CN205630683U - A rocker and articulated industrial robot for articulated industrial robot - Google Patents
A rocker and articulated industrial robot for articulated industrial robot Download PDFInfo
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- CN205630683U CN205630683U CN201620207170.1U CN201620207170U CN205630683U CN 205630683 U CN205630683 U CN 205630683U CN 201620207170 U CN201620207170 U CN 201620207170U CN 205630683 U CN205630683 U CN 205630683U
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- rocking bar
- gusset
- industrial robot
- spreader
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Abstract
The utility model provides a rocker and articulated industrial robot for articulated industrial robot, rocker have the first side be connected with the RV speed reducer, with the relative second for to be connected with the servo motor cooperation of first side inclines, the rocker still has and is located anteriorly and is used for connecting firmly servo motor with the preceding spreader of RV speed reducer, with preceding spreader is relative be located the rear portion back spreader, be located preceding spreader with middle standing pillar between the back spreader, locate the gusset strenghthened type fixed limit position of the first side of rocker, gusset strenghthened type fixed limit is located the first side direction of rocker deviates from the orientation of second side is stretched to the evagination. The utility model discloses a gusset strenghthened type fixed limit is located the first side direction of rocker deviates from the orientation of second side is stretched to the evagination, on satisfying the basis of functional design, adopts gusset enhancement mode structure, strengthens its intensity and rigidity performance, improves the casting and the processing technology performance of this rocker simultaneously.
Description
Technical field
This utility model relates to joint type industrial robot and manufactures field, particularly relate to the excellent in mechanical performance such as a kind of rigidity, intensity and processing technique is simply to the rocking bar (or claiming lumbar) of joint type industrial robot, and there is the joint type industrial robot of this rocking bar.
Background technology
Now, the global cooperation of information age is more becoming tight close with exchanging, and the level of the productive forces constantly improves with science and technology, and the new intelligence manufacture mode of production is ready to appear；Industrial robot relies on its intelligent operation mode flexible, efficient, high-precision, is attracted attention by world's manufacturing industry.In the industry links such as current metallurgy, automobile, logistics, heavy-load type industrial robot (or claiming joint type industrial robot) application is healed and is become extensive.But, heavy-load type industrial robot must possess more preferable load capacity and kinetic stability, the most more preferably speed, acceleration characteristic and at a relatively high pose accuracy, so this is for the body construction of heavy-load type industrial robot, along with going deep into of application level and widening of range of application, require to improve all the more to the integral rigidity of heavy duty humanoid robot.
Wherein, the rocking bar (or claiming lumbar) connecting robot the first joint and second joint is the key components and parts that in robot body structure, stressing conditions is the most complicated, Ontology integration function is a lot of, and the structure design of rocker elements the most rationally concerns the overall performance of revolute robot.While meeting rigidity, intensity and Functional Requirement, the manufacturability casting and processing the most also concerns the problem that whether can effectively control the processing and manufacturing costs such as the mould of robot, cutter, tool fixture.
CN102029607A Chinese patent application relates to a kind of industrial robot with weight balancing system, the wherein rocking bar of robot exquisiteness compact to design, possesses reliable gravity balance device supporting structure.But, the boss features such as this rocking bar most surfaces is curved surface, fixing limit use interior core to shape or direct solid casting, and the contour feature of rocking bar entirety is that inside is big, the design of opening convergence, and outer surface links up.On the one hand, rocking bar global design uses the external envelope structure of non-open type, add the difficulty of casting technique, i.e. add design difficulty and the cost of internal cores, too increase the difficulty of the demoulding simultaneously, affect production efficiency.On the other hand, fixing limit boss is positioned at rocking bar and is connected up and down at two of side with large arm, boss lofty go out volume bigger, use external envelope design or solid slug design, the same inside that increases shapes core design difficulty, it addition, solid slug can reduce the cast properties of local herein, thickness changes greatly, and easily causes shrinkage cavity, the casting flaw such as loose；Being the key area of rocker elements stress, the defect of casting character can weaken the strength and stiffness performance of rocking bar herein.
In view of this, it is necessary to a kind of rocking bar for joint type industrial robot is provided and there is the joint type industrial robot of this rocking bar to solve the problems referred to above.
Utility model content
The purpose of this utility model is that the excellent in mechanical performance such as a kind of rigidity, intensity and processing technique are simply to the rocking bar (or claiming lumbar) of joint type industrial robot, and has the joint type industrial robot of this rocking bar.
For realizing above-mentioned utility model purpose, this utility model provides a kind of rocking bar for joint type industrial robot, having relative with described first side with the first side that RV reductor connects in order to the second side being connected with servomotor, described rocking bar also has anterior and in order to connect firmly the front spreader of described servomotor and the described RV reductor rear spreader at rear portion relative with described front spreader, central post between described front spreader and described rear spreader, to be located at the reinforced fixing limit of gusset of described rocking bar the first side；The reinforced fixed limit of described gusset is positioned at the first of described rocking bar and laterally deviates from the direction outward of described second side.
As further improvement of the utility model, described front spreader includes the mounting flange of hollow, all protrudes out the first gusset enhancing structure formed from the periphery described mounting flange of cladding from the periphery of described mounting flange simultaneously to the first side and the second side, and described front spreader strengthens structure by described first gusset and is connected with described central post.
As further improvement of the utility model, described first gusset strengthens structure in having the circle of a breach, and described breach is positioned on described front spreader the side near described central post；The reinforced fixing limit of described gusset include being connected with the upper end of described breach in > lower end of the first reinforced fixing limit of gusset of type breach of strengthening structure with described first gusset is connected in > the second reinforced fixing limit of gusset of type, the described first reinforced fixing limit of gusset and the second gusset reinforced fixing limit one-tenth are between the upper and lower every setting.
As further improvement of the utility model, the wallboard of the reinforced fixing limit of described gusset is lateral outer the most thinning from the first of described rocking bar.
As further improvement of the utility model, described central post includes the epicoele upwards opened, and described epicoele is in variation cylindrical structure, and the section flexure radius of first half is less than the section flexure radius of latter half；The first half of described epicoele is connected with described front spreader and the reinforced fixing limit of described gusset.
As further improvement of the utility model, described central post also includes being positioned at the cavity of resorption below described epicoele, described cavity of resorption is the mounting flange by superposed lid, being positioned at bottom, the cylinder connecting the downward opening that described lid surrounds with the sidewall of described mounting flange, the middle part of described lid has the mesopore connecting described epicoele with described cavity of resorption, and described lid is provided with the injection of the grease realized in cavity of resorption and note/row's fat hole of discharge.
As further improvement of the utility model, described rocking bar also has the back cavity being positioned on rear side of described central post, and the wallboard between described back cavity and described central post is bottom-up the most thinning；The structure forming described back cavity supports described rear spreader, and described rear spreader is the hollow posts through from described second the most described first side.
As further improvement of the utility model, described rear spreader is from the described first direction outward laterally deviating from described second side, and described rear spreader intracavity in the rear is that stagewise is arranged, 5 ~ 6 times of a length of another section of cylinder length near described second side of the cylinder near described first side.
As further improvement of the utility model, described rocking bar also includes being arranged at the some multiplex gusset on described rocking bar lateral surface, some positioning boss, a pair pipeline infantees being respectively in described central post the first side and the second side are put window, are respectively in described central post the first side and the wing plate of the second side.
For realizing above-mentioned utility model purpose, this utility model also provides for a kind of joint type industrial robot, the first joint including base, connecting described joint type industrial robot and the above-mentioned rocking bar of second joint, connecting rod, the manipulator that is positioned on connecting rod.
The beneficial effects of the utility model are: this utility model optimizes the rocking bar of joint type industrial robot, the reinforced fixed limit of gusset is positioned at the first of described rocking bar and laterally deviates from the direction outward of described second side, on the basis of meeting functional design, use gusset Enhanced Configuration, strengthen its strength and stiffness performance, then promote the overall performance of its joint type industrial robot being suitable for；Improve casting and the process industrial art performance of this rocking bar, it is simple to mould and the manufacture of core simultaneously, reduce manufacturing cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of joint type industrial robot of the present utility model.
Fig. 2 is that the joint type industrial robot shown in Fig. 1 is in the structural representation of another angle.
Fig. 3 is the perspective view of the rocking bar of the joint type industrial robot shown in Fig. 1.
Fig. 4 is that the rocking bar shown in Fig. 3 is in the perspective view of another angle.
Fig. 5 is the structural representation of the second side of the rocking bar shown in Fig. 3.
Fig. 6 is that the rocking bar shown in Fig. 5 is in the structural representation at A visual angle.
Fig. 7 is the top view of the rocking bar shown in Fig. 5.
Fig. 8 is the left view of the rocking bar shown in Fig. 5.
Fig. 9 is the sectional view along B-B direction of the rocking bar shown in Fig. 8.
Figure 10 is the sectional view along C-C direction of the rocking bar shown in Fig. 8.
Figure 11 is the rearview of the rocking bar shown in Fig. 5, namely the structural representation of the first side of rocking bar.
Figure 12 is the partial sectional view along D-D direction of the rocking bar shown in Figure 11.
Figure 13 is the partial sectional view along E-E direction of the rocking bar shown in Figure 11.
Figure 14 is the partial sectional view along F-F direction of the rocking bar shown in Figure 11.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, with specific embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.
As shown in Fig. 1 ~ Fig. 2, joint type industrial robot 100 includes base 1, the first joint connecting described joint type industrial robot 100 and the rocking bar 2(of second joint or claims lumbar), connecting rod 3(or claim large arm), the structure such as the manipulator 4 that is positioned on connecting rod 3.For clearly expressing position described in the application and direction, using joint type industrial robot 100 as reference, it is front that upper arm is provided with one end of manipulator 4, and opposite other end is rear end；And upper arm is positioned at the top of base 1.
The side of the body construction rocking bar 2 of joint type industrial robot 100 needs to connect servomotor 5, and opposite side needs to connect RV reductor 6 and connecting rod 3；Wherein servomotor 5 inputs in order to the power of second joint, drives large arm with upper-part and load；RV reductor 6 is in order to transmit the power of servomotor 5 input, and playing slows down increases the effect of square.
Refer to shown in Fig. 3 ~ Figure 14, rocking bar 2 of the present utility model have be connected in order to servomotor 5 in order to relative with the first side that described RV reductor 6 is connected and described first side the second side, anterior and in order to connect firmly described servomotor 5 and the front spreader 21 of described RV reductor 6 and the relative rear spreader 22 at rear portion of described front spreader 21, central post 23 between described front spreader 21 and described rear spreader 22, to be located at the reinforced fixing limit of gusset 24 of described rocking bar 2 first side.
The mounting flange that main body is hollow 211 of described front spreader 21, it is connected the second joint forming joint type industrial robot 100 in the first side of described front spreader 21 with RV reductor 6 and connecting rod 3, is connected the servo-drive realizing second joint in the second relative side with servomotor 5.
Specifically, described mounting flange 211 have middle and along described mounting flange 211 axially through middle through hole 2111, the first fixing hole 2112 of some minor diameters being distributed in around described middle through hole 2111, the second fixing hole 2113 of some major diameters between some described first fixing holes 2112 and described middle through hole 2111.
Described middle through hole 2111 is through from described first the most described second side, so that the output shaft of described servomotor 5 is connected through described middle through hole 2111 with described RV reductor 6；Further, described output shaft being equipped with gear shaft, described output shaft is connected by the planetary gearsets of described gear shaft with described RV reductor 6.
The diameter of described first fixing hole 2112 is less than the diameter of described second fixing hole 2113, and some described first fixing holes 2112 are divided into some groups, and described in some groups, the first fixing hole 2112 is arranged at intervals on same circle；Correspondingly, some described second fixing holes 2113 are also divided into some groups, and described in some groups, the second fixing hole 2113 is arranged at intervals on same circle；The packet count of some described second fixing holes 2113 is identical with the packet count of some described first fixing holes 2112, and the second fixing hole 2113 described in each group is positioned at correspondingly inside the first fixing hole 2112 described in a group.
In the present embodiment, described mounting flange 211 is provided with 2112,6 described second fixing holes 2113 of 21 described first fixing holes, thus realizes connecting firmly of described RV reductor 6 and described rocking bar 2.21 described first fixing holes 2112 are equally divided into 3 groups, and the first fixing hole 2112 described in three groups is arranged equably and is located on same circle；6 described second fixing holes 2113 are also equally divided into 3 groups, and each group of the second fixing hole 2113 is positioned at the inner side of corresponding one group of first fixing hole 2112, and the second fixing hole 2113 described in three groups is arranged equably and is located on same circle.
Further, described front spreader 21 also has the first gusset enhancing structure 212 being coated with described mounting flange 211 from periphery.Specifically, please join shown in Figure 10, the first gusset strengthens structure 212 and all protrudes out to the first side and the second side from the periphery of described mounting flange 211 simultaneously, uses open structure, has good casting and processing technology while improving mechanical property.It will be appreciated by persons skilled in the art that along described front spreader 21 axially described first gusset strengthens the width width more than described mounting flange 211 of structure 212.
Described front spreader 21 uses described first gusset enhancing structure 212 to be connected with central post 23 other structural transition such as grade, both the rigidity of crucial stress area had been enhanced, its open structure has good casting and processing technology simultaneously, core molding need not be used in casting process, reduce Making mold difficulty, improving shaping efficiency, in the course of processing, open space is easy to cutter path planning.
Specifically, described first gusset strengthens structure 212 in having the circle of a breach open backwards, is coated with described mounting flange 211 from front to back and makes described breach be located close to the side of described central post 23；The two ends of described breach are connected to the first half of described central post 23 at interval in the upper and lower.
The main body of described central post 23 is divided in the epicoele 231 being distributed up and down and connect and cavity of resorption 232.
Described epicoele 231 upwards opens, and as the installation cabin of joint type industrial robot 100 first joint servo motor 5, is also the interface of joint type industrial robot 100 electric pipeline system access base 1 simultaneously.
Specifically, described epicoele 231 is in variation cylindrical structure, and the section flexure radius of first half is less than the section flexure radius of latter half.The first half of described epicoele 231 is connected with described front spreader 21 and the reinforced fixing limit of described gusset 24.
It addition, ask comparison diagram 7 and Figure 10, or refering to shown in Fig. 9, the top of described epicoele 231 is provided with the second gusset enhancing structure 233 that the cavity wall of epicoele 231 described in self-forming inwardly protrudes out, and this second gusset strengthens structure 233 and is also adopted by open structure, and technique is simple.
Described cavity of resorption 232 is cylinder open downwards, and the mounting flange 2322 by superposed lid 2321, being positioned at bottom, the sidewall 2323 connecting described lid 2321 and described mounting flange 2322 surround；The middle part of the most described lid 2321 has the mesopore 2324 of the described epicoele of connection 231 and described cavity of resorption 232, and described mounting flange 2322 inwardly protrudes out bottom described sidewall 2323.
Described cavity of resorption 232 is connected formation joint type industrial robot 100 first joint, and the lubrication closed chamber in installed surface the first joint formed above at described mounting flange 2322 with the base 1 of RV reductor 6 and joint type industrial robot 100.Further, described lid 2321 is communicated with note/row's fat hole 2325 of described closed chamber, to realize injection and the discharge of the grease in cavity of resorption 232.
Further, refer to shown in Fig. 6, Fig. 9, Figure 10 and Figure 12, described rocking bar 2 also has the back cavity 25 being positioned on rear side of described central post 23, described back cavity 25 has the opening opened to the back lower place, sufficiently large volume can be provided for integrated electric device, the structure concurrently forming described back cavity 25 supports described rear spreader 22, improves structural strength and the assembling rigidity of balance weight device.In the present embodiment, described back cavity 25 is positioned at the rear side of described epicoele 231 and is connected with the latter half of described epicoele 231.
Refer to shown in Fig. 9, wallboard between described back cavity 25 and described central post 23 is bottom-up the most thinning, namely wallboard between described back cavity 25 and described epicoele 231 is bottom-up the most thinning, this wallboard along the gradual change of withdrawing pattern direction, there is isolation back cavity 25 and form it into the effect of independent dustproof space, wallboard is the postmedian that sprag fashion supports the rocking bar 2 of described joint type industrial robot 100 simultaneously, ensure the minimum deformation quantity of described rear spreader 22 while strengthening structural member integral rigidity, also ensured that joint type industrial robot 100 balances the assembling rigidity of system.
Described rear spreader 22 is positioned at described back cavity 25, in order to install the bearing pin hinged with joint type industrial robot 100 bascule rear end.Specifically, the axis of described rear spreader 22 is parallel with the axis of described front spreader 21, and in the vertical direction, and the axis of described rear spreader 22 is less than the axis of described front spreader 21；In the present embodiment, the axis of described rear spreader 22 is than the axis biased downward 50mm ~ 80mm of described front spreader 21.
Described rear spreader 22 is the hollow posts through from described second the most described first side, and described rear spreader 22 is from the described first direction outward laterally deviating from described second side；It is understood that the hollow space of described rear spreader 22 connects with described back cavity 25.
Further, described rear spreader 22 is arranged in stagewise in chamber 25 in the rear, 5 ~ 6 times of a length of another section of cylinder length near described second side of the cylinder near described first side；Segmentation structure is conducive to the quick assembling of bearing pin, makes stress distribution reasonable.
Described gusset reinforced fixing limit 24 is connected with described front spreader 21, described epicoele 231 simultaneously, and laterally deviates from the direction outward of described second side in the first of described rocking bar 2；The effect of the reinforced fixing limit of described gusset 24 is dynamic spacing to coordinate with connect firmly on the connecting rod 3 of joint type industrial robot 100, and physical property limits the actuating range of the connecting rod 3 of joint type industrial robot 100, Saving cortilage type industrial robot 100；The rigidity of described rocking bar 2 can also be improved simultaneously.
Specifically, the reinforced fixing limit of described gusset 24 includes the two parts being provided separately, one be the upper end 2121 of breach strengthening structure 212 with described first gusset is connected in > the first reinforced fixing limit of gusset 241 of type, including with the first lower wall panels that described second gusset strengthens the first coplanar wainscot of structure, upper end 2121 from the breach of described first gusset enhancing structure 212 downwardly extends backward.There is between first wainscot and the first lower wall panels gap, and the upper end 2121 of breach of the first gusset enhancing structure 212 is connected with the junction of the first wainscot and the first lower wall panels.It addition, the described first reinforced fixing limit of gusset 241 is positioned at the part outward of the first side from described epicoele 231.
Its two be the lower end 2122 of breach strengthening structure 212 with described first gusset is connected also in > the second reinforced fixing limit of gusset 242 of type, including the second wainscot upwards extanding rearward to described pipeline infantees and putting window, the second lower wall panels downwardly extended backward from the upper end of the breach of described first gusset enhancing structure 212.There is between second wainscot and the second lower wall panels gap, and the lower end 2122 of breach of the first gusset enhancing structure 212 is connected with the junction of the second wainscot and the second lower wall panels.It addition, the part-structure of the described second reinforced fixing limit of gusset 242 is positioned at the part outward of the first side from described epicoele 231, another part is positioned at the part outward of the first side from described front spreader 21；Specifically, the rear section of described second wainscot is positioned at the part outward of the first side from described epicoele 231, forward part and described second lower wall panels of described second wainscot are positioned at the part outward of the first side from described front spreader 21, and the lid 2321 that the end of described second lower wall panels extends downward backward with described cavity of resorption 232 is connected.
Described first wainscot, described first lower wall panels, described second wainscot, the equal transition change of wall thickness of described second four wallboards of lower wall panels, cast properties can be optimized, it is to avoid the casting flaws such as loose, the shrinkage cavity that in the casting process that physical limit block structure is easily caused, wall thickness sudden change causes.In the present embodiment, described first wainscot, described first lower wall panels, described second wainscot, described second lower wall panels are the most thinning from the outside wall surface of described central post 23.
Please join shown in Figure 11, Figure 13 and Figure 14, the reinforced fixing limit of described gusset 24 and connected structure form firm I-shaped structure, both the mechanical property of this part body structure had been strengthened, the bearing capacity and the rigidity that make described joint type industrial robot 100 rocking bar 2 improve, and then promote the integral rigidity performance of joint type industrial robot 100；Avoid again casting thickness sudden change to cause foundry goods Local Property defect simultaneously.
Further, described rocking bar 2 also has and is respectively in a pair pipeline infantees of described central post 23 first side and the second side and puts window 26, it is the most trapezoidal that window 26 put by described pipeline infantees, totally two and divide the both sides of the described epicoele 231 being listed in described central post 23 symmetrically.Described pipeline infantees is put the inwall having inside window 26 from described epicoele 231 and is inwardly protruded out the thickness reinforcement between 30mm ~ 40mm of formation, to strengthen intensity.
Further, described rocking bar 2 also has and is respectively in described central post 23 first side and the wing plate 27 of the second side, described wing plate 27 is positioned at epicoele 231 and cavity of resorption 232 interfacial plane of described central post 23, totally 4 pieces and arrange in lateral symmetry, point is listed in epicoele 231 both sides of described central post 23；Described wing plate 27 thickness is 30mm, and the 120mm ~ 150mm that stretches out respectively.
Further, described rocking bar 2 also has the multiplex gusset 28 being located on described rocking bar 2 lateral surface, described multiplex gusset 28 is arranged in many places distributing, including: it is positioned at the first gusset 281 of described front spreader 21 bottom and described cavity of resorption 232 junction (namely described rocking bar 2 lower jaw), play the described rocking bar 2 stress raiser rigidity of raising, improve the effect of load-carrying properties；It is arranged in the second gusset 282 of the surface of described front spreader 21, is the indwelling position of suspension ring installation；Arrange the 3rd gusset 283 of spreader 22 upper surface body of casting position to the front in the rear, be also that indwelling position installed by suspension ring；4th gusset 284 of the both sides being arranged in outside described back cavity 25 and foundry goods wall body boundary line, plays the effect that adnexa is installed.Concentrating and wall thickness changes place it addition, described 3rd gusset 283 and two described 4th gussets 284 are all located at cast green body stress, play enhancing rigidity, alleviation wall thickness change improves the effect of casting manufacturability.
Further, described rocking bar 2 also has the some positioning boss 29 being located on described rocking bar 2 lateral surface, the architectural feature of described positioning boss 29 is triangle strip fillet, it is arranged in position and the rear portion, described cavity of resorption 232 cylindrical lower surface of 45 ° on the lower side of described front spreader 21 flange body front end, the effect of described positioning boss 29 is to demarcate joint type industrial robot 100 body the first joint and the dead-center position of second joint, while physical positioning, can be with the installation site of indwelling sensor, it is simple to Accurate Calibration is soft spacing.
In sum, this utility model optimizes the rocking bar 2 of joint type industrial robot 100, and described rocking bar 2, on the basis of meeting functional design, uses gusset Enhanced Configuration, strengthen its strength and stiffness performance, then promote the overall performance of its joint type industrial robot 100 being suitable for；Use and strengthen reinforcement opening structure, improve casting and the process industrial art performance of this rocking bar 2, it is simple to mould and the manufacture of core, reduce manufacturing cost.
Above example is only in order to illustrate the technical solution of the utility model and unrestricted, although this utility model being described in detail with reference to preferred embodiment, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent, without deviating from the spirit and scope of technical solutions of the utility model.
In this specification any relevant " the present embodiment ", it is meant that a specific function relevant with embodiment, structure or characteristic describe and comprise at least one embodiment of the present utility model.These phrases occurring in each place of description not necessarily refer to identical embodiment.Further, relevant to any embodiment specific function, structure or details describe, then it is assumed that be function, structure or characteristic relevant to other embodiments in the range of the art.
Claims (10)
1. the rocking bar for joint type industrial robot, have relative with described first side with the first side that RV reductor connects in order to the second side being connected with servomotor, it is characterised in that: described rocking bar also has anterior and in order to connect firmly the front spreader of described servomotor and the described RV reductor rear spreader at rear portion relative with described front spreader, central post between described front spreader and described rear spreader, to be located at the reinforced fixing limit of gusset of described rocking bar the first side；The reinforced fixed limit of described gusset is positioned at the first of described rocking bar and laterally deviates from the direction outward of described second side.
Rocking bar for joint type industrial robot the most according to claim 1, it is characterized in that: described front spreader includes the mounting flange of hollow, all protrudes out the first gusset enhancing structure formed from the periphery described mounting flange of cladding from the periphery of described mounting flange simultaneously to the first side and the second side, and described front spreader strengthens structure by described first gusset and is connected with described central post.
Rocking bar for joint type industrial robot the most according to claim 2, it is characterised in that: described first gusset strengthens structure in having the circle of a breach, and described breach is positioned on described front spreader the side near described central post；The reinforced fixing limit of described gusset include being connected with the upper end of described breach in > lower end of the first reinforced fixing limit of gusset of type breach of strengthening structure with described first gusset is connected in > the second reinforced fixing limit of gusset of type, the described first reinforced fixing limit of gusset and the second gusset reinforced fixing limit one-tenth are between the upper and lower every setting.
Rocking bar for joint type industrial robot the most according to claim 1, it is characterised in that: the wallboard of the reinforced fixing limit of described gusset is lateral outer the most thinning from the first of described rocking bar.
Rocking bar for joint type industrial robot the most according to claim 1, it is characterized in that: described central post includes the epicoele upwards opened, described epicoele is in variation cylindrical structure, and the section flexure radius of first half is less than the section flexure radius of latter half；The first half of described epicoele is connected with described front spreader and the reinforced fixing limit of described gusset.
Rocking bar for joint type industrial robot the most according to claim 5, it is characterized in that: described central post also includes being positioned at the cavity of resorption below described epicoele, described cavity of resorption is the mounting flange by superposed lid, being positioned at bottom, the cylinder connecting the downward opening that described lid surrounds with the sidewall of described mounting flange, the middle part of described lid has the mesopore connecting described epicoele with described cavity of resorption, and described lid is provided with the injection of the grease realized in cavity of resorption and note/row's fat hole of discharge.
Rocking bar for joint type industrial robot the most according to claim 1, it is characterised in that: described rocking bar also has the back cavity being positioned on rear side of described central post, and the wallboard between described back cavity and described central post is bottom-up the most thinning；The structure forming described back cavity supports described rear spreader, and described rear spreader is the hollow posts through from described second the most described first side.
Rocking bar for joint type industrial robot the most according to claim 7, it is characterized in that: described rear spreader is from the described first direction outward laterally deviating from described second side, and described rear spreader intracavity in the rear is that stagewise is arranged, 5 ~ 6 times of a length of another section of cylinder length near described second side of the cylinder near described first side.
Rocking bar for joint type industrial robot the most according to claim 1, it is characterised in that: described rocking bar also includes being arranged at the some multiplex gusset on described rocking bar lateral surface, some positioning boss, a pair pipeline infantees being respectively in described central post the first side and the second side are put window, are respectively in described central post the first side and the wing plate of the second side.
10. a joint type industrial robot, the first joint including base, connecting described joint type industrial robot and the rocking bar of second joint, connecting rod, the manipulator that is positioned on connecting rod, it is characterised in that: described rocking bar is the rocking bar in claim 1 ~ 9 described in any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620207170.1U CN205630683U (en) | 2016-03-17 | 2016-03-17 | A rocker and articulated industrial robot for articulated industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620207170.1U CN205630683U (en) | 2016-03-17 | 2016-03-17 | A rocker and articulated industrial robot for articulated industrial robot |
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| CN205630683U true CN205630683U (en) | 2016-10-12 |
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| CN201620207170.1U Withdrawn - After Issue CN205630683U (en) | 2016-03-17 | 2016-03-17 | A rocker and articulated industrial robot for articulated industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583855A (en) * | 2016-03-17 | 2016-05-18 | 昆山工研院工业机器人研究所有限公司 | Rocker for joint type industrial robot and joint type industrial robot |
-
2016
- 2016-03-17 CN CN201620207170.1U patent/CN205630683U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583855A (en) * | 2016-03-17 | 2016-05-18 | 昆山工研院工业机器人研究所有限公司 | Rocker for joint type industrial robot and joint type industrial robot |
| CN105583855B (en) * | 2016-03-17 | 2017-12-12 | 昆山华恒机器人有限公司 | Rocking bar and joint type industrial robot for joint type industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215300, No. 15, 1504-4 floor, 1699 South Gate Road, Yushan Town, Kunshan City, Jiangsu, Suzhou Patentee after: Kunshan Hua Heng robot Co., Ltd. Patentee after: Kunshan Huaheng Welding Co., Ltd. Address before: 215300, No. 15, 1504-4 floor, 1699 South Gate Road, Yushan Town, Kunshan City, Jiangsu, Suzhou Patentee before: Industrial Robot Research Co., Ltd. Of Kunshan Industrial Technology Research Institute Patentee before: Kunshan Huaheng Welding Co., Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161012 Effective date of abandoning: 20171212 |