Industrial Robots

Abstract

The present invention provides an industrial robot, comprising a base assembly, an extended arm assembly and a forearm assembly; the base assembly comprises an elbow housing and a hollow reducer fixedly mounted on the front end stop of the elbow housing; the first axial end of the extended arm assembly is fixedly mounted on the output end of the reducer by a first screw, the forearm assembly is fixedly mounted on the second axial end of the extended arm assembly by a second screw, and the mounting surface of the first axial end of the extended arm assembly is the same as the mounting surface of the forearm assembly, and the mounting surface of the second axial end of the extended arm assembly is the same as the mounting surface of the output end of the reducer. The embodiment of the present invention can improve the flexibility of the industrial robot assembly while increasing the arm length of the industrial robot and effectively increasing its working radius by making the end surfaces of the two axial ends of the extended arm assembly the same as the mounting surface of the forearm assembly and the mounting surface of the output end of the reducer.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automated production, and more specifically, to an industrial robot. Background Art

[0002] Industrial robots are important automation equipment in modern manufacturing, and are currently widely used in CNC (Computer numerical control) loading and unloading, mobile phone case polishing, metal polishing and other fields. At present, the demand for manufacturing equipment with industrial robots as the core is increasing.

[0003] Industrial robots are composed of three basic parts: the body, drive system and control system. The body is the base and actuator, including the arm, wrist and hand. Some existing industrial robots often have a limited working radius due to their arm length, which limits the working ability and scope of use of industrial robots. By adding extension parts to the original body structure of industrial robots, especially the arms, the arm length and working radius of industrial robots can be effectively increased, while shortening the development cycle of industrial robots and reducing development costs.

[0004] However, the aforementioned extension parts are often not flexible to increase or decrease, and the aforementioned parts added to increase the arm length will introduce assembly errors, thereby affecting the accuracy of the entire machine (including zero point position, positioning accuracy, etc.), and the aesthetics of the entire machine will also deteriorate. In addition, due to the aesthetics of industrial robots, the structural requirements of the extension arm and its connectors, and the lightweight and miniaturization of industrial robots, it is difficult to route the cables inside the industrial robot, and the difficulty of routing the cables at the corresponding positions will also increase. In addition, if the extension arm is manufactured by casting, if there are defects or burrs inside the casting, the cable wear will be aggravated. Summary of the invention

[0005] The embodiments of the present invention provide a new industrial robot to address the problem that the parts added to increase the arm length of the industrial robot cannot be added flexibly, which will introduce assembly errors, cause difficulties in internal wiring, and increase cable wear.

[0006] The technical solution for solving the above-mentioned technical problems in an embodiment of the present invention is to provide an industrial robot, comprising a base assembly, an extended arm assembly and a forearm assembly; the base assembly comprises an elbow shell and a hollow reducer fixedly mounted on the front end stop of the elbow shell; the axial first end of the extended arm assembly is fixedly mounted on the output end of the reducer by a first screw, the forearm assembly is fixedly mounted on the axial second end of the extended arm assembly by a second screw, and the mounting surface of the axial first end of the extended arm assembly is the same as the mounting surface of the forearm assembly, and the mounting surface of the axial second end of the extended arm assembly is the same as the mounting surface of the output end of the reducer.

[0007] Preferably, the industrial robot further comprises a first wire sleeve mounted and fixed on the elbow housing or the extended arm assembly, the main part of the first wire sleeve passes through the inner hole of the reducer, and there is a gap between the outer wall of the first wire sleeve and the inner wall of the inner hole of the reducer.

[0008] Preferably, the extension arm assembly includes an extension arm body, and the first end of the extension arm body has a first opening and a convex ring portion located on the inner side of the first opening; the first opening is adapted to the shape and size of the rigid-flexible wheel of the reducer, the convex ring portion is formed by extending toward the center from the inner wall of the extension arm body, and the convex ring portion has a first mounting hole; the first opening of the extension arm body is sleeved on the outside of the output end of the reducer, and the extension arm body is fixed to the rigid-flexible wheel of the reducer by a first screw passing through the first mounting hole.

[0009] Preferably, the extension arm assembly includes a fixing plate, and the fixing plate is fixed to the convex ring portion by the first screw; the fixing plate has a first through hole, one end of the main body of the first wire sleeve has a first mounting edge, and after the main body of the first wire sleeve passes through the first through hole, it is fixedly mounted on the fixing plate by the first mounting edge.

[0010] Preferably, the industrial robot further comprises a second wire sleeve, the second wire sleeve is fixed in the extension arm assembly, and the main body of the second wire sleeve is located on the extension line of the main body of the first wire sleeve.

[0011] Preferably, the extended arm assembly includes an extended arm body and a connecting plate, and the second end of the extended arm body has a second opening; the connecting plate is installed and fixed on the inner side of the second opening, and the forearm assembly is fixed on the end face of the connecting plate facing the forearm assembly by a second screw, and the shape and size of the end face of the connecting plate facing the forearm assembly are the same as the shape and size of the rigid-flexible wheel of the reducer.

[0012] Preferably, the connecting plate includes a second mounting edge protruding from the outer wall of the connecting plate, and the second mounting edge includes a second mounting hole and a first pin hole, a second pin hole is provided at the second end of the extension arm body at a position corresponding to the first pin hole, and the connecting plate is installed in position by inserting a first pin in the first pin hole and the second pin hole, and is fixedly mounted on the extension arm body by a screw passing through the second mounting hole.

[0013] Preferably, the end surface of the connecting plate facing one end of the forearm assembly has a third pin hole, the mounting surface of the forearm assembly has a fourth pin hole corresponding to the third pin hole, and the forearm assembly is installed in position by inserting a second pin into the third pin hole and the fourth pin hole.

[0014] Preferably, the second wire passing sleeve includes a third mounting edge protruding from the outer wall of the main body of the second wire passing sleeve, and the second wire passing sleeve is fixedly mounted on the end surface of the connecting plate away from the forearm assembly through the third mounting edge.

[0015] Preferably, an end surface of the connecting plate facing the forearm assembly protrudes beyond an end surface of the second mounting edge, and the forearm assembly includes a convex edge surrounding the outer side of the second mounting edge.

[0016] The industrial robot of the embodiment of the present invention increases the arm length of the industrial robot and effectively increases its working radius by making the end faces of the two axial ends of the extended arm assembly respectively the same as the mounting surface of the forearm assembly and the mounting surface of the output end of the reducer. In addition, the embodiment of the present invention improves the internal wiring of the industrial robot and solves the problem of severe cable wear by adding a wire sleeve in the extended arm assembly. In addition, the embodiment of the present invention also ensures the assembly accuracy of the industrial robot while taking into account the beauty of the industrial robot through a reasonable assembly structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the structure of an industrial robot provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic cross-sectional structure diagram of an extended arm of an industrial robot provided by an embodiment of the present invention;

[0019] Figure 3 It is a schematic structural diagram of the second end of the extended arm of the industrial robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figure 1, which is a schematic diagram of the structure of an industrial robot provided by an embodiment of the present invention. The industrial robot can be applied to CNC loading and unloading of automated equipment, mobile phone shell polishing, metal polishing, etc., and the industrial robot can be specifically a six-axis robot, a four-axis robot, a five-axis robot, a seven-axis robot, etc. The industrial robot of this embodiment includes a base assembly 1, an extended arm assembly 2 and a forearm assembly 3. The base assembly 1 specifically includes a base, one or more rotating arm assemblies and an elbow assembly, and the first end of the extended arm assembly 2 is fixedly mounted to the elbow assembly; the forearm assembly 3 includes a forearm assembly, a wrist, etc., and the forearm assembly 3 is fixedly mounted to the extended arm assembly 2.

[0022] Specifically, combined Figure 2 As shown, the elbow assembly includes an elbow housing 11 and a hollow reducer fixed to the front end stop of the elbow housing 11 (the elbow housing 11 may also have a motor connected to the input shaft of the reducer). The first axial end of the extended arm assembly 2 is fixedly mounted on the output end of the reducer (for example, the rigid-flexible wheel 121 of the reducer, when the reducer is a non-integrated structure and the input shaft needs to be supported and fixed, a bearing needs to be added between the wave generator of the reducer and the extended arm assembly 2) by a first screw 51, so that the extended arm assembly 2 can rotate under the drive of the reducer; the forearm assembly 3 is fixedly mounted on the second axial end of the extended arm assembly 2 by a second screw 52 (the side where the forearm assembly 3 is connected to the extended arm assembly 2 has a reducer fixing hole), and the mounting surface of the first axial end of the extended arm assembly 2 is the same as the mounting surface of the forearm assembly 3, and the mounting surface of the second axial end of the extended arm assembly 2 is the same as the mounting surface of the output end of the reducer.

[0023] The above industrial robot can increase the arm length of the industrial robot and effectively increase its working radius while improving the flexibility of the industrial robot assembly by making the end faces of the two ends of the axial direction of the extension arm assembly 2 respectively the same as the mounting surface of the forearm assembly 3 and the mounting surface of the output end of the reducer of the elbow. That is, without installing the extension arm assembly 2, the forearm assembly 3 can be directly installed and fixed to the base assembly 1 (that is, the output shaft of the reducer of the elbow), thereby forming an industrial robot with a relatively short arm length, which is suitable for occasions where the arm length requirement is relatively short.

[0024] In one embodiment of the present invention, in order to facilitate the internal wiring of the industrial robot, the industrial robot further includes a first wire sleeve 41, which is in the shape of a hollow tube and is fixed to the elbow housing 11 or the extended arm assembly 2. The main body of the first wire sleeve 41 passes through the inner hole of the hollow reducer, and there is a gap between the outer wall of the first wire sleeve 41 and the inner wall of the inner hole of the reducer, that is, the first wire sleeve 41 does not contact the inner hole of the reducer and will not rotate with the reducer. The cables led out from the elbow (such as cables for powering the motor in the forearm assembly 3, control signal cables, etc.) enter the extended arm assembly through the inner hole of the first wire sleeve 41, and finally enter the forearm assembly 3.

[0025] The first wire sleeve 41 facilitates the cable to be led out from the elbow, avoids friction between the cable and the wave generator 122 of the reducer, and reduces the wear of the cable. In order to reduce weight as much as possible, the first wire sleeve 41 can be made of a lighter material; and in order to reduce wear as much as possible, the first wire sleeve 41 should be made of a smooth material or be polished.

[0026] In another embodiment of the present invention, the extension arm assembly 2 includes an extension arm body 21. In particular, in order to reduce costs, the extension arm body 21 can be made of cast iron. The first end of the extension arm body 21 has a first opening and a convex ring portion 211 located on the inner side (radial) of the first opening (there is a certain distance between the convex ring portion 211 and the end face of the extension arm body 21, that is, the convex ring portion 211 is also located on the inner side of the axial direction of the first opening), wherein the first opening is adapted to the shape and size of the rigid-flexible wheel 121 of the reducer, the convex ring portion 211 is formed by extending from the inner wall of the extension arm body 21 to the center, and the convex ring portion 211 has a plurality of first mounting holes. The first opening of the extension arm body 21 is sleeved outside the output end of the reducer, the convex ring portion 211 inside the first opening is attached to the end face of the rigid-flexible wheel 121, and the extension arm body 21 is fixed to the rigid-flexible wheel 121 of the reducer by a first screw 51 passing through the first mounting hole. The extension arm assembly 2 can hide the fixing portion with the output shaft of the reducer through the first opening and the convex ring portion 211, thereby preventing the first screw 51 from being exposed and improving the aesthetics of the whole machine.

[0027] Specifically, the first wire sleeve 41 can be installed and fixed to the extension arm assembly 2 in the following manner: the extension arm assembly 2 includes a fixing plate 22, and the fixing plate 22 is fixed to the convex ring portion 211 by a first screw 51 (that is, the first screw 51 passes through the through hole on the fixing plate 22 and the first mounting hole of the convex ring portion 211 at the same time, and is locked and fixed to the rigid-flexible wheel 121 of the reducer); the fixing plate 22 also has a first through hole whose aperture matches the size of the outer wall of the first wire sleeve 41, and one end of the main body of the first wire sleeve 41 has a first mounting edge 411, and after the main body of the first wire sleeve 41 passes through the first through hole, it is fixedly installed (screwed) on the fixing plate 22 by the first mounting edge 411. In addition, the fixing plate 22 can also be fixed in the elbow housing 11, and the first wire sleeve 41 is also fixedly installed (screwed) on the fixing plate 22 by the first mounting edge 411.

[0028] During installation, the fixing plate 22 can be installed on the elbow housing 11 or the extension arm body 21 first, and then the first wire sleeve 41 can be installed. In the case of using the fixing plate 22 for transition, if there are transmission or structural restrictions, the fixing plate 22 cannot contact the elbow housing 11 or the extension arm body 21. In order to ensure that the first wire sleeve 41 does not interfere with the inner hole of the reducer, an adjustable (such as a U-shaped groove) fixing hole position can be set on the fixing plate, and the fixing can be positioned and installed by the tooling. Specifically, the tooling can be regarded as a special pin with a size matching the inner hole of the reducer and the fixing plate 22. During assembly, the fixing plate 22 is first placed in the position to be installed, and then the tooling is inserted. After ensuring that the inner hole of the reducer and the first through hole of the fixing plate are concentric, the fixing plate is locked with screws, the tooling is removed, the first wire sleeve 41 is installed, and the first wire sleeve 41 is fastened to the fixing plate 22 to complete the assembly of the first wire sleeve 41. When the fixing plate 22 is set in the elbow housing 11, the fixing plate 22 can also be installed with the motor of the joint.

[0029] In order to maximize the inner hole of the first wire sleeve 41, the mounting hole of the first wire sleeve 41 (ie, the first through hole on the fixing plate 22) needs to be coaxial with the reducer fixing hole, thereby providing more passing controls for the cable.

[0030] In order to reduce the wear of the cable in the extension arm body 21, especially when the extension arm body 21 is made of cast iron, a second wire sleeve 42 can be added to the extension arm body 21, and the second wire sleeve 42 is fixed in the extension arm body 21 (fixed with the forearm assembly 3 or fixed with the extension arm body 21), and the main part of the second wire sleeve 42 is located on the extension line of the main part of the first wire sleeve 41, for example, the central axis of the first wire sleeve 41 and the second wire sleeve 42 is the same, and one end of the second wire sleeve 42 is close to the first wire sleeve 41, and the other end is flush with the inner end surface of the forearm assembly 3, so that the cable led out of the first wire sleeve 41 does not need to be bent and enters the forearm assembly through the second wire sleeve 42, which is convenient for routing. In order to reduce weight as much as possible, the second wire sleeve 42 can be made of a lighter material, and at the same time, the second wire sleeve 42 is preferably made of a smooth material or polished.

[0031] In particular, the second wire sleeve 42 can also be replaced by a flexible spring, which can also reduce the wear of the cable in the extension arm body 21. When the flexible spring is used, after the cable passes through the extension arm, the flexible spring is sleeved on the cable and further fixed.

[0032] In another embodiment of the present invention, the above-mentioned extended arm assembly 2 includes a connecting plate 23 in addition to the extended arm body 21, and the second end of the extended arm body 21 (i.e., the end adjacent to the forearm assembly 3) has a second opening. The connecting plate 23 is fixedly mounted on the inner side of the second opening by a third screw 53, and the forearm assembly 3 is fixedly mounted on the end face of the connecting plate 23 facing the forearm assembly 3 by a second screw 52, ​​and the shape and size of the end face of the connecting plate 23 facing the forearm assembly 3 are the same as the shape and size of the rigid-flexible wheel 121 of the reducer. In the above manner, the third screw 53 and the second screw 52 can be hidden to the inner side of the second opening (i.e., the inner side of the extended arm body 21), thereby ensuring that the connecting screws between the extended arm assembly 2 and the forearm assembly 3 are built-in, and ensuring the beauty of the industrial robot.

[0033] In one embodiment of the present invention, the second wire sleeve 42 includes a third mounting edge 421 protruding from the outer wall of the main body of the second wire sleeve 42, and the second wire sleeve 42 is fixedly mounted on the end surface of the connecting plate 23 away from the forearm assembly 3 through the third mounting edge 421. The third mounting edge 421 can be located at the axial middle end of the main body of the second wire sleeve 42, which can improve its force stability.

[0034] In another embodiment of the present invention, the connecting plate 23 includes a second mounting edge 231 protruding from the outer wall of the main body of the connecting plate 23, and the second mounting edge 231 is provided with a second mounting hole and a first pin hole 2311. Correspondingly, a second pin hole is provided at a position corresponding to the first pin hole 2311 on the inner side of the second opening of the second end of the extension arm main body 21, and the connecting plate 23 is installed in position by inserting the first pin in the first pin hole 2311 and the second pin hole, and is locked and fixed on the extension arm main body 21 by the third screw 53 passing through the second mounting hole. In actual application, the first pin can be replaced by a detachable pin tooling, and taken out after tightening.

[0035] In addition, the end face of the connecting plate 23 facing the forearm assembly 3 has a third pin hole 2321, and correspondingly, the mounting surface of the forearm assembly 3 has a fourth pin hole corresponding to the third pin hole 2321, and the forearm assembly 3 is installed by aligning the second pin inserted in the third pin hole 2321 and the fourth pin hole, and then the forearm assembly 3 is locked and fixed to the extension arm body 21 by a second screw.

[0036] The assembly accuracy between the extension arm assembly 2 and the forearm assembly 3 can be greatly improved by means of the above-mentioned pin and pin-controlled alignment structure.

[0037] In addition, the end surface of the connecting plate 23 facing the forearm assembly 3 can be made to protrude beyond the end surface of the second mounting edge 231, that is, the end surface of the connecting plate 23 facing the forearm assembly 3 and the end surface of the second mounting edge 231 form a step shape, and the forearm assembly 3 also includes a protruding edge 31 wrapped around the outer side of the second mounting edge, thereby ensuring the beauty of the connection part between the extended arm body 21 and the forearm assembly 3.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An industrial robot, characterized in that: It comprises a base assembly, an extended arm assembly and a forearm assembly; the base assembly comprises an elbow housing and a hollow reducer fixedly mounted on the front end stop of the elbow housing; the first axial end of the extended arm assembly is fixedly mounted on the output end of the reducer by a first screw, the forearm assembly is fixedly mounted on the second axial end of the extended arm assembly by a second screw, and the mounting surface of the first axial end of the extended arm assembly is the same as the mounting surface of the forearm assembly, and the mounting surface of the second axial end of the extended arm assembly is the same as the mounting surface of the output end of the reducer; The extension arm assembly includes an extension arm body, and the first end of the extension arm body has a first opening and a convex ring portion located inside the first opening; the first opening is adapted to the shape and size of the rigid-flexible wheel of the reducer, the convex ring portion is formed by extending from the inner wall of the extension arm body toward the center, and the convex ring portion has a first mounting hole; the first opening of the extension arm body is sleeved outside the output end of the reducer, and the extension arm body is fixed to the rigid-flexible wheel of the reducer by a first screw passing through the first mounting hole; The extended arm assembly includes an extended arm body and a connecting plate, and the second end of the extended arm body has a second opening; the connecting plate is installed and fixed on the inner side of the second opening, and the forearm assembly is fixedly installed on the end face of the connecting plate facing the forearm assembly by a second screw, and the shape and size of the end face of the connecting plate facing the forearm assembly are the same as the shape and size of the rigid-flexible wheel of the reducer.

2. The industrial robot according to claim 1, characterized in that: The industrial robot also includes a first wire sleeve installed and fixed on the elbow housing or the extended arm assembly, the main part of the first wire sleeve passes through the inner hole of the reducer, and there is a gap between the outer wall of the first wire sleeve and the inner wall of the inner hole of the reducer.

3. The industrial robot according to claim 2, characterized in that: The extension arm assembly includes a fixing plate, and the fixing plate is fixed to the convex ring portion by the first screw; the fixing plate has a first through hole, one end of the main body of the first wire sleeve has a first mounting edge, and after the main body of the first wire sleeve passes through the first through hole, it is fixedly mounted on the fixing plate by the first mounting edge.

4. The industrial robot according to claim 2, characterized in that: The industrial robot further comprises a second wire-passing sleeve, which is fixed in the extension arm assembly, and a main body of the second wire-passing sleeve is located on an extension line of the main body of the first wire-passing sleeve.

5. The industrial robot according to claim 4, characterized in that: The connecting plate includes a second mounting edge protruding from the outer wall of the connecting plate, and the second mounting edge includes a second mounting hole and a first pin hole. A second pin hole is provided at a position corresponding to the first pin hole at the second end of the extension arm body, and the connecting plate is installed in a aligned manner by means of a first pin inserted into the first pin hole and the second pin hole, and is fixedly installed on the extension arm body by means of a screw passing through the second mounting hole.

6. The industrial robot according to claim 5, characterized in that: The end surface of the connecting plate facing one end of the forearm assembly has a third pin hole, the mounting surface of the forearm assembly has a fourth pin hole corresponding to the third pin hole, and the forearm assembly is mounted in position by inserting a second pin in the third pin hole and the fourth pin hole.

7. The industrial robot according to claim 5, characterized in that: The second wire passing sleeve includes a third mounting edge protruding from the outer wall of the main body of the second wire passing sleeve, and the second wire passing sleeve is fixedly mounted on the end surface of the connecting plate away from the forearm assembly through the third mounting edge.

8. The industrial robot according to claim 5, characterized in that: The end surface of the connecting plate facing the forearm assembly protrudes beyond the end surface of the second mounting edge, and the forearm assembly includes a convex edge surrounding the outer side of the second mounting edge.

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