CN206703057U - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN206703057U CN206703057U CN201720564690.2U CN201720564690U CN206703057U CN 206703057 U CN206703057 U CN 206703057U CN 201720564690 U CN201720564690 U CN 201720564690U CN 206703057 U CN206703057 U CN 206703057U
- Authority
- CN
- China
- Prior art keywords
- forearm
- ancon
- main body
- industrial robot
- chamber
- 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- Withdrawn - After Issue
Links
Abstract
The utility model discloses a kind of industrial robot, including ancon and forearm, forearm body rear is docked with ancon body front end；Forearm body rear is provided with forearm motor, and the output shaft of forearm motor deviates the axial line of forearm main body, and forearm motor enters action edge transmission by forearm synchronous pulley；Docking baffle plate is provided with ancon main body, ancon main body is divided into front chamber and rear chamber by docking baffle plate；Harmonic speed reducer is installed, harmonic speed reducer includes wave producer, flexbile gear and firm gear in the front chamber；The axial line of wave producer overlaps with the axial line of ancon main body；Wave producer is connected with the driven pulley of the forearm synchronous pulley and on the same axis, so as to the input power into harmonic speed reducer, and is outputed power by firm gear and give forearm main body.While the utility model make it that ancon dimension volume reduces, ancon rotating eccentricity distance is reduced, reduces work space-consuming, mitigates ancon weight, improves the rigidity, precision and flexibility of ancon, improves the aesthetics of profile.
Description
Technical field
It the utility model is related to a kind of industrial robot.
Background technology
With the development of mechanical industry, automated production is realized in increasing field using industrial robot, to improve
Production efficiency and product quality.Industrial robot typically mainly includes large arm, shoulder, forearm, ancon and wrist.Prior art
In ancon be split-type structural so that ancon can take apart in order to by forearm motor be arranged on ancon in rear end part
（Forward direction installation）, forearm motor be arranged on ancon in require that the volume size of ancon is larger, can thus cause the rotation of ancon
Turn that eccentric distance is larger, the rotating eccentricity distance of ancon refers to ancon reductor（In large arm）Center is to forearm reductor
The distance of axis, the rotating eccentricity distance of ancon is bigger, and shared space is bigger at work for robot, is unfavorable for narrow and small
Job space, and eccentric distance more conference causes arm movements more dumb.At present, the ancon rotation of existing industrial robot
Turn eccentric distance to be typically all up in more than 30mm, such as the ancon rotating eccentricity distance of certain humanoid robot of Japanese enterprises
35mm。
The problem of positive installation of forearm motor also results in ancon and protruded backward, and ancon weight is big so that industrial robot
Outside lines it is not smooth, motion flexibility ratio it is inadequate.The rigidity that split type ancon also results in ancon reduces so that industrial machine
The precision of people reduces.
Utility model content
For above-mentioned the deficiencies in the prior art, the utility model provides a kind of industrial robot, to solve in the prior art
The rotating eccentricity of ancon is in larger distance, and occupancy working space is big, and ancon rigidity is relatively low, weight is larger, and precision is not high enough, and motion is not
It is enough flexible, the slack technical problem of profile, the rotating eccentricity distance of ancon can be greatly reduced, improves rigidity, precision and spirit
Activity.
In order to solve the above-mentioned technical problem, the utility model employs following technical scheme：A kind of industrial robot, bag
Ancon and forearm are included, the forearm includes forearm main body, and the ancon includes ancon main body；The forearm body rear and ancon
Body front end is docked；Forearm body rear is provided with forearm motor, and the output shaft of the forearm motor deviates the axle of forearm main body
Heart line, forearm motor enter action edge transmission by forearm synchronous pulley；The forearm synchronous pulley include driving wheel, driven pulley with
Timing belt, driving wheel are socketed on the output shaft of forearm motor, and the axial line of driven pulley overlaps with the axial line of forearm main body；Elbow
Docking baffle plate is provided with portion's main body, ancon main body is divided into front chamber and rear chamber by the docking baffle plate；In the front chamber
Harmonic speed reducer is installed, the harmonic speed reducer includes wave producer, flexbile gear and firm gear；The axial line of the wave producer with
The axial line of ancon main body overlaps；The flexbile gear is fixed on the docking baffle plate, and firm gear is fixed on the rear end face of forearm main body
On；The wave producer is connected and on the same axis with the driven pulley of the forearm synchronous pulley, so as to harmonic speed reducer
Interior input power, and outputed power by firm gear and give forearm main body.
In above-mentioned technical proposal, forearm motor is arranged on forearm body rear, forms reversely installation, with prior art just
Being compared to installation has advantages below：Forearm motor no longer takes the locus of ancon main body so that the radial direction of ancon main body
Size is reduced, and such ancon body floor is under conditions of the height of ancon decelerator is constant, the axle center of ancon main body
Line position declines, and so allows for the axial line of wave producer, i.e. harmonic speed reducer（Forearm reducing motor）Axle center line position
Decline, so as to shorten ancon rotating eccentricity distance.Because the diameter of harmonic speed reducer can be in below 120mm, then ancon master
The diameter of body can be in below 150mm, then ancon rotating eccentricity distance can narrow down to 3 ~ 8mm or so, and of the prior art
More than 30mm, 7 times or so are reduced, be greatly reduced ancon rotating eccentricity distance.Also, ancon body rear is not due to having
Forearm reducing motor occupy-place, ancon body rear will not also be protruded backward again, and profile is more attractive in appearance, while alleviates the weight of ancon
Amount, improves flexibility.
Preferably, the ancon main body is formed in one.Because forearm motor is no longer arranged in ancon main body, this is just
Ancon main body, which is integrally formed, becomes feasible, and ancon main body is integrally formed the rigidity that can significantly improve ancon, reduces deformation, improves
Precision.
Preferably, the center of the docking baffle plate was provided with line three-way hole, crossed line three-way hole with docking the area between baffle plate root
Domain hollow out, so as to form inner ring surface and outer ring surface, inner ring surface is fixed on outer ring surface by ribs.Because ancon main body is one
Rigidity improves after body formed, therefore the docking baffle plate to ancon body interior can carry out large area hollow out further to mitigate ancon
Weight, ancon main body insufficient rigidity will not be caused, but easily be led if to split type ancon main body hollow out of the prior art
Cause insufficient rigidity.
Further, the outer ring surface includes the lug around the strap bolt hole of ancon main body inner wall distribution, the lug
It is vertically connected in ancon main body inner wall；The inner ring surface includes being used for the annular base for connecting ribs, the annular base
It is upper to surround the lug that strap bolt hole is distributed with；The flexbile gear is bolted on outer ring surface；Also included line protective case, institute
Line protective case was stated to be bolted on inner ring surface.So, crossing line protective case can protect cable not to be involved in rotary part
It is interior, security performance is improved, avoids breaking down or damages；Flexbile gear and excessively line protective case are formed with ancon main body respectively detachably to be connected
Connect, be easy for installation and removal, and there is larger fretwork area, can maximumlly subtract ancon body weight.
Preferably, the forearm main body is formed in one, and the forearm body front end, which is provided with, to be used to accommodate the U-shaped of wrist
Groove, the U-type groove both sides are arranged with installation via；The forearm main body both sides, which are provided with, to be used to install group of motors and power biography
The side chamber of motivation structure；The forearm main body both sides are removably connected with the side cover plate for covering the side chamber.So, forearm master
Body by integral forming can improve the rigidity of forearm, be integrally formed and be combined with ancon main body, further improve rigidity and action essence
Degree；And also make the installation and removal of wrist more convenient, the visualization of installation process improves.
The rear chamber of the ancon main body includes two side chambers in left and right and the mistake line chamber among two side chambers；It is described
Ancon reductor shaft bearing assembly is installed in one of side chamber, ancon bearing is installed in another side chamber.So, line chamber is crossed
The cable inside industrial robot can be accommodated, cable can be coiled in line chamber so that cabling is laid out cleaner and tidier specification.
Preferably, the forearm body rear face is provided with convex neck, and the convex neck is provided with annular groove, the annular groove
It is embedded in sealing ring；Forearm main body is inserted by convex neck in the front chamber of ancon main body.In such manner, it is possible to greatly improve sealing
Energy.
Preferably, the driven pulley of the forearm synchronous pulley is docked with the end face of wave producer, and is consolidated by screw
It is scheduled on wave producer.So, formed and be detachably connected convenient installation, change and repair.
In summary, while the utility model make it that ancon dimension volume reduces, ancon rotating eccentricity distance is reduced,
Work space-consuming is reduced, alleviates ancon weight, the rigidity, precision and flexibility of ancon is improved, improves profile
Aesthetics.
Brief description of the drawings
Fig. 1 is the mounting structure schematic diagram of forearm motor in embodiment；
Fig. 2 is Fig. 1 rearview；
Fig. 3 is Fig. 2 partial enlarged drawing；
Fig. 4 is Fig. 2 J-J sectional views；
Fig. 5 is Fig. 2 K-K sectional views；
Fig. 6 is the stereogram of ancon main body；
Fig. 7 is Fig. 6 front view；
Fig. 8 is the structural representation of forearm main body；
Fig. 9 is the structural representation of industrial robot of the prior art.
Embodiment
The utility model is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 8, including ancon 1 and forearm 2, the forearm 2 include forearm main body to a kind of industrial robot
24, the ancon 1 includes ancon main body 11；Docked with the front end of ancon main body 11 rear end of forearm main body 24；Forearm main body 24
Rear end is provided with forearm motor 21, and the output shaft of the forearm motor 21 deviates the axial line of forearm main body 24, forearm motor 21
Action edge transmission is entered by forearm synchronous pulley；The forearm synchronous pulley includes driving wheel 22, driven pulley 23 and timing belt, main
Driving wheel 22 is socketed on the output shaft of forearm motor 21, and the axial line of driven pulley 23 overlaps with the axial line of forearm main body 24；Elbow
Docking baffle plate is provided with portion's main body 11, ancon main body 11 is divided into front chamber and rear chamber by the docking baffle plate；The ante-chamber
Indoor location has harmonic speed reducer, and the harmonic speed reducer includes wave producer 16, flexbile gear 17 and firm gear 18；The wave producer
16 axial line overlaps with the axial line of ancon main body 11；The flexbile gear 17 is fixed on the docking baffle plate, and firm gear 18 is fixed
On the rear end face of forearm main body 24；The wave producer is connected with the driven pulley 23 of the forearm synchronous pulley and in same axle
On line, so as to the input power into harmonic speed reducer, and outputed power by firm gear 18 to forearm main body 24.
In above-mentioned technical proposal, forearm motor 21 is arranged on the rear end of forearm main body 24, reversely installation is formed, with prior art
Positive installation compared to having advantages below：Forearm motor 21 no longer takes the locus of ancon main body 11 so that ancon master
The radial dimension of body 11 is reduced, such bottom surface of ancon main body 11 under conditions of the height of ancon decelerator 12 is constant,
The axle center line position of ancon main body 11 declines, and so allows for the axial line of wave producer 16, i.e. harmonic speed reducer（Equivalent to existing
There is the forearm reducing motor in technology）Axle center line position decline, so as to shorten ancon rotating eccentricity distance, as shown in figure 3,
The center of ancon decelerator 12 is point O, and the axis line of harmonic speed reducer is L, and ancon rotating eccentricity distance is d.Because harmonic wave subtracts
The diameter of fast device 16 can be in below 120mm, then the diameter of ancon main body 11 can be in below 150mm, then ancon rotating eccentricity
Distance can narrow down to 3 ~ 8mm or so, reduce 7 times or so.As shown in figure 9, the ancon rotating eccentricity of existing industrial robot away from
It is larger from d, in more than 30mm, 7 times or so are reduced, is greatly reduced ancon rotating eccentricity distance.Also, ancon main body 11
Rear end is because no forearm reducing motor occupy-place, the rear end of ancon main body 11 will not also protrude backward again, and profile is more attractive in appearance, simultaneously
The weight of ancon 1 is alleviated, improves flexibility.
In present embodiment, as shown in fig. 6, the ancon main body 11 is formed in one.Due to forearm motor 21 not
Be arranged on again in ancon main body 11, this just becomes feasible for ancon main body 11 is made of one into shaping, the one of ancon main body 11 into
Type can significantly improve the rigidity of ancon, reduce deformation, improve precision.
In present embodiment, shown in figure Fig. 7, the center of the docking baffle plate was provided with line three-way hole, cross line three-way hole with
The region hollow out between baffle plate root is docked, so as to form inner ring surface 111 and outer ring surface 112, inner ring surface 112 is consolidated by ribs
It is scheduled on outer ring surface 111.Improved because ancon main body 11 is integrally formed rear rigidity, therefore the docking inside ancon main body 11 is kept off
Plate can carry out large area hollow out further to mitigate ancon weight, will not cause the insufficient rigidity of ancon main body 11, if but to existing
There is the split type ancon main body hollow out in technology then easily to cause insufficient rigidity.
In present embodiment, the outer ring surface 112 is included around the convex of the strap bolt hole of ancon main body inner wall distribution
Ear, the lug are vertically connected on the inwall of ancon main body 11；The inner ring surface 111 includes being used for the annular base for connecting ribs
Portion, around the lug that strap bolt hole is distributed with the annular base；The flexbile gear of the harmonic speed reducer 16 is bolted
On outer ring surface 112；Also included line protective case 14, the line protective case 14 of crossing is bolted on inner ring surface 111.This
Sample, crossing line protective case 14 can protect cable not to be involved in rotary part, improve security performance, avoid breaking down or damage；
Flexbile gear and excessively line protective case 14 are formed with ancon main body 11 respectively to be detachably connected, and is easy for installation and removal, and with larger
Fretwork area, can maximumlly mitigate ancon weight.
In present embodiment, as shown in figure 8, the forearm main body 24 is formed in one, before the forearm main body 24
End is provided with the U-type groove for being used for accommodating wrist, and the U-type groove both sides are arranged with installation via；The both sides of forearm main body 24 are set
There is the side chamber for installing group of motors and power drive mechanism, group of motors includes wrist motor and end motor；Power transmission
Mechanism includes wrist forearm synchronous pulley and end forearm synchronous pulley, is respectively used to wrist decelerator and end decelerator biography
Graduating power；The forearm main body both sides are removably connected with the side cover plate for covering the side chamber.So, forearm main body 24 1
The body formed rigidity that can improve forearm, is integrally formed with ancon main body 11 and is combined, and further improves rigidity and operation precision；
And also make the installation and removal of wrist more convenient, the visualization of installation process improves.
Installed to wrist, can first by wrist main body be arranged on U-type groove in, then by the associated components of inner wrist from
The installation via of U-type groove both sides is sent into wrist main body and installed, after being thus avoided that complete wrist of first assembling, then will
Wrist is arranged on width of the lateral dimension more than U-type groove of caused interference, particularly associated components in U-type groove.
When being dismantled to wrist, the side cover plate of the both sides of forearm main body 24 is removed, wrist can just be dismantled, without
As split type forearm of the prior art, half of forearm main body and internal part are all disassembled, substantially increases and tears open
Unload efficiency.
In present embodiment, the rear chamber of the ancon main body 11 includes two side chambers in left and right and positioned at two sides
Mistake line chamber 15 among chamber；Ancon decelerator 12 is installed in one of side chamber, ancon axle is installed in another side chamber
Hold 13.So, line chamber 15 can accommodate the cable inside industrial robot excessively, and cable can be coiled in line chamber 15 so that
Cabling is laid out cleaner and tidier specification.
In present embodiment, the rear end face of forearm main body 24 is provided with convex neck, and the convex neck is provided with annular groove,
The annular groove is embedded in sealing ring；Forearm main body 24 is inserted by convex neck in the front chamber of ancon main body 11.In such manner, it is possible to
Greatly improve sealing property.
In present embodiment, the driven pulley 23 of the forearm synchronous pulley is docked with the end face of wave producer,
And it is fixed by screws on wave producer.So, formed and be detachably connected convenient installation, change and repair.
Claims (9)
1. a kind of industrial robot, including ancon and forearm, it is characterised in that：The forearm includes forearm main body, the ancon
Including ancon main body；The forearm body rear is docked with ancon body front end；Forearm body rear is provided with forearm motor, institute
The output shaft for stating forearm motor deviates the axial line of forearm main body, and forearm motor enters action edge transmission by forearm synchronous pulley；
The forearm synchronous pulley includes driving wheel, driven pulley and timing belt, and driving wheel is socketed on the output shaft of forearm motor, driven
The axial line of wheel overlaps with the axial line of forearm main body；Docking baffle plate is provided with ancon main body, the baffle plate that docks is by ancon master
Body is divided into front chamber and rear chamber；Harmonic speed reducer is installed, the harmonic speed reducer includes ripple in the front chamber
Device, flexbile gear and firm gear；The axial line of the wave producer overlaps with the axial line of ancon main body；The flexbile gear is fixed on described right
Connect on baffle plate, firm gear is fixed on the rear end face of forearm main body；The driven pulley of the wave producer and the forearm synchronous pulley
Connect and on the same axis, so as to the input power into harmonic speed reducer, and outputed power by firm gear and give forearm main body.
2. industrial robot according to claim 1, it is characterised in that：The ancon main body is formed in one.
3. industrial robot according to claim 1, it is characterised in that：The center of the docking baffle plate was provided with line and led to
Hole, line three-way hole is crossed with docking the region hollow out between baffle plate root, so as to form inner ring surface and outer ring surface, inner ring surface passes through support
Rib is fixed on outer ring surface.
4. industrial robot according to claim 3, it is characterised in that：The outer ring surface is included around ancon main body inner wall
The lug in the strap bolt hole of distribution, the lug are vertically connected in ancon main body inner wall；The inner ring surface includes being used to connect
The annular base of ribs, around the lug that strap bolt hole is distributed with the annular base；The flexbile gear is bolted
On outer ring surface；Also included line protective case, the line protective case of crossing is bolted on inner ring surface.
5. industrial robot according to claim 1, it is characterised in that：The forearm main body is formed in one, described small
Arm body front end is provided with the U-type groove for being used for accommodating wrist, and the U-type groove both sides are arranged with installation via；The forearm main body
Both sides, which are provided with, to be used to install group of motors and the side chamber of power drive mechanism；The forearm main body both sides, which are removably connected with, to be used for
Cover the side cover plate of the side chamber.
6. industrial robot according to claim 1, it is characterised in that：The rear chamber of the ancon main body includes left and right two
Individual side chamber and the mistake line chamber among two side chambers；Ancon bearing in reduction gears group is installed in one of side chamber
Part, ancon bearing is installed in another side chamber.
7. industrial robot according to claim 1, it is characterised in that：The forearm body rear face is provided with convex neck, institute
State convex neck and be provided with annular groove, the annular groove is embedded in sealing ring；Forearm main body inserts ancon main body by convex neck
In front chamber.
8. industrial robot according to claim 1, it is characterised in that：The driven pulley of the forearm synchronous pulley is sent out with ripple
The end face of raw device is docked, and is fixed by screws on wave producer.
9. industrial robot according to claim 1, it is characterised in that：A diameter of 110 ~ 120mm of harmonic speed reducer, elbow
A diameter of 140 ~ 150mm of portion's main body, ancon rotating eccentricity distance is 3 ~ 8mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720564690.2U CN206703057U (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720564690.2U CN206703057U (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206703057U true CN206703057U (en) | 2017-12-05 |
Family
ID=60463688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720564690.2U Withdrawn - After Issue CN206703057U (en) | 2017-05-20 | 2017-05-20 | A kind of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206703057U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965204A (en) * | 2017-05-20 | 2017-07-21 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
-
2017
- 2017-05-20 CN CN201720564690.2U patent/CN206703057U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965204A (en) * | 2017-05-20 | 2017-07-21 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
| CN106965204B (en) * | 2017-05-20 | 2018-03-27 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103624648B (en) | Polishing mechanism of aluminium alloy wheel hub of vehicle robot | |
| CN106965204B (en) | A kind of industrial robot | |
| CN206839609U (en) | A kind of rotating device with reducing gear | |
| CN206703057U (en) | A kind of industrial robot | |
| CN109291039A (en) | A kind of four articular surface robots | |
| CN110091235B (en) | Revolution and rotation spherical polishing tool | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN209491763U (en) | A kind of six-joint robot | |
| CN109551467A (en) | Industry robot comprising acting axle construction | |
| CN208557483U (en) | A kind of robot base with mechanical arm | |
| CN209408488U (en) | Industry robot comprising acting axle construction | |
| CN102720012A (en) | Driving mechanism of level sewing machine | |
| CN205629554U (en) | Gear machining machine tool | |
| CN205888683U (en) | Take tool change mechanism's horizontal machining center main tapping | |
| CN209579557U (en) | A kind of novel four axis robot suitable for coding machine equipment | |
| CN208424092U (en) | A kind of door lifter decelerating motor | |
| CN209164486U (en) | A kind of spindle transmission gear draw box mechanism of novel left and right coenosarc CNC tube bending machine | |
| CN209335646U (en) | A kind of joint of robot shell | |
| CN205835334U (en) | A kind of six axle all-purpose robots captured for material | |
| CN206017613U (en) | Socks shaping modular system drive pole device | |
| CN104669909B (en) | carving swing head | |
| CN206011090U (en) | Articulation structure and the robot with which | |
| CN204547520U (en) | Engraving wobble heads | |
| CN205799513U (en) | A kind of six axle all-purpose robots of double small arm | |
| CN205465375U (en) | Digit control machine tool tool magazine speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171205 Effective date of abandoning: 20180327 |
|
| AV01 | Patent right actively abandoned |