CN205466203U - Six -shaft mechanical arm - Google Patents
Six -shaft mechanical arm Download PDFInfo
- Publication number
- CN205466203U CN205466203U CN201620102105.2U CN201620102105U CN205466203U CN 205466203 U CN205466203 U CN 205466203U CN 201620102105 U CN201620102105 U CN 201620102105U CN 205466203 U CN205466203 U CN 205466203U
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- China
- Prior art keywords
- arm
- driving
- seat
- drive
- driving arm
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Abstract
The utility model belongs to the technical field of the manipulator, especially, relate to a six -shaft mechanical arm. Including the gear box fixing base, be equipped with the drive arm seat on the gear box fixing base, the gear box fixing base be equipped with a rotary driving that can drive arm seat circumferential direction in on, drive arm seat lower extreme pass through bottom flange and a rotary driving and link to each other, drive arm seat both sides be equipped with the curb plate, be equipped with the actuating arm two curb plate one end, the actuating arm under the tip both sides be equipped with first articulated shaft respectively, first articulated shaft setting in the first hinge hole of curb plate, be equipped with in curb plate outside wherein and can drive the actuating arm and around first articulated shaft wobbling actuating arm drive group, compare with present technique, this six -shaft mechanical arm's advantage lies in: 1, reasonable in design, the sound construction, it is high to remove the accuracy, can accomplish the action of various differences, and reliability of an item after the guarantee is produced has ensured that living finished product rates, has improved the performance of enterprises.
Description
Technical field
This utility model belongs to mechanical hand technical field, especially relates to a kind of six shaft mechanicals
Hands.
Background technology
Mechanical hand is some holding function that can imitate staff and arm, in order to by fixed routine
Capture, carry object or the automatic pilot of operation instrument.Mechanical hand is to occur the earliest
Industrial robot, be also the modern machines people occurred the earliest, it can replace, and people's is heavy
Work to realize the mechanization and the automatization that produce, can operate under hostile environment with protection
Personal safety, thus it is widely used in machine-building, metallurgy, electronics, light industry and atom
Neng Deng department.Existing mechanical hand function is the most single, and rotational angle is limited.
Such as, Chinese patent literature disclose a kind of mechanical arm [application number:
201320435926.4], including frame, horizontal slide rail, transverse slider, horizontal pulling gas
Cylinder, upper and lower pulling cylinder, longitudinal slide rail, longitudinal pulling cylinder and mechanical hand, described horizontal stroke
Being placed in described frame to slide rail, described transverse slider is slidably connected to described horizontal slide rail
On, one end of described horizontal pulling cylinder is affixed with described frame, the other end and described horizontal stroke
Affixed to slide block, one end of described upper and lower pulling cylinder is affixed with described transverse slider, separately
One end is affixed with described longitudinal slide rail, and described mechanical hand slides and is connected on described longitudinal slide rail
In, one end of described longitudinal pulling cylinder is affixed with described longitudinal slide rail, the other end and institute
State mechanical hand affixed.
Although such scheme can imitate some holding function of staff and arm.But, the party
It is complex that case remains structure, and structure is firm not, and moving range is limited, essence
Spend the most high technical problem.
Summary of the invention
The purpose of this utility model is for the problems referred to above, it is provided that a kind of reasonable in design, knot
Structure is firm, the six axis robot that mobile degree of accuracy is high.
For reaching above-mentioned purpose, this utility model have employed following technical proposal: these six axles
Mechanical hand, it is characterised in that include that seat fixed by gear-box, fixes at gear-box and sets on seat
Having driving arm seat, described gear-box is provided with in fixing on seat and can drive arm seat week
Driving to the first rotation rotated, described driving arm seat lower end is by flange in the bottom and the
One rotates driving is connected, and described driving arm seat both sides are provided with side plate, at two blocks of side plates one
End is provided with driving arm, and described driving arm bottom is respectively provided on two sides with the first jointed shaft,
The first described jointed shaft is arranged in the first hinge hole of side plate, wherein one block of side plate
Outside is provided with the driving arm driving group that arm can be driven to swing, institute around the first jointed shaft
The driving arm driving group stated includes that the first driving motor and second drives motor, described the
One drives motor and second to drive motor to be fixed on outside side plate, the first described driving electricity
The output shaft of machine and second drives the output shaft of motor by the first gear-box and this side the
One jointed shaft is connected, and is additionally provided with cylinder between two blocks of side plates, and described cylinder outer end is hinged
At the side plate other end, described ejecting rod of cylinder is hinged on driving arm and to be positioned at first hinged
Below axle, described driving arm upper end is provided with central rotating shaft, described central rotating shaft one end
It is connected with driving arm by central shaft swing seat, sets between place central rotating shaft and driving arm
There is the vertical oscillation mechanism that central rotating shaft can be driven around driving arm vertical oscillation, described
Central shaft swing seat is provided with the rotating drive mechanism that central rotating shaft can be driven to rotate, institute
The central rotating shaft other end stated is connected with wrist gear-box, is provided with in wrist gear-box outer end
Wrist front end flange.
In above-mentioned six axis robot, described vertical oscillation mechanism includes being arranged on drives
Harmonic wave speed reducing machine between swing arm and central shaft swing seat, described harmonic wave speed reducing machine side
It is provided with the 3rd coupled driving motor.
In above-mentioned six axis robot, described rotating drive mechanism includes three the 4th
Driving motor, described 4 wheel driven galvanic electricity machine is connected with central rotating shaft by the second gear-box.
In above-mentioned six axis robot, described driving arm upper lateral part offers through wires hole,
The line group of described rotating drive mechanism is arranged on after wearing through wires hole in driving arm.
In above-mentioned six axis robot, described through wires hole is provided with line group location deck,
Described line group location deck is detachably mounted to drive on arm, and described line group wears
Line group location deck.
Compared with prior art, the advantage of this six axis robot is: 1, reasonable in design,
Sound construction, mobile degree of accuracy is high, can complete various different action, ensures after producing
The reliability of product, has ensured production yield rate, has improve the performance of enterprises.2, can carry
Heavier article, safety is good.3, dismounting is simple, and easy to maintenance, maintenance cost is relatively low.
Accompanying drawing explanation
Fig. 1 is the sectional structure schematic diagram that this utility model provides.
In figure, gear-box is fixed seat 1, is driven arm seat 2, first to rotate driving 3, bottom
Flange 2a, side plate 21, drive arm the 4, first jointed shaft the 41, first hinge hole 21a,
Arm driving group 5, first is driven to drive motor 51, second to drive motor the 52, first gear
Case 53, cylinder 54, central rotating shaft 6, central shaft swing seat 7, vertical oscillation mechanism 8,
Rotating drive mechanism 9, wrist gear-box 10, wrist front end flange 11, harmonic wave speed reducing machine
81, the 3rd motor 82,4 wheel driven galvanic electricity machine the 91, second gear-box 92, threading are driven
Hole 4a, deck 4b, line group 9a.
Detailed description of the invention
As it is shown in figure 1, this six axis robot, fix seat 1 including gear-box, at gear
Case is fixed seat 1 and is provided with driving arm seat 2, and gear-box is provided with in fixing on seat 1 and can drive
Dynamic the first rotation driving 3 driving arm seat 2 to circumferentially rotate, drives arm seat 2 lower end to pass through
Flange in the bottom 2a and first rotates and drives 3 to be connected, and drives arm seat 2 both sides to be provided with side plate
21, it is provided with driving arm 4 two pieces of side plate 21 one end, drives both sides, arm 4 bottom respectively
Being provided with the first jointed shaft 41, the first jointed shaft 41 is arranged on the first hinge hole of side plate 21
In 21a, it is provided with outside one block of side plate 21 wherein and arm 4 can be driven around the first hinge
The driving arm driving group 5 that spindle 41 swings, drives arm driving group 5 to include the first driving electricity
Machine 51 and second drives motor 52, and first drives motor 51 and second to drive motor 52
Being fixed on outside side plate 21, first drives the output shaft and second of motor 51 to drive motor
The output shaft of 52 is connected with the first jointed shaft 41 of this side by the first gear-box 53, and two
Be additionally provided with cylinder 54 between block side plate 21, cylinder 54 outer end be hinged on side plate 21 another
End, cylinder 54 push rod is hinged on driving arm 4 and is positioned at below the first jointed shaft 41,
Driving arm 4 upper end to be provided with central rotating shaft 6, central rotating shaft 6 one end is swung by central shaft
Seat 7 is connected with driving arm 4, and being provided with between place central rotating shaft 6 and driving arm 4 can
Drive central rotating shaft 6 around the vertical oscillation mechanism 8 of driving arm 4 vertical oscillation, central shaft
Swing seat 7 is provided with the rotating drive mechanism 9 that central rotating shaft 6 can be driven to rotate, in
Heart rotating shaft 6 other end is connected with wrist gear-box 10, sets in wrist gear-box 10 outer end
There is wrist front end flange 11.
Vertical oscillation mechanism 8 includes being arranged between driving arm 4 and central shaft swing seat 7
Harmonic wave speed reducing machine 81, harmonic wave speed reducing machine 81 side is provided with the 3rd coupled driving
Motor 82, rotating drive mechanism 9 includes three 4 wheel driven galvanic electricity machines 91,4 wheel driven galvanic electricity
Machine 91 is connected with central rotating shaft 6 by the second gear-box 92, drives arm 4 upper lateral part to open
Being provided with through wires hole 4a, line group 9a of rotating drive mechanism 9 is arranged after wearing through wires hole 4a
In driving arm 4, through wires hole 4a is provided with line group location deck 4b, line group locator card
Seat 4b is detachably mounted to drive on arm 4, line group 9a perforating line group location deck 4b.
Specific embodiment described herein is only for example to this utility model spirit
Explanation.This utility model person of ordinary skill in the field can be to described concrete
Embodiment is made various amendment or supplements or use similar mode to substitute, but not
Spirit of the present utility model can be deviateed or surmount model defined in appended claims
Enclose.
Although the most more employing gear-box to fix seat 1, drive arm seat 2, first to revolve
Turn driving 3, flange in the bottom 2a, side plate 21, drive arm the 4, first jointed shaft 41, the
One hinge hole 21a, driving arm driving group 5, first drive motor 51, second to drive electricity
Machine the 52, first gear-box 53, cylinder 54, central rotating shaft 6, central shaft swing seat 7,
Hold-carrying before vertical oscillation mechanism 8, rotating drive mechanism 9, wrist gear-box 10, wrist
Blue 11, harmonic wave speed reducing machine 81, the 3rd drive motor 82,4 wheel driven galvanic electricity machine 91, the
The terms such as two gear-boxes 92, through wires hole 4a, deck 4b, line group 9a, but be not precluded from
Use the probability of other term.Use these terms to be only used to more easily to describe
With explanation essence of the present utility model, it is construed as any additional restriction all
It is contrary with this utility model spirit.
Claims (5)
1. a six axis robot, it is characterised in that include that seat (1) fixed by gear-box,
Fixing at gear-box and be provided with driving arm seat (2) on seat (1), seat fixed by described gear-box
(1) it is provided with the first rotation that arm seat (2) can be driven to circumferentially rotate on to drive
(3), described driving arm seat (2) lower end is rotated with first by flange in the bottom (2a)
Driving (3) to be connected, described driving arm seat (2) both sides are provided with side plate (21), two
Block side plate (21) one end is provided with driving arm (4), described driving arm (4) bottom two
Side is respectively equipped with the first jointed shaft (41), and described the first jointed shaft (41) is arranged on side
In first hinge hole (21a) of plate (21), one piece of side plate (21) outside sets wherein
There is the driving arm driving group that arm (4) can be driven to swing around the first jointed shaft (41)
(5), described driving arm driving group (5) includes the first driving motor (51) and second
Motor (52), described the first driving motor (51) and second is driven to drive motor (52)
Be fixed on side plate (21) outside, the output shaft of described first driving motor (51) and
Second drives the output shaft of motor (52) by the first gear-box (53) and this side the
One jointed shaft (41) is connected, and is additionally provided with cylinder (54), institute between two pieces of side plates (21)
Cylinder (54) outer end stated is hinged on side plate (21) other end, described cylinder (54)
Push rod is hinged on driving arm (4) and above and is positioned at the first jointed shaft (41) lower section, described
Arm (4) upper end is driven to be provided with central rotating shaft (6), described central rotating shaft (6) one end
It is connected with driving arm (4) by central shaft swing seat (7), place central rotating shaft (6)
And drive to be provided with between arm (4) central rotating shaft (6) can be driven around driving arm (4) to hang down
The straight vertical oscillation mechanism (8) swung, described central shaft swing seat (7) is provided with energy
Enough drive the rotating drive mechanism (9) that central rotating shaft (6) rotates, described central rotating shaft
(6) other end is connected with wrist gear-box (10), in wrist gear-box (10) outer end
It is provided with wrist front end flange (11).
Six axis robot the most according to claim 1, it is characterised in that described
Vertical oscillation mechanism (8) includes being arranged on driving arm (4) and central shaft swing seat (7)
Between harmonic wave speed reducing machine (81), described harmonic wave speed reducing machine (81) side is provided with and it
The 3rd driving motor (82) being connected.
Six axis robot the most according to claim 2, it is characterised in that described
Rotating drive mechanism (9) includes three 4 wheel drivens galvanic electricity machine (91), described 4 wheel driven
Galvanic electricity machine (91) is connected with central rotating shaft (6) by the second gear-box (92).
4. according to the six axis robot described in claim 1 or 2 or 3, it is characterised in that
Described driving arm (4) upper lateral part offers through wires hole (4a), and described rotation drives
The line group (9a) of mechanism (9) is arranged on driving arm (4) after wearing through wires hole (4a)
In.
Six axis robot the most according to claim 4, it is characterised in that described
Through wires hole (4a) is provided with line group location deck (4b), described line group location deck (4b)
It is detachably mounted to drive on arm (4), described line group (9a) perforating line group location
Deck (4b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620102105.2U CN205466203U (en) | 2016-01-31 | 2016-01-31 | Six -shaft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620102105.2U CN205466203U (en) | 2016-01-31 | 2016-01-31 | Six -shaft mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466203U true CN205466203U (en) | 2016-08-17 |
Family
ID=56673289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620102105.2U Expired - Fee Related CN205466203U (en) | 2016-01-31 | 2016-01-31 | Six -shaft mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466203U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729463A (en) * | 2016-01-31 | 2016-07-06 | 湖州中望机械设备科技有限公司 | Six-axis mechanical arm |
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN107234629A (en) * | 2017-04-18 | 2017-10-10 | 张州逸 | A kind of multi-axis robot |
-
2016
- 2016-01-31 CN CN201620102105.2U patent/CN205466203U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729463A (en) * | 2016-01-31 | 2016-07-06 | 湖州中望机械设备科技有限公司 | Six-axis mechanical arm |
| CN106345656A (en) * | 2016-11-15 | 2017-01-25 | 河南森源电气股份有限公司 | Rubber coating manipulator and rubber coating apparatus using same |
| CN107234629A (en) * | 2017-04-18 | 2017-10-10 | 张州逸 | A kind of multi-axis 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170131 |