CN104875198A - Rectangular coordinate type six-axis robot - Google Patents
Rectangular coordinate type six-axis robot Download PDFInfo
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- CN104875198A CN104875198A CN201510242757.6A CN201510242757A CN104875198A CN 104875198 A CN104875198 A CN 104875198A CN 201510242757 A CN201510242757 A CN 201510242757A CN 104875198 A CN104875198 A CN 104875198A
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Abstract
The invention provides a rectangular coordinate type six-axis robot. The rectangular coordinate type six-axis robot comprises a base on which a transverse axis, a longitudinal axis and a vertical axis are arranged. The rectangular coordinate type six-axis robot is characterized in that the transverse axis, the longitudinal axis and the vertical axis form a spatial rectangular coordinate system; the longitudinal axis is arranged on the transverse shaft and transmitted by a first power source to axially move along the transverse axis; the vertical axis is arranged on the longitudinal axis and transmitted by a second power source to axially move along the longitudinal axis; the vertical shaft is also transmitted by a third power source to axially lift along the vertical axis; the vertical axis is also transmitted through a fourth power source to rotate around the axis of the vertical axis; a first rotating shaft for mounting a tool seat is connected to the bottom part of the vertical axis, wherein the first rotating shaft is parallel to the level and transmitted by a fifth power source to rotate around the axis; a second rotating shaft for positioning a workpiece is arranged on the base and is transmitted by a sixth power source to rotate around the axis.
Description
Technical field
The present invention relates to a kind of robot, particularly be a kind of rectangular co-ordinate six-joint robot.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant installations, and it can automatically perform work, is to realize a kind of machine of various function by self power and control ability.It can accept mankind commander, also can run according to the program of layout in advance.In industrial welding, carrying, gluing, spraying top can be enhanced productivity by robot, improved accuracy, stability.
Summary of the invention
In view of the technical problem existed in background technology, technical problem solved by the invention aims to provide a kind of rectangular co-ordinate six-joint robot.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
Rectangular co-ordinate six-joint robot, include base, described base is provided with transverse axis, the longitudinal axis and vertical pivot, it is characterized in that: described transverse axis, the longitudinal axis and vertical pivot are rectangular coordinate system in space, the described longitudinal axis is arranged on transverse axis and the longitudinal axis is moved axially along transverse axis by the first power source transmission, described vertical pivot is arranged on the longitudinal axis and vertical pivot is moved axially along the longitudinal axis by the second power source transmission, described vertical pivot also by the 3rd power source transmission on the longitudinal axis along the axial lifting moving of vertical pivot, described vertical pivot is also rotated around vertical pivot axis by the 4th power source transmission, the bottom of described vertical pivot is connected with the first rotating shaft for erecting tools seat, this the first rotating shaft and plane-parallel, this first rotating shaft is rotated around the first rotating shaft axis by the 5th power source transmission, described base is also provided with the second rotating shaft for settling workpiece, described second rotating shaft is rotated around the second rotating shaft axis by the 6th power source transmission.
Described first power source, the second power source, the 3rd power source, the 4th power source, the 5th power source and the 6th power source all adopt the independent motor arranged.
Each motor is connected with controller, gathered or/and measure the displacement signal of the longitudinal axis by encoder, gathered or/and measure the rotary angle signal of the first rotating shaft, the second rotating shaft by encoder, gathered by encoder or/and measure displacement and the rotary angle signal of vertical shaft, encoder collection signal controls each electric machine rotation by controller.
Transverse axis is arranged on base by column.
Beneficial effect of the present invention is, the instruments such as welding gun, spray gun, glue rifle are arranged in tool seat, tool seat carries out production operation in robot of the present invention, can stablize, accurately complete work in every task, particularly on the production operations such as industrial welding, gluing, spraying, therefore the present invention compared with prior art has outstanding substantive distinguishing features and significant progress.
Accompanying drawing explanation
Details and the operation principle of embodiments of the present invention and embodiment are described below in conjunction with accompanying drawing.
Fig. 1 of the present inventionly faces structural representation.
Fig. 2 is the right side TV structure schematic diagram of Fig. 1.
Fig. 3 is perspective view of the present invention.
Detailed description of the invention
See accompanying drawing, in present embodiment, rectangular co-ordinate six-joint robot, include base 1, described base is provided with transverse axis 2, the longitudinal axis 3 and vertical pivot, and described transverse axis 2, the longitudinal axis 3 and vertical pivot will in rectangular coordinate system in space, and in the present embodiment, transverse axis 2 in the X-axis direction, in the Y-axis direction, vertical pivot in the Z-axis direction for the longitudinal axis 3.Transverse axis is arranged on base 1 by column 11, crossbeam 12.
The described longitudinal axis 3 is arranged on transverse axis 2 and the longitudinal axis is moved axially along transverse axis 2 by the first power source (as 1# motor) transmission, and can arrange guide rail on transverse axis 2 in the present embodiment, the longitudinal axis will be arranged on sliding seat; Can by arranging individual encoders to gather or/and measure the displacement signal of the movement on transverse axis of the longitudinal axis.
Described vertical pivot is arranged on the longitudinal axis 3 and vertical pivot is moved axially along the longitudinal axis 3 by the second power source (as 2# motor) transmission, and also can arrange guide rail on the longitudinal axis 3 in the present embodiment, vertical pivot will be arranged on sliding seat; Can by arranging individual encoders to gather or/and measure the displacement signal of vertical pivot movement on the longitudinal axis.
Described vertical pivot also by the 3rd power source (as 3# motor) transmission on the longitudinal axis along the axial lifting moving of vertical pivot, described vertical pivot is also rotated around vertical pivot axis by the 4th power source (as 4# motor) transmission.By 3# driven by motor worm and gear group toothed drive gear bar assembly in the future in the present embodiment, vertical pivot to be enclosed within outer tube 4 and to remain unchanged with the relative axial position of outer tube 4, tooth bar will vertically be arranged on outside outer tube, 3# motor makes gear rack elevating move by gear, can by arranging individual encoders to gather or/and measure the lifting displacement signal of vertical shaft; 4# motor drives vertical pivot to rotate in outer tube 4 by gear assembly, can by arranging individual encoders to gather or/and measure the rotary angle signal of vertical shaft.
The bottom of described vertical pivot is connected with the first rotating shaft 5 for erecting tools seat, this the first rotating shaft and plane-parallel, this first rotating shaft is rotated around the first rotating shaft axis by the 5th power source (as 5# motor) transmission, can arrange installing rack and install for 5# motor and the first rotating shaft inside the present embodiment bottom vertical pivot.The instruments such as welding gun, spray gun, glue rifle are arranged in tool seat.
Described base 1 is also provided with the second rotating shaft 6 for settling workpiece, described second rotating shaft is rotated around the second rotating shaft axis by the 6th power source (as 6# motor) transmission, workpiece clamp or to be pressed in or other modes are placed on the second rotating shaft, by the second rotating shaft, workpiece is rotated, when processing, can allow the diverse location of instrument process workpiece.
The each motor of 1#, 2#, 3#, 4#, 5#, 6# is connected with controller, and each encoder collection signal controls each electric machine rotation by controller.
During the work of rectangular co-ordinate six-joint robot, workpiece is placed on the second rotating shaft, instrument in tool seat starts to carry out processing operation to workpiece, adjusts the position of instrument in tool seat and then the not coordination position of instrument to workpiece is processed by each motor of 1#, 2#, 3#, 4#, 5#.Be arranged in tool seat by instruments such as welding gun, spray gun, glue rifles, tool seat carries out production operation in robot of the present invention, can stablize, accurately complete work in every task, particularly on the production operations such as industrial welding, gluing, spraying.
Claims (4)
1. rectangular co-ordinate six-joint robot, include base (1), described base is provided with transverse axis (2), the longitudinal axis (3) and vertical pivot, it is characterized in that: described transverse axis (2), the longitudinal axis (3) and vertical pivot are rectangular coordinate system in space, the described longitudinal axis (3) is arranged on the upper and longitudinal axis (3) of transverse axis (2) and is moved axially along transverse axis (2) by the first power source transmission, described vertical pivot is arranged on the upper and vertical pivot of the longitudinal axis (3) and is moved axially along the longitudinal axis (3) by the second power source transmission, described vertical pivot also by the 3rd power source transmission on the longitudinal axis along the axial lifting moving of vertical pivot, described vertical pivot is also rotated around vertical pivot axis by the 4th power source transmission, the bottom of described vertical pivot is connected with the first rotating shaft (5) for erecting tools seat, this the first rotating shaft (5) and plane-parallel, this first rotating shaft (5) is rotated around the first rotating shaft (5) axis by the 5th power source transmission, described base (1) is also provided with the second rotating shaft (6) for settling workpiece, described second rotating shaft (6) is rotated around the second rotating shaft (6) axis by the 6th power source transmission.
2. rectangular co-ordinate six-joint robot as claimed in claim 1, is characterized in that: described first power source, the second power source, the 3rd power source, the 4th power source, the 5th power source and the 6th power source all adopt the independent motor arranged.
3. rectangular co-ordinate six-joint robot as claimed in claim 2, it is characterized in that: each motor is connected with controller, gathered or/and measure the displacement signal of the longitudinal axis by encoder, gathered or/and measure the rotary angle signal of the first rotating shaft, the second rotating shaft by encoder, gathered by encoder or/and measure displacement and the rotary angle signal of vertical shaft, encoder collection signal controls each electric machine rotation by controller.
4. rectangular co-ordinate six-joint robot as claimed in claim 1, is characterized in that: transverse axis is arranged on base by column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510242757.6A CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510242757.6A CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104875198A true CN104875198A (en) | 2015-09-02 |
| CN104875198B CN104875198B (en) | 2017-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510242757.6A Expired - Fee Related CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
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| Country | Link |
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| CN (1) | CN104875198B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522572A (en) * | 2016-02-03 | 2016-04-27 | 余晓娜 | Compact three-axis industrial robot |
| CN107932490A (en) * | 2017-12-30 | 2018-04-20 | 贾军霞 | A kind of intelligent robot |
| CN108128622A (en) * | 2017-12-30 | 2018-06-08 | 贾军霞 | A kind of robot |
| CN111390935A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator for welding |
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| CN2263572Y (en) * | 1996-06-25 | 1997-10-01 | 万小穗 | Electric manipulator |
| US20020189085A1 (en) * | 2001-06-15 | 2002-12-19 | Comau Spa | Line of manufacturing units for carrying out machining operations, provided with modular translating devices for the transfer of workpieces form one unit to another of the line |
| US20080264811A1 (en) * | 2007-04-27 | 2008-10-30 | Josef Dirschbacher | Construction kit for a manipulating system |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN201304647Y (en) * | 2008-12-05 | 2009-09-09 | 中国科学院沈阳自动化研究所 | Rail-switching mechanical arm |
| CN103862369A (en) * | 2014-03-25 | 2014-06-18 | 昆山艾思迪机械科技有限公司 | Automatic feeding and discharging mechanism of six-shaft five-linkage tool grinder |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN104511897A (en) * | 2013-09-29 | 2015-04-15 | 张祥 | Novel rectangular coordinate robot device |
| CN204604322U (en) * | 2015-05-14 | 2015-09-02 | 上海宜功焊接科技有限公司 | Rectangular co-ordinate six-joint robot |
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2015
- 2015-05-14 CN CN201510242757.6A patent/CN104875198B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2263572Y (en) * | 1996-06-25 | 1997-10-01 | 万小穗 | Electric manipulator |
| US20020189085A1 (en) * | 2001-06-15 | 2002-12-19 | Comau Spa | Line of manufacturing units for carrying out machining operations, provided with modular translating devices for the transfer of workpieces form one unit to another of the line |
| US20080264811A1 (en) * | 2007-04-27 | 2008-10-30 | Josef Dirschbacher | Construction kit for a manipulating system |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN201304647Y (en) * | 2008-12-05 | 2009-09-09 | 中国科学院沈阳自动化研究所 | Rail-switching mechanical arm |
| CN104511897A (en) * | 2013-09-29 | 2015-04-15 | 张祥 | Novel rectangular coordinate robot device |
| CN103862369A (en) * | 2014-03-25 | 2014-06-18 | 昆山艾思迪机械科技有限公司 | Automatic feeding and discharging mechanism of six-shaft five-linkage tool grinder |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN204604322U (en) * | 2015-05-14 | 2015-09-02 | 上海宜功焊接科技有限公司 | Rectangular co-ordinate six-joint robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522572A (en) * | 2016-02-03 | 2016-04-27 | 余晓娜 | Compact three-axis industrial robot |
| CN107932490A (en) * | 2017-12-30 | 2018-04-20 | 贾军霞 | A kind of intelligent robot |
| CN108128622A (en) * | 2017-12-30 | 2018-06-08 | 贾军霞 | A kind of robot |
| CN107932490B (en) * | 2017-12-30 | 2018-11-27 | 泰州市龙泽环境科技有限公司 | A kind of intelligent robot |
| CN111390935A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator for welding |
| CN111390935B (en) * | 2020-04-23 | 2021-07-23 | 青岛中和重工工业有限公司 | Manipulator for welding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104875198B (en) | 2017-07-25 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Shengguo Inventor before: Wang Shengguo Inventor before: Yu Li |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170615 Address after: 201600 Shanghai City, Songjiang District small town Kunshan Guanghua Road No. 650 building 11 Applicant after: Shanghai Gong Rui Electric Technology Co., Ltd. Address before: 201100 1D15 room, No. 89 Xin Bang Road, Shanghai, Minhang District Applicant before: Shanghai should merit welding Science and Technology Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170725 Termination date: 20210514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |