CN206717902U - A kind of hollow industrial robot bindiny mechanism of high rigidity - Google Patents
A kind of hollow industrial robot bindiny mechanism of high rigidity Download PDFInfo
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- CN206717902U CN206717902U CN201720369801.4U CN201720369801U CN206717902U CN 206717902 U CN206717902 U CN 206717902U CN 201720369801 U CN201720369801 U CN 201720369801U CN 206717902 U CN206717902 U CN 206717902U
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- axle
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- curved surface
- palm
- palm rest
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Abstract
It the utility model is related to a kind of motion of robot.Purpose is to provide a kind of hollow industrial robot bindiny mechanism of high rigidity, and the connection mechanism should have the characteristics of simple in construction, working range is big.Technical scheme is：A kind of hollow industrial robot bindiny mechanism of high rigidity, it is characterised in that：Arm that the attachment structure includes being provided with six axle servo motors and five axle servo motors, the palm rest being rotatably positioned on arm, the hollow palm being rotatably positioned in palm rest, for transmitting five axle servo motor power to drive the first transmission mechanism that palm rest rotates and for transmitting six axle servo motor power to drive the second transmission mechanism of hollow palm rotation；The pivot center of the pivot center of the palm rest and hollow palm is mutually perpendicular to.
Description
Technical field
It the utility model is related to a kind of motion of robot, specifically a kind of hollow industrial robot connection of high rigidity
Mechanism.
Background technology
In industrial circle, robot arm generally has multi-joint manipulator or multiple degrees of freedom, can disliked instead of worker
Prolonged dull repetition operation is engaged in bad working environment.At present, also there is work model in robot arm in the process of running
The shortcomings that being with limit and complex structure is, it is necessary to further improve.
Utility model content
The purpose of this utility model is overcome the shortcomings of in above-mentioned background technology, there is provided a kind of hollow industrial machine of high rigidity
People bindiny mechanism, the connection mechanism should have the characteristics of simple in construction, working range is big.
The technical solution of the utility model is：
A kind of hollow industrial robot bindiny mechanism of high rigidity, it is characterised in that：The attachment structure includes watching provided with six axles
The arm for taking motor and five axle servo motors, the palm rest being rotatably positioned on arm, it is rotatably positioned in palm
Hollow palm on bearing, for transmit five axle servo motor power with drive the first transmission mechanism that palm rest rotates and
For transmitting six axle servo motor power to drive the second transmission mechanism that hollow palm rotates；The rotary shaft of the palm rest
The pivot center of line and hollow palm is mutually perpendicular to；
First transmission mechanism include by five axle servo motor drivens the one or five axle little gear, be rotatably positioned
The first power transmission shaft in arm and the one or the five axle curved surface canine tooth for being rotatably positioned in arm and being fixed with palm rest
Wheel；One or the five axle little gear engages with the one or five axle gear wheel on the first power transmission shaft, the one or five axle curved surface gear wheel with
The one or five axle curved surface little gear engagement on first power transmission shaft；
Second transmission mechanism include by six axle servo motor drivens the two or six axle little gear, be rotatably positioned
Second driving shaft in arm, six axle driving bevel gears being rotatably positioned in palm rest and six axle driven bevel pinions,
Six axle curved surface gear wheels being arranged on six axle driving bevel gears；The on two or the six axle little gear and the second transmission mechanism
Two or six axle gear wheels engage, and six axle curved surface gear wheels engage with the two or six axle curved surface little gear on second driving shaft, six axle masters
Dynamic bevel gear is engaged with six axle driven bevel pinions, and hollow palm is fixed with six axle driven bevel pinions；
The coaxial encapsulation of one or the five axle curved surface gear wheel is on the power transmission shaft of six axle driving bevel gears, the driven umbrella tooth of six axles
Pivot center of the pivot center of wheel perpendicular to six axle driving bevel gears.
The arm includes hollow forearm, servo motor seat, wrist.
One or the five axle curved surface gear wheel is rotatably positioned in palm rest by crossed roller bearing；The friendship
The outer ring of fork roller bearing is fixed with wrist, and the inner ring of crossed roller bearing is fixed with five axle curved surface gear wheels and palm rest.
The palm rest includes upper palm rest, lower palm rest, the hollow connector of six axles.
The six axles driving bevel gear is rotatably positioned in upper palm rest by bearing, and six axle driven bevel pinions lead to
Cross bearing to be rotatably positioned in the hollow connector of six axles, the inner ring of upper palm rest and crossed roller bearing is fixed.
The power transmission shaft of the six axles driving bevel gear is stretched after being upward through crossed roller bearing and five axle curved surface gear wheels
Enter wrist, six axle curved surface gear wheels are arranged on the top of power transmission shaft, and the two or six axle curved surface gear wheel is arranged at the top of power transmission shaft.
The beneficial effects of the utility model are：
The utility model have rigidity it is good, precision is high, fireballing feature, 360 degree of rotations, and overall structure can be carried out
Simply, repair and assembling is very convenient, effectively reduce production and use cost.
Brief description of the drawings
Fig. 1 is one of dimensional structure diagram of the present utility model.
Fig. 2 is two (omission shells) of dimensional structure diagram of the present utility model.
Fig. 3 is overlooking the structure diagram of the present utility model.
Fig. 4 be in Fig. 3 D-D to cross section structure diagram.
Fig. 5 is the dimensional structure diagram of six axle driving bevel gears in the utility model.
Embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
A kind of hollow industrial robot bindiny mechanism of high rigidity, including arm, palm rest, hollow palm 17, six axles are watched
Take motor 5, five axle servo motors 9, the first transmission mechanism and the second transmission mechanism.
The palm rest is rotatably positioned on arm, and hollow palm is rotatably positioned in palm rest, the
One transmission mechanism is used to transmit five axle servo motor power to drive palm rest to rotate, and the second transmission mechanism is used to transmit six axles
To drive hollow palm to rotate, the pivot center of the pivot center of palm rest and hollow palm mutually hangs down servo motor power
Directly.
The six axles servo motor and five axle servo motors are arranged on arm.The arm includes hollow forearm 8, servo
Motor base 7, wrist 15.The six axles servo motor and five axle servo motors be arranged in hollow forearm and with servo motor seat
It is fixed.The palm rest includes upper palm rest 16, lower palm rest 22, the hollow connector 19 of six axles.
First transmission mechanism includes the one or five axle little gear 10, the first power transmission shaft 31, the one or five axle curved surface gear wheel
21.One or the five axle little gear 10 is directly driven by five axle servo motors 9.First power transmission shaft is rotatably positioned in hand
The wrist of arm, the both ends of the first power transmission shaft are respectively equipped with the one or five axle gear wheel 11 and the one or five axle curved surface little gear 13.It is described
One or five axle curved surface gear wheel 21 be rotatably positioned the wrist of arm and the one or five axle curved surface gear wheel also with palm branch
The upper palm rest 16 of seat is fixed, and the pivot center (a-a in Fig. 4) of the one or five axle curved surface gear wheel is perpendicular to the first power transmission shaft
Pivot center.The crossed roller bearing 20 is arranged on the wrist of arm, and outer ring and the wrist of crossed roller bearing are fixed, and intersects
The inner ring of roller bearing is fixed with five axle curved surface gear wheels and palm rest.In one or the five axle little gear and the first power transmission shaft
The engagement of the one or five axle gear wheel, the one or five axle curved surface gear wheel nibbles with the one or five axle curved surface little gear on the first power transmission shaft
Close.
Second transmission mechanism includes the two or six axle little gear 6, second driving shaft 32, six axle driving bevel gears
28th, six axle driven bevel pinions 18, six axle curved surface gear wheels 14.Two or the six axle little gear 6 is directly driven by six axle servo motors 5
It is dynamic.The second driving shaft is rotatably positioned the wrist in arm, and it is big that the both ends of second driving shaft are respectively equipped with the two or six axle
The axle curved surface little gear 12 of gear 4 and the 2nd 6, the pivot center of second driving shaft and the first power transmission shaft are parallel to each other.Six axle
Driving bevel gear 28 is rotatably positioned in the upper palm rest of palm rest by bearing, and six axle driving bevel gears are provided with
The co-axially fixed coaxial encapsulation of axle curved surface gear wheel of power transmission shaft the 28.0, the 1st, should on the power transmission shaft of six axle driving bevel gears
Power transmission shaft is upward through the wrist that arm is stretched into after crossed roller bearing and five axle curved surface gear wheels, and six axle curved surface gear wheels are set
Put the top of power transmission shaft (being provided with the keyway 28.1 for connection on power transmission shaft) and positioned at the wrist of arm, six axle curved surfaces
Bearing is provided between gear wheel and five axle curved surface gear wheels.The six axles driven bevel pinion is rotatably positioned in hand by bearing
In the hollow connector of six axles of ramus volaris profundus seat, the pivot center (b-b in Fig. 4) of six axle driven bevel pinions and hollow palm is perpendicular to six
The pivot center (a-a in Fig. 4) of axle driving bevel gear.Two or the six axle little gear engages with the two or six axle gear wheel, six axles
Curved surface gear wheel is engaged with the two or six axle curved surface little gear, and six axle driving bevel gears (gear ring 28.2) are nibbled with six axle driven bevel pinions
Close, hollow palm is fixed on six axle driven bevel pinions.
Power transmission line of the present utility model is as follows：
1st, five axle servo motor 9->One or five axle little gear 10->One or five axle gear wheel 11->One or the five small tooth of axle curved surface
Take turns 13->One or five axle curved surface gear wheel 21->Upper palm rest 16 (when palm rest rotates hollow palm simultaneously around a-a axles with
B-b axles rotate)；
2nd, six axle servo motor 5->Two or six axle little gear 6->Two or six axle gear wheel 4->Two or six axle curved surface little gear
12->Six axle curved surface gear wheel 14->Six axle driving bevel gear 28->Six axle driven bevel pinion 18->Hollow palm 17.
When five axle servo motors work, driving palm rest rotates around a-a axles, and drives hollow palm simultaneously around a-a
Axle rotates with b-b axles；When six axle servo motors work, hollow palm is only driven to be rotated around b-b axles；When five axle servo motors with
Six axle servo motors work simultaneously when, it is ensured that hollow palm only rotates around a-a axles and (do not revolved on the direction of b-b axles
Turn).
Claims (6)
- A kind of 1. hollow industrial robot bindiny mechanism of high rigidity, it is characterised in that：The attachment structure includes being provided with six axle servos The arm of motor (5) and five axle servo motors (9), the palm rest being rotatably positioned on arm, it is rotatably positioned Hollow palm (17) in palm rest, the first transmission for transmitting five axle servo motor power to drive palm rest to rotate Mechanism and for transmitting six axle servo motor power to drive the second transmission mechanism that hollow palm rotates；The palm rest The pivot center of pivot center and hollow palm be mutually perpendicular to；First transmission mechanism is determined including the one or the five axle little gear (10) by the driving of five axle servo motors (9), rotationally First power transmission shaft (31) of the position in arm and the one or five axle for being rotatably positioned in arm and being fixed with palm rest Curved surface gear wheel (21)；One or the five axle little gear engages with the one or five axle gear wheel (11) on the first power transmission shaft, and first Five axle curved surface gear wheels (21) engage with the one or five axle curved surface little gear (13) on the first power transmission shaft；Second transmission mechanism include by six axle servo motors (5) driving the two or six axle little gear (6), be rotatably positioned Second driving shaft in arm, six axle driving bevel gears (28) being rotatably positioned in palm rest and the driven umbrella of six axles Gear (18), six axle curved surface gear wheels (14) being arranged on six axle driving bevel gears；Two or the six axle little gear (6) and the The two or six axle gear wheel (4) engagement on two transmission mechanisms, six axle curved surface gear wheels (14) and the two or six on second driving shaft Axle curved surface little gear (12) engages, and six axle driving bevel gears (28) engage with six axle driven bevel pinions (18), hollow palm and six Axle driven bevel pinion (18) is fixed；The coaxial encapsulation of one or the five axle curved surface gear wheel on the power transmission shaft of six axle driving bevel gears, six axle driven bevel pinions Pivot center of the pivot center perpendicular to six axle driving bevel gears.
- A kind of 2. hollow industrial robot bindiny mechanism of high rigidity according to claim 1, it is characterised in that：The arm Including hollow forearm (8), servo motor seat (7), wrist (15).
- A kind of 3. hollow industrial robot bindiny mechanism of high rigidity according to claim 2, it is characterised in that：Described first Five axle curved surface gear wheels are rotatably positioned in palm rest by crossed roller bearing (20)；The crossed roller bearing Outer ring is fixed with wrist, and the inner ring of crossed roller bearing is fixed with five axle curved surface gear wheels and palm rest.
- A kind of 4. hollow industrial robot bindiny mechanism of high rigidity according to claim 3, it is characterised in that：The palm Bearing includes upper palm rest (16), lower palm rest (22), the hollow connector of six axles (19).
- A kind of 5. hollow industrial robot bindiny mechanism of high rigidity according to claim 4, it is characterised in that：Six axle Driving bevel gear is rotatably positioned in upper palm rest by bearing, and six axle driven bevel pinions are rotationally fixed by bearing In the hollow connector of six axles, upper palm rest (16) and the inner ring of crossed roller bearing are fixed for position.
- A kind of 6. hollow industrial robot bindiny mechanism of high rigidity according to claim 5, it is characterised in that：Six axle The power transmission shaft of driving bevel gear stretches into wrist after being upward through crossed roller bearing and five axle curved surface gear wheels, and six axle curved surfaces are big Gear is arranged on the top of power transmission shaft, and the two or six axle curved surface gear wheel is arranged at the top of power transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720369801.4U CN206717902U (en) | 2017-04-10 | 2017-04-10 | A kind of hollow industrial robot bindiny mechanism of high rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720369801.4U CN206717902U (en) | 2017-04-10 | 2017-04-10 | A kind of hollow industrial robot bindiny mechanism of high rigidity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206717902U true CN206717902U (en) | 2017-12-08 |
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ID=60503173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720369801.4U Active CN206717902U (en) | 2017-04-10 | 2017-04-10 | A kind of hollow industrial robot bindiny mechanism of high rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206717902U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283726A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Industrial robot lightweight joint structure |
-
2017
- 2017-04-10 CN CN201720369801.4U patent/CN206717902U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283726A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Industrial robot lightweight joint structure |
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| GR01 | Patent grant | ||
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Address after: 314000 No. 228 Shuguang Road, Jiaxing Economic Development Zone, Zhejiang, China Patentee after: Zhejiang Ruihong Automation Technology Co., Ltd Address before: 314000 No. 228 Shuguang Road, Jiaxing Economic Development Zone, Zhejiang, China Patentee before: EVERROBOT ROBOTICS Co.,Ltd. |