CN212372175U

CN212372175U - Industrial robot

Info

Publication number: CN212372175U
Application number: CN202020819161.4U
Authority: CN
Inventors: 朱家增; 弓鹏伟
Original assignee: Suzhou Inovance Technology Co Ltd
Current assignee: Suzhou Inovance Technology Co Ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-01-19
Anticipated expiration: 2030-05-15

Abstract

The utility model provides an industrial robot, which comprises a base assembly, an extension arm assembly and a forearm assembly; the base body assembly comprises an elbow shell and a hollow speed reducer fixedly arranged at a front end spigot of the elbow shell; the first axial end of the lengthened arm assembly is fixedly installed at the output end of the speed reducer through a first screw, the forearm assembly is fixedly installed at the second axial end of the lengthened arm assembly through a second screw, the installation surface of the first axial end of the lengthened arm assembly is the same as the installation surface of the forearm assembly, and the installation surface of the second axial end of the lengthened arm assembly is the same as the installation surface of the output end of the speed reducer. The embodiment of the utility model provides a terminal surface through the axial both ends that make the extension arm subassembly is the same with the installation face of forearm assembly and the installation face of the output of speed reducer respectively, can increase the flexibility of industrial robot equipment when processing robot arm length, effectively increase its working radius.

Description

Industrial robot

Technical Field

The embodiment of the utility model provides a relate to the automated production field, more specifically say, relate to an industrial robot.

Background

Industrial robots are important automated equipment in modern manufacturing industry, and are currently widely used in fields such as CNC (Computer numerical control) feeding and discharging, mobile phone shell polishing, metal polishing and the like. Currently, the demand for manufacturing equipment with industrial robots as a core is increasing.

An industrial robot is composed of three basic parts, namely a body, a driving system and a control system, wherein the body, namely a machine base and an executing mechanism, comprises an arm part, a wrist part and a hand part. Some existing industrial robots are limited in working radius due to the length of the arm part, and the working capacity and the application range of the industrial robots are limited. Through the original body structure at industrial robot, especially the arm, increase the extension part, can shorten industrial robot development cycle, reduce development cost when effectively increasing processing robot arm length and working radius.

However, the extension member cannot be flexibly increased or decreased, and the component parts added to increase the arm length introduce assembly errors, which affect the accuracy (including zero point position, positioning accuracy, etc.) of the entire machine, and also deteriorate the appearance of the entire machine. And receive industrial robot pleasing to the eye, elongated arm and connecting piece structural requirement and industrial robot light weight words, miniaturized restriction, lead to the inside wiring difficulty of industrial robot, the cable of relevant position is walked the degree of difficulty and is also can be increaseed. In addition, if the elongated arm is manufactured by casting, defects or burrs in the casting will increase the abrasion of the cable.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a to the above-mentioned unable nimble increase of part for increasing processing robot arm length to can introduce assembly error, lead to inside to walk the problem of line difficulty and aggravate the cable wearing and tearing, provide a new industrial robot.

The embodiment of the utility model provides an industrial robot, which comprises a base assembly, an extension arm assembly and a forearm assembly; the base body assembly comprises an elbow shell and a hollow speed reducer fixedly arranged at a front end spigot of the elbow shell; the first axial end of the lengthened arm assembly is fixedly installed at the output end of the speed reducer through a first screw, the forearm assembly is fixedly installed at the second axial end of the lengthened arm assembly through a second screw, the installation surface of the first axial end of the lengthened arm assembly is the same as the installation surface of the forearm assembly, and the installation surface of the second axial end of the lengthened arm assembly is the same as the installation surface of the output end of the speed reducer.

Preferably, the industrial robot further comprises a first wire passing sleeve fixedly mounted on the elbow housing or the extension arm assembly, a main body of the first wire passing sleeve penetrates through the inner hole of the speed reducer, and a gap is formed between an outer wall of the first wire passing sleeve and an inner wall of the inner hole of the speed reducer.

Preferably, the elongated arm assembly comprises an elongated arm main body, and the first end of the elongated arm main body is provided with a first opening and a convex ring part positioned at the inner side of the first opening; the first opening is matched with a rigid-flexible gear of the speed reducer in shape and size, the convex ring part is formed by extending the inner wall of the lengthened arm main body to the center, and a first mounting hole is formed in the convex ring part; the first opening of the lengthened arm main body is sleeved outside the output end of the speed reducer, and the lengthened arm main body is fixed on a rigid flexible gear of the speed reducer through a first screw penetrating through the first mounting hole.

Preferably, the extension arm assembly comprises a fixing plate, and the fixing plate is fixed on the convex ring part through the first screw; the fixing plate is provided with a first through hole, one end of the main body part of the first wire passing sleeve is provided with a first mounting edge, and the main body part of the first wire passing sleeve is fixedly mounted on the fixing plate through the first mounting edge after passing through the first through hole.

Preferably, the industrial robot further comprises a second wire passing sleeve, the second wire passing sleeve is fixed in the elongated arm assembly, and a main body portion of the second wire passing sleeve is located on an extension line of the main body portion of the first wire passing sleeve.

Preferably, the elongated arm assembly comprises an elongated arm main body and a connecting plate, and the second end of the elongated arm main body is provided with a second opening; the connecting plate installation is fixed the inboard of second opening, forearm assembly passes through second screw fixed mounting the orientation of connecting plate on the terminal surface of forearm assembly, just the orientation of connecting plate the shape and the size of the terminal surface of forearm assembly with the shape and the size of the rigid flexible wheel of speed reducer are the same.

Preferably, the connecting plate includes a second mounting edge protruding from the outer wall of the connecting plate, the second mounting edge includes a second mounting hole and a first pin hole, a second pin hole is provided at a position of the second end of the elongated arm main body corresponding to the first pin hole, and the connecting plate is installed in alignment by a first pin inserted into the first pin hole and the second pin hole, and is fixedly mounted on the elongated arm main body by a screw passing through the second mounting hole.

Preferably, an end surface of the connecting plate facing one end of the forearm assembly is provided with a third pin hole, the mounting surface of the forearm assembly is provided with a fourth pin hole corresponding to the third pin hole, and the forearm assembly is installed in an aligned manner by a second pin inserted into the third pin hole and the fourth pin hole.

Preferably, the second wire passing sleeve comprises a third mounting edge protruding out of the outer wall of the main body part of the second wire passing sleeve, and the second wire passing sleeve is fixedly mounted on the end face, far away from the forearm assembly, of the connecting plate through the third mounting edge.

Preferably, an end surface of the connecting plate facing the forearm assembly protrudes beyond an end surface of the second mounting edge, and the forearm assembly includes a protruding edge that also wraps around an outer side of the second mounting edge.

The utility model discloses industrial robot, the terminal surface at axial both ends through making the extension arm subassembly is the same with the installation face of forearm assembly and the installation face of the output of speed reducer respectively, when increasing processing robot arm length, effectively increasing its working radius, improves the flexibility that industrial robot assembled. And, the embodiment of the utility model provides a still through increasing the line cover in the extension arm subassembly, improved the inside line of walking of industrial robot to solve the serious problem of cable wearing and tearing. Furthermore, the embodiment of the utility model provides a still through reasonable assembly structure, when making industrial robot compromise pleasing to the eye, guaranteed industrial robot's assembly precision.

Drawings

Fig. 1 is a schematic structural diagram of an industrial robot provided by an embodiment of the present invention;

fig. 2 is a schematic cross-sectional structural view of an elongated arm of an industrial robot provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a second end of an elongated arm of an industrial robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, be the embodiment of the utility model provides an industrial robot's schematic structure, this industrial robot can be applied to the CNC of automatic equipment and go up unloading, cell-phone shell polish, the metal is polished etc. and this industrial robot specifically can be six robots, four-axis robot, five robots, seven robots etc.. The industrial robot of the embodiment comprises a base assembly 1, an elongated arm component 2 and a forearm assembly 3, wherein the base assembly 1 specifically comprises a base, one or more rotating arm components and an elbow component, and a first end of the elongated arm component 2 is fixedly mounted on the elbow component; the forearm assembly 3 includes a forearm assembly, a wrist body, etc., and the forearm assembly 3 is fixedly mounted to the elongated arm assembly 2.

Specifically, as shown in fig. 2, the elbow assembly includes an elbow housing 11 and a hollow speed reducer fixedly disposed at a front end spigot of the elbow housing 11 (the elbow housing 11 may further include a motor connected to an input shaft of the speed reducer, etc.). The first axial end of the elongated arm assembly 2 is fixedly mounted at the output end of the speed reducer through a first screw 51 (for example, a rigid-flexible wheel 121 of the speed reducer, when the speed reducer is in a non-integrated structure and the input shaft needs to be supported and fixed, a bearing needs to be added between a wave generator of the speed reducer and the elongated arm assembly 2), so that the elongated arm assembly 2 can rotate under the driving of the speed reducer; the forearm assembly 3 is fixedly mounted at the second axial end of the lengthened arm assembly 2 through a second screw 52 (the connecting side of the forearm assembly 3 and the lengthened arm assembly 2 is provided with a speed reducer fixing hole site), the mounting surface of the first axial end of the lengthened arm assembly 2 is the same as that of the forearm assembly 3, and the mounting surface of the second axial end of the lengthened arm assembly 2 is the same as that of the output end of the speed reducer.

According to the industrial robot, the end faces of the two axial ends of the lengthened arm component 2 are respectively the same as the mounting face of the front arm assembly 3 and the mounting face of the output end of the speed reducer of the elbow, so that the arm length of the industrial robot can be increased, the working radius of the industrial robot can be effectively increased, and meanwhile, the assembling flexibility of the industrial robot is improved. That is, the forearm assembly 3 can be directly fixed to the base assembly 1 (i.e., the output shaft of the speed reducer at the elbow) without installing the extension arm assembly 2, so that an industrial robot having a relatively short arm length can be constructed, and the robot is suitable for an occasion with a relatively short arm length.

In an embodiment of the present invention, in order to facilitate the internal wiring of the industrial robot, the industrial robot further includes a first wiring sleeve 41, the first wiring sleeve 41 is in a hollow tubular shape, and the first wiring sleeve 41 is fixedly installed on the elbow housing 11 or the extension arm assembly 2. The main body part of the first wire passing sleeve 41 penetrates through an inner hole of the hollow speed reducer, and a gap is formed between the outer wall of the first wire passing sleeve 41 and the inner wall of the inner hole of the speed reducer, namely, the first wire passing sleeve 41 is not in contact with the inner hole of the speed reducer and cannot rotate along with the speed reducer. Cables exiting the elbow (e.g., cables for powering motors within forearm assembly 3, control signal cables, etc.) pass through the inner bore of first bushing 41 into the elongated arm assembly and ultimately into forearm assembly 3.

The first wire passing sleeve 41 is beneficial to leading out of the cable from the elbow, avoids friction between the cable and the wave generator 122 of the speed reducer, and reduces abrasion of the cable. In order to reduce the weight as much as possible, the first wire passing sleeve 41 can be made of a light material; and to minimize wear, the first wire passing sleeve 41 should be smooth or polished.

In another embodiment of the present invention, the extension arm assembly 2 includes an extension arm main body 21, and in particular, the extension arm main body 21 may be made of iron casting for cost reduction. The first end of the elongated arm body 21 has a first opening and a convex ring portion 211 located inside (radially) the first opening (a certain distance is provided between the convex ring portion 211 and the end surface of the elongated arm body 21, that is, the convex ring portion 211 is located inside the first opening in the axial direction), wherein the first opening is adapted to the shape and size of the rigid-flexible wheel 121 of the speed reducer, the convex ring portion 211 is formed by extending the inner wall of the elongated arm body 21 toward the center, and the convex ring portion 211 has a plurality of first mounting holes. The first opening of the elongated arm main body 21 is sleeved outside the output end of the speed reducer, the convex ring part 211 inside the first opening is attached to the end face of the rigid-flexible wheel 121, and the elongated arm main body 21 is fixed on the rigid-flexible wheel 121 of the speed reducer through a first screw 51 penetrating through the first mounting hole. The lengthened arm assembly 2 can be hidden from the fixing part of the output shaft of the speed reducer through the first opening and the convex ring part 211, the first screw 51 is prevented from being exposed, and the attractiveness of the whole machine is improved.

In particular, the first wire passing sheath 41 may be mounted and fixed to the elongated arm assembly 2 in the following manner: the elongated arm assembly 2 comprises a fixing plate 22, and the fixing plate 22 is fixed on the convex ring part 211 through a first screw 51 (namely, the first screw 51 simultaneously passes through a through hole on the fixing plate 22 and a first mounting hole of the convex ring part 211 and is locked and fixed on the rigid-flexible wheel 121 of the speed reducer); the fixing plate 22 further has a first through hole with a hole diameter matched with the size of the outer wall of the first wire passing sleeve 41, one end of the main body of the first wire passing sleeve 41 has a first mounting edge 411, and after the main body of the first wire passing sleeve 41 passes through the first through hole, the main body is fixedly mounted (locked by a screw) on the fixing plate 22 through the first mounting edge 411. In addition, the fixing plate 22 may be fixed in the elbow housing 11, and the first wire passing sleeve 41 is also fixedly mounted (locked screw) on the fixing plate 22 by the first mounting edge 411.

When the elbow casing 11 or the extension arm main body 21 is mounted, the fixing plate 22 may be mounted, and then the first wire passing cover 41 may be mounted. Aiming at the condition of using the fixed plate 22 for transition, if meeting transmission or structural limitation, the fixed plate 22 can not contact with the elbow shell 11 or the elongated arm main body 21, and in order to ensure that the first wire passing sleeve 41 does not interfere with the inner hole of the speed reducer, an adjustable (such as a U-shaped groove) fixed hole position can be arranged on the fixed plate, and the fixed plate is positioned, installed and fixed through a tool. Specifically, the fixture can be regarded as a special pin, and has a size matched with the inner hole of the speed reducer and the fixing plate 22, during assembly, the fixing plate 22 is placed at a position to be mounted, then the fixture is inserted, after the inner hole of the speed reducer and the first through hole of the fixing plate are ensured to be concentric, the fixing plate is locked by using a screw, the fixture is taken out, the first wire passing sleeve 41 is installed, the first wire passing sleeve 41 is fastened on the fixing plate 22, and the assembly of the first wire passing sleeve 41 is completed. The fixed plate 22 may also mount the motor of the joint when the fixed plate 22 is disposed within the elbow housing 11.

In order to maximize the inner hole of the first wire passing sleeve 41, the mounting hole (i.e., the first through hole on the fixing plate 22) of the first wire passing sleeve 41 needs to be coaxial with the reducer fixing hole, so as to provide more passing controls for the cable.

In order to reduce the wear of the cable in the elongated arm main body 21, especially when the elongated arm main body 21 is made of cast iron, a second cable bushing 42 may be added in the elongated arm main body 21, the second cable bushing 42 is fixed in the elongated arm main body 21 (fixed to the forearm assembly 3 or fixed to the elongated arm main body 21), and a main portion of the second cable bushing 42 is located on an extension of a main portion of the first cable bushing 41, for example, the central axes of the first cable bushing 41 and the second cable bushing 42 are the same, and one end of the second cable bushing 42 is close to the first cable bushing 41 and the other end is flush with the inner side surface of the forearm assembly 3, so that the cable led out from the first cable bushing 41 enters the forearm assembly through the second cable bushing 42 without bending, and is convenient for routing. The second wire passing sleeve 42 is made of a light material for reducing the weight as much as possible, and the second wire passing sleeve 42 is preferably made of a smooth material or is polished.

In particular, the second wire passing sleeve 42 can be replaced by a flexible spring, which can also reduce the wear of the cable in the elongated arm body 21. When the flexible spring is used, after the cable penetrates into the lengthening arm, the flexible spring is sleeved on the cable and then is further fixed.

In another embodiment of the present invention, the elongated arm assembly 2 includes an elongated arm main body 21 and a connecting plate 23, and the second end of the elongated arm main body 21 (i.e. the end adjacent to the front arm assembly 3) has a second opening. The connecting plate 23 is fixedly installed inside the second opening through a third screw 53, the forearm assembly 3 is fixedly installed on the end face of the connecting plate 23 facing the forearm assembly 3 through a second screw 52, and the shape and the size of the end face of the connecting plate 23 facing the forearm assembly 3 are the same as those of the rigid-flexible wheel 121 of the speed reducer. In this way, the third screw 53 and the second screw 52 can be hidden inside the second opening (i.e., inside the elongated arm body 21), so that the connection screw between the elongated arm assembly 2 and the forearm assembly 3 is built in, and the beauty of the industrial robot is ensured.

In an embodiment of the present invention, the second wire passing sleeve 42 includes a third mounting edge 421 protruding from an outer wall of the main body portion of the second wire passing sleeve 42, and the second wire passing sleeve 42 is fixedly mounted on the end surface of the connecting plate 23 away from the forearm assembly 3 through the third mounting edge 421. The third mounting edge 421 may be located at the axial middle end of the main body portion of the second wire passing sleeve 42, so as to improve the stability of the force applied thereto.

In another embodiment of the present invention, the connecting plate 23 includes a second mounting edge 231 protruding from the outer wall of the main body of the connecting plate 23, and the second mounting edge 231 is provided with a second mounting hole and a first pin hole 2311. Correspondingly, a second pin hole is formed in the position, corresponding to the first pin hole 2311, inside the second opening of the second end of the elongated arm main body 21, and the connecting plate 23 is installed in a contraposition mode through a first pin inserted into the first pin hole 2311 and the second pin hole and is locked and fixed on the elongated arm main body 21 through a third screw 53 passing through the second mounting hole. In practical application, the first pin can be replaced by a detachable pin tool and is taken out after being fastened respectively.

In addition, the end surface of the connecting plate 23 facing the end of the front arm assembly 3 has a third pin hole 2321, correspondingly, the mounting surface of the front arm assembly 3 has a fourth pin hole corresponding to the third pin hole 2321, and the front arm assembly 3 is installed by aligning with a second pin inserted into the third pin hole 2321 and the fourth pin hole, and then the front arm assembly 3 is locked and fixed with the elongated arm main body 21 by a second screw.

Through the pin and the pin-controlled alignment structure, the assembly precision between the lengthened arm component 2 and the front arm assembly 3 can be greatly improved.

In addition, the end surface of the connecting plate 23 facing the front arm assembly 3 may protrude beyond the end surface of the second mounting edge 231, that is, the end surface of the connecting plate 23 facing the front arm assembly 3 and the end surface of the second mounting edge 231 may be formed into a step shape, and the front arm assembly 3 further includes a protruding edge 31 wound around the outer side of the second mounting edge, so as to ensure the aesthetic appearance of the connecting portion of the extension arm main body 21 and the front arm assembly 3.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An industrial robot comprising a base assembly, an extension arm assembly and a forearm assembly; the base body assembly comprises an elbow shell and a hollow speed reducer fixedly arranged at a front end spigot of the elbow shell; the first axial end of the lengthened arm assembly is fixedly installed at the output end of the speed reducer through a first screw, the forearm assembly is fixedly installed at the second axial end of the lengthened arm assembly through a second screw, the installation surface of the first axial end of the lengthened arm assembly is the same as the installation surface of the forearm assembly, and the installation surface of the second axial end of the lengthened arm assembly is the same as the installation surface of the output end of the speed reducer.

2. The industrial robot of claim 1 further comprising a first wire passing sleeve mounted and secured to the elbow housing or the extension arm assembly, a main body portion of the first wire passing sleeve passing through the inner bore of the reducer with a gap between an outer wall of the first wire passing sleeve and an inner wall of the inner bore of the reducer.

3. An industrial robot according to claim 2, characterized in that the elongated arm assembly comprises an elongated arm body, and that the first end of the elongated arm body has a first opening and a convex ring portion inside the first opening; the first opening is matched with a rigid-flexible gear of the speed reducer in shape and size, the convex ring part is formed by extending the inner wall of the lengthened arm main body to the center, and a first mounting hole is formed in the convex ring part; the first opening of the lengthened arm main body is sleeved outside the output end of the speed reducer, and the lengthened arm main body is fixed on a rigid flexible gear of the speed reducer through a first screw penetrating through the first mounting hole.

4. An industrial robot according to claim 3, characterized in that the extension arm assembly comprises a fixing plate, and that the fixing plate is fixed to the collar part by the first screw; the fixing plate is provided with a first through hole, one end of the main body part of the first wire passing sleeve is provided with a first mounting edge, and the main body part of the first wire passing sleeve is fixedly mounted on the fixing plate through the first mounting edge after passing through the first through hole.

5. An industrial robot according to claim 2, further comprising a second wire passing bush, the second wire passing bush being fixed within the elongated arm assembly, and a main body portion of the second wire passing bush being located on an extension of the main body portion of the first wire passing bush.

6. An industrial robot according to claim 5, characterized in that the elongated arm assembly comprises an elongated arm body and a connection plate, and that the second end of the elongated arm body has a second opening; the connecting plate installation is fixed the inboard of second opening, forearm assembly passes through second screw fixed mounting the orientation of connecting plate on the terminal surface of forearm assembly, just the orientation of connecting plate the shape and the size of the terminal surface of forearm assembly with the shape and the size of the rigid flexible wheel of speed reducer are the same.

7. An industrial robot according to claim 6, wherein the connecting plate includes a second mounting edge protruding from an outer wall of the connecting plate, the second mounting edge includes a second mounting hole and a first pin hole, a second pin hole is provided at a position of the second end of the elongated arm main body corresponding to the first pin hole, and the connecting plate is mounted in alignment by a first pin inserted into the first pin hole and the second pin hole and is fixedly mounted on the elongated arm main body by a screw passing through the second mounting hole.

8. The industrial robot according to claim 6, wherein an end surface of the connecting plate facing the end of the forearm assembly has a third pin hole, the mounting surface of the forearm assembly has a fourth pin hole corresponding to the third pin hole, and the forearm assembly is attached in alignment by a second pin inserted into the third pin hole and the fourth pin hole.

9. An industrial robot according to claim 6, characterized in that the second wire guide sleeve comprises a third mounting edge protruding from the outer wall of the main body portion of the second wire guide sleeve, and the second wire guide sleeve is fixedly mounted on the end face of the connecting plate remote from the forearm assembly via the third mounting edge.

10. An industrial robot according to claim 7, characterized in that the end surface of the connection plate facing the forearm assembly protrudes beyond the end surface of the second mounting rim, the forearm assembly comprising a protruding rim which also wraps around the outside of the second mounting rim.