CN205129835U - Six coordinated type robots - Google Patents

Abstract

The utility model relates to the technical field of automation equipment, and discloses a six-axis linkage robot, comprising a fixed seat and a rotating seat movably connected with the fixed seat, the rotating seat is connected with a lifting arm, and the lifting arm is provided with a The rotating machine base is connected with the operating arm, and also includes a first RV reducer for driving the rotation of the rotating base, a second RV reducer for driving the lifting action of the lifting arm, and a second RV reducer for driving the machine base The third RV reducer for the swing angle and the fourth RV reducer installed on the machine base to drive the rotation of the operating arm, the robot finally realizes the six-axis stroke adjustment by six RV reducers, so as to meet the auxiliary needs of different processing environments, Due to the use of RV reducer and high-performance servo motor, it has the advantages of high precision, low vibration, low noise and low energy consumption. Advantages of being large and easy to maintain.

Description

A six-axis linkage robot

technical field

The utility model relates to the technical field of automation equipment, in particular to a six-axis linkage robot.

Background technique

With the increase of labor cost in our country, our country's manufacturing industry is constantly innovating and upgrading. For example, at this stage, our country is vigorously promoting the machine replacement plan. The quality of the product, that is, the need to manufacture high-efficiency, highly intelligent equipment to replace traditional manual operations; of course, at this stage, a large number of intelligent mechanical equipment have also been produced at home and abroad, but such equipment is far from practical use. From the perspective of the situation, it is an auxiliary operation on the premise of manual operation. Moreover, the existing intelligent mechanical equipment can only move through simple mechanisms and cannot complete more complicated operations. Once complex, large-scale operations need to be completed The operation steps of the itinerary require the interaction and cooperation of multiple intelligent mechanical devices to complete. Now, for intelligent mechanical devices, the price is expensive, and it is difficult for ordinary enterprises to purchase multiple intelligent mechanical devices at the same time, which seriously restricts intelligent mechanical devices. The use of; moreover, the maintenance between such multiple intelligent mechanical devices is relatively difficult. In view of this, the inventor finally invented a six-axis linkage robot after many tests to address the shortcomings in the current field of intelligent mechanical equipment.

Contents of the invention

The purpose of the utility model is to provide a six-axis linkage robot for the deficiencies of the prior art. The robot has the advantages of high integration, large working stroke and easy maintenance.

In order to achieve the above object, a six-axis linkage robot of the present invention includes a fixed base and a rotating base movably connected with the fixed base, the rotating base is connected with a lifting arm, and the lifting arm is provided with a rotatable The base, the base is connected with the operating arm, and also includes a first RV reducer for driving the rotating base to rotate, a second RV reducer for driving the lifting arm to lift, and a second RV reducer for driving the swing angle of the base The third RV reducer and the fourth RV reducer are arranged on the machine base and drive the operating arm to rotate.

Further, the first RV speed reducer includes a first servo motor, a first internal gear, and a planet carrier arranged in the first internal gear, and the first servo motor is connected with a first transmission passing through the planet carrier shaft, the end of the first transmission shaft is provided with a driving gear, the planet carrier is provided with three second transmission shafts, and the two ends of the second transmission shaft are respectively provided with a first planetary gear and a second planetary gear, so The first planetary gear is meshed with the driving gear, and the second planetary wheel is meshed with the first internal gear.

Further, the first RV speed reducer includes a first servo motor, a first internal gear, and a planet carrier arranged in the first internal gear, and the first servo motor is connected with a first transmission passing through the planet carrier shaft, the end of the first transmission shaft is provided with a driving gear, the planet carrier is provided with three second transmission shafts, one end of the second transmission shaft is provided with a first planetary gear, and also includes a second drive gear and The second drive gear is a third drive gear stacked in a shifted position, and the second drive gear and the third drive gear are connected to the other end of the second transmission shaft and meshed with the first internal gear.

Further, the structure of the second RV reducer and the third RV reducer is the same as that of the first RV reducer.

Further, the fourth RV reducer is a second servo motor, and the output shaft of the second servo motor drives the operating arm to rotate.

Further, the extending end of the operating arm is hinged with a sixth RV reducer, and the operating arm is also provided with a fifth RV reducer for driving the sixth RV reducer to rotate at a certain angle.

Preferably, the fifth RV reducer includes a third servo motor, a first synchronous wheel, a synchronous belt and a second synchronous wheel, the third servo motor drives the first synchronous wheel to rotate, and the first synchronous wheel passes The synchronous belt is in transmission connection with the second synchronous wheel, and the second synchronous wheel is coaxially and fixedly connected with the hinge shaft of the sixth RV reducer.

Beneficial effects of the utility model: Compared with the prior art, a six-axis linkage robot of the utility model realizes rotation at a certain angle through the rotating seat, and at the same time, under the action of the lifting arm, the machine base and the operating arm , this robot can realize six-axis stroke adjustment, so as to meet the auxiliary needs of different processing environments. Due to the use of RV reducer and high-performance servo motor, it has the advantages of small vibration, low noise and low energy consumption. This multi-axis integrated control robot has the advantages of high integration, large working stroke and easy maintenance.

Description of drawings

Fig. 1 is a perspective view of the utility model.

Fig. 2 is the front view of the utility model.

Fig. 3 is a sectional view taken along line A-A of Fig. 2 .

Fig. 4 is an assembly structure diagram of the first RV reducer, the second RV reducer and the rotating seat of the present invention.

Fig. 5 is a sectional view taken along line B-B of Fig. 4 .

Fig. 6 is a sectional view taken along line C-C of Fig. 4 .

Fig. 7 is another preferred structure of the cross-sectional view taken along line C-C in Fig. 4 .

Reference signs include:

Fixed seat--11, swivel seat--12, lifting arm--13,

Machine base--14, operating arm--15, first RV reducer--2,

The first servo motor--21, the first internal gear--22, the planet carrier--23,

The first transmission shaft--24, the second transmission shaft--25, the first planetary wheel--26,

The second planetary gear--27, the second driving gear--28, the third driving gear--29,

The second RV reducer--3, the third RV reducer--4, the fourth RV reducer--5,

The sixth RV reducer--6, the fifth RV reducer--7, the third servo motor--71,

The first synchronous wheel--72, the second synchronous wheel-73.

detailed description

Below in conjunction with accompanying drawing, the utility model is described in detail.

Referring to Fig. 1 to Fig. 7, a six-axis linkage robot of the present invention includes a fixed base 11 and a rotating base 12 movably connected with the fixing base 11, the rotating base 12 is connected with a lifting arm 13, and the lifting arm 13 is The lifting arm 13 is provided with a rotatable machine base 14, the machine base 14 is connected with an operating arm 15, and also includes a first RV reducer 2 for driving the rotating base 12 to drive the lifting arm 13 to lift The second RV reducer 3, the third RV reducer 4 that drives the swing angle of the base 14, and the fourth RV reducer 5 that is arranged on the base 14 and drives the operating arm 15 to rotate. The working principle of this robot is: the first RV reducer 2 drives the rotating seat 12 to achieve a certain angle of rotation, generally speaking, the angle rotation is between 0 and 35 degrees, and the second RV reducer 3 drives the lifting arm 13 To realize the lifting action, for example, the material transfer between the upper station and the lower station requires the lifting arm 13 to realize the high and low position picking and feeding, and the third RV reducer 4 further adjusts the corresponding angle of the machine base 14 , so that the operating arm 15 is adapted to the vertical angle adjustment of different heights. When performing operations such as material assembly, the fourth RV reducer 5 can be used to rotate the material, such as: automatic screwing, automatic soup feeding into the mold, etc.; The robot can realize six-axis stroke adjustment, so as to meet the auxiliary needs of different processing environments. This multi-axis integrated control robot has the advantages of high integration, large working stroke and easy maintenance.

In this technical solution, see FIG. 6 for details, the first RV reducer 2 includes a first servo motor 21, a first internal gear 22 and a planetary carrier 23 arranged in the first internal gear 22, and the first servo The motor 21 is connected with a first transmission shaft 24 passing through the planetary carrier 23, the end of the first transmission shaft 24 is provided with a driving gear, and the planetary carrier 23 is provided with three second transmission shafts 25, the second Both ends of the transmission shaft 25 are respectively provided with a first planetary gear 26 and a second planetary gear 27 , the first planetary gear 26 meshes with the driving gear, and the second planetary gear 27 meshes with the first inner gear 22 . Driven by the first servo motor 21, the first transmission shaft 24 drives three second transmission shafts 25 by the driving gear, and the three second transmission shafts 25 make the first internal gear 22 Rotation is realized, thereby achieving angular displacement of the operating arm 15 of the entire robot.

As another preferred mode of the first RV reducer 2 , see FIG. 7 for details, the first RV reducer 2 includes a first servo motor 21 , a first internal gear 22 and a planet carrier arranged in the first internal gear 22 23. The first servo motor 21 is connected with a first transmission shaft 24 passing through the planet carrier 23, the end of the first transmission shaft 24 is provided with a driving gear, and the planet carrier 23 is provided with three second transmission shafts shaft 25, one end of the second transmission shaft 25 is provided with a first planetary gear 26, and also includes a second drive gear 28 and a third drive gear 29 stacked with the second drive gear 28, the second drive gear 28 and the third driving gear 29 are both connected to the other end of the second transmission shaft 25 and meshed with the first internal gear 22 . The first transmission shaft 24 is driven by the first servo motor 21, and the first servo motor 21 is preferably a high-performance servo, driven by driving gears to drive three second transmission shafts 25, and the three second transmission shafts 25 are transmitted to The superimposed second drive gear 28 and the third drive gear 29 enable the first internal gear 22 to rotate, thereby achieving angular displacement of the operating arm 15 of the entire robot; the advantage of this method is that two superimposed misplaced gears are used, It can eliminate the gear backlash, increase the precision of reciprocating rotation, and control it more accurately.

In this technical solution, the second RV reducer 3, the third RV reducer 4, the fourth RV reducer 5, the fifth RV reducer 7, and the sixth RV reducer 6 are all connected with the first RV reducer 2 have the same structure. The principles of the corresponding mechanisms are the same, and will not be repeated here.

In addition, since the RV reducer is composed of the front stage of a planetary gear reducer and the rear stage of a cycloidal pinwheel reducer, the RV reducer has the advantages of compact structure, large torque, large transmission ratio, and self-locking under certain conditions. It is one of the most commonly used reducers and has low vibration, low noise and low energy consumption.

It is developed on the basis of the traditional pendulum planetary transmission, which not only overcomes the shortcomings of general pendulum transmission, but also has the advantages of small size, light weight, large range of transmission ratio, long life, stable precision, high efficiency, and transmission A series of advantages such as stability. It has increasingly received widespread attention at home and abroad. The RV reducer is composed of a cycloidal pin wheel and a planetary bracket. It is widely used in industrial robots due to its small size, strong impact resistance, large torque, high positioning accuracy, small vibration, and large reduction ratio.

In order to realize rotary feeding for certain materials, the fourth RV reducer 5 is a second servo motor, and the output shaft of the second servo motor drives the operating arm 15 to rotate.

In this technical solution, the extended end of the operating arm 15 is hinged with the sixth RV reducer 6, and the operating arm 15 is also provided with a fifth RV reducer for driving the sixth RV reducer 6 to rotate a certain angle. device7. The fifth RV reducer 7 includes a third servo motor 71, a first synchronous wheel 72, a synchronous belt and a second synchronous wheel 73, the third servo motor 71 drives the first synchronous wheel 72 to rotate, and the first synchronous The wheel 72 is transmission-connected to the second synchronous wheel 73 through a synchronous belt, and the second synchronous wheel 73 is coaxially and fixedly connected to the hinge shaft of the sixth RV reducer 6 . When working, the sixth RV reducer 6 can be further equipped with a corresponding spoon through the flange, and the sixth RV reducer 6 is driven by a small-sized high-performance servo motor and a small-sized RV reducer, and can also be Install the electric batch, etc., when the sixth RV reducer 6 is in the corresponding processing position, the third servo motor 71 drives the first synchronous wheel 72, and under the action of the synchronous belt, the second synchronous wheel 73 drives the sixth RV reducer 6 Adjust the corresponding angle, the adjustment angle is generally between 0 and 90 degrees, that is, the upward elevation angle is 45 degrees and the downward elevation angle is 45 degrees, so that a large range of working strokes can be realized.

The above content is only a preferred embodiment of the present utility model. For those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation and scope of application. The content of this specification should not be understood as Limitations on the Invention.

Claims (6)

1. A six-axis linkage robot, comprising a fixed seat (11) and a rotating seat (12) movably connected to the fixed seat (11), characterized in that: the rotating seat (12) is connected with a lifting arm (13 ), the lifting arm (13) is provided with a rotatable base (14), and the base (14) is connected with an operating arm (15); It also includes a first RV reducer (2) for driving the rotating base (12), a second RV reducer (3) for driving the lifting arm (13), and a second RV reducer (3) for driving the base (14) ) swing angle of the third RV reducer (4) and the fourth RV reducer (6) arranged on the base (14) and driving the operating arm (15) to rotate, The extended end of the operating arm (15) is hinged with a sixth RV reducer (6), and the operating arm (15) is also provided with a fifth gear for driving the sixth RV reducer (6) to rotate at a certain angle. RV reducer (7). 2. A six-axis linkage robot according to claim 1, characterized in that: the first RV reducer (2) includes a first servo motor (21), a first internal gear (22) and a The planet carrier (23) in the first internal gear (22), the first servo motor (21) is connected with the first transmission shaft (24) passing through the planet carrier (23), the first transmission shaft The end of (24) is provided with a driving gear, the planet carrier (23) is provided with three second transmission shafts (25), and the two ends of the second transmission shaft (25) are respectively provided with first planetary gears (26) and the second planetary gear (27), the first planetary gear (26) meshes with the driving gear, and the second planetary wheel (27) meshes with the first internal gear (22). 3. A six-axis linkage robot according to claim 1, characterized in that: the first RV reducer (2) includes a first servo motor (21), a first internal gear (22) and a The planet carrier (23) in the first internal gear (22), the first servo motor (21) is connected with the first transmission shaft (24) passing through the planet carrier (23), the first transmission shaft The end of (24) is provided with a driving gear, the planet carrier (23) is provided with three second transmission shafts (25), and one end of the second transmission shaft (25) is provided with a first planetary gear (26), so The first RV speed reducer (2) further includes a second drive gear (28) and a third drive gear (29) that is offset and stacked with the second drive gear (28), and the second drive gear (28) and the third drive gear (28) The driving gears (29) are all connected to the other end of the second transmission shaft (25) and meshed with the first internal gear (22). 4. A six-axis linkage robot according to claim 1, characterized in that: the second RV reducer (3) and the third RV reducer (4) are connected with the first RV reducer (2) have the same structure. 5. A six-axis linkage robot according to claim 1, characterized in that: the fourth RV reducer (5) is a second servo motor, and the output shaft of the second servo motor drives the operating arm ( 15) Spin. 6. A six-axis linkage robot according to claim 1, characterized in that: the fifth RV reducer (7) includes a third servo motor (71), a first synchronous wheel (72), a synchronous belt and the second synchronous wheel (73), the third servo motor (71) drives the first synchronous wheel (72) to rotate, and the first synchronous wheel (72) is connected to the second synchronous wheel (73) through a synchronous belt , the second synchronous wheel (73) is coaxially fixedly connected with the hinge shaft of the sixth RV reducer (6).