CN205219112U - Six -axis robot - Google Patents
Six -axis robot Download PDFInfo
- Publication number
- CN205219112U CN205219112U CN201520727184.1U CN201520727184U CN205219112U CN 205219112 U CN205219112 U CN 205219112U CN 201520727184 U CN201520727184 U CN 201520727184U CN 205219112 U CN205219112 U CN 205219112U
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- China
- Prior art keywords
- reductor
- servomotor
- upper arm
- pedestal
- base
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Abstract
The utility model discloses a six -axis robot, it includes take -up reel 25, base 1, big arm base 2, speed reducer 24, servo motor 11, servo motor 3, speed reducer 23, big arm 4, the upper arm base 5, speed reducer 22, synchronous belt drive 17, servo motor 9, servo motor 10, speed reducer 16, extension arm 8, upper arm 6, servo motor 15, the synchronous belt drive device 21, speed reducer 20, servo motor 14, belt drive 13, speed reducer 12 servo motor 14, wrist 18, hand 7, take -up reel 25. Upper arm base 5 has a rectangle recess, and servo motor 9 partly inlays in the recess of connecting to advance upper arm base 5, the 1 inside cavity that is of base, inside is equipped with the take -up reel 25 of curl clockwork spring and steel pipe constitution, and the robot connecting wire is fixed in the clockwork spring surface, and the clockwork spring both ends are connected respectively in base 1, steel pipe, and the steel pipe passes 24 inside cavitys of speed reducer are connected in big arm base 2. Invention action is fast, the precision is high, good heat dissipation, prevent that dust, connecting wire are difficult for losing.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of six-joint robot.
Background technology
Along with industry 4.0 worldwide starts tide, Chinese industrial also strides forward to robot automation direction, and robot is widely used in the industry, especially six-joint robot, and, highly versatile high by means of the free degree occupies very large share.But work in the environment of plant, a lot of six-joint robot all exist that slow motion, operation precision and positioning precision are poor, poor radiation, easily enter dust, the problem such as joint connecting line is lost.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide that a kind of thermal diffusivity is good, dust protection, anti-electric wire are lost, flexible movements, registration six-joint robot.
The scheme that the present invention adopts is: described robot comprises:
The base (1) on ground can be fixed on, the large arm pedestal (2) that base (1) is provided with reductor one (24), can rotate around vertical direction, large arm pedestal (2) is provided with and erects the servomotor one (11) of placement, the servomotor two (3) of horizontal positioned and reductor two (23) simultaneously; The large arm (4) that can rotate around horizontal direction with large arm pedestal (2) pivot joint; The upper arm pedestal (5) that can rotate around horizontal direction with large arm (4) pivot joint, upper arm pedestal (5) is provided with the extension arm (8) that can rotate around horizontal direction, upper arm pedestal (5) is fixed with servomotor four (10), the reductor four (22) of the servomotor three (9) of horizontal positioned, reductor three (16), toothed belt transmission one (17) and horizontal positioned simultaneously; Be located at the co-axially fixed upper arm in extension arm (8) front end (6), upper arm (6) inside is provided with the servomotor five (14) of horizontal positioned, the servomotor six (15) of horizontal positioned, toothed belt transmission two (13), reductor five (12) and reductor six (20), two motors are oppositely placed on the contrary, and servomotor five (14) and servomotor six (15) are connected to upper arm; Be located at the wrist (18) that upper arm top can rotate around horizontal direction; Being located at wrist (18) top can around the hand of axial-rotation (7).
Described large arm pedestal (2) is equipped with reductor one (24), described base (1) is connected to the clutch end of described reductor one (24), described servomotor one (11) is connected to the power intake of described reductor one (24), simultaneously, described large arm pedestal (2) is equipped with reductor two (23), described large arm (4) is connected to the clutch end of described reductor two (23), and described servomotor two (3) is connected to the power intake of described reductor two (23).
Described upper arm pedestal (5) is equipped with reductor four (22), described large arm (4) is connected to the clutch end of described reductor four (22), described servomotor four (10) is connected to the power intake of described reductor four (22), simultaneously, described upper arm pedestal (5) is equipped with reductor three (16), described extension arm (8) is connected to the clutch end of described reductor three (16), described servomotor three (9) is connected to the power intake of described reductor three (16) by toothed belt transmission one (17), described reductor three (16), reductor four (22) is RV reductor.
Described upper arm (6) inner chamber is closed inner chamber, reductor six (20) is equipped with in inside, the clutch end of described reductor six (20) is connected to described wrist (18), described servomotor six (15) is connected to the power intake of described reductor six (20) by synchronous belt transmission device (21), simultaneously, reductor five (12) is equipped with in described upper arm (6) inside, described servomotor five (14) is connected to the power intake of described reductor five (12) by toothed belt transmission two (13), the clutch end of described reductor five (12) is in transmission connection in described hand (7) by bevel gear pair (19), described reductor five (12), reductor six (20) is RV reductor.
Described upper arm pedestal (5) has a rectangular recess, and described servomotor three (9) is partly inlayed and connected in the groove of described upper arm pedestal (5).
Described base (1) inside is cavity, cavity inside is provided with the winding roll (25) of curling clockwork spring, robot connecting line, steel pipe formation, described robot connecting line is fixed on described clockwork spring surface, described clockwork spring two ends are connected to described base (1), described steel pipe, and described steel pipe is connected to described large arm pedestal (2) through described reductor one (24) internal cavities.
Described hand (7) can external various difform cleft hand, to complete different actions.
Described extension arm (8) end is equipped with flange respectively, passes through Flange joint respectively with described upper arm (6), upper arm pedestal (5).
By adopting such scheme, compared with prior art, its technique effect is a kind of six-joint robot of the present invention:
1, action is fast, precision is high
The present invention adopts AC servomotor, RV reductor, by reasonably configuring the model of each reductor, and the application of bevel gear and Timing Belt, the transmission accuracy of the robot greatly improved and positioning precision.
2, thermal diffusivity good, prevent dust
The reasonable disposition of the present invention model of each servomotor, and press the power of each servomotor and the reasonable Arrangement layout of each servomotor of dispelling the heat, high-power motor is placed at engine body exterior, and devise a kind of half inserted servomotor layout, prevent from entering the heat radiation that dust reasonably facilitates again servomotor, and two nearest for distance hand small-power servomotors, synchronous belt transmission device and bevel gearing are placed in front arm housing, the dust preventing the work of hand front end from producing enters servomotor, synchronous belt transmission device and bevel gearing.
3, connecting line is not easily lost
The present invention devises a kind of novel wire laying mode, clockwork spring is placed with to be fixedly connected with line at base 1 inner chamber, clockwork spring two ends are fixed with base 1 and large arm pedestal 2 respectively, ensure that connecting line has very large bending radius of curvature, when preventing large arm pedestal 2 and base 1 relative large rotation angle, due to connecting line, to bend radius of curvature little and cause connecting line significantly to shorten service life, considerably increases the service life of connecting line.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of six-joint robot of the present invention;
Fig. 2 is each gimbal suspension internal structure schematic diagram of a kind of six-joint robot of the present invention;
Fig. 3 is a kind of six-joint robot top view of the present invention;
Fig. 4 is a kind of six-joint robot upward view of the present invention;
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with instantiation also with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
As shown in Figures 1 to 4:
Can be fixed on the base 1 on ground, base 1 is provided with the large arm pedestal 2 that can rotate around vertical direction, large arm pedestal 2 is provided with the servomotor 3 erectting the servomotor 11 and horizontal positioned of placing simultaneously; The large arm 4 that can rotate around horizontal direction with large arm pedestal 2 pivot joint; The upper arm pedestal 5 that can rotate around horizontal direction with large arm 4 pivot joint, upper arm pedestal 5 is provided with the extension arm 8 that can rotate around horizontal direction, upper arm pedestal 5 is fixed with the servomotor 9 of horizontal positioned and the servomotor 10 of horizontal positioned simultaneously; Be located at the co-axially fixed upper arm 6 in extension arm 8 front end, servomotor 15, two motor of servomotor 14 and horizontal positioned that upper arm 6 inside is provided with horizontal positioned is oppositely placed on the contrary, and servomotor 14 and servomotor 15 are connected to upper arm.Be located at the wrist 18 that upper arm top can rotate around horizontal direction; Being located at wrist 18 top can around the hand 7 of axial-rotation;
Described large arm pedestal 2 is equipped with reductor 24, and described base 1 is connected to the clutch end of described reductor 24, and described servomotor 11 is connected to the power intake of described reductor 24.Meanwhile, described large arm pedestal 2 is equipped with reductor 23, described large arm 4 is connected to the clutch end of described reductor 23, and described servomotor 3 is connected to the power intake of described reductor 23.
Described upper arm pedestal 5 is equipped with reductor 22, and described large arm 4 is connected to the clutch end of described reductor 22, and described servomotor 10 is connected to the power intake of described reductor 22.Simultaneously, described upper arm pedestal 5 is equipped with reductor 16, described extension arm 8 is connected to the clutch end of described reductor 16, and described servomotor 9 is connected to the power intake of described reductor 16 by toothed belt transmission 17, and described reductor 16, reductor 22 are RV reductor.
Described upper arm 6 inner chamber is closed inner chamber, and reductor 20 is equipped with in inside, and the clutch end of described reductor 20 is connected to described wrist 18, and described servomotor 15 is connected to the power intake of described reductor 20 by toothed belt transmission 21.Simultaneously, reductor 12 is equipped with in described upper arm 6 inside, described servomotor 14 is connected to the power intake of described reductor 12 by toothed belt transmission 13, the clutch end of described reductor 12 is in transmission connection in described hand 7 by bevel gear pair 19, and described reductor 12, reductor 20 are RV reductor.
Described upper arm pedestal 5 has a rectangular recess, and described servomotor 9 half is inlayed and connected in the groove of described upper arm pedestal 5.
Described base 1 inside is cavity, cavity inside is provided with the winding roll 25 of curling clockwork spring, robot connecting line, steel pipe formation, described robot connecting line is fixed on described clockwork spring surface, described clockwork spring two ends are connected to described base 1, described steel pipe, and described steel pipe is connected to described large arm pedestal 2 through described reductor 24 internal cavities.
Described hand 7 can external various difform cleft hand, to complete different actions.
Described extension arm 8 end is equipped with flange respectively, passes through Flange joint respectively with described upper arm 6, upper arm pedestal 5.
Described six-joint robot also comprises control system, and described control system is used for by the control of servomotor to described six-joint robot movement locus, completes the action of programming or teaching.
Described on end, the present invention and have the features such as flexibility, the dust protection thermal diffusivity of height is good, supplements the defect of current six-joint robot related fields, for a shortcut has been laid in the rapid development of Robot industry in the future.Described on end, the present invention has expanded the range of application of robot.
The foregoing is only preferred embodiment of the present invention, not in order to limit the scope of the invention, within the spirit and principles in the present invention all, any amendment done, equivalent to replace, be all included within protection scope of the present invention.
Claims (8)
1. a six-joint robot, is characterized in that: described robot comprises:
The base (1) on ground can be fixed on, the large arm pedestal (2) that base (1) is provided with reductor one (24), can rotate around vertical direction, large arm pedestal (2) is provided with and erects the servomotor one (11) of placement, the servomotor two (3) of horizontal positioned and reductor two (23) simultaneously; The large arm (4) that can rotate around horizontal direction with large arm pedestal (2) pivot joint; The upper arm pedestal (5) that can rotate around horizontal direction with large arm (4) pivot joint, upper arm pedestal (5) is provided with the extension arm (8) that can rotate around horizontal direction, upper arm pedestal (5) is fixed with servomotor four (10), the reductor four (22) of the servomotor three (9) of horizontal positioned, reductor three (16), toothed belt transmission one (17) and horizontal positioned simultaneously; Be located at the co-axially fixed upper arm in extension arm (8) front end (6), upper arm (6) inside is provided with the servomotor five (14) of horizontal positioned, the servomotor six (15) of horizontal positioned, toothed belt transmission two (13), reductor five (12) and reductor six (20), two motors are oppositely placed on the contrary, and servomotor five (14) and servomotor six (15) are connected to upper arm; Be located at the wrist (18) that upper arm top can rotate around horizontal direction; Being located at wrist (18) top can around the hand of axial-rotation (7).
2. a kind of six-joint robot according to claim 1, it is characterized in that: described large arm pedestal (2) is equipped with reductor one (24), described base (1) is connected to the clutch end of described reductor one (24), described servomotor one (11) is connected to the power intake of described reductor one (24), simultaneously, described large arm pedestal (2) is equipped with reductor two (23), described large arm (4) is connected to the clutch end of described reductor two (23), described servomotor two (3) is connected to the power intake of described reductor two (23).
3. a kind of six-joint robot according to claim 1, it is characterized in that: described upper arm pedestal (5) is equipped with reductor four (22), described large arm (4) is connected to the clutch end of described reductor four (22), described servomotor four (10) is connected to the power intake of described reductor four (22), simultaneously, described upper arm pedestal (5) is equipped with reductor three (16), described extension arm (8) is connected to the clutch end of described reductor three (16), described servomotor three (9) is connected to the power intake of described reductor three (16) by toothed belt transmission one (17), described reductor three (16), reductor four (22) is RV reductor.
4. a kind of six-joint robot according to claim 1, it is characterized in that: described upper arm (6) inner chamber is closed inner chamber, reductor six (20) is equipped with in inside, the clutch end of described reductor six (20) is connected to described wrist (18), described servomotor six (15) is connected to the power intake of described reductor six (20) by synchronous belt transmission device (21), simultaneously, reductor five (12) is equipped with in described upper arm (6) inside, described servomotor five (14) is connected to the power intake of described reductor five (12) by toothed belt transmission two (13), the clutch end of described reductor five (12) is in transmission connection in described hand (7) by bevel gear pair (19), described reductor five (12), reductor six (20) is RV reductor.
5. a kind of six-joint robot according to claim 1, is characterized in that: described upper arm pedestal (5) has a rectangular recess, and described servomotor three (9) is partly inlayed and connected in the groove of described upper arm pedestal (5).
6. a kind of six-joint robot according to claim 1, it is characterized in that: described base (1) inside is cavity, cavity inside is provided with the winding roll (25) of curling clockwork spring, robot connecting line, steel pipe formation, described robot connecting line is fixed on described clockwork spring surface, described clockwork spring two ends are connected to described base (1), described steel pipe, and described steel pipe is connected to described large arm pedestal (2) through described reductor one (24) internal cavities.
7. a kind of six-joint robot according to claim 1, is characterized in that: described hand (7) can external various difform cleft hand, to complete different actions.
8. a kind of six-joint robot according to claim 1, is characterized in that: described extension arm (8) end is equipped with flange respectively, passes through Flange joint respectively with described upper arm (6), upper arm pedestal (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727184.1U CN205219112U (en) | 2015-09-18 | 2015-09-18 | Six -axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727184.1U CN205219112U (en) | 2015-09-18 | 2015-09-18 | Six -axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205219112U true CN205219112U (en) | 2016-05-11 |
Family
ID=55894204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520727184.1U Expired - Fee Related CN205219112U (en) | 2015-09-18 | 2015-09-18 | Six -axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205219112U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272372A (en) * | 2016-08-31 | 2017-01-04 | 广州长仁工业科技有限公司 | A kind of six-joint robot of lengthening |
| CN111890337A (en) * | 2020-07-17 | 2020-11-06 | 南京埃斯顿机器人工程有限公司 | Large-inertia load robot based on modular design |
| CN112077874A (en) * | 2020-09-04 | 2020-12-15 | 珠海格力智能装备有限公司 | Mechanical arm and robot |
-
2015
- 2015-09-18 CN CN201520727184.1U patent/CN205219112U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272372A (en) * | 2016-08-31 | 2017-01-04 | 广州长仁工业科技有限公司 | A kind of six-joint robot of lengthening |
| CN111890337A (en) * | 2020-07-17 | 2020-11-06 | 南京埃斯顿机器人工程有限公司 | Large-inertia load robot based on modular design |
| CN112077874A (en) * | 2020-09-04 | 2020-12-15 | 珠海格力智能装备有限公司 | Mechanical arm and robot |
| CN112077874B (en) * | 2020-09-04 | 2022-03-01 | 珠海格力智能装备有限公司 | Mechanical arm and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20190918 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |