CN108818498A - A kind of six degree of freedom hollow type heavy-load robot - Google Patents
A kind of six degree of freedom hollow type heavy-load robot Download PDFInfo
- Publication number
- CN108818498A CN108818498A CN201810590456.6A CN201810590456A CN108818498A CN 108818498 A CN108818498 A CN 108818498A CN 201810590456 A CN201810590456 A CN 201810590456A CN 108818498 A CN108818498 A CN 108818498A
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- wrist
- forearm
- hollow
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- type heavy
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of six degree of freedom hollow type heavy-load robots, including robot base, the swivel base being mounted on robot base, the large arm being mounted on swivel base, the hollow forearm for passing through and being routed for harness is installed in the large arm, the hollow wrist for passing through and being routed for harness is installed on the forearm, the end flange that can be rotated around the hollow space of wrist is installed in the wrist.Structure of the invention design rationally, is designed using the structure of hollow type, reduces the transmission mechanism of robot, facilitate itself cabling and peripheral wiring of robot, reduce the production cost of robot.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of six degree of freedom hollow type heavy-load robot.
Background technique
Robot is used more and more widely in fields such as all trades and professions, such as carrying, spot welding, stacking, wherein welding
The region of field large-scale use at first is exactly nowadays economic more developed area.With the progress of industry transfer, developed regions
Manufacturing industry need to be promoted.It is well known that on the one hand welding processing requires welder to have skilled operative skill, practice abundant
Experience, stable weld horizontal；On the other hand, welding is again that a kind of working condition is poor, flue dust is more, heat radiation is big, risk is high
Work.The appearance of welding industry robot alleviates the labor intensity of welder, improves welding efficiency, while also ensuring weldering
Connect quality.According to incompletely statistics, there is the industrial robot of nearly half for various shapes in the in-service industrial robot in the whole world
The field of welding processing of formula.It is only a small number of to aim at the design of certain welding manner in these welding robots, and it is most of
Welding robot is exactly to load onto certain soldering appliance in general industrial robot and constitute.In multitask environment, one
Robot not merely completes weld job, can also usually complete to include taking object, carrying and installation etc. a variety of in being welded on
Task.
Growing welding robot market be it is huge, integrate the six-joint robot of spot welding, carrying, stacking,
Improve in positioning accuracy, be convenient using cabling, ontology in terms of on have higher, more stable requirement.
Summary of the invention
The present invention provides a kind of six degree of freedom hollow type heavy-load robot, to satisfy the use demand.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of six degree of freedom hollow type heavy-load robot, including robot base, the swivel base being mounted on robot base,
The large arm being mounted on swivel base is equipped with the hollow forearm for passing through and being routed for harness in the large arm, pacifies on the forearm
Equipped with the hollow wrist for passing through and being routed for harness, being equipped in the wrist can be around the end that the hollow space of wrist rotates
End flanges.The present invention uses hollow forearm, hollow wrist, facilitates the cabling of robot itself and periphery.
Several axis that the forearm has using itself complete corresponding positive and negative rotation as rotation center.
There are several motors corresponding speed reducer, completion pair are driven in a manner of directly or indirectly driving on the forearm
The both forward and reverse directions of load end are answered to rotate.
There are five spindle motors installed with bias mode in the wrist, be connected with five spindle motors to drive wrist rotation
Five axis speed reducers.Biasing certain distance installation avoids the hollow cabling space of small arm section, five spindle motors and five axis speed reducers
Intermediate span increase, five spindle motors it is preposition, reduce the rotary inertia at forearm, lower the energy consumption of robot.In wrist
Revolute list fulcrum support, the movement of positive negative direction can be completed in effective motion range.
The five axis speed reducer is in hollow structure.
The harness of the hollow structure wiring of the forearm is the driving motor line of end and the driving motor line of wrist.
The harness of hollow structure wiring by wrist is using harness.
The forearm cable wearing bush that line can be crossed and play the role of abrasionproof is installed at the hollow cabling of the forearm.
The wrist cable wearing bush that line can be crossed and play the role of abrasionproof is installed at the hollow cabling of the wrist.
The present invention uses forearm cable wearing bush, wrist cable wearing bush, and by the mode of hollow cabling, realizes pair
The protection of harness, and can guarantee the proper motion of robot, prevent harness interference for caused by robot motion.
Five spindle motor drives five axis speed reducers to rotate by way of V belt translation, and can draw one by bolt one
Top carries out belt tension.
It is equipped in the wrist and end flange offset placement and six spindle motors to drive end flange to rotate.Partially
Set the hollow cabling space that certain distance installation avoids wrist.
Forearm, wrist, the axis on end flange have the robot dead-center position calibration of the scribe mark of zero standard position
Device.
The beneficial effects of the invention are as follows：Structure of the invention design rationally, is designed using the structure of hollow type, is suitable for each axis
Hollow cabling, wrist belong to motor direct-connected structure, improve transmission efficiency, improve the stability of whole robot, subtract
The transmission mechanism of Shao Liao robot, and using the mounting means of biasing, facilitate itself cabling and peripheral wiring of robot, reduces
The production cost of robot.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic perspective view that forearm of the invention is connect with wrist.
Fig. 2 is schematic perspective view of the invention.
Fig. 3 is the drive mechanism schematic diagram of forearm of the invention, wrist.
Fig. 4 is the cabling schematic diagram of forearm of the invention, wrist.
Fig. 5 is the cross-sectional view of forearm cable wearing bush of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 5, a kind of six degree of freedom hollow type heavy-load robot, including robot base 18, it is mounted on machine
Transposase 11 9 on device people pedestal 18, the large arm 23 being mounted on transposase 11 9 are equipped in the large arm 23 and pass through for harness and cloth
The hollow forearm 17 of line is equipped with the hollow wrist 1 for passing through and being routed for harness on the forearm, pacifies in the wrist 1
Equipped with the end flange 16 that can be rotated around the hollow space of wrist 1.
As shown in Fig. 2, robot base 18 is the pedestal of entire robot, the weight of entire robot is supported, it is desirable that
There are higher rigidity and stability.Transposase 11 9 is an axis outlet end part of entire robot, and the whole design of swivel base increases
The transmission stiffness of swivel base.One spindle motor 20 is installed on the transposase 11 9, provides rotational power for one axis of robot.Large arm 23
Forearm 17 is supportted, two axis of robot is belonged to, two spindle motors 21 to drive large arm 23 to rotate are installed on the transposase 11 9, thus
Rotational power is provided for two axis of robot.It is equipped between large arm 23 and transposase 11 9 as the rotation of large arm 23 provides the nitrogen of torque
Gas compensating cylinder 22 balances two axle power squares, reduces the output torque of two spindle motors 21.
Several axis that the forearm 17 has using itself complete corresponding positive and negative rotation as rotation center.
On the forearm 17 there are several motors to drive corresponding speed reducer in a manner of directly or indirectly driving, completes
The both forward and reverse directions rotation of corresponding load end.
There are five spindle motors 12 installed with bias mode in the wrist 1, be connected with five spindle motors 12 to drive wrist 1
Five axis speed reducers 27 of rotation.The present invention biases the mounting means of certain distance, avoids the hollow cabling space of small arm section,
Space layout is reasonable.
The five axis speed reducer 27 is in hollow structure, to facilitate passing through for harness.
The harness of the hollow structure wiring of the forearm 17 is the driving motor line of end and the driving motor of wrist 1
Line.
The harness of hollow structure wiring by wrist 1 is using harness.
The forearm cable wearing bush 5 that line can be crossed and play the role of abrasionproof is installed at the hollow cabling of the forearm 17.
The wrist cable wearing bush 2 that line can be crossed and play the role of abrasionproof is installed at the hollow cabling of the wrist 1.
Five spindle motor 12 drives five axis speed reducers 27 to rotate by way of V belt translation.
It is equipped in the wrist 1 and 16 offset placement of end flange and the electricity of six axis to drive end flange 16 to rotate
Machine 13.End flange 16 rotates under the driving of six spindle motors 13 around axis A.Biasing certain distance installation avoids wrist portion
The hollow cabling space divided.
Forearm 17, wrist 1, the axis on end flange 16 have the robot dead-center position of the scribe mark of zero standard position
Caliberating device.The robot dead-center position caliberating device that the present invention uses is machine disclosed in Patent No. 201610363240.7
Device people's dead-center position caliberating device and scaling method, are the applications of well-known technique, are just not set forth in detail herein.
Motor work on forearm 17 is schematically as follows：
Three spindle motors 8 are installed on the forearm 17, it, can be in pros so as to drive forearm 17 to rotate around axis B
To with carry out back rotation in negative direction.
There is forearm front end 4 far from one end where three spindle motor 8 on the forearm 17, the forearm front end 4 is connected with
Four spindle motors 9, the axis of rotation of four spindle motors 9 are the axis C in Fig. 1, and forearm front end 4 is under the driving of four spindle motors 9, around axis
Line A rotation, rotary axis direction is perpendicular to three axis around axis B.
The axis of rotation of five spindle motors 12 itself is D, and wrist 1 rotates under the driving of five spindle motors 12 around axis F, rotation
Rotor shaft direction is parallel to three axis around axis B, and perpendicular to four axis rotation axis A.
As shown in figure 3, being connected with three axis speed reducers 25 on three spindle motors 8, three spindle motor 8 is equipped with to slow down with three axis
Three axis that the spur gear having on machine 25 is directly meshed input tooth 29, and three axis of transmission machinery people, that is, forearm 17 swings up and down fortune
It is dynamic.
It is connected with four axis speed reducers 26 on four spindle motors 9, four spindle motor 9 is equipped with to be had with four axis speed reducers 26
Spur gear be directly meshed four axis input tooth 30, four axis of transmission machinery people, that is, forearm 17 rotary motion.
Five spindle motors 12 are connected with five axis driving wheels 32, and five axis driving wheels 32 are driven by five axis synchronous belts 34, five axis of transmission
Wheel 33, five axis driven wheels 33 are directly meshed with the spur gear of five axis speed reducers 27, five axis of transmission machinery people, that is, wrist 1
Swing up and down movement.
The axis of rotation of six spindle motors 13 is E, and six spindle motors 13 are connected with six axis speed reducers 28, on six spindle motor 13
Tooth 31, the revolution of transmission machinery people end flange 16 are inputted equipped with six axis being directly meshed with the spur gear of six axis speed reducers 28
Movement.
Four spindle motor 9 is mounted on forearm front end 4 by motor cabinet 6, and the motor cabinet 6 is equipped with motor cabinet and crosses line
Set 7.Harness 35 crosses line set 7 by motor cabinet and by forearm cable wearing bush 5, rotation is around setting on forearm front end 4
Wrist rotate through line set 3, a part of harness be six spindle motors 13 harness, a part of harness be client peripheral application harness,
It cuts across wrist and crosses line set 2.
Forearm front end 4 of the invention, wrist belong to motor direct-connected structure, improve transmission efficiency, reduce costs, and improve
The stability of whole robot.The present invention is designed using hollow structure, facilitates robot itself and peripheral applications cabling.
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 six degree of freedom hollow type heavy-load robot, including robot base (18), it is mounted on robot base (18)
Swivel base (19), the large arm (23) that is mounted on swivel base (19), it is characterised in that：It is equipped on the large arm (23) for harness
(35) the hollow forearm (17) for passing through and being routed, be equipped on the forearm (17) pass through and be routed for harness (35) it is hollow
Wrist (1), the end flange (16) that can be rotated around the hollow space of wrist (1) is installed on the wrist (1).
2. a kind of six degree of freedom hollow type heavy-load robot according to claim 1, it is characterised in that：The forearm (17)
Several axis having using itself complete corresponding positive and negative rotation, have several motors on forearm (17) as rotation center
Corresponding speed reducer is driven in a manner of directly or indirectly driving, and completes the both forward and reverse directions rotation of corresponding load end.
3. a kind of six degree of freedom hollow type heavy-load robot according to claim 1, it is characterised in that：The wrist (1)
It is upper to be connected with five spindle motors (12) installed with bias mode, with five spindle motors (12) with five axis for driving wrist (1) to rotate
Speed reducer (27).
4. a kind of six degree of freedom hollow type heavy-load robot according to claim 3, it is characterised in that：Five axis slows down
Machine (27) is in hollow structure.
5. a kind of six degree of freedom hollow type heavy-load robot according to claim 1, it is characterised in that：The forearm (17)
Hollow structure wiring harness (35) be end driving motor line and wrist (1) driving motor line, by wrist (1)
Hollow structure wiring harness (35) be using harness.
6. a kind of six degree of freedom hollow type heavy-load robot according to claim 1 or 5, it is characterised in that：The forearm
(17) the forearm cable wearing bush (5) that can be crossed line and play the role of abrasionproof is installed at hollow cabling.
7. a kind of six degree of freedom hollow type heavy-load robot according to claim 1 or 5, it is characterised in that：The wrist
(1) the wrist cable wearing bush (2) that can be crossed line and play the role of abrasionproof is installed at hollow cabling.
8. a kind of six degree of freedom hollow type heavy-load robot according to claim 3, it is characterised in that：Five spindle motor
(12) five axis speed reducers (27) is driven to rotate by way of V belt translation.
9. a kind of six degree of freedom hollow type heavy-load robot according to claim 1, it is characterised in that：The wrist (1)
On be equipped with end flange (16) offset placement and to drive end flange (16) rotate six spindle motors (13).
10. a kind of six degree of freedom hollow type heavy-load robot according to claim 1, it is characterised in that：Forearm (17), hand
Axis on wrist (1), end flange (16) has the robot dead-center position caliberating device of the scribe mark of zero standard position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590456.6A CN108818498A (en) | 2018-06-09 | 2018-06-09 | A kind of six degree of freedom hollow type heavy-load robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590456.6A CN108818498A (en) | 2018-06-09 | 2018-06-09 | A kind of six degree of freedom hollow type heavy-load robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818498A true CN108818498A (en) | 2018-11-16 |
Family
ID=64144578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810590456.6A Pending CN108818498A (en) | 2018-06-09 | 2018-06-09 | A kind of six degree of freedom hollow type heavy-load robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818498A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN110202561A (en) * | 2019-07-18 | 2019-09-06 | 江苏金恒信息科技股份有限公司 | A kind of industrial robot of internal cabling |
| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
| CN111283724A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Front-mounted driving type robot joint |
| WO2021081746A1 (en) * | 2019-10-29 | 2021-05-06 | Abb Schweiz Ag | Apparatus for holding cables of robot and associated robot |
| CN109278031B (en) * | 2018-11-30 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Hollow six-joint industrial robot |
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| CN207189659U (en) * | 2017-10-30 | 2018-04-06 | 广东腾山机器人有限公司 | A kind of six-joint robot |
| CN107932556A (en) * | 2017-12-04 | 2018-04-20 | 埃夫特智能装备股份有限公司 | A kind of industrial robot cable arranging structure |
| CN207344612U (en) * | 2017-10-20 | 2018-05-11 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009113188A (en) * | 2007-11-09 | 2009-05-28 | Toshiba Mach Co Ltd | Work robot |
| KR20140062672A (en) * | 2012-11-14 | 2014-05-26 | 현대중공업 주식회사 | Cable fixation device on the hollow joints to pass through the small robot and joint movement restriction device |
| CN205466171U (en) * | 2016-03-15 | 2016-08-17 | 上海福赛特机器人有限公司 | High -speed high accuracy robot of desktop type |
| CN206717852U (en) * | 2016-12-26 | 2017-12-08 | 北京配天技术有限公司 | Industrial robot |
| CN206811974U (en) * | 2017-06-16 | 2017-12-29 | 苏州华兴致远电子科技有限公司 | A kind of train overhaul robot |
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| CN107671836A (en) * | 2017-10-26 | 2018-02-09 | 上海新时达机器人有限公司 | A kind of plane articulation robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278031B (en) * | 2018-11-30 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Hollow six-joint industrial robot |
| CN111283724A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Front-mounted driving type robot joint |
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN110202561A (en) * | 2019-07-18 | 2019-09-06 | 江苏金恒信息科技股份有限公司 | A kind of industrial robot of internal cabling |
| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
| WO2021081746A1 (en) * | 2019-10-29 | 2021-05-06 | Abb Schweiz Ag | Apparatus for holding cables of robot and associated robot |
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Application publication date: 20181116 |
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