CN205889242U - Terminal cavity revolution mechanic of robot - Google Patents
Terminal cavity revolution mechanic of robot Download PDFInfo
- Publication number
- CN205889242U CN205889242U CN201620815392.1U CN201620815392U CN205889242U CN 205889242 U CN205889242 U CN 205889242U CN 201620815392 U CN201620815392 U CN 201620815392U CN 205889242 U CN205889242 U CN 205889242U
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- robot
- reductor
- hollow
- execution unit
- hollow structure
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Abstract
The utility model provides a terminal cavity revolution mechanic of robot installs on the front end arm of robot, including the body, be used for connecting terminal executive component's speed reducer and actuating mechanism, the body lateral part is installed on the front end arm of robot, the speed reducer is hollow structure's speed reducer to the setting is provided with the through -hole that corresponds with speed reducer hollow structure on the body inside the body, the hollow structure of speed reducer is formed with the line space that walks who is used for supplying terminal executive component spool with the through -hole of body, actuating mechanism sets up in body outside one side to be connected with the speed reducer. The utility model discloses the spool winding machine people front end arm that terminal cavity revolution mechanic of robot can solve terminal executive component results in existing potential safety hazard and the limited problem of front end arm action scope to make the terminal compact structure of robot, improve the degree of freedom of motion of robot.
Description
Technical field
This utility model is related to robotics, more particularly, it relates to a kind of robot end's hollow rotating knot
Structure.
Background technology
Industrial robot generally will install the instrument towards application-specific in use, will end execution unit,
This end execution unit is to be arranged on end arms before robot by end structure.In various fields, robot is needed to pass through
End execution unit quickly and accurately carries out to material the operation such as carrying, install, weld and spray.
The end structure being currently used for installing end execution unit can have the disadvantage in that
1st, the spool of end execution unit is typically directly fixed on outside front end arms, spool exposed outside robot body
Face, in the course of action of forearm end, easily produces the phenomenon that spool is wound around forearm end, does not so only exist reliability hidden danger, superfluous
Remaining mixed and disorderly, and limited by the actuating range of end arms before making, largely effect on the degree of freedom of robot.
2nd, it is used for driving the motor of end execution unit to be arranged on inside end structure, not only make to walk inside end structure
Line is numerous and diverse, and keeps in repair inconvenient and install all inconvenient.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art and deficiency, provides a kind of robot end's hollow
Rotational structure, before this structure can solve the spool winding robot of end execution unit, end arms leads to there is potential safety hazard and front end
Problem limited by arm actuating range, so that robot end's compact conformation, improves the degree of freedom of motion of robot.
In order to achieve the above object, this utility model is achieved by following technical proposals: in a kind of robot end
Empty rotational structure, is arranged in end arms before robot；It is characterized in that: include body, for connecting subtracting of end execution unit
Fast machine and drive mechanism；Described body side is arranged in end arms before robot；Described reductor is the reductor of hollow structure,
And be connected with body, body is provided with through hole corresponding with reductor hollow structure, the hollow structure of reductor and body
Through hole connects and is formed with for the cabling space for end execution unit spool；Described drive mechanism is arranged on body exterior one
Side, and be connected with reductor.
In such scheme, the hollow structure of reductor of the present utility model and the through hole of body are formed with for supplying end
The cabling space of execution unit spool, therefore, can be penetrated from body and reductor with the spool of end execution unit and be held with end
Row part connects, and when end arms work rotates before robot, in reductor work process, is located in the end of reductor hollow structure
The spool of end execution unit is unaffected, also will not produce the phenomenon of end arms before winding, so, this structure makes robot front end
Arm can solve the problems, such as the spool of end execution unit produce be wound around before end arms lead to there is potential safety hazard, so that front end arms
Space unrestricted, substantially increase the freedom of motion of front end arms.
Described drive mechanism includes motor and the actuating device being arranged on body exterior side, and described motor is filled by transmission
Put and be connected with reductor.Motor of the present utility model is arranged on the outside side of body, is not directly connected with reductor
Structure, the hollow structure that can retain reductor provides the cabling space of spool it is therefore desirable to adopt actuating device that motor is dynamic
Power drives to reductor.Meanwhile, motor is arranged on body exterior side and can be easy to keep in repair and install.
Described actuating device includes and the power synchronous wheel of motor connection, belt and synchronizing wheel；Described synchronizing wheel and deceleration
The input shaft of machine connects, and is connected with power synchronous wheel by belt.This utility model adopts belt transmission in robot end
Mode, processing, install and maintenance all convenient.
Described synchronizing wheel is the synchronizing wheel of hollow structure；The hollow structure of synchronizing wheel is relative with the hollow structure of reductor.
This utility model can be used as the drive disk assembly of motor power using the synchronizing wheel of hollow structure, and can provide walking of spool
Space of lines.
This utility model also includes end execution unit, and described end execution unit is connected with the output shaft of reductor.
This utility model also includes the spool of end execution unit, and the spool of end execution unit stretches into from the through hole of body
The hollow structure of reductor and the hollow structure of synchronizing wheel, are connected with end execution unit.
Described end execution unit is welding gun or wire-feeding pipe.
Compared with prior art, this utility model has the advantage that and beneficial effect: this utility model robot end
Before hollow rotating structure can solve the spool winding robot of end execution unit, end arms leads to there is potential safety hazard and front end arms
Problem limited by actuating range, so that robot end's compact conformation, improves the degree of freedom of motion of robot.
Brief description
Fig. 1 is the schematic diagram that this utility model robot end's hollow rotating structure is connected with front end arms and welding gun；
Fig. 2 is d directional profile schematic diagram in Fig. 1；
Wherein, 1 it is body, 2 be welding gun, 3 be reductor, 4 be motor, 5 be power synchronous wheel, 6 be belt, 7 be synchronous
Wheel, 8 be spool, 9 be front end arms.
Specific embodiment
With specific embodiment, this utility model is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
The present embodiment is so that end execution unit is as welding gun as a example to being illustrated below.
As illustrated in fig. 1 and 2, this utility model robot end hollow rotating structure, is mounted in end arms 9 before robot
On, this end hollow rotating structure includes body 1, welding gun 2, the spool 8 of welding gun 2, reductor 3 and drive for connecting welding gun 2
Motivation structure；Wherein, body 1 sidepiece is arranged in end arms 9 before robot, and reductor 3 is the reductor of hollow structure, and and body
1 connection, body 1 is provided with through hole corresponding with reductor 3 hollow structure, the through hole of the hollow structure of reductor 3 and body 1
Connect and be formed with for the cabling space for welding gun 2 spool 8, drive mechanism is arranged on the outside side of body 1, and and reductor
3 connections.Welding gun 2 is connected with the output shaft of reductor 3.
Drive mechanism of the present utility model includes motor 4 and the actuating device being arranged on the outside side of body 1, and motor 4 leads to
Cross actuating device to be connected with reductor 3.Wherein, actuating device includes power synchronous wheel 5, belt 6 and the synchronization being connected with motor 4
Wheel 7, synchronizing wheel 7 is connected with the input shaft of reductor 3, and is connected with power synchronous wheel 7 by belt 6.This synchronizing wheel 7 is hollow
The synchronizing wheel of structure, the hollow structure of synchronizing wheel 7 is relative with the hollow structure of reductor 3.Synchronizing wheel 7 of the present utility model is not only
As the drive disk assembly of motor 4 power, and can provide the cabling space of spool 8.
The spool 8 of welding gun 2 of the present utility model stretches into the hollow structure of reductor 3 and synchronizing wheel 7 from the through hole of body 1
Hollow structure, is connected with welding gun 2.When end arms 9 work rotates before robot, in reductor 3 work process, it is located in reductor
The spool 8 of the welding gun 2 of 3 hollow structures is unaffected, also will not produce the phenomenon of end arms 9 before winding, so, this structure makes machine
Before device people end arms 9 can solve the problems, such as the spool 8 of welding gun 2 produce be wound around before end arms 9 lead to there is potential safety hazard, so that front
The space of end arms 9 is unrestricted, substantially increases the freedom of motion of front end arms 9.
Embodiment two
The present embodiment be the difference is that only with embodiment one: end execution unit can be the processing components such as wire-feeding pipe, uses
In carrying out to material the operation such as carrying, install, weld and spray.
The other structures of the present embodiment are consistent with embodiment one.
Above-described embodiment be this utility model preferably embodiment, but embodiment of the present utility model be not subject to above-mentioned
The restriction of embodiment, other any without departing from the change made under spirit of the present utility model and principle, modify, replace
Generation, combination, simplification, all should be equivalent substitute mode, are included within protection domain of the present utility model.
Claims (7)
1. a kind of robot end's hollow rotating structure, is arranged in end arms before robot；It is characterized in that: include body, use
In the reductor connecting end execution unit and drive mechanism；Described body side is arranged in end arms before robot；Described subtract
Fast machine is the reductor of hollow structure, and is connected with body, body is provided with through hole corresponding with reductor hollow structure, subtracts
The hollow structure of fast machine is connected with the through hole of body and is formed with for the cabling space for end execution unit spool；Described drive
Motivation structure is arranged on body exterior side, and is connected with reductor.
2. robot end's hollow rotating structure according to claim 1 it is characterised in that: described drive mechanism includes setting
Put the motor in body exterior side and actuating device, described motor is connected with reductor by actuating device.
3. robot end's hollow rotating structure according to claim 2 it is characterised in that: described actuating device include with
The power synchronous wheel of motor connection, belt and synchronizing wheel；Described synchronizing wheel is connected with the input shaft of reductor, and by belt with
Power synchronous wheel connects.
4. robot end's hollow rotating structure according to claim 3 it is characterised in that: described synchronizing wheel be hollow knot
The synchronizing wheel of structure；The hollow structure of synchronizing wheel is relative with the hollow structure of reductor.
5. robot end's hollow rotating structure according to claim 4 it is characterised in that: also include end enforcement division
Part, described end execution unit is connected with the output shaft of reductor.
6. robot end's hollow rotating structure according to claim 5 it is characterised in that: also include end execution unit
Spool, the spool of end execution unit stretches into the hollow structure of reductor and the hollow structure of synchronizing wheel from the through hole of body,
It is connected with end execution unit.
7. robot end's hollow rotating structure according to claim 5 it is characterised in that: described end execution unit is
Welding gun or wire-feeding pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620815392.1U CN205889242U (en) | 2016-07-28 | 2016-07-28 | Terminal cavity revolution mechanic of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620815392.1U CN205889242U (en) | 2016-07-28 | 2016-07-28 | Terminal cavity revolution mechanic of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205889242U true CN205889242U (en) | 2017-01-18 |
Family
ID=57785808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620815392.1U Active CN205889242U (en) | 2016-07-28 | 2016-07-28 | Terminal cavity revolution mechanic of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205889242U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN108582040A (en) * | 2018-05-04 | 2018-09-28 | 广东天太机器人有限公司 | A kind of industrial robot with novel power assisting device |
-
2016
- 2016-07-28 CN CN201620815392.1U patent/CN205889242U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN108582040A (en) * | 2018-05-04 | 2018-09-28 | 广东天太机器人有限公司 | A kind of industrial robot with novel power assisting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181019 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Patentee before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |
|
| TR01 | Transfer of patent right |