CN204278012U - A kind of six axle joint industrial robots - Google Patents
A kind of six axle joint industrial robots Download PDFInfo
- Publication number
- CN204278012U CN204278012U CN201420718842.6U CN201420718842U CN204278012U CN 204278012 U CN204278012 U CN 204278012U CN 201420718842 U CN201420718842 U CN 201420718842U CN 204278012 U CN204278012 U CN 204278012U
- Authority
- CN
- China
- Prior art keywords
- cradle head
- rotating shaft
- joint
- reductor
- wrist
- 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
Links
Landscapes
- Bridges Or Land Bridges (AREA)
Abstract
The utility model relates to a kind of six axle joint industrial robots, belong to mechanical device field, comprise pedestal, pier, large arm, forearm, wrist and cradle head, a kind of six axle joint industrial robots described in the utility model, (1) this robot adopts Novel transmission technology, and the advantage of its responsiveness, positioning precision, stability clearly; (2) the body construction design innovated, make its volume miniaturized, parts connection and reasonable arrangement, the reliability of complete machine is greatly improved; (3) special structural design, makes its mounting means more diversified, can adapt to the strict demand of most occasion to installation site and installation dimension.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of six axle joint industrial robots, belongs to mechanical device field.
Background technology
Along with the popularization and application of industrial automation and the continuous rising of human cost, robot has been widely used in various industrial environment, while reduction entreprise cost, greatly improves the quality of product.Robot of a great variety, but six-joint robot is with its superior versatility and flexibility, occupies the very large market share.This spraying, welding profession embody the most obvious.
Along with support that is local and national policy, increasing domestic enterprise enters machine People's Bank of China industry.But so far, most six-joint robots also exists the defects such as responsiveness is slow, setting accuracy is poor, noise is large, poor stability, loading and unloading, carrying, piling etc. do not have too large requirement occasion to speed, precision can only be used for.
Utility model content
The utility model for the deficiency that prior art exists, provides a kind of six axle joint industrial robots just.
For solving the problem, technical solution adopted in the utility model is as follows:
A kind of six axle joint industrial robots, comprise pedestal, pier, large arm, forearm, wrist and cradle head, described cradle head comprises servomotor, reductor and rotating shaft; Described pedestal and pier junction form the first cradle head, and the rotating shaft in this joint is vertical direction; Described pier and large arm junction constitute the second cradle head, and the rotating shaft in this joint in horizontal direction; Described large arm and forearm junction constitute the 3rd cradle head, and the rotating shaft in this joint in horizontal direction; Described forearm and wrist junction form the 4th cradle head, and the rotating shaft in this joint in horizontal direction, and is 90 degree with the rotating shaft of the second cradle head and the 3rd cradle head; Described wrist front end is equiped with the 5th cradle head, and the rotating shaft in this joint is parallel with the rotating shaft of the 3rd cradle head with the second cradle head; The end of described wrist front end is equiped with the 6th cradle head, the rotating shaft in this joint and the rotating shaft coaxle of the 4th cradle head.
Further, the 5th cradle head of described wrist front end is pitching joint, drives synchronous pulley by motor, drives this reductor to rotate; 6th cradle head of wrist front end is rotary joint, drives synchronous pulley, then commutated by bevel gear by motor, and by power transmission to the input of this reductor, the output of this reductor directly connects load.
Further, described first cradle head drives synchronous pulley to the 5th cradle head by motor, drives this reductor to rotate.
Compared with prior art, implementation result of the present utility model is as follows for the utility model:
A kind of six axle joint industrial robots described in the utility model, (1) adopts Novel transmission technology, significantly hoisting machine human action speed and positioning precision thereof; (2) the body construction design innovated, make its volume miniaturized, parts connection and reasonable arrangement, the reliability of complete machine is greatly improved; (3) special structural design, makes its mounting means more diversified, can adapt to the strict demand of most occasion to installation site and installation dimension.
Accompanying drawing explanation
Fig. 1 is a kind of six axle joint industrial robot structure schematic diagrames described in the utility model;
Fig. 2 is a kind of six axle joint industrial robot front views described in the utility model;
Fig. 3 is a kind of six axle joint industrial robot the 6th cradle head structural representations described in the utility model;
Wherein, 1-pedestal, 2-pier, 3-large arm, 4-forearm, 5-wrist, 6-cradle head, 6-1-the first cradle head, 6-2-the second cradle head, 6-3-the 3rd cradle head, 6-4-the 4th cradle head, 6-5-the 5th cradle head, 6-6-the 6th cradle head, 6-61-synchronous pulley, 6-62-angular wheel, 6-63-reductor.
Detailed description of the invention
Below in conjunction with specific embodiments content of the present utility model is described.
As shown in Figure 1, be a kind of six axle joint industrial robot structure schematic diagrames, comprise pedestal 1, pier 2, large arm 3, forearm 4, wrist 5 and cradle head 6, described cradle head 6 comprises servomotor, reductor and rotating shaft; Described pedestal 1 forms the first cradle head 6-1 with pier 2 junction, and the rotating shaft in this joint is vertical direction; Described pier 2 constitutes the second cradle head 6-2 with large arm 3 junction, and the rotating shaft in this joint in horizontal direction; Described large arm 3 constitutes the 3rd cradle head 6-3 with forearm 4 junction, and the rotating shaft in this joint in horizontal direction; Described forearm 4 forms the 4th cradle head 6-4 with wrist 5 junction, and the rotating shaft in this joint in horizontal direction, and is 90 degree with the rotating shaft of the second cradle head 6-2 and the 3rd cradle head 6-3; Described wrist 5 front end is equiped with the 5th cradle head 6-5, and the rotating shaft in this joint is parallel with the rotating shaft of the 3rd cradle head 6-3 with the second cradle head 6-2; The end of described wrist 5 front end is equiped with the 6th cradle head 6-6, the rotating shaft in this joint and the rotating shaft coaxle of the 4th cradle head 6-4.
This robot is total six-freedom degree always, and pedestal 1 one end is connected with ground or installing plate, for stationary machines people; Its other end is connected with pier 2, and relatively rotates, and the power of this junction is provided by servomotor and reductor 6-63.The structure at other five cradle head places and power transmission and the first cradle head 6-1's is similar, thus, and this robot six-freedom degree.First three cradle head determines the position of robot in space, and rear three cradle heads determine the attitude of robot in space.This six articulated robot possesses good flexibility and versatility, and in structural design, make it possess very high positioning precision, can meet common loading and unloading, carrying, also can meet the occasions such as assembling, welding.
Further, the 5th cradle head 6-5 of described wrist 5 front end is pitching joint, drives synchronous pulley 6-61, drive this reductor 6-63 to rotate by motor; 6th cradle head 6-6 of wrist 5 front end is rotary joint, drives synchronous pulley 6-61, then commutated by bevel gear 6-62 by motor, and by power transmission to the input of this reductor 6-63, the output of this reductor 6-63 directly connects load.
Further, described first cradle head 6-1 to the 5th cradle head 6-5 drives synchronous pulley 6-61 by motor, drives this reductor 6-63 to rotate.
As shown in Figure 2 and Figure 3, this six-joint robot comprises the J1 axle pedestal 1 be fixed on ground or installing plate, this pedestal 1 upper end is connected with pier 2, form the first cradle head 6-1, its rotating shaft is vertical direction, and the upper end of pedestal 1 is fixed with servomotor and reductor, the output of reductor is connected with the bottom of pier 2, thus realizing the power transmission of the first cradle head 6-1, the preferred hollow type reductor of reductor at this place, so that the layout of motor and tracheae wiring.
Pier 2 and large arm 3 constitute the second cradle head 6-2, the rotating shaft in this joint in horizontal direction, simultaneously, pier 2 is fixed with servomotor and reductor, the output of reductor is connected with large arm 3, and when electric machine rotation, reductor drives the relative pier 2 of large arm 3 to produce reciprocally swinging.
Large arm 3 and forearm 4 constitute the 3rd cradle head 6-3, the structure in this joint and the kind of drive identical with the second cradle head 6-2.
Forearm 4 and wrist 5 form the 4th cradle head 6-4, the rotating shaft in this joint in horizontal direction, and be 90 degree with the rotating shaft of the second cradle head 6-2, the 3rd cradle head 6-3, the motor at this place is fixed on forearm 4, and reductor adopts hollow structure, and motor and reductor are biased to be placed, under the driving of motor, wrist 5 is freely rotated relative to forearm 4, and this place adopts hollow structure, is the cabling being convenient to the 5th cradle head 6-5, the 6th cradle head 6-6 tracheae and electric wire.
5th cradle head 6-5 of wrist 5 front end is pitching joint, and its rotating shaft is parallel with the rotating shaft of the second cradle head 6-2, the 3rd cradle head 6-3.Drive synchronous pulley 6-61 by motor, drive reductor 12 to rotate, finally realize the rotation (pitching) of wrist front end relative to wrist fixture.
6th cradle head 6-6 of wrist 6 front end is rotary joint, the rotating shaft coaxle of its rotating shaft and the 4th cradle head 6-4, synchronous pulley 6-61 is driven by motor, commutated by bevel gear 6-62 again, by power transmission to the input of the 6th reductor 6-63, the output flange of this reductor 6-63 directly connects load.
The foregoing is only the preferred embodiments of the present invention, and unrestricted scope of patent protection of the present invention.Every equivalent structure and conversion thereof utilizing content of the present invention, includes within scope of patent protection of the present invention.
Claims (3)
1. six axle joint industrial robots, comprise pedestal, pier, large arm, forearm, wrist and cradle head, it is characterized in that, described cradle head comprises servomotor, reductor and rotating shaft; Described pedestal and pier junction form the first cradle head, and the rotating shaft in this joint is vertical direction; Described pier and large arm junction constitute the second cradle head, and the rotating shaft in this joint in horizontal direction; Described large arm and forearm junction constitute the 3rd cradle head, and the rotating shaft in this joint in horizontal direction; Described forearm and wrist junction form the 4th cradle head, and the rotating shaft in this joint in horizontal direction, and is 90 degree with the rotating shaft of the second cradle head and the 3rd cradle head; Described wrist front end is equiped with the 5th cradle head, and the rotating shaft in this joint is parallel with the rotating shaft of the 3rd cradle head with the second cradle head; The end of described wrist front end is equiped with the 6th cradle head, the rotating shaft in this joint and the rotating shaft coaxle of the 4th cradle head.
2. a kind of six axle joint industrial robots according to claim 1, it is characterized in that, the 5th cradle head of described wrist front end is pitching joint, drives synchronous pulley by motor, drives this reductor to rotate; 6th cradle head of wrist front end is rotary joint, drives synchronous pulley, then commutated by bevel gear by motor, and by power transmission to the input of this reductor, the output of this reductor directly connects load.
3. a kind of six axle joint industrial robots according to claim 1 or 2, it is characterized in that, described first cradle head drives synchronous pulley to the 5th cradle head by motor, drives this reductor to rotate.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201420718842.6U CN204278012U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle joint industrial robots |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201420718842.6U CN204278012U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle joint industrial robots |
Publications (1)
Publication Number | Publication Date |
---|---|
CN204278012U true CN204278012U (en) | 2015-04-22 |
Family
ID=52861207
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201420718842.6U Expired - Fee Related CN204278012U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle joint industrial robots |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN204278012U (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105489109A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Universal practical training platform for modularized six-axis robot |
CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
CN106393170A (en) * | 2016-12-21 | 2017-02-15 | 扬州科文机器人有限公司 | Robot two-degree-of-freedom joint structure |
CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
CN106670883A (en) * | 2017-02-16 | 2017-05-17 | 遨博(常州)自动化技术有限公司 | Six-shaft robot |
CN107414817A (en) * | 2017-07-04 | 2017-12-01 | 长春工业大学 | A kind of pieced six degree of freedom joint type industrial robot and control system |
CN108436938A (en) * | 2018-04-26 | 2018-08-24 | 深圳供电局有限公司 | High tension switchgear inspection robot end effector |
CN109048869A (en) * | 2018-09-25 | 2018-12-21 | 深圳市汇川技术股份有限公司 | Wrist body drive mechanism and six-joint robot |
CN109159910A (en) * | 2018-09-29 | 2019-01-08 | 铱格斯曼航空科技集团有限公司 | A kind of cleaning vehicle for aircraft cleaning |
CN109968343A (en) * | 2019-04-16 | 2019-07-05 | 广东省智能制造研究所 | A kind of wheel hub die casting carrying six-shaft industrial robot |
CN111703895A (en) * | 2020-06-17 | 2020-09-25 | 湖南省骏北科技有限公司 | Intelligent mechanical arm |
CN112207808A (en) * | 2020-10-14 | 2021-01-12 | 苗疆(武汉)机器人科技有限公司 | Six-axis robot for feeding and discharging |
CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
-
2014
- 2014-11-26 CN CN201420718842.6U patent/CN204278012U/en not_active Expired - Fee Related
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105489109A (en) * | 2016-02-15 | 2016-04-13 | 苏州哈工海渡工业机器人有限公司 | Universal practical training platform for modularized six-axis robot |
CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
CN106625764A (en) * | 2016-10-09 | 2017-05-10 | 河海大学常州校区 | Mechanical arm |
CN106393170A (en) * | 2016-12-21 | 2017-02-15 | 扬州科文机器人有限公司 | Robot two-degree-of-freedom joint structure |
CN106670883A (en) * | 2017-02-16 | 2017-05-17 | 遨博(常州)自动化技术有限公司 | Six-shaft robot |
CN107414817B (en) * | 2017-07-04 | 2023-04-25 | 国网吉林省电力有限公司白山供电公司 | Spliced-inserted type six-degree-of-freedom joint type industrial robot |
CN107414817A (en) * | 2017-07-04 | 2017-12-01 | 长春工业大学 | A kind of pieced six degree of freedom joint type industrial robot and control system |
CN108436938A (en) * | 2018-04-26 | 2018-08-24 | 深圳供电局有限公司 | High tension switchgear inspection robot end effector |
CN109048869A (en) * | 2018-09-25 | 2018-12-21 | 深圳市汇川技术股份有限公司 | Wrist body drive mechanism and six-joint robot |
CN109048869B (en) * | 2018-09-25 | 2024-05-31 | 深圳市汇川技术股份有限公司 | Wrist body transmission structure and six-axis robot |
CN109159910A (en) * | 2018-09-29 | 2019-01-08 | 铱格斯曼航空科技集团有限公司 | A kind of cleaning vehicle for aircraft cleaning |
CN109968343A (en) * | 2019-04-16 | 2019-07-05 | 广东省智能制造研究所 | A kind of wheel hub die casting carrying six-shaft industrial robot |
CN111703895A (en) * | 2020-06-17 | 2020-09-25 | 湖南省骏北科技有限公司 | Intelligent mechanical arm |
CN112207808A (en) * | 2020-10-14 | 2021-01-12 | 苗疆(武汉)机器人科技有限公司 | Six-axis robot for feeding and discharging |
CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN204278012U (en) | A kind of six axle joint industrial robots | |
CN203592483U (en) | Four-joint robot palletizer | |
CN103433918B (en) | A kind of five degree of freedom series-parallel connection industrial robot | |
CN105619395A (en) | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) | |
CN204772529U (en) | Novel robotic arm | |
CN203293191U (en) | Six-shaft-joint coordinate industrial robot | |
CN203792330U (en) | Self-adaption mechanical arm | |
CN202357139U (en) | Assembly workbench capable of driving work-piece to overturn and rotate | |
CN203592484U (en) | Four-joint ladling or pouring robot | |
CN205199788U (en) | A flexible automatic spraying device for carpenter's trade | |
CN103921269A (en) | Self-adaption mechanical arm | |
CN205148313U (en) | The robot structure | |
CN103419192A (en) | Four-degree-of-freedom hybrid robot | |
CN203427028U (en) | Four-degree-of-freedom hybrid robot | |
CN208867176U (en) | Simple structure six-joint robot | |
CN204499661U (en) | Sole automatic glue-spraying equipment | |
CN208246811U (en) | A kind of five articulated robots | |
CN207076118U (en) | A kind of modular toy robot | |
CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
CN204746699U (en) | Wooden furniture surface coating system | |
CN205521351U (en) | Mobilizable robotic arm | |
CN208557483U (en) | A kind of robot base with mechanical arm | |
CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector | |
CN202825853U (en) | Mechanical wrist device | |
CN203495972U (en) | Wrist body head transmission mechanism of manipulator |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20201126 |
|
CF01 | Termination of patent right due to non-payment of annual fee |