CN108673476A - The six-joint robot of installed with built-in component - Google Patents
The six-joint robot of installed with built-in component Download PDFInfo
- Publication number
- CN108673476A CN108673476A CN201810750314.1A CN201810750314A CN108673476A CN 108673476 A CN108673476 A CN 108673476A CN 201810750314 A CN201810750314 A CN 201810750314A CN 108673476 A CN108673476 A CN 108673476A
- Authority
- CN
- China
- Prior art keywords
- axis
- flange
- pedestal
- datum axle
- power plant
- 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
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 241000233855 Orchidaceae Species 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 241001416181 Axis axis Species 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The present invention discloses a kind of six-joint robot of installed with built-in component, including pedestal, mechanical arm and power plant, pedestal connects mechanical arm, power plant is set inside mechanical arm, mechanical arm includes datum axle, one axis, two axis, three axis, four axis, five axis, six axis, lower link and upper connecting rod, datum axle bottom connect base, datum axle top connects an axis bottom, one axis side connects two axis bottoms, three axis bottoms are connected at the top of two axis, four axis sides are connected at the top of three axis, five axis bottoms are connected at the top of four axis, five axis sides connect six axis, lower link is set in the middle part of two axis, upper connecting rod is set in the middle part of three axis, upper connecting rod and lower link are respectively provided with through hole in an axial direction；Equal rigidly-fixed power plant inside one axis, two axis, three axis, four axis, five axis and datum axle.
Description
Technical field
The present invention relates to industrial robot field, especially a kind of six-joint robot of installed with built-in component.
Background technology
Robot automation's production line had continuously emerged in recent years, and brought notable benefit to user.As industry is looked forward to
The market of the continuous improvement of industry automatization level, robot automation's line is also increasing, and its application field of robot is not yet
Disconnected extension；Flexible, flexibility ratio and the more demanding industry such as electronics, medicine, precision instrument etc. of precision propose robot
New requirement：Robot will produce miniature workpiece and product in small space, and assembled to workpiece implementation, carry, be spirally connected, gluing
It connects, pack and detects.
But the components such as motor, speed reducer and harness of existing robot are installed in outside robot, in robot
Robot can be followed to move together when work, lead to taking up a large area for robot, and exposed component is vulnerable to environment
It corrodes, needs periodic maintenance and maintenance.
Invention content
The purpose of the present invention is by the way that motor and speed reducer will be mounted on to robot interior, and harness is from robot bottom
Portion enters robot interior, ensures that robot outer surface without exposed component, both makes component be protected by robot shell, subtracts
The number of few maintaining, improves the service life of component, while reducing the floor space of robot, and reduces robot movement
Occupied space in the process improves the space availability ratio in place.
To solve the above-mentioned problems, the present invention proposes a kind of six-joint robot of installed with built-in component.
The technical solution adopted in the present invention is：
The six-joint robot of installed with built-in component, including pedestal, mechanical arm and power plant, pedestal connect mechanical arm, mechanical arm
Inside setting power plant, mechanical arm includes datum axle, an axis, two axis, three axis, four axis, five axis, six axis, lower link and upper company
Bar, datum axle bottom connect base, datum axle top connect an axis bottom, and an axis side connects two axis bottoms, connects at the top of two axis
It connects three axis bottoms, four axis sides is connected at the top of three axis, connect five axis bottoms at the top of four axis, five axis sides connect six axis, in two axis
Lower link is arranged in portion, upper connecting rod is arranged in the middle part of three axis, upper connecting rod and lower link are respectively provided with through hole in an axial direction；Datum axle, one
Axis, two axis, three axis, equal rigidly-fixed power plant inside four axis and five axis, each power plant includes motor, motor flange, defeated
Enter end flanges, output flange and speed reducer, motor is fixedly connected with motor flange, and motor flange is fixed with input section flange to be connected
Connect, the input section flange in datum axle, an axis, two axis, three axis, four axis and five axis respectively with datum axle, an axis, two axis, three axis,
The power intake inner wall of four axis and five axis is fixedly connected, the deferent segment method in an axis, two axis, three axis, four axis, five axis and six axis
Orchid is fixedly connected with the power output end inner wall of an axis, two axis, three axis, four axis, five axis and six axis respectively, and speed reducer is arranged defeated
Enter section to be fixedly connected between flange and output flange and with output flange, motor coordinates in linkage with speed reducer.
Further, pedestal includes supporting table, pedestal lower flange and pedestal upper flange, the supporting table, pedestal lower flange,
Pedestal upper flange and datum axle are sequentially connected from bottom to up.
Preferably, the pedestal lower flange, pedestal upper flange and datum axle are respectively provided with harness hole.
The present invention compared with the existing technology has the following advantages and effect：
1, motor and speed reducer by that will be mounted on robot interior by the present invention, and harness enters from robot bottom
Robot interior ensures that robot outer surface without exposed component, both makes component be protected by robot shell, reduces and safeguard
The number of maintenance, improves the service life of component, while reducing the floor space of robot, and reduces in robot moving process
Occupied space, improve the space availability ratio in place.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the sectional view of the present invention；
Fig. 3 is the partial enlarged view of Fig. 2.
Label declaration：
Supporting table 1；Pedestal lower flange 2；Pedestal upper flange 3；Datum axle 4；One axis 5；Two axis 6；
Three axis 7；Four axis 8；Five axis 9；Six axis 10；Servo motor 11；Motor flange 12；
Input end flanges 13；Output flange 14；Harmonic wave speed reducing machine 15；Harness hole 16
Lower link 17；Upper connecting rod 18.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment 1：As shown in Figures 1 to 3, a kind of six-joint robot of installed with built-in component, including supporting table 1, pedestal lower flange 2
With pedestal upper flange 3, mechanical arm and 6 power plants, supporting table 1, pedestal lower flange 2, pedestal upper flange 3 and mechanical arm are under
It is supreme to be sequentially connected, power plant is set inside mechanical arm, and mechanical arm includes datum axle 4, an axis 5, two axis 6, three axis 7, four axis
8, five axis 9, six axis 10, lower link 17 and upper connecting rod 18,4 bottom connect base upper flange 3 of datum axle, the connection of 4 top of datum axle
One axis, 5 bottom, 5 side of an axis connect two axis, 6 bottom, two axis, 6 top three axis of connection, 7 bottom, three axis, 7 top four axis of connection, 8 side
Portion, four axis, 8 top five axis of connection, 9 bottom, five axis, 9 side connect six axis 10, and lower link 17, three axis, 7 middle part is arranged in two axis, 6 middle part
Upper connecting rod 18 is set, and upper connecting rod 17 and lower link 18 are to open up axially extending bore inside circular shaft and the two；Datum axle 4, one
Axis 5, two axis 6, three axis 7, the equal rigidly-fixed power plant of four axis 8 and the inside of five axis 9, each power plant include servo motor 11,
Motor flange 12, input end flanges 13, output flange 14 and harmonic wave speed reducing machine 15, servo motor 11 are bolted on electricity
On machine flange 12, motor flange 12 is fixedly connected by bolt with input section flange 13, datum axle 4, an axis 5, two axis 6, three axis
7, the input section flange 13 in four axis 8 and five axis 9 respectively with datum axle 4, an axis 5, two axis 6, three axis 7, four axis 8 and five axis 9
Power intake (i.e. the output end of servo motor 11) inner wall is bolted, an axis 5, two axis 6, three axis 7, four axis 8, five axis
9 and the six deferent segment flanges 14 in axis 10 it is defeated with the power of an axis 5, two axis 6, three axis 7, four axis 8, five axis 9 and six axis 10 respectively
Outlet (i.e. the output end of harmonic wave speed reducing machine 15) inner wall is bolted, and harmonic wave speed reducing machine 15 is arranged in 13 He of input section flange
It is bolted to connection between output flange 14 and with output flange 14, servo motor 11 is same with harmonic wave speed reducing machine 15
The engaging of axis, servo motor 11 is connect by harness with the switch board of external power supply and outside, on pedestal lower flange 2, pedestal
Flange 3 and datum axle 4 are respectively provided with harness hole 16, harness by harness hole 16 sequentially pass through pedestal lower flange 2, pedestal upper flange 3,
Datum axle 4 enters robot interior in turn, and harness sequentially passes through an axis 5, two axis 6, three axis 7, four axis 8 and five axis 9.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (3)
1. the six-joint robot of installed with built-in component, which is characterized in that including pedestal, mechanical arm and power plant, pedestal connection machinery
Power plant is arranged in arm, mechanical arm inside, and mechanical arm includes datum axle, an axis, two axis, three axis, four axis, five axis, six axis, lower company
Bar and upper connecting rod, datum axle bottom connect base, datum axle top one axis bottom of connection, an axis side two axis bottoms of connection, two
Three axis bottoms are connected at the top of axis, four axis sides are connected at the top of three axis, and five axis bottoms, five axis sides connection six are connected at the top of four axis
Axis, two axis middle part are arranged lower link, upper connecting rod are arranged in the middle part of three axis, upper connecting rod and lower link are respectively provided with through hole in an axial direction；
Equal rigidly-fixed power plant inside one axis, two axis, three axis, four axis, five axis and datum axle, each power plant include that electricity is mechanical, electrical
Machine flange, input end flanges, output flange and speed reducer, motor are fixedly connected with motor flange, motor flange and input section method
Orchid is fixedly connected, the input section flange in datum axle, an axis, two axis, three axis, four axis and five axis respectively with datum axle, an axis, two
Axis, three axis, four axis and five axis power intake inner wall be fixedly connected, in an axis, two axis, three axis, four axis, five axis and six axis
Deferent segment flange is fixedly connected with the power output end inner wall of an axis, two axis, three axis, four axis, five axis and six axis respectively, speed reducer
It is arranged between input section flange and output flange and is fixedly connected with output flange, motor is matched in linkage with speed reducer
It closes.
2. the six-joint robot of installed with built-in component according to claim 1, which is characterized in that pedestal includes supporting table, pedestal
Lower flange and pedestal upper flange, the supporting table, pedestal lower flange, pedestal upper flange and datum axle are sequentially connected from bottom to up.
3. the six-joint robot of installed with built-in component according to claim 2, which is characterized in that the pedestal lower flange, pedestal
Upper flange and datum axle are respectively provided with harness hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750314.1A CN108673476A (en) | 2018-07-10 | 2018-07-10 | The six-joint robot of installed with built-in component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750314.1A CN108673476A (en) | 2018-07-10 | 2018-07-10 | The six-joint robot of installed with built-in component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108673476A true CN108673476A (en) | 2018-10-19 |
Family
ID=63813704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810750314.1A Pending CN108673476A (en) | 2018-07-10 | 2018-07-10 | The six-joint robot of installed with built-in component |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108673476A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070042892A (en) * | 2005-10-19 | 2007-04-24 | 세이코 엡슨 가부시키가이샤 | Parallel link mechanism and industrial robot |
| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN105215986A (en) * | 2015-11-11 | 2016-01-06 | 深圳市松崎机器人自动化设备有限公司 | A kind of multi-spindle machining hand |
| CN105751214A (en) * | 2016-05-23 | 2016-07-13 | 东莞理工学院 | Six-axis mechanical hand with demonstration effect and working method thereof |
| CN106217364A (en) * | 2016-08-31 | 2016-12-14 | 江苏汇博机器人技术股份有限公司 | A kind of six-shaft industrial robot of fast assembling-disassembling |
| CN208529091U (en) * | 2018-07-10 | 2019-02-22 | 湖州鸿进自动化科技有限公司 | A kind of six-joint robot of installed with built-in component |
-
2018
- 2018-07-10 CN CN201810750314.1A patent/CN108673476A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070042892A (en) * | 2005-10-19 | 2007-04-24 | 세이코 엡슨 가부시키가이샤 | Parallel link mechanism and industrial robot |
| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN105215986A (en) * | 2015-11-11 | 2016-01-06 | 深圳市松崎机器人自动化设备有限公司 | A kind of multi-spindle machining hand |
| CN105751214A (en) * | 2016-05-23 | 2016-07-13 | 东莞理工学院 | Six-axis mechanical hand with demonstration effect and working method thereof |
| CN106217364A (en) * | 2016-08-31 | 2016-12-14 | 江苏汇博机器人技术股份有限公司 | A kind of six-shaft industrial robot of fast assembling-disassembling |
| CN208529091U (en) * | 2018-07-10 | 2019-02-22 | 湖州鸿进自动化科技有限公司 | A kind of six-joint robot of installed with built-in component |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181019 |