WO2019242246A1 - 机器人 - Google Patents

机器人 Download PDF

Info

Publication number
WO2019242246A1
WO2019242246A1 PCT/CN2018/119143 CN2018119143W WO2019242246A1 WO 2019242246 A1 WO2019242246 A1 WO 2019242246A1 CN 2018119143 W CN2018119143 W CN 2018119143W WO 2019242246 A1 WO2019242246 A1 WO 2019242246A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm assembly
connecting arm
adapter flange
support beam
wire
Prior art date
Application number
PCT/CN2018/119143
Other languages
English (en)
French (fr)
Inventor
李久林
张文欣
沈显东
张天翼
张秀峰
马徐武
杨裕才
柳明正
何胜红
赵必顺
Original Assignee
珠海格力智能装备有限公司
珠海格力电器股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 珠海格力智能装备有限公司, 珠海格力电器股份有限公司 filed Critical 珠海格力智能装备有限公司
Publication of WO2019242246A1 publication Critical patent/WO2019242246A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a robot.
  • robots with multi-level mechanical arms are widely used.
  • the robot's low-level mechanical arm is fixed on the ground's base and the high-level machinery
  • the arm is connected with the screw spline part, so that the screw spline part located at a high position drives the clamp to realize grasping and moving the product.
  • the main purpose of the present invention is to provide a robot to solve the problem that the robot in the prior art cannot operate products on the assembly line.
  • the present invention provides a robot, including: a first connection arm assembly for mounting a screw spline part; a second connection arm assembly, the second connection arm assembly is located above the first connection arm assembly, The first connection arm assembly is rotatably installed on the lower side of the second connection arm assembly; the third connection arm assembly, the third connection arm assembly is located above the second connection arm assembly, and the second connection arm assembly is rotatably installed on the first connection arm assembly.
  • the frame includes a frame body and a first portion provided on the frame body A support beam and a second support beam, the first support beam and the second support beam are arranged in parallel;
  • the third connection arm assembly includes a connection plate, the connection plate is installed on the frame, the first end of the connection plate and the first support The beam is connected, and the second end of the connecting plate is connected with the second supporting beam, so that the first connecting arm component, the second connecting arm component and the third connecting arm component are suspended on the frame.
  • the first support beam has a plurality of first fastening holes, and a first end of the connection plate is provided with a plurality of second fastening holes, so that the first end of the connection plate passes through the first fastening holes and The first fastener in the second fastening hole is connected to the first support beam;
  • the second support beam has a plurality of third fastening holes, and the second end of the connection plate is provided with a plurality of fourth fastening holes so that The second end of the connecting plate is connected to the second support beam through a second fastener passing through the third fastening hole and the fourth fastening hole.
  • the first support beam is provided with a plurality of first reserved hole positions, and the plurality of first reserved hole positions are provided at intervals;
  • the second support beam is provided with a plurality of second reserved hole positions, and a plurality of second The reserved hole positions are arranged at intervals, so that the first end of the connection plate is connected to the first support beam through a third fastener passing through the first reserved hole position and the second fastening hole, and makes the connection plate The second end is connected to the second support beam through a fourth fastener passing through the second reserved hole and the fourth fastening hole.
  • the robot further includes a second adapter flange, one end of the second adapter flange is connected to the third connecting arm assembly, and the other end of the second adapter flange is connected to the second connecting arm assembly, so that the first The two connecting arm assemblies rotate under the action of the third connecting arm assembly and the second adapter flange.
  • the third connecting arm assembly further includes a third hood, and the third hood is provided on the connecting plate so that a third receiving space is formed between the third hood and the connecting plate; the third hood is provided with Wiring holes, so that the cables of the robot enter the third receiving space through the wiring holes.
  • the third connecting arm assembly includes a second wiring structure and a second wire protection sleeve.
  • the second wiring structure is disposed in the third receiving space and installed on the connection board.
  • One end of the second wire protection sleeve is connected to the second wire protection sleeve.
  • the wiring structure is connected, and the other end of the second cable protective sleeve is connected to the second adapter flange, so that the cable located in the third receiving space enters the second through the second cable protective sleeve and the second adapter flange.
  • the second receiving space of the connecting arm assembly is provided.
  • the third connecting arm assembly includes a second fixed wire portion, and the second fixed wire portion is disposed on the second wiring structure, so that the cable located between the wiring hole and the second wire protection sleeve is fixed to the second fixed wire. On the line.
  • the robot further includes: a second speed reducer, the second speed reducer is sleeved on the second wire protection cover, one end of the second speed reducer is connected to the connecting plate, and the other end of the second speed reducer is connected to the second Flange-driven connection, so that the second adapter flange rotates under the drive of the second reducer.
  • the robot further includes: a first adapter flange, one end of the first adapter flange is connected to the second connecting arm assembly, and the other end of the first adapter flange is connected to the first connecting arm assembly, so that the first A connecting arm assembly rotates under the action of the second connecting arm assembly and the first adapter flange.
  • the second connecting arm assembly has a second receiving space
  • the second connecting arm assembly includes a first wiring structure and a first wire protection sleeve.
  • the first wiring structure is disposed in the second receiving space and is installed in the second receiving space.
  • On the first base plate one end of the first wire protection sleeve is connected to the first wiring structure, and the other end of the first wire protection sleeve is connected to the first adapter flange, so that the cable in the second accommodation space is connected. It enters into the first receiving space of the first connecting arm assembly through the first wire protective cover and the first adapter flange.
  • connection arm assembly includes a first fixed wire portion, and the first fixed wire portion is disposed on the first wiring structure so that the cable located in the second accommodation space is fixed on the first fixed wire portion.
  • the robot further includes a first speed reducer, the first speed reducer is sleeved on the first wire-passing protective sleeve, one end of the first speed reducer is connected to the first bottom plate, and the other end of the first speed reducer is connected to the first rotation It is driven by a flange, so that the first adapter flange rotates under the driving of the first reducer.
  • the robot further includes: a transfer structure for connecting the first reducer to the first transfer flange, and the first reducer is drivingly connected to the first end of the transfer structure so that the transfer structure is The first reducer rotates under the driving action; the second end of the transfer structure is fixedly connected to the first transfer flange, so that the first transfer flange is rotated by the transfer structure.
  • the robot of the present invention can set the first connection arm assembly, the second connection arm assembly, and the first connection arm assembly by fixing the connection plate of the third connection arm assembly to the first support beam and the second support beam of the frame.
  • the three connecting arm assembly is suspended from the rack.
  • the robot can operate the products on the assembly line, solves the problem that the robot cannot operate the products on the assembly line with a high height, and improves the application range of the robot. In addition, the range of motion of the suspended robot is wide.
  • Figure 1 shows a schematic top view of an embodiment of a robot according to the invention
  • FIG. 2 shows a cross-sectional view at a section A-A of the robot in FIG. 1;
  • FIG. 3 shows a schematic top view of a third connecting arm assembly of a robot according to the present invention
  • FIG. 4 shows a cross-sectional view at a section B-B of the robot in FIG. 3;
  • FIG. 5 is a perspective view showing an embodiment of a wiring structure of a robot according to the present invention.
  • FIG. 6 is a plan view showing an embodiment of a wiring structure of a robot according to the present invention.
  • FIG. 7 illustrates a side view of an embodiment of a wiring structure of a robot according to the present invention
  • FIG. 8 illustrates a bottom view of an embodiment of a wiring structure of a robot according to the present invention
  • FIG. 9 illustrates a cross-sectional view at a cross-section C-C of the wiring structure in FIG. 8;
  • FIG. 10 shows a front view of an embodiment of a transfer structure of a robot according to the present invention.
  • FIG. 11 illustrates a cross-sectional view at a section D-D of the adapter structure in FIG. 10.
  • the first connecting arm assembly 11. The first receiving space; 20. The second connecting arm assembly; 21. The second receiving space; 22. The first wiring structure; 23. The first wire protective cover; 25. The first Fixed wire section; 30, third connecting arm assembly; 31, connecting plate; 311, second fastening hole; 312, fourth fastening hole; 32, third hood; 321, wiring hole; 33, third accommodation Space; 34, second wiring structure; 35, second wire protective cover; 36, second wire fixing part; 40, frame; 41, first support beam; 411, first fastening hole; 42, second Support beam; 421, third fastening hole; 50, second adapter flange; 60, second reducer; 70, first adapter flange; 80, first reducer; 90, adapter structure;
  • the present invention provides a robot. Please refer to FIG. 1 to FIG. 11.
  • a first connecting arm assembly 10 is used to install a screw spline part.
  • a second connecting arm assembly 20 is located on the first connecting arm. Above the assembly 10, the first connecting arm assembly 10 is rotatably mounted on the lower side of the second connecting arm assembly 20; the third connecting arm assembly 30, the third connecting arm assembly 30 is located above the second connecting arm assembly 20, the first The two connecting arm assemblies 20 are rotatably installed on the lower side of the third connecting arm assembly 30, so that the screw spline part is driven by the second connecting arm assembly 20 and the third connecting arm assembly 30; the frame 40,
  • the rack 40 includes a rack body and a first support beam 41 and a second support beam 42 provided on the rack body.
  • the first support beam 41 and the second support beam 42 are disposed in parallel; wherein the third connecting arm assembly 30 includes The connection plate 31 is mounted on the frame 40.
  • the first end of the connection plate 31 is connected to the first support beam 41, and the second end of the connection plate 31 is connected to the second support beam 42 so that the first connection arm The assembly 10, the second connecting arm assembly 20 and the third connecting arm assembly 30 are suspended from the frame 4 0 on.
  • the robot of the present invention is provided with a frame 40 and fixes the connection plate 31 of the third connection arm assembly 30 to the first support beam 41 and the second support beam 42 of the frame 40, so that the first connection arm assembly 10, The second connecting arm assembly 20 and the third connecting arm assembly 30 are suspended from the frame 40.
  • the robot can operate the products on the assembly line, solves the problem that the robot cannot operate the products on the assembly line with a high height, and improves the application range of the robot. In addition, the range of motion of the suspended robot is wide.
  • the first support beam 41 has a plurality of first fastening holes 411, and the first end of the connection plate 31 is provided with a plurality of second fastening holes 311.
  • the first end of the connecting plate 31 is connected to the first support beam 41 through the first fastener passing through the first fastening hole 411 and the second fastening hole 311;
  • the second support beam 42 has a plurality of first Three fastening holes 421, and a plurality of fourth fastening holes 312 are provided at the second end of the connecting plate 31, so that the second ends of the connecting plate 31 pass through the third fastening holes 421 and the fourth fastening holes 312.
  • a second inner fastener is connected to the second support beam 42.
  • the first support beam 41 is provided with a plurality of first reserved hole positions, and the plurality of first reserved hole positions are provided at intervals;
  • the second support beam 42 is provided with a plurality of second reserved hole positions.
  • Two second reserved holes are arranged at intervals, so that the first end of the connecting plate 31 is connected to the first support beam 41 through a third fastener passing through the first reserved hole and the second fastening hole 311
  • the second end of the connecting plate 31 is connected to the second support beam 42 through a fourth fastener passing through the second reserved hole and the fourth fastening hole 312.
  • Such a setting can fix the third connection arm assembly 30 to different positions on the first support beam 41 and the second support beam 42 to change the installation position of the third connection arm assembly 30, and then according to the robot's work on the assembly line Position to adjust the installation position of the third connecting arm assembly 30.
  • the robot further includes a second adapter flange 50, one end of the second adapter flange 50 is connected to the third connecting arm assembly 30, and the second rotation The other end of the connecting flange 50 is connected to the second connecting arm assembly 20, so that the second connecting arm assembly 20 can rotate under the action of the third connecting arm assembly 30 and the second adapter flange 50.
  • the third connecting arm assembly 30 further includes a third hood 32, and the third hood 32 is provided on the connecting plate 31 so that the third hood 32 and the A third accommodating space 33 is formed between the connecting plates 31; a wiring hole 321 is provided on the third hood 32, so that the cables of the robot can enter the third accommodating space 33 through the wiring hole 321.
  • the third connection arm assembly 30 includes a second wiring structure 34 and a second wire protection sleeve 35.
  • the second wiring structure 34 is disposed in the third receiving space 33 and is installed on the connection plate 31.
  • one end of the second wire protection sleeve 35 is connected to the second wiring structure 34, and the other end of the second wire protection sleeve 35 is connected to the second adapter flange 50 so that the wires in the third accommodation space 33 are connected.
  • the cable enters the second receiving space 21 of the second connecting arm assembly 20 through the second wire protection sleeve 35 and the second adapter flange 50.
  • the third connecting arm assembly 30 includes a second fixing wire portion 36, and the second fixing wire portion 36 is disposed on the second wiring structure 34 so that the wiring hole 321 and the second wiring hole 321 The cables between the wire protection sleeves 35 are fixed to the second wire fixing portion 36.
  • the second fixing wire portion 36 includes a first fixing wire plate, a second fixing wire plate, and a cable tie.
  • the second fixing wire plate is vertically disposed relative to the first fixing wire plate.
  • the fixed wire plate is installed on the second wiring structure 34, and the cable tie is fixed on the second fixed wire plate, so that the cable is fixed on the second fixed wire plate through the cable tie.
  • the robot further includes a second speed reducer 60, the second speed reducer 60 is sleeved on the second line protective cover 35, and one end of the second speed reducer 60 is connected to the connection plate 31 The other end of the second reducer 60 is drivingly connected with the second transfer flange 50 so that the second transfer flange 50 is driven to rotate by the second reducer 60.
  • the robot further includes a first adapter flange 70, and one end of the first adapter flange 70 is connected to the second connecting arm assembly. 20, the other end of the first adapter flange 70 is connected to the first connection arm assembly 10, so that the first connection arm assembly 10 is rotated under the action of the second connection arm assembly 20 and the first adapter flange 70.
  • the second connection arm assembly 20 has a second receiving space 21, and the second connection arm assembly 20 includes a first wiring structure 22 and a first wire protective cover 23.
  • 22 is disposed in the second accommodating space 21 and is installed on the first bottom plate of the second accommodating space 21, one end of the first wire-trapping protective sleeve 23 is connected to the first wiring structure 22, and the other end of the first wire-trading protective sleeve 23 It is connected to the first adapter flange 70, so that the cables located in the second accommodation space 21 enter the first accommodation space of the first connection arm assembly 10 through the first cable protective cover 23 and the first adapter flange 70.
  • the cables located in the second accommodation space 21 enter the first accommodation space of the first connection arm assembly 10 through the first cable protective cover 23 and the first adapter flange 70.
  • the second connecting arm assembly 20 includes a first fixing wire portion 25, and the first fixing wire portion 25 is disposed on the first wiring structure 22 so that the The cable is fixed to the first fixed wire portion 25.
  • the robot further includes a first speed reducer 80, the first speed reducer 80 is sleeved on the first wire-passing protective cover 23, and one end of the first speed reducer 80 is connected to the first bottom plate.
  • the other end of the first reducer 80 is drivingly connected to the first transfer flange 70 so that the first transfer flange 70 is rotated by the first reducer 80.
  • the robot further includes a transfer structure 90.
  • the transfer structure 90 is used to connect the first reducer 80 and the first transfer flange 70, and the first reducer 80 and the transfer structure.
  • the first end of 90 is drivingly connected to make the transfer structure 90 rotate under the driving action of the first reducer 80; the second end of the transfer structure 90 is fixedly connected to the first transfer flange 70 to make the first turn
  • the connecting flange 70 is driven by the transfer structure 90.
  • the robot further includes a third transmission assembly, the third transmission assembly is disposed on the connection plate 31, and the third transmission assembly is drivingly connected with the second connection arm assembly 20 so that the second connection arm assembly 20 is in the The third transmission assembly rotates.
  • the third transmission component includes a third driving wheel, a third driven wheel, and a third transmission belt sleeved on the third driving wheel and the third driven wheel.
  • the third driven wheel is sleeved on the second line protective cover.
  • the third driven wheel is drivingly connected with the second speed reducer 60 to drive the second speed reducer 60 to rotate; the third transmission belt is sleeved on the third driven wheel through the second wiring structure 34 so that the third driven wheel It is rotated by the third driving wheel and the third transmission belt.
  • the robot further includes a third driving motor, and the third driving motor is drivingly connected with the third driving wheel to drive the third driving wheel to rotate.
  • the robot further includes a second transmission assembly, the second transmission assembly is disposed in the second accommodation space 21, and the second transmission assembly is drivingly connected with the first connecting arm assembly 10 so that the first connecting arm assembly 10 is in The second transmission assembly rotates.
  • the second transmission assembly includes a second driving wheel, a second driven wheel, and a second transmission belt sleeved on the second driving wheel and the second driven wheel, and the second driven wheel is sleeved on the first passing protective cover.
  • the second driven wheel is drivingly connected with the first speed reducer 80 to drive the first speed reducer 80 to rotate; the second transmission belt passes through the first wiring structure 22 and is set on the second driven wheel to make the second driven wheel Rotate under the action of the second driving wheel and the second transmission belt.
  • the robot further includes a second driving motor, and the second driving motor is drivingly connected with the second driving wheel to drive the second driving wheel to rotate.
  • the robot further includes a first transmission component, and the first transmission component is disposed in the first accommodating space 11.
  • the first transmission component is drivingly connected to the screw spline member, so that the screw spline is splined.
  • the components rotate and move up and down under the action of the first transmission assembly.
  • the robot further includes a first screw driving motor and a second screw driving motor.
  • the first screw driving motor is used to drive the screw to move up and down
  • the second screw driving motor is used to drive the screw to rotate.
  • the lead screw driving motor and the second lead screw driving motor are disposed in the first accommodation space 11.
  • the first wiring structure and the second wiring structure are both wiring structures, and the specific structure of the wiring structure is as follows:
  • the wiring structure is disposed in the connecting arm assembly of the robot and fixed on the bottom plate of the connecting arm assembly.
  • the wiring structure includes a wiring main body 130 having a first end surface and a second end surface opposite to each other.
  • the second end surface is provided with a receiving cavity 131 and the receiving cavity 131 extends toward the first end surface.
  • the wiring structure is provided with a receiving cavity 131 on the wiring body 130 and a communication hole 132 is opened in the receiving cavity 131.
  • the axis of the communication hole 132 and the axis of the receiving cavity 131 can be set in parallel, so that The wire protective sleeve is inserted in the communication hole 132 and is accommodated in the receiving cavity 131 to fix the wire protective sleeve, thereby ensuring that the robot's cable is set in the wire protective sleeve, which solves the wiring of the cable inside the robot. And routing issues.
  • the accommodating cavity 131 is also used for accommodating the driven wheel sleeved on the wire protective sleeve, which can provide sufficient accommodating space for the parts connecting the inner wall of the arm assembly.
  • the wiring body 130 has a passing space 133.
  • the passing space 133 is provided on the second end surface and communicates with the receiving cavity 131 so that the conveyor belt sleeved on the driven wheel passes the passing space.
  • 133 enters the receiving cavity 131.
  • the passage space 133 has a first side wall and a second side wall that are parallel to each other.
  • the inner wall of the cavity is a non-closed circumferential surface.
  • the first side wall is connected to one end of the inner wall of the cavity. Connect at one end.
  • the bottom plate of the connecting arm is provided with a positioning groove, and the second end surface of the wiring body 130 is provided with a positioning protrusion 134 suitable for the positioning groove. 134 is clamped in the positioning slot to position the wiring structure on the bottom plate.
  • the positioning groove is a circular groove
  • the positioning protrusion 134 is a circular ring-shaped protrusion.
  • the peripheral outer wall of the circular ring-shaped protrusion matches the second circumferential inner wall of the circular groove, so that the positioning protrusion 134 The card is set in the positioning slot.
  • the inner wall of the cavity accommodating the cavity 131 is flush with the third inner wall of the circular annular protrusion. This arrangement facilitates the processing of the wiring structure and reduces production costs.
  • a mounting portion is provided at one end of the wire protection sleeve, a limiting groove 135 is provided on the first end surface of the wiring body 130, and the mounting portion is limited to the limiting groove. Within 135. Such a setting facilitates the installation and positioning of the cable guard.
  • the wire protection sleeve has a plurality of first mounting holes, a plurality of fifth fastening holes 136 and a plurality of fifth fastening holes are provided in the limiting groove 135.
  • the holes 136 are evenly distributed along the circumferential direction of the communication hole 132, and a plurality of fifth fastening holes 136 and a plurality of first mounting holes are provided one-to-one correspondingly, so that the wire protective sleeve is inserted between the first mounting hole and the fifth
  • the fifth fastener in the fastening hole 136 is fixed to the wiring body 130.
  • a plurality of sixth fastening holes 137 are provided on the second end surface of the wiring body 130, and the plurality of sixth fastening holes 137 are arranged at intervals to allow the wiring body 130 to pass through.
  • the sixth fastener inserted in the sixth fastening hole 137 is fixed on the bottom plate.
  • a plurality of seventh fastening holes 138 are provided on the first end surface of the wiring body 130, and the plurality of seventh fastening holes 138 are arranged at intervals to allow the wire fixing portion to pass through.
  • a seventh fastener inserted in the seventh fastening hole 138 is fixed to the wiring body 130.
  • the specific structure of the transfer structure 90 is as follows:
  • the transfer structure 90 is used to connect the first speed reducer and the first transfer flange.
  • the transfer structure 90 includes a transfer main body 930. The end face and the fourth end face.
  • the transfer main body 930 further has a receiving cavity 931 extending from the third end face to the fourth end face. At least part of the first reducer is disposed in the receiving cavity 931 so that the first reducer and the transfer main body. Connection; the fourth end surface is used for connection with the first adapter flange, so that the first reducer is connected to the first adapter flange through the adapter body 930.
  • the transfer structure 90 includes a transfer main body 930, the transfer main body 930 has a receiving cavity 931, and at least part of the first reducer is disposed in the receiving cavity 931; one end of the transfer main body 930 and the first reducer The other end of the transfer main body 930 is connected to the first transfer flange, so that the transfer structure 90 realizes the connection between the first reducer and the first transfer flange.
  • the connection between the adapter flange and the reducer with a mismatched model can be achieved, which solves the problem of producing different types of adapter flanges for different types of reducers.
  • the problem of higher cost improves the versatility of the adapter flange.
  • the accommodating cavity 931 has a first cavity section 9311 and a second cavity section 9312, and at least part of the first speed reducer is disposed in the first cavity section 9311 and the second cavity section 9312.
  • the first cavity section 9311 is disposed on the third end surface and extends toward the fourth end surface.
  • the second cavity section 9312 is disposed at an end of the first cavity section 9311 near the fourth end surface, and between the first cavity section 9311 and the second cavity section 9312.
  • the first mounting surface 9313 is provided so that the first reduction gear is mounted on the first mounting surface 9313.
  • the first reducer has a plurality of seventh mounting holes
  • the transfer main body 930 has a plurality of seventh fastening holes 932
  • a plurality of seventh The fastening holes 932 are disposed between the first mounting surface 9313 and the fourth end surface and are evenly distributed along the circumferential direction of the second cavity section 9312, so that the adapter structure 90 passes through the seventh fastening holes 932 and the seventh installation.
  • the seventh fastener in the hole is connected with the first speed reducer.
  • the seventh fastener is a screw
  • the seventh fastening hole 932 includes a mounting hole segment 9321 and an avoidance hole segment 9322.
  • the avoidance hole segment 9322 is provided on the mounting hole segment 9321 away from the third end surface.
  • the screw head of the screw is set in the avoidance hole section 9322 to avoid the first adapter flange. This arrangement facilitates the installation of the first adapter flange and avoids abrasion of the first adapter flange.
  • the first adapter flange has a plurality of eighth mounting holes
  • the adapter body 930 has a plurality of eighth fastening holes 933.
  • a plurality of eighth fastening holes 933 are provided on the fourth end surface and are evenly distributed along the circumferential direction of the second cavity section 9312, so that the first adapter flange passes through the eighth mounting hole and the eighth fastening hole 933.
  • the eighth inner fastener is connected with the adapter structure 90.
  • a plurality of eighth fastening holes 933 are provided around the plurality of seventh fastening holes 932.
  • the accommodating cavity 931 has a third cavity section 9314, and the third cavity section 9314 is disposed on the fourth end surface and extends toward the third end surface so as to pass through the first speed reducer.
  • the threaded protective sleeve is in communication with the first adapter flange through the third cavity section 9314.
  • the receiving cavity 931 has a fourth cavity section 9315, and the fourth cavity section 9315 is disposed at an end of the third cavity section 9314 near the third end surface, and the third cavity section 9314 and the fourth cavity
  • the second mounting surface 9316 is provided between the segments 9315, so that the bearing provided between the adapter body 930 and the wire protection sleeve abuts on the second mounting surface 9316.
  • the setting of the fourth cavity section 9315 facilitates the processing of the transfer body.
  • the adapter body 930 has a removal hole 934, and the removal hole 934 is a through hole, and is inserted into the removal hole when the adapter structure 90 is installed.
  • 934 and the positioning pin in the positioning hole of the first reducer locate the transfer structure 90, and when dismounting the transfer structure 90, the transfer structure 90 is removed through the jacking structure inserted in the removal hole 934.
  • the removal hole 934 is provided around the eighth fastening holes 933, wherein the removal hole 934 is provided on a side of the eighth fastening hole 933 near the outer peripheral surface of the adapter body 930. This arrangement facilitates the installation and removal of the transfer structure 90.
  • the robot of the present invention is provided with a frame 40 and fixes the connection plate 31 of the third connection arm assembly 30 to the first support beam 41 and the second support beam 42 of the frame 40, so that the first connection arm assembly 10, The second connecting arm assembly 20 and the third connecting arm assembly 30 are suspended from the frame 40.
  • the robot can operate the products on the assembly line, solves the problem that the robot cannot operate the products on the assembly line with a high height, and improves the application range of the robot. In addition, the range of motion of the suspended robot is wide.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机器人包括：第一连接臂组件（10），用于安装丝杆花键部件；第二连接臂组件（20），第一连接臂组件（10）可旋转地安装在第二连接臂组件（20）的下侧；第三连接臂组件（30），第二连接臂组件（20）可旋转地安装在第三连接臂组件（30）的下侧，以使丝杆花键部件在第二连接臂组件（20）和第三连接臂组件（30）的带动下运动；机架（40），包括机架主体和设置在机架主体上的第一支撑梁（41）和第二支撑梁（42），第一支撑梁（41）与第二支撑梁（42）平行设置；第三连接臂组件（30）包括连接板（31），连接板（31）安装在机架（40）上，连接板（31）的第一端与第一支撑梁（41）连接，连接板（31）的第二端与第二支撑梁（42）连接，以使第一连接臂组件（10）、第二连接臂组件（20）和第三连接臂组件（30）悬挂在机架（40）上，机器人解决了现有技术中无法对流水线上的产品进行操作的问题。

Description

机器人 技术领域
本发明涉及机器人技术领域，具体而言，涉及一种机器人。
背景技术
随着智能装备的发展，机器人在工业制造中的优势越来越显著，其中，具有多级机械臂的机器人应用广泛，该机器人的位于低位的机械臂固定于地面的底座上，位于高位的机械臂与丝杆花键部件连接，以使位于高位的丝杆花键部件带动夹具实现对产品的抓取与移动。
然而，上述机器人无法对流水线上的产品进行操作，尤其是对高度较高的流水线，适用范围较小。
发明内容
本发明的主要目的在于提供一种机器人，以解决现有技术中的机器人无法对流水线上的产品进行操作的问题。
为了实现上述目的，本发明提供了一种机器人，包括：第一连接臂组件，用于安装丝杆花键部件；第二连接臂组件，第二连接臂组件位于第一连接臂组件的上方，第一连接臂组件可旋转地安装在第二连接臂组件的下侧；第三连接臂组件，第三连接臂组件位于第二连接臂组件的上方，第二连接臂组件可旋转地安装在第三连接臂组件的下侧，以使丝杆花键部件在第二连接臂组件和第三连接臂组件的带动下运动；机架，机架包括机架主体和设置在机架主体上的第一支撑梁和第二支撑梁，第一支撑梁与第二支撑梁平行设置；其中，第三连接臂组件包括连接板，连接板安装在机架上，连接板的第一端与第一支撑梁连接，连接板的第二端与第二支撑梁连接，以使第一连接臂组件、第二连接臂组件和第三连接臂组件悬挂在机架上。
进一步地，第一支撑梁具有多个第一紧固孔，连接板的第一端设置有多个第二紧固孔，以使连接板的第一端通过穿设在第一紧固孔和第二紧固孔内的第一紧固件与第一支撑梁连接；第二支撑梁具有多个第三紧固孔，连接板的第二端设置有多个第四紧固孔，以使连接板的第二端通过穿设在第三紧固孔和第四紧固孔内的第二紧固件与第二支撑梁连接。
进一步地，第一支撑梁上设置有多个第一预留孔位，多个第一预留孔位间隔设置；第二支撑梁上设置有多个第二预留孔位，多个第二预留孔位间隔设置，以使连接板的第一端通过穿设在第一预留孔位和第二紧固孔内的第三紧固件与第一支撑梁连接，并使连接板的第二端通过穿设在第二预留孔位和第四紧固孔内的第四紧固件与第二支撑梁连接。
进一步地，机器人还包括：第二转接法兰，第二转接法兰的一端与第三连接臂组件连接，第二转接法兰的另一端与第二连接臂组件连接，以使第二连接臂组件在第三连接臂组件和第二转接法兰的作用下转动。
进一步地，第三连接臂组件还包括第三机罩，第三机罩罩设在连接板上，以使第三机罩与连接板之间形成第三容纳空间；第三机罩上设置有布线孔，以使机器人的线缆通过布线孔进入第三容纳空间内。
进一步地，第三连接臂组件包括第二布线结构和第二过线防护套，第二布线结构设置在第三容纳空间内且安装在连接板上，第二过线防护套的一端与第二布线结构连接，第二过线防护套的另一端与第二转接法兰连接，以使位于第三容纳空间内的线缆通过第二过线防护套和第二转接法兰进入第二连接臂组件的第二容纳空间内。
进一步地，第三连接臂组件包括第二固线部，第二固线部设置在第二布线结构上，以使位于布线孔和第二过线防护套之间的线缆固定在第二固线部上。
进一步地，机器人还包括：第二减速机，第二减速机套设在第二过线防护套上，第二减速机的一端与连接板连接，第二减速机的另一端与第二转接法兰驱动连接，以使第二转接法兰在第二减速机驱动下转动。
进一步地，机器人还包括：第一转接法兰，第一转接法兰的一端与第二连接臂组件连接，第一转接法兰的另一端与第一连接臂组件连接，以使第一连接臂组件在第二连接臂组件和第一转接法兰的作用下转动。
进一步地，第二连接臂组件具有第二容纳空间，第二连接臂组件包括第一布线结构和第一过线防护套，第一布线结构设置在第二容纳空间内且安装在第二容纳空间的第一底板上，第一过线防护套的一端与第一布线结构连接，第一过线防护套的另一端与第一转接法兰连接，以使位于第二容纳空间内的线缆通过第一过线防护套和第一转接法兰进入第一连接臂组件的第一容纳空间内。
进一步地，第二连接臂组件包括第一固线部，第一固线部设置在第一布线结构上，以使位于第二容纳空间内的线缆固定在第一固线部上。
进一步地，机器人还包括：第一减速机，第一减速机套设在第一过线防护套上，第一减速机的一端与第一底板连接，第一减速机的另一端与第一转接法兰驱动连接，以使第一转接法兰在第一减速机驱动下转动。
进一步地，机器人还包括：转接结构，转接结构用于连接第一减速机与第一转接法兰，第一减速机与转接结构的第一端驱动连接，以使转接结构在第一减速机的驱动作用下转动；转接结构的第二端与第一转接法兰固定连接，以使第一转接法兰在转接结构的带动下转动。
本发明的机器人通过设置机架，并将第三连接臂组件的连接板固定在机架的第一支撑梁和第二支撑梁上，可以使第一连接臂组件、第二连接臂组件和第三连接臂组件悬挂在机架上。 该机器人可以对流水线上的产品进行操作，解决了机器人无法对是高度较高的流水线上的产品进行操作的问题，提高了机器人的适用范围。并且，悬挂设置的机器人的运动范围较广。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的机器人的实施例的俯视示意图；
图2示出了图1中的机器人的截面A-A处的剖视图；
图3示出了根据本发明的机器人的第三连接臂组件的俯视示意图；
图4示出了图3中的机器人的截面B-B处的剖视图；
图5示出了根据本发明的机器人的布线结构的实施例的立体图；
图6示出了根据本发明的机器人的布线结构的实施例的俯视图；
图7示出了根据本发明的机器人的布线结构的实施例的侧视图；
图8示出了根据本发明的机器人的布线结构的实施例的仰视图；
图9示出了图8中的布线结构的截面C-C处的剖视图；
图10示出了根据本发明的机器人的转接结构的实施例的正视图；以及
图11示出了图10中的转接结构的截面D-D处的剖视图。
其中，上述附图包括以下附图标记：
10、第一连接臂组件；11、第一容纳空间；20、第二连接臂组件；21、第二容纳空间；22、第一布线结构；23、第一过线防护套；25、第一固线部；30、第三连接臂组件；31、连接板；311、第二紧固孔；312、第四紧固孔；32、第三机罩；321、布线孔；33、第三容纳空间；34、第二布线结构；35、第二过线防护套；36、第二固线部；40、机架；41、第一支撑梁；411、第一紧固孔；42、第二支撑梁；421、第三紧固孔；50、第二转接法兰；60、第二减速机；70、第一转接法兰；80、第一减速机；90、转接结构；
130、布线主体；131、容纳腔体；132、连通孔；133、通过空间；134、定位凸起；135、限位凹槽；136、第五紧固孔；137、第六紧固孔；138、第七紧固孔；
930、转接主体；931、容纳腔；9311、第一腔段；9312、第二腔段；9313、第一安装面；932、第七紧固孔；9321、安装孔段；9322、避让孔段；933、第八紧固孔；9314、第三腔段；9315、第四腔段；9316、第二安装面；934、拆卸孔。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
本发明提供了一种机器人，请参考图1至图11，第一连接臂组件10，用于安装丝杆花键部件；第二连接臂组件20，第二连接臂组件20位于第一连接臂组件10的上方，第一连接臂组件10可旋转地安装在第二连接臂组件20的下侧；第三连接臂组件30，第三连接臂组件30位于第二连接臂组件20的上方，第二连接臂组件20可旋转地安装在第三连接臂组件30的下侧，以使丝杆花键部件在第二连接臂组件20和第三连接臂组件30的带动下运动；机架40，机架40包括机架主体和设置在机架主体上的第一支撑梁41和第二支撑梁42，第一支撑梁41与第二支撑梁42平行设置；其中，第三连接臂组件30包括连接板31，连接板31安装在机架40上，连接板31的第一端与第一支撑梁41连接，连接板31的第二端与第二支撑梁42连接，以使第一连接臂组件10、第二连接臂组件20和第三连接臂组件30悬挂在机架40上。
本发明的机器人通过设置机架40，并将第三连接臂组件30的连接板31固定在机架40的第一支撑梁41和第二支撑梁42上，可以使第一连接臂组件10、第二连接臂组件20和第三连接臂组件30悬挂在机架40上。该机器人可以对流水线上的产品进行操作，解决了机器人无法对是高度较高的流水线上的产品进行操作的问题，提高了机器人的适用范围。并且，悬挂设置的机器人的运动范围较广。
为了实现第三连接臂组件30的固定，如图1所示，第一支撑梁41具有多个第一紧固孔411，连接板31的第一端设置有多个第二紧固孔311，以使连接板31的第一端通过穿设在第一紧固孔411和第二紧固孔311内的第一紧固件与第一支撑梁41连接；第二支撑梁42具有多个第三紧固孔421，连接板31的第二端设置有多个第四紧固孔312，以使连接板31的第二端通过穿设在第三紧固孔421和第四紧固孔312内的第二紧固件与第二支撑梁42连接。
具体实施时，第一支撑梁41上设置有多个第一预留孔位，多个第一预留孔位间隔设置；第二支撑梁42上设置有多个第二预留孔位，多个第二预留孔位间隔设置，以使连接板31的第一端通过穿设在第一预留孔位和第二紧固孔311内的第三紧固件与第一支撑梁41连接，并使连接板31的第二端通过穿设在第二预留孔位和第四紧固孔312内的第四紧固件与第二支撑梁42连接。这样的设置可以使第三连接臂组件30固定在第一支撑梁41和第二支撑梁42上的不同位置，以改变第三连接臂组件30的安装位置，进而可根据机器人在流水线上的工作位置以调整第三连接臂组件30的安装位置。
为了实现第二连接臂组件20和第三连接臂组件30的连接，机器人还包括第二转接法兰50，第二转接法兰50的一端与第三连接臂组件30连接，第二转接法兰50的另一端与第二连接臂组件20连接，以使第二连接臂组件20在第三连接臂组件30和第二转接法兰50的作用下转动。
在本实施例中，如图2至图4所示，第三连接臂组件30还包括第三机罩32，第三机罩32罩设在连接板31上，以使第三机罩32与连接板31之间形成第三容纳空间33；第三机罩 32上设置有布线孔321，以使机器人的线缆通过布线孔321进入第三容纳空间33内。
具体实施时，如图3所示，第三连接臂组件30包括第二布线结构34和第二过线防护套35，第二布线结构34设置在第三容纳空间33内且安装在连接板31上，第二过线防护套35的一端与第二布线结构34连接，第二过线防护套35的另一端与第二转接法兰50连接，以使位于第三容纳空间33内的线缆通过第二过线防护套35和第二转接法兰50进入第二连接臂组件20的第二容纳空间21内。
为了固定线缆，如图3所示，第三连接臂组件30包括第二固线部36，第二固线部36设置在第二布线结构34上，以使位于布线孔321和第二过线防护套35之间的线缆固定在第二固线部36上。
具体实施时，如图3所示，第二固线部36包括第一固线板、第二固线板和线缆扎带，第二固线板相对第一固线板垂直设置，第一固线板安装在第二布线结构34上，线缆扎带固定在第二固线板上，以使线缆通过线缆扎带固定在第二固线板上。
在本实施例中，如图3所示，机器人还包括第二减速机60，第二减速机60套设在第二过线防护套35上，第二减速机60的一端与连接板31连接，第二减速机60的另一端与第二转接法兰50驱动连接，以使第二转接法兰50在第二减速机60驱动下转动。
为了实现第二连接臂组件20和第一连接臂组件10的连接，如图2所示，机器人还包括第一转接法兰70，第一转接法兰70的一端与第二连接臂组件20连接，第一转接法兰70的另一端与第一连接臂组件10连接，以使第一连接臂组件10在第二连接臂组件20和第一转接法兰70的作用下转动。
在本实施例中，如图2所示，第二连接臂组件20具有第二容纳空间21，第二连接臂组件20包括第一布线结构22和第一过线防护套23，第一布线结构22设置在第二容纳空间21内且安装在第二容纳空间21的第一底板上，第一过线防护套23的一端与第一布线结构22连接，第一过线防护套23的另一端与第一转接法兰70连接，以使位于第二容纳空间21内的线缆通过第一过线防护套23和第一转接法兰70进入第一连接臂组件10的第一容纳空间11内。
为了固定线缆，如图2所示，第二连接臂组件20包括第一固线部25，第一固线部25设置在第一布线结构22上，以使位于第二容纳空间21内的线缆固定在第一固线部25上。
在本实施例中，如图2所示，机器人还包括第一减速机80，第一减速机80套设在第一过线防护套23上，第一减速机80的一端与第一底板连接，第一减速机80的另一端与第一转接法兰70驱动连接，以使第一转接法兰70在第一减速机80驱动下转动。
在本实施例中，如图2所示，机器人还包括转接结构90，转接结构90用于连接第一减速机80与第一转接法兰70，第一减速机80与转接结构90的第一端驱动连接，以使转接结构90在第一减速机80的驱动作用下转动；转接结构90的第二端与第一转接法兰70固定连接，以使第一转接法兰70在转接结构90的带动下转动。
在本实施例中，机器人还包括第三传动组件，第三传动组件设置在连接板31上，第三传动组件与第二连接臂组件20传动连接，以使第二连接臂组件20在所述第三传动组件的作用下转动。
具体实施时，第三传动组件包括第三主动轮、第三从动轮和套设在第三主动轮和第三从动轮上的第三传动带，第三从动轮套设在第二过线防护套35上，第三从动轮与第二减速机60传动连接，以带动第二减速机60转动；第三传动带穿过第二布线结构34套设在第三从动轮上，以使第三从动轮在第三主动轮和第三传动带的作用下转动。
具体实施时，所述机器人还包括第三驱动电机，第三驱动电机与第三主动轮驱动连接，以驱动第三主动轮旋转。
在本实施例中，机器人还包括第二传动组件，第二传动组件设置在第二容纳空间21内，第二传动组件与第一连接臂组件10传动连接，以使第一连接臂组件10在第二传动组件的作用下转动。
具体实施时，第二传动组件包括第二主动轮、第二从动轮和套设在第二主动轮和第二从动轮上的第二传动带，第二从动轮套设在第一过线防护套23上，第二从动轮与第一减速机80传动连接，以带动第一减速机80转动；第二传动带穿过第一布线结构22套设在第二从动轮上，以使第二从动轮在第二主动轮和第二传动带的作用下转动。
具体实施时，所述机器人还包括第二驱动电机，第二驱动电机与第二主动轮驱动连接，以驱动第二主动轮旋转。
在本实施例中，机器人还包括第一传动组件，第一传动组件设置在第一容纳空间11内，第一传动组件与所述丝杆花键部件传动连接，以使所述丝杆花键部件在所述第一传动组件的作用下转动和上下移动。
具体实施时，机器人还包括第一丝杆驱动电机和第二丝杆驱动电机，第一丝杆驱动电机用于驱动丝杆上下移动，第二丝杆驱动电机用于驱动丝杆旋转，第一丝杆驱动电机和第二丝杆驱动电机设置在第一容纳空间11。
在一个实施例中，第一布线结构和第二布线结构均为布线结构，布线结构的具体结构如下：
在本实施例中，请参考图5至图9，布线结构设置在机器人的连接臂组件内并固定在连接臂组件的底板上，用于安装过线防护套并容纳套设在过线防护套上的从动轮，布线结构包括：布线主体130，布线主体130具有相对设置的第一端面和第二端面，第二端面上设置有容纳腔体131且容纳腔体131朝向第一端面延伸，以容纳过线防护套的至少部分和从动轮；其中，容纳腔体131具有腔体顶壁和环绕腔体顶壁设置的腔体内壁，腔体顶壁与第一端面之间开设有连通孔132，以使过线防护套插设在连通孔132内。
具体实施时，布线结构通过在布线主体130上设置容纳腔体131，并在容纳腔体131内开设连通孔132，其中，连通孔132的轴线与容纳腔体131的轴线平行设置，可以使过线防护套插设在连通孔132内并容纳在容纳腔体131内，以固定过线防护套，进而可以保证机器人的线缆设置在过线防护套内，解决了线缆在机器人内部的布线和走线的问题。此外，容纳腔体131还用于容纳套设在过线防护套上的从动轮，可以为连接臂组件内壁的零件提供足够的容纳空间。
在本实施例中，如图5所示，布线主体130具有通过空间133，通过空间133设置在第二端面上且与容纳腔体131连通，以使套设在从动轮上的传送带通过通过空间133进入容纳腔体131内。其中，通过空间133具有相互平行的第一侧壁和第二侧壁，腔体内壁为非闭合圆周面，第一侧壁与腔体内壁的一端连接，第二侧壁与腔体内壁的另一端连接。
为了实现布线结构的定位，如图7和图8所示，连接臂的底板上设置有定位槽，布线主体130的第二端面上设置有与定位槽相配适的定位凸起134，定位凸起134卡设在定位槽内，以使布线结构定位在底板上。
具体实施时，定位槽为圆形凹槽，定位凸起134为圆环形凸起，圆环形凸起的圆周外壁与圆形凹槽的第二圆周内壁相配适，以使定位凸起134卡设在定位槽内。
具体实施时，容纳腔体131的腔体内壁与圆环形凸起的第三圆周内壁平齐。这样的设置便于布线结构的加工，降低生产成本。
在本实施例中，如图6和图9所示，过线防护套的一端设置有安装部，布线主体130的第一端面上设置有限位凹槽135，安装部限位在限位凹槽135内。这样的设置方便过线防护套的安装与定位。
为了实现过线防护套的固定，如图6所示，过线防护套具有多个第一安装孔，限位凹槽135上设置有多个第五紧固孔136，多个第五紧固孔136沿连通孔132的周向均匀分布，多个第五紧固孔136和多个第一安装孔一一对应地设置，以使过线防护套通过插设在第一安装孔和第五紧固孔136内的第五紧固件固定在布线主体130上。
为了实现布线主体130的固定，如图6所示，布线主体130的第二端面上设置有多个第六紧固孔137，多个第六紧固孔137间隔设置，以使布线主体130通过插设在第六紧固孔137内的第六紧固件固定在底板上。
为了实现固线部的固定，如图6所示，布线主体130的第一端面上设置有多个第七紧固孔138，多个第七紧固孔138间隔设置，以使固线部通过插设在第七紧固孔138内的第七紧固件固定在布线主体130上。
在一个实施例中，转接结构90的具体结构如下：
在本实施例中，请参考图10和图11，转接结构90用于连接第一减速机与第一转接法兰，包括：转接主体930，转接主体930具有相对设置的第三端面与第四端面，转接主体930还具 有由第三端面延伸至第四端面的容纳腔931，第一减速机的至少部分设置在容纳腔931内，以使第一减速机与转接主体连接；第四端面用于与第一转接法兰连接，以使第一减速机通过转接主体930与第一转接法兰连接。
在本实施例中，转接结构90包括转接主体930，转接主体930具有容纳腔931，第一减速机的至少部分设置在容纳腔931内；转接主体930的一端与第一减速机连接，转接主体930的另一端与第一转接法兰连接，以使转接结构90实现第一减速机与第一转接法兰的连接。在生产过程中，通过采用该转接结构90可以实现转接法兰与型号不匹配的减速机之间的连接，解决了针对不同型号的减速机来生产加工不同型号的转接法兰造成生产成本较高的问题，提高了转接法兰的通用性。
在本实施例中，如图11所示，容纳腔931具有第一腔段9311和第二腔段9312，第一减速机的至少部分设置在第一腔段9311和第二腔段9312内，第一腔段9311设置在第三端面上且朝向第四端面延伸，第二腔段9312设置在第一腔段9311靠近第四端面的一端，第一腔段9311与第二腔段9312之间具有第一安装面9313，以使第一减速机安装在第一安装面9313上。
为了实现转接结构90与第一减速机的连接，如图10所示，第一减速机具有多个第七安装孔，转接主体930具有多个第七紧固孔932，多个第七紧固孔932设置在第一安装面9313与第四端面之间且沿第二腔段9312的周向均匀分布，以使转接结构90通过穿设在第七紧固孔932和第七安装孔内的第七紧固件与第一减速机连接。
具体实施时，如图11所示，第七紧固件为螺钉，第七紧固孔932包括安装孔段9321和避让孔段9322，避让孔段9322设置在安装孔段9321远离第三端面的一端，螺钉的螺钉头设置在避让孔段9322内，以避让第一转接法兰。这样的设置便于安装第一转接法兰，避免对第一转接法兰的磨损。
为了实现第一转接法兰与转接结构90的连接，如图11所示，第一转接法兰具有多个第八安装孔，转接主体930具有多个第八紧固孔933，多个第八紧固孔933设置在第四端面上且沿第二腔段9312的周向均匀分布，以使第一转接法兰通过穿设在第八安装孔和第八紧固孔933内的第八紧固件与转接结构90连接。
优选地，如图10所示，多个第八紧固孔933环绕多个第七紧固孔932设置。
在本实施例中，如图11所示，容纳腔931具有第三腔段9314，第三腔段9314设置在第四端面上且朝向第三端面延伸，以使穿设在第一减速机内的过线防护套通过第三腔段9314与第一转接法兰连通。
在本实施例中，如图11所示，容纳腔931具有第四腔段9315，第四腔段9315设置在第三腔段9314靠近第三端面的一端，第三腔段9314和第四腔段9315之间具有第二安装面9316，以使设置在转接主体930与过线防护套之间的轴承抵接在第二安装面9316上。其中，第四腔段9315的设置便于转接主体的加工。
为了实现转接结构90的精确定位且便于转接结构90的快速拆装，转接主体930具有拆卸孔934，拆卸孔934为通孔，以在安装转接结构90时通过插设在拆卸孔934与第一减速机的定位孔内的定位销定位转接结构90，并在拆卸转接结构90时通过插设在拆卸孔934内的顶起结构将转接结构90拆除。
优选地，如图10所示，拆卸孔934环绕多个第八紧固孔933设置，其中，拆卸孔934设置在第八紧固孔933靠近转接主体930的外周面的一侧。这样的设置便于转接结构90的安装与拆卸。
从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：
本发明的机器人通过设置机架40，并将第三连接臂组件30的连接板31固定在机架40的第一支撑梁41和第二支撑梁42上，可以使第一连接臂组件10、第二连接臂组件20和第三连接臂组件30悬挂在机架40上。该机器人可以对流水线上的产品进行操作，解决了机器人无法对是高度较高的流水线上的产品进行操作的问题，提高了机器人的适用范围。并且，悬挂设置的机器人的运动范围较广。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (13)

  1. 一种机器人，其特征在于，包括：
    第一连接臂组件(10)，用于安装丝杆花键部件；
    第二连接臂组件(20)，所述第二连接臂组件(20)位于所述第一连接臂组件(10)的上方，所述第一连接臂组件(10)可旋转地安装在所述第二连接臂组件(20)的下侧；
    第三连接臂组件(30)，所述第三连接臂组件(30)位于所述第二连接臂组件(20)的上方，所述第二连接臂组件(20)可旋转地安装在所述第三连接臂组件(30)的下侧，以使所述丝杆花键部件在所述第二连接臂组件(20)和所述第三连接臂组件(30)的带动下运动；
    机架(40)，所述机架(40)包括机架主体和设置在所述机架主体上的第一支撑梁(41)和第二支撑梁(42)，所述第一支撑梁(41)与所述第二支撑梁(42)平行设置；
    其中，所述第三连接臂组件(30)包括连接板(31)，所述连接板(31)安装在所述机架(40)上，所述连接板(31)的第一端与所述第一支撑梁(41)连接，所述连接板(31)的第二端与所述第二支撑梁(42)连接，以使所述第一连接臂组件(10)、所述第二连接臂组件(20)和所述第三连接臂组件(30)悬挂在所述机架(40)上。
  2. 根据权利要求1所述的机器人，其特征在于，所述第一支撑梁(41)具有多个第一紧固孔(411)，所述连接板(31)的第一端设置有多个第二紧固孔(311)，以使所述连接板(31)的第一端通过穿设在所述第一紧固孔(411)和所述第二紧固孔(311)内的第一紧固件与所述第一支撑梁(41)连接；所述第二支撑梁(42)具有多个第三紧固孔(421)，所述连接板(31)的第二端设置有多个第四紧固孔(312)，以使所述连接板(31)的第二端通过穿设在所述第三紧固孔(421)和所述第四紧固孔(312)内的第二紧固件与所述第二支撑梁(42)连接。
  3. 根据权利要求2所述的机器人，其特征在于，所述第一支撑梁(41)上设置有多个第一预留孔位，多个所述第一预留孔位间隔设置，所述第二支撑梁(42)上设置有多个第二预留孔位，多个所述第二预留孔位间隔设置，以使所述连接板(31)的第一端通过穿设在所述第一预留孔位和所述第二紧固孔(311)内的第三紧固件与所述第一支撑梁(41)连接，并使所述连接板(31)的第二端通过穿设在所述第二预留孔位和所述第四紧固孔(312)内的第四紧固件与所述第二支撑梁(42)连接。
  4. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括：
    第二转接法兰(50)，所述第二转接法兰(50)的一端与所述第三连接臂组件(30)连接，所述第二转接法兰(50)的另一端与所述第二连接臂组件(20)连接，以使所述第二连接臂组件(20)在所述第三连接臂组件(30)和所述第二转接法兰(50)的作用下转动。
  5. 根据权利要求4所述的机器人，其特征在于，所述第三连接臂组件(30)还包括第三机罩(32)，所述第三机罩(32)罩设在所述连接板(31)上，以使所述第三机罩(32)与 所述连接板(31)之间形成第三容纳空间(33)；所述第三机罩(32)上设置有布线孔(321)，以使所述机器人的线缆通过所述布线孔(321)进入所述第三容纳空间(33)内。
  6. 根据权利要求5所述的机器人，其特征在于，所述第三连接臂组件(30)包括第二布线结构(34)和第二过线防护套(35)，所述第二布线结构(34)设置在所述第三容纳空间(33)内且安装在所述连接板(31)上，所述第二过线防护套(35)的一端与所述第二布线结构(34)连接，所述第二过线防护套(35)的另一端与所述第二转接法兰(50)连接，以使位于所述第三容纳空间(33)内的所述线缆通过所述第二过线防护套(35)和所述第二转接法兰(50)进入所述第二连接臂组件(20)的第二容纳空间(21)内。
  7. 根据权利要求6所述的机器人，其特征在于，所述第三连接臂组件(30)包括第二固线部(36)，所述第二固线部(36)设置在所述第二布线结构(34)上，以使位于所述布线孔(321)和所述第二过线防护套(35)之间的线缆固定在所述第二固线部(36)上。
  8. 根据权利要求6所述的机器人，其特征在于，所述机器人还包括：
    第二减速机(60)，所述第二减速机(60)套设在所述第二过线防护套(35)上，所述第二减速机(60)的一端与所述连接板(31)连接，所述第二减速机(60)的另一端与所述第二转接法兰(50)驱动连接，以使所述第二转接法兰(50)在所述第二减速机(60)驱动下转动。
  9. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括：
    第一转接法兰(70)，所述第一转接法兰(70)的一端与所述第二连接臂组件(20)连接，所述第一转接法兰(70)的另一端与所述第一连接臂组件(10)连接，以使所述第一连接臂组件(10)在所述第二连接臂组件(20)和所述第一转接法兰(70)的作用下转动。
  10. 根据权利要求9所述的机器人，其特征在于，所述第二连接臂组件(20)具有第二容纳空间(21)，所述第二连接臂组件(20)包括第一布线结构(22)和第一过线防护套(23)，所述第一布线结构(22)设置在所述第二容纳空间(21)内且安装在所述第二容纳空间(21)的第一底板上，所述第一过线防护套(23)的一端与所述第一布线结构(22)连接，所述第一过线防护套(23)的另一端与所述第一转接法兰(70)连接，以使位于所述第二容纳空间(21)内的线缆通过所述第一过线防护套(23)和所述第一转接法兰(70)进入所述第一连接臂组件(10)的第一容纳空间(11)内。
  11. 根据权利要求10所述的机器人，其特征在于，所述第二连接臂组件(20)包括第一固线部(25)，所述第一固线部(25)设置在所述第一布线结构(22)上，以使位于所述第二容纳空间(21)内的线缆固定在所述第一固线部(25)上。
  12. 根据权利要求10所述的机器人，其特征在于，所述机器人还包括：
    第一减速机(80)，所述第一减速机(80)套设在所述第一过线防护套(23)上，所述第一减速机(80)的一端与所述第一底板连接，所述第一减速机(80)的另一端与所述第一转接法兰(70)驱动连接，以使所述第一转接法兰(70)在所述第一减速机(80)驱动下转动。
  13. 根据权利要求12所述的机器人，其特征在于，所述机器人还包括：
    转接结构(90)，所述转接结构(90)用于连接所述第一减速机(80)与所述第一转接法兰(70)，所述第一减速机(80)与所述转接结构(90)的第一端驱动连接，以使所述转接结构(90)在所述第一减速机(80)的驱动作用下转动；所述转接结构(90)的第二端与所述第一转接法兰(70)固定连接，以使所述第一转接法兰(70)在所述转接结构(90)的带动下转动。
PCT/CN2018/119143 2018-06-22 2018-12-04 机器人 WO2019242246A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810654625.8A CN108555888B (zh) 2018-06-22 2018-06-22 机器人
CN201810654625.8 2018-06-22

Publications (1)

Publication Number Publication Date
WO2019242246A1 true WO2019242246A1 (zh) 2019-12-26

Family

ID=63554533

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/119143 WO2019242246A1 (zh) 2018-06-22 2018-12-04 机器人

Country Status (2)

Country Link
CN (1) CN108555888B (zh)
WO (1) WO2019242246A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108555888B (zh) * 2018-06-22 2024-01-30 珠海格力智能装备有限公司 机器人
CN110394828B (zh) * 2019-08-27 2024-03-08 珠海格力智能装备有限公司 机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08229873A (ja) * 1995-02-27 1996-09-10 Toshiba Corp 産業用ロボット
CN203495947U (zh) * 2013-09-23 2014-03-26 成都泛华航空仪表电器有限公司 水平多关节非皮带驱动机器人
CN203566699U (zh) * 2013-11-12 2014-04-30 东莞市实达光电科技有限公司 一种倒装四自由度工业机器人
CN104227713A (zh) * 2014-09-26 2014-12-24 福建农林大学 一种基于Arduino单片机的农作物搬运用装置
CN108555888A (zh) * 2018-06-22 2018-09-21 珠海格力智能装备有限公司 机器人
CN108798039A (zh) * 2018-07-12 2018-11-13 林仕长 适用于装配式建筑和桥梁施工的支撑系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005193347A (ja) * 2004-01-09 2005-07-21 Seiko Epson Corp 水平多関節型ロボット
JP6277850B2 (ja) * 2014-05-07 2018-02-14 セイコーエプソン株式会社 天吊りロボット
JP6500344B2 (ja) * 2014-05-07 2019-04-17 セイコーエプソン株式会社 天吊りロボット
CN105619402B (zh) * 2016-03-17 2017-12-12 昆山华恒机器人有限公司 关节型工业机器人
CN208358799U (zh) * 2018-06-22 2019-01-11 珠海格力智能装备有限公司 机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08229873A (ja) * 1995-02-27 1996-09-10 Toshiba Corp 産業用ロボット
CN203495947U (zh) * 2013-09-23 2014-03-26 成都泛华航空仪表电器有限公司 水平多关节非皮带驱动机器人
CN203566699U (zh) * 2013-11-12 2014-04-30 东莞市实达光电科技有限公司 一种倒装四自由度工业机器人
CN104227713A (zh) * 2014-09-26 2014-12-24 福建农林大学 一种基于Arduino单片机的农作物搬运用装置
CN108555888A (zh) * 2018-06-22 2018-09-21 珠海格力智能装备有限公司 机器人
CN108798039A (zh) * 2018-07-12 2018-11-13 林仕长 适用于装配式建筑和桥梁施工的支撑系统

Also Published As

Publication number Publication date
CN108555888B (zh) 2024-01-30
CN108555888A (zh) 2018-09-21

Similar Documents

Publication Publication Date Title
WO2019242246A1 (zh) 机器人
US9114538B2 (en) Parallel link robot and picking system
JP2015212002A (ja) 天吊りロボット
CN105082122A (zh) 吊挂式机器人
JPH0472671B2 (zh)
EP0471855B1 (en) Industrial robot with cable arrangement system
WO2017047438A1 (ja) ロボット装置
JP2019195900A (ja) オフセット型ファスナ取付システム
CN107498580A (zh) 一种驱控一体双编码器结构模块化关节
JP2019018320A (ja) ロボットシステム
WO2019242247A1 (zh) 布线结构及具有其的机器人
JP6365113B2 (ja) ロボット
JP6798591B2 (ja) ロボット、ロボットシステム、ロボットのメンテナンス方法
CN208358799U (zh) 机器人
KR20130070508A (ko) 로봇 및 로봇의 설치 방법
US20240131692A1 (en) Parallel link robot
CN105584948A (zh) 法兰盖装卸装置及制冷装置
WO2021077887A1 (zh) 转动臂机构及机器人
JP2012121111A (ja) ワーク位置決め装置およびそれを用いた生産システム
KR20180065605A (ko) 도장로봇
JP7069757B2 (ja) 水平多関節ロボット
JP2017007011A (ja) ロボット
CN219359496U (zh) 机械爪快速拆装的机器人装置
JP2021084172A (ja) ロボットシステム、搬送装置及び配線方法
CN204736221U (zh) 基于三轴运动控制平台的工业机器人的夹持机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18923120

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 04/05/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18923120

Country of ref document: EP

Kind code of ref document: A1