CN206717861U - A kind of 6 joint bending robots of internal wiring - Google Patents
A kind of 6 joint bending robots of internal wiring Download PDFInfo
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- CN206717861U CN206717861U CN201720553374.5U CN201720553374U CN206717861U CN 206717861 U CN206717861 U CN 206717861U CN 201720553374 U CN201720553374 U CN 201720553374U CN 206717861 U CN206717861 U CN 206717861U
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Abstract
The utility model discloses a kind of 6 joint bending robots of internal wiring, including base and J1~J6 axles and J1~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, it is connected on each the course line socket and gas-tpe fitting in base cover plate, then J1~J6 spindle motors, gas-tpe fitting and I/O sockets are respectively connecting to, it is characterized in that the pipeline is arranged on internal body.Pipeline is arranged in body interior, has evaded the popular industrial machine people risk that pipeline scrapes with metal plate in bending application, reduces the degree of coiling, improves the durability of pipeline.Machine routing is compact, improves complete machine aesthetic.
Description
Technical field
It the utility model is related to a kind of 6 articulated robots, 6 joint bending robots of specifically a kind of internal wiring.
Background technology
With developing rapidly for metal plate automation industry, the automatic bending of metal plate gradually replaces past help by hand to operate,
So as to substantially increase production efficiency, and the personal safety of producers is further ensured.
At present, using it is most be to coordinate bender combine following bending using 6 joint popular industrial machine people.It is logical
In the case of often, 6 joint popular industrial machine people J4~J6 spindle motors use outer post-modifier more, and the structure helps to mitigate J3 axles
The burden of motor, and machine routing is simpler, it is not necessary to threaded through body interior.The pipeline of 6 articulated robots generally comprises
J1~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, they are connected to power line air plug seat, coding respectively
Device line air plug seat, I/O line air plug seats and gas-tpe fitting, these cable air plug seats and gas-tpe fitting are all fixed in base cover plate
Face, base cover plate are fixed on base rear portion.In the prior art, above-mentioned cable and duct portion are especially right outside body
In I/O cables and tracheae that end effector uses（Abbreviation pipeline）, the problem of coiling be present, it is attractive in appearance to influence complete machine.With metal plate
The complication of golden structure and the extension of size, robot are even more to need by constantly adjusting wrist spatial attitude come work, around
Line problem is more serious, and pipeline is easy to scrape with metal plate edge, reduces the service life of pipeline.
Utility model content
Technical problem to be solved in the utility model is, the defects of overcoming prior art to exist, it is proposed that in one kind
6 joint bending robots of portion's wiring, pipeline arrange that for pipeline with metal plate without risk is scraped, machine routing is compact in body interior.
The utility model proposes a kind of internal wiring 6 joint bending robots, including base and J1~J6 axles and
Pipeline.The pipeline includes J1~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, J1~J6 axles
Motor power cable and encoder cable, I/O cables and tracheae be connected to power line air plug seat in base cover plate,
On encoder line air plug seat, I/O line air plug seats and gas-tpe fitting.It is characterized in that：
One wearing bush is installed inside J1 axle reductors, pipeline in base and wearing bush through passing through.
Pipeline enters inside swivel base and is divided into two groups, and A groups include J1 spindle motor power cables and encoder cable and J2 axles
Motor power cable and encoder cable, are connected to J1 spindle motors and J2 spindle motors respectively.B component branch includes J3~J6 spindle motors and moved
Line of force cable and encoder cable, I/O cables and tracheae, along large arm outside arrangement and carry out secondary packet, I in large arm middle and upper part
Group is J3 spindle motor power cables and encoder cable, is directly connected to J3 spindle motors；II groups include J4~J6 spindle motor power lines
Cable and encoder cable, I/O cables and tracheae, II groups are grouped three times in the middle part of small shoulder joint, J4 spindle motor power lines
Cable and encoder cable are connected to J4 spindle motors；II-2 groups pipeline includes J5~J6 spindle motor power cables and encoder cable, I/O
Cable and tracheae, are protected by shield wire spring, then pass sequentially through small shoulder joint, small armed lever, J4 axocoels body, J4 axle reductors
Inside J4 axle rebounds, into connector, J5 spindle motor power cables and encoder cable are connected to J5 spindle motors；Tracheae connects
To gas-tpe fitting；I/O cables are connected to I/O sockets；J6 spindle motor power cables and encoder cable are connected to J6 spindle motors.
Cable reserves suitable surplus at each joint motion position.
The utility model has the advantages that relative to prior art：
1st, pipeline is arranged in body interior, has evaded what popular industrial machine people pipeline in bending application scraped with metal plate
Risk, the degree of coiling is reduced, improve the durability of pipeline；
2nd, machine routing is compact, improves complete machine aesthetic.
Brief description of the drawings
Fig. 1 is 6 joint bending robot schematic top plan views of the utility model internal wiring（Cable and tracheae perspective）.
Fig. 2 is 6 joint bending robot schematic elevation views of the utility model internal wiring（Cable and tracheae perspective）.
Fig. 3 is Fig. 2 close-up schematic views.
Fig. 4 is the reverse schematic diagrames of Fig. 2.
Embodiment
With reference to the accompanying drawings and examples, the utility model is elaborated.
Embodiment：As Figure 1-4, the utility model proposes a kind of internal wiring 6 joint bending robots, including
Base and J1~J6 axles and pipeline 50.The pipeline 50 includes J1~J6 spindle motor power cables and encoder cable, I/O lines
Cable and tracheae, J1~J6 spindle motors power cable and encoder cable, I/O cables and tracheae are connected to positioned at base
On power line air plug seat 2, encoder line air plug seat 3, I/O line air plugs seat 4 and gas-tpe fitting 5 on cover plate 1.
Rubbed during to prevent that J1 axles from rotating with J1 axles reductor 23, a wearing bush 24 is installed inside J1 axles reductor 23
, pipeline is through in base 22 and wearing bush 24（Inside J1 axles reductor 23）Pass through.
Swivel base fixing point I 27 is set on transposon 18, and with pipe clamp 25 and the clamping of sponge briquetting 26, sponge briquetting 26 to
Prevent pipe clamp 25 and pipeline friction.Pipeline 50 enters inside transposon 18 and is divided into two groups, A groups include J1 spindle motor power cables with
Encoder cable 51 and J2 spindle motor power cables and encoder cable 52, they fixed at swivel base fixing point II 7 and with prick
Band 60 tightens, and is then connected to J1 spindle motors 6 and J2 spindle motors 9 respectively.Another group of branches includes J3~J6 spindle motor power cables
With encoder cable, I/O cables and tracheae, they fix at swivel base fixing point III 32 and large arm fixing point I 30 be used in combination successively
Pipe clamp 25 and the clamping of sponge briquetting 26, arranged along the outside of large arm 31.
Secondary packet is carried out in the middle and upper part of large arm 31, I groups are J3 spindle motor power cables and encoder cable 53, are directly connected
To J3 spindle motors 21；II groups include J4~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, and they are successively
Fixed at large arm fixing point II 28 and forearm fixing point I 29 and with pipe clamp 25 and the clamping of sponge briquetting 26.II groups are closed in forearm
The middle part of section 44 is grouped three times, and J4 spindle motor power cables and encoder cable 54 are separately fixed at by band 60
Tying-off positions corresponding to forearm fixing point II 43 and small armed lever 10, are then connected to J4 spindle motors 11；II (2) group pipeline include J5~
J6 spindle motor power cables and encoder cable, I/O cables and tracheae, protected by a shield wire spring 20, Ran Houyi
It is secondary by small shoulder joint 44, small armed lever 10, J4 axocoels body 19, J4 axles reductor 12 and J4 axles rebound 13 inside, finally with riding
Pipeline is fixed on forearm fixing point II 43 and forearm fixing point III 17 by horse card 16, is fixed with saddle clip 18 by wire spring 20 is protected
On forearm fixing point II 43 and forearm fixing point III 17, wherein forearm fixing point III 17 and J4 axles rebound 13 connects, with J4
Axle rotates together.
After II (2) group pipelines enter connector 14, J5 spindle motor power cables and encoder cable 55 are connected to J5 spindle motors
15；Tracheae is connected to gas-tpe fitting 33；I/O cables are connected to I/O sockets 37；J6 spindle motor power cables and encoder cable 56,
Through cable fixture block 35, cable fixture block 35 is fixed on wrist cover plate 36 with gland 34.Gas-tpe fitting 33, I/O sockets 37
All it is fixed on wrist cover plate 36, wrist cover plate 36 is fixed on connector 14.J6 spindle motor power cables and encoder cable
After the outlet of cable fixture block 35, cable is fixed at support I 39 with saddle clip 38 successively, is fixed on cable with band 60
At support II 41, J6 spindle motors 40 are then connected to, its medium-height trestle I 39 is fixed on connector 14, and support II 41 is fixed on wrist
On body 42.
Pipeline reserves suitable surplus at each joint motion position.
Claims (1)
1. a kind of 6 joint bending robots of internal wiring, including base and J1~J6 axles and pipeline；The pipeline includes J1
~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, J1~J6 spindle motors power cable and encoder
Cable, I/O cables and tracheae are connected to the power line air plug seat in base cover plate（2）, encoder line air plug seat
（3）, I/O line air plug seats（4）And gas-tpe fitting（5）On；It is characterized in that：
In J1 axle reductors（23）Inside installation wearing bush（24）, pipeline is through base（22）And wearing bush（24）Inside passes through；
Pipeline enters swivel base（8）Internal and be divided into two groups, A groups include J1 spindle motor power cables and encoder cable and J2 axles are electric
Mechanomotive force cable and encoder cable, are connected to J1 spindle motors respectively（6）With J2 spindle motors（9）；B component branch includes J3~J6 axles electricity
Mechanomotive force cable and encoder cable, I/O cables and tracheae, along large arm（31）Outside is arranged and in large arm（31）Middle and upper part is entered
The secondary packet of row, I groups are J3 spindle motor power cables and encoder cable, are directly connected to J3 spindle motors（21）；II groups include J4
~J6 spindle motor power cables and encoder cable, I/O cables and tracheae, II-2 groups are in small shoulder joint（44）Middle part carries out three
Secondary packet, J4 spindle motor power cables and encoder cable are connected to J4 spindle motors（11）；II-2 groups pipeline includes J5~J6 axles electricity
Mechanomotive force cable and encoder cable, I/O cables and tracheae, by shield wire spring（20）Protected, then pass sequentially through forearm
Joint（44）, small armed lever（10）, J4 axocoel bodies（19), J4 axles reductor (12) and J4 axle rebounds（13）Inside, into connection
Body（14）, J5 spindle motor power cables and encoder cable are connected to J5 spindle motors（15）；Tracheae is connected to gas-tpe fitting（33）； I/
O cables are connected to I/O sockets（37）；J6 spindle motor power cables and encoder cable are connected to J6 spindle motors（40）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720553374.5U CN206717861U (en) | 2017-05-18 | 2017-05-18 | A kind of 6 joint bending robots of internal wiring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720553374.5U CN206717861U (en) | 2017-05-18 | 2017-05-18 | A kind of 6 joint bending robots of internal wiring |
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| Publication Number | Publication Date |
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| CN206717861U true CN206717861U (en) | 2017-12-08 |
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| CN201720553374.5U Active CN206717861U (en) | 2017-05-18 | 2017-05-18 | A kind of 6 joint bending robots of internal wiring |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| WO2019140762A1 (en) * | 2018-01-17 | 2019-07-25 | 南京邮电大学 | Assist bending robot capable of simultaneously processing two workpieces |
| CN110788861A (en) * | 2019-11-15 | 2020-02-14 | 上海新时达机器人有限公司 | Method for overturning and bending robot |
| WO2021007821A1 (en) * | 2019-07-17 | 2021-01-21 | Abb Schweiz Ag | Robot arm link and robot |
-
2017
- 2017-05-18 CN CN201720553374.5U patent/CN206717861U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019140762A1 (en) * | 2018-01-17 | 2019-07-25 | 南京邮电大学 | Assist bending robot capable of simultaneously processing two workpieces |
| US10773393B2 (en) | 2018-01-17 | 2020-09-15 | Nanjing University Of Posts And Telecommunications | Auxiliary bending robot capable of processing two workpieces simultaneously |
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| WO2021007821A1 (en) * | 2019-07-17 | 2021-01-21 | Abb Schweiz Ag | Robot arm link and robot |
| CN113905852A (en) * | 2019-07-17 | 2022-01-07 | Abb瑞士股份有限公司 | Robot arm connecting rod and robot |
| CN113905852B (en) * | 2019-07-17 | 2023-08-25 | Abb瑞士股份有限公司 | Robot arm connecting rod and robot |
| US12103167B2 (en) | 2019-07-17 | 2024-10-01 | Abb Schweiz Ag | Robot arm link with embedded cables and robot |
| CN110788861A (en) * | 2019-11-15 | 2020-02-14 | 上海新时达机器人有限公司 | Method for overturning and bending robot |
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