CN203495953U - Industrial robot forearm driving mechanism - Google Patents
Industrial robot forearm driving mechanism Download PDFInfo
- Publication number
- CN203495953U CN203495953U CN201320571180.XU CN201320571180U CN203495953U CN 203495953 U CN203495953 U CN 203495953U CN 201320571180 U CN201320571180 U CN 201320571180U CN 203495953 U CN203495953 U CN 203495953U
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- forearm
- input module
- axle input
- industrial robot
- driving mechanism
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Abstract
The utility model discloses an industrial robot forearm driving mechanism including a forearm driving assembly for driving a forearm and a wrist joint, the forearm driving assembly includes a forearm driving casing, a forth shaft input assembly, a fifth shaft input assembly, and a sixth shaft input assembly, the forth shaft input assembly, the fifth shaft input assembly, and the sixth shaft input assembly are arranged inside the forearm driving casing and extend along the axial direction of the forearm, the forth shaft input assembly and the fifth shaft input assembly are arranged above the sixth shaft input assembly and are distributed side by side by taking the sixth shaft input assembly as the symmetrical center. The industrial robot forearm driving mechanism has the advantages of being simple in transmission structure, low in machining and manufacturing cost, convenient to assemble, and easy to maintain.
Description
Technical field
The utility model relates to a kind of industrial robot forearm driving mechanism.
Background technology
The forearm driving mechanism of industrial robot is of paramount importance driving drive mechanism on industrial robot.The kinds of drive such as motor postposition of take have the advantages such as the forearm rotation of minimizing inertia, minimizing forearm layout dimension as main forearm driven unit, the driving of now general industrial robot front end is extensively completed by forearm driven unit.
In existing industrial robot forearm drive unit, most of motor right angle that adopts distributes, and the 4th axle, the 5th axle and the 6th axle all adopt the mode of biasing input.When offering convenience to machining, this design also there is following defect: the first, because the input of three driving joints is all setovered, will inevitably increase the transmission component at its drive rod place, center, and reduced the reliability of robot; The second, three axle biasing input mechanism will guarantee the precision of its transmission and stablize, the processing and manufacturing meeting cost increase of its parts; The 3rd, three axle biasing input mechanism assemblings are comparatively complicated, bring adverse effect to the volume production of robot; Comparatively inconvenience of the maintenance in the 4th, three axle biasing input mechanism later stages.
Utility model content
The technical problems to be solved in the utility model is that the robot reliability who brings due to three axles biasings who exists in existing industrial robot forearm drive unit is lower, parts machining cost is high in order to overcome, the defect of assembling complexity and maintaining inconvenience, and a kind of industrial robot forearm driving mechanism is provided.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of industrial robot forearm driving mechanism, it comprises that one for driving forearm and carpal forearm driven unit, described forearm driven unit comprises a forearm drive shell, one the 4th axle input module, one the 5th axle input module and one the 6th axle input module, its feature is, described the 4th axle input module and described the 5th axle input module are all positioned at the top of described the 6th axle input module, and take described the 6th axle input module and distribute side by side as symmetrical centre.
Preferably, it is inner that described the 4th axle input module, described the 5th axle input module and described the 6th axle input module are all arranged at described forearm drive shell, and equal extending axially along described forearm.
Preferably, described forearm comprises one first forearm drive rod and the one second forearm drive rod of adjacent layout, the outer cover of described the first forearm drive rod and described the second forearm drive rod is provided with a forearm linking arm, and described the first forearm drive rod is all connected with described wrist joint with described the second forearm drive rod.
Preferably, on described forearm linking arm, be connected with a reductor, described the 4th axle input module comprises one the 4th axis drive motor, and described the 4th axis drive motor is connected with described reductor by one first primary speed-down gear assembly.Like this, by primary speed-down gear assembly, be connected with reductor, realized better transmission agency.
Preferably, described the 5th axle input module comprises one the 5th axis drive motor, and described the 5th axis drive motor is connected with described the first forearm drive rod by one second primary speed-down gear assembly.Like this, by primary speed-down gear assembly, be connected with drive rod, realized better transmission agency.
Preferably, the 6th axle input module extends along the axial line of described forearm, and described the 6th axle input module comprises one the 6th axis drive motor, and described the 6th axis drive motor is connected with described the second forearm drive rod.Like this, the 6th axle directly provides driving force, thereby transmission accuracy is significantly improved, and has increased the reliability of industrial robot forearm.
Positive progressive effect of the present utility model is: drive mechanism is simple, and processing and manufacturing cost is low, easy to assembly and be easy to maintaining.
Accompanying drawing explanation
Fig. 1 is the structural representation of industrial robot forearm driving mechanism of the present utility model.
Fig. 2 is the rearview of industrial robot forearm driving mechanism of the present utility model.
The specific embodiment
Lift a preferred embodiment below, and carry out by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
As depicted in figs. 1 and 2, a kind of industrial robot forearm driving mechanism, it comprises that one for driving the forearm driven unit 1 of forearm 2 and wrist joint 3, forearm driven unit 1 comprises forearm drive shell 14, the 4th axle input module 11, the 5th axle input module 12 and the 6th axle input module 13, the 4th axle input module 11, the 5th axle input module 12 and the 6th axle input module 13 are all arranged at forearm drive shell 14 inside, and equal extending axially along forearm 2, the 4th axle input module 11 and the 5th axle input module 12 are all positioned at the top of the 6th axle input module 13, and the 6th axle input module 13 of take distributes side by side as symmetrical centre.
The 3rd axle input module, the 4th axle input module and the 5th axle input module are taked the layout of isosceles triangle, and like this, three input modules are relatively independent on mechanism and driving-chain each other, are independent of each other.Compare three axles biasing inputs, reduced first grade transmission chain, make simple in structurely, parts reduce, and provide cost savings, and offer convenience also to follow-up maintaining, have improved transmission accuracy simultaneously, have increased the reliability of robot forearm.
Forearm 2 can comprise the first forearm drive rod 21 and the second forearm drive rod 22 of adjacent layout, the outer cover of the first forearm drive rod 21 and the second forearm drive rod 22 is provided with forearm linking arm 23, the first forearm drive rods 21 and is all connected with wrist joint 3 with the second forearm drive rod 22.Like this, these building blocks of forearm, can guarantee that forearm is as the basic function of parts, also for the assembly driving is provided convenience power transmission to wrist joint.
On forearm linking arm 23, can be connected with reductor 24, the four axle input modules 11 and can comprise the 4th axis drive motor, the 4th axis drive motor is connected with reductor 24 by one first primary speed-down gear assembly.Like this, by primary speed-down gear assembly, be connected with reductor, realized better transmission agency.
The 5th axle input module 12 can comprise one the 5th axis drive motor, and the 5th axis drive motor is connected with the first forearm drive rod 21 by one second primary speed-down gear assembly.Like this, by primary speed-down gear assembly, be connected with drive rod, realized better transmission agency.
The 6th axle input module 13 extends along the axial line of forearm 2, and the 6th axle input module 13 comprises one the 6th axis drive motor, and the 6th axis drive motor is connected with the second forearm drive rod 22.Like this, the 6th axle directly provides driving force, thereby transmission accuracy is significantly improved, and has increased the reliability of industrial robot forearm.
Although more than described the specific embodiment of the present utility model, it will be understood by those of skill in the art that this only illustrates, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection domain of the present utility model.
Claims (6)
1. an industrial robot forearm driving mechanism, it comprises that one for driving forearm and carpal forearm driven unit, described forearm driven unit comprises a forearm drive shell, one the 4th axle input module, one the 5th axle input module and one the 6th axle input module, it is characterized in that, described the 4th axle input module and described the 5th axle input module are all positioned at the top of described the 6th axle input module, and take described the 6th axle input module and distribute side by side as symmetrical centre.
2. industrial robot forearm driving mechanism as claimed in claim 1, it is characterized in that, it is inner that described the 4th axle input module, described the 5th axle input module and described the 6th axle input module are all arranged at described forearm drive shell, and equal extending axially along described forearm.
3. industrial robot forearm driving mechanism as claimed in claim 2, it is characterized in that, described forearm comprises one first forearm drive rod and the one second forearm drive rod of adjacent layout, the outer cover of described the first forearm drive rod and described the second forearm drive rod is provided with a forearm linking arm, and described the first forearm drive rod is all connected with described wrist joint with described the second forearm drive rod.
4. industrial robot forearm driving mechanism as claimed in claim 3, it is characterized in that, on described forearm linking arm, be connected with a reductor, described the 4th axle input module comprises one the 4th axis drive motor, and described the 4th axis drive motor is connected with described reductor by one first primary speed-down gear assembly.
5. industrial robot forearm driving mechanism as claimed in claim 3, it is characterized in that, described the 5th axle input module comprises one the 5th axis drive motor, and described the 5th axis drive motor is connected with described the first forearm drive rod by one second primary speed-down gear assembly.
6. industrial robot forearm driving mechanism as claimed in claim 3, it is characterized in that, described the 6th axle input module extends along the axial line of described forearm, and described the 6th axle input module comprises one the 6th axis drive motor, and described the 6th axis drive motor is connected with described the second forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320571180.XU CN203495953U (en) | 2013-09-13 | 2013-09-13 | Industrial robot forearm driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320571180.XU CN203495953U (en) | 2013-09-13 | 2013-09-13 | Industrial robot forearm driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203495953U true CN203495953U (en) | 2014-03-26 |
Family
ID=50326957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320571180.XU Expired - Lifetime CN203495953U (en) | 2013-09-13 | 2013-09-13 | Industrial robot forearm driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203495953U (en) |
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2013
- 2013-09-13 CN CN201320571180.XU patent/CN203495953U/en not_active Expired - Lifetime
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHANGHAI XINSHIDA ROBOT CO., LTD. SHANGHAI SIGRINE Free format text: FORMER OWNER: SHANGHAI SIGRINER CO., LTD. Effective date: 20140403 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20140403 Address after: 201802 Shanghai City, Jiading District Nanxiang Town, new Qin Road No. 289 Patentee after: SHANGHAI STEP ELECTRIC Corp. Patentee after: SHANGHAI STEP Robotics Co.,Ltd. Patentee after: SHANGHAI SIGRINER STEP ELECTRIC Co.,Ltd. Address before: 201802 Shanghai City, Jiading District Nanxiang Town, new Qin Road No. 289 Patentee before: SHANGHAI STEP ELECTRIC Corp. Patentee before: SHANGHAI SIGRINER STEP ELECTRIC Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140326 |