CN206981616U - Clean and tidy three-level pressing robot - Google Patents
Clean and tidy three-level pressing robot Download PDFInfo
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- CN206981616U CN206981616U CN201720620033.5U CN201720620033U CN206981616U CN 206981616 U CN206981616 U CN 206981616U CN 201720620033 U CN201720620033 U CN 201720620033U CN 206981616 U CN206981616 U CN 206981616U
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- arm
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- level arm
- support base
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a kind of clean and tidy three-level pressing robot, including frame, servomotor, support base, RV reductors, connecting seat, cabling rotating shaft, bearing block, arm of force support, elevating mechanism, the first screw drive, the second screw drive, rotating disk motor, harmonic wave speed reducing machine and one, two, three arm；The utility model smart structural design, rationally, using three-level stretching structure, substantially prolongs impulse stroke, the radius of clean-up is big, the length of the single unit telescopic arm of tradition is accordingly shortened simultaneously, and retractable support stability is more preferable, and workpiece that can be larger to weight carries out efficient, steady crawl；And the top of cabling rotating shaft is provided with cylinder, the upper end of cylinder is provided with opening, bottom is located in frame and is radially provided with wire hole, electric wire can penetrate cabling rotating shaft through opening and be passed by wire hole, realize built in electric wire, so that profile is more clean and tidy, avoids electric wire is external from causing the problem of impeding, brought convenience to installing and using.
Description
Technical field
It the utility model is related to robot technical field, and in particular to a kind of clean and tidy three-level pressing robot.
Background technology
With the development of modernization of industry process, a kind of pressing robot is released on the market, can replace the heavy labor of people
To realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety.Existing pressing robot
It is varied, its different design concept come, make every effort to the use demand for reaching different user.Although it can be realized to different punchings
The carrying action of workpiece is pressed, but the structure design of existing base is complex, and also its rotary shaft is solid construction,
Therefore, it is unfavorable for the cabling layout for making electric wire that base is connected with the manipulator part in portion disposed thereon, can only
By the exposed setting of electric wire, so not only appearance is untidy, attractive in appearance, also easily causes and impedes, space-consuming, is brought to use
Inconvenience, particularly when pressing robot rotates, whipping electric wire is more easy to, there is potential safety hazard, and easily to electric wire
Cable is damaged, and influences service life；And its telescopic arm design is all not ingenious enough, structure is complex, and work model
Enclose relatively small, the workpiece for taking lighter in weight can only be caught, it is difficult to expanded application.The rotating disk driving electricity of traditional manipulator in addition
Machine harmonic reductor is that setting is into a single integrated structure, and then harmonic wave speed reducing machine drives rotating disk to rotate by belt pulley again, by
In the transmission unstability of pulley assembly, it is difficult to ensure work quality.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is, there is provided a kind of smart structural design, reasonable, working range
It is relatively large, catch and take weight big, the clean and tidy three-level pressing robot of good operating stability.
To achieve the above object, technical scheme provided by the utility model is：A kind of clean and tidy three-level pressing robot, its
Including frame, servomotor, support base, RV reductors, connecting seat, cabling rotating shaft, bearing block, arm of force support, elevating mechanism, one
Level arm, the first screw drive, two level arm, the second screw drive, three-level arm, rotating disk motor harmonic
Reductor, the support base are arranged on the bottom surface in frame, and the support base is hollow structure, the top of the support base be provided with
The installing port that its inner space is connected, the connecting seat are arranged on installing port, and the RV reductors are arranged on connecting seat
Top surface, the servomotor are arranged on the bottom surface of connecting seat, and in support base, the drive shaft direction extension of the servomotor
And it is connected with the input of RV reductors；The position that the top surface of the frame corresponds to RV reductors is provided with installation opening, the axle
Bearing is arranged on installation opening, and the top of the cabling rotating shaft passes through axle provided with opening towards upper cylinder, the top of the cylinder
Bearing assembly is arranged on bearing block, and bottom is stretched into frame through installation opening and is radially provided with wire hole, the cabling rotating shaft
Lower end is connected with the output end of RV reductors, and the bottom surface of arm of force support is connected with the upper surface of cylinder, and elevating mechanism is set
On arm of force support, one-level arm is arranged on arm of force support by vertical guide rail, and is made vertically by the driving of the elevating mechanism
Lifting action, first screw drive are arranged on the bottom surface of one-level arm, and two level arm is arranged on by horizontal guide rail
The top surface of one-level arm, and made expanding-contracting action, second screw drive by the driving of first screw drive
The top surface of two level arm is arranged on, three-level arm is arranged on two level arm by horizontal guide rail, and by second screw drive
Expanding-contracting action is made in the driving of mechanism；The harmonic wave speed reducing machine is arranged on the front end of three-level arm, and the rotating disk motor is set
Be connected in the tail end of three-level arm, and by pulley assembly with the driving wheel on harmonic wave speed reducing machine, harmonic wave speed reducing machine it is defeated
Go out end and be provided with rotating disk.
As it is of the present utility model it is a kind of improve, the cross-sectional profile profile of the support base be it is square, the support base
Two side is provided with and allows the exposed square aperture in its inner space.
As a kind of improvement of the present utility model, the bearing assembly includes thrust bearing and deep groove ball bearing, the axle
The upper surface of bearing is downwardly concaved to form a upper cavity for being used for setting the thrust bearing；The bottom of the bearing block, which is provided with, to be used
To set the lower assembly cavity of the deep groove ball bearing.
As a kind of improvement of the present utility model, the radially enlarged formation in cylinder upper end of the cabling rotating shaft, which can be pressed against, to be pushed away
Pallet on power bearing, the middle part of the cabling rotating shaft, which radially reduces, forms connecting portion, the radially enlarged formation terminal pad in lower end.
As a kind of improvement of the present utility model, the corner of bottom surface four of the frame is provided with shock callus.
The beneficial effects of the utility model are：The utility model smart structural design, rationally, using three-level stretching structure,
Impulse stroke is substantially prolongs, the radius of clean-up is big, while the corresponding length for shortening the single unit telescopic arm of tradition, retractable support
Stability is more preferable, and workpiece that can be larger to weight efficiently, steadily capture；And the top of cabling rotating shaft is provided with cylinder,
The upper end of cylinder is provided with opening, and bottom is located in frame and is radially provided with wire hole, and electric wire can penetrate cabling through opening
Rotating shaft is simultaneously passed by wire hole, is realized built in electric wire, is arranged beneficial to cabling so that profile is more clean and tidy, avoids electric wire
Cable is external to cause the problem of impeding, and reduces space-consuming, is brought convenience to installation and use；Meanwhile cabling rotating shaft passes through bearing
Seat is arranged in frame so that the weight of the manipulator in cabling rotating shaft is respectively by cabling rotating shaft, bearing assembly, bearing
Seat and frame undertake, and not only with preferable loading enabling capabilities, also effectively solve the problems, such as that traditional RV reductors need load-bearing,
And then the service life of RV reductors is lifted, reduce cost；Rotating disk motor drives harmonic wave to subtract by pulley assembly simultaneously
Fast machine, and rotating disk is directly driven by harmonic wave speed reducing machine, effectively eliminate pulley assembly and bring unstability, operating accuracy is high, surely
It is qualitative good, compact overall structure, simple in addition, it is easy to accomplish, beneficial to wide popularization and application.
Below in conjunction with the accompanying drawings with embodiment, the utility model is further illustrated.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is the side structure schematic view of frame in the utility model.
Fig. 3 is Fig. 2 A-A cross section structure diagrams.
Fig. 4 is the structural representation of one, two, three arm in the utility model.
Fig. 5 is Fig. 4 overlooking the structure diagram.
Embodiment
Embodiment, referring to Fig. 1 to Fig. 5, a kind of clean and tidy three-level pressing robot that the present embodiment provides, it include frame 1,
Servomotor 2, support base 3, RV reductors 4, connecting seat 5, cabling rotating shaft 6, bearing block 7, arm of force support 8, elevating mechanism 9, one
Level arm 10, the first screw drive 11, two level arm 12, the second screw drive 13, three-level arm 14, rotating disk driving
The harmonic reductor 16 of motor 15, the support base 3 are arranged on the bottom surface in frame 1, and the support base 3 is hollow structure, should
The top of support base 3 is provided with the installing port being connected with its inner space, and the connecting seat 5 is arranged on installing port, the RV
Reductor 4 is arranged on the top surface of connecting seat 5, and the servomotor 2 is arranged on the bottom surface of connecting seat 5, and in support base 3,
The drive shaft of the servomotor 2 is connected towards extension and with the input of RV reductors 4；The top surface of the frame 1 corresponds to RV
The position of reductor 4 is provided with installation opening, and the bearing block 7 is arranged on installation opening, and the top of the cabling rotating shaft 6 is provided with opening
63 are arranged on bearing block 7 towards upper cylinder 61, the top of the cylinder 61 by bearing assembly 17, and bottom is stretched through installation opening
Enter in frame 1 and be radially provided with wire hole 62, the lower end of the cabling rotating shaft 6 is connected with the output end of RV reductors 4, the arm of force
The bottom surface of support 8 is connected with the upper surface of cylinder 61, and elevating mechanism 9 is arranged on arm of force support 8, and one-level arm 10 is by hanging down
Straight guide is arranged on arm of force support 8, and is made vertical lift action, first screw drive by the driving of the elevating mechanism 9
Mechanism 11 is arranged on the bottom surface of one-level arm 10, and two level arm 12 is arranged on the top surface of one-level arm 10 by horizontal guide rail, and
Made expanding-contracting action by the driving of first screw drive 11, second screw drive 13 is arranged on two level arm
12 top surface, three-level arm 14 are arranged on two level arm 12 by horizontal guide rail, and by second screw drive 13
Expanding-contracting action is made in driving；The harmonic wave speed reducing machine 16 is arranged on the front end of three-level arm 14, and the rotating disk motor 15 is set
It is connected in the tail end of three-level arm 14, and by pulley assembly with the driving wheel on harmonic wave speed reducing machine 16, harmonic wave speed reducing machine
16 output end is provided with rotating disk 18.Preferably, shock callus is provided with the corner of the bottom surface of the frame 1 four, lifting rotation
Stability.
Specifically, the cross-sectional profile profile of the support base 3 is square, the two side of the support base 3, which is provided with, allows it
The exposed square aperture in inner space.The bearing assembly 17 includes thrust bearing and deep groove ball bearing, the bearing block 7 it is upper
Surface is downwardly concaved to form a upper cavity for being used for setting the thrust bearing；The bottom of the bearing block 7, which is provided with, to be used for setting
The lower assembly cavity of the deep groove ball bearing.The radially enlarged formation in the upper end of cylinder 61 of the cabling rotating shaft 6 can be pressed against thrust axis
The pallet held, the middle part of the cabling rotating shaft 6, which radially reduces, forms connecting portion, the radially enlarged formation terminal pad in lower end.
During installation, because the top of cabling rotating shaft 6 is provided with cylinder 61, the upper end of cylinder 61 is provided with opening 63, and bottom is located at
In frame 1 and wire hole 62 is radially provided with, electric wire can penetrate cabling rotating shaft 6 through opening 63 and be passed by wire hole 62,
Realize built in electric wire, arranged beneficial to cabling so that profile is more clean and tidy, avoid electric wire it is external cause to impede ask
Topic, space-consuming is reduced, brought convenience to installation and use.
During work, because cabling rotating shaft 6 is arranged in frame 1 by bearing block 7 so that in cabling rotating shaft 6
The weight of manipulator is undertaken by cabling rotating shaft 6, bearing assembly 17, bearing block 7 and frame 1 respectively, not only with preferable lotus
Weight enabling capabilities, also effectively solve the problems, such as that traditional RV reductors 4 need load-bearing, and then lift the service life of RV reductors 4, drop
Low cost；Rotating disk motor 15 drives harmonic wave speed reducing machine 16 by pulley assembly simultaneously, and direct by harmonic wave speed reducing machine 16
Driving rotating disk 18, effectively eliminate pulley assembly and bring unstability, operating accuracy is high, and stability is good.Other the utility model
Using three-level stretching structure, impulse stroke is substantially prolongs, the radius of clean-up is big, while the corresponding single unit of tradition that shortens is stretched
The length of arm, retractable support stability is more preferable, and workpiece that can be larger to weight efficiently, steadily capture, and working range is wide.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned realities
The mode of applying is changed and changed.Therefore, the utility model is not limited to embodiment disclosed and described above, right
Some modifications and changes of the present utility model should also be as falling into scope of the claims of the present utility model.In addition, to the greatest extent
Some specific terms have been used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Any restrictions are formed, using same or similar other machinery, in scope of protection of the utility model.
Claims (4)
- A kind of 1. clean and tidy three-level pressing robot, it is characterised in that it include frame, servomotor, support base, RV reductors, Connecting seat, cabling rotating shaft, bearing block, arm of force support, elevating mechanism, one-level arm, the first screw drive, two level arm, Second screw drive, three-level arm, rotating disk motor harmonic reductor, the support base are arranged on the bottom in frame On face, the support base is hollow structure, and the top of the support base is provided with the installing port being connected with its inner space, the connection Seat is arranged on installing port, and the RV reductors are arranged on the top surface of connecting seat, and the servomotor is arranged on the bottom of connecting seat Face, and in support base, the drive shaft of the servomotor is connected towards extension and with the input of RV reductors；The machine The position that the top surface of frame corresponds to RV reductors is provided with installation opening, and the bearing block is arranged on installation opening, the cabling rotating shaft Top is arranged on bearing block provided with opening towards upper cylinder, the top of the cylinder by bearing assembly, and bottom is through assembling Mouth stretches into frame and is radially provided with wire hole, and the lower end of the cabling rotating shaft is connected with the output end of RV reductors, the arm of force The bottom surface of support is connected with the upper surface of cylinder, and elevating mechanism is arranged on arm of force support, and one-level arm passes through vertical guide rail It is arranged on arm of force support, and is made vertical lift action by the driving of the elevating mechanism, first screw drive is set In the bottom surface of one-level arm, two level arm is arranged on the top surface of one-level arm by horizontal guide rail, and is driven by first screw rod Expanding-contracting action is made in the driving of motivation structure, and second screw drive is arranged on the top surface of two level arm, and three-level arm passes through Horizontal guide rail is arranged on two level arm, and is made expanding-contracting action by the driving of second screw drive；The harmonic reduction Machine is arranged on the front end of three-level arm, and the rotating disk motor is arranged on the tail end of three-level arm, and passes through pulley assembly It is connected with the driving wheel on harmonic wave speed reducing machine, the output end of harmonic wave speed reducing machine is provided with rotating disk.
- 2. clean and tidy three-level pressing robot according to claim 1, it is characterised in that：The cross-sectional profile of the support base For profile to be square, the two side of the support base, which is provided with, allows the exposed square aperture in its inner space.
- 3. clean and tidy three-level pressing robot according to claim 1, it is characterised in that：The bearing assembly includes thrust axis Hold and deep groove ball bearing, the upper surface of the bearing block are downwardly concaved to form a upper cavity for being used for setting the thrust bearing； The bottom of the bearing block is provided with the lower assembly cavity for being used for setting the deep groove ball bearing.
- 4. clean and tidy three-level pressing robot according to claim 1, it is characterised in that：The corner of bottom surface four of the frame Provided with shock callus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720620033.5U CN206981616U (en) | 2017-05-31 | 2017-05-31 | Clean and tidy three-level pressing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720620033.5U CN206981616U (en) | 2017-05-31 | 2017-05-31 | Clean and tidy three-level pressing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206981616U true CN206981616U (en) | 2018-02-09 |
Family
ID=61390990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720620033.5U Active CN206981616U (en) | 2017-05-31 | 2017-05-31 | Clean and tidy three-level pressing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206981616U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995285A (en) * | 2018-07-20 | 2018-12-14 | 芜湖清柏白露智能信息科技有限公司 | A kind of fixed device of hydraulic press hard point |
| CN109513843A (en) * | 2018-11-19 | 2019-03-26 | 珠海格力智能装备有限公司 | Grasping mechanism |
-
2017
- 2017-05-31 CN CN201720620033.5U patent/CN206981616U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995285A (en) * | 2018-07-20 | 2018-12-14 | 芜湖清柏白露智能信息科技有限公司 | A kind of fixed device of hydraulic press hard point |
| CN109513843A (en) * | 2018-11-19 | 2019-03-26 | 珠海格力智能装备有限公司 | Grasping mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210115 Address after: 414000 administrative service center of Huarong Industrial Concentration Area, Yueyang City, Hunan Province (Sanfeng Industrial Park) Patentee after: Hunan Qinfeng robot Co., Ltd Address before: 523000 1-2 building, 4 B Hongye Middle Road, Changan Town, Dongguan, Guangdong. Patentee before: DONGGUAN QIN FENG ROBOT Corp.,Ltd. |
|
| TR01 | Transfer of patent right |