CN205219122U - Six -axis robot - Google Patents
Six -axis robot Download PDFInfo
- Publication number
- CN205219122U CN205219122U CN201520984388.3U CN201520984388U CN205219122U CN 205219122 U CN205219122 U CN 205219122U CN 201520984388 U CN201520984388 U CN 201520984388U CN 205219122 U CN205219122 U CN 205219122U
- Authority
- CN
- China
- Prior art keywords
- joint
- reductor
- servomotor
- transmission arm
- utility
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a six -axis robot, include the six -axis robot who forms by first joint, second joint, third joint, fourth joint, the 5th joint and the equipment of the 6th joint, first joint comprises base, first transmission arm, first speed reducer and a servo motor. The utility model discloses the six -axis robot structure adopts high accuracy, high inflexible RV speed reducer, effectual movement accuracy and the rigidity that has improved the robot, and the 5th joint is miniature servo with the 6th joint adoption low -power, light -weighted reduction gear, the great weight that has lightened the head to bearing capacity has been improved, the utility model discloses the speed reducer and the motor of six -axis robot structure are the mode that directly links, and consequently the design is very simple, convenient.
Description
Technical field
The utility model relates to a kind of industrial robot, is specifically related to a kind of six-joint robot.
Background technology
Six-joint robot belongs to the robot of six-freedom degree, has very large flexibility and universal, is therefore widely used in the fields such as plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry.Significantly decrease the working strength of workman, improve production efficiency.But there is rigidity deficiency in current six-joint robot structure, the defects such as repeatable accuracy is poor.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of simple and have the six-joint robot of high accuracy, high rigid structure.
The utility model is achieved through the following technical solutions: a kind of six-joint robot, comprise the six-joint robot assembled by the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint, described first joint is made up of base, the first transmission arm, the first reductor and the first servomotor;
Described second joint is made up of the first transmission arm, the second transmission arm, the second reductor and the second servomotor; Described 3rd joint is made up of the second transmission arm, the 3rd transmission arm, the 3rd reductor and the 3rd servomotor; Described 4th joint is made up of the 3rd transmission arm, the 4th transmission arm, the 4th reductor and the 4th servomotor; Described 5th joint is made up of the 4th transmission arm, the 5th transmission arm, the 5th reductor and the 5th servomotor; Described 6th joint is made up of the 5th transmission arm, the 6th reductor and the 6th servomotor;
The input of the first servomotor, the first transmission arm and the first reductor is connected, and the output of base and the first reductor is connected; The input of described second servomotor, the first transmission arm and the second reductor is connected, and the output of the second transmission arm and the second reductor is connected; The input of the 3rd servomotor, the 3rd transmission arm and the 3rd reductor is connected, and the output of the second transmission arm and the 3rd reductor is connected; The input of the 4th servomotor, the 3rd transmission arm and the 4th reductor is connected, and the output of the 4th transmission arm and the 4th reductor is connected;
The input of described 5th servomotor, the 5th transmission arm and the 5th reductor is connected, and the 4th transmission arm and the 5th output end of reducer are connected;
The input of described 6th servomotor, the 5th transmission arm and the 6th reductor is connected, and the output of described 6th reductor connects various flange.
As preferred technical scheme, described first reductor, the second reductor, the 3rd reductor, the 4th reductor, the 5th reductor, the 6th reductor are RV reductor.
As preferred technical scheme, described first servomotor, the second servomotor and the 3rd servomotor are strap brake absolute encoding type servomotor.
As preferred technical scheme, described 4th servomotor, the 5th servomotor and the 6th servomotor are absolute encoding type servomotor.
The beneficial effects of the utility model are: the utility model six-joint robot structure adopts the RV reductor of high accuracy, high rigidity, effectively raise kinematic accuracy and the rigidity of robot, 5th joint and the 6th joint adopt the miniature servo of low-power, light-weighted decelerator, alleviate the weight of head greatly, thus improve weight capacity; Reductor and the motor of the utility model six-joint robot structure are direct-connected mode, therefore design very simple, convenient.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is Fig. 1 is structural representation of the present utility model;
Fig. 2 is the I-I cross-sectional schematic of Fig. 1;
Fig. 3 is the H-H cross-sectional schematic of Fig. 1;
Fig. 4 is the K-K cross-sectional schematic of Fig. 1.
Detailed description of the invention
All features disclosed in this description, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Arbitrary feature disclosed in this description (comprising any accessory claim, summary and accompanying drawing), unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.
As Figure 1-Figure 4, a kind of six-joint robot of the present utility model, comprise the six-joint robot assembled by the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint, described first joint is made up of base, the first transmission arm, the first reductor and the first servomotor;
Described second joint is made up of the first transmission arm, the second transmission arm, the second reductor and the second servomotor; Described 3rd joint is made up of the second transmission arm, the 3rd transmission arm, the 3rd reductor and the 3rd servomotor; Described 4th joint is made up of the 3rd transmission arm, the 4th transmission arm, the 4th reductor and the 4th servomotor; Described 5th joint is made up of the 4th transmission arm, the 5th transmission arm, the 5th reductor and the 5th servomotor; Described 6th joint is made up of the 5th transmission arm, the 6th reductor and the 6th servomotor;
The input of the first servomotor, the first transmission arm and the first reductor is connected, and the output of base and the first reductor is connected; The input of described second servomotor, the first transmission arm and the second reductor is connected, and the output of the second transmission arm and the second reductor is connected; The input of the 3rd servomotor, the 3rd transmission arm and the 3rd reductor is connected, and the output of the second transmission arm and the 3rd reductor is connected; The input of the 4th servomotor, the 3rd transmission arm and the 4th reductor is connected, and the output of the 4th transmission arm and the 4th reductor is connected;
Wherein, the input of the 5th servomotor, the 5th transmission arm and the 5th reductor is connected, and the 4th transmission arm and the 5th output end of reducer are connected; The input of the 6th servomotor, the 5th transmission arm and the 6th reductor is connected, and the output of described 6th reductor connects various flange.
Wherein, the first reductor, the second reductor, the 3rd reductor, the 4th reductor, the 5th reductor, the 6th reductor are RV reductor; Described first servomotor, the second servomotor and the 3rd servomotor are strap brake absolute encoding type servomotor; 4th servomotor, the 5th servomotor and the 6th servomotor are absolute encoding type servomotor.
Further, when the first servomotor 8 rotates, through the first reductor 7, realize the mutual rotation of base 1 and the first transmission arm, form the first joint.When the second servomotor 18 rotates, through the second reductor 17, realize the mutual rotation of the first transmission arm 2 and the second transmission arm 3, form second joint.When the 3rd servomotor 10 rotates, through the 3rd reductor 9, realize the mutual rotation of the second transmission arm 3 and the 3rd transmission arm 4, form the 3rd joint.When the 4th servomotor 11 rotates, through the 4th reductor 12, realize the mutual rotation of the 3rd transmission arm 4 and the 4th transmission arm 5, form the 4th joint.When the 5th servomotor 14 rotates, through the 5th reductor 13, realize the mutual rotation of the 4th transmission arm 5 and the 5th transmission arm 6, form the 5th joint.When the 6th servomotor 15 rotates, through the 6th reductor 16, realize the mutual rotation of the output of the 5th transmission arm 5 and the 6th reductor 16, form the 6th joint.
Wherein, the rotary motion of the first servomotor 8, second servomotor 18, the 3rd servomotor 10, the 4th servomotor 11, the 5th servomotor 14, the 6th servomotor 15 can be independently move, also can the resultant motion of interpolation, to reach the movement locus and position wanted.
The beneficial effects of the utility model are: the utility model six-joint robot structure adopts the RV reductor of high accuracy, high rigidity, effectively raise kinematic accuracy and the rigidity of robot, 5th joint and the 6th joint adopt the miniature servo of low-power, light-weighted decelerator, alleviate the weight of head greatly, thus improve weight capacity; Reductor and the motor of the utility model six-joint robot structure are direct-connected mode, therefore design very simple, convenient.
The above, be only detailed description of the invention of the present utility model, but protection domain of the present utility model is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection domain of the present utility model.Therefore, the protection domain that protection domain of the present utility model should limit with claims is as the criterion.
Claims (4)
1. a six-joint robot, it is characterized in that: comprise the six-joint robot assembled by the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint, described first joint is made up of base (1), the first transmission arm (2), the first reductor (7) and the first servomotor (8);
Described second joint is made up of the first transmission arm (2), the second transmission arm (3), the second reductor (17) and the second servomotor (18); Described 3rd joint is made up of the second transmission arm (3), the 3rd transmission arm (4), the 3rd reductor (9) and the 3rd servomotor (10); Described 4th joint is made up of the 3rd transmission arm (4), the 4th transmission arm (5), the 4th reductor (12) and the 4th servomotor (11); Described 5th joint is made up of the 4th transmission arm (5), the 5th transmission arm (6), the 5th reductor (13) and the 5th servomotor (14); Described 6th joint is made up of the 5th transmission arm (6), the 6th reductor (16) and the 6th servomotor (15);
First servomotor, the first transmission arm (2) are connected with the input of the first reductor (7), and base (1) is connected with the output of the first reductor (7); Described second servomotor (18), the first transmission arm (2) are connected with the input of the second reductor (17), and the second transmission arm (3) is connected with the output of the second reductor (17); 3rd servomotor (10), the 3rd transmission arm (4) are connected with the input of the 3rd reductor (9), and the second transmission arm (3) is connected with the output of the 3rd reductor (9); 4th servomotor (11), the 3rd transmission arm (4) are connected with the input of the 4th reductor (12), and the 4th transmission arm (5) is connected with the output of the 4th reductor (12);
Described 5th servomotor (14), the 5th transmission arm (6) are connected with the input of the 5th reductor (13), and the 4th transmission arm (5) is connected with the output of the 5th reductor (13);
The input of described 6th servomotor, the 5th transmission arm and the 6th reductor (16) is connected, and the output of described 6th reductor (16) connects various flange.
2. six-joint robot according to claim 1, is characterized in that: described first reductor (7), the second reductor (17), the 3rd reductor (9), the 4th reductor (12), the 5th reductor (13), the 6th reductor (16) are RV reductor.
3. six-joint robot according to claim 1, is characterized in that: described first servomotor (8), the second servomotor (18) and the 3rd servomotor (10) are strap brake absolute encoding type servomotor.
4. six-joint robot according to claim 1, is characterized in that: described 4th servomotor (11), the 5th servomotor (14) and the 6th servomotor (15) are absolute encoding type servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520984388.3U CN205219122U (en) | 2015-12-02 | 2015-12-02 | Six -axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520984388.3U CN205219122U (en) | 2015-12-02 | 2015-12-02 | Six -axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205219122U true CN205219122U (en) | 2016-05-11 |
Family
ID=55894214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520984388.3U Active CN205219122U (en) | 2015-12-02 | 2015-12-02 | Six -axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205219122U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114536367A (en) * | 2022-01-19 | 2022-05-27 | 深圳市领略数控设备有限公司 | Six-degree-of-freedom industrial robot structure |
-
2015
- 2015-12-02 CN CN201520984388.3U patent/CN205219122U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114536367A (en) * | 2022-01-19 | 2022-05-27 | 深圳市领略数控设备有限公司 | Six-degree-of-freedom industrial robot structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104552286B (en) | A kind of multi-joint mechanical arm device continuously | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN205343128U (en) | Six industrial robot | |
| CN202805196U (en) | Combined type industrial robot | |
| CN205111421U (en) | Arm robot | |
| CN207564481U (en) | A kind of rotatable robot | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN104908058A (en) | Joint transmission mechanism | |
| CN104552247A (en) | Hybrid robot mechanism with three degrees of freedom | |
| CN107186753B (en) | Working space determination method for industrial robot performance test | |
| CN102672710A (en) | Four-rod type robot | |
| CN103072134B (en) | There is the two freedom decoupling parallel institution of hybrid motion | |
| CN205219122U (en) | Six -axis robot | |
| CN205165042U (en) | 6 -degree of freedom spraying machine people | |
| CN204076276U (en) | Industrial robot wrist joint | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN203918698U (en) | A kind of novel 3P3R robot for grinding | |
| CN107511817B (en) | Two-rotation one-movement asymmetric coupling mechanism | |
| CN104511896B (en) | A kind of automation collaborative parallel operation device | |
| CN204505248U (en) | A kind of single side chain is containing the symmetrical parallel institution of space three-translational of closed loop | |
| CN102320041A (en) | Three freedom degree series-parallel mechanical arm | |
| CN105619447A (en) | Two-degree-of-freedom in-parallel spraying robot joint | |
| CN204658439U (en) | A kind of six-joint robot | |
| CN104275691B (en) | There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |