CN204819501U - Horizontal articulated robot - Google Patents
Horizontal articulated robot Download PDFInfo
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- CN204819501U CN204819501U CN201520628569.2U CN201520628569U CN204819501U CN 204819501 U CN204819501 U CN 204819501U CN 201520628569 U CN201520628569 U CN 201520628569U CN 204819501 U CN204819501 U CN 204819501U
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- Prior art keywords
- robot
- arm
- lifting arm
- drive mechanism
- forearm
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 210000000245 forearm Anatomy 0.000 claims abstract description 34
- 238000003466 welding Methods 0.000 claims abstract description 25
- 230000006978 adaptation Effects 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to a horizontal articulated robot, it is main including the supporting seat, the welding machine support frame, machine national people's congress arm, the robot forearm, a lifting arm, but fixed bolster and aligning support, the whole horizontal installation of machine national people's congress arm and robot forearm, it is main through zero clearance drive mechanism and the motor realization connection transmission of adaptation with it between each part, the device can realize five universal driving shafts through its structure and control simultaneously, can control the precision height, the large scale industry level of welding environment has been reached.
Description
Technical field
The utility model relates to mechanical equipment technical field, particularly relates to a kind of horizontal articulated robot.
Background technology
Robot is of a great variety, and application is wide, totally can be divided into general and special two large classes; Popular industrial machine people refers to jointed arm robot, account for the overwhelming majority of robot use amount at present, mainly for the manufacture of industry, the horizontal articulated robot number of motion axes of current domestic use only has four, navigability is poor, and existing horizontal articulated machine is per capita according to the research and development of miniature electric assembly environment, does not have the special horizontal articulated robot of large scale industry level for welding surroundings.
Summary of the invention
In order to solve deficiency of the prior art, the utility model provides a kind of horizontal articulated robot, reasonable in design, can be manipulated by five universal driving shafts, reaches the large scale industry level level of welding surroundings.
The utility model solves the technical scheme that its technical problem adopts:
A kind of horizontal articulated robot, is characterized in that: comprise supporting seat, welding machine bracing frame, robot ' s arm, robot forearm, lifting arm, fixed support and adjusting center support;
Described welding machine bracing frame and robot ' s arm are structure as a whole, welding machine bracing frame and robot ' s arm are all fixedly connected with a mounting sleeve A, robot ' s arm end side is provided with mounting sleeve B, described mounting sleeve A inside is flexibly connected with supporting seat by gapless drive mechanism A, and is provided with connected large arm motor bottom gapless drive mechanism A;
Described robot forearm one side end is provided with mounting sleeve C, robot forearm end side is provided with the groove that is slidably installed, described mounting sleeve C inside is flexibly connected with the mounting sleeve B of robot ' s arm by gapless drive mechanism B, and is provided with connected forearm motor bottom gapless drive mechanism B;
What described lifting arm was slidably arranged in robot forearm by guide rail and tooth bar is slidably installed in groove, lifting arm is the body of hollow structure, a rotating shaft is provided with in lifting arm, rotating shaft top is connected with gapless drive mechanism C by shaft coupling, gapless drive mechanism C top is provided with connected shaft rotating motor, and gapless drive mechanism C is fixed on lifting arm top by terminal pad; Be connected and fixed by bearing and lifting arm inwall bottom rotating shaft, and end passes described lifting arm and described fixed support is connected and fixed, the lifting arm drive motors with guide rail adaptation is provided with in described robot forearm, lifting arm drive motors is connected with the input of one speed reducer, and the output of reductor is connected with a joggle by wheel and rack;
Be fixed with swinging axle motor inside described fixed support, swinging axle motor is flexibly connected with adjusting center support by gapless drive mechanism D;
Described adjusting center support is fixed with welding gun.
Further, circular connection plug and rectangular patch plug is provided with bottom described welding machine bracing frame.
Further, it is firmly spacing that described robot ' s arm is provided with robot forearm adaptation.
Further, describedly firmly spacingly the end of robot ' s arm end face near mounting sleeve B is arranged on.
Further, further comprises and wear conduit, wear conduit and be arranged on outside lifting arm, wearing conduit both side ends by wearing conduit support frame and lifting arm is connected and fixed.
Further, further comprises an electric brake mechanism be connected with lifting arm drive motors.
Further, further comprises the photoelectric sensor of robot ' s arm, robot forearm, lifting arm, rotating shaft and adjusting center support adaptation.
Wherein, gapless drive mechanism comprises the driving wheel be loaded on driving shaft and the driven pulley be loaded on driven shaft, driving wheel and driven pulley are connected with a joggle, the gear that wherein driving wheel or driven pulley are arranged by two laminatings is formed, and one of them gear can to its drive gap auto-compensation in driving wheel and driven pulley transmission process, realize gapless, high accuracy transmission, the service life of transmission mechanism can be improve, reduce the maintenance cost of transmission mechanism.
The beneficial effects of the utility model are:
1, this device can be manipulated by five universal driving shafts, and robot ' s arm and robot forearm integral level are installed, and can manipulate precision high, reach the large scale industry level level of welding surroundings.
2, this device is not limited only to boost productivity, and alleviates labor strength, can also bear the work of the complex precise be manually difficult to, and ensures crudy, easily exchanges different production tasks.
3, this device has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.
4, be applicable to the welding under industrial environment, cutting, carrying, assembling, spraying, some glue etc., mainly for labor-intensive traditional manufacture, be conducive to promoting made in China 2025 strategy implementation.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 of the present utility modelly looks up structural representation;
Fig. 2 is the cross-sectional view of " A-A " in Fig. 1;
Fig. 3 is perspective view of the present utility model;
In figure: 1 supporting seat, 2 welding machine bracing frames, 3 robot ' s arms, 4 robot forearms, 5 lifting arms, 6 rotating shafts, 7 fixed supports, 8 adjusting center supports, 9 welding guns, 10 large arm motors, 11 forearm motors, 12 lifting arm drive motors, 13 shaft rotating motors, 14 swinging axle motors, 15 photoelectric sensors, 16 circular connection plugs, 17 rectangular patch plugs, 18 is firmly spacing, 19 gapless drive mechanism A, 20 mounting sleeve A, 21 mounting sleeve B, 22 mounting sleeve C, 23 electric brake mechanisms, 24 decelerators, 25 gears, 26 bearings, 27 wear conduit support frame, 28 guide rails, 29 wear conduit, 30 tooth bars, 31 gapless drive mechanism B, 32 gapless drive mechanism C, 33 shaft couplings, 34 terminal pads, 35 gapless drive mechanism D.
Detailed description of the invention
As shown in Figure 1, 2, 3: a kind of horizontal articulated robot, supporting seat 1, welding machine bracing frame 2, robot ' s arm 3, robot forearm 4, lifting arm 5, fixed support 7 and adjusting center support 8 is mainly comprised;
Described welding machine bracing frame 2 and robot ' s arm 3 are structure as a whole, welding machine bracing frame 2 and robot ' s arm 3 all weld with a mounting sleeve A20, welding machine bracing frame 2 and robot ' s arm 3 are symmetricly set on mounting sleeve A20 both sides, robot ' s arm 3 end side is provided with mounting sleeve B21, described mounting sleeve A20 inside is flexibly connected with supporting seat 1 by gapless drive mechanism A19, and bottom gapless drive mechanism A19, be provided with connected large arm motor 10, robot ' s arm 3 can be driven on supporting seat 1 to carry out Horizontal rotating movable by large arm motor 10,
Described robot forearm 4 one side end is provided with mounting sleeve C22, robot forearm 4 end side is provided with the groove that is slidably installed, described mounting sleeve C22 inside is flexibly connected with the mounting sleeve B21 of robot ' s arm 3 by gapless drive mechanism B31, robot ' s arm 3 and robot forearm 4 integral level are installed, and bottom gapless drive mechanism B31, be provided with connected forearm motor 11, robot forearm 4 can be driven on robot ' s arm 3 to carry out Horizontal rotating movable by forearm motor 11;
What described lifting arm 5 was slidably arranged in robot forearm 4 by guide rail 28 and tooth bar 30 is slidably installed in groove, be slidably installed in groove and be provided with the slide block with guide rail 28 adaptation, for coordinating with guide rail 28 location realizing lifting arm 5, lifting arm 5 is the body of hollow structure, a rotating shaft 6 is provided with in lifting arm 5, rotating shaft 6 top is connected with gapless drive mechanism C32 by shaft coupling 33, gapless drive mechanism C32 top is provided with connected shaft rotating motor 13, shaft rotating motor 13 can rotate by driven rotary axle 6, gapless drive mechanism C32 is fixed on lifting arm 5 top by terminal pad 34, be connected and fixed by bearing 26 and lifting arm 5 inwall bottom rotating shaft 6, and end passes described lifting arm 5 and described fixed support 7 is connected and fixed, fixed support 7 can be synchronized with the movement with rotating shaft 6, the lifting arm drive motors 12 with guide rail 28 adaptation is provided with in described robot forearm 4, lifting arm drive motors 12 is connected with the input of one speed reducer 24, the output of reductor is connected with a joggle by gear 25 and tooth bar 30, make lifting arm drive motors 12 can drive moving up and down of lifting arm 5, be connected with electric brake mechanism 23 on rear side of described lifting arm drive motors 12, lifting arm drive motors 12 can be braked by electric brake mechanism 23 when power-off, prevent lifting arm drive motors 12 under effect of inertia, driving lifting arm 5 to move,
Swinging axle motor 14 is fixed with inside described fixed support 7, swinging axle motor 14 is flexibly connected with adjusting center support 8 by gapless drive mechanism D35, adjusting center support 8 is fixed with welding gun 9, swinging axle motor 14 can drive fixed support 7 to rotate, for regulating the position of welding gun 9;
Be provided with circular connection plug 16 and rectangular patch plug 17 bottom described welding machine bracing frame 2, circular connection plug 16 and rectangular patch plug 17, for being connected with the power line of different model, achieve the power supply access of integral device.
Described robot ' s arm 3 is provided with robot forearm 4 adaptation firmly spacing 18, firmly spacing 18 are arranged on robot ' s arm 3 end face near the end of mounting sleeve B21, firmly spacing 18 for limiting the activity of robot forearm 4, can stop robot forearm 4 activity and cause damage to parts such as lifting arm 5, adjusting center supports 8.
Described firmly spacing 18 are arranged on robot ' s arm 3 end face near the end of mounting sleeve B21.
This device further comprises wears conduit 29, wears conduit 29 and is arranged on outside lifting arm 5, wearing conduit 29 both side ends and is connected and fixed with lifting arm 5 by wearing conduit support frame 27, wearing conduit 29 for wearing discharge lines, control line etc.
This device further comprises the photoelectric sensor 15 of robot ' s arm 3, robot forearm 4, lifting arm 5, rotating shaft 6 and adjusting center support 8 adaptation, photoelectric sensor 15 positions when resetting for each parts, so that accurately can locate according to input parameter when this device reuses.
The foregoing is only preferred embodiments of the present utility model, as long as realize the purpose of this utility model technical scheme with basic same approach, all belong within protection domain of the present utility model.
Claims (7)
1. a horizontal articulated robot, is characterized in that: comprise supporting seat, welding machine bracing frame, robot ' s arm, robot forearm, lifting arm, fixed support and adjusting center support;
Described welding machine bracing frame and robot ' s arm are structure as a whole, welding machine bracing frame and robot ' s arm are all fixedly connected with a mounting sleeve A, robot ' s arm end side is provided with mounting sleeve B, described mounting sleeve A inside is flexibly connected with supporting seat by gapless drive mechanism A, and is provided with connected large arm motor bottom gapless drive mechanism A;
Described robot forearm one side end is provided with mounting sleeve C, robot forearm end side is provided with the groove that is slidably installed, described mounting sleeve C inside is flexibly connected with the mounting sleeve B of robot ' s arm by gapless drive mechanism B, and is provided with connected forearm motor bottom gapless drive mechanism B;
What described lifting arm was slidably arranged in robot forearm by guide rail and tooth bar is slidably installed in groove, lifting arm is the body of hollow structure, a rotating shaft is provided with in lifting arm, rotating shaft top is connected with gapless drive mechanism C by shaft coupling, gapless drive mechanism C top is provided with connected shaft rotating motor, and gapless drive mechanism C is fixed on lifting arm top by terminal pad; Be connected and fixed by bearing and lifting arm inwall bottom rotating shaft, and end passes described lifting arm and described fixed support is connected and fixed, the lifting arm drive motors with guide rail adaptation is provided with in described robot forearm, lifting arm drive motors is connected with the input of one speed reducer, and the output of reductor is connected with a joggle by wheel and rack;
Be fixed with swinging axle motor inside described fixed support, swinging axle motor is flexibly connected with adjusting center support by gapless drive mechanism D;
Described adjusting center support is fixed with welding gun.
2. the horizontal articulated robot of one according to claim 1, is characterized in that: be provided with circular connection plug and rectangular patch plug bottom described welding machine bracing frame.
3. the horizontal articulated robot of one according to claim 1, is characterized in that: it is firmly spacing that described robot ' s arm is provided with robot forearm adaptation.
4. the horizontal articulated robot of one according to claim 3, is characterized in that: described be firmly spacingly arranged on the end of robot ' s arm end face near mounting sleeve B.
5. the horizontal articulated robot of one according to claim 1, is characterized in that: further comprises and wear conduit, wears conduit and is arranged on outside lifting arm, wears conduit both side ends by wearing conduit support frame and lifting arm is connected and fixed.
6. the horizontal articulated robot of one according to claim 1, is characterized in that: further comprises an electric brake mechanism be connected with lifting arm drive motors.
7. the horizontal articulated robot of one according to claim 1, is characterized in that: the photoelectric sensor that further comprises robot ' s arm, robot forearm, lifting arm, rotating shaft and adjusting center support adaptation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520628569.2U CN204819501U (en) | 2015-08-11 | 2015-08-11 | Horizontal articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520628569.2U CN204819501U (en) | 2015-08-11 | 2015-08-11 | Horizontal articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204819501U true CN204819501U (en) | 2015-12-02 |
Family
ID=54677142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520628569.2U Expired - Fee Related CN204819501U (en) | 2015-08-11 | 2015-08-11 | Horizontal articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204819501U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN107984138A (en) * | 2017-12-29 | 2018-05-04 | 上海海事大学 | A kind of intelligent automatic welding machinery hand |
-
2015
- 2015-08-11 CN CN201520628569.2U patent/CN204819501U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN107984138A (en) * | 2017-12-29 | 2018-05-04 | 上海海事大学 | A kind of intelligent automatic welding machinery hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 253000 Shandong Province, Dezhou City Industrial Park, Greider Tianqu Road No. 7 Patentee after: SHANDONG NAIKEN INTELLIGENT EQUIPMENT CO.,LTD. Address before: 253000 Shandong province Dezhou City Tianqu Industrial Park (East Village) Patentee before: DEZHOU NAKEEN INDUSTRIAL AUTOMATION EQUIPMENT Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 253000 workshop 404b, workshop 4, Shandong Walker Electromechanical Technology Co., Ltd., east of Zhongao Avenue, north of Tianqu East Road, Dezhou Economic Development Zone, Shandong Province Patentee after: Shandong naiken Intelligent Equipment Co.,Ltd. Address before: 253000 Shandong Province, Dezhou City Industrial Park, Greider Tianqu Road No. 7 Patentee before: SHANDONG NAIKEN INTELLIGENT EQUIPMENT Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |