CN204658445U - A kind of Industrial robots Mechanical mechanism of six degree of freedom - Google Patents
A kind of Industrial robots Mechanical mechanism of six degree of freedom Download PDFInfo
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- CN204658445U CN204658445U CN201520389706.1U CN201520389706U CN204658445U CN 204658445 U CN204658445 U CN 204658445U CN 201520389706 U CN201520389706 U CN 201520389706U CN 204658445 U CN204658445 U CN 204658445U
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Abstract
The Industrial robots Mechanical mechanism of a kind of six degree of freedom of the utility model, comprise base, waist rotary disk, large arm, forearm terminal pad, forearm, wrist part, the parts of described base and waist rotary disk junction mainly comprise base, waist bearing block, roller bearing, bearing outer ring pressing plate, waist terminal pad, one spindle motor gear, waist rotary disk, one spindle motor gripper shoe, one spindle motor, large arm locating piece, centre bearing lid, deep groove ball bearing, one axle reductor, described base intracavity center lower end fixes an axle reductor input, output end of reducer connects waist bearing block successively, waist terminal pad, waist rotary disk, described waist rotary disk left end connects a spindle motor by a spindle motor gripper shoe, one spindle motor is engaged with an axle reductor input by a spindle motor gear, reductor drives waist rotary disk to turn round at horizontal plane.Its beneficial effect is: structure is simple, and it is convenient to control, and meets Automated condtrol demand.
Description
Technical field
The utility model relates to robot field, specifically, relates to a kind of Industrial robots Mechanical mechanism of six degree of freedom.
Background technology
Industrial robot integrates the important automated arm of the modern manufacturing industry of the multidisciplinary advanced technologies such as machinery, electronics, control, computer, sensor, artificial intelligence, is characterized in the job task that can have been carried out various expection by programming.
Summary of the invention:
The technical problems to be solved in the utility model is to provide a kind of Industrial robots Mechanical mechanism of follow-on six degree of freedom.
The utility model adopts following technological means to realize goal of the invention:
A kind of Industrial robots Mechanical mechanism of six degree of freedom, comprise base, waist rotary disk, large arm, forearm terminal pad, forearm, wrist part and the connector composition be fixed in these parts thereof, the parts of described base and waist rotary disk junction mainly comprise base, waist bearing block, roller bearing, bearing outer ring pressing plate, waist terminal pad, one spindle motor gear, waist rotary disk, one spindle motor gripper shoe, one spindle motor, large arm locating piece, centre bearing lid, deep groove ball bearing, one axle reductor, described base intracavity center lower end fixes an axle reductor input, output end of reducer connects waist bearing block successively, waist terminal pad, waist rotary disk, described waist rotary disk left end connects a spindle motor by a spindle motor gripper shoe, such spindle motor is engaged with an axle reductor input by a spindle motor gear, reductor drives waist rotary disk to turn round at horizontal plane.
Further, described waist bearing block inner ring and an axle output end of reducer interference fit, outer ring and roller bearing inner ring interference fit, described roller bearing outer ring and base interference fit, like this, waist bearing block can be driven to rotate when an axle output end of reducer rotates, and base can not be followed and rotates together, and serve the effect of fixing waist bearing block, described waist bearing block connects waist rotary disk by waist terminal pad, like this, the power of one axle output end of reducer just passes to waist rotary disk, and realize " separation " with base motions, described bearing outer ring pressing plate function is axial restraint roller bearing.
Further, described deep groove ball bearing outer ring is fixed on the center of waist rotary disk, is fixed by centre bearing lid, described centre bearing lid center hollow, for passing cable, both combine and ensure that the cable that waist rotary disk 7 passes in the process of motion can not be wound around.
Further, described large arm locating piece is fixed on waist rotary disk upper side, work as the motion of mechanical position limitation large arm, the structure of described waist rotary disk and large arm junction, mainly comprise waist rotary disk, large arm, two spindle motors, two axle reductors, the left end of described waist rotary disk upper side is fixed with two spindle motors, and its right-hand member fixes the input of two axle reductors, the output of described two axle reductors connects the lower end of large arm, three is concentric, and power is directly passed to two axle reductors by such two spindle motors, and two axle reductors drive large arm motion.
Further, the structure of described large arm and forearm terminal pad junction parts mainly comprises large arm, three spindle motors, three spindle motor connectors, three axle reductor power shafts, three axle reductors, forearm terminal pad, described three axle reductor right-hand member inputs connect the upper surface of large arm, the left side, described forearm terminal pad lower surface is fixed on the left end output of three axle reductors, described three spindle motor output shafts are engaged with three axle reductors by three axle reductor power shafts, described three spindle motors are fixed in three axle output end of reducer by three spindle motor connectors, three axle reductors are given by power transmission like this by three spindle motors, three axle reductors drive forearm terminal pad with the axis rotation of large arm upper surface.
Further, the structure of described forearm terminal pad and forearm junction parts mainly comprises forearm terminal pad, four spindle motors, four spindle motor connectors, four axle reductor power shafts, four axle reductors, forearm flange, forearm, on the left of described four axle reductors, input is fixed on the left of forearm terminal pad upper surface, output end of reducer is by forearm Flange joint forearm, power transmission is given four axle reductors by four axle reductor power shafts by described four spindle motors, described four spindle motors are then fixed on the left of forearm terminal pad upper end by four spindle motor connectors, power transmission is given four axle reductors by such four spindle motors, moment of torsion is passed to forearm by forearm flange by four axle reductors, cause the rotation of forearm.
Further, the structure of described wrist part mainly comprises: five axle reductors, synchronous pulley one connecting axle, synchronous pulley one end cap, synchronous pulley one, Timing Belt, protecgulum, synchronous pulley two, synchronous pulley two end cap, synchronous pulley two connecting axle, bearing (ball) cover one, deep groove ball bearing one, five spindle motor terminal pads, five spindle motors, bonnet, five shaft housings, six spindle motors, bearing (ball) cover two, six shaft housing back shafts, deep groove ball bearing two, six shaft housings, six spindle motor terminal pads, six axle reductors, on the right side of described five shaft housing inner chambers, five spindle motors are fixed by five spindle motor terminal pads in upper end, on the right side of described five shaft housing inner chambers, five axle reductors are fixed in lower end, described five axle output end of reducer are by synchronous pulley one connecting axle, synchronous pulley one, Timing Belt by power transmission to synchronous pulley two, described synchronous pulley two is connected by synchronous pulley two connecting axle with six shaft housings, and change into the rotation of six shaft housings around synchronous pulley two connecting axle and six shaft housing back shaft place straight lines by the torque axis that six shaft housing back shafts make synchronous pulley two pass over, six spindle motors are connected by six spindle motor terminal pads on the right side of described six shaft housing inner chambers, outside connects six axle reductors, six spindle motors and six axle reductors are directly connected power transmission to six axle reductors, six axle output end of reducer connect paw or workpiece rotates.
Further, described deep groove ball bearing two, deep groove ball bearing one outer ring are connected to two ends up and down on front side of five shaft housing inner chambers by interference fit, inner ring then connects one end of six shaft housing back shafts and synchronous pulley two connecting axle respectively by interference fit, the other end of described six shaft housing back shafts and synchronous pulley two connecting axle is then connected to the six upper and lower both sides of shaft housing inner chamber, the rotation of synchronous pulley two connecting axle changes into the rotation of six shaft housings, and described bearing (ball) cover two and bearing (ball) cover one are respectively used to axial restraint deep groove ball bearing two and deep groove ball bearing one.
Further, described synchronous pulley one end cap, synchronous pulley two end cap are respectively used to axial restraint synchronous pulley one, synchronous pulley two, and described protecgulum and bonnet are then separately fixed at lower end and the upper end of five shaft housings, play a part protection, dust-proof attractive in appearance.
The utility model has six servomotors and corresponds to six-freedom degree, the rotation of the waist rotary disk that an axle output end of reducer drives respectively, the large arm pitching that two axle output end of reducer drive, the pitching of the forearm terminal pad that three axle output end of reducer drive, the rotation of the forearm that four axle output end of reducer drive and five axle casings, six shaft housings that five axle output end of reducer drive rotate, the rotation of the paw that six axle output end of reducer drive or part.Five axle reductors adopt Timing Belt transmission, and other axle reductor all adopts and directly to engage with corresponding motor or motor output end adds the mode of a transition apparatus engagement.
As can be seen here, compared with prior art, advantage of the present utility model and good effect are: by coordinating the kinematic computing of control section, six-axis linkage can be realized, circular arc, the motion of curve and straight line, moment of torsion is provided with each spindle motor between each revolving part, be connected by the reductor of correspondence, whole project organization is compact, attractive in appearance, one integrated mass, the utility model structure is relatively simple, and it is convenient to control, and meets Automated condtrol demand.
Accompanying drawing explanation
Fig. 1 is stereogram of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is right view of the present utility model;
Fig. 4 is the sectional view of A-A base waist rotation member in the utility model front view;
Fig. 5 is the parts sectional view of junction, B-B large arm lower end in the utility model front view;
Fig. 6 is the parts sectional view of C-C large arm upper end in the utility model front view;
Fig. 7 is the sectional view of D-D forearm junction parts in the utility model right view;
Fig. 8 is the sectional view of E-E wrist part in the utility model front view;
Fig. 9 is waist rotary disk structure figure of the present utility model;
Figure 10 is forearm terminal pad structure chart of the present utility model;
Figure 11 is five shaft housing structure charts of the present utility model;
Figure 12 is six shaft housing structure charts of the present utility model.
In figure 1, base, 2, waist bearing block, 3, roller bearing, 4, bearing outer ring pressing plate, 5, waist terminal pad, 6, one spindle motor gear, 7, waist rotary disk, 8, one spindle motor gripper shoe, 9, one spindle motor, 10, large arm locating piece, 11, centre bearing lid, 12, deep groove ball bearing, 13, one axle reductor, 14, two spindle motors, 15, two axle reductors, 16, large arm, 17, three spindle motors, 18, three spindle motor connectors, 19, three axle reductor power shafts, 20, three axle reductors, 21, forearm terminal pad, 22, four spindle motors, 23, four spindle motor connectors, 24, four axle reductor power shafts, 25 4 axle reductors, 26, forearm flange, 27, forearm, 28, five axle reductors, 29, synchronous pulley one connecting axle, 30, synchronous pulley one end cap, 31, synchronous pulley one, 32, Timing Belt, 33, protecgulum, 34, synchronous pulley two, 35, synchronous pulley two end cap, 36, synchronous pulley two connecting axle, 37, bearing (ball) cover one, 38, deep groove ball bearing one, 39, five spindle motor terminal pads, 40, five spindle motors, 41, bonnet, 42, five shaft housings, 43, six spindle motors, 44, bearing (ball) cover two, 45, six shaft housing back shafts, 46, deep groove ball bearing two, 47, six shaft housings, 48, six spindle motor terminal pads, 49, six axle reductors.
Detailed description of the invention:
Below in conjunction with embodiment, further illustrate the utility model.
See Fig. 1-Figure 12, the Industrial robots Mechanical mechanism of a kind of six degree of freedom of the utility model, comprise base 1, waist rotary disk 7, large arm 16, forearm terminal pad 21, forearm 27, wrist part and the connector composition be fixed in these parts thereof, the sectional view (Fig. 4) of the part reference A-A of described base 1 and waist rotary disk 7 junction, mainly comprise base 1, waist bearing block 2, roller bearing 3, bearing outer ring pressing plate 4, waist terminal pad 5, one spindle motor gear 6, waist rotary disk 7, one spindle motor gripper shoe 8, one spindle motor 9, large arm locating piece 10, centre bearing lid 11, deep groove ball bearing 12, one axle reductor 13, axle reductor 13 input is fixed in described base 1 lumen centers lower end, output end of reducer connects waist bearing block 2 successively, waist terminal pad 5, waist rotary disk 7, described waist rotary disk 7 left end connects a spindle motor 9 by a spindle motor gripper shoe 8, such spindle motor 9 is engaged with axle reductor 13 input by a spindle motor gear 6, reductor drives waist rotary disk 7 to turn round at horizontal plane.
Further, described waist bearing block 2 inner ring and an axle reductor 13 output interference fit, outer ring and roller bearing 3 inner ring interference fit, described roller bearing 3 outer ring and base 1 interference fit, like this, waist bearing block 2 can be driven to rotate when axle reductor 13 output rotates, and base 1 can not be followed and rotates together, and serve the effect of fixing waist bearing block 2, described waist bearing block 2 connects waist rotary disk 7 by waist terminal pad 5, like this, the power of one axle reductor 13 output just passes to waist rotary disk 7, and realize " separation " with base motions, described bearing outer ring pressing plate 4 act as axial restraint roller bearing 3.
Further, described deep groove ball bearing 12 outer ring is fixed on the center of waist rotary disk 7, is fixed, described centre bearing lid 11 center hollow by centre bearing lid 11, for passing cable, both combine and ensure that the cable that waist rotary disk 7 passes in the process of motion can not be wound around.
Further, described 10 large arm locating pieces are fixed on waist rotary disk 7 upper side, work as the motion of mechanical position limitation large arm 16,
Further, the sectional view (Fig. 5) of the structural reference B-B of described waist rotary disk 7 and large arm 16 junction, mainly comprise waist rotary disk 7, large arm 16, two spindle motors 14, two axle reductors 15, the left end of described waist rotary disk 7 upper side is fixed with two spindle motors 14, its right-hand member fixes the input of two axle reductors 15, the output of described two axle reductors 15 connects the lower end of large arm 16, three is concentric, and power is directly passed to two axle reductor 15, two axle reductors 15 and drives large arm 16 to move by such two spindle motors 14.
Further, the structure of described large arm 16 and forearm terminal pad 21 junction parts is with reference to sectional view C-C(Fig. 6), mainly comprise large arm 16, three spindle motors 17, three spindle motor connectors 18, three axle reductor power shafts 19, three axle reductors 20, forearm terminal pad 21, described three axle reductor 20 right-hand member inputs connect the upper surface of large arm 16, the left side, described forearm terminal pad 21 lower surface is fixed on the left end output of three axle reductors 20, described three spindle motor 17 output shafts are engaged with three axle reductors 20 by three axle reductor power shafts 19, described three spindle motors 17 are fixed on three axle reductor 20 outputs by three spindle motor connectors 18, three axle reductors 20 are given by power transmission like this by three spindle motors 17, three axle reductors 20 drive forearm terminal pad 21 with the axis rotation of large arm 16 upper surface.
Further, the structure of described forearm terminal pad 21 and forearm 27 junction parts is with reference to sectional view D-D(Fig. 7), mainly comprise forearm terminal pad 21, four spindle motors 22, four spindle motor connectors 23, four axle reductor power shafts 24, four axle reductors 25, forearm flange 26, forearm 27, on the left of described four axle reductors 25, input is fixed on the left of forearm terminal pad 21 upper surface, output end of reducer connects forearm 27 by forearm flange 26, power transmission is given four axle reductors 25 by four axle reductor power shafts 24 by described four spindle motors 22, described four spindle motor 22 is fixed on the left of forearm terminal pad 21 upper end by four spindle motor connectors 23, power transmission is given four axle reductors 25 by such four spindle motors 22, moment of torsion is passed to forearm 27 by forearm flange 26 by four axle reductors, cause the rotation of forearm 27.
Further, the structure of described wrist part is with reference to sectional view E-E(Fig. 8), mainly comprise: five axle reductors 28, synchronous pulley one connecting axle 29, synchronous pulley one end cap 30, synchronous pulley 1, Timing Belt 32, protecgulum 33, synchronous pulley 2 34, synchronous pulley two end cap 35, synchronous pulley two connecting axle 36, bearing (ball) cover 1, deep groove ball bearing 1, five spindle motor terminal pads 39, five spindle motors 40, bonnet 41, five shaft housings 42, six spindle motors 43, bearing (ball) cover 2 44, six shaft housing back shafts 45, deep groove ball bearing 2 46, six shaft housings 47, six spindle motor terminal pads 48, six axle reductors 49, on the right side of described five shaft housing 42 inner chambers, five spindle motors 40 are fixed by five spindle motor terminal pads 39 in upper end, on the right side of described five shaft housing 42 inner chambers, five axle reductors 28 are fixed in lower end, described five axle reductor 28 outputs are by synchronous pulley one connecting axle 29, synchronous pulley 1, Timing Belt 32 by power transmission to synchronous pulley 2 34, described synchronous pulley 2 34 is connected by synchronous pulley two connecting axle 36 with six shaft housings 47, and by the torque axis that six shaft housing back shafts 45 make synchronous pulley 2 34 pass over change into six shaft housings 47 around synchronous pulley two connecting axle 36 and six shaft housing back shaft 45 place straight lines rotation, six spindle motors 43 are connected by 48 6 spindle motor terminal pads 48 on the right side of described six shaft housing 47 inner chambers, outside connects six axle reductors 49, six spindle motors 43 and six axle reductors 49 are directly connected power transmission to six axle reductors 49, six axle reductor 49 outputs connect paw or workpiece rotates.
Further, described deep groove ball bearing 2 46, deep groove ball bearing 1 outer ring is connected to the two ends up and down on front side of five shaft housing 42 inner chambers by interference fit, inner ring then connects one end of six shaft housing back shafts 45 and synchronous pulley two connecting axle 36 respectively by interference fit, the other end of described six shaft housing back shafts 45 and synchronous pulley two connecting axle 36 is then connected to the six upper and lower both sides of shaft housing 47 inner chamber, the rotation of synchronous pulley two connecting axle 36 changes into the rotation of six shaft housings 47, described bearing (ball) cover 2 44 and bearing (ball) cover 1 are respectively used to axial restraint deep groove ball bearing 2 46 and deep groove ball bearing 1.
Further; described synchronous pulley one end cap 30, synchronous pulley two end cap 35 are respectively used to axial restraint synchronous pulley 1, synchronous pulley 2 34; described protecgulum 33 and bonnet 41 are separately fixed at lower end and the upper end of sectional view shown in five shaft housings 42, play a part protection, dust-proof attractive in appearance.
The Industrial robots Mechanical mechanism of a kind of six degree of freedom of the utility model, have six servomotors and correspond to six-freedom degree, the rotation of the waist rotary disk 7 that axle reductor 13 output drives respectively, large arm 16 pitching that two axle reductor 15 outputs drive, the pitching of the forearm terminal pad 21 that three axle reductor 20 outputs drive, the rotation of the forearm 27 that four axle reductor 25 outputs drive and five axle casings 42, six shaft housings 47 that five axle reductor 28 outputs drive rotate, the rotation of the paw that six axle reductor 49 outputs drive or part.Five axle reductors 28 adopt Timing Belt transmission, other axle reductor all adopts and directly to engage with corresponding motor or motor output end adds the mode of a transition apparatus engagement, be specially: a spindle motor 9 is engaged with reductor by a spindle motor gear 6, two spindle motors 14 directly engage with reductor, three spindle motors 20 are connected with reductor by three axle reductor power shafts 19, four spindle motors 22 are connected with reductor by four axle reductor power shafts 24, and six spindle motors 43 are directly connected with reductor.
Claims (5)
1. the Industrial robots Mechanical mechanism of a six degree of freedom, it is characterized in that, comprise base, waist rotary disk, large arm, forearm terminal pad, forearm, wrist part, the parts of described base and waist rotary disk junction mainly comprise base, waist bearing block, roller bearing, bearing outer ring pressing plate, waist terminal pad, one spindle motor gear, waist rotary disk, one spindle motor gripper shoe, one spindle motor, large arm locating piece, centre bearing lid, deep groove ball bearing, one axle reductor, described base intracavity center lower end fixes an axle reductor input, output end of reducer connects waist bearing block successively, waist terminal pad, waist rotary disk, described waist rotary disk left end connects a spindle motor by a spindle motor gripper shoe, one spindle motor is engaged with an axle reductor input by a spindle motor gear, reductor drives waist rotary disk to turn round at horizontal plane.
2. the Industrial robots Mechanical mechanism of a kind of six degree of freedom according to claim 1, it is characterized in that: the structure of described waist rotary disk and large arm junction mainly comprises waist rotary disk, large arm, two spindle motors, two axle reductors, the left end of waist rotary disk upper side is fixed with two spindle motors, its right-hand member fixes the input of two axle reductors, the output of two axle reductors connects the lower end of large arm, three is concentric, power is directly passed to two axle reductors by two spindle motors, and two axle reductors drive large arm motion.
3. the Industrial robots Mechanical mechanism of a kind of six degree of freedom according to claim 1, it is characterized in that: the structure of described large arm and forearm terminal pad junction parts mainly comprises large arm, three spindle motors, three spindle motor connectors, three axle reductor power shafts, three axle reductors, forearm terminal pad, three axle reductor right-hand member inputs connect the upper surface of large arm, the left side, forearm terminal pad lower surface is fixed on the left end output of three axle reductors, three spindle motor output shafts are engaged with three axle reductors by three axle reductor power shafts, three spindle motors are fixed in three axle output end of reducer by three spindle motor connectors, three axle reductors are given by power transmission by three spindle motors, three axle reductors drive forearm terminal pad with the axis rotation of large arm upper surface.
4. the Industrial robots Mechanical mechanism of a kind of six degree of freedom according to claim 1, it is characterized in that: the structure of described forearm terminal pad and forearm junction parts mainly comprises forearm terminal pad, four spindle motors, four spindle motor connectors, four axle reductor power shafts, four axle reductors, forearm flange, forearm, on the left of four axle reductors, input is fixed on the left of forearm terminal pad upper surface, output end of reducer is by forearm Flange joint forearm, power transmission is given four axle reductors by four axle reductor power shafts by four spindle motors, four spindle motors are then fixed on the left of forearm terminal pad upper end by four spindle motor connectors, power transmission is given four axle reductors by four spindle motors, moment of torsion is passed to forearm by forearm flange by four axle reductors, cause the rotation of forearm.
5. the Industrial robots Mechanical mechanism of a kind of six degree of freedom according to claim 1, it is characterized in that: the structure of described wrist part mainly comprises: five axle reductors, synchronous pulley one connecting axle, synchronous pulley one end cap, synchronous pulley one, Timing Belt, protecgulum, synchronous pulley two, synchronous pulley two end cap, synchronous pulley two connecting axle, bearing (ball) cover one, deep groove ball bearing one, five spindle motor terminal pads, five spindle motors, bonnet, five shaft housings, six spindle motors, bearing (ball) cover two, six shaft housing back shafts, deep groove ball bearing two, six shaft housings, six spindle motor terminal pads, six axle reductors, on the right side of five shaft housing inner chambers, five spindle motors are fixed by five spindle motor terminal pads in upper end, on the right side of five shaft housing inner chambers, five axle reductors are fixed in lower end, five axle output end of reducer are by synchronous pulley one connecting axle, synchronous pulley one, Timing Belt by power transmission to synchronous pulley two, synchronous pulley two is connected by synchronous pulley two connecting axle with six shaft housings, and change into the rotation of six shaft housings around synchronous pulley two connecting axle and six shaft housing back shaft place straight lines by the torque axis that six shaft housing back shafts make synchronous pulley two pass over, six spindle motors are connected by six spindle motor terminal pads on the right side of six shaft housing inner chambers, outside connects six axle reductors, six spindle motors and six axle reductors are directly connected power transmission to six axle reductors, six axle output end of reducer connect paw or workpiece rotates.
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| CN107398892A (en) * | 2017-09-01 | 2017-11-28 | 江苏昆仑光源材料有限公司 | One kind is used for the joint space degree of freedom robot of 5 axle of rocking material retractable milling train 4 |
| CN107398892B (en) * | 2017-09-01 | 2023-08-08 | 江苏昆仑光源材料有限公司 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
| CN107791281A (en) * | 2017-11-06 | 2018-03-13 | 南昌大学 | A kind of thermosensitive moxibustion auxiliary mechanical arm |
| CN107791281B (en) * | 2017-11-06 | 2024-06-04 | 南昌大学 | Thermosensitive moxibustion auxiliary mechanical arm |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN109794714A (en) * | 2019-03-27 | 2019-05-24 | 广西大学 | A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom |
| CN110587194A (en) * | 2019-10-16 | 2019-12-20 | 重庆工业职业技术学院 | Bionic welding manipulator for electronic product |
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