CN105751209A - Arm robot with six joints - Google Patents
Arm robot with six joints Download PDFInfo
- Publication number
- CN105751209A CN105751209A CN201610246738.5A CN201610246738A CN105751209A CN 105751209 A CN105751209 A CN 105751209A CN 201610246738 A CN201610246738 A CN 201610246738A CN 105751209 A CN105751209 A CN 105751209A
- Authority
- CN
- China
- Prior art keywords
- arm
- driving mechanism
- reductor
- forearm
- wrist joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention provides an arm robot with six joints.The arm robot comprises a four-shaft assembly, a four-shaft assembly joint arm and a first driving mechanism for controlling the joint arm to rotate and work.The joint arm is of a detachable structure and comprises a forearm connecting body, an elbow and a forearm.The first driving mechanism comprises a first servo motor and a first speed reducer connected with the first servo motor.The first speed reducer is arranged on the elbow.One end of the forearm connecting body is detachably connected with the small arm, and the other end of the forearm connecting body is detachably connected with the output end of the first speed reducer on the elbow.The arm robot with the six joints can be qualified to high-strength repetitive work, and has the advantages of being high in flexibility and convenient to install and adjust.Meanwhile, the arm robot is compact in structure, and adjustment of a fit clearance of a gear component is promoted.
Description
Technical field
The present invention relates to robotics, be applied in industry manufacture, the six joint arm robot producing machine correlative technology field more particularly, it relates to a kind of.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, being one of modal industrial robot form in current industrial circle, it is suitable for the machine automatization equalization of many industrial circles, as automatically assembled, spray paint, carrying, the work such as welding.Six joint arm robot, with its superior versatility and motility, occupy sizable market share.
Most six joint arm robot ubiquities that price is high, the radius of clean-up is little, load capacity is low and the shortcoming such as very flexible in the market, this six joints arm robot cannot regulate the radius of clean-up and load capacity according to the change of working environment, causes that its very flexible and practicality are low.Meanwhile, existing six joint arm robot mounting and adjusting difficulties, particularly the fit clearance between geared parts is difficult to adjust, thus being substantially reduced the service behaviour of six joint arm robot.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that a kind of competent high intensity repetitive operation, the arm robot that motility is strong, mounting and adjusting has six joints easily；Further object is in that, it is provided that a kind of compact conformation and be conducive to the arm robot with six joints of fit clearance adjustment of geared parts.
In order to achieve the above object, the technical scheme is that: a kind of arm robot with six joints, it is characterized in that: include four shaft assemblies, described four shaft assemblies include joint arm and for controlling the driving mechanism one of joint arm rotary work；Described joint arm is demountable structure, and it includes forearm connector, ancon and forearm；Described driving mechanism one includes interconnective servomotor one and reductor one, and reductor one is arranged on ancon；One end of described forearm connector and forearm removably connect, and the other end removably connects with reductor one outfan on ancon.
In such scheme, the joint arm of the present invention is demountable structure so that this arm robot motility with six joints facilitates with mounting and adjusting by force.The length of forearm connector of the present invention can be replaced according to working environment flexible customization, forearm connector can be shortened to reduce the radius of clean-up when end load is excessive, end load hour can lengthen forearm connector to increase the radius of clean-up, it is achieved flexible operation, it is simple to industrialized production is applied.
Present invention additionally comprises five shaft assemblies, described five shaft assemblies include wrist joint, for the driving mechanism two controlling wrist joint rotary work and the deep groove ball bearing being arranged on forearm；Described driving mechanism two includes servomotor two, reductor two and synchronous pulley driving mechanism two, and described reductor two is arranged on forearm, and its input is connected with servomotor two by synchronous pulley driving mechanism two, and outfan connects one end of wrist joint；The opposite end that described wrist joint is connected with reductor two is connected with forearm, and is supported by deep groove ball bearing.
Present invention additionally comprises six shaft assemblies, described six shaft assemblies include end and perform arm, perform the driving mechanism three of arm rotary work and the sealing flange being arranged on wrist joint for controlling end；Described driving mechanism three includes servomotor three, reductor three, synchronous pulley driving mechanism three and gear drive, the input mechanism of described gear drive is arranged on the sealing flange of wrist joint, and is connected with servomotor three by synchronous pulley driving mechanism three；The output mechanism of gear drive is fixed on the side of wrist joint, and is connected with the input of reductor three, and the outfan of reductor three performs arm with end and is connected.
Present invention additionally comprises the fixing screw of gear shaft end face, pair of horns contact bearing and bearing baffle；The geared system of described gear drive is interacted realized locking by the fixing screw of gear shaft end face, pair of horns contact bearing and bearing baffle.The gear drive of the present invention adopts end face holding screw, angular contact bearing and bearing baffle to cooperate to lock so that this has the arm robot compact conformation in six joints, is beneficial to gear fit clearance adjustment.
Present invention additionally comprises pad；Described pad is arranged on output mechanism and the wrist joint junction of gear drive.This pad can carry out the adjustment of the geared system fit clearance of gear drive.
Described wrist joint is provided with the oils and fats mouth for adding for the grease of gear drive.
Present invention additionally comprises outside framework oil seal and O RunddichtringO；The junction of the input mechanism of described gear drive and output mechanism and wrist joint realizes the sealing of oils and fats by outside framework oil seal and O RunddichtringO.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the present invention has the arm robot in six joints and can be competent at high intensity repetitive operation, and has that motility is strong and the convenient feature of mounting and adjusting.
2, the present invention has the arm robot compact conformation in six joints, and is conducive to the fit clearance adjustment of geared parts.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention has the arm robot in six joints；
Fig. 2 is that the present invention has base assembly fractionation schematic diagram in the arm robot in six joints；
Fig. 3 is that the present invention has forearm connector and ancon, forearm attachment structure fractionation schematic diagram in the arm robot in six joints；
Fig. 4 is that the present invention has wrist joint and end execution arm structure sectional view in the arm robot in six joints；
Wherein, 1 is base assembly, 11 is base, 12 is an axle pedestal, 2 is two shaft assemblies, 3 is three shaft assemblies, 4 is four shaft assemblies, 41 is forearm connector, 42 is forearm, 43 is ancon, 44 is reductor one, 5 is five shaft assemblies, 51 is wrist joint, 52 is servomotor two, 53 is reductor two, 54 is synchronous pulley driving mechanism two, 55 is deep groove ball bearing, 6 is six shaft assemblies, 61 perform hands arm for end, 62 is servomotor three, 63 is reductor three, 64 is synchronous pulley driving mechanism three, 65 is gear drive, 66 is sealing flange, 67 is the fixing screw of gear shaft end face, 68 is angular contact bearing, 69 is bearing baffle, 70 is outside framework oil seal, 71 is O RunddichtringO.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Embodiment
As shown in Figures 1 to 4, the present invention has the arm robot in six joints and includes base assembly 1, and base assembly 1 includes base 11, and the upper end of base 11 is provided with an axle pedestal 12, and an axle pedestal 12 can around its axial-rotation.One axle pedestal 12 is connected to two shaft assemblies 2 away from one end of base 11, and two shaft assemblies 2 can rotate with the junction of described base assembly 1 around it.Two shaft assemblies 2 are connected to three shaft assemblies 3 away from one end of base assembly 1, and three shaft assemblies 3 can rotate with the junction of two shaft assemblies 2 around it.Three shaft assembly 3 upper right sides are connected to four shaft assemblies 4, and four shaft assemblies 4 can rotate with the junction of three shaft assemblies 3 around it.Four shaft assemblies 4 are connected to five shaft assemblies 5 away from one end of three shaft assemblies 3, and five shaft assemblies 5 can rotate with four shaft assembly 4 junctions around it.The side of five shaft assemblies 5 is connected to six shaft assemblies 6, and six shaft assemblies 6 can rotate with five shaft assembly 5 junctions around it.
The present invention has four shaft assemblies 4 of the arm robot in six joints and includes joint arm and for controlling the driving mechanism one of joint arm rotary work, wherein, joint arm is demountable structure, it includes forearm connector 41, ancon 43 and forearm 42, driving mechanism one includes interconnective servomotor one and reductor 1, reductor 1 is arranged on ancon 43; one end of forearm connector 41 and forearm 42 removably connect, and the other end removably connects with reductor 1 outfan on ancon 43.
Five shaft assemblies 5 of the present invention include wrist joint 51, for the driving mechanism two controlling wrist joint 51 rotary work and the deep groove ball bearing 55 being arranged on forearm 42, wherein, driving mechanism two includes servomotor 2 52, reductor 2 53 and synchronous pulley driving mechanism 2 54, reductor 2 53 is arranged on forearm 42, its input is connected with servomotor 2 52 by synchronous pulley driving mechanism 2 54, and outfan connects one end of wrist joint 51；The opposite end that described wrist joint 51 is connected with reductor 2 53 is connected with forearm 42, and is supported by deep groove ball bearing 55.
Six shaft assemblies 6 of the present invention include end and perform arm 61, perform the driving mechanism three of arm 61 rotary work and the sealing flange 66 being arranged on wrist joint 51 for controlling end, wherein, driving mechanism three includes servomotor 3 62, reductor 3 63, synchronous pulley driving mechanism 3 64 and gear drive 65, the input mechanism of gear drive 65 is arranged on the sealing flange 66 of wrist joint 51, and is connected with servomotor 3 62 by synchronous pulley driving mechanism 3 64；The output mechanism of gear drive 65 is fixed on the side of wrist joint, and is connected with the input of reductor 3 63, and the outfan of reductor 3 63 performs arm 61 with end and is connected.
Present invention additionally comprises the fixing screw 67 of gear shaft end face, pair of horns contact bearing 68 and bearing baffle 69, the geared system of gear drive 65 is interacted realized locking by the fixing screw 67 of gear shaft end face, pair of horns contact bearing 68 and bearing baffle 69.In order to realize the geared system fit clearance adjustable of gear drive, present invention additionally comprises pad, this pad is arranged on end and performs arm 61 and wrist joint 51 junction.
Present invention additionally comprises outside framework oil seal 70 and O RunddichtringO 71, wrist joint 51 is provided with the oils and fats mouth for adding for the grease of gear drive 65, and the junction of the input mechanism of gear drive 65 and output mechanism and wrist joint 51 realizes the sealing of oils and fats by outside framework oil seal 70 and O RunddichtringO 71.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (7)
1. an arm robot with six joints, it is characterised in that: including four shaft assemblies, described four shaft assemblies include joint arm and for controlling the driving mechanism one of joint arm rotary work；Described joint arm is demountable structure, and it includes forearm connector, ancon and forearm；Described driving mechanism one includes interconnective servomotor one and reductor one, and reductor one is arranged on ancon；One end of described forearm connector and forearm removably connect, and the other end removably connects with reductor one outfan on ancon.
2. the arm robot with six joints according to claim 1, it is characterised in that: also including five shaft assemblies, described five shaft assemblies include wrist joint, for the driving mechanism two controlling wrist joint rotary work and the deep groove ball bearing being arranged on forearm；Described driving mechanism two includes servomotor two, reductor two and synchronous pulley driving mechanism two, and described reductor two is arranged on forearm, and its input is connected with servomotor two by synchronous pulley driving mechanism two, and outfan connects one end of wrist joint；The opposite end that described wrist joint is connected with reductor two is connected with forearm, and is supported by deep groove ball bearing.
3. the arm robot with six joints according to claim 2, it is characterized in that: also include six shaft assemblies, described six shaft assemblies include end and perform arm, perform the driving mechanism three of arm rotary work and the sealing flange being arranged on wrist joint for controlling end；Described driving mechanism three includes servomotor three, reductor three, synchronous pulley driving mechanism three and gear drive, the input mechanism of described gear drive is arranged on the sealing flange of wrist joint, and is connected with servomotor three by synchronous pulley driving mechanism three；The output mechanism of gear drive is fixed on the side of wrist joint, and is connected with the input of reductor three, and the outfan of reductor three performs arm with end and is connected.
4. the arm robot with six joints according to claim 3, it is characterised in that: also include the fixing screw of gear shaft end face, pair of horns contact bearing and bearing baffle；The geared system of described gear drive is interacted realized locking by the fixing screw of gear shaft end face, pair of horns contact bearing and bearing baffle.
5. the arm robot with six joints according to claim 3, it is characterised in that: also include pad；Described pad is arranged on output mechanism and the wrist joint junction of gear drive.
6. the arm robot with six joints according to claim 3, it is characterised in that: described wrist joint is provided with the oils and fats mouth for adding for the grease of gear drive.
7. the arm robot with six joints according to claim 6, it is characterised in that: also include outside framework oil seal and O RunddichtringO；The junction of the input mechanism of described gear drive and output mechanism and wrist joint realizes the sealing of oils and fats by outside framework oil seal and O RunddichtringO.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246738.5A CN105751209A (en) | 2016-04-20 | 2016-04-20 | Arm robot with six joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246738.5A CN105751209A (en) | 2016-04-20 | 2016-04-20 | Arm robot with six joints |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105751209A true CN105751209A (en) | 2016-07-13 |
Family
ID=56325265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610246738.5A Pending CN105751209A (en) | 2016-04-20 | 2016-04-20 | Arm robot with six joints |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105751209A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393089A (en) * | 2016-10-18 | 2017-02-15 | 广东伯朗特智能装备股份有限公司 | Control method and device for six-shaft light-load industrial robot |
| CN106425470A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent power distribution cabinet mounting robot |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106881728A (en) * | 2017-04-28 | 2017-06-23 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108748252A (en) * | 2018-07-27 | 2018-11-06 | 广东伯朗特智能装备股份有限公司 | A kind of connecting joint mechanism, multi-axis robot and its assemble method |
| CN110587591A (en) * | 2019-10-21 | 2019-12-20 | 江苏图灵智能机器人有限公司 | Five-joint transfer robot mechanism |
| CN110695976A (en) * | 2019-10-15 | 2020-01-17 | 山东科技大学 | Automatic feeding and discharging manipulator of carrier roller spraying production line |
| CN111890337A (en) * | 2020-07-17 | 2020-11-06 | 南京埃斯顿机器人工程有限公司 | Large-inertia load robot based on modular design |
| CN112207808A (en) * | 2020-10-14 | 2021-01-12 | 苗疆(武汉)机器人科技有限公司 | Six-axis robot for feeding and discharging |
| CN112917463A (en) * | 2021-01-27 | 2021-06-08 | 佛山华数机器人有限公司 | High-protection robot with compact structure |
| US20210299865A1 (en) * | 2020-03-26 | 2021-09-30 | Seiko Epson Corporation | Robot |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393089A (en) * | 2016-10-18 | 2017-02-15 | 广东伯朗特智能装备股份有限公司 | Control method and device for six-shaft light-load industrial robot |
| CN106425470A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent power distribution cabinet mounting robot |
| CN106493709B (en) * | 2016-12-26 | 2018-11-13 | 深圳供电局有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN106881728A (en) * | 2017-04-28 | 2017-06-23 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN108312134B (en) * | 2018-02-01 | 2021-05-11 | 江西华士科技股份有限公司 | Six-axis robot |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108748252A (en) * | 2018-07-27 | 2018-11-06 | 广东伯朗特智能装备股份有限公司 | A kind of connecting joint mechanism, multi-axis robot and its assemble method |
| CN110695976A (en) * | 2019-10-15 | 2020-01-17 | 山东科技大学 | Automatic feeding and discharging manipulator of carrier roller spraying production line |
| CN110587591A (en) * | 2019-10-21 | 2019-12-20 | 江苏图灵智能机器人有限公司 | Five-joint transfer robot mechanism |
| US20210299865A1 (en) * | 2020-03-26 | 2021-09-30 | Seiko Epson Corporation | Robot |
| US11759948B2 (en) * | 2020-03-26 | 2023-09-19 | Seiko Epson Corporation | Robot |
| CN111890337A (en) * | 2020-07-17 | 2020-11-06 | 南京埃斯顿机器人工程有限公司 | Large-inertia load robot based on modular design |
| CN112207808A (en) * | 2020-10-14 | 2021-01-12 | 苗疆(武汉)机器人科技有限公司 | Six-axis robot for feeding and discharging |
| CN112917463A (en) * | 2021-01-27 | 2021-06-08 | 佛山华数机器人有限公司 | High-protection robot with compact structure |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
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