CN105196281A - Industrial six-axis robot terminal structure - Google Patents
Industrial six-axis robot terminal structure Download PDFInfo
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- CN105196281A CN105196281A CN201510765772.9A CN201510765772A CN105196281A CN 105196281 A CN105196281 A CN 105196281A CN 201510765772 A CN201510765772 A CN 201510765772A CN 105196281 A CN105196281 A CN 105196281A
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Abstract
The invention discloses an industrial six-axis robot terminal structure, and belongs to the technical field of automatic control. The industrial six-axis robot terminal structure specifically comprises a small arm part and a wrist part, wherein the small arm part comprises a left small arm beam and a right small arm beam; the left small arm beam and the right small arm beam are arranged in parallel in the transverse direction along the axis of the length direction and are crossly staggered in the longitudinal direction; the wrist part comprises a six axis connection part; a fifth axis swinging arm and a sixth axis power transmission pipe are fixedly arranged on the left and right sides of the six axis connection part; the fifth axis swinging arm and the sixth axis power transmission pipe are located between the front end parts of the left small arm beam and the right small arm beam; the fifth axis swinging arm is connected with the front end of the left small arm beam through a left-side fifth axis connection part which is fixedly arranged at the upper end of the fifth axis swinging arm; and the sixth axis power transmission pipe is connected with the front end of the right small arm beam through a right-side fifth axis connection part which is fixedly arranged at the upper end of the sixth axis swinging arm. The industrial six-axis robot terminal structure has the advantages of low production cost, simple internal wire arrangement, accurate robot movement and strong terminal loading capability.
Description
Technical field
The present invention relates to technical field of automatic control, particularly relate to a kind of industrial six-joint robot end structure.
Background technology
Six-joint robot freely can carry out activity in three dimensions, can carry out quickly and accurately carrying, weld, a large amount of repetitive work such as spraying.In traditional factory, the work such as carrying, welding, substantially by manually having come, having large, consuming time more, uninteresting, the work under bad environment of labour intensity, easily the problem such as polluting.Secondly, manually-operated process consistency is more difficult to be reached, and quality control is not easy, thus can increase the cost of enterprise.Therefore, in these areas, be the operations such as pole needs robot to carry material quickly and accurately, installs, welds, spraying.
But existing six-joint robot also exists a lot of deficiency, mainly there is following shortcoming:
1. the 6th spindle motor and the 5th spindle motor are all installed on forearm front end, increase the deadweight of six-joint robot end, robot end's payload capability is reduced greatly, and forearm cabling are numerous and diverse; 2. in prior art, forearm structure is mostly monomer structure, if when needing the 6th spindle motor and the 5th spindle motor to be installed on forearm structure rear end simultaneously, motor assembling is by forearm space constraint, and this small size motor can only from external buying, cost is higher, and general degree is low; 3. cabling is generally directly fixed on forearm outside, there is reliability hidden danger, cable is exposed outside robot body, and redundancy is mixed and disorderly, partial joint actuating range is limited, well can not protect cable, in addition, some is from inner cabling, 5th axle, between the 6th axis cable and end high-current equipment, there is signal disturbing, data transmission is unreliable, and requires the 5th axle reductor band hollow structure, limits the scope of application of reductor; 4. the wrist portion of existing six-joint robot only has single 5th axle connecting portion, bearing capacity is limited, when robot end weighs larger, after Long-Time Service, do not reach axiality requirement, precision and stability reduce, on the other hand, the welding gun used robot end or the cabling of other instruments more numerous and diverse; 5. lack gear clearance elimination treatment process, gear-driven accuracy is not high, finally causes robot motion not accurate.
Summary of the invention
The object of this invention is to provide a kind of industrial six-joint robot end structure, it has compact conformation, advantage reasonable in design, adopt the industrial six-joint robot end structure of the present invention can expand the scope of application of the 5th spindle motor, the 6th spindle motor and reductor, reduce purchase cost, inner cabling is succinct, and robot motion is accurate, and six-joint robot end payload capability improves greatly.
Poor for solving six-joint robot load capacity in prior art, cabling is lack of standardization, actuating range and precision limited, manufacturing cost is high, the technical problem of poor stability, a kind of industrial six-joint robot end structure of the present invention, comprise little arm and wrist portion, little arm comprises left forearm beam and right forearm beam, left forearm beam is all fixedly connected with the 4th axle connecting portion with the rear end of right forearm beam, left forearm beam is in a parallel set in the horizontal with right forearm beam axis alongst and becomes intersection to stagger setting in the vertical, left forearm beam and right forearm beam are hollow structure and are separately installed with the 5th spindle motor and the 6th spindle motor in rearward end, wrist portion comprises the 6th axle connecting portion, the left and right sides of the 6th axle connecting portion is fixed with the 5th axle swing arm and the 6th axle power transmission pipe respectively, 5th axle swing arm and the 6th axle power transmission pipe are between the leading section of left forearm beam and right forearm beam, left side the 5th axle connecting portion that 5th axle swing arm is fixedly installed by its upper end is connected with the front end of left forearm beam, and right side the 5th axle connecting portion that the 6th axle power transmission pipe is fixedly installed by its upper end is connected with the front end of right forearm beam, be provided with the swing of the first wheel belt gear train reducing gear for the 5th axle swing arm between left forearm beam and the 5th axle swing arm, between right forearm beam and the 6th axle power transmission pipe, be provided with the Power output of the second wheel belt gear train reducing gear for wrist portion.
Further, the industrial six-joint robot end structure of the present invention, wherein, the first wheel belt gear train reducing gear between left forearm beam and the 5th axle swing arm is specially: the front end of left forearm beam adopts circular arc and is provided with the double reduction of harmonic wave speed reducing machine as the 5th axle, on the power shaft of harmonic wave speed reducing machine, cover has left large belt wheel, on the output shaft of the 5th spindle motor, cover has left small pulley, left large belt wheel and left small pulley connect and compose the primary speed-down of the 5th axle by belt, the output of harmonic wave speed reducing machine is fixedly connected with the 5th axle swing arm for driving the 5th axle swing arm to swing.
Further, the industrial six-joint robot end structure of the present invention, wherein, the second wheel belt gear train reducing gear between right forearm beam and the 6th axle power transmission pipe is specially: the front end of right forearm beam adopts circular arc and is provided with roller bearing, in roller bearing, power transmission shaft is installed, the outer end of power transmission shaft is provided with right large belt wheel, the output shaft of the 6th spindle motor is provided with right small pulley, right large belt wheel and right small pulley connect and compose the primary speed-down of the 6th axle by belt, the inner of power transmission shaft to be stretched in the inner chamber of the 6th axle power transmission pipe and is installed with left-hand screw conical gear in the inner, extend axially through roller bearing in 6th axle power transmission pipe and tooth sector axle is installed, one end that tooth sector axle is corresponding with left-hand screw conical gear is installed with right-hand screw conical gear, the other end of tooth sector axle is provided with travelling gear, left-hand screw conical gear and right-hand screw conical gear are meshed, 6th axle connecting portion extends axially through roller bearing and is provided with wrist gear shaft, wrist gear shaft is provided with wrist output gear by interference fit, travelling gear and wrist output gear be meshed formation the 6th axle double reduction and for the Power output of wrist portion.
Further, the industrial six-joint robot end structure of the present invention, wherein, also comprises clearance elimination gear, and described clearance elimination gear is installed on wrist gear shaft and is also meshed with described travelling gear together with wrist output gear.
Further, the industrial six-joint robot end structure of the present invention, wherein, wrist gear shaft is hollow structure.
Further, the industrial six-joint robot end structure of the present invention, wherein, the 5th spindle motor and the 6th spindle motor are all installed in described left forearm beam and right forearm beam and survey.
Further, the industrial six-joint robot end structure of the present invention, wherein, offers passing channel in the middle part of the 4th axle connecting portion.
Further, the industrial six-joint robot end structure of the present invention, wherein, is welded with reinforcement gusset between left forearm beam and right forearm beam, and strengthens offering through hole in the middle part of gusset.
A kind of industrial six-joint robot end structure of the present invention compared with prior art, have the following advantages: the present invention is by the installing space arranging and leave the 5th spindle motor and the 6th spindle motor that left forearm beam and right forearm beam mutually staggered, improve the general degree of motor, make motor to depend on import, reduce purchase cost; Meanwhile, the 5th spindle motor and the 6th spindle motor are all installed on the left and right forearm beam of the 4th axle connecting portion, alleviate the deadweight of six-joint robot end, robot end's payload capability is increased; And in use, the 5th spindle motor and the 6th spindle motor stagger installation, and there are enough cabling space centre, the 5th axle and the 6th axle power transmission passage are separately, non-interference, compact conformation; By being fixed with the 5th axle swing arm and the 6th axle power transmission pipe respectively at the 6th axle connecting portion left and right sides, on the one hand, the swing of wrist portion can be realized by the 5th axle swing arm, on the other hand, the Power output of wrist portion can be realized by the 6th axle power transmission pipe, and do not need the 6th spindle motor to be installed on wrist portion, add the load capacity of robot end; In addition, wrist portion both sides are all connected with the 5th axle, enhance end load ability and stability, and in use procedure, required precision is also met.
Below in conjunction with detailed description of the invention shown in accompanying drawing, a kind of industrial six-joint robot end structure of the present invention is described in further detail:
Accompanying drawing explanation
Fig. 1 is a kind of industrial six-joint robot end structure schematic diagram of the present invention;
Fig. 2 is the partial sectional view of a kind of industrial six-joint robot end structure of the present invention;
Fig. 3 is wrist portion structure schematic diagram in a kind of industrial six-joint robot end structure of the present invention.
Wherein: 1, little arm; 100, the 4th axle connecting portion; 101, left forearm beam; 102, right forearm beam; 103, the 5th spindle motor; 104, the 6th spindle motor; 105, harmonic wave speed reducing machine; 106, left large belt wheel; 107, left small pulley; 108, right large belt wheel; 109, right small pulley; 110, gusset is strengthened; 2, wrist portion; 200, the 6th axle connecting portion; 201, the 5th axle swing arm; 202, the 6th axle power transmission pipe; 203, left side the 5th axle connecting portion; 204, right side the 5th axle connecting portion; 205, power transmission shaft; 206, left-hand screw conical gear; 207, tooth sector axle; 208, right-hand screw conical gear; 209, travelling gear; 210, wrist gear shaft; 211, wrist output gear; 212, clearance elimination gear.
Detailed description of the invention
First it should be noted that; left and right described in the present patent application, front and back, inward-outward direction all with left forearm beam and right forearm beam from the 4th axle connecting portion to left side the 5th axle connecting portion or right side the 5th axle connecting portion for dead ahead is to being as the criterion; and it is just for stating the regulation of conveniently carrying out, and does not represent the restriction carried out the request protection domain of patent application of the present invention.
As Figure 1-3, a kind of industrial six-joint robot end structure, comprise little arm 1 and wrist portion 2, little arm 1 comprises left forearm beam 101 and right forearm beam 102, left forearm beam 101 is all fixedly connected with the 4th axle connecting portion 100 with the rear end of right forearm beam 102, left forearm beam 101 is in a parallel set in the horizontal with right forearm beam 102 axis alongst and becomes intersection to stagger setting in the vertical, left forearm beam 101 and right forearm beam 102 are hollow structure and are separately installed with the 5th spindle motor 103 and the 6th spindle motor 104 in rearward end, the Poewr transmission mechanism of the 5th axle and the 6th axle is convenient to be installed separately, make structure more succinct, and this structure makes the 5th spindle motor 103 and the 6th spindle motor about 104 to stagger installation, installing space is sufficient, large-size motor can be selected, selecting of motor might not depend on import, reduce purchase cost, in addition, 5th spindle motor 103 and the 6th spindle motor 104 as far as possible rearmounted, reduce the own wt of robot end, improve the load capacity of robot end, wrist portion 2 comprises the 6th axle connecting portion 200, the left and right sides of the 6th axle connecting portion 200 is fixed with the 5th axle swing arm 201 and the 6th axle power transmission pipe 202 respectively, 5th axle swing arm 201 and the 6th axle power transmission pipe 202 are between the leading section of left forearm beam 101 and right forearm beam 102, left side the 5th axle connecting portion 203 that 5th axle swing arm 201 is fixedly installed by its upper end is connected with the front end of left forearm beam 101, 6th axle power transmission pipe leads to 202 right side the 5th axle connecting portions 204 that its upper end is fixedly installed excessively and is connected with the front end of right forearm beam 102, by this structure, wrist portion 2 two ends are all connected with little arm 1, enhance robot end's load capacity and stability, in use procedure, required precision is also met, be provided with the swing of the first wheel belt gear train reducing gear for the 5th axle swing arm 201 between left forearm beam 101 and the 5th axle swing arm 201, between right forearm beam 102 and the 6th axle power transmission pipe 202, be provided with the Power output of the second wheel belt gear train reducing gear for wrist portion 2.
Simultaneously, in order to make the present invention's industrial six-joint robot end structure more compact, the Poewr transmission mechanism of the 5th axle and the 6th axle is provided separately by left forearm beam 101 and right forearm beam 102, the first wheel belt gear train reducing gear between left forearm beam 101 and the 5th axle swing arm 201 is specially: the front end of left forearm beam 101 adopts circular arc and is provided with the double reduction of harmonic wave speed reducing machine 105 as the 5th axle, on the power shaft of harmonic wave speed reducing machine 105, cover has left large belt wheel 106, on the output shaft of the 5th spindle motor 103, cover has left small pulley 107, left large belt wheel 106 and left small pulley 107 connect and compose the primary speed-down of the 5th axle by belt, the output of harmonic wave speed reducing machine 105 is fixedly connected with the 5th axle swing arm 201 for driving the 5th axle swing arm 201 to swing.
The second wheel belt gear train reducing gear between right forearm beam 102 and the 6th axle power transmission pipe 202 is specially: the front end of right forearm beam 102 adopts circular arc and is provided with roller bearing, power transmission shaft 205 is installed in roller bearing, the outer end of power transmission shaft 205 is provided with right large belt wheel 108, the output shaft of the 6th spindle motor 104 is provided with right small pulley 109, right large belt wheel 108 and right small pulley 109 connect and compose the primary speed-down of the 6th axle by belt, the inner of power transmission shaft 205 to be stretched in the inner chamber of the 6th axle power transmission pipe 202 and is installed with left-hand screw conical gear 206 in the inner, extend axially through roller bearing in 6th axle power transmission pipe 202 and tooth sector axle 207 is installed, one end that tooth sector axle 207 is corresponding with left-hand screw conical gear 206 is installed with right-hand screw conical gear 208, the other end of tooth sector axle 207 is provided with travelling gear 209, left-hand screw conical gear 206 and right-hand screw conical gear 208 are meshed, 6th axle connecting portion 200 extends axially through roller bearing and is provided with wrist gear shaft 210, wrist gear shaft 210 is provided with wrist output gear 211 by interference fit, travelling gear 209 and wrist output gear 211 be meshed formation the 6th axle double reduction and for the Power output of wrist portion 2.
As further prioritization scheme, the present embodiment also comprises clearance elimination gear 212, and clearance elimination gear 212 is installed on wrist gear shaft 210 and is also meshed with travelling gear 209 together with wrist output gear 211; This structure makes the Power output of wrist portion 2 more stable, improves robot motion precision.
Meanwhile, in order to make configuration of the present invention more compact, and improve robot motion sensitivity, wrist gear shaft 210 is set to hollow structure, be convenient to end-equipment wiring.
As further prioritization scheme, the 5th spindle motor 103 and the 6th spindle motor 104 are all installed in left forearm beam 101 and right forearm beam 102 and survey; This mounting means makes robot have more globality, compact conformation.
In order to make cabling of the present invention have more normalization, offering passing channel by the middle part of the 4th axle connecting portion 100, being convenient to the wiring of the 5th spindle motor 103, the 6th spindle motor 104 and end-equipment.
As further prioritization scheme, be welded with between left forearm beam 101 and right forearm beam 102 and strengthen gusset 110, be convenient to the load capacity improving end structure, in addition, in the middle part of reinforcement gusset 110, offer through hole is then to coordinate above-mentioned cable of drawing from passing channel, whole equipment is connected up succinct.
Above embodiment is only the description carried out the preferred embodiment of the present invention; the restriction not request protection domain of the present invention carried out; under the prerequisite not departing from design principle of the present invention and spirit; the various forms of distortion that this area engineers and technicians make according to technical scheme of the present invention, all should fall in protection domain that claims of the present invention determine.
Claims (8)
1. an industrial six-joint robot end structure, it is characterized in that, comprise little arm and wrist portion, described little arm comprises left forearm beam and right forearm beam, left forearm beam is all fixedly connected with the 4th axle connecting portion with the rear end of right forearm beam, left forearm beam is in a parallel set in the horizontal with right forearm beam axis alongst and becomes intersection to stagger setting in the vertical, and left forearm beam and right forearm beam are hollow structure and are separately installed with the 5th spindle motor and the 6th spindle motor in rearward end; Described wrist portion comprises the 6th axle connecting portion, the left and right sides of the 6th axle connecting portion is fixed with the 5th axle swing arm and the 6th axle power transmission pipe respectively, 5th axle swing arm and the 6th axle power transmission pipe are between the leading section of left forearm beam and right forearm beam, left side the 5th axle connecting portion that 5th axle swing arm is fixedly installed by its upper end is connected with the front end of left forearm beam, and right side the 5th axle connecting portion that the 6th axle power transmission pipe is fixedly installed by its upper end is connected with the front end of right forearm beam; Be provided with the swing of the first wheel belt gear train reducing gear for the 5th axle swing arm between left forearm beam and the 5th axle swing arm, between right forearm beam and the 6th axle power transmission pipe, be provided with the Power output of the second wheel belt gear train reducing gear for wrist portion.
2. industrial six-joint robot end structure according to claim 1, it is characterized in that, the first wheel belt gear train reducing gear between described left forearm beam and the 5th axle swing arm is specially: the front end of left forearm beam adopts circular arc and is provided with the double reduction of harmonic wave speed reducing machine as the 5th axle, on the power shaft of harmonic wave speed reducing machine, cover has left large belt wheel, on the output shaft of the 5th spindle motor, cover has left small pulley, the large belt wheel in a described left side and left small pulley connect and compose the primary speed-down of the 5th axle by belt, the output of harmonic wave speed reducing machine is fixedly connected with the 5th axle swing arm for driving the 5th axle swing arm to swing.
3. industrial six-joint robot end structure according to claim 1, it is characterized in that, the second wheel belt gear train reducing gear between described right forearm beam and the 6th axle power transmission pipe is specially: the front end of right forearm beam adopts circular arc and is provided with roller bearing, in roller bearing, power transmission shaft is installed, the outer end of power transmission shaft is provided with right large belt wheel, the output shaft of the 6th spindle motor is provided with right small pulley, right large belt wheel and right small pulley connect and compose the primary speed-down of the 6th axle by belt, the inner of power transmission shaft to be stretched in the inner chamber of the 6th axle power transmission pipe and is installed with left-hand screw conical gear in the inner, extend axially through roller bearing in 6th axle power transmission pipe and tooth sector axle is installed, one end that tooth sector axle is corresponding with left-hand screw conical gear is installed with right-hand screw conical gear, the other end of tooth sector axle is provided with travelling gear, left-hand screw conical gear and right-hand screw conical gear are meshed, 6th axle connecting portion extends axially through roller bearing and is provided with wrist gear shaft, wrist gear shaft is provided with wrist output gear by interference fit, described travelling gear and wrist output gear be meshed formation the 6th axle double reduction and for the Power output of wrist portion.
4. industrial six-joint robot end structure according to claim 3, is characterized in that, also comprise clearance elimination gear, and described clearance elimination gear is installed on wrist gear shaft and is also meshed with described travelling gear together with wrist output gear.
5. industrial six-joint robot end structure according to claim 3, is characterized in that, described wrist gear shaft is hollow structure.
6. industrial six-joint robot end structure according to claim 1, is characterized in that, described 5th spindle motor and the 6th spindle motor are all installed in described left forearm beam and right forearm beam and survey.
7. industrial six-joint robot end structure according to claim 1, is characterized in that, offers passing channel in the middle part of described 4th axle connecting portion.
8. industrial six-joint robot end structure according to claim 1, is characterized in that, is welded with reinforcement gusset between described left forearm beam and right forearm beam, and strengthens offering through hole in the middle part of gusset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510765772.9A CN105196281A (en) | 2015-11-11 | 2015-11-11 | Industrial six-axis robot terminal structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510765772.9A CN105196281A (en) | 2015-11-11 | 2015-11-11 | Industrial six-axis robot terminal structure |
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| CN105196281A true CN105196281A (en) | 2015-12-30 |
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| CN201510765772.9A Pending CN105196281A (en) | 2015-11-11 | 2015-11-11 | Industrial six-axis robot terminal structure |
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Cited By (5)
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| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107283388A (en) * | 2017-08-10 | 2017-10-24 | 王莎莎 | A kind of architectural engineering work machine |
| CN107298138A (en) * | 2017-07-25 | 2017-10-27 | 仲松梅 | One kind building town road robot |
| CN110587654A (en) * | 2019-09-23 | 2019-12-20 | 重庆智能机器人研究院 | Six-axis robot |
| CN114800452A (en) * | 2022-05-25 | 2022-07-29 | 合肥三宇电器有限责任公司 | Fifth shaft and sixth shaft transmission mechanism applied to welding robot |
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| CN114800452A (en) * | 2022-05-25 | 2022-07-29 | 合肥三宇电器有限责任公司 | Fifth shaft and sixth shaft transmission mechanism applied to welding robot |
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Application publication date: 20151230 |