CN203622423U - Multi-shaft robot - Google Patents

Multi-shaft robot Download PDF

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Publication number
CN203622423U
CN203622423U CN201320597633.6U CN201320597633U CN203622423U CN 203622423 U CN203622423 U CN 203622423U CN 201320597633 U CN201320597633 U CN 201320597633U CN 203622423 U CN203622423 U CN 203622423U
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CN
China
Prior art keywords
transmission
rotating disk
support
support column
axis robot
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.)
Active
Application number
CN201320597633.6U
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Chinese (zh)
Inventor
厄恩斯特·齐默
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Priority to CN201320597633.6U priority Critical patent/CN203622423U/en
Application granted granted Critical
Publication of CN203622423U publication Critical patent/CN203622423U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a multi-shaft robot which comprises a support (107) and a rotary disc (108). The rotary disc (108) disposed on the support can rotate around a base shaft (110) and be driven. The support is disposed in a centered manner relative to the vertical base shaft (110) and provided with a support pillar (111) with a top plate (113). The support pillar is a combined bearing support pillar. A driver (116) for the rotary disc is disposed at the height of a rotary disc base plate (115) or above the same. A cable (120) surrounds the outer side of the support pillar. A detachable covering part surrounds the cable. A transmission device (118) is a reduction cycloid transmission device or a planet transmission device which is disposed in a centered manner relative to the base shaft. The transmission device is disposed on the top plate. A transmission bearing (119) is integrated in the transmission device and located in the vertical area between the support pillar top plate and the driven part of (125) of the transmission device.

Description

Multi-axis robot
Technical field
The utility model relates to a kind of multi-axis robot, and it has support and can be arranged on rotationally on support and drivable rotating disk around standard shaft.
Background technology
Robot generally includes support and rotating disk, and rotating disk is arranged on rotationally on support and is equipped with driver around standard shaft.In known structure, for the drive motors of rotating disk below support is positioned at rotating disk substrate.Rolling bearing has larger supporting width and divides and be arranged with transmission device.Support has and forms support column covering, firm simultaneously, and this support column is around rotating disk driver and cable, and rolling bearing is also fixed on support column.
In addition, also have a kind of known robot, it has support and is arranged on rotationally on support and driven rotating disk around standard shaft.
Utility model content
The purpose of this utility model is to propose a kind of multi-axis robot, and it is of compact construction in support-rotating disk region in order freely to approach parts.
The purpose of this utility model is by realizing according to multi-axis robot of the present utility model, it has support and can be arranged on rotationally on this support and drivable rotating disk around standard shaft, wherein, support has the support column arranging with respect to vertical standard shaft centering, this support column has top board, wherein, support column is designed to torque and the bearing support column of combination, and wherein, be arranged on the height of rotating disk substrate for the driver of rotating disk or be arranged on rotating disk substrate top, wherein, support column in outside by cable institute around, cable by dismountable covering around; Transmission device be designed to slow down cycloid transmission device or planetary driving device build and arrange with respect to standard shaft centering; Transmission device is arranged on top board; Rolling bearing is integrated in transmission device, in the vertical area between support column top board and the driven member of transmission device.According to robot of the present utility model, great majority are arranged on the height of rotating disk substrate for the driver part of rotating disk or its top, make thus these parts can be freely for the object of assembling and serving and there is good accessibility.Can also realize better cooling for the motor that is positioned at top.
The intermediate support post of support can support for torque and the bearing of rotating disk simultaneously.Compared with prior art, rolling bearing has less supporting width at this, and is preferably arranged on the top board of support column.Top board is also carrying the supporting member of transmission device simultaneously.Therefore make support and more carefully and still keep compact and short.
With low cost and the more easily operation according to robot building of the present utility model.Make thus this support and turntable structure compared with known structure type more economically.
Transmission device be designed to slow down cycloid transmission device (Zycloidengetriebe) or planetary driving device.This transmission device builds and arranges with respect to standard shaft centering.This contributes to compact structure.
This transmission device can be equipped with additional preposition transmission device (Getriebevorstufe), can side direction be positioned at the side of standard shaft at this motor with staggering.Also can motor centering be arranged and is placed on transmission device with respect to standard shaft.This simplifies the structure and has reduced construction cost.
Based on the idea of compact structure, rolling bearing is integrated in transmission device.Then the relatively-stationary parts of transmission device and rolling bearing be arranged on support column and be just positioned at below rotating disk substrate.
Support column is surrounded by cable in outside, at this, around cable, dismountable covering is set, and also these coverings can be removed according to working environment.Can freely, unhinderedly approach thus cable and other installing component, and will not arrange greatlyr by support.
According to the utility model, motor is arranged on rotating disk, and the driven member of transmission device is arranged on the height of rotating disk substrate or is arranged on the top of rotating disk substrate.
According to the utility model, motor arranges and is arranged on transmission device with respect to standard shaft centering.
According to the utility model, transmission device and rolling bearing arrange with respect to the top board centering of support column, wherein, the annular flange that is positioned at outside freely remains on top board, is one or morely fixed on this annular flange for limiting the stop part of dial rotation angle.
According to the utility model, on rotating disk, arrange and the coefficient pairing stop part of stop part.
According to the utility model, stop part is adjustable.
According to the utility model, support column is lower than described cable.
According to the utility model, on the top board of rotating disk and support column, stop part is set, these stop parts are combined the rotational angle that limits rotating disk.
According to the utility model, support is arranged on floor and is fixed on floor.
According to the utility model, support regularly or relative motion be arranged on wall.
Accompanying drawing explanation
In the accompanying drawings the utility model is carried out schematically illustrating, below in conjunction with accompanying drawing, embodiment of the present utility model has been described.Wherein:
Fig. 1 shows multi-axis robot with side view and summary view,
Fig. 2 shows the amplification sectional view of support, and it has the drive motors that is positioned at standard shaft side,
Fig. 3 shows the one distortion with respect to Fig. 2, and it has the drive motors being positioned at concentrically on standard shaft.
Wherein, description of reference numerals is as follows:
106 robots
107 supports
108 rotating disks
109 turntable structures
110 standard shafts
111 support columns
112 base plates
113 top boards
114 pipes
115 rotating disk substrates
116 rotating disk drivers
117 motors
118 transmission devices
119 rolling bearings
120 electric supply installations, cable
121 coverings
122 stop parts
123 pairing stop parts
124 annular flanges
125 transmission components, driven member
126 transmission components, supporting member
127 transmission components, actuator
128 preposition transmission devices (Getriebevorstufe).
The specific embodiment
Fig. 1 summary shows a kind of multi-axis robot 106, and it has support 107 and can be arranged on rotationally the rotating disk 108 on this support around standard shaft 110.Rotating disk 108 has structure 109, and this structure is made up of rocking arm, cantilever and robot in shown embodiment.But this structure 109 also can have other design.In shown embodiment, support 107 is positioned on floor and is fixed on there.Support 107 also can regularly or relatively move and be arranged on wall, for example, be arranged on door frame (Portal) or rocking arm.To the quantity of additional shaft and not restriction of design.
Fig. 2 and Fig. 3 show in detail the structure of support 107 and rotating disk 108 with cross section.
Support 107 comprises the support column 111 in the middle of being arranged on respect to vertical standard shaft 110, this support column in outside by cable 120 and other installation and power supply part institute around.These other installing component and power supply part set up the electric supply installation fixing in position and rotating rotating disk 108 or structure 109 with and on connection between the customer that arranges.
Support column 111 is made up of tubular body 114, and it stands upright on discoid base plate 112, and is carrying in the above and be similarly discoid top board 113.These two plates 112,113 center have via openings.Support column 111 is Welding Structure.
Rotating disk 108 has rotating disk substrate 115, is provided with structure 109 on it.Be provided for the driver 116 of rotating disk motion, its parts are located substantially on the height of rotating disk substrate 115 or the side of being located thereon.This driver is bearing on the support column that is just positioned at rotating disk substrate 115 belows.Rotating disk utilizes rolling bearing 119 to be bearing on support column 111.Support column 111 forms compact torque and the bearing supporting to rotating disk 108.
Driver 116 is made up of the motor 117 and the transmission device 118 that are preferably quick service meter.In embodiment as shown in Figure 2, between motor 117 and transmission device 118, be also provided with preposition transmission device 128.
Transmission device 118 is designed to speed reduction gearing.In shown embodiment, this transmission device is cycloid transmission device.Can be also alternatively planetary driving device or other applicable speed reduction gearings.Transmission device 118 is configured and disposed with respect to vertical standard shaft 110 centerings.
Supporting member 126 on the driven member 125 that transmission device 118 is connected by the actuator 127 being connected with motor 117, with rotating disk 108 and the top board 113 that is fixed on support column 111 forms.
In embodiment as shown in Figure 3, motor 117 is arranged in suitable keeper and with actuator 127 and is directly connected.
Driven member 125 is fixed on rotating disk 108, and is arranged on the height of about rotating disk substrate 115 or side disposed thereon at this.Motor 117 is arranged on the top of rotating disk substrate 115 equally.
In embodiment as shown in Figures 2 and 3, the rolling bearing 119 of rotating disk 108 is integrated in transmission device 118.At this, rolling bearing 119 is arranged in the region of the transmission device 118 between supporting member 126 and driven member 125.
In shown embodiment, rolling bearing 119 and transmission device 118 form a compactness, short unit, and its part is positioned on the height of rotating disk substrate 115 or on the height of rotating disk substrate 115.If the parts of this unit are arranged on below rotating disk substrate 115, in the relatively short space of this unit between top board 113 and rotating disk substrate 115.
Stop part 122,123 is set on the top board 113 of rotating disk 108 and support column 111, and they combine the rotational angle that defines rotating disk 108.Top board 113 centerings with respect to support column 111 arrange at this for transmission device 118 and rolling bearing 119.Be similarly circular top board 113 and relatively there is larger diameter, form annular flange 124 at outer ring around transmission device 118 and rolling bearing 119 thus.Stop part 123 is set on this annular flange.Can be adjusted by multiple fixed sockets stop part 123, to adjust different angles on top board 113.More stop part 123 can also be set.The pairing stop part 122 of motion is positioned on the bottom surface of rotating disk substrate 115 corresponding thereto.These two stop parts 122,123 on its motion path with narrow and small spacer ring around transmission device 118 and rolling bearing 119.
As shown in Figures 2 and 3, the height of support 107 depends on cable 120.Cable is higher than support column 111 and exceed its top board 113, and from outside around the parts of rolling bearing 119 or transmission device 118.Dismountable covering 121 can be from outer ring around cable 120 ground settings.

Claims (11)

1. a multi-axis robot, it has support (107) and can be arranged on rotationally on this support and drivable rotating disk (108) around standard shaft (110), wherein, described support (107) has the support column (111) arranging with respect to vertical standard shaft (110) centering, this support column has top board (113), wherein, described support column (111) is designed to torque and the bearing support column of combination, and wherein, be arranged on the height of rotating disk substrate (115) for the driver (116) of described rotating disk (108) or be arranged on the top of rotating disk substrate (115), it is characterized in that, described support column (111) in outside by cable (120) institute around, described cable by dismountable covering around, by transmission device (118) be designed to slow down cycloid transmission device or planetary driving device build and arrange with respect to described standard shaft (110) centering, described transmission device (118) is arranged on described top board (113), rolling bearing (119) is integrated in described transmission device (118), in the vertical area being arranged between the top board (113) of described support column (111) and the driven member (125) of described transmission device (118).
2. multi-axis robot as claimed in claim 1, is characterized in that, the rolling bearing (119) of described rotating disk (108) and the supporting member (126) of described transmission device (118) are arranged on the top board (113) of described support column (111).
3. multi-axis robot as claimed in claim 1, it is characterized in that, motor (117) is arranged on to described rotating disk (108) upper, and the driven member of described transmission device (118) (125) is arranged on the height of described rotating disk substrate (115) or is arranged on the top of described rotating disk substrate (115).
4. multi-axis robot as claimed in claim 3, is characterized in that, described motor (117) arranges and is arranged on described transmission device (118) with respect to described standard shaft (110) centering.
5. multi-axis robot as claimed in claim 1, it is characterized in that, described transmission device (118) and described rolling bearing (119) arrange with respect to top board (113) centering of described support column (111), wherein, it is upper that the annular flange (124) that is positioned at outside freely remains on described top board (113), is one or morely fixed on this annular flange for the stop part (123) that limits dial rotation angle.
6. multi-axis robot as claimed in claim 5, is characterized in that, at the upper setting of described rotating disk (108) and the coefficient pairing stop part of described stop part (123) (122).
7. the multi-axis robot as described in claim 5 or 6, is characterized in that, described stop part (123) is adjustable.
8. multi-axis robot as claimed in claim 1, is characterized in that, described support column (111) is lower than described cable (120).
9. multi-axis robot as claimed in claim 1, it is characterized in that, on the top board (113) of described rotating disk (108) and described support column (111), stop part (122,123) is set, these stop parts are combined the rotational angle that limits described rotating disk (108).
10. multi-axis robot as claimed in claim 1, is characterized in that, described support (107) is arranged on floor and is fixed on floor.
11. multi-axis robots as claimed in claim 1, is characterized in that, described support (107) regularly or relative motion be arranged on wall.
CN201320597633.6U 2013-09-26 2013-09-26 Multi-shaft robot Active CN203622423U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320597633.6U CN203622423U (en) 2013-09-26 2013-09-26 Multi-shaft robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320597633.6U CN203622423U (en) 2013-09-26 2013-09-26 Multi-shaft robot

Publications (1)

Publication Number Publication Date
CN203622423U true CN203622423U (en) 2014-06-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320597633.6U Active CN203622423U (en) 2013-09-26 2013-09-26 Multi-shaft robot

Country Status (1)

Country Link
CN (1) CN203622423U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017079858A1 (en) * 2015-11-10 2017-05-18 石丽 Light source lifting data measuring device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017079858A1 (en) * 2015-11-10 2017-05-18 石丽 Light source lifting data measuring device

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