CN205466300U - Terminal structure of industrial six axis robot - Google Patents
Terminal structure of industrial six axis robot Download PDFInfo
- Publication number
- CN205466300U CN205466300U CN201521135397.1U CN201521135397U CN205466300U CN 205466300 U CN205466300 U CN 205466300U CN 201521135397 U CN201521135397 U CN 201521135397U CN 205466300 U CN205466300 U CN 205466300U
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- axle
- connecting portion
- forearm beam
- axle connecting
- power transmission
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Abstract
The utility model discloses a terminal structure of industrial six axis robot belongs to six axis robot equipment, specifically includes little arm and wrist portion, and little arm includes left forearm roof beam and right forearm roof beam, and the rear end of left forearm roof beam and right forearm roof beam all is connected with fourth hub connection portion, and both rear ends are provided with the motor install bin, wrist portion includes the 5th spindle unit and the 6th hub connection portion, and the 5th spindle unit includes the transmission pipe, and the transmission pipe is connected through its left side the 5th hub connection portion on the 5th hub connection portion and the right side and forearm portion, the 6th hub connection portion sets up the 6th power transmission boss, the 5th spindle unit fixed connection in the 6th power transmission boss, it is used for realizing being equipped with the swing of wrist portion second wheel belt reduction gears between the 5th hub connection portion on right forearm roof beam and the right side and being used for realizing the power transmission of wrist portion to be equipped with first wheel belt reduction gears between left side forearm roof beam and the 5th hub connection portion in the left side, the utility model discloses possess compact structure, it is lighter to conduct oneself with dignity, advantage that bearing capacity is strong.
Description
Technical field
This utility model relates to six-joint robot equipment, especially relates to the end of a kind of industrial six-joint robot
Structure.
Background technology
Six-joint robot is free in three dimensions carry out activity, it is possible to carry out quickly and accurately carrying,
A large amount of repetitive work such as welding, spraying.In traditional industry manufacture field, carry, the work such as welding
Substantially main by manually completing, exist labor intensity greatly, the most more, uninteresting, working environment dislikes
Bad, easily cause the problems such as pollution.Manual operation is difficult to make technique reach concordance so that quality is not easily controlled,
Thus the cost of enterprise can be increased.Therefore, in these areas, it is that pole needs robot quickly and accurately to thing
The operations such as material carries out carrying, installs, welds, spraying.
But existing six-joint robot is in actual use, there is also problems, main specific to six-joint robot
Showing following aspect: 1) the 6th spindle motor and the 5th spindle motor be mounted on forearm front end, increases six axles
The deadweight of robot working end so that robot end's payload capability is substantially reduced；2) sky installed by motor
Between limited, purchase narrow range, strengthen purchase cost；3) internal motivation transferring structure is complicated, and integral rigidity is relatively
Low, weight capacity is poor；4) motor mounting space is narrow, and purchase cost is high.
Utility model content
The purpose of this utility model is to provide a kind of industrial six-joint robot end structure, and it is tight that it possesses structure
Gathering, deadweight is relatively light, and the advantage that weight capacity is strong uses this utility model industrial six-joint robot end structure
While can effectively alleviating end structure deadweight so that end structure integral rigidity promotes, and motor mounting space
Greatly, motor purchase cost is reduced.
Complicated for solving the end structure of prior art six-joint robot, from great, weight capacity is poor, and motor is adopted
Purchase the technical problem that cost is high, the one industrial six-joint robot end structure that this utility model provides, including
Little arm and wrist portion, little arm includes the left forearm beam that be arranged in parallel and right forearm beam, and left forearm beam and the right side are little
The rear end of arm beam is all fixing with the 4th axle connecting portion to be connected, and left forearm beam and right forearm beam are the groove of outward opening
Shape structure is also provided with motor installation case in its back-end, and the lower panel installing case is provided with for installing the 5th spindle motor
The 5th spindle motor fixed plate, the 6th spindle motor that the top panel of case is provided with for installing the 6th spindle motor is installed solid
Determine plate；Wrist portion includes that the 5th spindle unit and the 6th axle connecting portion, the 5th spindle unit include transmission tube, transmission tube
It is between left forearm beam and right forearm beam leading section, and the axis of transmission tube is perpendicular to left forearm beam inner side end
With right forearm beam inner side end, left side the 5th axle connecting portion that transmission tube is fixedly installed by its left end and left forearm
Beam front end connects, and right side the 5th axle connecting portion and right forearm beam front end that right-hand member is fixedly installed connect, left side the 5th
Axle connecting portion and right side the 5th axle connecting portion are the flange arrangement of bowl cover shape；6th axle connecting portion is bowl cover shape
Flange arrangement, is perpendicular to the 6th axle connecting portion and is fixedly connected with the 6th axle power transmission boss, and the 6th axle power passes
Passing and offer cavity inside boss, the 5th spindle unit is radially embedded in the 6th axle power transmission boss and connection
Position forms seamless welding, the inner chamber of right side the 5th axle connecting portion and the 6th axle connecting portion inner chamber order and passes through transmission
Tube cavity and the 6th axle power transmission boss inner space；Set between left forearm beam and left side the 5th axle connecting portion
There is the first wheel belt reducing gear for realizing the swing of wrist portion, between right forearm beam and right side the 5th axle connecting portion
It is provided with the second wheel belt reducing gear to transmit for the power realizing wrist portion.
Further, a kind of industrial six-joint robot end structure of this utility model, wherein, left forearm beam with
It is provided with the first wheel belt reducing gear particularly as follows: the front end of left forearm beam uses circular arc between the 5th axle connecting portion of left side
Shape is also provided with the 5th axle harmonic wave speed reducing machine double reduction as the 5th axle, the input of the 5th axle harmonic wave speed reducing machine
It is cased with left big belt wheel on axle, the output shaft of the 5th spindle motor is cased with left small pulley, left big belt wheel and left small pulley
The primary speed-down of the 5th axle is connected and composed, the outfan of the 5th axle harmonic wave speed reducing machine and left side the 5th axle by belt
Connecting portion is bolted to connection for driving wrist portion to swing.
Further, a kind of industrial six-joint robot end structure of this utility model, wherein, right forearm beam with
It is provided with the second wheel belt reducing gear particularly as follows: the front end of right forearm beam uses circular arc between the 5th axle connecting portion of right side
Shape is also provided with roller bearing at inner side end, and the axis of roller bearing is perpendicular to the inner face of right forearm beam, rolling
Being axially installed with power transmission shaft in sub-bearing, the outer end of power transmission shaft is provided with right big belt wheel, the output of the 6th spindle motor
Being provided with right small pulley on axle, the one-level that right big belt wheel and right small pulley connect and compose the 6th axle by belt subtracts
Speed, the inner end of power transmission shaft is stretched into the inner chamber of the 6th axle power transmission boss and fixedly mounts left-hand screw circular cone in inner end
Gear, the 6th axle connecting portion inner chamber is provided with the 6th axle harmonic wave speed reducing machine double reduction for composition the 6th axle,
Transmit at the 6th axle connecting portion inner chamber and the 6th axle power, between boss inner chamber, tooth sector axle is installed, turn to tooth
Wheel shaft lower end and the 6th axle harmonic wave speed reducing machine connect, and upper end is provided with right-hand screw conical gear, left-hand screw circular cone tooth
Wheel and right-hand screw conical gear are meshed for the power transmission of wrist portion.
A kind of industrial six-joint robot end structure of this utility model compared with prior art, has following excellent
Point: this utility model the 5th spindle motor and the 6th spindle motor stagger up and down and be installed in installation case, and installing space is big,
Motor Application Range is wide, reduces purchase cost, it addition, install case to not only act as the effect installing motor, its from
Make the connection between each parts the compactest on the whole, improve the integral rigidity of little arm so that load-bearing energy
Power improves；5th spindle motor and the 6th spindle motor are the most rearmounted, alleviate the deadweight of six-joint robot end, whole
Body load capacity is higher；The power delivery mode optimized, separately sets the 5th axle and the 6th axle power transmission channels
Put, clear in structure；Power transmission structure is compact, multiple functional while, integral rigidity promote, weight capacity
Strengthen.
The most shown detailed description of the invention industrial six-joint robot end a kind of to this utility model
Structure is described in further detail:
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 is even
Meet portion；6, case is installed；7, the 5th spindle motor；8, the 6th spindle motor；9, the 5th spindle unit；10, the 6th
Axle connecting portion；11, transmission tube；12, left side the 5th axle connecting portion；13, right side the 5th axle connecting portion；14、
6th axle power transmission boss；15, the 5th axle harmonic wave speed reducing machine；16, left big belt wheel；17, left small pulley；
18, power transmission shaft；19, right big belt wheel；20, right small pulley；21, left-hand screw conical gear；22, the 6th axle
Harmonic wave speed reducing machine；23, tooth sector axle；24, right-hand screw conical gear.
Detailed description of the invention
Firstly the need of explanation, the left and right described in this utility model application, fore-and-aft direction are all with left forearm beam
It is dead ahead with 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
To being as the criterion, described above-below direction is all from left side the 5th axle connecting portion or right side the 5th axle connecting portion with wrist portion
Direction under being oriented to of the 6th axle connecting portion, and its regulation simply conveniently carried out for statement, it is right to be not offered as
The restriction that the scope that is claimed of this utility model patent application is carried out.
As depicted in figs. 1 and 2, a kind of industrial six-joint robot end structure, including little arm 1 and wrist
Portion 2, little arm 1 includes the left forearm beam 3 that be arranged in parallel and right forearm beam 4, by above design optimization
Power delivery mode, is provided separately the 5th axle and the 6th axle power transmission channels, clear in structure；Left forearm beam
3 and the rear end of right forearm beam 4 is all fixing with the 4th axle connecting portion 5 is connected, left forearm beam 3 and right forearm beam 4
Being the bathtub construction of outward opening and be provided with motor installation case 6 in its back-end, the lower panel installing case 6 sets
The 5th spindle motor fixed plate for installing the 5th spindle motor 7, the lower panel of installation case 6 is had to set top panel and be provided with
For installing the 6th spindle motor fixed plate of the 6th spindle motor 8, the 5th spindle motor 7 and the 6th spindle motor about 8
Staggering and be installed in installation case 6, make motor mounting space sufficient by above design, motor Application Range is wide,
Reducing purchase cost, it addition, install case 6 to not only act as the effect installing motor, it makes each portion on the whole
The connection of part is the compactest, improves the integral rigidity of little arm 1 so that weight capacity improves, the 5th axle electricity
Machine 7 and the 6th spindle motor 8 are the most rearmounted, alleviate the deadweight of six-joint robot end, and overall load ability is more
By force；Wrist portion 2 includes the 5th spindle unit 9 and the 6th axle connecting portion 10, and the 5th spindle unit 9 includes transmission tube
11, transmission tube 11 is between left forearm beam 3 and right forearm beam 4 leading section, and the axis of transmission tube 11 hangs down
Directly in left forearm beam 3 inner side end and right forearm beam 4 inner side end, transmission tube 11 sets by its left end is fixing
Left side the 5th axle connecting portion 12 put and left forearm beam 3 front end connect, right side the 5th axle that right-hand member is fixedly installed
Connecting portion 13 and right forearm beam 4 front end connect, left side the 5th axle connecting portion 12 and right side the 5th axle connecting portion
13 flange arrangements being bowl cover shape；6th axle connecting portion 10 is the flange arrangement of bowl cover shape, is perpendicular to the 6th
Axle connecting portion 10 is fixedly connected with the 6th axle power transmission boss 14, and the inside of the 6th axle power transmission boss sets
Having cavity, the 5th spindle unit 9 is radially embedded in the 6th axle power transmission boss 14 and connecting portion is formed
Seamless welding, the inner chamber of right side the 5th axle connecting portion 13 and the 6th axle connecting portion 10 inner chamber order pass through transmission tube
11 inner chambers and the 6th axle power transmission boss 14 inner space；Make the application structure tight by above design
Gathering, integral rigidity increases, and weight capacity is strong；It is provided with between left forearm beam 3 and left side the 5th axle connecting portion 12
First wheel belt reducing gear is used for realizing the swing of wrist portion 2, right forearm beam 4 and right side the 5th axle connecting portion
Being provided with the second wheel belt reducing gear between 13 to transmit for the power realizing wrist portion 2, power transmission structure is tight
Gather, multiple functional while, integral rigidity promote, weight capacity strengthen.
In order to the power transmission structure making this utility model industrial six-joint robot end structure is the most reasonable, this
Embodiment is provided with the first wheel belt reducing gear between left forearm beam 3 and left side the 5th axle connecting portion 12 particularly as follows:
The front end of left forearm beam 3 uses circular arc and is provided with the 5th axle harmonic wave speed reducing machine 15 as two grades of the 5th axle
Slow down, the power shaft of the 5th axle harmonic wave speed reducing machine 15 is cased with left big belt wheel 16, the output of the 5th spindle motor 7
Being cased with left small pulley 17 on axle, left big belt wheel 16 and left small pulley 17 connect and compose the 5th axle by belt
Primary speed-down, outfan and left side the 5th axle connecting portion 12 of the 5th axle harmonic wave speed reducing machine 15 are bolted
It is connected to drive wrist portion 2 to swing.
Meanwhile, in order to coordinate above technological merit, set between right forearm beam 4 and right side the 5th axle connecting portion 13
There is the second wheel belt reducing gear particularly as follows: the front end of right forearm beam 4 uses circular arc and is provided with at inner side end
Roller bearing, the axis of roller bearing is perpendicular to the inner face of right forearm beam 4, is axially installed with in roller bearing
Power transmission shaft 18, the outer end of power transmission shaft 18 is provided with right big belt wheel 19, the output shaft of the 6th spindle motor 8 is installed
Right small pulley 20, the one-level that right big belt wheel 19 and right small pulley 20 connect and compose the 6th axle by belt is had to subtract
Speed, the inner end of power transmission shaft 18 is stretched into the inner chamber of the 6th axle power transmission boss 14 and fixedly mounts left spiral shell in inner end
Rounding bevel gear 21, the 6th axle connecting portion 10 inner chamber is provided with the 6th axle harmonic wave speed reducing machine 22 for constituting the
The double reduction of six axles, transmits at the 6th axle connecting portion 10 inner chamber and the 6th axle power and pacifies between boss 14 inner chamber
Connecting equipped with tooth sector axle 23, tooth sector axle 23 lower end and the 6th axle harmonic wave speed reducing machine 22, upper end is pacified
Equipped with right-hand screw conical gear 24, left-hand screw conical gear 21 and right-hand screw conical gear 24 be meshed for
The power transmission of wrist portion 2.
Above example is only the description carrying out preferred implementation of the present utility model, not new to this practicality
Type is claimed the restriction that scope is carried out, on the premise of without departing from this utility model design principle and spirit, this
The various forms of deformation that domain engineering technical staff makes according to the technical solution of the utility model, all should fall into
In the protection domain that claims of the present utility model determine.
Claims (3)
1. an industrial six-joint robot end structure, it is characterised in that: include little arm (1) and wrist
Portion (2), described little arm (1) includes left forearm beam (3) and the right forearm beam (4) be arrangeding in parallel, left little
The rear end of arm beam (3) and right forearm beam (4) is all fixing with the 4th axle connecting portion (5) to be connected, left forearm beam
(3) it is the bathtub construction of outward opening with right forearm beam (4) and is provided with motor installation case (6) in its back-end,
The lower panel of described installation case (6) is provided with the 5th spindle motor fixed plate for installing the 5th spindle motor (7),
The top panel installing case (6) is provided with the 6th spindle motor fixed plate for installing the 6th spindle motor (8)；Described
Wrist portion (2) includes that the 5th spindle unit (9) and the 6th axle connecting portion (10), the 5th spindle unit (9) include
Transmission tube (11), described transmission tube (11) be in left forearm beam (3) and right forearm beam (4) leading section it
Between, and the axis of transmission tube (11) be perpendicular to left forearm beam (3) inner side end and right forearm beam (4) inner side
End face, left side the 5th axle connecting portion (12) that transmission tube (11) is fixedly installed by its left end and left forearm beam
(3) front end connects, the right side the 5th axle connecting portion (13) that transmission tube (11) is fixedly installed by its right-hand member
Connect with right forearm beam (4) front end, left side the 5th axle connecting portion (12) and right side the 5th axle connecting portion (13)
It is the flange arrangement of bowl cover shape；Described 6th axle connecting portion (10) is the flange arrangement of bowl cover shape, is perpendicular to
6th axle connecting portion (10) is fixedly connected with the 6th axle power transmission boss (14), and the 6th axle power transmission is convex
The inside of platform (14) is provided with cavity, and described 5th spindle unit (9) is radially embedded in the 6th axle power and passes
Pass boss (14) and connecting portion forms seamless welding, the inner chamber and the 6th on right side the 5th axle connecting portion (13)
Axle connecting portion (10) inner chamber order is by transmission tube (11) inner chamber and the 6th axle power transmission boss (14)
Inner space；It is provided with the first wheel belt reductor between left forearm beam (3) and left side the 5th axle connecting portion (12)
Structure is used for realizing the swing of wrist portion (2), between right forearm beam (4) and right side the 5th axle connecting portion (13)
It is provided with the second wheel belt reducing gear to transmit for the power realizing wrist portion (2).
One the most according to claim 1 industrial six-joint robot end structure, it is characterised in that:
It is provided with the first wheel belt reducing gear concrete between described left forearm beam (3) and left side the 5th axle connecting portion (12)
Use circular arc for the front end of: left forearm beam (3) and the 5th axle harmonic wave speed reducing machine (15) be installed as the
The double reduction of five axles, the power shaft of the 5th axle harmonic wave speed reducing machine (15) is cased with left big belt wheel (16), the
Left small pulley (17), the big belt wheel in a described left side (16) and left small pulley it is cased with on the output shaft of five spindle motors (7)
(17) primary speed-down of the 5th axle, the outfan of the 5th axle harmonic wave speed reducing machine (15) is connected and composed by belt
It is bolted to connection for driving wrist portion (2) to swing with left side the 5th axle connecting portion (12).
One the most according to claim 1 industrial six-joint robot end structure, it is characterised in that:
It is provided with the second wheel belt reducing gear concrete between described right forearm beam (4) and right side the 5th axle connecting portion (13)
For: the front end of right forearm beam (4) uses circular arc and is provided with roller bearing, roller bearing at inner side end
Axis be perpendicular to the inner face of right forearm beam (4), be axially installed with power transmission shaft (18) in roller bearing, pass
The outer end of moving axis (18) is provided with right big belt wheel (19), and the output shaft of the 6th spindle motor (8) is provided with the right side
Small pulley (20), right big belt wheel (19) and right small pulley (20) connect and compose the one of the 6th axle by belt
Level is slowed down, and the inner end of power transmission shaft (18) is stretched into the inner chamber of the 6th axle power transmission boss (14) and consolidates in inner end
Dingan County's dress left-hand screw conical gear (21), the 6th axle connecting portion (10) inner chamber is provided with the 6th axle harmonic reduction
Machine (22) is for constituting the double reduction of the 6th axle, at the 6th axle connecting portion (10) inner chamber and the 6th axle power
Tooth sector axle (23) is installed, under described tooth sector axle (23) between transmission boss (14) inner chamber
End and the 6th axle harmonic wave speed reducing machine (22) connect, and the upper end of tooth sector axle (23) is provided with right-hand screw circular cone
Gear (24), described left-hand screw conical gear (21) and right-hand screw conical gear (24) are meshed for hands
The power transmission of wrist (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521135397.1U CN205466300U (en) | 2015-12-31 | 2015-12-31 | Terminal structure of industrial six axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521135397.1U CN205466300U (en) | 2015-12-31 | 2015-12-31 | Terminal structure of industrial six axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466300U true CN205466300U (en) | 2016-08-17 |
Family
ID=56662916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521135397.1U Expired - Fee Related CN205466300U (en) | 2015-12-31 | 2015-12-31 | Terminal structure of industrial six axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466300U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in driving shaft |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN108127687A (en) * | 2018-01-29 | 2018-06-08 | 埃夫特智能装备股份有限公司 | A kind of industrial machine human wrist |
-
2015
- 2015-12-31 CN CN201521135397.1U patent/CN205466300U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in driving shaft |
| CN106426264B (en) * | 2016-11-09 | 2018-10-02 | 常州机电职业技术学院 | A kind of robot wrist with built-in transmission shaft |
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN108127687A (en) * | 2018-01-29 | 2018-06-08 | 埃夫特智能装备股份有限公司 | A kind of industrial machine human wrist |
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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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170406 Address after: 243000 Ma'anshan province and County Economic Development Zone, Anhui, Yu River Road, No. 2 Patentee after: Anhui languhing robot Co Ltd Address before: Jiading District Malu Town, Shanghai city 201801 Hengcang Road No. 2465 Building No. 5 Patentee before: Languhing automation equipment (Shanghai) Co., Ltd. |
|
| 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: 20191231 |