CN202344543U - Six-axis robot transmission mechanism - Google Patents

Six-axis robot transmission mechanism Download PDF

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Publication number
CN202344543U
CN202344543U CN2011204974813U CN201120497481U CN202344543U CN 202344543 U CN202344543 U CN 202344543U CN 2011204974813 U CN2011204974813 U CN 2011204974813U CN 201120497481 U CN201120497481 U CN 201120497481U CN 202344543 U CN202344543 U CN 202344543U
Authority
CN
China
Prior art keywords
base
big arm
joint
rotary
arm
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.)
Expired - Fee Related
Application number
CN2011204974813U
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Chinese (zh)
Inventor
高良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HANGZHOU SHUOSHI MACHINERY CO Ltd
Original Assignee
HANGZHOU SHUOSHI MACHINERY CO Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by HANGZHOU SHUOSHI MACHINERY CO Ltd filed Critical HANGZHOU SHUOSHI MACHINERY CO Ltd
Priority to CN2011204974813U priority Critical patent/CN202344543U/en
Application granted granted Critical
Publication of CN202344543U publication Critical patent/CN202344543U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a part of an industrial robot, and in particular relates to a six-axis robot transmission mechanism. The utility model mainly solves the technical problem that the robot transmission mechanisms in the prior art have more complex structures and higher production cost and are not so suitable for the factories with small space. The transmission comprises a base (1) and is characterized in that a rotary base (2) which can rotate horizontally is arranged on the base (1); a big arm (3) is arranged on the rotary base; the top end of the big arm is connected with a motor base (4); a small arm lever (5) is arranged on the motor base; and the outer end of the small arm lever is connected with a wrist body (6) which can rotate.

Description

A kind of six-joint robot transmission mechanism
Technical field
The utility model relates to a kind of parts of industrial robot, especially relates to a kind of six-joint robot transmission mechanism.
Background technology
Six-joint robot is used widely in the auto industry automatic field, like gluing, spray paint, welding, loading and unloading, bound edge etc.The six-joint robot gluing must just can carry out in certain accuracy rating, promptly before the each run program, must guarantee that all workpiece arrives the site in the permissible accuracy scope.Chinese patent discloses a kind of multifunctional gantry type six-shaft industrial robot (Granted publication number: CN101559598); Its first column, second column are installed on first track and second track through the first linear joint axle, the second linear joint axle respectively, and crossbeam is installed between first column and second column; Transfer arm is installed on the crossbeam through the 3rd linear joint axle; Lifting arm is installed on the transfer arm through the 4th linear joint axle; First turning arm is installed in the lifting arm end through the first rotary joint axle; Second turning arm is installed on first turning arm through the second rotary joint axle; End effector is installed in the end of second turning arm through the 3rd rotary joint axle; First track, the first linear joint axle, first column, second track, the second linear joint axle, second column and crossbeam constitute the X joint, and column, column and crossbeam constitute portal frame, and the first linear joint axle and the second linear joint axle are parallel to each other; The 3rd linear joint axle and transfer arm constitute the Y joint, and the moving direction in the moving direction in Y joint and X joint is perpendicular; The 4th linear joint axle and lifting arm constitute the Z joint, and the moving direction in the moving direction in Z joint and Y joint and the moving direction in X joint are vertical each other; The first rotary joint axle and first turning arm constitute the U joint, and wherein the moving direction in the axle center of the first rotary joint axle and Z joint parallels; The second rotary joint axle and second turning arm constitute the V joint, and wherein the axle center of the axle center of the second rotary joint axle and the first rotary joint axle is perpendicular; The 3rd rotary joint axle and end effector constitute the W joint, and wherein the axle center of the axle center of the 3rd rotary joint axle and rotary joint axle is perpendicular.But the structure of this robot transmission mechanism is comparatively complicated, and production cost is higher, not too is applicable to the producer that the place, space is little.
The utility model content
The utility model provides a kind of six-joint robot transmission mechanism, and it mainly is that to solve the structure of existing in prior technology robot transmission mechanism comparatively complicated, and production cost is higher, not too is applicable to the technical problem of producer that the place, space is little etc.
The above-mentioned technical problem of the utility model mainly is able to solve through following technical proposals:
A kind of six-joint robot transmission mechanism of the utility model comprises base, and described base is provided with the swivel base that can horizontally rotate; Swivel base is provided with big arm; The top of big arm is connected with motor cabinet, and motor cabinet is provided with little armed lever, and the outer end of little armed lever is connected with rotatable wrist body.Swivel base can carry out the rotation of positive and negative 180 degree on base, thereby makes big arm also can do rotation in the horizontal direction.On the motor cabinet motor can be installed, carry out 360 degree rotations in the vertical thereby drive the wrist body.On the wrist body various process tools can be installed, thereby can process workpiece.
As preferably, be fixed with the balance cylinder barrel on the described swivel base, the push rod of balance cylinder barrel is hinged with push rod, and push rod is connected big arm lower end, and big arm lower end is hinged on through lower rotary table and is hinged on the swivel base.After the push rod of balance cylinder barrel pushes, can promote push rod, thereby big arm can be swung around lower rotary table.
As preferably, the upper end of described big arm is hinged on the motor cabinet through top rotary table.Because motor cabinet flexibly connects through top rotary table and big arm upper end, therefore little armed lever can swing up and down.
Therefore, the utility model makes the wrist body of robot can be positioned at the optional position, space through swivel base, the big arm that can swing, little armed lever, and shared spatial area is less, and scope of activities is bigger, and is simple and reasonable for structure.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the utility model;
Accompanying drawing 2 is plan structure sketch mapes of Fig. 1;
Accompanying drawing 3 is side structure sketch mapes of Fig. 1.
Parts, position and numbering among the figure: base 1, swivel base 2, big arm 3, motor cabinet 4, forearm bar 5, wrist body 6, balance cylinder barrel 7, push rod 8, lower rotary table 9, top rotary table 10.
The specific embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically the technical scheme of the utility model.
Embodiment: a kind of six-joint robot transmission mechanism of this example like Fig. 1, Fig. 2, Fig. 3, has a base 1; Base is provided with the swivel base 2 that can horizontally rotate; Swivel base is provided with big arm 3, is fixed with balance cylinder barrel 7 on the swivel base, and the push rod of balance cylinder barrel is hinged with push rod 8; Push rod is connected big arm lower end, and big arm lower end is hinged on through lower rotary table 9 and is hinged on the swivel base.The top of big arm is connected with motor cabinet 4, and the upper end of big arm is hinged on the motor cabinet through top rotary table 10.Motor cabinet is provided with forearm bar 5, and the outer end of little armed lever is connected with rotatable wrist body 6.
During use; After swivel base 2 rotations, big arm can carry out the rotation of positive and negative 180 degree in the horizontal direction, can drive big arm 3 through balance cylinder barrel 7 and swing; forearm bar 3 also can swing up and down in the upper end of big arm, can process workpiece behind the wrist body place mounting cutter.
The above is merely the specific embodiment of the utility model; But the architectural feature of the utility model is not limited thereto; Any those skilled in the art is in the field of the utility model, and variation of being done or modification all are encompassed among the claim of the utility model.

Claims (3)

1. six-joint robot transmission mechanism; Comprise base (1); It is characterized in that described base (1) is provided with the swivel base (2) that can horizontally rotate, swivel base is provided with big arm (3), and the top of big arm is connected with motor cabinet (4); Motor cabinet is provided with little armed lever (5), and the outer end of little armed lever is connected with rotatable wrist body (6).
2. a kind of six-joint robot transmission mechanism according to claim 1; It is characterized in that being fixed with on the described swivel base (2) balance cylinder barrel (7); The push rod of balance cylinder barrel is hinged with push rod (8); Push rod is connected big arm (3) lower end, and big arm lower end is hinged on through lower rotary table (9) and is hinged on the swivel base.
3. a kind of six-joint robot transmission mechanism according to claim 1 and 2 is characterized in that the upper end of described big arm (3) is hinged on the motor cabinet (4) through top rotary table (10).
CN2011204974813U 2011-12-05 2011-12-05 Six-axis robot transmission mechanism Expired - Fee Related CN202344543U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011204974813U CN202344543U (en) 2011-12-05 2011-12-05 Six-axis robot transmission mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011204974813U CN202344543U (en) 2011-12-05 2011-12-05 Six-axis robot transmission mechanism

Publications (1)

Publication Number Publication Date
CN202344543U true CN202344543U (en) 2012-07-25

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011204974813U Expired - Fee Related CN202344543U (en) 2011-12-05 2011-12-05 Six-axis robot transmission mechanism

Country Status (1)

Country Link
CN (1) CN202344543U (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102794766A (en) * 2012-09-11 2012-11-28 浙江理工大学 Underwater flexible and smart manipulator
CN104816313A (en) * 2015-04-01 2015-08-05 湖北骐通机电工程有限公司 Articulated robot
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN106363260A (en) * 2016-11-22 2017-02-01 天津大学 Mechanical arm for electrolytic machining of corrosion defects in pipe
CN106670883A (en) * 2017-02-16 2017-05-17 遨博(常州)自动化技术有限公司 Six-shaft robot
CN106737631A (en) * 2015-11-24 2017-05-31 沈阳新松机器人自动化股份有限公司 A kind of hanging industrial machinery arm
CN108045970A (en) * 2017-12-07 2018-05-18 上海宇航系统工程研究所 Four axis stacking industrial robots
CN110282319A (en) * 2019-06-10 2019-09-27 潍坊海丰自动化科技有限公司 Intelligent AGV logistics resource

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102794766A (en) * 2012-09-11 2012-11-28 浙江理工大学 Underwater flexible and smart manipulator
CN104816313A (en) * 2015-04-01 2015-08-05 湖北骐通机电工程有限公司 Articulated robot
CN106737631A (en) * 2015-11-24 2017-05-31 沈阳新松机器人自动化股份有限公司 A kind of hanging industrial machinery arm
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN106363260A (en) * 2016-11-22 2017-02-01 天津大学 Mechanical arm for electrolytic machining of corrosion defects in pipe
CN106670883A (en) * 2017-02-16 2017-05-17 遨博(常州)自动化技术有限公司 Six-shaft robot
CN108045970A (en) * 2017-12-07 2018-05-18 上海宇航系统工程研究所 Four axis stacking industrial robots
CN110282319A (en) * 2019-06-10 2019-09-27 潍坊海丰自动化科技有限公司 Intelligent AGV logistics resource

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120725

Termination date: 20131205

C17 Cessation of patent right