 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN101176993A (en) * | 2006-11-10 | 2008-05-14 | 沈阳新松机器人自动化股份有限公司 | Plane multiple joint robot |
| CN201432303Y (en) * | 2009-06-04 | 2010-03-31 | 浙江大学 | Knee-joint mechanism of humanoid robot |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
| JP2015139853A (en) * | 2014-01-29 | 2015-08-03 | 日本電産サンキョー株式会社 | industrial robot |
| JP2017154241A (en) * | 2016-03-04 | 2017-09-07 | 住友重機械工業株式会社 | Joint driving structure of robot |
| KR20170143396A (en) * | 2016-06-21 | 2017-12-29 | 현대로보틱스주식회사 | Articulation Structure of Robot |
| CN107972064A (en) * | 2017-11-28 | 2018-05-01 | 天津扬天科技有限公司 | A kind of modularized joint of seven freedom cooperation mechanical arm |
| CN208681578U (en) * | 2018-07-19 | 2019-04-02 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
-
2018
- 2018-07-19 CN CN201810798536.0A patent/CN108705520B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB968559A (en) * | 1961-06-21 | 1964-09-02 | Falk Corp | Improvements in power transmission and speed reduction apparatus |
| JP2001254787A (en) * | 2000-03-15 | 2001-09-21 | Teijin Seiki Co Ltd | Speed reducer and articulated device for robot |
| US20060170384A1 (en) * | 2003-03-05 | 2006-08-03 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| CN101176993A (en) * | 2006-11-10 | 2008-05-14 | 沈阳新松机器人自动化股份有限公司 | Plane multiple joint robot |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN201432303Y (en) * | 2009-06-04 | 2010-03-31 | 浙江大学 | Knee-joint mechanism of humanoid robot |
| JP2015139853A (en) * | 2014-01-29 | 2015-08-03 | 日本電産サンキョー株式会社 | industrial robot |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
| JP2017154241A (en) * | 2016-03-04 | 2017-09-07 | 住友重機械工業株式会社 | Joint driving structure of robot |
| KR20170143396A (en) * | 2016-06-21 | 2017-12-29 | 현대로보틱스주식회사 | Articulation Structure of Robot |
| CN107972064A (en) * | 2017-11-28 | 2018-05-01 | 天津扬天科技有限公司 | A kind of modularized joint of seven freedom cooperation mechanical arm |
| CN208681578U (en) * | 2018-07-19 | 2019-04-02 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805572A (en) * | 2020-07-20 | 2020-10-23 | 伯朗特机器人股份有限公司 | Robot joint |
| CN111805572B (en) * | 2020-07-20 | 2021-07-02 | 伯朗特机器人股份有限公司 | Robot joint |
| CN114559420A (en) * | 2022-03-22 | 2022-05-31 | 中国核工业中原建设有限公司 | Knife edge adjustable mechanical arm and method for scaffold deicing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108705520B (en) | 2024-10-18 |
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