CN103817687A - Six degrees of freedom lightweight modular robot - Google Patents
Six degrees of freedom lightweight modular robot Download PDFInfo
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- CN103817687A CN103817687A CN201410086896.XA CN201410086896A CN103817687A CN 103817687 A CN103817687 A CN 103817687A CN 201410086896 A CN201410086896 A CN 201410086896A CN 103817687 A CN103817687 A CN 103817687A
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- 239000003638 chemical reducing agent Substances 0.000 description 1
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Abstract
The invention discloses a robot, and especially relates to a six degrees of freedom lightweight modular robot. The six degrees of freedom lightweight modular robot has a compact structure and higher carrying capacity. The six degrees of freedom lightweight modular robot comprises a base, a No.1 arm, a No.2 arm and a joint group, wherein the joint group comprises six joints, each joint comprises a rotating end which is capable of carrying out 360-degree rotation and a fixed end perpendicular to the rotation plane of the rotating end, the rotating end and the fixed end of the No.1 joint are connected respectively with the base and the rotating end of the No.2 joint, the fixed end of the No.2 joint is fixed on one end of the No.1 arm, the rotating end and the fixed end of the No.3 joint are connected respectively with the connection section at the other end of No.1 arm and one end of the No.2 arm, the rotating end and the fixed end of the No.4 joint are connected respectively with the fixed end of the No.5 joint and the other end of the No.2 arm, the rotating end of the No.5 joint is connected with the fixed end of the No.6 joint, and the base, the No.1 arm, the No.2 arm and the joint group are respectively of a hollow tubular structure internally provided with a cable.
Description
Technical field
The present invention relates to Robotics field, particularly relate to a kind of 6DOF lightweight modules robot.
Background technology
Industrial robot has extremely important effect in productive life, all the time, international robot market is that some are heavy type, costliness and the clumsy robot of this manufacturing industry design by engineer, but in application in practice, be not that all industrial flow links all need large-scale robot to bear heavier load, contrary, light, quick mechanical arm has been born assembling and extraction work more and more, and the robot of small-sized low noise should be reply industrial enterprise's automation and rationalization demand the most simply, the most rational solution.
But the kinematic accuracy in the each joint of robot, bearing capacity, robust motion etc. are all subject to the impact of mutual alignment relation, action relationships between each element in joint, in order to realize robot Miniaturization Design, in the limited space of joint of robot, reasonable Arrangement position of components is most important; Meanwhile, the industrial robot of present stage is being realized after Miniaturization Design, and its nominal load is can corresponding reduction a lot, and the contradiction how solving between physical dimension and the bearing capacity of robot becomes an important problem.
Summary of the invention
For solving the problems of the technologies described above, the invention provides the 6DOF lightweight modules robot that a kind of structure is small and exquisite and bearing capacity is higher.
A kind of 6DOF lightweight modules of the present invention robot, comprise base, trumpeter's arm, two trumpeter's arm and joint set, described joint set comprises six joints, and described joint is respectively a joint, No. two joints, No. three joints, No. four joints, No. five joints and No. six joints, described joint include the rotation end of 360 ° of rotations and with the perpendicular stiff end of described rotation end rotational plane;
The rotation end in a described joint is connected with the rotation end in described base and No. two joints respectively with stiff end, the stiff end in described No. two joints is fixed on one end of described trumpeter's arm, the rotation end in described No. three joints is connected with one end of two trumpeter's arms with the coupling part of described trumpeter's arm other end respectively with stiff end, the rotation end in described No. four joints is connected with the other end of described two trumpeter's arms with the stiff end in described No. five joints respectively with stiff end, and the rotation end in described No. five joints is connected with the stiff end in No. six joints;
Described base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
Further, described joint comprises being arranged on servomotor, Timing Belt and the tension structure of inside, joint and being arranged on joint rotates brake and the decelerator held, wherein, servomotor is used for providing torque and is connected with described toothed belt transmission, described Timing Belt is used for primary speed-down and the input to decelerator by described transmission of torque, described decelerator is for double reduction and export torque, described strainer is for controlling the tensioning of Timing Belt, and described brake is braked described decelerator for synchronous dead electricity in the time of servomotor dead electricity.
Further, described base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
Further, the rotation end maximum (top) speed in a described joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in described No. four joints, No. five joints and No. six joints was 180 degree/seconds.
Compared with prior art beneficial effect of the present invention is: have following characteristics compared with traditional industry robot: 1) modularized design, is easier to install and use; 2) motion mode of six specific frees degree of employing, increases its working range greatly, has reduced industrial robot work dead band; 3) own wt is little, and weight--to-power ratio is large, and load can reach 10kg, is 1/4.5 of robot own wt; 4) flexible operation degree is high, and working space is large.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation in joint in the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
As depicted in figs. 1 and 2, a kind of 6DOF lightweight modules of the present invention robot, comprise base 1, trumpeter's arm 2, two trumpeter's arm 3 and joint set, joint set comprises six joints, and joint is respectively joint 21, No. two joints 22, No. three joints 23, No. four joints 24, No. five joints 25 and No. six joints 26, joint includes the rotation end of 360 ° of rotations and the perpendicular stiff end with rotating end rotational plane; The rotation end in a joint 21 is connected with the rotation end in base 1 and No. two joints 22 respectively with stiff end, the stiff end in No. two joints 22 is fixed on one end of trumpeter's arm 2, the rotation end in No. three joints 23 is connected with one end of two trumpeter's arms 3 with the coupling part 4 of another 2 one end of trumpeter's arm respectively with stiff end, the rotation end in No. four joints 24 is connected with the other end of two trumpeter's arms 3 with the stiff end in No. five joints 25 respectively with stiff end, and the rotation end in No. five joints 25 is connected with the stiff end in No. six joints 26; Base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
Robot is fixed on operating position by base, six joints directly or be indirectly cascaded by arm, the motion in six joints is by the driven by servomotor of inside, joint separately, complete independently motion separately, each joint all can be done +/-360 degree and be rotated, the motion mode of this six specific frees degree, can make its working range greatly increase, and has reduced industrial robot work dead band (position that but cannot arrive within the scope of displacement); Due to working environment and product requirement attractive in appearance, robot is by interior cabling mode, all cables all and arm inside inner from joint pass through, and structure itself adopts aluminum alloy materials, alleviate greatly the weight of self, while, because structure is simple and compact, has more increased the handling speed of equipment, has saved the time.
A kind of 6DOF lightweight modules of the present invention robot, joint comprises the servomotor 11 that is arranged on inside, joint, Timing Belt 14 and tension structure and be arranged on joint rotate end brake 12 and decelerator 13, wherein, servomotor is used for providing torque and is connected with toothed belt transmission, Timing Belt is used for primary speed-down and the input to decelerator by transmission of torque, decelerator is for double reduction and export torque, strainer is for controlling the tensioning of Timing Belt, can carry out tensioning to Timing Belt at robot outside rotation jackscrew, jackscrew is provided with 2, its China and foreign countries' jackscrew plays locking effect.And pulley structure noise is little, motion steadily; Brake, for synchronous dead electricity brake retarder in the time of servomotor dead electricity, has improved the positional precision of robot.The decelerator in the each joint of robot is harmonic speed reducer, and transmission accuracy and bearing capacity are high, can realize small size and big retarding ratio, and steadily, without impacting, noise is little in motion.
A kind of 6DOF lightweight modules of the present invention robot, base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
A kind of 6DOF lightweight modules of the present invention robot, the high capacity 10kg of robot, working range 1300mm, the rotation end maximum (top) speed in a joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in No. four joints, No. five joints and No. six joints was 180 degree/seconds.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (4)
1. a 6DOF lightweight modules robot, it is characterized in that, comprise base, trumpeter's arm, two trumpeter's arm and joint set, described joint set comprises six joints, and described joint is respectively a joint, No. two joints, No. three joints, No. four joints, No. five joints and No. six joints, described joint include the rotation end of 360 ° of rotations and with the perpendicular stiff end of described rotation end rotational plane;
The rotation end in a described joint is connected with the rotation end in described base and No. two joints respectively with stiff end, the stiff end in described No. two joints is fixed on one end of described trumpeter's arm, the rotation end in described No. three joints is connected with one end of two trumpeter's arms with the coupling part of described trumpeter's arm other end respectively with stiff end, the rotation end in described No. four joints is connected with the other end of described two trumpeter's arms with the stiff end in described No. five joints respectively with stiff end, and the rotation end in described No. five joints is connected with the stiff end in No. six joints;
Described base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
2. a kind of 6DOF lightweight modules as claimed in claim 1 robot, it is characterized in that, described joint comprises the servomotor that is arranged on inside, joint, Timing Belt and tension structure and be arranged on joint rotate end brake and decelerator, wherein, servomotor is used for providing torque and is connected with described toothed belt transmission, described Timing Belt is used for primary speed-down and the input to decelerator by described transmission of torque, described decelerator is for double reduction and export torque, described strainer is for controlling the tensioning of Timing Belt, described brake is braked described decelerator for synchronous dead electricity in the time of servomotor dead electricity.
3. a kind of 6DOF lightweight modules as claimed in claim 1 robot, is characterized in that, described base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
4. a kind of 6DOF lightweight modules as claimed in claim 1 robot, it is characterized in that, the rotation end maximum (top) speed in a described joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in described No. four joints, No. five joints and No. six joints was 180 degree/seconds.
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| CN201410086896.XA CN103817687A (en) | 2014-03-11 | 2014-03-11 | Six degrees of freedom lightweight modular robot |
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| CN201410086896.XA CN103817687A (en) | 2014-03-11 | 2014-03-11 | Six degrees of freedom lightweight modular robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842366A (en) * | 2015-05-11 | 2015-08-19 | 仙渡工程科技(上海)有限公司 | Universal multi-joint all-purpose robot |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN105563477A (en) * | 2016-01-29 | 2016-05-11 | 坚毅机械工程(高要)有限公司 | Rotary adapter and mechanical hand with same |
| CN105599196A (en) * | 2016-02-24 | 2016-05-25 | 南通林赛尔机械有限公司 | Multi-joint all-dimensional glove gum dipping device |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
| CN106002980A (en) * | 2016-06-15 | 2016-10-12 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
| CN106541398A (en) * | 2015-09-21 | 2017-03-29 | 深圳市恒科通机器人有限公司 | Combination humanoid robot and its Movable joint mechanism |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN110962110A (en) * | 2018-09-30 | 2020-04-07 | 上海微电子装备（集团）股份有限公司 | Mechanical arm and automatic conveying device |
| CN111347404A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | A six-axis collaborative robot that can be quickly spliced and highly integrated |
| US20210128248A1 (en) * | 2016-06-20 | 2021-05-06 | Avra Medical Robotics, Inc. | Robotic medical apparatus, system, and method |
| CN114905544A (en) * | 2021-12-31 | 2022-08-16 | 中铭谷智能机器人(广东)有限公司 | Internal wiring device and wiring method for collaborative robot |
| CN115446805A (en) * | 2022-08-11 | 2022-12-09 | 深圳市越疆科技有限公司 | Turntable structure, drive components, lightweight industrial desktop manipulator and robot |
| CN115446808A (en) * | 2022-08-11 | 2022-12-09 | 深圳市越疆科技有限公司 | Lightweight industrial desktop mechanical arm, rotary table structure, driving assembly and robot thereof |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842366A (en) * | 2015-05-11 | 2015-08-19 | 仙渡工程科技(上海)有限公司 | Universal multi-joint all-purpose robot |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN106541398A (en) * | 2015-09-21 | 2017-03-29 | 深圳市恒科通机器人有限公司 | Combination humanoid robot and its Movable joint mechanism |
| CN105563477A (en) * | 2016-01-29 | 2016-05-11 | 坚毅机械工程(高要)有限公司 | Rotary adapter and mechanical hand with same |
| CN105599196A (en) * | 2016-02-24 | 2016-05-25 | 南通林赛尔机械有限公司 | Multi-joint all-dimensional glove gum dipping device |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
| CN106002980B (en) * | 2016-06-15 | 2018-08-07 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
| CN106002980A (en) * | 2016-06-15 | 2016-10-12 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
| US20210128248A1 (en) * | 2016-06-20 | 2021-05-06 | Avra Medical Robotics, Inc. | Robotic medical apparatus, system, and method |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
| CN110962110A (en) * | 2018-09-30 | 2020-04-07 | 上海微电子装备（集团）股份有限公司 | Mechanical arm and automatic conveying device |
| CN111347404A (en) * | 2020-04-10 | 2020-06-30 | 伯朗特机器人股份有限公司 | A six-axis collaborative robot that can be quickly spliced and highly integrated |
| CN114905544A (en) * | 2021-12-31 | 2022-08-16 | 中铭谷智能机器人(广东)有限公司 | Internal wiring device and wiring method for collaborative robot |
| CN115446805A (en) * | 2022-08-11 | 2022-12-09 | 深圳市越疆科技有限公司 | Turntable structure, drive components, lightweight industrial desktop manipulator and robot |
| CN115446808A (en) * | 2022-08-11 | 2022-12-09 | 深圳市越疆科技有限公司 | Lightweight industrial desktop mechanical arm, rotary table structure, driving assembly and robot thereof |
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