CN206366998U - A kind of upside-down mounting robot of hollow cabling - Google Patents
A kind of upside-down mounting robot of hollow cabling Download PDFInfo
- Publication number
- CN206366998U CN206366998U CN201620777446.XU CN201620777446U CN206366998U CN 206366998 U CN206366998 U CN 206366998U CN 201620777446 U CN201620777446 U CN 201620777446U CN 206366998 U CN206366998 U CN 206366998U
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- executive component
- forearm
- large arm
- hollow
- upside
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Abstract
The utility model is applied to robot renovation technique field, there is provided a kind of upside-down mounting robot of hollow cabling, including large arm executive component, the input connection pedestal of large arm executive component, the output end of large arm executive component connects the front end of large arm, the input of forearm executive component connects the end of large arm, the output end of forearm executive component connects the front end of forearm, Z axis after ball-screw collaboration coupling U axles by being located at forearm end, large arm executive component and forearm executive component are hollow structure, the controlling cable and gas circuit of the upside-down mounting robot both pass through large arm executive component and forearm executive component is connected with control system.Greatly/forearm uses hollow executive component, compensate for sitting posture, wall installation SCARA robot working spaces in side are limited, need to install the deficiency of limit switch additional.Ensure that signal wire, power line, gas circuit and the other signal wires of motor all pass through from hole simultaneously, it is ensured that circuit normal work avoids mechanical structure from being interfered with cable simultaneously, it is ensured that system reliability.
Description
Technical field
The utility model belongs to intelligent control technology improvement areas, more particularly to a kind of upside-down mounting robot of hollow cabling.
Background technology
In recent years, along with the fast development of information technology, control technology, and the active demand of industry, machine are automated
Device people's industry is able to fast development.SCARA (Selective Compliance Assembly Robot Arm) robot goes out certainly
Since existing, it has been widely used with the advantage in terms of its structure, cost, precision in industries such as assembling, detection, carryings.
The robot of various model specifications constantly comes out.Robot that conventional sitting posture, side wall are installed is because the limitation of itself or environment, nothing
Method plays robot performance completely, the problems such as solution other to working space, the position limitation protection of extreme position, adds system
Complexity, inevitably reduce the reliability of system.Therefore projecting SCARA robots are able to come out and are applied.
For upside-down mounting robot can 360 ° of revolutions in working space, if being set outside cable, cable can interfere with mechanical arm, very
To major accident is caused, based on this, we have attempted the upside-down mounting SCARA robots of internal cabling, therefore, it is desirable to large arm and small
Arm uses hollow structure motor and harmonic wave speed reducing machine.But, can internal electricity if taking no action to because hollow component aperture is smaller
Cable, tracheae etc. can cause circuit to be damaged with mechanical structure friction.
Utility model content
The purpose of this utility model is to provide a kind of upside-down mounting robot of hollow cabling, it is intended to solves above-mentioned technology and asks
Topic.
The utility model is achieved in that a kind of upside-down mounting robot of hollow cabling, the upside-down mounting robot include pedestal,
Large arm, forearm, Z axis, U axles, large arm executive component, forearm executive component, the input connection of the large arm executive component are described
Pedestal, the output end of the large arm executive component connects the front end of the large arm, the input connection of the forearm executive component
The end of the large arm, the output end of the forearm executive component connects the front end of the forearm, and the Z axis passes through ball-screw
The forearm end is located at after the collaboration coupling U axles, the large arm executive component and forearm executive component are hollow structure,
The controlling cable and gas circuit of the upside-down mounting robot both pass through the large arm executive component and forearm executive component
System connection.
Further technical scheme of the present utility model is：The upside-down mounting robot also includes the first joint component and second joint
Element, first joint component and second joint element are sequentially arranged on the forearm respectively.
Further technical scheme of the present utility model is：The large arm executive component is identical with forearm executive component, and it is wrapped
Hollow motor and hollow reducer are included, the arbor of the hollow motor connects the arbor of the reductor by shaft coupling.
Further technical scheme of the present utility model is：The large arm executive component is identical with forearm executive component, and it is wrapped
Non-hollow motor and hollow reducer are included, the non-hollow motor is connected with the hollow reducer using non-coaxial installation.
Further technical scheme of the present utility model is：The reductor uses hollow general reductor or middle null
Star reductor or hollow RV reductors.
The beneficial effects of the utility model are：Greatly/forearm uses hollow executive component, compensate for sitting posture, side wall and installs
SCARA robot working spaces are limited, need to install the deficiency of limit switch additional.Ensure signal wire, power line, the gas of motor simultaneously
Road and other signal wires all pass through from hole, it is ensured that circuit normal work avoids mechanical structure from being interfered with cable simultaneously,
Ensure system reliability.
Brief description of the drawings
Fig. 1 is the structure chart of the upside-down mounting robot for the hollow cabling that the utility model embodiment is provided.
Fig. 2 is that the profile and its internal red line of the upside-down mounting robot for the hollow cabling that the utility model embodiment is provided are
Cable trails.
Embodiment
Fig. 1 shows the upside-down mounting robot for the hollow cabling of kind that the utility model is provided, and the upside-down mounting robot includes pedestal
6th, large arm 7, forearm 8, Z axis 9, U axles 9, large arm executive component 1, forearm executive component 2, the input of the large arm executive component 1
The pedestal 6 is connected, the output end of the large arm executive component 1 connects the front end of the large arm 7, the forearm executive component 2
Input connect the end of the large arm 7, the output end of the forearm executive component 2 connects the front end of the forearm 8, described
Z axis 9 is coupled by ball-screw collaboration and the end of forearm 8 is located at after the U axles 9, and the large arm executive component 1 and forearm are held
Units 2 are hollow structure, the controlling cable and gas circuit of the upside-down mounting robot both pass through the large arm executive component 1 and
Forearm executive component 2 is connected with control system.
The upside-down mounting robot also includes the first joint component 3 and second joint element 4, first joint component 3 and the
Two joint components 4 are sequentially arranged on the forearm 8 respectively.
The large arm executive component 1 is identical with forearm executive component 2, and it includes hollow motor and hollow reducer, described
The arbor of hollow motor connects the arbor of the reductor by shaft coupling.
The large arm executive component 1 is identical with forearm executive component 2, and it includes non-hollow motor and hollow reducer, institute
Non-hollow motor is stated to be connected using non-coaxial installation with the hollow reducer.
The reductor uses hollow general reductor or hollow planetary reducer or hollow RV reductors.
SCARA robots designed by the application are made up of large arm 7, forearm 8, Z axis 9, the part of U axles 9 four.Greatly/forearm has
By hollow executive component, the hollow executive component input connection pedestal of large arm, output end connection large arm drives big arm swing；It is small
The hollow executive component input of arm is connected to large arm end, output end connection forearm, so as to drive forearm rotary to move.Z axis and U
Axle uses ball screw assembly, cooperative motion, realizes the up and down motion of Z axis, and U axles rotation, Z axis and U axles all pass through ball-screw
There is coupling in output, its motion control.The hollow executive component of greatly/forearm is all hollow structure, signal wire, the power of motor
Line, gas circuit and other signal wires all pass through from hole, it is ensured that circuit normal work avoids mechanical structure from occurring with cable simultaneously
Interference, it is ensured that system reliability.
Greatly/forearm use hollow executive component, compensate for sitting posture, side wall install SCARA robot working spaces it is limited,
Need to install additional the deficiency of limit switch.Ensure that signal wire, power line, gas circuit and the other signal wires of motor are all logical from hole simultaneously
Cross, it is ensured that circuit normal work avoids mechanical structure from being interfered with cable simultaneously, it is ensured that system reliability.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (5)
1. a kind of upside-down mounting robot of hollow cabling, it is characterised in that：The upside-down mounting robot include pedestal, large arm, forearm, Z axis,
U axles, large arm executive component, forearm executive component, the input of the large arm executive component connect the pedestal, and the large arm is held
The output end of units connects the front end of the large arm, and the input of the forearm executive component connects the end of the large arm,
The output end of the forearm executive component connects the front end of the forearm, and the Z axis couples the U axles by ball-screw collaboration
The forearm end is located at afterwards, and the large arm executive component and forearm executive component are hollow structure, the described upside-down mounting machine
The controlling cable and gas circuit of people both passes through the large arm executive component and forearm executive component is connected with control system.
2. upside-down mounting robot according to claim 1, it is characterised in that the upside-down mounting robot also includes the first joint component
And second joint element, first joint component and second joint element are sequentially arranged on the forearm respectively.
3. upside-down mounting robot according to claim 2, it is characterised in that the large arm executive component and forearm executive component
Identical, it includes hollow motor and hollow reducer, and the arbor of the hollow motor connects the reductor by shaft coupling
Arbor.
4. upside-down mounting robot according to claim 2, it is characterised in that the large arm executive component and forearm executive component
Identical, it includes non-hollow motor and hollow reducer, and the non-hollow motor uses non-coaxial peace with the hollow reducer
Load connects.
5. the upside-down mounting robot according to claim 3 or 4, it is characterised in that the reductor uses hollow general
Reductor or hollow planetary reducer or hollow RV reductors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620777446.XU CN206366998U (en) | 2016-07-22 | 2016-07-22 | A kind of upside-down mounting robot of hollow cabling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620777446.XU CN206366998U (en) | 2016-07-22 | 2016-07-22 | A kind of upside-down mounting robot of hollow cabling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206366998U true CN206366998U (en) | 2017-08-01 |
Family
ID=59390206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620777446.XU Active CN206366998U (en) | 2016-07-22 | 2016-07-22 | A kind of upside-down mounting robot of hollow cabling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206366998U (en) |
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2016
- 2016-07-22 CN CN201620777446.XU patent/CN206366998U/en active Active
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