CN202805186U - Six-degree-of-freedom industrial robot - Google Patents
Six-degree-of-freedom industrial robot Download PDFInfo
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- CN202805186U CN202805186U CN 201220358359 CN201220358359U CN202805186U CN 202805186 U CN202805186 U CN 202805186U CN 201220358359 CN201220358359 CN 201220358359 CN 201220358359 U CN201220358359 U CN 201220358359U CN 202805186 U CN202805186 U CN 202805186U
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Abstract
The utility model provides a six-degree-of-freedom industrial robot which comprises a base, a first part, a second part, a third part, a fourth part, a fifth part and a sixth part. The fifth part and the sixth part are connected through double rotary pairs, the sixth part comprises a lower base and four third connecting rods, and a first linear module and a second linear module respectively drive a first crank slider structure and a second crank slider structure to be in linear motion so as to drive a first connecting rod and a second connecting rod to be in linear motion then to drive a first driving arm and a second driving arm to rotate to drive the fifth part and the sixth part to jointly rotate. A series mechanism and a parallel-connection mechanism are combined and designed into an industrial robot with a big parallelly-connected rotating wrist, so that big-angle rotation can be realized. The parallelly-connected wrist is added, so that the six-degree-of-freedom industrial robot is free of singularities unavoidable in common six-degree-of-freedom robots, quicker and smoother in action and widely applicable to industrial operation.
Description
Technical field
The utility model relates to the industrial robot field, refers to especially a kind of Six-DOF industrial robot.
Background technology
Existing six-DOF robot is substantially the same in the market, all is to adopt series system, and such robot singular point can occur inevitably when motion, causes the robot free degree to reduce, and causes in actual applications inconvenience.What generally adopt at present is to solve this problem by avoid singular point in the robot motion, perhaps solve by the novel robot algorithm of research, but present very reasonable easily solution not also.
The utility model content
The utility model proposes a kind of Six-DOF industrial robot, it is combined serial mechanism and is designed to have the also Six-DOF industrial robot of the United Nations General Assembly's rotation wrist with parallel institution, the utility model new in structure is special, and can realize large rotation angle, good rigidly, simultaneously owing to add parallel mechanism, so that there is not the inevitable singular point of general six-DOF robot in this robot, thereby make the action of robot quicker, more smooth.
The technical solution of the utility model is achieved in that
A kind of Six-DOF industrial robot comprises the 5th parts and the 6th parts, and described the 5th parts are connected by two revolute pairs with described the 6th parts; Described the 6th parts comprise lower bottom base and four third connecting rods, and described third connecting rod evenly is arranged at the described lower bottom base outside; Described the 5th parts comprise the first driving mechanism, described the first driving mechanism comprises the first linear module, the first slider-crank mechanism that is connected with the described first linear module and the first connecting rod that is connected with described the first crank block structure, and described first connecting rod is connected with the first actuating arm; Described the 5th parts also comprise the second driving mechanism, described the second driving mechanism comprises the second linear module, the second crank block structure that is connected with the described second linear module and the second connecting rod that is connected with described the second crank block structure, and described second connecting rod is connected with the second actuating arm; The described first linear module and the described second linear module drive respectively described the first crank block structure and described the second slider-crank mechanism is done linear movement, thereby drive respectively described first connecting rod and described second connecting rod is done linear movement, drive respectively described the first actuating arm and described the second actuating arm and rotate, drive described the 5th parts and described the 6th parts rotate jointly.
Further, described Six-DOF industrial robot also comprises pedestal, first component, second component, the 3rd parts and the 4th parts; Described the 5th parts one end is arranged at an end of described the 4th parts, and described the 4th parts other end is inserted in described the 3rd parts, and described the 4th parts can rotate around described the 3rd parts central shaft.
Further, described the 3rd parts one end is arranged at an end of described second component rotatably, and described the 3rd parts can rotate around second component one end central shaft; The described second component other end is arranged at an end of described first component rotatably, and described second component can rotate around described first component one end; The described first component other end is arranged at the top of described pedestal, and described first component can rotate around described pedestal.
Further, described the 5th parts also comprise upper bed-plate and two slave arms, and described two slave arms and described the first actuating arm and described the second actuating arm evenly are arranged at the described upper bed-plate outside.
Further, described the 6th parts one end is connected with the adpting flange that connects nipper and welding gun instrument.
Further, the first actuating arm, the second actuating arm in described the 5th parts and a slave arm of being connected are connected by described pair of revolute pair with four third connecting rods in described the 6th parts; Described upper bed-plate and described lower bottom base maximum can form 100 degree corners.
Further, described the 5th parts and described the 6th member driving mechanism can be selected servomotor and stepper motor.
The beneficial effects of the utility model are: the utility model new in structure is special, and can realize large rotation angle, good rigidly.The utility model is realized rotation and the pitching in each joint of robot, the particularly also design of the United Nations General Assembly's rotation wrist, can realize the large rotation angle of wrist, and the 5th axle the 6th axle of general Six-DOF industrial robot is replaced with parallel mechanism, can be so that the singular point disappearance of general six-DOF robot, thereby make the robot motion quicker, the more level and smooth smoothness of track.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the planar structure schematic diagram of an embodiment of a kind of Six-DOF industrial robot of the utility model;
Fig. 2 is the local structure for amplifying schematic diagram of the A of Six-DOF industrial robot shown in Figure 1;
Fig. 3 is the plan structure schematic diagram of Six-DOF industrial robot shown in Figure 1.
Among the figure: pedestal 1; First component 2; Second component 3; The 3rd parts 4; The 4th parts 5; The 5th parts 6; The first actuating arm 61; The second actuating arm 62; The first driving mechanism 63; The first linear module 631; The first slider-crank mechanism 632; First connecting rod 633; The second driving mechanism 64; The second linear module 641; The second slider-crank mechanism 642; Second connecting rod 643; Upper bed-plate 65; Slave arm 66; The 6th parts 7; Lower bottom base 71; Adpting flange 72; Third connecting rod 73; Two revolute pairs 74.
The specific embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of the utility model protection.
According to Fig. 1-preferred embodiment shown in Figure 3, a kind of Six-DOF industrial robot comprises pedestal 1, first component 2, second component 3, the 3rd parts 4, the 4th parts 5, the 5th parts 6 and the 6th parts 7; Described first component 2 one ends are arranged at the top of described pedestal 1, described second component 3 one ends are arranged at the other end of described first component 2 rotatably, described the 3rd parts 4 one ends are arranged at the other end of described second component 3 rotatably, described the 4th parts 5 one ends are arranged at the adjacent other end of described the 3rd parts 4 one ends, described the 5th parts 6 one ends are arranged at the other end of described the 4th parts 5, and described the 5th parts 6 are connected by two revolute pairs 74 with described the 6th parts 7; Described the 5th parts 6 comprise the first actuating arm 61, the second actuating arm 62, the first driving mechanism 63 and the second driving mechanism 64, described the first actuating arm 61 and described the second actuating arm 62 are arranged at described the 5th parts 6 outsides, and described the first driving mechanism 63 and described the second driving mechanism 64 are arranged at respectively described the 4th parts 5 outsides; Described the first driving mechanism 63 comprises the first linear module 631, the first slider-crank mechanism 632 that is connected with the described first linear module 631 and the first connecting rod 633 that is connected with described the first crank block structure 632, described the second driving mechanism 64 comprises the second linear module 641, the second crank block structure 642 that is connected with the described second linear module 641 and the second connecting rod 643 that is connected with described the second crank block structure 642, described first connecting rod 633 is connected with described the first actuating arm 61, and described second connecting rod 643 is connected with described the second actuating arm 62; The first linear module 631 in described the first driving mechanism 63 and the second linear module 641 in described the second driving mechanism 64 drives respectively described the first crank block structure 632 and described the second slider-crank mechanism 642 is done linear movement, thereby drive described first connecting rod 633 and 643 linear movements of described second connecting rod, drive described the first actuating arm 61 and described the second actuating arm 62 rotates, thereby drive described the 5th parts 6 and described the 6th parts 7 rotate jointly; Under the effect of driving force, described Six-DOF industrial robot operates by the coordination to above-mentioned six parts.
Described first component 2 one ends are connected with described pedestal 1 top, described first component 2 can rotate on pedestal 1 top, described first component 2 central shafts are the waist joint of described six-DOF robot, and described first component 2 can be done 360 degree around waist joint and rotatablely move.
Described second component 3 one ends are arranged at the other end of described first component 2 rotatably, and described first component 2 other end central shafts are the shoulder joint of described six-DOF robot, and described second component 3 can be done relative rotary motion around described shoulder joint.
Described the 3rd parts 4 one ends are arranged at the other end of described second component 3 rotatably, and described second component 3 other ends are the elbow joint of described six-DOF robot, and described the 3rd parts 4 can be done relative rotary motion around described elbow joint.
Described the 4th parts 5 one ends are arranged at the adjacent other end of described the 3rd parts 4 one ends, and described the 4th parts 5 central shafts are the arm of described six-DOF robot, and described the 4th parts 5 can rotate around described arm.
Described the 5th parts 6 also comprise upper bed-plate 65 and two slave arms 66, and described two slave arms 66 evenly are arranged at described the 5th parts 6 outsides with described the first actuating arm 61 and described the second actuating arm 62; Described the 6th parts 7 comprise lower bottom base 71, adpting flange 72 and four third connecting rods 73, and described third connecting rod 73 evenly is arranged at described the 6th parts 7 outsides, and described adpting flange 72 is arranged at described the 6th parts 7 one ends.
Described the first driving mechanism 63 and described the second driving mechanism 64 drives the described first linear sliding 631 and described second linear group 641 of sliding of organizing that are fixed in described the 4th parts 5 outsides are done linear movement, drive described first connecting rod 633 and 643 motions of described second connecting rod, thereby drive described the first actuating arm 61 and 62 rotations of described the second actuating arm, thereby described the 5th parts 6 and described the 6th parts 7 are rotated jointly, described the 5th parts 6 and described the 6th parts 7 form the wrist joint of described six-DOF robot, and described wrist joint is that parallel institution connects.
The first actuating arm 61 in described the 5th parts 6, the second actuating arm 62 and the slave arm 66 of being connected are connected by described pair of revolute pair 74 with four third connecting rods 73 in described the 6th parts 7, and described upper bed-plate 65 and described lower bottom base 71 maximums can form 100 degree corners; Described adpting flange 72 can connect nipper and welding gun instrument, is convenient to carry out various industrial operations.
Described the 5th parts 6 and described the 6th parts 7 driving mechanisms can be selected servomotor and stepper motor, the driving mechanism that drives wrist is preferentially selected the motor of power less, the decelerator of described motor can be selected common decelerator and harmonic speed reducer, preferentially select common decelerator, can reduce the holistic cost of robot.
The operation principle of described Six-DOF industrial robot is: described Six-DOF industrial robot can realize that in practical work process robot is in three attitudes of spatial movement, comprise pitching, lift-over and driftage, it can realize the motion of optional position and free position, is convenient to carry out various industrial operations.
The utility model is realized rotation and the pitching in each joint of robot, the particularly also design of the United Nations General Assembly's rotation wrist, can realize the large rotation angle of wrist, and the 5th axle the 6th axle of general Six-DOF industrial robot is replaced with parallel mechanism, can be so that the singular point disappearance of general Six-DOF industrial robot, thereby make the robot motion quicker, the more level and smooth smoothness of track.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (8)
1. Six-DOF industrial robot is characterized in that: comprise the 5th parts (6) and the 6th parts (7), described the 5th parts (6) are connected by two revolute pairs (74) with described the 6th parts (7); Described the 6th parts (7) comprise lower bottom base (71) and four third connecting rods (73), and described third connecting rod (73) evenly is arranged at described lower bottom base (71) outside; Described the 5th parts (6) comprise the first driving mechanism (63), described the first driving mechanism (63) comprises the first linear module (631), the first slider-crank mechanism (632) that is connected with the described first linear module (631) and the first connecting rod (633) that is connected with described the first crank block structure (632), and described first connecting rod (633) is connected with the first actuating arm (61); Described the 5th parts also comprise the second driving mechanism (64), described the second driving mechanism (64) comprises the second linear module (641), the second crank block structure (642) that is connected with the described second linear module (641) and the second connecting rod (643) that is connected with described the second crank block structure (642), and described second connecting rod (643) is connected with the second actuating arm (62); The described first linear module (631) and the described second linear module (641) drive respectively described the first crank block structure (632) and described the second slider-crank mechanism (642) is done linear movement, thereby drive respectively described first connecting rod (633) and described second connecting rod (643) is done linear movement, drive respectively described the first actuating arm (61) and described the second actuating arm (62) and rotate, drive the common rotation of described the 5th parts (6) and described the 6th parts (7).
2. Six-DOF industrial robot according to claim 1, it is characterized in that: described Six-DOF industrial robot also comprises pedestal (1), first component (2), second component (3), the 3rd parts (4) and the 4th parts (5); Described the 5th parts (6) one ends are arranged at an end of described the 4th parts (5), and described the 4th parts (5) other end is inserted in described the 3rd parts (4), and described the 4th parts (5) can rotate around described the 3rd parts (4) central shaft.
3. Six-DOF industrial robot according to claim 2, it is characterized in that: described the 3rd parts (4) one ends are arranged at an end of described second component (3) rotatably, and described the 3rd parts (4) can rotate around second component (3) one end central shafts; Described second component (3) other end is arranged at an end of described first component (2) rotatably, and described second component (3) can rotate around described first component (2) one ends; Described first component (2) other end is arranged at the top of described pedestal (1), and described first component (2) can rotate around described pedestal (1).
4. Six-DOF industrial robot according to claim 1, it is characterized in that: described the 5th parts (6) also comprise upper bed-plate (65) and two slave arms (66), and described two slave arms (66) evenly are arranged at described upper bed-plate (65) outside with described the first actuating arm (61) and described the second actuating arm (62).
5. it is characterized in that according to claim 1 or the Six-DOF industrial robot described in 4: the first actuating arm (61) in described the 5th parts (6), the second actuating arm (62) and the slave arm (66) of being connected are connected by described pair of revolute pair (74) with four third connecting rods (73) in described the 6th parts (7).
6. the Six-DOF industrial robot described in according to claim 4, it is characterized in that: described upper bed-plate (65) and described lower bottom base (71) maximum can form 100 degree corners.
7. Six-DOF industrial robot according to claim 1 is characterized in that: described the 6th parts (7) one ends are connected with the adpting flange (72) that connects nipper and welding gun instrument.
8. each described Six-DOF industrial robot according to claim 1-4 is characterized in that: described the 5th parts (6) and described the 6th parts (7) driving mechanism can be selected servomotor and stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220358359 CN202805186U (en) | 2012-07-23 | 2012-07-23 | Six-degree-of-freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220358359 CN202805186U (en) | 2012-07-23 | 2012-07-23 | Six-degree-of-freedom industrial robot |
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| Publication Number | Publication Date |
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| CN202805186U true CN202805186U (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220358359 Withdrawn - After Issue CN202805186U (en) | 2012-07-23 | 2012-07-23 | Six-degree-of-freedom industrial robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN103707290A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Welding robot with a plurality of closed-ring subchains |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN104552278A (en) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | Robotized spiral hole making system |
| CN107116322A (en) * | 2017-07-04 | 2017-09-01 | 广西大学 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
-
2012
- 2012-07-23 CN CN 201220358359 patent/CN202805186U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN102785239B (en) * | 2012-07-23 | 2015-04-29 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103737581B (en) * | 2013-12-07 | 2016-06-15 | 广西大学 | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled |
| CN103707290A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Welding robot with a plurality of closed-ring subchains |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN104552278A (en) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | Robotized spiral hole making system |
| CN107116322A (en) * | 2017-07-04 | 2017-09-01 | 广西大学 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: DONGGUAN LIE GROUP AUTOMATION TECHNOLOGY CO., LTD. Free format text: FORMER NAME: DONGGUAN LIE GROUP AUTOMATION EQUIPMENT CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: 511700, Guangdong, Dongguan hi tech Industrial Development Zone, Songshan District, the northern industrial city, small science and technology enterprise park ninth, second Patentee after: QKM TECHNOLOGY (DONGGUAN) CO., LTD. Address before: 511700, Guangdong, Dongguan science and Technology Industrial Park, Songshan Road, 1, nine Dongguan science and Technology Industrial Park, Huazhong University of Science and Technology, research and development building, room 404 Patentee before: Dongguan Lie Group Automation Equipment Co., Ltd. |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130320 Effective date of abandoning: 20150429 |