CN218698791U - Servo motor arrangement structure of six-joint industrial robot - Google Patents
Servo motor arrangement structure of six-joint industrial robot Download PDFInfo
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- CN218698791U CN218698791U CN202221906135.0U CN202221906135U CN218698791U CN 218698791 U CN218698791 U CN 218698791U CN 202221906135 U CN202221906135 U CN 202221906135U CN 218698791 U CN218698791 U CN 218698791U
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Abstract
The utility model provides a six joint industrial robot servo motor arrangement structure, it has improved industrial robot's the normal protection level of working of servo motor. It includes: a first housing; a first cover body; a first servo motor; a second servo motor; a third servo motor; a fourth servo motor; a fifth servo motor; a sixth servo motor; a second housing; a second cover body; a connecting arm; a first revolute joint base; and a three joint rotating integrated arm; the lower end of the connecting arm in the length direction is connected with a second rotary joint, and the upper end of the connecting arm in the length direction is connected with a third rotary joint; the open end face of the first shell is covered with a first cover body, an inner cavity forms a first servo motor cavity, the first servo motor and the second servo motor are arranged in the first servo motor cavity, the first servo motor is fixedly arranged on the first shell, the output end of the first servo motor is connected with the first rotary joint, and the first rotary joint protrudes out of the lower surface of the shell to be arranged.
Description
Technical Field
The utility model relates to a loader actuating system's technical field specifically is a six joint industrial robot servo motor arrangement structure.
Background
The application of industrial robots is currently deep into various industries in industrial production, and becomes the first choice for replacing original manual work. With the development of domestic core components such as precision reducers and servo motors, industrial robots have become the first choice of enterprises. With the continuous development of industrial robots, people have higher requirements on the application scenes of industrial robots, and the dustproof, waterproof and stable work in severe environments are the most urgent requirements.
The protection grade of the industrial robot is related to the contact degree of the servo motor and the cables thereof with the external working environment. The servo motors of the current industrial robot products are mostly distributed near the rotating shaft of the industrial robot and exposed in the working environment, the structure is relatively simple, the assembly is relatively easy, and the servo motors can directly drive the speed reducer to work. However, due to the layout, the servo motor and the related wire harness joint can be exposed in a working environment and are easily affected by impurities such as liquid, dust and the like in the environment, the protection level of the whole industrial robot is reduced, and the use scene is limited; meanwhile, the cables and the connectors are exposed, so that the electric leakage risk exists, and the explosion, such as dust, paint mist and other environments, is easy to occur in certain working scenes.
For this reason, it is urgently required to find an arrangement structure of a servo motor suitable for an industrial robot of a high protection level.
Disclosure of Invention
To the above problem, the utility model provides a six joints industrial robot servo motor arrangement structure, its protection level that has improved industrial robot's servo motor and normally work.
A six-joint industrial robot servo motor arrangement structure is characterized by comprising:
a first housing;
a first cover body;
a first servo motor;
a second servo motor;
a third servo motor;
a fourth servo motor;
a fifth servo motor;
a sixth servo motor;
a second housing;
a second cover body;
a connecting arm;
a first revolute joint base;
and a three joint rotating integrated arm;
the lower end of the connecting arm in the length direction is connected with a second rotary joint, and the upper end of the connecting arm in the length direction is connected with a third rotary joint; the open end face of the first shell is covered with a first cover body, an inner cavity forms a first servo motor cavity, the first servo motor and a second servo motor are arranged in the first servo motor cavity, the first servo motor is fixedly arranged on the first shell, the output end of the first servo motor is connected with the first rotary joint, the first rotary joint protrudes out of the lower surface of the shell and is fixedly supported on the first rotary joint seat, and the second servo motor is fixedly arranged on the first shell, the output end of the second servo motor protrudes out of the first shell and is connected with the second rotary joint;
the output end of the third servo motor is connected with the third rotary joint after protruding outwards, a three-joint rotary integrated arm is fixedly arranged on one surface of the second shell, and the output ends of the fourth servo motor, the fifth servo motor and the sixth servo motor are respectively in transmission connection with three corresponding rotary input joint structures of the three-joint rotary integrated arm.
It is further characterized in that:
the first servo motor cavity and the second servo motor cavity are communicated with the closed air cavity through the connecting pipe to form a communicated cavity, so that air pressure control is facilitated, and the requirement of explosion prevention and cleanness is met;
a first interface is arranged on a first shell or a first cover body corresponding to the first servo motor cavity, one end of a first connecting pipe is inserted into the first interface, a second interface is arranged on a second shell or a second cover body corresponding to the second servo motor cavity, one end of a second connecting pipe is inserted into the second interface, a closed air cavity is arranged in the connecting arm, the other ends of the first connecting pipe and the second connecting pipe are respectively communicated to corresponding positions of the closed air cavity, an air channel port is arranged on the closed air cavity, and air pressure control is facilitated through the air channel port;
the first shell and the second shell are also provided with electrical interfaces, the first servo motor and the second servo motor are respectively connected to the electrical interface on the first shell through circuits, the third servo motor, the fourth servo motor, the fifth servo motor and the sixth servo motor are respectively connected to the electrical interface on the second shell through circuits, and the electrical interfaces are connected to an external power supply or a control device through externally arranged circuits;
first splicing side convex sealing reinforcing plates are distributed around the outer ring spliced by the first cover body and the first shell, the paired side convex sealing reinforcing plates are fastened and connected through a plurality of bolts, second splicing side convex sealing reinforcing plates are distributed around the outer ring spliced by the second cover body and the second shell, and the paired second side convex sealing reinforcing plates are fastened and connected through a plurality of bolts, so that the sealing reliability of the cavity is ensured.
Adopt the utility model discloses afterwards, arrange six joints industrial robot's six sets of servo motor and cable joint in two cavities of robot, cover with the lid, form an airtight space, will influence all servo motor and cable joint protection of robot protection level under the prerequisite that does not improve the overall cost and the assembly degree of difficulty, thereby prevent that liquid and dust contact in servo motor and the cable joint and the external environment from reaching the purpose that improves complete machine protection level, such robot can stable work in more abominable environment. Meanwhile, the use of the wire harness is reduced, the wire harness cost and the wire grinding risk are reduced, and the end light weight is realized; it has improved industrial robot's servo motor normal operating's protection level.
Drawings
Figure 1 is a schematic sketch of the structure of a three-dimensional drawing of the utility model
FIG. 2 is a schematic diagram of a perspective view structure with a communicating cavity according to the present invention;
fig. 3 is a schematic cross-sectional view of a three-joint rotary integrated arm suitable for the present invention.
Detailed Description
A servo motor arrangement structure of a six-joint industrial robot, as shown in fig. 1-3, comprises a first housing 1, a first cover 2, a first servo motor 3, a second servo motor 4, a third servo motor 5, a fourth servo motor 6, a fifth servo motor 7, a sixth servo motor 8, a second housing 9, a second cover 10, a connecting arm 11, a first rotary joint seat 12, and a three-joint rotary integrated arm 13;
the lower end of the connecting arm 11 in the length direction is connected with a second rotary joint 14, and the upper end of the connecting arm 11 in the length direction is connected with a third rotary joint 15; the open end face of the first shell 1 is covered with a first cover body 2, a first servo motor cavity 100 is formed by an inner cavity, a first servo motor 3 and a second servo motor 4 are arranged in the first servo motor cavity 100, the first servo motor 3 is fixedly arranged on the first shell 1, the output end of the first servo motor is connected with a first rotary joint 16, the first rotary joint 16 protrudes out of the lower surface of the shell and is fixedly supported on a first rotary joint seat 12, the second servo motor 4 is fixedly arranged on the first shell 1, and the output end of the second servo motor is connected with a second rotary joint 14 after protruding out;
the open end face of the second shell 9 is covered with a second cover body 10, a second servo motor cavity 200 is formed by an inner cavity, a third servo motor 5, a fourth servo motor 6, a fifth servo motor 7 and a sixth servo motor 8 are arranged in the second servo motor cavity 200, the third servo motor 5, the fourth servo motor 6, the fifth servo motor 7 and the sixth servo motor 8 are fixedly arranged at corresponding positions on the inner wall of the second shell 9 respectively, the output end of the third servo motor 5 protrudes outwards and then is connected with a third rotary joint 15, a three-joint rotary integrated arm 13 is fixedly arranged on one surface of the second shell 9, and the output ends of the fourth servo motor 6, the fifth servo motor 7 and the sixth servo motor 8 are respectively in transmission connection with three corresponding rotary input joint structures of the three-joint rotary integrated arm 13.
The first servo motor cavity 100 and the second servo motor cavity 200 are communicated with the closed air cavity through the connecting pipe to form a communicated cavity, so that air pressure control is conveniently carried out, and the requirement of explosion prevention and cleanness is met.
During specific implementation, a first interface 101 is arranged on the first casing 1 corresponding to the first servo motor cavity 100, one end of the first connecting pipe 17 is inserted into the first interface 101, a second interface 201 is arranged on the second casing 9 corresponding to the second servo motor cavity 200, one end of the second connecting pipe 18 is inserted into the second interface 201, a closed air cavity 111 is arranged in the connecting arm 11, the other ends of the first connecting pipe 17 and the second connecting pipe 18 are respectively communicated to corresponding positions of the closed air cavity 111, an air path port 112 is arranged on the closed air cavity 111, and the air path port 112 facilitates air pressure control;
the first shell 1 and the second shell 9 are also provided with an electrical interface 20, the first servo motor 3 and the second servo motor 4 are respectively connected to the electrical interface 20 on the first shell 1 through a circuit, the third servo motor 5, the fourth servo motor 6, the fifth servo motor 7 and the sixth servo motor 8 are respectively connected to the electrical interface 20 on the second shell 9 through a circuit, and the electrical interface 20 is connected to an external power supply or a control device through a circuit arranged outside;
first splicing side convex sealing reinforcing plates 21 are distributed around the outer ring spliced by the first cover body 2 and the first shell body 1, the paired first side convex sealing reinforcing plates 21 are fastened and connected through a plurality of bolts, second splicing side convex sealing reinforcing plates 22 are distributed around the outer ring spliced by the second cover body 10 and the second shell body 9, and the paired second side convex sealing reinforcing plates 22 are fastened and connected through a plurality of bolts, so that the sealing reliability of the cavity is ensured.
In specific implementation, the structure of the three-joint rotation integrated arm 13 is shown in fig. 3, which includes a first central transmission shaft 132, a second hollow transmission shaft 133, and a third hollow transmission shaft 134 in addition to the arm body 131;
an output shaft end of the fourth servo motor 6 is directly or indirectly connected with an input end of a first central transmission shaft 132, the tail end of the first central transmission shaft 132 in the length direction is an output end, an output connection structure is arranged at the output end of the first central transmission shaft 132, a second hollow transmission shaft 133 is distributed on the outer circumference of the first central transmission shaft 132 through a bearing ring, a third hollow transmission shaft 134 is distributed on the outer circumference of the second hollow transmission shaft 133 through a bearing ring, and the first central transmission shaft 132, the second hollow transmission shaft 133 and the third hollow transmission shaft 134 are coaxially arranged;
the fifth servo motor 7 transmits power to the power input end of the second hollow transmission shaft 133 through the power transmission assembly, the sixth servo motor 8 transmits power to the power input end of the third hollow transmission shaft 134 through the power transmission assembly, the tail end of the second hollow transmission shaft 133 in the length direction is an output end, and the output end of the second hollow transmission shaft 133 is provided with an output connection structure;
the power input ends of the first central transmission shaft 132, the second hollow transmission shaft 133 and the third hollow transmission shaft 134 are at the same end position in the length direction, and the output ends of the first central transmission shaft 132, the second hollow transmission shaft 133 and the third hollow transmission shaft 134 are at the same end position in the length direction.
The principle is as follows: arrange six sets of servo motor and cable joint with six joint industrial robot in two cavities of robot body, cover with the lid, form an airtight space, will influence all servo motor and cable joint protection of robot protection level under the prerequisite that does not improve overall cost and assembly degree of difficulty, thereby prevent that liquid and dust contact in servo motor and the cable joint and the external environment from reaching the purpose that improves complete machine protection level, thereby such robot can stable work in more abominable environment. Meanwhile, the use of the wire harness is reduced, the wire harness cost and the wire grinding risk are reduced, and the lightweight of the tail end is realized; it has improved industrial robot's servo motor normal operating's protection level.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A six-joint industrial robot servo motor arrangement structure is characterized by comprising:
a first housing;
a first cover body;
a first servo motor;
a second servo motor;
a third servo motor;
a fourth servo motor;
a fifth servo motor;
a sixth servo motor;
a second housing;
a second cover body;
a connecting arm;
a first revolute joint base;
and a three joint rotating integrated arm;
the lower end of the connecting arm in the length direction is connected with a second rotary joint, and the upper end of the connecting arm in the length direction is connected with a third rotary joint; the open end face of the first shell is covered with a first cover body, an inner cavity forms a first servo motor cavity, the first servo motor and a second servo motor are arranged in the first servo motor cavity, the first servo motor is fixedly arranged on the first shell, the output end of the first servo motor is connected with the first rotary joint, the first rotary joint protrudes out of the lower surface of the shell and is arranged and fixedly supported on the first rotary joint seat, and the second servo motor is fixedly arranged on the first shell, the output end of the second servo motor protrudes out of the first shell and is connected with the second rotary joint;
the open end face of the second shell is covered with a second cover body, an inner cavity forms a second servo motor cavity, a third servo motor, a fourth servo motor, a fifth servo motor and a sixth servo motor are arranged in the second servo motor cavity, the third servo motor, the fourth servo motor, the fifth servo motor and the sixth servo motor are fixedly arranged at corresponding positions of the inner wall of the second shell respectively, the output end of the third servo motor protrudes outwards and then is connected with a third rotary joint, a three-joint rotary integrated arm is fixedly arranged on one surface of the second shell, and the output ends of the fourth servo motor, the fifth servo motor and the sixth servo motor are respectively in transmission connection with three corresponding rotary input joint structures of the three-joint rotary integrated arm.
2. A servo motor arrangement of a six joint industrial robot according to claim 1, characterized in that: the first servo motor cavity and the second servo motor cavity are communicated with the closed air cavity through a connecting pipe to form a communicated cavity.
3. A servo motor arrangement of a six joint industrial robot according to claim 2, characterized in that: the first casing or the first cover body corresponding to the first servo motor cavity is provided with a first interface, one end of a first connecting pipe is inserted into the first interface, the second casing or the second cover body corresponding to the second servo motor cavity is provided with a second interface, one end of a second connecting pipe is inserted into the second interface, a closed air cavity is arranged in the connecting arm, the other ends of the first connecting pipe and the second connecting pipe are respectively communicated to corresponding positions of the closed air cavity, and an air channel port is formed in the closed air cavity.
4. A servo motor arrangement of a six joint industrial robot according to claim 1, characterized in that: the first shell and the second shell are further provided with electrical interfaces, the first servo motor and the second servo motor are respectively connected to the electrical interfaces on the first shell through circuits, the third servo motor, the fourth servo motor, the fifth servo motor and the sixth servo motor are respectively connected to the electrical interfaces on the second shell through circuits, and the electrical interfaces are connected to an external power supply or a control device through circuits arranged outside.
5. A servo motor arrangement of a six joint industrial robot according to claim 1, characterized in that: first splicing side convex sealing reinforcing plates are distributed around the outer ring where the first cover body and the first shell are spliced, the paired side convex sealing reinforcing plates are fastened and connected through a plurality of bolts, second splicing side convex sealing reinforcing plates are distributed around the outer ring where the second cover body and the second shell are spliced, and the paired second side convex sealing reinforcing plates are fastened and connected through a plurality of bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221906135.0U CN218698791U (en) | 2022-07-19 | 2022-07-19 | Servo motor arrangement structure of six-joint industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221906135.0U CN218698791U (en) | 2022-07-19 | 2022-07-19 | Servo motor arrangement structure of six-joint industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218698791U true CN218698791U (en) | 2023-03-24 |
Family
ID=85627225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221906135.0U Active CN218698791U (en) | 2022-07-19 | 2022-07-19 | Servo motor arrangement structure of six-joint industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218698791U (en) |
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2022
- 2022-07-19 CN CN202221906135.0U patent/CN218698791U/en active Active
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