CN205438611U - Terminal structure of industrial six axis robot - Google Patents
Terminal structure of industrial six axis robot Download PDFInfo
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- CN205438611U CN205438611U CN201521089283.8U CN201521089283U CN205438611U CN 205438611 U CN205438611 U CN 205438611U CN 201521089283 U CN201521089283 U CN 201521089283U CN 205438611 U CN205438611 U CN 205438611U
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- axle
- forearm beam
- connecting portion
- reductor
- power transmission
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Abstract
The utility model discloses a terminal structure of industrial six axis robot belongs to modern industry and makes automation, specifically includes little arm and wrist portion, and little arm includes left forearm roof beam and right forearm roof beam, the rear end of left forearm roof beam and right forearm roof beam all with the setting of just staggering of the fourth hub connection fixed connection of portion, wrist portion includes the 6th hub connection portion, and the 6th hub connection portion of perpendicular to is fixed with the 6th power transmission pipe, and the other end of the 6th power transmission pipe is provided with the drive disk assembly along its axis direction of perpendicular to, set up first wheel belt slowdown unit between left side forearm roof beam and the drive disk assembly and share in the power transmission of realizing wrist portion, set up second wheel belt slowdown unit between the 5th hub connection portion on right forearm roof beam and the right side and share in the swing that realizes wrist portion, the utility model discloses possesses strong, the advantage lighter, rational in infrastructure of conducting oneself with dignity of bearing capacity.
Description
Technical field
This utility model relates to modern industry manufacturing automation field, particularly relates to a kind of industrial six-joint robot end structure.
Background technology
Six-joint robot is free in three dimensions carry out activity, it is possible to carries out quickly and accurately carrying, weld, a large amount of repetitive works such as spraying.In traditional factory, carry, the work such as welding is substantially by manually complete, have labor intensity greatly, the most more, uninteresting, work under bad environment, easily cause the problems such as pollution.Secondly, manually-operated process consistency is relatively inaccessible to, and quality control is not easy, thus can increase the cost of enterprise.Therefore, in these areas, be pole need robot quickly and accurately material to be carried, install, weld, the operation such as spraying.
Existing six-joint robot has a disadvantage in that 1) the 6th spindle motor and the 5th spindle motor be mounted on forearm front end, increases the deadweight of six-joint robot end so that robot end's weight capacity is substantially reduced；2) in prior art, forearm structure is mostly monomer structure, if need that the 6th spindle motor and the 5th spindle motor are installed on forearm structure rear end simultaneously, motor assembles by forearm space constraint, and this small size motor can only be from external buying, relatively costly, general degree is low；3) power transmission structure is unreasonable, and deadweight is relatively big, limits robot weight capacity.
Utility model content
Mother of the present utility model is to provide a kind of industrial six-joint robot end structure, it has the advantage that weight capacity is strong, deadweight is lighter, rational in infrastructure, while using this utility model industrial six-joint robot end structure effectively can alleviate deadweight, end structure rigidity promotes, and overall weight capacity is greatly improved.
Unreasonable for solving the design of prior art six-joint robot end structure, conduct oneself with dignity bigger, weight capacity is poor, the technical problem that cabling is numerous and diverse, a kind of industrial six-joint robot end structure of this utility model, including little arm and wrist portion, little arm includes left forearm beam and right forearm beam, the rear end of left forearm beam and right forearm beam is all fixing with the 4th axle connecting portion to be connected, and left forearm beam becomes to be horizontally disposed with right forearm beam axis along its length in the horizontal and becomes in the vertical to intersect and staggers setting and intersect at left forearm beam and the front end of right forearm beam, and left forearm beam and right forearm beam are the bathtub construction of outward opening, the rear inside of left forearm beam is provided with the 6th spindle motor, the rear inside of right forearm beam is provided with the 5th spindle motor；nullWrist portion includes the 6th axle connecting portion，6th axle connecting portion is the flange arrangement of bowl cover shape，It is perpendicular to the 6th axle connecting portion and is fixedly connected with the 6th axle power transmission pipe，The other end of the 6th axle power transmission pipe is perpendicular to its axis direction and is provided with the drive disk assembly of hollow，Drive disk assembly is between the leading section of left forearm beam and right forearm beam，And the axis of drive disk assembly is perpendicular to left forearm beam inner side end and right forearm beam inner side end，The left end of drive disk assembly is connected by the front end of left side the 5th axle connecting portion being fixedly installed on it and left forearm beam，The right-hand member of drive disk assembly is connected by the front end of right side the 5th axle connecting portion being fixedly installed on it and right forearm beam，Left side the 5th axle connecting portion and right side the 5th axle connecting portion are the flange arrangement of bowl cover shape，Left side the 5th axle connecting portion inner chamber and the 6th axle connecting portion inner chamber order are connected by drive disk assembly inner chamber and the 6th axle power transmission tube cavity；Arrange the first wheel belt reductor combination between left forearm beam and drive disk assembly to transmit for the power realizing wrist portion, the second wheel belt reductor is set between right forearm beam and right side the 5th axle connecting portion and combines for the swing realizing wrist portion.
nullFurther，A kind of industrial six-joint robot end structure of this utility model，Wherein，The the first wheel belt reductor combination arranged between left forearm beam and drive disk assembly is particularly as follows: the front end of left forearm beam uses circular arc and is provided with roller bearing，The axis of roller bearing is perpendicular to the inner side end of left forearm beam，Roller bearing medial axis is provided with power transmission shaft，The outer end of power transmission shaft is provided with left big belt wheel，It is cased with left small pulley on 6th spindle motor output shaft，Connected and composed the primary speed-down of the 6th axle by wheel belt between the big belt wheel of left small pulley and a left side，The inner end of power transmission shaft is stretched into the 6th axle power transmission tube cavity and fixedly mounts left-hand screw conical gear in inner end，6th axle connecting portion inner chamber is provided with the 6th axle RV reductor for constituting the double reduction of the 6th axle，Transmit at the 6th axle connecting portion inner chamber and the 6th axle power, between tube cavity, the 6th axle RV reductor power shaft is installed，6th axle RV reductor power shaft lower end and the 6th axle RV reductor connect，Upper end is provided with right-hand screw conical gear，Left-hand screw conical gear and right-hand screw conical gear are meshed for the 6th axle power transmission.
nullFurther，A kind of industrial six-joint robot end structure of this utility model，Wherein，The the second wheel belt reductor combination arranged between right forearm beam and right side the 5th axle connecting portion is particularly as follows: right forearm beam front end uses circular arc and is provided with the reductor mounting flange of hollow，5th axle RV reductor is installed between reductor mounting flange and right side the 5th axle connecting portion and constitutes the double reduction of the 5th axle，By roller bearing, the 5th axle RV reductor power shaft is installed in the hollow part of reductor mounting flange，The outer end of the 5th axle RV reductor power shaft is provided with right big belt wheel，5th spindle motor output shaft is cased with right small pulley，Connected and composed the primary speed-down of the 5th axle by wheel belt between the big belt wheel of right small pulley and the right side，The outfan of the 5th axle RV reductor drives wrist portion to swing by fixing being connected to of bolt and right side the 5th axle connecting portion.
A kind of industrial six-joint robot end structure of this utility model is compared with prior art, have the advantage that this utility model leaves the 5th spindle motor and the installing space of the 6th spindle motor by setting of left forearm beam and right forearm beam mutually being staggered, improve the general degree of motor, make motor might not depend on import, reduce purchase cost；Meanwhile, the 5th spindle motor and the 6th spindle motor are mounted on the left and right forearm beam of the 4th axle connecting portion, add the power transmission structure of optimization, alleviate the deadweight of six-joint robot end, and integral rigidity improves, self load bearing ability is strong so that robot end's payload capability increases.
Accompanying drawing explanation
Fig. 1 is a kind of industrial six-joint robot end structure schematic diagram of this utility model；
Fig. 2 is a kind of industrial six-joint robot end structure partial sectional view of this utility model.
Wherein: 1, little arm；2, wrist portion；3, left forearm beam；4, right forearm beam；5, the 4th axle connecting portion；6, the 6th spindle motor；7, the 5th spindle motor；8, the 6th axle connecting portion；9, the 6th axle power transmission pipe；10, drive disk assembly；11, left side the 5th axle connecting portion；12, right side the 5th axle connecting portion；13, power transmission shaft；14, left big belt wheel；15, left-hand screw conical gear；16, the 6th axle RV reductor；17, the 6th axle RV reductor power shaft；18, right-hand screw conical gear；19, reductor mounting flange；20, the 5th axle RV reductor；21, the 5th axle RV reductor power shaft；22, right big belt wheel.
Detailed description of the invention
It should be strongly noted that the left and right described in this utility model application, front and back, inward-outward direction all with left forearm beam and right forearm beam from the 4th axle connecting portion to left side the 5th axle connecting portion or right side the 5th axle connecting portion for dead ahead to；Described above-below direction be all with wrist portion from left side the 5th axle connecting portion or right side the 5th axle connecting portion to direction under being oriented to of the 6th axle connecting portion; and it is intended merely to state the regulation conveniently carried out, it is not offered as this utility model patent is claimed the restriction that scope is carried out.
nullAs shown in Fig. 1 Fig. 2，A kind of industrial six-joint robot end structure of this utility model，Including little arm 1 and wrist portion 2，Little arm 1 includes left forearm beam 3 and right forearm beam 4，The rear end of left forearm beam 3 and right forearm beam 4 is all fixing with the 4th axle connecting portion 5 to be connected，And left forearm beam 3 becomes to be horizontally disposed with right forearm beam 4 axis along its length in the horizontal and becomes in the vertical to intersect and staggers setting and intersect at left forearm beam 3 and the front end of right forearm beam 4，Left forearm beam 3 and right forearm beam 4 are the bathtub construction of outward opening，The rear inside of left forearm beam 3 is provided with the 6th spindle motor 6，The rear inside of right forearm beam 4 is provided with the 5th spindle motor 7，It is easy to arranged apart to the 6th axle and the 5th axle Poewr transmission mechanism，Structure is the most succinct，And this structure makes the 6th spindle motor 6 and the 5th spindle motor 7 stagger installation，Installing space is sufficient，The selection of motor not necessarily dependence on import，Reduce purchase cost，In addition，6th spindle motor 6 and the 5th spindle motor 7 are the most rearmounted，Reduce the weight of robot end，Improve the load capacity of robot end；nullWrist portion 2 includes the 6th axle connecting portion 8，6th axle connecting portion 8 is the flange arrangement of bowl cover shape，It is perpendicular to the 6th axle connecting portion 8 and is fixedly connected with the 6th axle power transmission pipe 9，The other end of the 6th axle power transmission pipe 9 is perpendicular to its axis direction and is provided with the drive disk assembly 10 of hollow，Drive disk assembly 10 is between the leading section of left forearm beam 3 and right forearm beam 4，And the axis of drive disk assembly 10 is perpendicular to left forearm beam 3 inner side end and right forearm beam 4 inner side end，The left end of drive disk assembly 10 is connected by the front end of left side the 5th axle connecting portion 11 being fixedly installed on it and left forearm beam 3，The right-hand member of drive disk assembly 10 is connected by the front end of right side the 5th axle connecting portion 12 being fixedly installed on it and right forearm beam 4，Left side the 5th axle connecting portion 11 and right side the 5th axle connecting portion 12 are the flange arrangement of bowl cover shape，The inner chamber of left side the 5th axle connecting portion 11 and the inner chamber order of the 6th axle connecting portion 9 pass through inner chamber and the inner space of the 6th axle power transmission pipe 9 of drive disk assembly 10，The power transmission channels design optimized，Integral rigidity is promoted，Weight capacity is greatly reinforced，And own wt reduces，End-equipment overall load ability is improved；Arrange the first wheel belt reductor combination between left forearm beam 3 and drive disk assembly 10 to transmit for the power realizing wrist portion 2, the second wheel belt reductor is set between right forearm beam 4 and right side the 5th axle connecting portion 12 and combines for the swing realizing wrist portion 2.
nullAs further prioritization scheme，As shown in Figure 2，The front end of left forearm beam 3 uses circular arc and is provided with roller bearing at inner side end，The axis of roller bearing is perpendicular to the inner face of left forearm beam 3，Power transmission shaft 13 it is axially installed with inside roller bearing，The outer end of power transmission shaft 13 is provided with left big belt wheel 14，It is cased with left small pulley on the output shaft of the 6th spindle motor 6，Constituted the primary speed-down of the 6th axle by wheel belt between the big belt wheel of left small pulley and a left side 14，The inner end of power transmission shaft 13 is stretched into the inner chamber of the 6th axle power transmission pipe 9 and fixedly mounts left-hand screw conical gear 15 in inner end，6th axle connecting portion 8 inner chamber is provided with the 6th axle RV reductor 16 for constituting the double reduction of the 6th axle，Transmit at the 6th axle connecting portion 8 inner chamber and the 6th axle power, between pipe 9 inner chamber, the 6th axle RV reductor power shaft 17 is installed，6th axle RV reductor power shaft 17 lower end and the 6th axle RV reductor 16 connect，Upper end is provided with right-hand screw conical gear 18，Left-hand screw conical gear 15 and right-hand screw conical gear 18 are meshed for the 6th axle power transmission.This design compact overall structure, deadweight is relatively light, is effectively improved the end load ability of robot.
nullSimultaneously，In order to meet the more lighting of the application end structure、Rationalize，As shown in Figure 2，The the second wheel belt reductor combination arranged between right forearm beam 4 and right side the 5th axle connecting portion 12 is particularly as follows: right forearm beam 4 front end uses circular arc and is provided with the reductor mounting flange 19 of hollow，Between reductor mounting flange 19 and right side the 5th axle connecting portion 12, the 5th axle RV reductor 20 is installed and constitutes the double reduction of the 5th axle，By roller bearing, the 5th axle RV reductor power shaft 21 is installed in the hollow part of reductor mounting flange 19，The outer end of the 5th axle RV reductor power shaft 21 is provided with right big belt wheel 22，5th spindle motor output shaft is cased with right small pulley，Connected and composed the primary speed-down of the 5th axle by wheel belt between the big belt wheel of right small pulley and the right side 22，The outfan of the 5th axle RV reductor 20 drives wrist portion 2 to swing by fixing being connected to of bolt and right side the 5th axle connecting portion 12.
Above example is only the description carrying out preferred implementation of the present utility model; not this utility model is claimed the restriction that scope is carried out; on the premise of without departing from this utility model design principle and spirit; the various forms of deformation that this area engineers and technicians make according to the technical solution of the utility model, all should fall in the protection domain that claims of the present utility model determine.
Claims (3)
1. an industrial six-joint robot end structure, it is characterized in that: include little arm (1) and wrist portion (2), described little arm (1) includes left forearm beam (3) and right forearm beam (4), the rear end of left forearm beam (3) and right forearm beam (4) is all fixing with the 4th axle connecting portion (5) to be connected, left forearm beam (3) become in the horizontal to be horizontally disposed with right forearm beam (4) axis along its length and in the vertical become intersection stagger setting and intersect at left forearm beam (3) and the front end of right forearm beam (4), left forearm beam (3) and right forearm beam (4) are the bathtub construction of outward opening, the rear inside of left forearm beam (3) is provided with the 6th spindle motor (6), the rear inside of right forearm beam (4) is provided with the 5th spindle motor (7)；nullDescribed wrist portion (2) includes the 6th axle connecting portion (8)，6th axle connecting portion (8) is the flange arrangement of bowl cover shape，It is perpendicular to the 6th axle connecting portion (8) and is fixedly connected with the 6th axle power transmission pipe (9)，The other end of the 6th axle power transmission pipe (9) is perpendicular to its axis direction and is provided with the drive disk assembly (10) of hollow，Described drive disk assembly (10) is between left forearm beam (3) and the leading section of right forearm beam (4)，And the axis of drive disk assembly (10) is perpendicular to left forearm beam (3) inner side end and right forearm beam (4) inner side end，The left end of described drive disk assembly (10) is connected by the front end of the left side the 5th axle connecting portion (11) being fixedly installed on it and left forearm beam (3)，The right-hand member of drive disk assembly (10) is connected by the front end of the right side the 5th axle connecting portion (12) being fixedly installed on it and right forearm beam (4)，Described left side the 5th axle connecting portion (11) and right side the 5th axle connecting portion (12) are the flange arrangement of bowl cover shape，Left side the 5th axle connecting portion (11) inner chamber and the 6th axle connecting portion (8) inner chamber order are by drive disk assembly (10) inner chamber and the 6th axle power transmission pipe (9) inner space；Arrange the first wheel belt reductor combination between left forearm beam (3) and drive disk assembly (10) to transmit for the power realizing wrist portion (2), the second wheel belt reductor is set between right forearm beam (4) and right side the 5th axle connecting portion (12) and combines for the swing realizing wrist portion (2).
nullIndustrial six-joint robot end structure the most according to claim 1，It is characterized in that: the first wheel belt reductor combination arranged between described left forearm beam (3) and drive disk assembly (10) is particularly as follows: the front end of left forearm beam (3) uses circular arc and is provided with roller bearing at inner side end，The axis of roller bearing is perpendicular to the inner face of left forearm beam (3)，Power transmission shaft (13) it is axially installed with inside roller bearing，The outer end of power transmission shaft (13) is provided with left big belt wheel (14)，It is cased with left small pulley on 6th spindle motor (6) output shaft，Connected and composed the primary speed-down of the 6th axle by wheel belt between described left small pulley and a left side big belt wheel (14)，The 6th axle power transmission pipe (9) inner chamber is stretched into and in inner end fixed installation left-hand screw conical gear (15) in the inner end of power transmission shaft (13)，6th axle connecting portion (8) inner chamber is provided with the 6th axle RV reductor (16) for constituting the double reduction of the 6th axle，Transmit at the 6th axle connecting portion (8) inner chamber and the 6th axle power, between pipe (9) inner chamber, the 6th axle RV reductor power shaft (17) is installed，Described 6th axle RV reductor power shaft (17) lower end and the 6th axle RV reductor (16) connect，Upper end is provided with right-hand screw conical gear (18)，Described left-hand screw conical gear (15) and right-hand screw conical gear (18) are meshed for the 6th axle power transmission.
nullIndustrial six-joint robot end structure the most according to claim 1，It is characterized in that: the second wheel belt reductor combination arranged between described right forearm beam (4) and right side the 5th axle connecting portion (12) is particularly as follows: right forearm beam (4) front end uses circular arc and is provided with the reductor mounting flange (19) of hollow，5th axle RV reductor (20) is installed between reductor mounting flange (19) and right side the 5th axle connecting portion (12) and constitutes the double reduction of the 5th axle，By roller bearing, the 5th axle RV reductor power shaft (21) is installed in the hollow part of reductor mounting flange (19)，The outer end of described 5th axle RV reductor power shaft (21) is provided with right big belt wheel (22)，5th spindle motor (7) output shaft is cased with right small pulley，Connected and composed the primary speed-down of the 5th axle by wheel belt between described right small pulley and the right side big belt wheel (22)，The inner end of the 5th axle RV reductor power shaft (21) and the 5th axle RV reductor (20) connect，The outfan of described 5th axle RV reductor (20) drives wrist portion (2) to swing by fixing being connected to of bolt and right side the 5th axle connecting portion (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521089283.8U CN205438611U (en) | 2015-12-24 | 2015-12-24 | Terminal structure of industrial six axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521089283.8U CN205438611U (en) | 2015-12-24 | 2015-12-24 | Terminal structure of industrial six axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205438611U true CN205438611U (en) | 2016-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521089283.8U Expired - Fee Related CN205438611U (en) | 2015-12-24 | 2015-12-24 | Terminal structure of industrial six axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205438611U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107298138A (en) * | 2017-07-25 | 2017-10-27 | 仲松梅 | One kind building town road robot |
| CN113561216A (en) * | 2021-07-26 | 2021-10-29 | 伯朗特机器人股份有限公司 | Joint structure of six-degree-of-freedom robot |
-
2015
- 2015-12-24 CN CN201521089283.8U patent/CN205438611U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107298138A (en) * | 2017-07-25 | 2017-10-27 | 仲松梅 | One kind building town road robot |
| CN113561216A (en) * | 2021-07-26 | 2021-10-29 | 伯朗特机器人股份有限公司 | Joint structure of six-degree-of-freedom robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200515 Address after: 242000 No.8, baijianshan Road, Xuancheng economic and Technological Development Zone, Xuancheng City, Anhui Province Patentee after: Anhui huanting Intelligent Technology Co., Ltd Address before: Jiading District Malu Town, Shanghai city 201801 Hengcang Road No. 2465 Building No. 5 Patentee before: HONYEN AUTOMATION EQUIPMENT (SHANGHAI) Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160810 Termination date: 20191224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |