CN111958582A - Seven-axis robot - Google Patents
Seven-axis robot Download PDFInfo
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- CN111958582A CN111958582A CN202010955892.6A CN202010955892A CN111958582A CN 111958582 A CN111958582 A CN 111958582A CN 202010955892 A CN202010955892 A CN 202010955892A CN 111958582 A CN111958582 A CN 111958582A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 69
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 210000000245 forearm Anatomy 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000009776 industrial production Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a seven-axis robot which comprises a first-axis fixing base, a two-axis link arm, a three-axis seat, a four-axis main arm, a five-axis seat, a six-axis front arm and a seven-axis seat, wherein the first-axis fixing base is rotationally connected with one end of the two-axis link arm through a first rotary driving device, the other end of the two-axis link arm is rotationally connected with the three-axis seat through a second rotary driving device, the three-axis seat is rotationally connected with one end of the four-axis main arm through a third rotary driving device, the other end of the four-axis main arm is rotationally connected with the five-axis seat through a fourth rotary driving device, the five-axis seat is rotationally connected with one end of the six-axis front arm through the fifth rotary driving device, the seven-axis seat is rotationally connected with the other end of. Compared with the traditional six-axis robot, the six-axis robot has the advantages that one more motion axis is provided, the operation radius of the robot is increased, the flexibility of the robot is improved, and the industrial practicability range of the robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a seven-axis robot.
Background
Under the current big background of the international society, the industrial production cost is continuously improved along with the continuous reduction of the population dividend. In order to solve the problem, the productivity is further liberated, the industrial production efficiency is improved again, and the operation cost is reduced, the concept of 'intelligent manufacturing' is emphasized by traditional manufacturing enterprises, and the traditional manufacturing enterprises are put into production links in combination with the concept of 'intelligent manufacturing', and robots are used as main forces in the traditional manufacturing enterprises and are more and more widely applied to various industrial production links.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a seven-axis robot.
In order to achieve the above purpose, the present invention provides a seven-axis robot, comprising a first axis fixing base, a two-axis link arm, a three-axis seat, a four-axis main arm, a five-axis seat, a six-axis forearm and a seven-axis seat, wherein the first axis fixing base is rotatably connected with one end of the two-axis link arm, a first rotation driving device is arranged between the first axis fixing base and one end of the two-axis link arm, the other end of the two-axis link arm is rotatably connected with the three-axis seat, a second rotation driving device is arranged between the two-axis link arm and the three-axis seat, the three-axis seat is rotatably connected with one end of the four-axis main arm, a third rotation driving device is arranged between the three-axis seat and one end of the four-axis main arm, the other end of the four-axis main arm is rotatably connected with the five-axis seat, a fourth rotation driving device, a fifth rotary driving device is arranged between one end of the five-shaft seat and one end of the six-shaft front arm, the seven-shaft seat is rotatably connected with the other end of the six-shaft front arm, a sixth rotary driving device is arranged between the other ends of the seven-shaft seat and the six-shaft front arm, and a seventh rotary driving device is arranged on the seven-shaft seat.
In a preferred embodiment, the first rotary driving device includes a first servomotor, a first reducer, and a gear sleeve shaft, the first reducer is mounted on the top of the first shaft fixing base, the first servomotor is mounted on one end of the two-shaft link arm, the gear sleeve shaft is mounted on the output shaft of the first servomotor, and a gear portion of the gear sleeve shaft is engaged with a gear provided on the first reducer.
As a preferred embodiment, the second rotary driving device includes a second servo motor and a second speed reducer, the second speed reducer is installed in a concave position provided at the other end of the two-axis link arm, the second servo motor is installed in a lower cavity of the three-axis seat facing downward, and an output shaft of the second servo motor is in transmission connection with the second speed reducer to drive the three-axis seat to rotate.
In a preferred embodiment, the third rotary driving device includes a third servo motor and a third speed reducer, the third servo motor is installed in the front cavity of the three-axis seat, the third speed reducer is installed at one end of the four-axis main arm, and an output shaft of the third servo motor is in transmission connection with the third speed reducer to drive the four-axis main arm to rotate.
As a preferred embodiment, the fourth rotary driving device includes a fourth servo motor and a fourth speed reducer, the fourth servo motor is installed in the lower end cavity of the five-axis seat, the fourth speed reducer is installed at the other end of the four-axis main arm, and an output shaft of the fourth servo motor is in transmission connection with the fourth speed reducer to drive the five-axis seat to rotate.
As a preferred embodiment, the fifth rotary driving device includes a fifth servo motor, a fifth speed reducer, a first synchronizing wheel, a second synchronizing wheel and a first synchronizing belt, the fifth servo motor is installed in an upper end cavity of a fifth shaft seat through a first motor mounting plate, the fifth speed reducer is installed in the upper end cavity of the fifth shaft seat, an output end of the fifth speed reducer is connected with one end of a sixth shaft seat, the first synchronizing wheel is installed on an output shaft of the fifth servo motor, the second synchronizing wheel is installed at an input end of the fifth speed reducer, and the first synchronizing wheel is synchronously connected with the second synchronizing wheel through a first synchronizing belt.
As a preferred embodiment, the sixth rotary driving device includes a sixth servo motor, a third synchronous wheel, a fourth synchronous wheel, a second synchronous belt and a sixth speed reducer, the sixth servo motor is installed inside the front end of the six-shaft forearm through the second motor mounting plate, the sixth speed reducer is installed in the six-shaft forearm, the output end of the sixth speed reducer extends out of the six-shaft forearm to be connected with the seven shaft seats, the third synchronous wheel is installed on the output shaft of the sixth servo motor, the fourth synchronous wheel is installed on the input shaft of the sixth speed reducer, and the third synchronous wheel is synchronously connected with the fourth synchronous wheel through the second synchronous belt.
In a preferred embodiment, the seventh rotary driving device includes a seventh servo motor and a seventh speed reducer, the seventh servo motor is installed inside the seventh shaft seat, the seventh speed reducer is installed at the front end of the seventh shaft seat, and an output shaft of the seventh servo motor is connected to an input end of the seventh speed reducer.
Compared with the prior art, the invention has the beneficial effects that:
the six-axis robot has the advantages of simple and novel structure and reasonable design, and compared with the traditional six-axis robot, the six-axis robot has one more motion axis, so that the operation radius of the robot is increased, the flexibility of the robot is improved, the robot can adapt to different working environments, and the industrial practicability range of the robot is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a seven-axis robot provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection of two-axis link arms and a fixed base of a seven-axis robot according to an embodiment of the present invention;
fig. 3 is a schematic installation diagram of a two-axis link arm, a three-axis seat, a four-axis main arm and a five-axis seat of a seven-axis robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an assembly of five-axis seats of a seven-axis robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an assembly of six-axis seats of a seven-axis robot according to an embodiment of the present invention;
fig. 6 is an assembly diagram of seven-axis seat positions of a seven-axis robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, an embodiment of the present invention provides a seven-axis robot, which includes a first fixed base 1, a two-axis link arm 2, a three-axis base 3, a four-axis main arm 4, a five-axis base 5, a six-axis front arm 6, and a seven-axis base 7, and the structure and the operation principle of each component will be described below.
The two-axis link arm 2 is horizontally arranged, the first shaft fixing base 1 is rotatably connected with one end of the two-axis link arm 2, and a first rotary driving device is arranged between the first shaft fixing base 1 and one end of the two-axis link arm 2.
Preferably, the first rotary driving device comprises a first servo motor 11, a first speed reducer 12 and a gear sleeve shaft 14, the first speed reducer 12 is mounted on the top of the first shaft fixing base 1, the first servo motor 11 is mounted at one end of the two-shaft link arm 2, the gear sleeve shaft 14 is mounted on the output shaft of the first servo motor 11, and the gear part of the gear sleeve shaft 14 is meshed with a gear 121 arranged on the first speed reducer 12.
The other end of the two-axis link arm 2 is rotationally connected with the three-axis base 3, and a second rotary driving device is arranged between the two-axis link arm 2 and the three-axis base 3.
Preferably, the second rotary driving device may include a second servo motor 21 and a second speed reducer 22, the second speed reducer 2 is installed in a concave position formed at the other end of the two-axis link arm 2, the second servo motor 21 is installed downward in a lower cavity of the three-axis base 3, and an output shaft of the second servo motor 21 is in transmission connection with the second speed reducer 22 to drive the three-axis base 3 to rotate.
The three-shaft seat 3 is rotatably connected with one end of the four-shaft main arm 4, and a third rotary driving device is arranged between the three-shaft seat 3 and one end of the four-shaft main arm 4.
Specifically, the third rotary driving device may include a third servo motor 31 and a third speed reducer 32, the third servo motor 31 is installed in the front end cavity of the three-axis seat 3, the third speed reducer 32 is installed at one end of the four-axis main arm 4, and an output shaft of the third servo motor 31 is in transmission connection with the third speed reducer 32 to drive the four-axis main arm 4 to rotate.
The other end of the four-axis main arm 4 is rotatably connected with the five-axis seat 5, and a fourth rotary driving device is arranged between the other end of the four-axis main arm 4 and the five-axis seat 5.
In implementation, the fourth rotary driving device may include a fourth servo motor 41 and a fourth speed reducer 42, the fourth servo motor 41 is installed in the lower end cavity of the five-axis seat 5, the fourth speed reducer 42 is installed at the other end of the four-axis main arm 4, and an output shaft of the fourth servo motor 41 is in transmission connection with the fourth speed reducer 42 to drive the five-axis seat 5 to rotate.
The five-axis seat 5 is rotatably connected with one end of the six-axis front arm 6, and a fifth rotary driving device is arranged between the five-axis seat 5 and one end of the six-axis front arm 6.
Preferably, the fifth rotary driving device includes a fifth servomotor 51, a fifth speed reducer 52, a first synchronizing wheel 53, a second synchronizing wheel 54, and a first synchronizing belt 55, the fifth servomotor 51 is installed in the upper end cavity of the fifth shaft base 5 through a first motor mounting plate 56, the fifth speed reducer 52 is installed in the upper end cavity of the fifth shaft base 5, the output end of the fifth speed reducer 52 is connected to one end of the sixth shaft base 6, the first synchronizing wheel 53 is installed on the output shaft of the fifth servomotor 51, the second synchronizing wheel 54 is installed at the input end of the fifth speed reducer 52, and the first synchronizing wheel 53 is synchronously connected to the second synchronizing wheel 54 through the first synchronizing belt 55.
The seven-shaft seat 7 is rotatably connected with the other end of the six-shaft front arm 6, and a sixth rotary driving device is arranged between the seven-shaft seat 7 and the other end of the six-shaft front arm 6.
In specific implementation, the sixth rotary driving device may include a sixth servo motor 61, a third synchronous wheel 62, a fourth synchronous wheel 63, a second synchronous belt 64 and a sixth speed reducer 65, the sixth servo motor 61 is installed inside the front end of the six-axis forearm 6 through a second motor mounting plate 66, the sixth speed reducer 65 is installed inside the six-axis forearm 6, the output end of the sixth speed reducer 65 extends out of the six-axis forearm 6 to be connected with the seven-axis seat 7, the third synchronous wheel 62 is installed on the output shaft of the sixth servo motor 61, the fourth synchronous wheel 63 is installed on the input shaft of the sixth speed reducer 65, and the third synchronous wheel 62 is synchronously connected with the fourth synchronous wheel 63 through the second synchronous belt 64.
The seventh shaft seat 7 is provided with a seventh rotation driving device, the seventh rotation driving device comprises a seventh servo motor 71 and a seventh speed reducer 72, the seventh servo motor 71 is installed inside the seventh shaft seat 7, the seventh speed reducer 72 is installed at the front end of the seventh shaft seat 7, and an output shaft of the seventh servo motor 71 is connected with an input end of the seventh speed reducer 72.
During operation, the first rotary driving device can drive the two-axis link arm to swing, so that a swinging function of the robot is realized, the second rotary driving device can drive the three-axis base to rotate, so that an angle rotation function of the robot is realized, the third rotary driving device can drive the four-axis main arm to rotate, so that front and back movement of the main arm of the robot is realized, the fourth rotary driving device can drive the five-axis base to rotate, so that ascending and descending movement of the forearm of the robot is realized, the fifth rotary driving device can drive the six-axis forearm to rotate, so that forearm rotation movement of the robot is realized, and the sixth rotary driving device can drive the seven-axis base to rotate, so that wrist swinging movement of the robot is realized.
In summary, the invention has the following advantages:
1. the six-axis robot has the advantages of simple and novel structure and reasonable design, and compared with the traditional six-axis robot, the six-axis robot has one more motion axis, so that the operation radius of the robot is increased, the flexibility of the robot is improved, the robot can adapt to different working environments, and the industrial practicability range of the robot is greatly improved.
2. The moment distribution of the seven-axis robot is uniform, so that the stress on the robot is more reasonable.
3. The seven-axis robot can replace the labor of workers, reduce the labor intensity of the workers, work in a harmful environment, liberate human beings and enable the working environment of enterprises to be more friendly.
4. The seven-axis robot reduces the requirements on the operation technology of workers and reduces the labor pressure of enterprises.
5. The seven-axis robot shortens the preparation period of product modification and updating and reduces the corresponding equipment investment.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A seven-axis robot, characterized in that: comprises a shaft fixing base (1), a two-shaft link arm (2), a three-shaft seat (3), a four-shaft main arm (4), a five-shaft seat (5), a six-shaft front arm (6) and a seven-shaft seat (7), wherein the shaft fixing base (1) is rotationally connected with one end of the two-shaft link arm (2), a first rotary driving device is arranged between the shaft fixing base (1) and one end of the two-shaft link arm (2), the other end of the two-shaft link arm (2) is rotationally connected with the three-shaft seat (3), a second rotary driving device is arranged between the two-shaft link arm (2) and the three-shaft seat (3), the three-shaft seat (3) is rotationally connected with one end of the four-shaft main arm (4), a third rotary driving device is arranged between the three-shaft seat (3) and one end of the four-shaft main arm (4), the other end of the four-shaft main arm (4), be provided with fourth rotary drive device between the other end of four-axis main arm (4) and five axle bed (5), five axle bed (5) are rotated with the one end of six forearm (6) and are connected, be provided with fifth rotary drive device between the one end of five axle bed (5) and six forearm (6), seven axle bed (7) are rotated with the other end of six forearm (6) and are connected, be provided with sixth rotary drive device between the other end of seven axle bed (7) and six forearm (6), be provided with seventh rotary drive device on seven axle bed (7).
2. The seven-axis robot of claim 1, wherein: the first rotary driving device comprises a first servo motor (11), a first speed reducer (12) and a gear sleeve shaft (14), the first speed reducer (12) is installed at the top of a shaft fixing base (1), the first servo motor (11) is installed at one end of a two-shaft link arm (2), the gear sleeve shaft (14) is installed on an output shaft of the first servo motor (11), and a gear part of the gear sleeve shaft (14) is meshed with a gear (121) arranged on the first speed reducer (12).
3. The seven-axis robot of claim 1, wherein: the second rotary driving device comprises a second servo motor (21) and a second speed reducer (22), the second speed reducer (22) is installed in a concave position formed at the other end of the two-shaft link arm (2), the second servo motor (21) is installed downwards in a lower cavity of the three-shaft seat (3), and an output shaft of the second servo motor (21) is in transmission connection with the second speed reducer (22) to drive the three-shaft seat (3) to rotate.
4. The seven-axis robot of claim 1, wherein: the third rotary driving device comprises a third servo motor (31) and a third speed reducer (32), the third servo motor (31) is installed in a cavity at the front end of the three-shaft seat (3), the third speed reducer (32) is installed at one end of the four-shaft main arm (4), and an output shaft of the third servo motor (31) is in transmission connection with the third speed reducer (32) to drive the four-shaft main arm (4) to rotate.
5. The seven-axis robot of claim 1, wherein: the fourth rotary driving device comprises a fourth servo motor (41) and a fourth speed reducer (42), the fourth servo motor (41) is installed in a cavity at the lower end of the five-shaft seat (5), the fourth speed reducer (42) is installed at the other end of the four-shaft main arm (4), and an output shaft of the fourth servo motor (41) is in transmission connection with the fourth speed reducer (42) to drive the five-shaft seat (5) to rotate.
6. The seven-axis robot of claim 1, wherein: the fifth rotary driving device comprises a fifth servo motor (51), a fifth speed reducer (52), a first synchronous wheel (53), a second synchronous wheel (54) and a first synchronous belt (55), the fifth servo motor (51) is installed in an upper end cavity of a five-shaft seat (5) through a first motor installation plate (56), the fifth speed reducer (52) is installed in the upper end cavity of the five-shaft seat (5), the output end of the fifth speed reducer (52) is connected with one end of a six-shaft seat (6), the first synchronous wheel (53) is installed on an output shaft of the fifth servo motor (51), the second synchronous wheel (54) is installed at the input end of the fifth speed reducer (52), and the first synchronous wheel (53) is synchronously connected with the second synchronous wheel (54) through the first synchronous belt (55).
7. The seven-axis robot of claim 1, wherein: sixth rotary driving device includes sixth servo motor (61), third synchronizing wheel (62), fourth synchronizing wheel (63), second hold-in range (64) and sixth speed reducer (65), sixth servo motor (61) are installed inside the front end of six antearms (6) through second motor mounting panel (66), sixth speed reducer (65) are installed in six antearms (6), the output of sixth speed reducer (65) stretches out six antearms (6) and is connected with seven axle bed (7), third synchronizing wheel (62) are installed on the output shaft of sixth servo motor (61), fourth synchronizing wheel (63) are installed on the input shaft of sixth speed reducer (65), third synchronizing wheel (62) are through second hold-in range (64) and fourth synchronizing wheel (63) synchronous connection.
8. The seven-axis robot of claim 1, wherein: the seventh rotary driving device comprises a seventh servo motor (71) and a seventh speed reducer (72), the seventh servo motor (71) is installed inside the seventh shaft seat (7), the seventh speed reducer (72) is installed at the front end of the seventh shaft seat (7), and an output shaft of the seventh servo motor (71) is connected with an input end of the seventh speed reducer (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010955892.6A CN111958582A (en) | 2020-09-11 | 2020-09-11 | Seven-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010955892.6A CN111958582A (en) | 2020-09-11 | 2020-09-11 | Seven-axis robot |
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|---|---|
| CN111958582A true CN111958582A (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010955892.6A Pending CN111958582A (en) | 2020-09-11 | 2020-09-11 | Seven-axis robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1577062A1 (en) * | 2004-03-16 | 2005-09-21 | Fanuc Ltd | Industrial robot with speed reducer in rotary joints |
| DE202009009334U1 (en) * | 2009-07-07 | 2009-09-17 | Carl Cloos Schweißtechnik GmbH | Seven-axis articulated robot |
| CN206011071U (en) * | 2016-08-26 | 2017-03-15 | 广州市吉峰金属塑胶制品有限公司 | A kind of six-shaft industrial robot |
| CN212887618U (en) * | 2020-09-11 | 2021-04-06 | 东莞市尔必地机器人有限公司 | Seven-axis robot |
-
2020
- 2020-09-11 CN CN202010955892.6A patent/CN111958582A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1577062A1 (en) * | 2004-03-16 | 2005-09-21 | Fanuc Ltd | Industrial robot with speed reducer in rotary joints |
| DE202009009334U1 (en) * | 2009-07-07 | 2009-09-17 | Carl Cloos Schweißtechnik GmbH | Seven-axis articulated robot |
| CN206011071U (en) * | 2016-08-26 | 2017-03-15 | 广州市吉峰金属塑胶制品有限公司 | A kind of six-shaft industrial robot |
| CN212887618U (en) * | 2020-09-11 | 2021-04-06 | 东莞市尔必地机器人有限公司 | Seven-axis robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
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