CN104589340B - A kind of six degree of freedom mechanical manipulators - Google Patents
A kind of six degree of freedom mechanical manipulators Download PDFInfo
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- CN104589340B CN104589340B CN201510055999.4A CN201510055999A CN104589340B CN 104589340 B CN104589340 B CN 104589340B CN 201510055999 A CN201510055999 A CN 201510055999A CN 104589340 B CN104589340 B CN 104589340B
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- servomotor
- mount pad
- swivel arrangement
- speed reduction
- reduction unit
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Abstract
The present invention provides a kind of six degree of freedom mechanical manipulators, comprise pedestal (1), first swivel arrangement (2), 2nd swivel arrangement (3), first connecting arm (4), 3rd swivel arrangement (5), 4th swivel arrangement (6), 2nd connecting arm (7), 5th swivel arrangement (8), 6th swivel arrangement (9), first swivel arrangement (2) is installed on pedestal (1), 2nd swivel arrangement (3) is installed on the first swivel arrangement (2), one end of first connecting arm (4) is installed on the 2nd swivel arrangement (3), 3rd swivel arrangement (5) is installed on the other end of the first connecting arm (4), 4th swivel arrangement (6) is installed on the 3rd swivel arrangement (5), one end of 2nd connecting arm (7) is installed on the 4th swivel arrangement (6), 5th swivel arrangement (8) is installed on the other end of the 2nd connecting arm (7), 6th swivel arrangement (9) is installed on the 5th swivel arrangement (8). present configuration is simple, handling ease, low cost of manufacture, and overall weight is light, and bending resistance and torsional property are good, and motion is flexible, positioning precision height.
Description
Technical field
The present invention relates to industrial machinery hand technical field, in particular to a kind of six degree of freedom mechanical manipulators.
Background technology
Industry manufactures processing enterprise and extensively adopts industrial robot to be the development trend in this year, the application of industrial robot is possible not only to the yield and quality improving product, and to guarantee personnel safety, improves work situation, alleviate labour intensity, it is to increase having great significance of productivity. Industrial robot gordian technique is two aspects, mechanical construction and control system. A outstanding industrial robot should possess stable, light, physical construction and have the disconnected Controlling System safeguarded with safety of abundant Flexible Control, open modularization, self-diagnosis of trouble accurately. There is following shortcoming in industrial robot of the prior art: machine construction design comparison is complicated, and connecting arm assembly adopts CNC precision work and becomes, and stdn is difficult to be formed, and cost of manufacture is higher.
Summary of the invention
For above-mentioned prior art, it is simple that technical problem to be solved by this invention is to provide a kind of structure, handling ease, low cost of manufacture, and overall weight is light, and bending resistance and torsional property are good, and motion is flexible, the six degree of freedom mechanical manipulators that positioning precision is high.
In order to solve the problems of the technologies described above, the present invention provides a kind of six degree of freedom mechanical manipulators, comprise pedestal, first swivel arrangement, 2nd swivel arrangement, first connecting arm, 3rd swivel arrangement, 4th swivel arrangement, 2nd connecting arm, 5th swivel arrangement, 6th swivel arrangement, described first swivel arrangement is installed on described pedestal, described 2nd swivel arrangement is installed on described first swivel arrangement, one end of described first connecting arm is installed on described 2nd swivel arrangement, described 3rd swivel arrangement is installed on the other end of described first connecting arm, described 4th swivel arrangement is installed on described 3rd swivel arrangement, one end of described 2nd connecting arm is installed on described 4th swivel arrangement, described 5th swivel arrangement is installed on the other end of described 2nd connecting arm, described 6th swivel arrangement is installed on described 5th swivel arrangement, described first swivel arrangement drives described 2nd swivel arrangement to rotate, described 2nd swivel arrangement drives described 3rd swivel arrangement to rotate by the first connecting arm, described 3rd swivel arrangement drives described 4th swivel arrangement to rotate, described 4th swivel arrangement drives described 5th swivel arrangement to rotate by described 2nd connecting arm, described 5th swivel arrangement drives described 6th swivel arrangement to rotate, described pedestal comprises base plate, seat cylinder, and described seat cylinder is installed on described base plate, described first swivel arrangement comprises the first servomotor, the first servomotor mount pad, the first speed reduction unit, described first servomotor is provided with the first servo motor output shaft, described first servomotor mount pad is installed on described seat cylinder, under described first servomotor is installed on described first servomotor mount pad, described first speed reduction unit is installed in described first servomotor mount pad and is connected with described first servo motor output shaft, described 2nd swivel arrangement comprises the 2nd servomotor, 2nd servomotor mount pad, 2nd speed reduction unit, first connecting arm mount pad, described 2nd servomotor is provided with the 2nd servo motor output shaft, described 2nd servomotor mount pad is installed on described first speed reduction unit, described 2nd servomotor is installed on inside described 2nd servomotor mount pad, described 2nd speed reduction unit is installed on outside described 2nd servomotor mount pad and is connected with described 2nd servo motor output shaft, described first connecting arm mount pad is installed on described 2nd speed reduction unit, one end of described first connecting arm is installed on described first connecting arm mount pad.
Further improvement of the present invention is, described 3rd swivel arrangement comprises the 3rd servomotor, the 3rd servomotor mount pad, the 3rd speed reduction unit, described 3rd servomotor is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad is installed on the other end of described first connecting arm, described 3rd servomotor is installed on inside described 3rd servomotor mount pad, and described 3rd speed reduction unit is installed on outside described 3rd servomotor mount pad and is connected with described 3rd servo motor output shaft.
Further improvement of the present invention is, described 4th swivel arrangement comprises the 4th servomotor, 4th servomotor mount pad, 4th speed reduction unit, 2nd connecting arm mount pad, described 4th servomotor is provided with the 4th servo motor output shaft, it is installed on outside the one of described 4th servomotor mount pad on described 3rd speed reduction unit, described 4th servomotor is installed on inside described 4th servomotor mount pad one, described 4th speed reduction unit is installed on outside another of described 4th servomotor mount pad and is connected with described 4th servo motor output shaft, one end of described 2nd connecting arm is installed on described 4th speed reduction unit by the 2nd connecting arm mount pad.
Further improvement of the present invention is, described 5th swivel arrangement comprises the 5th servomotor, the 5th servomotor mount pad, the 5th speed reduction unit, the 5th speed reduction unit mount pad, described 5th servomotor is provided with the 5th servo motor output shaft, described 5th servomotor mount pad is installed on the other end of described 2nd connecting arm, described 5th servomotor is installed on inside described 5th servomotor mount pad, and described 5th speed reduction unit is installed on inside described 5th speed reduction unit mount pad and is connected with described 5th servo motor output shaft.
Further improvement of the present invention is, described 6th swivel arrangement comprises the 6th servomotor, 6th servomotor mount pad, 6th speed reduction unit, 6th speed reduction unit mount pad, 3rd connecting arm, described 6th servomotor is provided with the 6th servo motor output shaft, described 6th servomotor mount pad is installed on one end of described 3rd connecting arm, the other end of described 3rd connecting arm is fixedly installed in outside described 5th speed reduction unit mount pad, under described 6th servomotor is installed on described 6th servomotor mount pad, described 6th speed reduction unit is installed on described 6th servomotor mount pad and is connected with described 6th servo motor output shaft, described 6th speed reduction unit mount pad is installed on described 6th speed reduction unit.
Further improvement of the present invention is, described six degree of freedom mechanical manipulators also comprise scolding tin device and solder feedway, described scolding tin device is installed on described 6th speed reduction unit mount pad, described solder feedway is installed on described 4th servomotor mount pad, and described solder feedway supply solder carries out scolding tin processing to described scolding tin device.
Further improvement of the present invention is, described first speed reduction unit, the 2nd speed reduction unit, the 3rd speed reduction unit, the 4th speed reduction unit, the 5th speed reduction unit, the 6th speed reduction unit are all harmonic speed reducer.
Compared with prior art, rotating of the six axle joints of the present invention all adopts servomotor to be driven by harmonic speed reducer. Present configuration is simple, handling ease, low cost of manufacture, and overall weight is light, and bending resistance and torsional property are good, and motion is flexible, positioning precision height.
Accompanying drawing explanation
Fig. 1 is the stereographic map of the present invention;
Fig. 2 is the stereo unfolding figure of Fig. 1;
Fig. 3 is the scolding tin operation schematic diagram of the present invention.
In figure, each parts title is as follows:
1 pedestal;
11 base plates;
12 cylinders;
2 first swivel arrangements;
21 first servomotors;
22 first servomotor mount pads;
23 first speed reduction units;
3 the 2nd swivel arrangements;
31 the 2nd servomotors;
32 the 2nd servomotor mount pads;
33 the 2nd speed reduction units;
34 first connecting arm mount pads;
4 first connecting arms;
5 the 3rd swivel arrangements;
51 the 3rd servomotors;
52 the 3rd servomotor mount pads;
53 the 3rd speed reduction units;
6 the 4th swivel arrangements;
61 the 4th servomotors;
62 the 4th servomotor mount pads;
63 the 4th speed reduction units;
64 the 2nd connecting arm mount pads;
7 the 2nd connecting arms;
8 the 5th swivel arrangements;
81 the 5th servomotors;
82 the 5th servomotor mount pads;
83 the 5th speed reduction units;
84 the 5th speed reduction unit mount pads;
9 the 6th swivel arrangements;
91 the 6th servomotors;
92 the 6th servomotor mount pads;
93 the 6th speed reduction units;
94 the 6th speed reduction unit mount pads;
95 the 3rd connecting arms;
10 scolding tin devices;
20 solder feedwaies.
Embodiment
Illustrate below in conjunction with accompanying drawing and embodiment the present invention is further described.
As shown in Figures 1 and 2, a kind of six degree of freedom mechanical manipulators, comprise pedestal 1, first swivel arrangement 2, 2nd swivel arrangement 3, first connecting arm 4, 3rd swivel arrangement 5, 4th swivel arrangement 6, 2nd connecting arm 7, 5th swivel arrangement 8, 6th swivel arrangement 9, described first swivel arrangement 2 is installed on described pedestal 1, described 2nd swivel arrangement 3 is installed on described first swivel arrangement 2, one end of described first connecting arm 4 is installed on described 2nd swivel arrangement 3, described 3rd swivel arrangement 5 is installed on the other end of described first connecting arm 4, described 4th swivel arrangement 6 is installed on described 3rd swivel arrangement 5, one end of described 2nd connecting arm 7 is installed on described 4th swivel arrangement 6, described 5th swivel arrangement 8 is installed on the other end of described 2nd connecting arm 7, described 6th swivel arrangement 9 is installed on described 5th swivel arrangement 8, described first swivel arrangement 2 drives described 2nd swivel arrangement 3 to rotate, described 2nd swivel arrangement 3 drives described 3rd swivel arrangement 5 to rotate by the first connecting arm 4, described 3rd swivel arrangement 5 drives described 4th swivel arrangement 6 to rotate, described 4th swivel arrangement 6 drives described 5th swivel arrangement 8 to rotate by described 2nd connecting arm 7, described 5th swivel arrangement 8 drives described 6th swivel arrangement 9 to rotate. first connecting arm 4, the 2nd connecting arm 7 all adopt cylinder shape class part.
Specifically, as shown in Figures 1 and 2, described pedestal 1 comprises base plate 11, seat cylinder 12, and described base plate 11 is dull and stereotyped shape class part, and described seat cylinder 12 is cylinder shape class part, and described seat cylinder 12 is fixedly installed on described base plate 11. described first swivel arrangement 2 comprises the first servomotor 21, first servomotor mount pad 22, first speed reduction unit 23, described first servomotor mount pad 22 is disk shape class part, described first servomotor 21 is provided with the first servo motor output shaft, described first servomotor mount pad 22 is fixedly installed on described seat cylinder 12, described first servomotor 21 is fixedly installed in described first servomotor mount pad 22 times, and described first speed reduction unit 23 is fixedly installed in described first servomotor mount pad 22 and is fixedly connected with described first servo motor output shaft. described 2nd swivel arrangement 3 comprises the 2nd servomotor 31, 2nd servomotor mount pad 32, 2nd speed reduction unit 33, first connecting arm mount pad 34, described 2nd servomotor mount pad 32, first connecting arm mount pad 34 is all barrel-shaped class part, described 2nd servomotor 31 is provided with the 2nd servo motor output shaft, described 2nd servomotor mount pad 32 is fixedly installed on described first speed reduction unit 23, described 2nd servomotor 31 is fixedly installed in inside described 2nd servomotor mount pad 32, described 2nd speed reduction unit 33 is fixedly installed in outside described 2nd servomotor mount pad 32 and is fixedly connected with described 2nd servo motor output shaft, described first connecting arm mount pad 34 is fixedly installed on described 2nd speed reduction unit 33, one end of described first connecting arm 4 is fixedly installed on described first connecting arm mount pad 34. described 3rd swivel arrangement 5 comprises the 3rd servomotor 51, 3rd servomotor mount pad 52, 3rd speed reduction unit 53, described 3rd servomotor mount pad 52 is barrel-shaped class part, described 3rd servomotor 51 is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad 52 is fixedly installed in the other end of described first connecting arm 4, described 3rd servomotor 51 is fixedly installed in inside described 3rd servomotor mount pad 52, described 3rd speed reduction unit 53 is fixedly installed in outside described 3rd servomotor mount pad 52 and is fixedly connected with described 3rd servo motor output shaft. described 4th swivel arrangement 6 comprises the 4th servomotor 61, 4th servomotor mount pad 62, 4th speed reduction unit 63, 2nd connecting arm mount pad 64, described 4th servomotor mount pad 62 is bucket shape class part, described 2nd connecting arm mount pad 64 is disk shape class part, described 4th servomotor 61 is provided with the 4th servo motor output shaft, it is fixedly installed in outside the one of described 4th servomotor mount pad 62 on described 3rd speed reduction unit 53, described 4th servomotor 61 is fixedly installed in inside described 4th servomotor mount pad 62 1, described 4th speed reduction unit 63 is fixedly installed in outside another of described 4th servomotor mount pad 62 and is fixedly connected with described 4th servo motor output shaft, one end of described 2nd connecting arm 7 is fixedly installed on described 4th speed reduction unit 63 by the 2nd connecting arm mount pad 64. described 5th swivel arrangement 8 comprises the 5th servomotor 81, 5th servomotor mount pad 82, 5th speed reduction unit 83, 5th speed reduction unit mount pad 84, described 5th servomotor mount pad 82 is barrel-shaped class part, described 5th speed reduction unit mount pad 84 is barrel-shaped class part, described 5th servomotor 81 is provided with the 5th servo motor output shaft, described 5th servomotor mount pad 82 is fixedly installed in the other end of described 2nd connecting arm 7, described 5th servomotor 81 is fixedly installed in inside described 5th servomotor mount pad 82, described 5th speed reduction unit 83 is fixedly installed in inside described 5th speed reduction unit mount pad 84 and is fixedly connected with described 5th servo motor output shaft.Described 6th swivel arrangement 9 comprises the 6th servomotor 91, 6th servomotor mount pad 92, 6th speed reduction unit 93, 6th speed reduction unit mount pad 94, 3rd connecting arm 95, described 6th servomotor mount pad 92, 6th speed reduction unit mount pad 94 is all disk shape class part, described 3rd connecting arm 95 is barrel-shaped class part, described 6th servomotor 91 is provided with the 6th servo motor output shaft, described 6th servomotor mount pad 92 is fixedly installed in one end of described 3rd connecting arm 95, the other end of described 3rd connecting arm 95 is fixedly installed in outside described 5th speed reduction unit mount pad 84, described 6th servomotor 91 is fixedly installed in described 6th servomotor mount pad 92 times, described 6th speed reduction unit 93 is fixedly installed in described 6th servomotor mount pad 92 times and is fixedly connected with described 6th servo motor output shaft, described 6th speed reduction unit mount pad 94 is fixedly installed on described 6th speed reduction unit 93. described first speed reduction unit 23, the 2nd speed reduction unit 33, the 3rd speed reduction unit 53, the 4th speed reduction unit 63, the 5th speed reduction unit 83, the 6th speed reduction unit 93 are all harmonic speed reducer.
The present invention can apply multiple industry, such as the station that industrial welding and workpiece are removed, sprayed paint, the level of automation such as assembling is high, is relatively applicable to medium-sized and small enterprises and uses. As shown in Figure 3, when using the present invention to carry out scolding tin operation, scolding tin device 10 and solder feedway 20 are also set, described scolding tin device 10 is fixedly installed on described 6th speed reduction unit mount pad 94, described solder feedway 20 is fixedly installed on described 4th servomotor mount pad 62, and described solder feedway 20 is supplied solder and carried out scolding tin processing to described scolding tin device 10. Scolding tin device 10 and solder feedway 20 are not the inventive points of the present invention, do not elaborate at this.
The present invention also comprises Controlling System, and described Controlling System comprises programmable logic controller, motion-control module, servo+take controller, teaching hand editor's box touch-screen and photo-sensor, can effectively improve mechanical manipulator positioning precision. Described Controlling System is for controlling the work of described first servomotor 21, the 2nd servomotor 31, the 3rd servomotor 51, the 4th servomotor 61, the 5th servomotor 81, the 6th servomotor 91, scolding tin device 10 and solder feedway 20.
The principle of work of the present invention: described first servomotor 21 works and drives described 2nd servomotor mount pad 32 to rotate a fixed angle by the first speed reduction unit 23, described 2nd servomotor 31 works and drives the first connecting arm mount pad 34 to rotate a fixed angle by the 2nd speed reduction unit 33, described 3rd servomotor 51 works and drives the 4th servomotor mount pad 62 to rotate a fixed angle by the 3rd speed reduction unit 53, described 4th servomotor 61 works and drives the 2nd connecting arm mount pad 64 to rotate a fixed angle by the 4th speed reduction unit 63, described 5th servomotor 81 works and drives the 5th speed reduction unit mount pad 84 to rotate a fixed angle by the 5th speed reduction unit 83, described 6th servomotor 91 works and drives the 6th speed reduction unit mount pad 94 to rotate a fixed angle by the 6th speed reduction unit 93, described solder feedway 20 is supplied solder and is carried out scolding tin operation to described scolding tin device 10.
The present invention compared with prior art has following useful effect:
1. cost is low: owing to body, the Controlling System of the present invention adopts fairly simple physical construction to realize the control of six axle joint machines, and its structure is simple, simple to operate understandable, realizes domestic production completely.
2. one-piece construction is simple, stability height, is applicable to the plant produced operation of high strength. Adopt cylinder-shaped link, increase the bending resistance of structural parts and antitorque coefficient, multiple industry can be applied, such as the station that industrial welding and workpiece are removed, sprayed paint, the level of automation such as assembling is high, be relatively applicable to medium-sized and small enterprises and use.
3. positioning precision height: the Controlling System of this mechanical manipulator adopts programmable logic controller, motion-control module, servo+take controller, teaching hand editor's box touch-screen and photo-sensor, the wherein each axle run-length data of mechanical manipulator and positional information and feed back to programmable logic controller, the servomotor of each axle is controlled by controller, motor encoder feeds back to controller data, thus can ensure the accurate location of mechanical manipulator.
It is an advantage of the current invention that, rotating of the six axle joints of the present invention all adopts servomotor to be driven by harmonic speed reducer. Present configuration is simple, handling ease, low cost of manufacture, and overall weight is light, and bending resistance and torsional property are good, and motion is flexible, positioning precision height.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations. For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (7)
1. a degree of freedom mechanical manipulator, it is characterized in that: comprise pedestal (1), first swivel arrangement (2), 2nd swivel arrangement (3), first connecting arm (4), 3rd swivel arrangement (5), 4th swivel arrangement (6), 2nd connecting arm (7), 5th swivel arrangement (8), 6th swivel arrangement (9), described first swivel arrangement (2) is installed on described pedestal (1), described 2nd swivel arrangement (3) is installed on described first swivel arrangement (2), one end of described first connecting arm (4) is installed on described 2nd swivel arrangement (3), described 3rd swivel arrangement (5) is installed on the other end of described first connecting arm (4), described 4th swivel arrangement (6) is installed on described 3rd swivel arrangement (5), one end of described 2nd connecting arm (7) is installed on described 4th swivel arrangement (6), described 5th swivel arrangement (8) is installed on the other end of described 2nd connecting arm (7), described 6th swivel arrangement (9) is installed on described 5th swivel arrangement (8), described first swivel arrangement (2) drives described 2nd swivel arrangement (3) to rotate, described 2nd swivel arrangement (3) drives described 3rd swivel arrangement (5) to rotate by the first connecting arm (4), described 3rd swivel arrangement (5) drives described 4th swivel arrangement (6) to rotate, described 4th swivel arrangement (6) drives described 5th swivel arrangement (8) to rotate by described 2nd connecting arm (7), described 5th swivel arrangement (8) drives described 6th swivel arrangement (9) to rotate, described pedestal (1) comprises base plate (11), seat cylinder (12), and described seat cylinder (12) is installed on described base plate (11), described first swivel arrangement (2) comprises the first servomotor (21), first servomotor mount pad (22), first speed reduction unit (23), described first servomotor (21) is provided with the first servo motor output shaft, described first servomotor mount pad (22) is installed on described seat cylinder (12), under described first servomotor (21) is installed on described first servomotor mount pad (22), described first speed reduction unit (23) is installed in described first servomotor mount pad (22) and is connected with described first servo motor output shaft, described 2nd swivel arrangement (3) comprises the 2nd servomotor (31), 2nd servomotor mount pad (32), 2nd speed reduction unit (33), first connecting arm mount pad (34), described 2nd servomotor (31) is provided with the 2nd servo motor output shaft, described 2nd servomotor mount pad (32) is installed on described first speed reduction unit (23), described 2nd servomotor (31) is installed on described 2nd servomotor mount pad (32) inner side, described 2nd speed reduction unit (33) is installed on described 2nd servomotor mount pad (32) outside and is connected with described 2nd servo motor output shaft, described first connecting arm mount pad (34) is installed on described 2nd speed reduction unit (33), one end of described first connecting arm (4) is installed on described first connecting arm mount pad (34).
2. six degree of freedom mechanical manipulators as claimed in claim 1, it is characterized in that: described 3rd swivel arrangement (5) comprises the 3rd servomotor (51), 3rd servomotor mount pad (52), 3rd speed reduction unit (53), described 3rd servomotor (51) is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad (52) is installed on the other end of described first connecting arm (4), described 3rd servomotor (51) is installed on described 3rd servomotor mount pad (52) inner side, described 3rd speed reduction unit (53) is installed on described 3rd servomotor mount pad (52) outside and is connected with described 3rd servo motor output shaft.
3. six degree of freedom mechanical manipulators as claimed in claim 2, it is characterized in that: described 4th swivel arrangement (6) comprises the 4th servomotor (61), 4th servomotor mount pad (62), 4th speed reduction unit (63), 2nd connecting arm mount pad (64), described 4th servomotor (61) is provided with the 4th servo motor output shaft, it is installed on outside the one of described 4th servomotor mount pad (62) on described 3rd speed reduction unit (53), described 4th servomotor (61) is installed on inside described 4th servomotor mount pad (62), described 4th speed reduction unit (63) is installed on outside another of described 4th servomotor mount pad (62) and is connected with described 4th servo motor output shaft, one end of described 2nd connecting arm (7) is installed on described 4th speed reduction unit (63) by the 2nd connecting arm mount pad (64).
4. six degree of freedom mechanical manipulators as claimed in claim 3, it is characterized in that: described 5th swivel arrangement (8) comprises the 5th servomotor (81), 5th servomotor mount pad (82), 5th speed reduction unit (83), 5th speed reduction unit mount pad (84), described 5th servomotor (81) is provided with the 5th servo motor output shaft, described 5th servomotor mount pad (82) is installed on the other end of described 2nd connecting arm (7), described 5th servomotor (81) is installed on described 5th servomotor mount pad (82) inner side, described 5th speed reduction unit (83) is installed on described 5th speed reduction unit mount pad (84) inner side and is connected with described 5th servo motor output shaft.
5. six degree of freedom mechanical manipulators as claimed in claim 4, it is characterized in that: described 6th swivel arrangement (9) comprises the 6th servomotor (91), 6th servomotor mount pad (92), 6th speed reduction unit (93), 6th speed reduction unit mount pad (94), 3rd connecting arm (95), described 6th servomotor (91) is provided with the 6th servo motor output shaft, described 6th servomotor mount pad (92) is installed on one end of described 3rd connecting arm (95), the other end of described 3rd connecting arm (95) is fixedly installed in described 5th speed reduction unit mount pad (84) outside, under described 6th servomotor (91) is installed on described 6th servomotor mount pad (92), described 6th speed reduction unit (93) is installed on described 6th servomotor mount pad (92) and above and is connected with described 6th servo motor output shaft, described 6th speed reduction unit mount pad (94) is installed on described 6th speed reduction unit (93).
6. six degree of freedom mechanical manipulators as claimed in claim 5, it is characterized in that: described six degree of freedom mechanical manipulators also comprise scolding tin device (10) and solder feedway (20), described scolding tin device (10) is installed on described 6th speed reduction unit mount pad (94), described solder feedway (20) is installed on described 4th servomotor mount pad (62), and described solder feedway (20) supply solder carries out scolding tin processing to described scolding tin device (10).
7. six degree of freedom mechanical manipulators as described in claim 5 or 6, it is characterised in that: described first speed reduction unit (23), the 2nd speed reduction unit (33), the 3rd speed reduction unit (53), the 4th speed reduction unit (63), the 5th speed reduction unit (83), the 6th speed reduction unit (93) they are all harmonic speed reducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510055999.4A CN104589340B (en) | 2015-02-03 | 2015-02-03 | A kind of six degree of freedom mechanical manipulators |
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| CN201510055999.4A CN104589340B (en) | 2015-02-03 | 2015-02-03 | A kind of six degree of freedom mechanical manipulators |
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| CN104589340B true CN104589340B (en) | 2016-06-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105437225B (en) * | 2015-08-05 | 2018-04-03 | 台州学院 | A kind of six degree of freedom manipulator |
| CN105216008A (en) * | 2015-10-15 | 2016-01-06 | 浙江思玛特机器人科技有限公司 | A kind of construction package for four axle robots |
| CN105196289A (en) * | 2015-10-29 | 2015-12-30 | 武汉理工大学 | 6DOF (6 degree of freedom) light weight manipulator with embedded joints |
| CN105215986B (en) * | 2015-11-11 | 2017-04-26 | 深圳市松崎机器人自动化设备有限公司 | Multi-axis manipulator |
| CN105328697B (en) * | 2015-11-12 | 2018-04-06 | 深圳职业技术学院 | A kind of Modularized 6 freedom degree manipulator and its control method |
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| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
| GB2481249A (en) * | 2010-06-20 | 2011-12-21 | Innovations Ltd M | Three dimensional selective compliant robot |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN103753528A (en) * | 2014-02-18 | 2014-04-30 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation |
| CN204800636U (en) * | 2015-02-03 | 2015-11-25 | 东莞技研新阳电子有限公司 | Novel 6 -degree of freedom manipulator |
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| CN104589340A (en) | 2015-05-06 |
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