CN104552288A - Flexible six-shaft robot - Google Patents
Flexible six-shaft robot Download PDFInfo
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- 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
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- cursor
- servomotor
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- robot
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- 230000009975 flexible effect Effects 0.000 title claims abstract description 16
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 210000000245 forearm Anatomy 0.000 description 7
- 238000010008 shearing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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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
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.
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 Pending CN104552288A (en) | 2014-12-30 | 2014-12-30 | Flexible six-shaft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104552288A (en) |
Cited By (13)
| 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 |
| CN107020630A (en) * | 2017-04-27 | 2017-08-08 | 浙江长兴平适尔机器人科技有限公司 | Six-joint 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 |
| CN107696025A (en) * | 2017-10-30 | 2018-02-16 | 广东腾山机器人有限公司 | A kind of four axle pressing robots |
| 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 |
| CN112074677A (en) * | 2018-05-03 | 2020-12-11 | Abb瑞士股份有限公司 | Sealing device |
| CN113829369A (en) * | 2021-10-20 | 2021-12-24 | 河南睿辰机器人智能科技有限公司 | Multi-shaft polishing robot |
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| CN204525462U (en) * | 2014-12-30 | 2015-08-05 | 青岛科创智能装备有限公司 | A kind of flexible six-joint robot |
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2014
- 2014-12-30 CN CN201410832933.7A patent/CN104552288A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN102744730A (en) * | 2011-04-19 | 2012-10-24 | 株式会社安川电机 | Robot |
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| CN202344547U (en) * | 2011-12-14 | 2012-07-25 | 杭州英若飞科技有限公司 | Dynamic balance robotic arm |
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Cited By (14)
| 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 |
| 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 |
| 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 |
| CN107020630A (en) * | 2017-04-27 | 2017-08-08 | 浙江长兴平适尔机器人科技有限公司 | Six-joint robot |
| 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 |
| CN107696025A (en) * | 2017-10-30 | 2018-02-16 | 广东腾山机器人有限公司 | A kind of four axle pressing robots |
| 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 |
| CN112074677A (en) * | 2018-05-03 | 2020-12-11 | Abb瑞士股份有限公司 | Sealing device |
| CN113829369A (en) * | 2021-10-20 | 2021-12-24 | 河南睿辰机器人智能科技有限公司 | Multi-shaft polishing robot |
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Owner name: QINGDAO KECHUANG INTELLIGENT EQUIPMENT CO., LTD. Free format text: FORMER OWNER: QINGDAO CT AUDEUX MECHANICAL SCIENCE + TECHNOLOGY CO., LTD. Effective date: 20150629 |
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Effective date of registration: 20150629 Address after: 266300 Qingdao Province, Jiaozhou City Industrial Zone, ecological Avenue, No. 1 Applicant after: QINGDAO KECHUANG INTELLIGENT EQUIPMENT CO.,LTD. Address before: Yinghai Industrial Park of Jiaozhou city 266300 Shandong city of Qingdao Province Applicant before: QINGDAO CITIC ODUOR MACHINERY TECHNOLOGY Co.,Ltd. |
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