CN205394524U - Little load industrial robot - Google Patents
Little load industrial robot Download PDFInfo
- Publication number
- CN205394524U CN205394524U CN201620170135.7U CN201620170135U CN205394524U CN 205394524 U CN205394524 U CN 205394524U CN 201620170135 U CN201620170135 U CN 201620170135U CN 205394524 U CN205394524 U CN 205394524U
- Authority
- CN
- China
- Prior art keywords
- servomotor
- cable
- large arm
- reductor
- industrial 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.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a little load industrial robot, including base, big arm and forearm, installing the 2nd servo motor and the 3rd servo motor side by side in big arm, still all installing the bearing in the big arm opposite side of second speed reducer and the installation of third speed reducer, the support cover that is used for the cable to pass this cable of protection is all installed to the inner circle of this bearing. The 2nd servo motor and the 3rd servo motor install side by side in the big arm for big arm inner structure is compact, thereby makes the robot volume less, and compact structure, light in weight are just. The bearing of installation in the big arm opposite side of second speed reducer and third speed reducer installation, satisfy the robot precision high with fast requirement, great improvement of while the bearing capacity of robot strong, stability improves by a wide margin. The support cover that is used for the cable to pass this cable of protection is all installed to the inner circle of bearing for the cable wearing and tearing reduce by a wide margin, make robot inner structure compact further improve moreover.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of little support industrial robot.
Background technology
Robot assisted is usually adopted to produce in industry manufacture, production and correlative technology field thereof, multi-joint industrial robot in the market belongs to six axles (six joints) robot mostly, wherein the low-load robot in six joints is favored by most industries, but need higher requirement in the design, it is lightweight that it is required to meet compact conformation, load is big, and speed is fast, precision is high.But current little loading robotics people realizes the lightweight and high upper Shortcomings of precision at the same time.Little loading robotics people robot urgently to be resolved hurrily in the design process does in precision prescribed while meeting compactedness, speed block, simultaneously also will by weight reduction to minimum and consideration robot Routing models.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of compact conformation, and lightweight precision is high, fireballing little support industrial robot.
The technical scheme that this utility model solves above-mentioned technical problem is as follows: a kind of little support industrial robot, including base, large arm and forearm；
Described chassis interior is provided with the first servomotor, the output shaft of this first servomotor passes through the first synchronous pulley and is used for driving the first speed reducer drive that described swivel base rotates in the horizontal direction to be connected, described large arm is arranged on described swivel base, second servomotor is installed in described large arm, this second servomotor is fixed in described large arm by motor flange, the output shaft of described second servomotor is provided with the second synchronous pulley, being also equipped with the second reductor on described swivel base, this second speed reducer output shaft is connected with described large arm；Described second reductor is provided with the 3rd synchronous pulley, described second synchronous pulley and the 3rd synchronous pulley by toothed belt transmission, drives the second reductor to rotate, and drives large arm to rotate in the plane be perpendicular to horizontal plane；The 3rd servomotor it is also equipped with in described large arm, 3rd servomotor is arranged in large arm by motor flange, motor cabinet is installed on the top of large arm, this motor cabinet is provided with the 3rd reductor, 3rd reductor is connected with described 3rd servo motor transmission by Timing Belt, and the outfan of described 3rd reductor is connected the described forearm of drive and rotates with motor cabinet；It is characterized in that; described second servomotor and the 3rd servomotor are mounted side by side in described large arm; also being fitted with bearing in the large arm opposite side that described second reductor and the 3rd reductor are installed, the inner ring of this bearing is fitted with protecting the support set of this cable for cable traverse.
The beneficial effects of the utility model are: the second servomotor and the 3rd servomotor are mounted side by side in described large arm so that large arm internal structure is compact, so that robot small volume, compact conformation, weight is light.
The bearing installed in the large arm opposite side that second reductor and the 3rd reductor are installed, meets the high and fireballing requirement of robot precision, and the bearing capacity being simultaneously greatly improved robot is strong, and stability is greatly improved.
The inner ring of bearing is fitted with protecting the support set of this cable for cable traverse so that cable abrasion is greatly reduced, and robot interior compact type is improved further.
Further, being additionally provided with metal washer between described bearing and support set, the material of described support set is plastics.
Adopt the beneficial effect of further technical scheme: the cooperation between metal washer bearing and support set is more solid and reliable, not easily loosen and displacement.
Support set material selection plastics, plastic construction is light, it is simple to reducing the weight of robot, and can better protect cable, cable is not easy to wear.
Further, described first reductor is additionally provided with the cable protective sleeve of described cable traverse.
Adopt the beneficial effect of further technical scheme: cable protective sleeve can protect cable, it is prevented that cable weares and teares.
Further, described large arm top is also equipped with, for driving described forearm around the 4th servomotor of the central shaft axial-rotation of this forearm (3), being arranged above the fixing plate of the cable for fixed cable at the 4th servomotor.
Adopt the beneficial effect of further technical scheme: the fixing plate of cable is for installing the cable on fixing top, and protection cable is by the impact of the 4th servomotor high temperature, moreover it is possible to prevent abrasion.
Further, the outer wall of described large arm is provided with protective cover.
Adopt the beneficial effect of further technical scheme: protective cover can effectively protect large arm internal structure.
Further feature, described first servomotor side is provided with the belt wheel tensioning mechanism (19) for regulating Timing Belt.
Adopt the beneficial effect of further technical scheme: be easy to regulate Timing Belt by belt wheel tensioning mechanism.
Further, described cover includes the first cable protective sleeve and the second cable protective sleeve that connect up and down, and described first cable protective sleeve is positioned at the middle part of described first reductor, and described second cable protective sleeve is arranged on the bottom of described first reductor by connecting journal stirrup.
Adopt the beneficial effect of further technical scheme: cover is used for cable traverse, play the effect of protection cable.
Further, described large arm is also equipped with several wire clips for fixing and protect described cable.
Adopt the beneficial effect of further technical scheme: wire clip is used for fixed cable, it is simple to the cabling of cable and layout so that large arm interior spatial structure is compact, does not have the phenomenon that cabling is in disorder.
Further, the motor shaft of described second servomotor and the 3rd servomotor is both provided with for fixing the second synchronous pulley and the catch of the 3rd synchronous pulley.
Adopt the beneficial effect of further technical scheme: the second synchronous pulley and the catch installed on the 3rd synchronous pulley are prevented from these two synchronous pulleys and collect together.
Accompanying drawing explanation
Fig. 1 is the external structure schematic diagram of little support industrial robot of the present utility model；
Fig. 2 is the A-A structural representation of Fig. 1；
Fig. 3 is the B-B structural representation of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, principle of the present utility model and feature being described, example is served only for explaining this utility model, is not intended to limit scope of the present utility model.
As shown in Figure 1 to Figure 3, a kind of little support industrial robot, including base 1, large arm 2 and forearm 3；Internally installed at base 1 has the first servomotor 4, the output shaft of this first servomotor 4 is by the first synchronous pulley 24 with for driving the first reductor 15 that described swivel base 5 rotates in the horizontal direction to be in transmission connection, and described first servomotor side is provided with the belt wheel tensioning mechanism 19 for regulating Timing Belt.
Described large arm 2 is arranged on described swivel base 5, second servomotor 6 is installed in described large arm 2, this second servomotor 6 is fixed in described large arm 2 by motor flange, the output shaft of described second servomotor 6 is provided with the second synchronous pulley 25, and described swivel base 5 is also equipped with the second reductor 7；Described second reductor 7 is provided with the 3rd synchronous pulley 26, described second synchronous pulley and the 3rd synchronous pulley by Timing Belt 23 transmission, drives large arm 2 to rotate in the plane be perpendicular to horizontal plane by the second reductor 7；It is also equipped with the 3rd servomotor 8 in described large arm 2,3rd servomotor 8 is arranged in large arm 2 by motor flange, motor cabinet 10 is installed on the top of large arm, this motor cabinet 10 is provided with the 3rd reductor 9,3rd reductor 9 is in transmission connection by Timing Belt and described 3rd servomotor 8, and the outfan of described 3rd reductor 9 is connected the described forearm 3 of drive and rotates with motor cabinet；It is characterized in that; described second servomotor 6 and the 3rd servomotor 8 are mounted side by side in described large arm 2; also being fitted with bearing 10 in the large arm opposite side that described second reductor 7 and the 3rd reductor 9 are installed, the inner ring of this bearing 10 is fitted with protecting the support set 11 of this cable 12 for cable 12 traverse.
Second servomotor of the present utility model and the 3rd servomotor are mounted side by side in described large arm so that large arm internal structure is compact, so that robot small volume, compact conformation, weight is light.The bearing installed in the large arm opposite side that second reductor and the 3rd reductor are installed, meet the high and fireballing requirement of robot precision, the bearing capacity being simultaneously greatly improved robot is strong, and stability is greatly improved so that robot architecture can do more compact.
Being additionally provided with metal washer 14 between bearing 10 and support set 11, the material of described support set 11 is plastics, and the first reductor 15 is additionally provided with the cable protective sleeve of described cable 12 traverse；Large arm 2 top is also equipped with, for driving described forearm 3 around the 4th servomotor 16 of forearm axial-rotation, being arranged above the fixing plate 17 of the cable for fixed cable at the 4th servomotor 16.Described cover includes the first cable protective sleeve 13 and the second cable protective sleeve 20 connected up and down, described first cable protective sleeve 13 is positioned at the middle part of described first reductor 15, and described second cable protective sleeve 20 is arranged on the bottom of described first reductor 15 by connecting journal stirrup.Described large arm 2 is also equipped with several wire clips 21 for fixing and protect described cable 12.
Cable 12, through support set 11 and cable protective sleeve 13, plays the effect preventing abrasion.
The fixing plate 17 of cable is for fixed cable, and protection cable is by the impact of the 4th servomotor high temperature.Wire clip 21 is used for fixing and protect cable 12 so that cable compact conformation in large arm.
Being both provided with for fixing the second synchronous pulley and the catch 22 of the 3rd synchronous pulley on the motor shaft of the second servomotor 6 and the 3rd servomotor 8, catch 22 is used for preventing these two synchronous pulleys from collecting together, and the precision and stability of robot is greatly improved.
Finally being provided with protective cover 18 on the outer wall of large arm 2, protective cover 18 is used for sealing, and effectively protects internal structure.
Finally, these are only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (9)
1. a Zhong little support industrial robot, including base (1), large arm (2) and forearm (3)；Described base (1) is internally installed the first servomotor (4), the output shaft of this first servomotor (4) is in transmission connection with the first reductor (15) being used for driving swivel base (5) to rotate in the horizontal direction by the first synchronous pulley, described large arm (2) is arranged on described swivel base (5), second servomotor (6) is installed in described large arm (2), this second servomotor (6) is fixed in described large arm (2) by motor flange, the output shaft of described second servomotor (6) is provided with the second synchronous pulley (25), described swivel base (5) is also equipped with the second reductor (7)；Described second reductor (7) is provided with the 3rd synchronous pulley (26), described second synchronous pulley (25) and the 3rd synchronous pulley (26), by Timing Belt (23) transmission, drive large arm (2) to rotate in the plane be perpendicular to horizontal plane by the second reductor (7)；The 3rd servomotor (8) it is also equipped with in described large arm (2), 3rd servomotor (8) is arranged in large arm (2) by motor flange, motor cabinet (10) is installed on the top of large arm (2), this motor cabinet (10) is provided with the 3rd reductor (9), 3rd reductor (9) is in transmission connection by Timing Belt (23) and described 3rd servomotor (8), and the outfan of described 3rd reductor (9) is connected the described forearm of drive (3) and rotates with motor cabinet (10)；It is characterized in that; described second servomotor (6) and the 3rd servomotor (8) are mounted side by side in described large arm (2); described second reductor (7) and the 3rd reductor (9) are arranged on the same side in large arm; in this large arm, the other side of horizontal level is also fitted with bearing (10), and the inner ring of this bearing (10) is fitted with for cable (12) traverse the support set (11) protecting this cable (12).
2. little support industrial robot according to claim 1, it is characterized in that, being additionally provided with metal washer (14) between described bearing (10) and support set (11), the material of described support set (11) is plastics.
3. little support industrial robot according to claim 1, it is characterised in that be additionally provided with the cable protective sleeve for described cable (12) traverse on described first reductor (15).
4. little support industrial robot according to claim 1, it is characterized in that, described large arm (2) top is also equipped with, for driving described forearm (3) around the 4th servomotor (16) of the central shaft axial-rotation of this forearm (3), being arranged above the fixing plate (17) of the cable for fixed cable (12) at the 4th servomotor (16).
5. little support industrial robot according to claim 1, it is characterised in that be provided with protective cover (18) on the outer wall of described large arm (2).
6. little support industrial robot according to claim 1, it is characterised in that described first servomotor (4) side is provided with the belt wheel tensioning mechanism (19) for regulating Timing Belt.
7. little support industrial robot according to claim 3, it is characterized in that, described cable protective sleeve includes the first cable protective sleeve (13) and the second cable protective sleeve (20) that connect up and down, described first cable protective sleeve (13) is positioned at the middle part of described first reductor (15), and described second cable protective sleeve (20) is arranged on the bottom of described first reductor (15) by connecting journal stirrup.
8. the little support industrial robot according to any one of claim 1 to 7, it is characterised in that be also equipped with several wire clips (21) for fixing and protect described cable (12) in described large arm (2).
9. the little support industrial robot according to any one of claim 1 to 7, it is characterized in that, the motor shaft of described second servomotor (6) and the 3rd servomotor (8) is both provided with for fixing the second synchronous pulley (25) and the 3rd synchronous pulley (26) the catch (22) preventing these two synchronous pulleys from collecting together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620170135.7U CN205394524U (en) | 2016-03-04 | 2016-03-04 | Little load industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620170135.7U CN205394524U (en) | 2016-03-04 | 2016-03-04 | Little load industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205394524U true CN205394524U (en) | 2016-07-27 |
Family
ID=56441254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620170135.7U Withdrawn - After Issue CN205394524U (en) | 2016-03-04 | 2016-03-04 | Little load industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205394524U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
-
2016
- 2016-03-04 CN CN201620170135.7U patent/CN205394524U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
| CN105619382B (en) * | 2016-03-04 | 2018-03-16 | 重庆华数机器人有限公司 | A kind of small support industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160727 Effective date of abandoning: 20180316 |
|
| AV01 | Patent right actively abandoned |