CN205668267U - The joint driving mechanism of robot palletizer - Google Patents
The joint driving mechanism of robot palletizer Download PDFInfo
- Publication number
- CN205668267U CN205668267U CN201620211735.3U CN201620211735U CN205668267U CN 205668267 U CN205668267 U CN 205668267U CN 201620211735 U CN201620211735 U CN 201620211735U CN 205668267 U CN205668267 U CN 205668267U
- Authority
- CN
- China
- Prior art keywords
- spindle motor
- driving means
- motor driving
- joint
- mechanical arm
- 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
Links
Abstract
The utility model discloses the joint driving mechanism of a kind of robot palletizer, including the first spindle motor driving means being connected between base and rotating stand, the the second spindle motor driving means being connected on the first joint between rotating stand and mechanical arm one, the 3rd spindle motor driving means being connected on the second joint between the front end of mechanical arm one and mechanical arm two and the 4th spindle motor driving means of the front end being arranged on mechanical arm two, it is characterized in that, described first spindle motor driving means, second spindle motor driving means, 3rd spindle motor driving means and the 4th spindle motor driving means all include RV decelerator and the servomotor of integrated design, the RV decelerator two of the second spindle motor driving means connects balancing spring cylinder.This utility model simple in construction, operates steadily, and noise is low, and transmission accuracy is high, and service life is long.
Description
Technical field
This utility model relates to robot palletizer technical field, especially relates to the joint drive machine of a kind of robot palletizer
Structure.
Background technology
Robot palletizer, is the product of machinery and computer program combination.Four axles of robot palletizer so far
Driving in design is all RV decelerator and servomotor order loading respectively, between the two by additional special flange and little tooth
Wheel is connected.Due to technologic reason, the reference circle of this little gear and its endoporus often have bigger coaxiality error so that
Bigger vibration and noise is produced during robot operating, unfavorable to the speed of service improving robot, and have impact on machine
The service life of people.
Summary of the invention
The one that the purpose of this utility model is contemplated to solve the deficiency of prior art and provides is not only simple in structure, fortune
Noise during row is little, and transmission accuracy is high, service life length the joint driving mechanism of robot palletizer.
This utility model is to use following technical solution to drive to the joint being attained in that a kind of robot palletizer
Motivation structure, including the first spindle motor driving means being connected between base and rotating stand, is connected to rotating stand and machinery
The second spindle motor driving means on the first joint between arm one, between the front end being connected to mechanical arm one and mechanical arm two
The 3rd spindle motor driving means on second joint and be arranged on the 4th spindle motor driving means of front end of mechanical arm two, it is special
Levy and be, described first spindle motor driving means, the second spindle motor driving means, the 3rd spindle motor driving means and the 4th axle
Motor driver all includes RV decelerator and the servomotor of integrated design, the RV decelerator of the second spindle motor driving means
Two connections have balancing spring cylinder.
Further illustrating as such scheme, described balancing spring cylinder is arranged diagonally downward, and its piston rod is connected to RV
The big disk outer rim of decelerator.
Described rotating stand is movably arranged on base by horizontal axis of rotation, and horizontal axis of rotation is outside equipped with revolution
Hold, between pivoting support and pivoting support, be provided with regulation gasket ring.
Described regulation gasket ring has two semicircular ring to be put together, and measures assemblage gap with slip gauge during assembling, and match grinding is adjusted accordingly
The thickness of joint gasket ring, it is to avoid produce interference.
This utility model uses above-mentioned technical solution can reach to provide the benefit that:
1, this utility model uses and RV decelerator and the servomotor of each joint of robot is designed as integration knot
Structure, makes error produced by the connection between RV decelerator and servomotor significantly reduce, RV decelerator-servomotor group
Lubrication and the sealing effectiveness of part are also improved, and noise when particularly operating will greatly reduce, and transmission accuracy can also carry
Height, also can increase service life accordingly.
2, device pivoting support on the horizontal axis of rotation of robot is used, it and the angular contact bearing structure in RV decelerator
Became Position Design, and anti-the overturn rigidity of this axle was greatly improved, and by appropriate design balancing spring cylinder, makes large arm exist
During horizontal level, the moment of the second axle reaches the requirement of load 180kg.
3, this utility model devises regulation gasket ring between pivoting support and pivoting support, effectively avoids between the two
Interfere, make robot operating more steady.
Accompanying drawing explanation
Fig. 1 is the structural representation of enhancing robot palletizer of the present utility model；
Fig. 2 is structural representation of the present utility model；
Fig. 3 is structural representation of the present utility model.
Description of reference numerals: 1, base 2, rotating stand the 3, first spindle motor driving means 4, mechanical arm one 5, second
Spindle motor driving means 6, mechanical arm the 27, the 3rd spindle motor driving means the 8, the 4th spindle motor driving means 9, equilibrium bomb
Spring cylinder 10, horizontal axis of rotation 11, pivoting support 12, regulation gasket ring.
Detailed description of the invention
Below in conjunction with specific embodiment, the technical program is explained in detail.
As shown in Figure 1-Figure 3, this utility model is the joint driving mechanism of a kind of robot palletizer, including being connected to base
The first spindle motor driving means 3 between 1 and rotating stand 2, first be connected between rotating stand 2 and mechanical arm 1 pass
On the second spindle motor driving means 5 on joint, the second joint between the front end being connected to mechanical arm 1 and mechanical arm 26
3rd spindle motor driving means 7 and be arranged on the 4th spindle motor driving means 8 of front end of mechanical arm two, the first spindle motor drives
The structure of device the 3, second spindle motor driving means the 5, the 3rd spindle motor driving means 7 and the 4th spindle motor driving means 8 is
Consistent, as a example by the second spindle motor driving means, it includes RV decelerator and the servomotor of integrated design, the second axle electricity
The RV decelerator two of machine actuating device connects balancing spring cylinder 9.Balancing spring cylinder is arranged diagonally downward, and its piston rod is connected to
The big disk outer rim of RV decelerator.
Described rotating stand 2 is movably arranged on base 1 by horizontal axis of rotation 10, and horizontal axis of rotation is outside equipped with revolution
Supporting 11, is provided with regulation gasket ring 12 between pivoting support and pivoting support.Regulation gasket ring has two semicircular ring to be put together, dress
Timing slip gauge measures assemblage gap, accordingly the thickness of match grinding regulation gasket ring, it is to avoid produce interference.
The technical program compared with prior art, uses and RV decelerator and the servomotor of each joint of robot is set
Being calculated as integral structure, make error produced by the connection between RV decelerator and servomotor significantly reduce, RV slows down
Lubrication and the sealing effectiveness of device-servomotor assembly are also improved, and noise when particularly operating will greatly reduce, transmission
Precision can also improve, and service life also can increase accordingly.Through implement test, robot run time noise drop to 75 decibels with
Under.
2, device pivoting support on the horizontal axis of rotation of robot is used, it and the angular contact bearing structure in RV decelerator
Became Position Design, and anti-the overturn rigidity of this axle was greatly improved, and by appropriate design balancing spring cylinder, makes mechanical arm
One when horizontal level the moment of the second axle reach the requirement of load 180kg.In order to avoid interference, devise in the structure
Regulation gasket ring, the thickness controlling this regulation gasket ring is crucial, measures assemblage gap when assembling with slip gauge, match grinding spacer accordingly
The thickness of ring, then becomes two semicircular ring to install the spacer ring cutting of this annular, thus avoids and interfere
Phenomenon.
Above-described is only preferred implementation of the present utility model, it is noted that for the ordinary skill of this area
For personnel, on the premise of creating design without departing from this utility model, it is also possible to making some deformation and improvement, these all belong to
In protection domain of the present utility model.
Claims (4)
1. a joint driving mechanism for robot palletizer, drives including the first spindle motor being connected between base and rotating stand
The second spindle motor driving means on dynamic device, the first joint being connected between rotating stand and mechanical arm one, it is connected to machine
The 3rd spindle motor driving means on second joint between front end and the mechanical arm two of mechanical arm one and be arranged on mechanical arm two
4th spindle motor driving means of front end, it is characterised in that described first spindle motor driving means, the second spindle motor drive dress
Put, the 3rd spindle motor driving means and the 4th spindle motor driving means all include RV decelerator and the servo electricity of integrated design
Machine, the RV decelerator two of the second spindle motor driving means connects balancing spring cylinder.
The joint driving mechanism of robot palletizer the most according to claim 1, it is characterised in that described balancing spring cylinder inclines
Arranging obliquely, its piston rod is connected to the big disk outer rim of RV decelerator.
The joint driving mechanism of robot palletizer the most according to claim 1, it is characterised in that described rotating stand passes through
Horizontal axis of rotation is movably arranged on base, and horizontal axis of rotation is outside equipped with pivoting support, between pivoting support and pivoting support
It is provided with regulation gasket ring.
The joint driving mechanism of robot palletizer the most according to claim 3, it is characterised in that described regulation gasket ring has two
Individual semicircular ring is put together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620211735.3U CN205668267U (en) | 2016-03-18 | 2016-03-18 | The joint driving mechanism of robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620211735.3U CN205668267U (en) | 2016-03-18 | 2016-03-18 | The joint driving mechanism of robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205668267U true CN205668267U (en) | 2016-11-02 |
Family
ID=57192800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620211735.3U Active CN205668267U (en) | 2016-03-18 | 2016-03-18 | The joint driving mechanism of robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205668267U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696025A (en) * | 2017-10-30 | 2018-02-16 | 广东腾山机器人有限公司 | A kind of four axle pressing robots |
| CN108045970A (en) * | 2017-12-07 | 2018-05-18 | 上海宇航系统工程研究所 | Four axis stacking industrial robots |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN110076765A (en) * | 2019-06-15 | 2019-08-02 | 吴芳 | Four articulated robots |
| CN110202615A (en) * | 2019-07-01 | 2019-09-06 | 广东伯朗特智能装备股份有限公司 | A kind of four axis robot palletizer of heavy load with spring balancing cylinder assembly |
-
2016
- 2016-03-18 CN CN201620211735.3U patent/CN205668267U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696025A (en) * | 2017-10-30 | 2018-02-16 | 广东腾山机器人有限公司 | A kind of four axle pressing robots |
| CN108045970A (en) * | 2017-12-07 | 2018-05-18 | 上海宇航系统工程研究所 | Four axis stacking industrial robots |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN110076765A (en) * | 2019-06-15 | 2019-08-02 | 吴芳 | Four articulated robots |
| CN110202615A (en) * | 2019-07-01 | 2019-09-06 | 广东伯朗特智能装备股份有限公司 | A kind of four axis robot palletizer of heavy load with spring balancing cylinder assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205668267U (en) | The joint driving mechanism of robot palletizer | |
| CN102416566B (en) | Static pressure air suspension direct drive turntable | |
| US10144244B2 (en) | Automatic carving device for wheel | |
| CN105972162A (en) | Double-geared speed reduction device | |
| CN202861783U (en) | Rotary index table | |
| CN102744611A (en) | Scale division rotating table | |
| CN105397802A (en) | Four-degree-of-freedom coaxial outputting mechanism | |
| CN205380691U (en) | Anti location structure that crosses who overturns rigidity of reinforcing pile up neatly machine people | |
| CN205877087U (en) | Secondary gear drive decelerator | |
| CN203611259U (en) | Union type bearing rotary structure | |
| CN205898455U (en) | Radial loading assembly of wheel hub bearing testing machine | |
| CN201871949U (en) | Numerically-controlled rotary worktable | |
| CN204068536U (en) | Damping conical rotor machine is used in a kind of driving | |
| CN203648631U (en) | Eccentric type main structure for roller mill | |
| CN204353832U (en) | Crankshaft counter balance seam installed surface milling clamper | |
| CN203648634U (en) | Direct drive main structure for roller mill | |
| CN203929389U (en) | Simulation test machine for automobile hub bearing unit anti-dust performance | |
| CN207548138U (en) | A kind of rotating disk for clamping damper | |
| CN203779369U (en) | Engine jacking and rotating locating machine | |
| CN103654975A (en) | Bit of turbine dental engine | |
| CN105690373A (en) | Three-degree-of-freedom coaxial output mechanism | |
| CN205745118U (en) | Planetary gear speed reducing mechanism | |
| CN103691526A (en) | Eccentric main structure of roller mill | |
| CN205651349U (en) | A rotary driving mechanism for arm | |
| CN105332794A (en) | Vertically-outputting speed change mechanism and aircraft engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |