CN110216659A - A kind of rotating device of industrial robot - Google Patents
A kind of rotating device of industrial robot Download PDFInfo
- Publication number
- CN110216659A CN110216659A CN201910652054.9A CN201910652054A CN110216659A CN 110216659 A CN110216659 A CN 110216659A CN 201910652054 A CN201910652054 A CN 201910652054A CN 110216659 A CN110216659 A CN 110216659A
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- China
- Prior art keywords
- sliding block
- motor
- speed reducer
- locating convex
- arc groove
- 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 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000011664 signaling Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000035939 shock Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual 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
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the present application discloses a kind of rotating device of industrial robot, comprising: motor and pedestal, wherein pedestal includes Rotatable base and firm banking, and Rotatable base is located at the top of firm banking.The output shaft of motor and the input axis connection of speed reducer, speed reducer are connected in inside Rotatable base and Rotatable base are driven to rotate, and positioning plate is fixedly installed in firm banking.Arc groove is offered on positioning plate, and the sliding block that can be moved along it is installed in arc groove.The side surface of speed reducer is provided with locating convex block; when the motor drives speed reducer rotation, when position where making locating convex block rotate to sliding block, locating convex block can be against the side of sliding block; and sliding block is pushed to be moved along arc groove, form mechanical position limitation protection.The rotating device of industrial robot disclosed in the present application is limited by the way that movable sliding block is arranged, and industrial robot is enabled to be grabbed or carried for the object on 360 degree of arbitrary orientations.
Description
Technical field
This application involves field of industrial machinery more particularly to a kind of rotating devices of industrial robot.
Background technique
Automation is realized using industrial robot with the development of mechanical industry, in more and more mechanical processing process
Production.Industrial robot is made of pedestal, armshaft and clamping jaw, wherein clamping jaw is mounted on the base by armshaft, and armshaft may include
Multiple lever arms being sequentially connected, each lever arm are controlled by respective driving part, to be turned round.Pedestal is usually energy
The device for enough carrying out positive and negative 360 degree of horizontal rotations can be such that industrial robot rotates in the horizontal plane by the rotating device,
And then the object on 360 degree of arbitrary orientations is grabbed or carried.
Currently, the rotating device of industrial robot realizes rotation by motor mostly, and carried out by limited block positive and negative
360 degree of limit.Specifically, motor rotates forward, stop after touching limited block, it can be achieved that industrial robot carries out positive 360 degree
Rotation；Motor reversal stops after touching limited block, it can be achieved that industrial robot carries out minus 360 degree of rotation.Based on this, work
Industry robot just can grab or carry the object on horizontal plane arbitrary orientation.
But when realizing the rotation of industrial robot using the positive and negative rotation of motor, due to the size meeting of limited block itself
Certain space is occupied, so that 360 degree, in this case, industrial machine are not achieved in the angle of the positive and negative rotation of motor in practical application
Device people will be unable to grab and carry the object in the spatial dimension of limited block present position.
Summary of the invention
In order to solve the presence in practical application due to limited block, the angle of the positive and negative rotation of motor is caused to be not achieved 360 degree,
The problem of to make industrial robot that can not grab and carry the object in the spatial dimension of limited block present position, the application are logical
It crosses following embodiment and discloses a kind of rotating device of industrial robot.
A kind of rotating device of industrial robot disclosed in the present application includes: motor and pedestal, wherein the pedestal packet
Rotatable base and firm banking are included, the Rotatable base is located at the top of the firm banking；
The output shaft of the motor and the input axis connection of speed reducer, the speed reducer are connected in the Rotatable base
Portion simultaneously drives the Rotatable base to rotate；
It is fixedly installed with positioning plate in the firm banking, offers arc groove on the positioning plate, in the arc groove
The sliding block that can be moved along it is installed；
The side surface of the speed reducer is provided with locating convex block, and the locating convex block cooperates the sliding block to form mechanical position limitation
Protection.
Optionally, the both ends of the arc groove are respectively fixed with limited block, and the limited block limits the maximum of the sliding block
Shift position.
When the motor drive speed reducer rotation, the locating convex block is made to rotate to the position where the sliding block
When, the locating convex block is against the side of the sliding block, and the sliding block is pushed to be moved along the arc groove.In sliding block
When will be moved into the top of arc groove, limited block can provide buffering and protection for the shock of sliding block, extend making for sliding block
Use the service life.
Optionally, the locating convex block is T-type locating convex block；
Fixed plate is provided on the side surface of the speed reducer, the locating convex block by being mounted in the fixed plate,
It is fixed on the side surface of the speed reducer.
Optionally, the sliding block is divided into top, middle part and lower part；
The top of the sliding block is integrally formed with middle part, and the middle part of the sliding block is mutually fixed by bolt with lower part.
Optionally, the thickness of the sliding block top and lower part is all larger than the thickness at middle part, and the sliding block is passed through
Middle part is stuck in the arc groove.
Optionally, described device further includes supporting, and the supporting is used to install the industrial robot armshaft of peripheral hardware；
The outside of the motor is provided with motor sleeve, and the motor sleeve is used to provide protection for the motor；
The supporting and the motor sleeve are fixed on jointly on the Rotatable base, and the supporting is located at institute
State the side of motor sleeve.
Optionally, described device further includes driving mechanism, and the driving mechanism is used to control the rotation of described device；
The driving mechanism is set to the side of the firm banking；
Power plant module and signaling module built in the driving mechanism, correspondingly, the surface of the driving mechanism be provided with it is dynamic
Power module interface and signaling module interface.
Optionally, described device further includes terminal box and conduit clip；
The terminal box is used to install the cable drawn from the driving mechanism；
The cable that the conduit clip is drawn from the terminal box for fixed and guidance.
The embodiment of the present application discloses a kind of rotating device of industrial robot, comprising: motor and pedestal, wherein bottom
Seat includes Rotatable base and firm banking, and Rotatable base is located at the top of firm banking.The output shaft of motor and deceleration
The input axis connection of machine, speed reducer are connected in inside Rotatable base and Rotatable base are driven to rotate, fixed in firm banking
Positioning plate is installed.Arc groove is offered on positioning plate, and the sliding block that can be moved along it is installed in arc groove.The side table of speed reducer
Face is provided with locating convex block, the position when the motor drive speed reducer rotation, where making locating convex block rotate to sliding block
When, locating convex block can be against the side of sliding block, and sliding block is pushed to be moved along arc groove, mechanical position limitation protection is formed,
Until being moved to the top of arc groove.The rotating device of industrial robot disclosed in the present application is by movable sliding block, so that electric
Machine is attained by 360 degree when rotating forward or reversion, and then enables industrial robot on 360 degree of arbitrary orientations
Object is grabbed or is carried.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of the rotating device of industrial robot disclosed in the embodiment of the present application；
Fig. 2 is a kind of internal structure schematic diagram of the rotating device of industrial robot disclosed in the embodiment of the present application；
Fig. 3 is a kind of internal structure signal at another visual angle of the rotating device of industrial robot disclosed in the embodiment of the present application
Figure；
Fig. 4 is the structural schematic diagram of sliding block in a kind of rotating device of industrial robot disclosed in the embodiment of the present application.
In Fig. 1-Fig. 4:
1- motor, 10- motor sleeve, 2- pedestal, 21- Rotatable base, 22- firm banking, 3- speed reducer, 30- are fixed
Plate, 31- locating convex block, 4- positioning plate, 41- arc groove, 42- sliding block, 43- limited block, 5- supporting, 6- driving mechanism, 7- connect
Wire box, 8- conduit clip.
Specific embodiment
In order to solve the presence in practical application due to limited block, the angle of the positive and negative rotation of motor is caused to be not achieved 360 degree,
The problem of to make industrial robot that can not grab and carry the object in the spatial dimension of limited block present position, the application are logical
It crosses following embodiment and discloses a kind of rotating device of industrial robot.
Structural schematic diagram shown in referring to figures 1-3, a kind of rotating device of industrial robot disclosed in the present application include:
Motor 1 and pedestal 2, wherein the pedestal 2 includes Rotatable base 21 and firm banking 22, the Rotatable base 21
Positioned at the top of the firm banking 22.The bottom of firm banking 22 is provided with screw hole, can be incited somebody to action by bolt in practical application
Firm banking 22 installation on the ground or other fix hold on seat.
The output shaft of the motor 1 and the input axis connection of speed reducer 3, the speed reducer 3 are connected in the rotatable bottom
21 inside of seat simultaneously drives the Rotatable base 21 to rotate.It wherein, can between the output shaft of motor 1 and the input shaft of speed reducer 3
With direct-connected together by ring flange.
When the motor 1 drives the speed reducer 3 to be rotated, the speed reducer 3 is for driving the rotatable bottom
Seat 21 is rotated.
Positioning plate 4 is fixedly installed in the firm banking 22.Positioning plate 4 is round positioning plate, in order to reinforce positioning plate
Stability, prevent positioning plate from rotating, one circle screw hole can be set at positioning plate edge, then by bolt by positioning plate
4 are mounted on firm banking 22.
Arc groove 41 is offered on the positioning plate 4, and the sliding block 42 that can be moved along it is installed in the arc groove 41.
The side surface of the speed reducer 3 is provided with locating convex block 31, and the locating convex block 31 cooperates the formation of sliding block 42
Mechanical position limitation protection.
The embodiment of the present application discloses a kind of rotating device of industrial robot, comprising: motor and pedestal, wherein bottom
Seat includes Rotatable base and firm banking, and Rotatable base is located at the top of firm banking.The output shaft of motor and deceleration
The input axis connection of machine, speed reducer are connected in inside Rotatable base and Rotatable base are driven to rotate, fixed in firm banking
Positioning plate is installed.Arc groove is offered on positioning plate, and the sliding block that can be moved along it is installed in arc groove.The side table of speed reducer
Face is provided with locating convex block, the position when the motor drive speed reducer rotation, where making locating convex block rotate to sliding block
When, locating convex block can be against the side of sliding block, and sliding block is pushed to be moved along arc groove, mechanical position limitation protection is formed,
Until being moved to the top of arc groove.The rotating device of industrial robot disclosed in the present application is by movable sliding block, so that electric
Machine is attained by 360 degree when rotating forward or reversion, and then enables industrial robot on 360 degree of arbitrary orientations
Object is grabbed or is carried.
Further, the both ends of the arc groove 41 are respectively fixed with limited block 43, and the limited block 43 is for limiting institute
State the maximum shift position of sliding block 42.
When the motor drive speed reducer rotation, the locating convex block is made to rotate to the position where the sliding block
When, the locating convex block is against the side of the sliding block, and the sliding block is pushed to be moved along the arc groove.In sliding block
When will be moved into the top of arc groove, limited block can provide buffering and protection for the shock of sliding block, extend making for sliding block
Use the service life.
In practical application, the length of arc groove 41 is greater than or is equal to specific value, this specific value is that sliding block 42 is wide
The sum of the width of twice and two limited block 43 of degree.When can guarantee that motor drives speed reducer rotation in this way, angle energy is rotated
Enough it is greater than or equal to 360 degree.
When the motor 1 drives the speed reducer 3 to rotate, where so that the locating convex block 31 is rotated to the sliding block 42
When position, the locating convex block 31 can be against the side of the sliding block 42, and push the sliding block 42 along the arc groove
41 are moved, until being limited by the limited block 43, so that the motor 1 stops operating.Compared to traditional motor
The limit method of angle is rotated, the application is limited by movable sliding block to rotate angle to motor, and motor is moving to
When position where sliding block, it can't stop immediately, and the movement with sliding block in arc groove, continue to rotate, Zhi Daoshou
To the blocking of limited block, can just stop rotating.In this case, the cooperation of sliding block and limited block can not only provide foot for motor
Enough rotation angles be grabbed with the object for guaranteeing that industrial robot can be directed on 360 degree of arbitrary orientations, and can be
The shock of locating convex block provides buffering, prevents from damaging because of shock, effectively extension service using life.
Further, the locating convex block 31 is T-type locating convex block.The lower end two sides of the T-type locating convex block are all provided with
Cushion generates damage when hitting sliding block to prevent locating convex block.
Fixed plate 30 is provided on the side surface of the speed reducer 3, the locating convex block 31 is by being mounted on the fixation
On plate 30, it is fixed on the side surface of the speed reducer 3.
Further, structural schematic diagram shown in Figure 4, the sliding block 42 divide for top, middle part and lower part.
The top of the sliding block 42 is integrally formed with middle part, and the middle part of the sliding block is mutually fixed by bolt with lower part.
Specifically, lower part is provided with card slot, middle part is interspersed in card slot, then can be by middle part under using bolt from the bottom end of lower part
Portion is fixed together.
Further, the thickness of 42 top of sliding block and lower part is all larger than the thickness at middle part, enables the sliding block 42
Enough it is stuck in the arc groove 41 by middle part.In one implementation, the thickness phase of the thickness on 42 top of sliding block and lower part
Together, as long as the thickness at middle part is less than the thickness on top, the height at middle part is slightly larger than or is equal to the thickness of positioning plate
Can, in this case, sliding block 42 can be just stuck in arc groove 41.
Further, described device further includes supporting 5, and the supporting 5 is used to install the industrial robot axis of peripheral hardware
Arm.
The outside of the motor 1 is provided with motor sleeve 10, and the motor sleeve 10 is used to provide guarantor for the motor 1
Shield.
The industrial robot armshaft of peripheral hardware strikes motor sleeve 10 when rotation is to maximum angle in order to prevent, can be with
Set inclined-plane for the upper surface of motor sleeve 10 accordingly, the tilt angle on the inclined-plane can according to the armshaft specifically installed and
It is fixed.
Motor is arranged above speed reducer in the embodiment of the present application, so that motor is exposed, greatly facilitates the maintenance of motor
Work, and motor sleeve is set, motor is protected, to extend the service life of motor.
The supporting 5 is fixed on the Rotatable base 21 jointly with the motor sleeve 10, and the supporting 5
Positioned at the side of the motor sleeve 10.
Further, described device further includes driving mechanism 6, and the driving mechanism 6 is used to control the rotation of described device.
Driving mechanism is used to provide rotary power and rotating signal for device.
The driving mechanism 6 is set to the side of the firm banking 22.
Power plant module and signaling module built in the driving mechanism 6, correspondingly, the surface of the driving mechanism 6 is provided with
Power plant module interface and signaling module interface.
Further, described device further includes terminal box 7 and conduit clip 8.
The terminal box 7 is used to install the cable drawn from the driving mechanism 6.Specifically, terminal box 7 and driving mechanism
Wire casing is provided between 6, for installing and guiding the cable drawn from driving mechanism 6.
The cable that the conduit clip 8 is drawn from the terminal box 7 for fixed and guidance, to prevent rotatable
When pedestal 21 rotates, there is a phenomenon where wind for cable.
In the description of the present application, it should be noted that term " on ", "lower", "inner", "outside", "front", "rear", " left side "
The orientation or positional relationship of instructions such as " right sides " is based on the orientation or positional relationship under the application working condition, merely to just
In description the application and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore should not be understood as the limitation to the application.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (8)
1. a kind of rotating device of industrial robot characterized by comprising motor (1) and pedestal (2), wherein the bottom
Seat (2) includes Rotatable base (21) and firm banking (22), and the Rotatable base (21) is located at the firm banking
(22) top；
The output shaft of the motor (1) and the input axis connection of speed reducer (3), the speed reducer (3) is connected in described rotatable
Pedestal (21) is internal and the Rotatable base (21) is driven to rotate；
It is fixedly installed with positioning plate (4) in the firm banking (22), offers arc groove (41), institute on the positioning plate (4)
It states in arc groove (41) and the sliding block (42) that can be moved along it is installed；
The side surface of the speed reducer (3) is provided with locating convex block (31), and the locating convex block (31) cooperates the sliding block (42)
Form mechanical position limitation protection.
2. the apparatus according to claim 1, which is characterized in that the both ends of the arc groove (41) are respectively fixed with limited block
(43), the limited block (43) limits the maximum shift position of the sliding block (42).
3. the apparatus according to claim 1, which is characterized in that the locating convex block (31) is T-type locating convex block；
It is provided with fixed plate (30) on the side surface of the speed reducer (3), the locating convex block (31) is described solid by being mounted on
On fixed board (30), it is fixed on the side surface of the speed reducer (3).
4. the apparatus according to claim 1, which is characterized in that the sliding block (42) is divided into top, middle part and lower part；
The top of the sliding block (42) is integrally formed with middle part, and the middle part of the sliding block is mutually fixed by bolt with lower part.
5. device according to claim 4, which is characterized in that
The thickness of sliding block (42) top and lower part is all larger than the thickness at middle part, so that the sliding block (42) can pass through middle part
It is stuck in the arc groove (41).
6. the apparatus according to claim 1, which is characterized in that described device further includes supporting (5), the supporting
(5) for installing the industrial robot armshaft of peripheral hardware；
The outside of the motor (1) is provided with motor sleeve (10), and the motor sleeve (10) is used to provide for the motor (1)
Protection；
The supporting (5) and the motor sleeve (10) are fixed on jointly on the Rotatable base (21), and the undertaking
Part (5) is located at the side of the motor sleeve (10).
7. the apparatus according to claim 1, which is characterized in that described device further includes driving mechanism (6), the driving machine
Structure (6) is used to control the rotation of described device；
The driving mechanism (6) is set to the side of the firm banking (22)；
Power plant module and signaling module built in the driving mechanism (6), correspondingly, the surface of the driving mechanism (6) is provided with
Power plant module interface and signaling module interface.
8. device according to claim 7, which is characterized in that described device further includes terminal box (7) and conduit clip
(8)；
The terminal box (7) is used to install the cable drawn from the driving mechanism (6)；
The cable that the conduit clip (8) is drawn from the terminal box (7) for fixed and guidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910652054.9A CN110216659A (en) | 2019-07-18 | 2019-07-18 | A kind of rotating device of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910652054.9A CN110216659A (en) | 2019-07-18 | 2019-07-18 | A kind of rotating device of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110216659A true CN110216659A (en) | 2019-09-10 |
Family
ID=67813638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910652054.9A Pending CN110216659A (en) | 2019-07-18 | 2019-07-18 | A kind of rotating device of industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110216659A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873181A (en) * | 2021-01-22 | 2021-06-01 | 苏州汇川技术有限公司 | Robot and installation method thereof |
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| CN201090971Y (en) * | 2006-11-09 | 2008-07-23 | 中国科学院长春光学精密机械与物理研究所 | Revolving body integral cycle rotating spacing mechanism without angle defect |
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| CN204505242U (en) * | 2015-02-09 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of industrial machinery arm |
| CN105252547A (en) * | 2015-10-21 | 2016-01-20 | 国机集团科学技术研究院有限公司 | Large-stroke joint limiting device of industrial robot |
| CN208759610U (en) * | 2018-08-07 | 2019-04-19 | 南京埃斯顿机器人工程有限公司 | Joint motions position-limit mechanism suitable for industrial robot |
| CN208896093U (en) * | 2018-10-23 | 2019-05-24 | 山东科技大学 | A kind of rotary base structure of industrial robot |
| CN210589265U (en) * | 2019-07-18 | 2020-05-22 | 江苏金恒信息科技股份有限公司 | Industrial robot's rotary device |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1044086A (en) * | 1996-08-07 | 1998-02-17 | Fanuc Ltd | Over-travel detection device of industrial robot |
| CN201090971Y (en) * | 2006-11-09 | 2008-07-23 | 中国科学院长春光学精密机械与物理研究所 | Revolving body integral cycle rotating spacing mechanism without angle defect |
| CN204019549U (en) * | 2014-06-10 | 2014-12-17 | 广州明珞汽车装备有限公司 | A kind of rotary stopper Dui Ling mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112873181A (en) * | 2021-01-22 | 2021-06-01 | 苏州汇川技术有限公司 | Robot and installation method thereof |
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