Mounting structure of robot rotating mechanism

Abstract

The utility model discloses a mounting structure of a robot rotating mechanism, which relates to the technical field of robots and comprises a cable hidden mounting component which is composed of a bottom ring, a ring disc, an electric slip ring, a driven belt pulley, a mounting disc, a bearing, a hollow output shaft and an auxiliary frame. According to the utility model, cables of the end effector and the torque sensor sequentially penetrate through a first hole groove in the middle of the bottom ring, a second hole groove in the middle of the ring disc and an end groove in the lower end of the hollow output shaft, are led out from the middle of the hollow output shaft, and are electrically connected to the electric slip ring rotor; the problem of cable winding when the actuator rotates for multiple circles is avoided, a driven belt wheel is driven through a synchronous belt, so that a ring disc and a bottom ring are driven to rotate, and then an electric slip ring rotor part, a torque sensor, an auxiliary cable of the torque sensor, a tail end actuator and an auxiliary cable of the tail end actuator are driven to rotate positively and negatively for infinite times; single return rotation and cable interference are avoided, the use is convenient, and the use and maintenance cost is also reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an installation structure of a robot rotation mechanism. Background Art

[0002] A robot is a mechanical device or system that can perform tasks autonomously. It is usually composed of sensors, actuators, control systems, and power supplies. It can perform various tasks according to pre-set programs or instructions. It can work in different environments and replace humans to complete some monotonous, dangerous, or repetitive tasks. The movement mode of the actuator varies depending on the type of work.

[0003] However, in the prior art, when the actuator performs rotational work such as tightening, the robot drives the actuator to a specified position, and the actuator rotates after clamping. The actuator is powered and controlled by cables. Multiple rotations of the actuator may cause the cables and robot arms to become entangled. In order to avoid the entanglement problem, the robot often needs to return to its original position after performing one rotation. This will cause the actuator and other rotating mechanisms to rotate one more time, which invisibly increases energy consumption and the number of uses, greatly shortens its service life, and increases the company's usage costs. Utility Model Content

[0004] The purpose of the utility model is to solve the problems in the prior art that multiple rotations of the actuator may cause entanglement between cables and robot arms, etc., and that after the robot performs a rotation, it often needs to rotate back to the original position, which increases energy consumption and the number of uses, greatly shortens its service life, and increases the company's use costs. A mounting structure for a robot rotation mechanism is proposed to solve the problems in the prior art.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mounting structure of a robot rotating mechanism, comprising a cable hidden mounting assembly, the cable hidden mounting assembly consists of a bottom ring, a ring disk, an electric slip ring, a driven pulley, a mounting disk, a bearing, a hollow output shaft and an auxiliary frame, the hollow output shaft is fixedly mounted on the middle part of the rotor of the electric slip ring, the lower end of the hollow output shaft is fixedly mounted on the middle part of the bottom ring, an end groove is provided at the lower end of the hollow output shaft, a first hole groove is provided in the middle part of the bottom ring, an embedding groove is provided on the lower side of the ring disk, a second hole groove is provided on the inner wall of the embedding groove, the first hole groove is fixedly connected to the lower side of the ring disk through the embedding groove, the upper side of the ring disk is fixedly connected to the lower side of the driven pulley, and the hollow output shaft is located in the middle part of the ring disk.

[0006] Preferably, the annular disk is fixedly mounted in the middle of the bearing, and the mounting disk abuts against the upper side of the bearing.

[0007] Preferably, a four-axis robot is fixedly mounted on the lower side of the mounting plate by bolts, and the bearing is installed inside the front end of the four-axis robot.

[0008] Preferably, the auxiliary frame is located outside the hollow output shaft, and the auxiliary frame is fixedly connected to the inside of the front end of the four-axis robot.

[0009] Preferably, the stator of the electric slip ring is fixedly connected to the upper side of the front end of the four-axis robot by screws, and a torque sensor is provided on the lower side of the front end of the four-axis robot.

[0010] Preferably, the torque sensor is fixedly mounted on the lower side of the bottom ring, and the torque sensor is located below the hollow output shaft.

[0011] Preferably, an end effector is fixedly connected to the lower side of the torque sensor, and a synchronous belt is transmission-connected to the outer side of the driven pulley.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. In the utility model, the cables of the end effector and the torque sensor are inserted through the first hole groove in the middle of the bottom ring, the second hole groove in the middle of the ring disk and the end groove at the lower end of the hollow output shaft in sequence, and are led out from the middle of the hollow output shaft, and are electrically connected to the electric slip ring rotor. Compared with the traditional external cable, the hidden method simplifies the front-end structure of the robot, avoids the problem of cable entanglement when the actuator performs multiple rotations, and drives the driven pulley through the synchronous belt to drive the ring disk and the bottom ring to rotate, thereby driving the electric slip ring rotor part, the torque sensor and its attached cables and the end effector and its attached cables to rotate positively and negatively for an unlimited number of times, avoiding single return rotation and cable interference, and is easy to use and reduces the cost of use and maintenance.

[0014] 2. In the utility model, the bearing is installed inside the front end of the four-axis robot through the mounting plate, the ring plate passes through the bearing and is fixed to the driven pulley, the hollow output shaft is installed in the electric slip ring rotor, and the lower end of the hollow output shaft passes through the auxiliary frame, the driven pulley, the bearing and the ring plate in sequence, the torque sensor is fixed to the upper end of the end effector, and the torque sensor is connected to the lower end of the bottom ring by bolts, the lower end of the hollow output shaft is installed in the middle of the bottom ring by screws, and the cable is hidden at the front end of the robot, and the bottom ring and the ring plate are connected by screws. Thus, the entire cable hidden installation assembly is installed on the four-axis robot, which is simple to install and convenient for later maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional structural diagram of the installation structure position relationship of a robot rotation mechanism is proposed for the utility model;

[0016] Figure 2 The utility model provides a three-dimensional structural schematic diagram of a cable hidden installation component in an installation structure of a robot rotation mechanism;

[0017] Figure 3 The utility model provides a schematic diagram of the three-dimensional structure of the interior of a cable hidden installation component in the installation structure of a robot rotation mechanism;

[0018] Figure 4 The utility model provides a three-dimensional structural schematic diagram of a disassembled cable hidden installation component in an installation structure of a robot rotation mechanism.

[0019] Legend: 1. Four-axis robot; 2. Synchronous belt; 3. End effector; 4. Torque sensor; 5. Hidden cable installation assembly; 51. Bottom ring; 52. First hole groove; 53. Ring disk; 54. Electric slip ring; 55. Driven pulley; 56. Mounting disk; 57. Bearing; 58. Hollow output shaft; 59. End groove; 510. Embedded groove; 511. Second hole groove; 512. Auxiliary frame. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0022] Embodiment 1

[0023] like Figure 1-4As shown, the utility model provides an installation structure of a robot rotating mechanism, including a cable hidden installation assembly 5, the cable hidden installation assembly 5 is composed of a bottom ring 51, a ring plate 53, an electric slip ring 54, a driven pulley 55, a mounting plate 56, a bearing 57, a hollow output shaft 58 and an auxiliary frame 512, the hollow output shaft 58 is fixedly installed in the middle of the rotor of the electric slip ring 54, the lower end of the hollow output shaft 58 is fixedly installed with the middle of the bottom ring 51, and the lower end of the hollow output shaft 58 is opened There is an end groove 59, a first hole groove 52 is opened in the middle of the bottom ring 51, an embedding groove 510 is opened on the lower side of the ring disk 53, and a second hole groove 511 is opened on the inner wall of the embedding groove 510. The first hole groove 52 is fixedly connected to the lower side of the ring disk 53 through the embedding groove 510, and the upper side of the ring disk 53 is fixedly connected to the lower side of the driven pulley 55. The hollow output shaft 58 is located in the middle of the ring disk 53, and the ring disk 53 is fixedly installed in the middle of the bearing 57, and the mounting plate 56 abuts against the upper side of the bearing 57.

[0024] The specific settings and functions of this embodiment are described in detail below: the cables of the end effector 3 and the torque sensor 4 are inserted into the first hole groove 52 in the middle of the bottom ring 51, the second hole groove 511 in the middle of the ring disk 53 and the end groove 59 at the lower end of the hollow output shaft 58 in turn, and are led out from the middle of the hollow output shaft 58, and electrically connected to the rotor of the electric slip ring 54, thereby hiding the cables of the torque sensor 4 and the end effector 3 inside the front end of the four-axis robot 1. Compared with the traditional external cable, the hiding method simplifies the front end structure of the robot and avoids the problem of cable entanglement when the actuator rotates multiple circles. The driven pulley 55 is driven by the synchronous belt 2, thereby driving the ring disk 53 and the bottom ring 51 to rotate, and then driving the rotor part of the electric slip ring 54, the torque sensor 4 and its attached cables and the end effector 3 and its attached cables to rotate positively and negatively for an unlimited number of times, avoiding single return rotation and cable interference, extending the service life of the robot and related actuators, and reducing the use and maintenance costs.

[0025] Embodiment 2

[0026] like Figure 1-4 As shown, the four-axis robot 1 is fixedly installed on the lower side of the mounting plate 56 by bolts, the bearing 57 is installed inside the front end of the four-axis robot 1, the auxiliary frame 512 is located outside the shaft of the hollow output shaft 58, the auxiliary frame 512 is fixedly connected to the front end of the four-axis robot 1, the stator of the electric slip ring 54 is fixedly connected to the upper side of the front end of the four-axis robot 1 by screws, and a torque sensor 4 is arranged on the lower side of the front end of the four-axis robot 1. The torque sensor 4 is fixedly installed on the lower side of the bottom ring 51, and the torque sensor 4 is located below the hollow output shaft 58. The lower side of the torque sensor 4 is fixedly connected to the end effector 3, and the outer side of the driven pulley 55 is transmission-connected to the synchronous belt 2.

[0027] The effect achieved by the entire embodiment is that the bearing 57 is installed inside the front end of the four-axis robot 1 through the mounting plate 56, the ring plate 53 passes through the bearing 57 and is fixed to the driven pulley 55, the hollow output shaft 58 is installed in the rotor of the electric slip ring 54, and the lower end of the hollow output shaft 58 passes through the auxiliary frame 512, the driven pulley 55, the bearing 57 and the ring plate 53 in sequence, the torque sensor 4 is fixed to the upper end of the end effector 3, and the torque sensor 4 is connected to the lower end of the bottom ring 51 by bolts, and the lower end of the hollow output shaft 58 is installed on the bottom ring 51 by screws. The cable is hidden in the middle of the bottom ring 51, and the cable is hidden in the front end of the robot. The upper protrusion of the bottom ring 51 is inserted into the groove 510, and the bottom ring 51 and the ring disk 53 are connected by screws. Thus, the entire cable hidden installation assembly 5 is installed on the four-axis robot 1. The installation is simple and convenient for later maintenance. A torque sensor 4 is added between the four-axis robot 1 and the end effector 3 to ensure that the torque applied by the end effector 3 is the same each time, and the force of each rotation is consistent to ensure the work quality. The overall structure is controlled by the four-axis robot 1, and the control is simpler.

[0028] The method of using the device and the working principle are as follows: when using the installation structure of the robot rotation mechanism, a through groove is opened at the front end of the four-axis robot 1, and the cable hidden installation component 5 is placed in the through groove, wherein the installation disk 56 installs the bearing 57 inside the front end of the four-axis robot 1, the ring disk 53 passes through the bearing 57 and is fixed to the driven pulley 55, the hollow output shaft 58 is installed in the rotor of the electric slip ring 54, and the lower end of the hollow output shaft 58 passes through the auxiliary frame 512, the driven pulley 55, the bearing 57 and the ring disk 53 in sequence, the torque sensor 4 is fixed to the upper end of the end effector 3, and the torque sensor 4 is connected to the lower end of the bottom ring 51 by bolts, the lower end of the hollow output shaft 58 is installed in the middle of the bottom ring 51 by screws, and the cables of the end effector 3 and the torque sensor 4 are sequentially connected from the middle of the bottom ring 51 The cable is inserted into the first hole groove 52, the second hole groove 511 in the middle of the ring disk 53 and the end groove 59 at the lower end of the hollow output shaft 58, and is led out from the middle of the hollow output shaft 58, and is electrically connected to the rotor of the electric slip ring 54, thereby hiding the cables of the torque sensor 4 and the end effector 3 inside the front end of the four-axis robot 1. Finally, the upper protrusion of the bottom ring 51 is inserted into the embedding groove 510, and the bottom ring 51 and the ring disk 53 are connected with the help of screws. Thus, the entire cable hidden installation assembly 5 is installed to the front end of the four-axis robot 1, and the driven pulley 55 is driven by the synchronous belt 2, thereby driving the ring disk 53 and the bottom ring 51 to rotate, thereby driving the rotor part of the electric slip ring 54, the torque sensor 4 and its attached cables and the end effector 3 and its attached cables to rotate positively and negatively for an unlimited number of times, avoiding single return rotation and cable interference.

[0029] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A mounting structure for a robot rotation mechanism, characterized in that: The invention comprises a cable hidden installation assembly (5), wherein the cable hidden installation assembly (5) comprises a bottom ring (51), a ring plate (53), an electric slip ring (54), a driven pulley (55), a mounting plate (56), a bearing (57), a hollow output shaft (58) and an auxiliary frame (512), wherein the hollow output shaft (58) is fixedly mounted on the middle part of the rotor of the electric slip ring (54), the lower end of the hollow output shaft (58) is fixedly mounted on the middle part of the bottom ring (51), and the lower end of the hollow output shaft (58) is opened. An end groove (59) is provided, a first hole groove (52) is provided in the middle of the bottom ring (51), an embedding groove (510) is provided on the lower side of the ring disk (53), a second hole groove (511) is provided on the inner wall of the embedding groove (510), the first hole groove (52) is fixedly connected to the lower side of the ring disk (53) through the embedding groove (510), the upper side of the ring disk (53) is fixedly connected to the lower side of the driven pulley (55), and the hollow output shaft (58) is located in the middle of the ring disk (53).

2. The installation structure of a robot rotation mechanism according to claim 1, characterized in that: The annular disk (53) is fixedly mounted in the middle of the bearing (57), and the mounting disk (56) abuts against the upper side of the bearing (57).

3. The installation structure of a robot rotation mechanism according to claim 2, characterized in that: The four-axis robot (1) is fixedly mounted on the lower side of the mounting plate (56) by means of bolts, and the bearing (57) is mounted inside the front end of the four-axis robot (1).

4. The installation structure of a robot rotation mechanism according to claim 3, characterized in that: The auxiliary frame (512) is located outside the hollow output shaft (58), and the auxiliary frame (512) is fixedly connected to the inside of the front end of the four-axis robot (1).

5. The installation structure of a robot rotation mechanism according to claim 4, characterized in that: The stator of the electric slip ring (54) is fixedly connected to the upper side of the front end of the four-axis robot (1) by means of screws, and a torque sensor (4) is provided on the lower side of the front end of the four-axis robot (1).

6. The installation structure of a robot rotation mechanism according to claim 5, characterized in that: The torque sensor (4) is fixedly mounted on the lower side of the bottom ring (51), and the torque sensor (4) is located below the hollow output shaft (58).

7. The installation structure of a robot rotation mechanism according to claim 6, characterized in that: The lower side of the torque sensor (4) is fixedly connected to an end effector (3), and the outer side of the driven pulley (55) is transmission-connected to a synchronous belt (2).

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