CN104552288A - Flexible six-shaft robot - Google Patents

Flexible six-shaft robot Download PDF

Info

Publication number
CN104552288A
CN104552288A CN201410832933.7A CN201410832933A CN104552288A CN 104552288 A CN104552288 A CN 104552288A CN 201410832933 A CN201410832933 A CN 201410832933A CN 104552288 A CN104552288 A CN 104552288A
Authority
CN
China
Prior art keywords
cursor
servomotor
axle
auxiliary
robot
Prior art date
Application number
CN201410832933.7A
Other languages
Chinese (zh)
Inventor
王青山
郑文祥
邵先德
Original Assignee
青岛中信欧德机械科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛中信欧德机械科技股份有限公司 filed Critical 青岛中信欧德机械科技股份有限公司
Priority to CN201410832933.7A priority Critical patent/CN104552288A/en
Publication of CN104552288A publication Critical patent/CN104552288A/en

Links

Abstract

The invention discloses a flexible six-shaft robot. The flexible six-shaft robot comprises a chassis, a first-stage shaft system, a second-stage shaft system, a third-stage shaft system, a fourth-stage shaft system, a fifth-stage shaft system and a sixth-stage shaft system, wherein the third-stage shaft system comprises a second rotary shaft arranged at the top of a second rotary arm; the second rotary arm is connected with a third rotary arm through a second rotary shaft, and a third servo motor is arranged inside the third rotary arm; an auxiliary rotary plate capable of swinging relative to the second rotary arm is arranged at the bottom end of the second rotary arm; a fifth servo motor used for driving the auxiliary rotary plate to rotate is arranged at the joint of the second rotary arm and the auxiliary rotary plate; an auxiliary swinging arm which is connected with the third rotary arm and drives the third rotary arm to rotate around the second rotary shaft is arranged at the near end edge of the auxiliary rotary plate. The overall center of gravity of the robot is lowered, the service life of the robot is prolonged, the bearing capacity of the robot is greatly improved by virtue of the auxiliary arm, and the size of the robot is reduced.

Description

A kind of flexible six-joint robot

Technical field

The present invention relates to robotics, particularly relate to a kind of flexible six-joint robot.

Background technology

Along with the popularization and application of industrial automation, robot widely uses.Wherein, six-joint robot with it comparatively flexibly, the advantage of highly versatile and occupy sizable ratio.Each axle needs a servomotor to drive.The most beneath also have a heavy motor.Drive feathering axis.Come to six motors, drive six axles to rotate.More up motor is less, and that spindle motor of top is minimum.But although six-joint robot structurally has certain similar part, six-joint robot quite a lot also exists that responsiveness is slow, action transmission and setting accuracy is poor, noise is larger defect.And, most of long-armed humanoid robot all needs other bascule on the market, reductor deflection armed lever middle-end on armed lever, the series of problems such as the structural volume of self is also relatively bigger than normal, and the installation difficulty that so just can produce protector increases, robot production cost is higher.

CN 203752149 U discloses a kind of six-joint robot, it is by the model of each decelerator of reasonable disposition, and adopt AC servomotor, the responsiveness of this six-joint robot is greatly improved, and improves the levels of precision of action to a certain extent.Simultaneously, by adopting the mode of belt transmission and bevel gear pair at the power resources place of comparatively crucial J6 axle pedestal, J6 axle wrist, J5 axle link arm, J4 axle horn, further increase the action of this six-joint robot, the accuracy of location, and be the inner chamber that J5 axle link arm arranges sealing, lubricating fluid is full of in this inner chamber, make the noise of this six-joint robot minimum, be provided with high versatility.

Although above-mentioned six-joint robot highly versatile, setting accuracy is high, but well-known, there is certain altitude in robot, and the weight of its first half is larger, for base and first order rotating shaft, the shearing force of bearing is maximum, is operationally the easiest broken parts, and this patent first order rotating shaft controls only by servomotor, it is less that it bears shearing force, easily causes damage.

The light-duty six axle all-purpose robots of CN 103029123 A, axle bed is fixed on arm axle, axle bed is fixed with axle bed guard box, and Three-axis drive motor, the 4th axis drive motor, the 5th axis drive motor and the 6th axis drive motor are placed in axle bed guard box; Forearm rod shell and forearm extension bar housing are separately fixed at the front and rear part of forearm decelerator, 6th axle sleeve is in the 5th axle, 5th axle sleeve is in the 4th axle, in 4th axle, sleeve is in forearm rod shell, forearm decelerator and forearm extension bar housing, 4th axle, the 5th axle and the 6th axle are fixed with respectively the 4th axle driven gear, the 5th axle driven gear and the 6th axle driven gear, the length of forearm rod shell is less than 100mm.It efficiently reduces the torque load needed for own wt, and it is without the need to traditional balance cylinder device, also can meet the balance of swing arm during work, simplify machine construction.Tight protective cover, more serves effective protective action of motor.

Although above-mentioned six-joint robot improves the power of the servomotor in first order rotating shaft, effectively ensure that the rotatory force that first order rotating shaft is enough, larger shearing force can be born, but need the base designs larger of robot, add the cost of robot, and volume is huger, take up room comparatively large, be suitable for place and the scope of application limited.

Summary of the invention

For the deficiency that prior art exists, technical problem to be solved by this invention is, provides a kind of with low cost, easy to operate, improves welding efficiency, can reduce labor strength, and effectively improve the flexible six-joint robot of welding quality.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of flexible six-joint robot, comprises chassis, also comprise:

First order axle system, comprises the first servomotor be located in chassis, and the first reductor coordinated with the first servomotor, and described first reductor is rotatably connected with the first rotating base by the first rotating shaft;

Second level axle system, comprises the second servomotor be located on the first rotating base, described first rotating base is connected with the second cursor be rotatably assorted with the second servomotor;

Third level axle system, comprises the second rotating shaft being located at the second cursor top, and described second cursor connects inner 3rd cursor with the 3rd servomotor by the second rotating shaft;

Fourth stage axle system, comprises the 4th cursor with the 3rd cursor rotatable engagement, and described 4th cursor is connected with the 3rd servomotor in the 3rd cursor;

Level V axle system, comprise the 5th cursor be connected that to be rotatably assorted with the 4th cursor, described 5th cursor is connected with the 4th servomotor be located in the 4th cursor;

6th grade of axle system, comprise the 6th cursor be connected that to stretch with the 5th cursor, described 6th cursor is connected with the reductor be located in the 5th cursor;

The bottom of described second cursor is provided with the auxiliary rotary plate that can swing relative to the second cursor, the junction of described second cursor and auxiliary rotary plate is provided with the 5th servomotor driving auxiliary rotary plate to rotate, and the near-end edge place of described auxiliary rotary plate is provided with and connects and drive the 3rd cursor around the auxiliary swing arm of the second axis of rotation.

Above-mentioned flexible six-joint robot, described first rotating base is provided with the auxiliary support apparatus for supporting the second cursor.

Above-mentioned flexible six-joint robot, described auxiliary support apparatus comprises the cylinder with piston rod, and piston rod is rotationally connected by single knuckle joint and the second cursor.

The advantage of the flexible six-joint robot of the present invention is: traditional six-joint robot is all arrange servomotor in the junction of each pivoted arm, the pivoted arm at top moves near base position by the present invention, and connect only by motorless rotating shaft at the pivoted arm place at top, greatly reduce the weight at robot top, reduce the overall center of gravity of robot, not only increase service life, and the sub-arm arranged substantially increases the bearing capacity of robot, reduces the volume of robot.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 be in Fig. 1 part A partial structurtes enlarged drawing;

Fig. 3 be in Fig. 1 part B partial structurtes enlarged drawing;

Fig. 4 be in Fig. 1 C part partial structurtes enlarged drawing;

Fig. 5 be in Fig. 1 D part partial structurtes enlarged drawing;

Fig. 6 be in Fig. 1 E part partial structurtes enlarged drawing.

Detailed description of the invention

Below in conjunction with drawings and the specific embodiments, the present invention is described in further details;

As shown in Fig. 1,2,3,4,5,6, a kind of flexible six-joint robot, comprises chassis, also comprises:

First order axle system 1, comprises the first servomotor 3 be located in chassis 2, and the first reductor 4 coordinated with the first servomotor 3, and described first reductor 4 is rotatably connected with the first rotating base 6 by the first rotating shaft 5;

Second level axle system 7, comprises the second servomotor 8 be located on the first rotating base 6, described first rotating base 6 is connected with the second cursor 9 be rotatably assorted with the second servomotor 8; First rotating base 6 is provided with the auxiliary support apparatus 10 for supporting the second cursor 9.Described auxiliary support apparatus 10 comprises the cylinder 12 with piston rod 11, and piston rod 11 is rotationally connected by single knuckle joint 13 and the second cursor 9.

Third level axle system 14, comprises the second rotating shaft 15 being located at the second cursor 9 top, and described second cursor 9 connects by the second rotating shaft 15 the 3rd cursor 17 that inside has the 3rd servomotor 16, the bottom of described second cursor 9 is provided with the auxiliary rotary plate 18 that can swing relative to the second cursor 9, described second cursor 9 is provided with the junction of auxiliary rotary plate 18 the 5th servomotor 19 driving auxiliary rotary plate 18 to rotate, the near-end edge place of described auxiliary rotary plate 18 is provided with and connects and drive the auxiliary swing arm 20 that the 3rd cursor 17 rotates around the second rotating shaft 15, this auxiliary swing arm 20 is rotationally connected by the 3rd rotating shaft 21 with auxiliary rotary plate 18, auxiliary swing arm 20 and the end of the 3rd cursor 17 are justified and are located to be rotationally connected by the 4th rotating shaft 22 equally, now, second cursor 9, auxiliary rotary plate 18, auxiliary swing arm 20 and the 3rd cursor 17 constitute a quadrilateral structure, not only serve the effect of support, and do not affect the flexible activity of robot.

Fourth stage axle system 23, comprises the 4th cursor 24 with the 3rd cursor 17 rotatable engagement, and described 4th cursor 24 is connected with the 3rd servomotor 16 in the 3rd cursor 17;

Level V axle system 25, comprise the 5th cursor 26 be connected that to be rotatably assorted with the 4th cursor 24, described 5th cursor 26 is connected with the 4th servomotor 27 be located in the 4th cursor 24;

6th grade of axle system 28, comprise and flexible the 6th cursor 29 be connected of the 5th cursor 26, described 6th cursor 29 is connected with the reductor 30 be located in the 5th cursor 26.

Certainly, above-mentioned explanation is not limitation of the present invention, and the present invention is also not limited to above-mentioned citing; those skilled in the art; in essential scope of the present invention, the change made, remodeling, interpolation or replacement, all should belong to protection scope of the present invention.

Claims (3)

1. a flexible six-joint robot, comprises chassis, it is characterized in that, also comprises:
First order axle system, comprises the first servomotor be located in chassis, and the first reductor coordinated with the first servomotor, and described first reductor is rotatably connected with the first rotating base by the first rotating shaft;
Second level axle system, comprises the second servomotor be located on the first rotating base, described first rotating base is connected with the second cursor be rotatably assorted with the second servomotor;
Third level axle system, comprises the second rotating shaft being located at the second cursor top, and described second cursor connects inner 3rd cursor with the 3rd servomotor by the second rotating shaft;
Fourth stage axle system, comprises the 4th cursor with the 3rd cursor rotatable engagement, and described 4th cursor is connected with the 3rd servomotor in the 3rd cursor;
Level V axle system, comprise the 5th cursor be connected that to be rotatably assorted with the 4th cursor, described 5th cursor is connected with the 4th servomotor be located in the 4th cursor;
6th grade of axle system, comprise the 6th cursor be connected that to stretch with the 5th cursor, described 6th cursor is connected with the reductor be located in the 5th cursor;
The bottom of described second cursor is provided with the auxiliary rotary plate that can swing relative to the second cursor, the junction of described second cursor and auxiliary rotary plate is provided with the 5th servomotor driving auxiliary rotary plate to rotate, and the near-end edge place of described auxiliary rotary plate is provided with and connects and drive the 3rd cursor around the auxiliary swing arm of the second axis of rotation.
2. flexible six-joint robot according to claim 1, is characterized in that: described first rotating base is provided with the auxiliary support apparatus for supporting the second cursor.
3. flexible six-joint robot according to claim 2, is characterized in that: described auxiliary support apparatus comprises the cylinder with piston rod, piston rod is rotationally connected by single knuckle joint and the second cursor.
CN201410832933.7A 2014-12-30 2014-12-30 Flexible six-shaft robot CN104552288A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410832933.7A CN104552288A (en) 2014-12-30 2014-12-30 Flexible six-shaft robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410832933.7A CN104552288A (en) 2014-12-30 2014-12-30 Flexible six-shaft robot

Publications (1)

Publication Number Publication Date
CN104552288A true CN104552288A (en) 2015-04-29

Family

ID=53069887

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410832933.7A CN104552288A (en) 2014-12-30 2014-12-30 Flexible six-shaft robot

Country Status (1)

Country Link
CN (1) CN104552288A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104669247A (en) * 2015-01-23 2015-06-03 温州职业技术学院 Six-axis manipulator
CN105489109A (en) * 2016-02-15 2016-04-13 苏州哈工海渡工业机器人有限公司 Universal practical training platform for modularized six-axis robot
CN105499892A (en) * 2015-12-29 2016-04-20 鞍山天利机械工程有限公司 Dual-rocker four-axis welding position changing machine and using method thereof
CN105608981A (en) * 2016-03-14 2016-05-25 南京康尼机电股份有限公司 Robot comprehensive experiment system for teaching
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN106975822A (en) * 2017-05-24 2017-07-25 成都众智优学教育咨询有限公司 A kind of wrist portion structure of arc welding robot
CN107127746A (en) * 2017-05-24 2017-09-05 成都众智优学教育咨询有限公司 The mechanical wrist of wrist pendulum motor driving
CN107322608A (en) * 2017-07-27 2017-11-07 佛山市南海普拉迪机器人有限公司 A kind of high accuracy and the spray robot for facilitating cabling
CN108032292A (en) * 2017-12-07 2018-05-15 上海宇航系统工程研究所 Four shaft industrial robot of modularization type spectrum formula

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104669247A (en) * 2015-01-23 2015-06-03 温州职业技术学院 Six-axis manipulator
CN105499892A (en) * 2015-12-29 2016-04-20 鞍山天利机械工程有限公司 Dual-rocker four-axis welding position changing machine and using method thereof
CN105489109A (en) * 2016-02-15 2016-04-13 苏州哈工海渡工业机器人有限公司 Universal practical training platform for modularized six-axis robot
CN105608981A (en) * 2016-03-14 2016-05-25 南京康尼机电股份有限公司 Robot comprehensive experiment system for teaching
CN105608981B (en) * 2016-03-14 2018-01-09 南京康尼机电股份有限公司 A kind of robot comprehensive experimental system for being used to impart knowledge to students
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN106975822A (en) * 2017-05-24 2017-07-25 成都众智优学教育咨询有限公司 A kind of wrist portion structure of arc welding robot
CN107127746A (en) * 2017-05-24 2017-09-05 成都众智优学教育咨询有限公司 The mechanical wrist of wrist pendulum motor driving
CN107322608A (en) * 2017-07-27 2017-11-07 佛山市南海普拉迪机器人有限公司 A kind of high accuracy and the spray robot for facilitating cabling
CN108032292A (en) * 2017-12-07 2018-05-15 上海宇航系统工程研究所 Four shaft industrial robot of modularization type spectrum formula

Similar Documents

Publication Publication Date Title
CN103707296B (en) A kind of four axis robot for capturing sheet metal component
CN203792350U (en) Connecting rod slider type mechanical gripper
CN201669703U (en) Turnover mechanical arm
CN204366948U (en) Articulated type series connection robot palletizer
US8429996B2 (en) Robot arm assembly
CN104802164B (en) A kind of six degree of freedom plane articulation robot
CN201120538Y (en) Welding roll frame
CN103978482A (en) Quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot
CN203697006U (en) Intelligent five-shaft manipulator
KR101205364B1 (en) Industrial manipulators having attachable and detachable 4-bar-linkage-typed mechanical driving module
JPWO2010101203A1 (en) Robot joint unit and robot
CN205060774U (en) External power and free conveyor of tray tilting mechanism
US10246276B2 (en) Cable-strut combination driven parallel robotic palletizer
CN105583819A (en) Palletizing robot with grabbing function
CN103079775B (en) Ceiling-mounted scara robot
CN201720652U (en) Longitudinal beam welding overturning frame
CN203901287U (en) Joint type mechanism arm
CN107000201A (en) Tow-armed robot
CN103737587A (en) Intelligent five-shaft manipulator
JPH11347868A (en) One-shaft-rotation type positioning device
TW200732110A (en) Multi-joint manipulator
CN104440896A (en) Cylindrical coordinate robot
CN106737627A (en) A kind of imitative trunk mechanical arm
CN103895032A (en) Upper arm of robot
CN204712049U (en) A kind of Six-DOF industrial robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
TA01 Transfer of patent application right

Effective date of registration: 20150629

Address after: 266300 Qingdao Province, Jiaozhou City Industrial Zone, ecological Avenue, No. 1

Applicant after: Kechuang intelligence Equipment Limited, Qingdao

Address before: Yinghai Industrial Park of Jiaozhou city 266300 Shandong city of Qingdao Province

Applicant before: QINGDAO CITIC ODUOR MACHINERY TECHNOLOGY CO., LTD.

C41 Transfer of patent application or patent right or utility model
ASS Succession or assignment of patent right

Owner name: QINGDAO KECHUANG INTELLIGENT EQUIPMENT CO., LTD.

Free format text: FORMER OWNER: QINGDAO CT AUDEUX MECHANICAL SCIENCE + TECHNOLOGY CO., LTD.

Effective date: 20150629

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination