CN203592487U - Industrial robot with robot hand driving unit - Google Patents
Industrial robot with robot hand driving unit Download PDFInfo
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- CN203592487U CN203592487U CN201320635684.3U CN201320635684U CN203592487U CN 203592487 U CN203592487 U CN 203592487U CN 201320635684 U CN201320635684 U CN 201320635684U CN 203592487 U CN203592487 U CN 203592487U
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- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 description 5
- 230000004323 axial length Effects 0.000 description 2
- 238000006116 polymerization reaction Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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Abstract
The utility model relates to an industrial robot with a robot hand driving unit. The driving unit comprises a plurality of driving motors (119, 121, 123) belonging to a robot arm (115). The driving motors comprise driving shafts (125, 127, 129) for driving a robot hand (137) of the arm. At least one driving motor (121) of the three is arranged forward in the axial direction facing the robot hand relative to at least another driving motor (119, 123) of the three in a staggered manner. The driving shafts are parallel straight shafts, the front ends of which end at the same axial height. The driving motor staggered forward in the axial direction is arranged in the robot arm; the axial distance of the staggered driving motor and at least another driving motor is no less than the length of a shell of the other driving motor; and the radius of the staggered driving motor partially overlaps with the radius of at least another adjacent driving motor.
Description
Technical field
The utility model relates to a kind of industrial robot with robot drive unit, and that this drive unit has is multiple, three drive motors that are arranged in robot cantilever particularly, for driving the robot on cantilever.
Background technology
These drive motors are normally arranged side by side in the prior art.This arrangement being formed by drive motors is perpendicular to turning cylinder or the driving shaft of drive motors.The drive motors being arranged in robot cantilever also can become fan-shaped setting, and is equipped with the jackshaft of polymerization on the end direction of coaxial arbor, and final driven machine staff.This layout needs very large space.Be exactly that for the axle extending toward each other, the angle between axle is also relatively large in situation described above.
In addition also has a kind of known robot drive unit, the each element that drives a joint shaft or quill shaft of its motor.
Utility model content
The purpose of this utility model is, reduces the shared space of robot drive unit in the situation that balancing gravity distributes effectively.
In order to realize this object, the utility model proposes a kind of robot with robot drive unit, this drive unit has multiple attaching troops to a unit in the drive motors of robot cantilever, these drive motors have the driving shaft of the robot for driving cantilever, at this, at least one drive motors is staggered forward and arranged with respect to another drive motors at least on the axial direction towards robot, and these driving shafts are designed to the d-axis that is parallel to each other and extends, they end at identical axial height substantially at front end, at this, multiple driving shafts are set, and the driving shaft of drive motors in the middle of making to be positioned at be less than with respect to the interval of the driving shaft of the drive motors on two sides the electric machine casing of the adjacent a pair of drive motors axially staggering each other radius and, the radius of the drive motors in axial direction staggering forward spatially at least in part respectively with the radius overlaid of adjacent at least another drive motors.
According to the utility model, each driving shaft is assemblied on the motor shaft of each drive motors, make thus driving shaft be bearing in the electric machine casing of corresponding drive motors by motor shaft.
According to the utility model, the overhang bracket of the drive motors dorsad of driving shaft is in the transmission device of robot and/or be assemblied on the axle of transmission device of robot.
According to the utility model, three driving shafts are set.
According to the utility model, two driving shafts are set.
According to the utility model, at least one drive motors in axial direction staggering is forward arranged between other two drive motors, and the width of its electric machine casing is less than the width of the electric machine casing of other two drive motors described at least one.
According to the utility model, the offsetting that is at least equaled described at least one drive motors in axial direction staggering forward by the length of the driving shaft that at least another drive motors drives is measured, thereby the motor shaft of this at least one drive motors in axial direction staggering is forward ended on the axial height identical with the driving shaft being driven by other drive motors.
According to the utility model, at least one drive motors in axial direction staggering is forward with respect at least two drive motors that are arranged side by side on identical axial height the longest electric machine casing length in these at least two drive motors that are arranged side by side that at least staggers forward in the axial direction.
According to the utility model, most of in drive motors are arranged in the side with respect to robot of cantilever about the turning cylinder of cantilever as counterbalance.
According to the utility model, be connected on the 6th shaft drive input of robot with respect to the drive motors flange that at least stagger forward towards the axial direction of robot in another drive motors edge.
According to the utility model, at least another drive motors is arranged side by side on the end of a side of the robot dorsad of cantilever.
According to the utility model, driving shaft is designed to integrated, to form assembly d-axis.
Therefore in the utility model, at least one drive motors is with respect at least stagger the in the axial direction length of this at least one drive motors of another drive motors at least.
Generally, industrial robot is very expensive and the energy/space requirement is huge, and any measure that can be used in saving space, material or raise the efficiency all has economic implications.By can alleviating the weight of robot and reduce costs according to solution of the present utility model.In addition, on the one hand can reduce the required space of robot drive unit, can guarantee on the other hand along the axial direction of cantilever in other words longitudinal direction realize the suitable weight distribution of motor configuration, make thus cantilever advantageously keep balance.Finally, by keeping cantilever balance can be reduced in the bearing arrangement of cantilever and the cost of driver aspect, maybe can only there is very little power to work because must apply very little power at this.
Drive motors is for three axles of driven machine staff, and robot can be designed as center hand or other by robot that professional assert.For specific use, the robot that can consider to there is redundant robot's hand of more than three drive motors or only there are two drive motors.In particular cases can use easily thought of the present utility model at these two kinds.In the situation that having more than three drive motors, these drive motors can be divided into different groups, each group is separately positioned on different axial heights, thus the drive motors making to be under the jurisdiction of not on the same group staggers mutually.
Can realize the same be arrangeding in parallel and make thus cantilever there is elongated version by driving shaft is set more closely according to scheme of the present utility model.But the utility model also can adopt the drive motors that fan-shaped or arch arrange in theory, they have radial polymerization driving shaft together, at this, in the situation that considering entire arrangement, can be to match with the radial shift of the drive motors that is arranged in arch about the axial offsetting amount (Versatz) of each motor shaft, at this, other drive motors can be set in arch.
One preferred embodiment in, particularly driving shaft is designed to d-axis integrated, that made by an assembly.Particularly low, easy to maintenance, the anti abrasive robot drive unit of cost of one can be provided thus.Above-mentioned advantage particularly with the contrast of at present general cardan axis or quill shaft in be proven.
In the preferred expansion scheme of this external another kind, at least one driving shaft stretches with respect to its drive motors at least one drive motors arranging that staggers along at least one, at this, this at least one drive motors staggering is with respect to axially stagger the forward axial length of electric machine casing of these other drive motors of other drive motors, its radius spatially overlaid of radius of the drive motors adjacent with one or two partly respectively.
These motor are staggered or part setting with overlapping diametrically in the axial direction, will they not arrange in one plane, but can stagger each other and arrange perpendicular to the direction of their working shaft at this.By viewed electric machine casing arranged superposed in the axial direction, can make the width of whole motor configuration than each drive motors electric machine casing width and little.
Especially can save according to space in this particular importance according to scheme of the present utility model use at industrial robot, the First Line of the robot of for example cranking arm, this also can consider in theory other, wherein must be to the application that can control around the robot of multiple axles motions.
In this article, " width " of electric machine casing refers to that electric machine casing is perpendicular to pivot center laterally extending that is bearing in the motor shaft in electric machine casing, particularly the extension in adjacent motor shaft or adjacent drive motors direction.
If having in the drive motors of identical or almost identical width, two drive motors that axially stagger each other driving shaft between interval be less than by axially shifting to install the width at the motor on the side of the axle of another motor, just can realize this being crisscross arranged.
According to a kind of expansion scheme of the present utility model, the width that is arranged on the electric machine casing of the middle drive motors between other two drive motors is less than the width of the electric machine casing of other two drive motors described at least one.Can make thus these two drive motors or its driving shafts that are arranged on middle drive motors side more approaching each other, thereby can realize on the whole thinner cantilever design.
This particularly at least axially staggers forward while being equivalent to the electric machine casing length of other drive motors in the axial direction at the electric machine casing of middle drive motors is like this.Can in the situation that not consider electric machine casing shape, realize and being crisscross arranged thus, so can use commercially available drive motors.
At this and the direction of mentioning hereinafter " forward " represent the robot that driven by the drive motors direction along its setting.
In another preferred embodiment of the present utility model, in the time that described at least one, other drive motors drive driving shaft, the length of its driving shaft conforms to the offsetting amount of the drive motors staggering forward in the axial direction, thereby the motor shaft that makes the drive motors staggering at least ends at the axial height substantially the same with the driving shaft being driven by described other drive motors, preferably can cancel the driving shaft of the drive motors for axially staggering forward, because this drive motors can directly be worked or be engaged in transmission device on the cylindrical gear mechanism on the axial height of end that is arranged at described other driving shafts by its motor shaft.
Thus, one preferred embodiment in, the motor flange staggering in the direction towards robot with respect to other motors is connected on the input of the 6th shaft drive of robot.In addition, by reducing driving shaft, can also make the load that driven by this drive motors axially staggering forward lower than the load of other drive motors, thereby also can make this drive motors axially staggering forward former thereby there is less size and therefore there is less electric machine casing based on this.
If the drive motors axially staggering forward or backward staggers with respect to two other drive motors that are arranged on identical axial height, can realize symmetric configuration and make the also corresponding minimizing of various parts.In order further to increase the density of drive motors, also can consider to make a drive motors further to offset transverse to axial direction and perpendicular to the arrangement of other drive motors.
When at least most of in drive motors be arranged on about the turning cylinder of cantilever as counterbalance this cantilever with respect to a side of robot on time, these drive motors can balanced cantilever or the weight of robot or remain on the weight of the application thing on robot.Can make the maximum Payload of robot maximize by such layout of drive motors.
Accompanying drawing explanation
Other advantages of the present utility model are provided by following accompanying drawing and explanation.These accompanying drawings show embodiment of the present utility model.Professional also can consider feature of the present utility model and reasonably they is combined into other forms of combination.Wherein:
Fig. 1 shows the first embodiment according to robot drive unit of the present utility model, and at this, middle drive motors axially staggers forward and arranges with respect to other two drive motors, and contiguous transmission device;
Fig. 2 shows the another kind of embodiment of robot drive unit, and wherein, middle drive motors axially staggers forward and arranges with respect to other two drive motors, and has less electric machine casing, and its position is close to two other drive motors;
Fig. 3 shows the another kind of embodiment of robot drive unit, and wherein, middle drive motors axially staggers forward and arranges;
Fig. 4 shows the longitudinal section of a kind of embodiment of robot cantilever, wherein, is equipped with by cantilever support robot and for it drive unit substantially conforming to embodiment as shown in the figure.
Wherein, description of reference numerals is as follows:
115 cantilevers
119 drive motors
121 drive motors
123 drive motors
125 driving shafts
127 driving shafts
129 driving shafts
131 electric machine casings
133 electric machine casings
135 electric machine casings
137 robots
139 transmission devices
141 axles
145 motor shafts
149 rocking arms
151 pedestals
153 rotating disks.
The specific embodiment
Fig. 1 shows the first embodiment according to robot drive unit of the present utility model, this drive unit has three drive motors 119,121,123 in the cantilever (not shown) that is arranged on robot (not shown), they have the driving shaft 125,127,129 of extends parallel, for driving the robot (not shown) on cantilever.Each driving shaft 125,127,129 is assemblied in respectively on the motor shaft of each drive motors 119,121,123, makes thus driving shaft 125,127,129 be bearing in the electric machine casing of corresponding drive motors 119,121,123 by motor shaft.
Driving shaft 125,127,129 extends like this as the d-axis of stretching, extension parallel to each other: the driving shaft 125,127 of posterior drive motors 119,121 is from the both sides process of the motor 121 that forward, staggers forward towards the direction of robot, at this, the axial length of the electric machine casing of other drive motors 119,123 described in drive motors 121 staggers forward at least in the axial direction with respect to other drive motors 119,123, the partly spatially overlaid of radius of the drive motors 119 or 123 adjacent with two of radius difference of drive motors 121.
In this embodiment, robot is rotational motion or the oscillating motion around three turning cylinders that intersect at a point by transmission device (not shown in Fig. 1) by the conversion of motion of three drive motors 119,121,123.Turning cylinder determines that the robot of motion is relevant to the free degree of cantilever.Because transmission device can have any configuration that can imagine, for example, can be equipped with cingulum, gear and/or roller gear, so do not elaborate at this.Other the possible design relevant to cantilever or whole robot will be described in detail according to Fig. 4 below.
Although transmission device can also comprise be connected in the middle of, cross over the quill shaft of considerable part of jib-length, driving shaft 125,129 is crossed over the major part of jib-lengths, at least 50%.
119,121,123 overhang brackets of drive motors dorsad of driving shaft 125,127,129 are in transmission device or be arranged on its axle, therefore also can abandon independent bearing in this side.Therefore, driving shaft 125,127,129 can be designed as integrated, simple d-axis, particularly cost efficient and does not need to be lubricated.
According to the utility model, middle drive motors 121 axially staggers forward with respect to two other drive motors 119,123.This two other be arranged on side drive motors 119,123 be arranged in the axial direction on identical height and there is the driving shaft 125,129 extending in parallel.
Drive motors 121 is hereinto with respect to other two drive motors 119,123 that are arranged on both sides (in Fig. 1 to the right) axially forward, along the setting of staggering towards the direction of unshowned robot in Fig. 1.By according to scheme of the present utility model, can make on the one hand the width of motor row row be less than the electric machine casing 131,133,135 of each drive motors 119,121,123 width and, can guarantee that on the other hand this motor row is listed on the axial direction of cantilever and has suitable distribution of weight, can advantageously make cantilever 115 keep balance thus.The gravitational equilibrium based on being realized by drive motors 119,121,123 finally potential cost savings can also realized aspect the installation and operation of cantilever, because need only act on less power or pay(useful) load is still less moved at this.
As previously mentioned, the middle drive motors 121 axially staggering can driven machine staff 137 at this 6th axle extending along cantilevered orientation.This axle conventionally need to be than robot or more precisely than the 4th axle of robot or the less torque of the 5th axle.In addition, by middle drive motors 121 being attached troops to a unit in being selected as the 6th little axle of load, can make this drive motors there is less size, can save thus cost and weight reduction.
The axial offsetting amount of the drive motors 121 staggering with respect to other two drive motors 119,123 is greater than the length of the electric machine casing 131,135 of described other drive motors 119,123, and the drive motors 121 therefore staggering forward and the axial expansion of any other two drive motors 119,123 can be not overlapping.
Two drive motors that axially stagger each other 119, 121, 123 driving shaft 125, 127, 129 spacing, in the middle of, the driving shaft 127 of drive motors 121 is with respect to the spacing of the driving shaft 125 or 129 of the drive motors 119 or 123 of its both sides, be less than two adjacent drive motors 119, 121 or 121, two electric machine casings 131 of 123, 133 or 133, 135 width, be less than in other words two adjacent drive motors that axially stagger each other 119, 121 or 121, 123 electric machine casing 131, 133 or 133, 135 radius and, therefore by electric machine casing 131, 133, 135 are crisscross arranged and make electric machine casing 131, 133, 135 cross section is overlapping on axis projection.
In Fig. 1, middle drive motors 121 axially offsets until contiguous transmission device 139, make thus other two drive motors 119,123 that are positioned at side drive respectively a driving shaft 125,129, the offsetting amount of the middle drive motors 121 that the length of driving shaft 125,129 equals to stagger, thus the motor shaft 145 of the drive motors 121 staggering is forward ended on the axial height identical with the driving shaft 125,129 of drive motors 119,123 drivings by other at least substantially
Fig. 2 and Fig. 3 show other embodiment of the present utility model.In to the description of these embodiments, by mainly explanation and the difference of robot drive unit shown in Fig. 1, and identical feature please refer to the above-mentioned explanation to Fig. 1.In Fig. 2 and Fig. 3, same or analogous parts are represented with identical Reference numeral.
Fig. 2 shows a kind of alternative embodiment of the present utility model, and wherein, middle drive motors 121 axially staggers forward with respect to other two drive motors 119,123, and has the electric machine casing 133 thinner than other two drive motors 119,123.Accordingly, be arranged between other two drive motors 119,123 and the width of the electric machine casing 133 of middle the drive motors 121 that axially staggers is forward less than respectively the width of the electric machine casing 131,135 of another two drive motors 119,123 that are arranged on drive motors 121 both sides, centre.
Fig. 3 shows another kind of embodiment of the present utility model.This illustrated can make as required in principle in the middle of drive motors 121 with respect to two other motor shaft to the offsetting amount arbitrarily that staggers forward, and the motor shaft of middle drive motors 121 ends on the substantially the same axial height of the driving shaft 125,129 that drives with another two drive motors 119,123.
In all above-mentioned embodiments, most of in drive motors 119,121,123 are arranged in a side relative with robot of cantilever 115 about the turning cylinder of the cantilever not being shown specifically at this (being the 3rd axle A3 the six-shaft industrial robot in the situation that) as counterbalance.In all embodiment that illustrate, be somebody's turn to do (the 3rd) turning cylinder axially between two electric machine casings 131,135 and transmission device 139 at the drive motors 119,123 in outside, at this, they can be parallel to the plane of being launched by two driving shafts 125,129 of the drive motors 119,123 in outside according to the version of robot that comprises this robot drive unit extends, extends perpendicular to this plane, or also can extend obliquely with respect to this plane in theory.
In the embodiment not being shown specifically at this at another kind, wherein a drive motors axially staggers backward with respect to being arranged on perpendicular to the drive motors in the arrangement of the turning cylinder of this drive motors of other, staggers backward from robot.
In addition, can make a drive motors stagger perpendicular to the plane of being launched by the driving shaft of other drive motors, these other drive motors are set up in a row in this plane,, for example make the middle drive motors 121 shown in Fig. 1 to Fig. 3 stagger perpendicular to the drawing of Fig. 1 to Fig. 3, therefore,, owing to may making electric machine casing 131,133,135 be encapsulated more compactly, therefore can further dwindle structure space.
In order to illustrate according to the configuration of the robot drive unit in robot of the present utility model, in Fig. 4, reproduce the cantilever 115 of six-shaft industrial robot in this case, this cantilever support can be around three of a robot axle, and the robot 137 that the 4th axle A4, the 5th axle A5 and the 6th axle A6 rotate is also equipped with substantially and embodiment conforms to as shown in Figure 1 robot drive unit.The 3rd axle A3 that cantilever 115 can extend around the rocking arm 149 perpendicular to robot rotates, at this, the motor 119,123 of the 4th axle axle A4 of robot 137 and the 5th axle A5 is arranged on to a side of the 3rd axle A3 dorsad of robot 137, and motor 121 the 6th axle A6 of driven machine staff 137, that stagger in the middle of being arranged on about motor 119,123 is arranged between the 3rd axle A3 and robot 137.The axle extending in parallel 125,129,145 of motor 119,121,123 connects the transmission device 139 not being shown specifically, and this transmission device is changed the rotating speed of each motor by rights.
Although discuss as an example of three drive motors and relevant driving shaft example in the utility model, but the utility model is not limited to this situation, can also there is other distortion, for example, in cantilever 115, two motors that stagger each other can also be only set.
Claims (12)
1. one kind has the industrial robot of robot drive unit, this drive unit has multiple attaching troops to a unit in the drive motors (119 of the cantilever (115) of described robot, 121, 123), described drive motors has the driving shaft (125 of the robot (137) for driving described cantilever (115), 127, 129), wherein, drive motors described at least one (121) is with respect to drive motors (119 described in another at least, 123) on the axial direction towards described robot (137), stagger forward and arrange, and described driving shaft (125, 127, 129) d-axis for being parallel to each other and extending, they are ending at identical axial height towards the front end of described robot, it is characterized in that, described at least one drive motors in axial direction staggering forward (121) is arranged in the cantilever (115) of described robot, and with respect to described at least another drive motors (119, 123) axially at least stagger forward described in another drive motors (119 at least, 123) length of electric machine casing, the radius of described at least one drive motors in axial direction staggering forward (121) spatially at least in part respectively with the radius overlaid of adjacent described at least another drive motors.
2. robot as claimed in claim 1, is characterized in that, by driving shaft described in each (125,127,129) be assemblied in described each drive motors (119,121,123) on motor shaft, make thus described driving shaft (125,127,129) be bearing in corresponding described drive motors (119 by described motor shaft, 121,123) in electric machine casing (131,133,135).
3. robot as claimed in claim 1, it is characterized in that, described driving shaft (125,127,129) described drive motors (119 dorsad, 121,123) overhang bracket is in the transmission device of described robot (137) and/or be assemblied on the axle of transmission device of described robot (137).
4. robot as claimed in claim 1, is characterized in that, three driving shafts (125,127,129) are set.
5. robot as claimed in claim 1, is characterized in that, two driving shafts (125,127,129) are set.
6. robot as claimed in claim 1, it is characterized in that, described at least one drive motors in axial direction staggering forward (121) is arranged on other two drive motors (119,123) between, the width of its electric machine casing (133) is less than other two drive motors (119 described at least one, 123) width of electric machine casing (131,133,135).
7. robot as claimed in claim 1, it is characterized in that, by described at least another drive motors (119,123) driving shaft (125 driving, 29) length at least equals the offsetting amount of described at least one drive motors in axial direction staggering forward (121), thereby the motor shaft (145) that makes described at least one drive motors in axial direction staggering forward (121) end at by other drive motors (119,123) on the axial height that the driving shaft (125,129) of driving is identical.
8. the robot as described in claim 4 or 7, it is characterized in that, described at least one drive motors in axial direction staggering forward (121) is with respect at least two drive motors that are arranged side by side on identical axial height (119,123) the longest electric machine casing length in these at least two drive motors that are arranged side by side (119,123) that at least staggers forward in the axial direction.
9. robot as claimed in claim 1, it is characterized in that, most of in described drive motors (119,121,123) are arranged in the side with respect to described robot (137) of described cantilever (115) about the turning cylinder of described cantilever (115) as counterbalance.
10. robot as claimed in claim 1, it is characterized in that, described drive motors (121) flange staggering forward towards the axial direction of described robot (137) with respect to described at least another drive motors (119,123) edge is connected in the transmission input of the 6th axle (A6) of described robot.
11. robots as claimed in claim 1, is characterized in that, described at least another drive motors (119,123) is arranged side by side on the end of a side of the described robot dorsad of described cantilever (115).
12. robots as claimed in claim 1, is characterized in that, described driving shaft is designed to integrated, to form assembly d-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320635684.3U CN203592487U (en) | 2013-10-15 | 2013-10-15 | Industrial robot with robot hand driving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320635684.3U CN203592487U (en) | 2013-10-15 | 2013-10-15 | Industrial robot with robot hand driving unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203592487U true CN203592487U (en) | 2014-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320635684.3U Expired - Lifetime CN203592487U (en) | 2013-10-15 | 2013-10-15 | Industrial robot with robot hand driving unit |
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| Country | Link |
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| CN (1) | CN203592487U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070521A (en) * | 2014-07-02 | 2014-10-01 | 安徽埃夫特智能装备有限公司 | Robot shaft installation structure |
-
2013
- 2013-10-15 CN CN201320635684.3U patent/CN203592487U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070521A (en) * | 2014-07-02 | 2014-10-01 | 安徽埃夫特智能装备有限公司 | Robot shaft installation structure |
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| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140514 |