CN204019536U - A kind of six axis robot - Google Patents
A kind of six axis robot Download PDFInfo
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- CN204019536U CN204019536U CN201420479053.1U CN201420479053U CN204019536U CN 204019536 U CN204019536 U CN 204019536U CN 201420479053 U CN201420479053 U CN 201420479053U CN 204019536 U CN204019536 U CN 204019536U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 115
- 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 14
- 230000013011 mating Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000003466 welding Methods 0.000 abstract description 4
- 238000010923 batch production Methods 0.000 abstract description 3
- 238000005507 spraying Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
The utility model discloses a kind of six axis robot, comprise pedestal, described pedestal is connected with the first transmission mechanism successively, second transmission mechanism, 3rd transmission mechanism, 4th transmission mechanism, 5th transmission mechanism and the 6th transmission mechanism, 6th transmission mechanism is connected with operating side part, described 5th transmission mechanism is connected with the 6th transmission mechanism, comprise five shaft housings, five shaft housings are provided with five shaft flange jockeys, five shaft pulley that the described five shaft housing other ends are provided with on five axle servomotors are connected by belt transmission, 5th transmission mechanism can drive between the 6th transmission mechanism and five shaft housings and carry out ± 120 ° of pitch rotation.By the setting of flange connecting apparatus in the 5th transmission mechanism, traditional loaded down with trivial details transmission process is enormously simplify in the machine driving of this transmission mechanism, abandon the shortcoming that six traditional axles generally adopt bevel gear engaged transmission, make the structure of manipulator more compact, the efficiency of transmission is higher, control more accurate, the situation that can effectively avoid joint motions to shake occurs.Can meet a series of industrial welding, industry spraying, the requirement of industrial carrying, such design can meet the demand of most of user, also can meet the requirement of product batch production, reduce production cost.
Description
Technical field
The utility model relates to manipulator field, specifically a kind of six axis robot.
Background technology
At present, although Chinese industrial automation development speed is very fast, scope universal is not in the industrial production also very wide, and much work has all been come by people aborning, the quality manually completed and level uneven.This just causes developing bottleneck, and this is also the major reason of the gap causing we and developed country's industrial level.
Robotics develops abroad certain history, and our country greatly develops Industrial Robot Technology in recent years, and achieves a series of technological achievement, but still there is a certain distance with developed country.The application of robot of China is mainly in the field that welding sprays and carries, and the manipulator domestic at present common fault that all ubiquity is such, complex structure transmission efficiency is low, controls unstable feature.Function ratio is more single in the industrial production, can not promote widely, and be all often the redesign will carrying out drawing according to customer requirement, this just causes product and not can manufacture, and production cost increases.
Utility model content
The technical problems to be solved in the utility model is for above-mentioned the deficiencies in the prior art, provides a kind of six axis robot being provided with flange connecting apparatus at the 5th transmission mechanism.
For achieving the above object, the utility model provides following technical scheme:
A kind of six axis robot, comprise pedestal, described pedestal is connected with the first transmission mechanism successively, second transmission mechanism, 3rd transmission mechanism, 4th transmission mechanism, 5th transmission mechanism and the 6th transmission mechanism, 6th transmission mechanism is connected with mechanical palm portion, pedestal is provided with automaton, described first transmission mechanism, second transmission mechanism, 3rd transmission mechanism, 4th transmission mechanism, 5th transmission mechanism and the 6th transmission mechanism carry out control by automaton respectively and move, described 5th transmission mechanism and one end of the 4th transmission mechanism be in transmission connection, 5th transmission mechanism is connected with the 6th transmission mechanism, described 5th transmission mechanism comprises five shaft housings, five shaft housings are provided with five shaft flange jockeys, five shaft pulley on five axle servomotors of the described five shaft housing other ends are connected by belt transmission, described five shaft flange jockeys are connected the 6th transmission mechanism on five shaft housings with five shaft pulley, 5th transmission mechanism can drive between the 6th transmission mechanism and five shaft housings and carry out ± 120 ° of pitch rotation.
As further program of the utility model: described five shaft flange jockeys comprise ring flange, flange bearing, bearing cap, flange blanking cover, described ring flange flange extremity fits is in the 6th transmission mechanism, axle head is matched with in the mating holes of five shaft housings, described flange bearing is connected to ring flange axle head afterbody outer end, described bearing cap pressing flange bearing fixedly fits in the mating groove of five shaft housings, and described flange blanking cover is matched with in ring flange through hole.
As further program of the utility model: described ring flange end face of flange is provided with breach, and described breach is connected to axle head.
Compared with prior art, the beneficial effects of the utility model are: by the setting of flange connecting apparatus in the 5th transmission mechanism, traditional loaded down with trivial details transmission process is enormously simplify in the machine driving of this transmission mechanism, abandon the shortcoming that six traditional axles generally adopt bevel gear engaged transmission, make the structure of manipulator more compact, the efficiency of transmission is higher, controls more accurate, and the situation that can effectively avoid joint motions to shake occurs.Can meet a series of industrial welding, industry spraying, the requirement of industrial carrying, such design can meet the demand of most of user, also can meet the requirement of product batch production, reduce production cost.
Accompanying drawing explanation
Fig. 1 is perspective view 1 of the present utility model.
Fig. 2 is perspective view 2 of the present utility model.
Fig. 3 is the 5th transmission mechanism front elevational schematic of the present utility model.
Fig. 4 is the 5th transmission mechanism schematic rear view of the present utility model.
Fig. 5 is the 5th transmission mechanism cross-sectional schematic of the present utility model.
Fig. 6 is the partial enlarged drawing of Fig. 5.
Fig. 7 is flange connecting apparatus exploded perspective view of the present utility model.
In Fig. 1 ~ Fig. 7: automaton 1, pedestal 2, five shaft housing 3, five axle servomotor 4, five shaft pulley 5, five shaft flange jockey 6, six shaft housing 7, ring flange 8, flange bearing 9, bearing cap 10, flange blanking cover 11, five shaft housing side cover 12, five shaft pulley lid 13, first transmission mechanism A, the second transmission mechanism B, the 3rd transmission mechanism C, the 4th transmission mechanism D, the 5th transmission mechanism E, the 6th transmission mechanism F.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1 ~ 7, in the utility model embodiment, a kind of six axis robot, comprise pedestal 2, described pedestal 2 is connected with successively the first transmission mechanism A, second transmission mechanism B, 3rd transmission mechanism C, 4th transmission mechanism D, 5th transmission mechanism E and the 6th transmission mechanism F, 6th transmission mechanism F is connected with operating side part, pedestal 2 is provided with automaton 1, described first transmission mechanism A, second transmission mechanism B, 3rd transmission mechanism C, 4th transmission mechanism D, 5th transmission mechanism E and the 6th transmission mechanism F carries out control action by automaton 1 respectively, described 5th transmission mechanism E and one end of the 4th transmission mechanism D be in transmission connection, 5th transmission mechanism E is connected with the 6th transmission mechanism F, described 5th transmission mechanism E comprises five shaft housings 3, five shaft housings 3 are provided with five shaft flange jockeys 6, five shaft pulley 5 that the described five shaft housing other ends are provided with on five axle servomotors 4 are connected by belt transmission, described 6th transmission mechanism F comprises six shaft housings 7, described five shaft flange jockeys 6 are connected six shaft housings 7 on five shaft housings 5 with five shaft pulley 5, 5th transmission mechanism E can drive between the 6th transmission mechanism F and five shaft housings 3 and carry out ± 120 ° of pitch rotation, by the setting of flange connecting apparatus in the 5th transmission mechanism E, traditional loaded down with trivial details transmission process is enormously simplify in the machine driving of this transmission mechanism, abandon the shortcoming that six traditional axles generally adopt bevel gear engaged transmission, make the structure of manipulator more compact, the efficiency of transmission is higher.
As further scheme: described five shaft flange jockeys 6 comprise ring flange 8, flange bearing 9, bearing cap 10, flange blanking cover 11, described ring flange 8 flange extremity fits is in six shaft housings 7, axle head is matched with in the mating holes of five shaft housings 3, described flange bearing 9 is connected to ring flange 8 axle head afterbody outer end, described bearing cap 10 pressing flange bearing 9 fixedly fits in the mating groove of five shaft housings 3, described flange blanking cover 11 is matched with in ring flange 8 through hole, by arranging the flange connecting apparatus of this structure, ring flange 8 is coordinated in six shaft housings 7, make the structure of manipulator more compact, the efficiency of transmission is higher, control more accurate, the situation that can effectively avoid joint motions to shake occurs.
As further scheme: described ring flange 8 end face of flange is provided with breach, and described breach is connected to axle head, described breach can coordinate with six shaft housings 7 stability ensureing transmission, avoids motion jitter.
Principle of the present utility model is: by the setting of flange connecting apparatus in the 5th transmission mechanism, traditional loaded down with trivial details transmission process is enormously simplify in the machine driving of this transmission mechanism, abandon the shortcoming that six traditional axles generally adopt bevel gear engaged transmission, make the structure of manipulator more compact, the efficiency of transmission is higher, control more accurate, the situation that can effectively avoid joint motions to shake occurs.Can meet a series of industrial welding, industry spraying, the requirement of industrial carrying, such design can meet the demand of most of user, also can meet the requirement of product batch production, reduce production cost.
To those skilled in the art, obvious the utility model is not limited to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present utility model or essential characteristic, can realize the utility model in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the utility model.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (3)
1. a six axis robot, comprise pedestal (2), described pedestal (2) is connected with successively the first transmission mechanism (A), second transmission mechanism (B), 3rd transmission mechanism (C), 4th transmission mechanism (D), 5th transmission mechanism (E) and the 6th transmission mechanism (F), 6th transmission mechanism (F) is connected with operating side part, pedestal (2) is provided with automaton (1), described first transmission mechanism (A), second transmission mechanism (B), 3rd transmission mechanism (C), 4th transmission mechanism (D), 5th transmission mechanism (E) and the 6th transmission mechanism (F) carry out control action by automaton (1) respectively, it is characterized in that: described 5th transmission mechanism (E) is in transmission connection with one end of the 4th transmission mechanism (D), 5th transmission mechanism (E) is connected with the 6th transmission mechanism (F), described 5th transmission mechanism (E) comprises five shaft housings (3), five shaft housings (3) are provided with five shaft flange jockeys (6), five shaft pulley (5) that the described five shaft housing other ends are provided with on five axle servomotors (4) are connected by belt transmission, described 6th transmission mechanism (F) comprises six shaft housings (7), described five shaft flange jockeys (6) are connected six shaft housings (7) on five shaft housings (5) with five shaft pulley (5), 5th transmission mechanism (E) can drive between the 6th transmission mechanism (F) and five shaft housings (3) and carry out ± 120 ° of pitch rotation.
2. a kind of six axis robot according to claim 1, it is characterized in that: described five shaft flange jockeys (6) comprise ring flange (8), flange bearing (9), bearing cap (10), flange blanking cover (11), described ring flange (8) flange extremity fits is in six shaft housings (7), axle head is matched with in the mating holes of five shaft housings (3), described flange bearing (9) is connected to ring flange (8) axle head afterbody outer end, described bearing cap (10) pressing flange bearing (9) fixedly fits in the mating groove of five shaft housings (3), described flange blanking cover (11) is matched with in ring flange (8) through hole.
3. a kind of six axis robot according to claim 1, is characterized in that: described ring flange (8) end face of flange is provided with breach, and described breach is connected to axle head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479053.1U CN204019536U (en) | 2014-08-20 | 2014-08-20 | A kind of six axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479053.1U CN204019536U (en) | 2014-08-20 | 2014-08-20 | A kind of six axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204019536U true CN204019536U (en) | 2014-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420479053.1U Active CN204019536U (en) | 2014-08-20 | 2014-08-20 | A kind of six axis robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204019536U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN105756354A (en) * | 2016-05-12 | 2016-07-13 | 郑州三迪建筑科技有限公司 | Wall building robot |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
| CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
-
2014
- 2014-08-20 CN CN201420479053.1U patent/CN204019536U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105328697B (en) * | 2015-11-12 | 2018-04-06 | 深圳职业技术学院 | A kind of Modularized 6 freedom degree manipulator and its control method |
| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN105756354A (en) * | 2016-05-12 | 2016-07-13 | 郑州三迪建筑科技有限公司 | Wall building robot |
| CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Free format text: FORMER OWNER: SUN JUNHUA SUN MINXIA Effective date: 20150228 Owner name: YUHUAN SUNSHI HEATING EQUIPMENT CO., LTD. Free format text: FORMER OWNER: SUN JIANJUN Effective date: 20150228 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150228 Address after: 317600 China aseptic medical equipment manufacturing (R & D) base, Yuhuan County, Zhejiang Province Patentee after: Yuhuan County sun heating equipment Co., Ltd. Address before: Wu Village in Zhejiang province 317600 Yuhuan County Truman town Patentee before: Sun Jianjun Patentee before: Sun Junhua Patentee before: Sun Minxia |
|
| CP03 | Change of name, title or address |
Address after: 318000 West of China Aseptic Medical Device Manufacturing (R&D) Base, Qinggang Town, Yuhuan City, Taizhou City, Zhejiang Province Patentee after: Yuhuan Sun HVAC Equipment Co., Ltd. Address before: 317600 Western China aseptic medical equipment manufacturing (R&D) base, Qinggang Town, Yuhuan County, Zhejiang Province Patentee before: Yuhuan County sun heating equipment Co., Ltd. |
|
| CP03 | Change of name, title or address |