Robot suspension harness supporting device

Abstract

The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robots, and particularly relates to a robot suspension harness supporting device which comprises a small arm cylinder, an over-definition supporting metal plate and an elbow supporting metal plate. The other end of the small arm cylinder is connected with the small arm casting, and the over-definition supporting metal plate is arranged in a cavity of the small arm casting and is in over-definition connection with the small arm casting and the five-axis motor contained in the cavity of the small arm casting. The elbow supporting metal plate is arranged in a cavity of the elbow casting and connected with the elbow casting, the robot suspension harness sequentially penetrates through the small arm cylinder and the speed reducer center cylinder, and the two ends of the robot suspension harness are connected with the over-definition supporting metal plate and the elbow supporting metal plate respectively. Under any posture of any six-degree-of-freedom vertical multi-joint industrial robot of the robot, the suspension part of the suspension wire harness of the robot moves and does not contact with the inner wall of the robot, the service life is long, and noise is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robots, and in particular relates to a robot suspension harness support device. Background Art

[0002] At present, six-degree-of-freedom vertical multi-jointed industrial robots are widely used in various industries. The suspension harness from the elbow to the forearm of the six-degree-of-freedom vertical multi-jointed industrial robot is a motion harness. Due to the concave space of the forearm casting and the position of the motor embedded in it, the position of the cable tie at one end of the suspension harness is a restricted operating space, and the direct cable connection operation cannot be completed manually. At the same time, the motor fixing sheet metal inserted into the concave space of the forearm casting is a cantilever structure, which has problems of vibration and high noise. Utility Model Content

[0003] In view of the problems existing in the prior art, the purpose of the utility model is to provide a robot suspension harness support device.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a robot suspension harness supporting device, which is used for supporting the robot suspension harness between the robot elbow and forearm, the device comprises a forearm tube, an over-defined support sheet metal and an elbow support sheet metal, wherein one end of the forearm tube is connected to the output end of a four-axis reducer installed on an elbow casting, the center of the four-axis reducer has a reducer center tube, the other end of the forearm tube is connected to the forearm casting, the over-defined support sheet metal is arranged in the cavity of the forearm casting, and is over-definedly connected to the forearm casting and a five-axis motor accommodated in the cavity of the forearm casting; the elbow support sheet metal is arranged in the cavity of the elbow casting, and is connected to the elbow casting, the robot suspension harness passes through the forearm tube and the reducer center tube in sequence, and the two ends are respectively connected to the over-defined support sheet metal and the elbow support sheet metal.

[0006] The connection points of the robot suspension harness, the over-defined support sheet metal and the elbow support sheet metal are located near the axis of the reducer center cylinder.

[0007] The elbow support sheet metal is a Z-shaped structure, with one end connected to the elbow casting and the other end connected to the robot suspension harness.

[0008] After the over-defined support sheet metal is over-definedly connected to the forearm casting and the five-axis motor, the over-defined support sheet metal is in a spatially distorted state.

[0009] The over-defined supporting sheet metal includes a sheet metal ring, an auxiliary axial sheet metal and an axial sheet metal, wherein the sheet metal ring is spatially mounted in the middle of the five-axis motor and is flush with the axis of the reducer center tube, and the edge of the sheet metal ring has three auxiliary axial sheet metals and one axial sheet metal extending axially, the ends of the three auxiliary axial sheet metals are bent inwardly with auxiliary radial sheet metals, and the three auxiliary radial sheet metals are all connected to the bottom of the five-axis motor; the length of the axial sheet metal is shorter than that of the auxiliary axial sheet metal, the ends of the axial sheet metal are bent outwardly with radial sheet metals, and the radial sheet metal is connected to the forearm casting; the robot suspension harness is fixed on the sheet metal ring.

[0010] Each of the three auxiliary radial sheet metals is provided with an auxiliary screw hole, which is connected to the bottom of the five-axis motor through screws; the radial sheet metal is provided with four screw holes arranged in a square shape, which are connected to the forearm casting through four screws.

[0011] The sheet metal ring is a square structure with four arc corners; the three auxiliary axial sheet metals are respectively arranged on three surfaces of the square structure, and the axial sheet metal is arranged at a corner of the square structure.

[0012] The robot suspension harness is fixedly connected to the sheet metal ring via a cable tie; a plurality of cable tie notches are symmetrically provided on both sides of the axial sheet metal.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot suspension harness support device, which effectively solves the problem that the position of the tie at one end of the robot suspension harness is in a restricted operating space, and the two ends of the robot suspension harness are first fixed on two supporting sheet metals, and the screwing operation space of the two supporting sheet metals is in the shallow concave space of the casting, which is convenient for tightening operation. The spatial torsion part of the robot suspension harness, in any posture of the six-degree-of-freedom vertical multi-joint industrial robot, the suspension part of the robot suspension harness does not contact the inner wall of the robot when it moves, has a long service life, and is noiseless. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of a robot suspension harness support device according to the utility model;

[0015] Figure 2 It is a partial cross-sectional view of a robot suspension harness support device of the utility model;

[0016] Figure 3 It is a schematic diagram of the structure of the over-defined support sheet metal in the utility model.

[0017] In the figure: 1-elbow casting, 2-four-axis reducer, 3-forearm adapter flange, 4-forearm tube, 5-forearm casting, 6-five-axis motor, 7-overdefined support sheet metal, 701-sheet metal ring, 702-auxiliary axial sheet metal, 703-auxiliary radial sheet metal, 704-auxiliary screw hole, 705-axial sheet metal, 706-radial sheet metal, 707-cable tie notch, 708-screw hole, 709-cable tie position at one end of the robot suspension harness, 8-elbow support sheet metal, 9-suspension harness, 10-reducer center tube. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 , Figure 2 As shown, the utility model provides a robot suspension harness support device for supporting a robot suspension harness 9 between the robot elbow and forearm, the device comprising a forearm tube 4, an over-defined support sheet metal 7 and an elbow support sheet metal 8, wherein one end of the forearm tube 4 is connected to the output end of a four-axis reducer 2 mounted on an elbow casting 1, the center of the four-axis reducer 2 has a reducer center tube 10, the other end of the forearm tube 4 is connected to the forearm casting 5, the over-defined support sheet metal 7 is arranged in the cavity of the forearm casting 5, and is over-definedly connected to the forearm casting 5 and a five-axis motor 6 accommodated in the cavity of the forearm casting 5; the elbow support sheet metal 8 is arranged in the cavity of the elbow casting 1, and is connected to the elbow casting 1, the robot suspension harness 9 passes through the forearm tube 4 and the reducer center tube 10 in sequence, and the two ends are respectively connected to the over-defined support sheet metal 7 and the elbow support sheet metal 8, and the robot suspension harness 9 can withstand a torsion of ±360°.

[0020] like Figure 1 As shown, in the embodiment of the utility model, the connection points of the robot suspension harness 9 with the over-defined support sheet metal 7 and the elbow support sheet metal 8 are located near the axis of the reducer center cylinder 10. When the connection points at both ends are fixed, the robot suspension harness 9 is suspended in the reducer center cylinder 10. The robot suspension harness 9 does not contact the inner wall of the reducer center cylinder 10. When the forearm casting 5 and the elbow casting 1 rotate relative to each other, the robot suspension harness 9 bears the torsion, and the torsion rotation angle is ±360°.

[0021] In the embodiment of the utility model, the elbow support sheet metal 8 is a Z-shaped structure, and one end is connected to the elbow casting 1 by a bolt, and the other end is tied to the robot suspension harness 9 by a cable tie. The position of the other end of the Z-shaped structure is flush with the axis of the reducer center tube 10.

[0022] In the embodiment of the utility model, after the over-defined support sheet metal 7 is over-definedly connected with the forearm casting 5 and the five-axis motor 6, the over-defined support sheet metal 7 is in a spatially distorted state.

[0023] like Figure 2 , Figure 3 As shown, in the embodiment of the utility model, the over-defined support sheet metal 7 includes a sheet metal ring 701, an auxiliary axial sheet metal 702 and an axial sheet metal 705, wherein the sheet metal ring 701 is spatially mounted in the middle of the five-axis motor 6 and is flush with the axis of the reducer center tube 10, and the edge of the sheet metal ring 701 has three auxiliary axial sheet metals 702 and one axial sheet metal 705 extending axially, and the ends of the three auxiliary axial sheet metals 702 are bent inwardly to have auxiliary radial sheet metals 703, and the three auxiliary radial sheet metals 703 are all connected to the bottom of the five-axis motor 6; the length of the axial sheet metal 705 is shorter than that of the auxiliary axial sheet metal 702, and the end of the axial sheet metal 705 is bent outwardly to have a radial sheet metal 706, and the radial sheet metal 706 is connected to the forearm casting 5; the robot suspension harness 9 is fixed to the sheet metal ring 701 by a cable tie.

[0024] In the embodiment of the utility model, each of the three auxiliary radial sheet metals 703 is provided with an auxiliary screw hole 704, and the auxiliary screw hole 704 is connected to the bottom of the five-axis motor 6 through screws; the radial sheet metal 706 is provided with four screw holes 708 arranged in a square, and the four screw holes 708 are connected to the forearm casting 5 through four screws.

[0025] Preferably, the sheet metal ring 701 is a square structure with arc corners at the four corners; three auxiliary axial sheet metals 702 are respectively arranged on the three faces of the square structure, the axial sheet metal 705 is arranged at a corner of the square structure, and multiple cable tie notches 707 are symmetrically provided on both sides of the axial sheet metal 705.

[0026] In the embodiment of the utility model, the elbow casting 1 is a component between the third axis and the fourth axis of the six-degree-of-freedom vertical multi-joint industrial robot. The four-axis reducer 2 is a hollow RV200-C series machine reducer. The housing of the four-axis reducer 2 is fixed to the elbow casting 1, and the output shaft of the four-axis reducer 2 is connected to the forearm casting 5 in turn through the forearm adapter flange 3 and the forearm tube 4. A five-axis motor 6 is placed in the forearm casting 5, and the axial direction of the five-axis motor 6 is orthogonal to the axial direction of the four-axis reducer 2.

[0027] Specifically, the overdefined support sheet metal 7 is connected to the forearm casting 5 and the five-axis motor 6 as an overdefined threaded light hole staggered connection. Therefore, the change in the degree of the overdefined threaded light hole staggered connection can change the installation degree of the overdefined support sheet metal 7 spatial distortion, and then change the natural frequency of the overdefined support sheet metal 7, so as to avoid the system excitation force frequency, that is, to avoid the vibration of the overdefined support sheet metal 7. The overdefinition of the overdefined support sheet metal 7 only requires two holes on one side, while the utility model is an overdefined assembly problem of theoretical mechanics with seven holes on four sides. The definition of the threaded light hole staggered connection is that the design position of the threaded light hole of the overdefined support sheet metal 7 will cause the overdefined support sheet metal 7 to be spatially distorted after installation.

[0028] The utility model provides a robot suspension harness support device, which solves the problem that the tie position at one end of the robot suspension harness is within a restricted operating space. Similarly, the over-defined support sheet metal 7 inserted into the forearm casting 5 is a cantilever structure, which solves the vibration problem of the over-defined support sheet metal 7, and the screwing operation space of the over-defined support sheet metal is in a shallow concave space of the casting. The spatial torsion part of the robot suspension harness 9 does not contact the inner wall of the robot in any posture of the six-degree-of-freedom vertical multi-joint industrial robot, has a long service life, and is noiseless.

[0029] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A robot suspension harness support device for supporting a robot suspension harness (9) between a robot elbow and a forearm, characterized in that: The device comprises a forearm tube (4), an over-defined support sheet metal (7) and an elbow support sheet metal (8), wherein one end of the forearm tube (4) is connected to the output end of a four-axis reducer (2) mounted on an elbow casting (1), the center of the four-axis reducer (2) has a reducer center tube (10), the other end of the forearm tube (4) is connected to the forearm casting (5), the over-defined support sheet metal (7) is arranged in the cavity of the forearm casting (5), and is over-definedly connected to the forearm casting (5) and a five-axis motor (6) accommodated in the cavity of the forearm casting (5); the elbow support sheet metal (8) is arranged in the cavity of the elbow casting (1) and is connected to the elbow casting (1), and a robot suspension harness (9) passes through the forearm tube (4) and the reducer center tube (10) in sequence, and the two ends are respectively connected to the over-defined support sheet metal (7) and the elbow support sheet metal (8).

2. The robot suspension harness support device according to claim 1, characterized in that: The connection point between the robot suspension harness (9) and the over-defined support sheet metal (7) and the elbow support sheet metal (8) is located near the axis of the reducer center cylinder (10).

3. The robot suspension harness support device according to claim 2, characterized in that: The elbow support sheet metal (8) is a Z-shaped structure, one end of which is connected to the elbow casting (1), and the other end of which is connected to the robot suspension harness (9).

4. The robot suspension harness support device according to claim 1, characterized in that: After the over-defined support sheet metal (7) is over-definedly connected to the forearm casting (5) and the five-axis motor (6), the over-defined support sheet metal (7) is in a spatially distorted state.

5. The robot suspension harness support device according to claim 4, characterized in that: The over-defined support sheet metal (7) comprises a sheet metal ring (701), an auxiliary axial sheet metal (702) and an axial sheet metal (705), wherein the sheet metal ring (701) is spatially mounted in the middle of the five-axis motor (6) and is flush with the axis of the reducer center tube (10); three auxiliary axial sheet metals (702) and one axial sheet metal (705) are axially extended from the edge of the sheet metal ring (701); the ends of the three auxiliary axial sheet metals (702) are bent inwardly to form auxiliary radial sheet metals (703); the three auxiliary radial sheet metals (703) are all connected to the bottom of the five-axis motor (6); the length of the axial sheet metal (705) is shorter than that of the auxiliary axial sheet metal (702); the ends of the axial sheet metal (705) are bent outwardly to form radial sheet metals (706); the radial sheet metal (706) is connected to the forearm casting (5); the robot suspension harness (9) is fixed on the sheet metal ring (701).

6. The robot suspension harness support device according to claim 5, characterized in that: Each of the three auxiliary radial sheet metals (703) is provided with an auxiliary screw hole (704), and the auxiliary screw hole (704) is connected to the bottom of the five-axis motor (6) through screws; the radial sheet metal (706) is provided with four screw holes (708) arranged in a square shape, and the four screw holes (708) are connected to the forearm casting (5) through four screws.

7. The robot suspension harness support device according to claim 5, characterized in that: The sheet metal ring (701) is a square structure, and the four corners are arc corners; the three auxiliary axial sheet metals (702) are respectively arranged on the three faces of the square structure, and the axial sheet metal (705) is arranged at a corner of the square structure.

8. The robot suspension harness support device according to claim 5, characterized in that: The robot suspension harness (9) is fixedly connected to the sheet metal ring (701) via a cable tie; a plurality of cable tie notches (707) are symmetrically provided on both sides of the axial sheet metal (705).

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