CN105619401A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
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- CN105619401A CN105619401A CN201510810609.XA CN201510810609A CN105619401A CN 105619401 A CN105619401 A CN 105619401A CN 201510810609 A CN201510810609 A CN 201510810609A CN 105619401 A CN105619401 A CN 105619401A
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- axle
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- servo rotation
- shaft rotating
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Abstract
The invention discloses an industrial robot which comprises a base used for being fixedly connected with an industrial production line or a production workbench, a first shaft rotating device, a second shaft rotating device, a third shaft rotating device, a fourth shaft rotating device, a fifth shaft rotating device and a big arm. The industrial robot has the beneficial effects of being high in degree of freedom and wide in working range, greatly saving the space occupied by a motor and a speed reducer due to the fact that a servo motor close to a working area is designed to be of a built-in structure, and improving the flexibility and accuracy.
Description
Technical field
The present invention relates to a kind of industrial robot, specifically, relate to a kind of industrial robot.
Background technology
Along with developing rapidly of China's process industry, industrial robot has become raising production efficiency, it is ensured that generate the important technical of quality. In the production process of the typical industry equipments such as automobile, aircraft, armarium, robot is progressively replacing hand labor becomes the main force on production line.
Industrial robot on current most of production line have employed the serial manipulator of joint form, the typical structure of this kind of robot is by rotating fuselage, rotate large arm (or mobile large arm), carpal joint and the end effector composition rotating forearm (or mobile forearm) with there are two or three rotational freedoms. This topological structure determines robot and has motility and the flexibility of height in working range and pose adjustment, but the drive motor of existing robot occupies certain space, often limit the rotational angle range of robot, affect its working range, reduce and produce accuracy. Accordingly, it is desirable to provide a kind of new technical scheme solves the problems referred to above.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of industrial robot, and its degree of freedom is high, and working range is wide, and the servomotor near working region is designed as built-in structure, is greatly saved space occupied by motor and speed reducer, improves motility and accuracy.
The technical solution used in the present invention is:
A kind of industrial robot, including base, a shaft rotating device, two shaft rotating devices, three shaft rotating devices, four shaft rotating devices, five shaft rotating devices and large arm for being fixedly connected with industrial production line or production work platform, the bottom of described large arm is fixing with two shaft rotating devices to be connected, top is fixed with three shaft rotating devices and is connected, a described shaft rotating device includes an axle servo rotation platform, an axle servomotor, an axle reductor, an axle central shaft and a shaft encoder, a described axle servo rotation platform is connected by an axle central shaft and base are fixing, a described axle servomotor is fixed on an axle servo rotation platform, a described axle servomotor drives an axle servo rotation platform to rotate by an axle reductor, and a described shaft encoder is arranged on an axle servo rotation platform, described two shaft rotating devices include two axle connecting plates, two axle servomotors, two axle reductors and two shaft encoders, described two axle connecting plates and the fixing connection of an axle servo rotation platform, described two axle servomotors, two axle reductors and two shaft encoders are each attached on two axle connecting plates, and described two axle servomotors drive large arm to rotate by two axle reductors, described three shaft rotating devices include three axle connecting plates, three axle servomotors, three axle reductors and three shaft encoders, described three axle connecting plates are fixed on the top of large arm, and described three axle servomotors, three axle reductors and three shaft encoders are each attached on three axle connecting plates, described four shaft rotating devices include four axle connecting plates, four axle servo rotation platforms, four axle servomotors, four axle reductors and four shaft encoders, the bottom of described four axle connecting plates is fixing with three axle reductors to be connected, described four axle servo rotation platforms are fixed on the top of four axle connecting plates, the bottom of described four axle servo rotation platforms is provided with motor room, described four axle servomotors, four axle reductors and four shaft encoders are each attached in motor room, and described four axle servo rotation platforms are rotated by four axle driven by servomotor, described five shaft rotating devices include five axle linking arms, five axle connection dishes, five axle lever arms, five axle servomotors, five axle reductors and five shaft encoders, described five axle connection dishes and the fixing connection of four axle servo rotation platforms, described five axle linking arms are fixed on five axle connection dishes, the bottom of described five axle lever arms is connected by adpting flange is fixing with between five axle linking arms, described five axle servomotors and five axle reductors are arranged on the inside of five axle linking arms, described five shaft encoders are fixed on five axle linking arms, described five axle lever arms are rotated by five axle driven by servomotor, the top of described five axle lever arms is provided with user interface flange.
Further, the profile of described large arm is similar to bone-shaped structure.
Further, described two shaft encoders are fixed on two axle connecting plates by two shaft encoder supports, described three shaft encoders are fixed on three axle connecting plates by three shaft encoder supports, and described five shaft encoders are fixed on five axle linking arms by five shaft encoder supports.
Further, a described axle servo rotation platform is projective table type servo rotation platform.
Further, described four axle servo rotation platforms are paraxonic type servo rotation platform.
Beneficial effects of the present invention: degree of freedom is high, working range is wide, and the servomotor near working region is designed as built-in structure, is greatly saved space occupied by motor and speed reducer, improves motility and accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the working effect schematic diagram of the present invention.
Fig. 3 is the structural representation of four shaft rotating devices.
Fig. 4 is the structural representation of five shaft rotating devices.
Wherein: 1, base, 2, one shaft rotating device, 3, two shaft rotating devices, 4, three shaft rotating devices, 5, four shaft rotating devices, 6, five shaft rotating devices, 7, large arm, 2-1, one axle servo rotation platform, 2-2, one axle servomotor, 2-3, one axle reductor, 2-4, one axle central shaft, 2-5, one shaft encoder, 3-1, two axle connecting plates, 3-2, two axle servomotors, 3-3, two axle reductors, 3-4, two shaft encoders, 3-5, two shaft encoder supports, 4-1, three axle connecting plates, 4-2, three axle servomotors, 4-3, three axle reductors, 4-4, three shaft encoders, 4-5, three shaft encoder supports, 5-1, four axle connecting plates, 5-2, four axle servo rotation platforms, 5-3, four axle servomotors, 5-4, four axle reductors, 5-5, four shaft encoders, 5-6, motor room, 6-1, five axle linking arms, 6-2, five axle connection dishes, 6-3, five axle lever arms, 6-4, five axle servomotors, 6-5, five axle reductors, 6-6, five shaft encoders, 6-7, flange, 6-8, five shaft encoder supports, 8, user interface flange.
Detailed description of the invention
In order to deepen the understanding of the present invention, below in conjunction with embodiment and accompanying drawing, the invention will be further described, and this embodiment is only used for explaining the present invention, is not intended that the restriction to protection scope of the present invention.
As shown in Figures 1 to 4, a kind of industrial robot of the present invention, be similar to the large arm 7 of bone-shaped structure including base 1, shaft rotating device 2, two shaft rotating device 3, three shaft rotating device 4, four shaft rotating device 5, five shaft rotating device 6 for being fixedly connected with industrial production line or production work platform and profile, the bottom of large arm 7 is fixing with two shaft rotating devices 3 to be connected, top is fixed with three shaft rotating devices 4 and is connected. one shaft rotating device 2 includes an axle servo rotation platform 2-1, an axle servomotor 2-2, an axle reductor 2-3, an an axle central shaft 2-4 and shaft encoder 2-5, one axle servo rotation platform 2-1 is connected by an axle central shaft 2-4 is fixing with base 1, one axle servomotor 2-2 is fixed on an axle servo rotation platform 2-1, one axle servomotor 2-2 drives an axle servo rotation platform 2-1 to rotate by an axle reductor 2-3, and a shaft encoder 2-5 is arranged on an axle servo rotation platform 2-1. two shaft rotating devices 3 include two axle connecting plate 3-1, two axle servomotor 3-2, two axle reductor 3-3 and two shaft encoder 3-4, a two axle connecting plate 3-1 and axle servo rotation platform 2-1 are fixing to be connected, two axle servomotor 3-2 and two axle reductor 3-3 are each attached on two axle connecting plate 3-1, two shaft encoder 3-4 are fixed on two axle connecting plate 3-1 by two shaft encoder support 3-5, and two axle servomotor 3-2 drive large arm 7 to rotate by two axle reductor 3-3. three shaft rotating devices 4 include three axle connecting plate 4-1, three axle servomotor 4-2, three axle reductor 4-3 and three shaft encoder 4-4, three axle connecting plate 4-1 are fixed on the top of large arm 7, three axle servomotor 4-2 and three axle reductor 4-3 are each attached on three axle connecting plate 4-1, and three shaft encoder 4-4 are fixed on three axle connecting plate 4-1 by three shaft encoder support 4-5. four shaft rotating devices 5 include four axle connecting plate 5-1, four axle servo rotation platform 5-2, four axle servomotor 5-3, four axle reductor 5-4 and four shaft encoder 5-5, the bottom of four axle connecting plate 5-1 is fixing with three axle reductor 4-3 to be connected, four axle servo rotation platform 5-2 are fixed on the top of four axle connecting plate 5-1, the bottom of four axle servo rotation platform 5-2 is provided with motor room 5-6, four axle servomotor 5-3, four axle reductor 5-4 and four shaft encoder 5-5 are each attached in motor room 5-6, and four axle servo rotation platform 5-2 are driven by four axle servomotor 5-3 and rotate. five shaft rotating devices 6 include five axle linking arm 6-1, five axle connection dish 6-2, five axle lever arm 6-3, five axle servomotor 6-4, five axle reductor 6-5 and five shaft encoder 6-6, five axle connection dish 6-2 and four axle servo rotation platform 5-2 are fixing to be connected, five axle linking arm 6-1 are fixed on five axle connection dish 6-2, it is connected by adpting flange 6-7 is fixing between the bottom of five axle lever arm 6-3 with five axle linking arm 6-1, five axle servomotor 6-4 and five axle reductor 6-5 are arranged on the inside of five axle linking arm 6-1, five shaft encoder 6-6 pass through five shaft encoder support 6-8, it is fixed on five axle linking arm 6-1, five axle lever arm 6-3 are driven by five axle servomotor 6-4 and rotate, the top of five axle lever arm 6-3 is provided with user interface flange 8. the one axle servo rotation platform 2-1 of the present embodiment adopts projective table type servo rotation platform, and four axle servo rotation platform 5-2 adopt paraxonic type servo rotation platform.
Claims (5)
1. an industrial robot, it is characterized in that: include base, a shaft rotating device, two shaft rotating devices, three shaft rotating devices, four shaft rotating devices, five shaft rotating devices and the large arm for being fixedly connected with industrial production line or production work platform, the bottom of described large arm is fixing with two shaft rotating devices to be connected, top is fixed with three shaft rotating devices and is connected, a described shaft rotating device includes an axle servo rotation platform, an axle servomotor, an axle reductor, an axle central shaft and a shaft encoder, a described axle servo rotation platform is connected by an axle central shaft and base are fixing, a described axle servomotor is fixed on an axle servo rotation platform, a described axle servomotor drives an axle servo rotation platform to rotate by an axle reductor, and a described shaft encoder is arranged on an axle servo rotation platform, described two shaft rotating devices include two axle connecting plates, two axle servomotors, two axle reductors and two shaft encoders, described two axle connecting plates and the fixing connection of an axle servo rotation platform, described two axle servomotors, two axle reductors and two shaft encoders are each attached on two axle connecting plates, and described two axle servomotors drive large arm to rotate by two axle reductors, described three shaft rotating devices include three axle connecting plates, three axle servomotors, three axle reductors and three shaft encoders, described three axle connecting plates are fixed on the top of large arm, and described three axle servomotors, three axle reductors and three shaft encoders are each attached on three axle connecting plates, described four shaft rotating devices include four axle connecting plates, four axle servo rotation platforms, four axle servomotors, four axle reductors and four shaft encoders, the bottom of described four axle connecting plates is fixing with three axle reductors to be connected, described four axle servo rotation platforms are fixed on the top of four axle connecting plates, the bottom of described four axle servo rotation platforms is provided with motor room, described four axle servomotors, four axle reductors and four shaft encoders are each attached in motor room, and described four axle servo rotation platforms are rotated by four axle driven by servomotor, described five shaft rotating devices include five axle linking arms, five axle connection dishes, five axle lever arms, five axle servomotors, five axle reductors and five shaft encoders, described five axle connection dishes and the fixing connection of four axle servo rotation platforms, described five axle linking arms are fixed on five axle connection dishes, the bottom of described five axle lever arms is connected by adpting flange is fixing with between five axle linking arms, described five axle servomotors and five axle reductors are arranged on the inside of five axle linking arms, described five shaft encoders are fixed on five axle linking arms, described five axle lever arms are rotated by five axle driven by servomotor, the top of described five axle lever arms is provided with user interface flange.
2. a kind of industrial robot according to claim 1, it is characterised in that: the profile of described large arm is similar to bone-shaped structure.
3. a kind of industrial robot according to claim 1, it is characterized in that: described two shaft encoders are fixed on two axle connecting plates by two shaft encoder supports, described three shaft encoders are fixed on three axle connecting plates by three shaft encoder supports, and described five shaft encoders are fixed on five axle linking arms by five shaft encoder supports.
4. a kind of industrial robot according to claim 1, it is characterised in that: a described axle servo rotation platform is projective table type servo rotation platform.
5. a kind of industrial robot according to claim 1, it is characterised in that: described four axle servo rotation platforms are paraxonic type servo rotation platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810609.XA CN105619401B (en) | 2015-11-10 | 2015-11-10 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810609.XA CN105619401B (en) | 2015-11-10 | 2015-11-10 | A kind of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619401A true CN105619401A (en) | 2016-06-01 |
| CN105619401B CN105619401B (en) | 2018-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510810609.XA Expired - Fee Related CN105619401B (en) | 2015-11-10 | 2015-11-10 | A kind of industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105619401B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1533544A2 (en) * | 2003-11-21 | 2005-05-25 | Fanuc Ltd | Articulation system for robot comprising a speed reducer provided with vibration cancelling means |
| US20080013690A1 (en) * | 2006-06-20 | 2008-01-17 | Siemens Aktiengesellschaft | Robot controlled recording device |
| CN101130246A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Safe type mechanical arm |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN204094798U (en) * | 2014-07-17 | 2015-01-14 | 苏州华数节能科技有限公司 | Joint of robot power drive system |
| CN204700880U (en) * | 2015-06-17 | 2015-10-14 | 东莞市尔必地机器人有限公司 | Industrial joint robot |
| CN103398297B (en) * | 2013-07-30 | 2015-11-04 | 武汉大学 | A kind of Rack pipe detection robot |
| CN205085982U (en) * | 2015-11-10 | 2016-03-16 | 江苏寰宇机器人科技有限公司 | Industrial robot |
-
2015
- 2015-11-10 CN CN201510810609.XA patent/CN105619401B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1533544A2 (en) * | 2003-11-21 | 2005-05-25 | Fanuc Ltd | Articulation system for robot comprising a speed reducer provided with vibration cancelling means |
| US20080013690A1 (en) * | 2006-06-20 | 2008-01-17 | Siemens Aktiengesellschaft | Robot controlled recording device |
| CN101130246A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Safe type mechanical arm |
| CN103398297B (en) * | 2013-07-30 | 2015-11-04 | 武汉大学 | A kind of Rack pipe detection robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN204094798U (en) * | 2014-07-17 | 2015-01-14 | 苏州华数节能科技有限公司 | Joint of robot power drive system |
| CN204700880U (en) * | 2015-06-17 | 2015-10-14 | 东莞市尔必地机器人有限公司 | Industrial joint robot |
| CN205085982U (en) * | 2015-11-10 | 2016-03-16 | 江苏寰宇机器人科技有限公司 | Industrial robot |
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| Publication number | Publication date |
|---|---|
| CN105619401B (en) | 2018-04-10 |
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Granted publication date: 20180410 Termination date: 20211110 |