CN205799575U - A kind of wrist of six-shaft industrial robot - Google Patents
A kind of wrist of six-shaft industrial robot Download PDFInfo
- Publication number
- CN205799575U CN205799575U CN201620553963.9U CN201620553963U CN205799575U CN 205799575 U CN205799575 U CN 205799575U CN 201620553963 U CN201620553963 U CN 201620553963U CN 205799575 U CN205799575 U CN 205799575U
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- swing
- gear
- seat
- fixed
- motor
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Abstract
The utility model discloses the wrist of a kind of six-shaft industrial robot, the swing arm that including arm, is articulated in arm front end, the rotation hands being fixed in the rotating disk of swing arm front end；Rotate hands and include telescoping mechanism and space swing mechanism；Space swing mechanism is fixed on the front end of telescoping mechanism；Telescoping mechanism includes retractable support seat and base；Space swing mechanism includes swing seat, connects seat and swing mechanism；Swing headstock to be fixed on connection seat；Swing mechanism is arranged in swing seat；Spheroid is movably arranged in swing mechanism；Rotate hands execution end to be arranged on spheroid.The utility model has the advantage of: rotation hands can be made to perform any swing of end by two groups of swing mechanism upper sphere perpendicular Plane Rotation actions, the wrist body operating making robot is more flexible, adapts to the technological requirement of various complexity.
Description
Technical field
This utility model relates to robotics, is specifically related to the wrist of a kind of six-shaft industrial robot.
Background technology
The utility application of Application No. CN201210566463.5 discloses a kind of light-duty six axle general-purpose machinerys
People, wherein, the vitals of wrist Ti Shi robot, it has arm, and connecting in the front end of arm has swing arm, at swing arm
Front end is also associated with rotating hands, arranges swing arm and rotation hands is provided to the wrist body operating of robot more flexibly, adapt to
The technological requirement of various complexity.
Although the combination of above-mentioned light-duty six axle all-purpose robot swing arms and rotation hands can make the wrist body of robot transport
Turn more flexible, but, the wrist body of above-mentioned light-duty six axle all-purpose robots but can not be in space as the wrist of natural person
Arbitrarily swing.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that the wrist physical ability picture of a kind of light-duty six axle all-purpose robots is natural
The wrist of people arbitrarily swings the wrist of six-shaft industrial robot like that in space.
For reaching above-mentioned purpose, this utility model provides the wrist of a kind of six-shaft industrial robot, including arm, pivot joint
Swing arm in arm front end, drive the first driver element that swing arm swings, the rotation being fixed in the rotating disk of swing arm front end
The second driver element changed hands and drive rotating disk to rotate；Central axis when described swing arm swings is in the rotation of rotating disk
Turn centrage；Rotate hands and include telescoping mechanism and space swing mechanism；Telescoping mechanism is fixed in the rotating disk of swing arm；Space
Swing mechanism is fixed on the front end of telescoping mechanism；Space swing mechanism includes swing seat, connects seat and swing mechanism；Connecting seat is
Upper surface offers the cylinder of cylinder groove；Swing seat is an annulus；There is an annular tooth bar at center, swing seat medial wall
Mounting groove；The bottom of tooth bar mounting groove is fixed with an annular rack；Swing seat is positioned at the medial wall of tooth bar mounting groove upper and lower sides
Offer a pair annular guide channel；Swing mechanism includes spheroid, vertical plane rotating mechanism, horizontal plane rotating mechanism；Spheroid left and right sides
Left rotary shaft and right spindle is formed on wall；
Vertical plane rotating mechanism includes left guide bracket, the first worm gear, the first worm screw and the first motor；Left guide bracket vertical section in
" Qian " font lain on the left side；Left rotary shaft passes through bearing hinge joint on left guide bracket right side wall；First worm gear is held within left guide bracket
In left rotary shaft；First worm screw is vertically articulated between the top and bottom sidewall of left guide bracket；First worm screw engages with the first worm gear；First
Motor is fixed on left guide bracket lower surface straight up；The output shaft of the first motor and the first worm screw are connected；Left guide bracket upper and lower sides
The front end of wall is plugged in the annular guide channel of swing seat；
Horizontal plane rotating mechanism includes right guide bracket, right gear and the second motor；Right guide bracket vertical section is that right side is sleeping
" Qian " font；Right spindle passes through bearing hinge joint on the left side wall of right guide bracket；Right tooth it is articulated with between the top and bottom sidewall of right guide bracket
Wheel；Second motor is fixed on right guide bracket lower surface straight up；The output shaft of the second motor is connected with right gear；Right gear with
Annular rack engagement in tooth bar mounting groove；The front end of right guide bracket top and bottom sidewall is plugged in the annular guide channel of swing seat；Rotate hands
Perform end to be arranged on spheroid.
Preferred as technique scheme, telescoping mechanism includes retractable support seat, base, threaded rod, screw rod and the 3rd
Motor；Base includes base plate and some first support bars；It is solid that first support bar one end is fixed on the connection bottom surface of seat, the other end
It is scheduled on base plate；Base plate offers some circular holes and screwed hole of centre；Retractable support seat includes that gripper shoe and some second supports
Bar；Second support bar one end is plugged in the circular hole of base plate, the other end is fixing on the supporting plate；Gripper shoe center is fixed with axle
Hold；Threaded rod upper end is screwed onto in the screwed hole of centre of base plate, lower end is plugged in bearing；Threaded rod bottom is fixed with worm gear；
Screw rod is articulated in a pair fixing the 3rd gripper shoe on the supporting plate；Spiral shell worm and wheel engages；Screw rod is fixed on the 3rd motor
Output shaft.Preferred as technique scheme, described first driver element includes the 4th motor, the connection being arranged on arm
Connect the first gear unit of the 4th motor and swing arm；Described first gear unit includes being articulated on arm and be coaxially disposed
Second gear and the 3rd gear, the 4th gear being articulated on arm and being coaxially disposed and the first synchronous pulley, it is articulated in arm
On the 3rd axle, the second synchronous pulley of being fixedly mounted on the 3rd axle；It is provided with first on the output shaft of described 4th motor
Gear, the first gear and the engagement of the second gear, the 3rd gear and the 4th gear engage, and the first synchronous pulley passes through Timing Belt and the
Two synchronous pulleys couple, and the 3rd axle is fixing with swing arm to be connected.
The beneficial effects of the utility model are: by two groups of swing mechanism upper sphere perpendicular Plane Rotation actions
Rotation hands can be made to perform any swing of end, and the wrist body operating making robot is more flexible, adapts to the work of various complexity
Skill requirement.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of rotation hands of the present utility model；
Fig. 3 is the front view of rotation hands of the present utility model；
Fig. 4 is the left view of rotation hands of the present utility model；
Fig. 5 is the cross-sectional view of A-A in Fig. 3 of the present utility model；
Fig. 6 is the cross-sectional view of B-B in Fig. 3 of the present utility model；
Fig. 7 is the cross-sectional view of C-C in Fig. 3 of the present utility model；
Fig. 8 is the cross-sectional view of D-D in Fig. 3 of the present utility model；
Fig. 9 is the cross-sectional view of E-E in Fig. 4 of the present utility model；
In figure, 10, space swing mechanism；11, swing seat；111, tooth bar mounting groove；1111, annular rack；112, annular
Guide groove；12, seat is connected；14, swing mechanism；141, spheroid；1411, right spindle；1412, left rotary shaft；142, left guide bracket；143,
One worm gear；144, right guide bracket；145, right gear；146, the second motor；147, the first worm screw；148, the first motor；20, telescopic machine
Structure；21, base；211, the first support bar；212, base plate；22, retractable support seat；221, the second support bar；222, gripper shoe；
23, threaded rod；24, worm gear；25, screw rod；251, the 3rd gripper shoe；26, the 3rd motor；30, arm；31, the first gear；32、
Second gear；34, the 4th gear；35, the first synchronous pulley；36, the 3rd axle；37, the second synchronous pulley；38, Timing Belt；40、
Swing arm；41, rotating disk.
Detailed description of the invention
As shown in Fig. 1～Fig. 5, Fig. 8, the wrist of a kind of six-shaft industrial robot, including arm 30, be articulated in arm 30 before
The swing arm 40 of end, drive the first driver element that swing arm 40 swings, the rotation that is fixed in swing arm 40 front end rotating disk 41
The second driver element changed hands and drive rotating disk 41 to rotate；Central axis when described swing arm 40 swings is in rotating disk 41
Rotation centerline；Rotate hands and include telescoping mechanism 20 and space swing mechanism 10；
Telescoping mechanism 20 is fixed in the rotating disk 41 of swing arm 40；Space swing mechanism 10 is fixed on telescoping mechanism 20
Front end；Space swing mechanism 10 includes swing seat 11, connects seat 12 and swing mechanism 14；Connect seat 12 to offer for upper surface
The cylinder of cylinder groove；Swing seat 11 is an annulus；There is an annular tooth bar mounting groove at center, swing seat 11 medial wall
111；The bottom of tooth bar mounting groove 111 is fixed with an annular rack 1111；Swing seat 11 is positioned at tooth bar mounting groove 111 upper and lower sides
Medial wall offer a pair annular guide channel 112；Swing mechanism 14 includes that spheroid 141, vertical plane rotating mechanism, horizontal plane rotate
Mechanism；Left rotary shaft 1412 and right spindle 1411 is formed on spheroid about 141 sidewall；
Vertical plane rotating mechanism includes left guide bracket the 142, first worm gear the 143, first worm screw 147 and the first motor 148；A left side is led
Seat 142 vertical sections are in " Qian " font lain on the left side；Left rotary shaft 1412 passes through bearing hinge joint on left guide bracket 142 right side wall；The
One worm gear 143 is held within the left rotary shaft 1412 in left guide bracket 142；First worm screw 147 is vertically articulated in the upper of left guide bracket 142
Between lower wall；First worm screw 147 engages with the first worm gear 143；First motor 148 is fixed on left guide bracket 142 times straight up
On end face；Output shaft and first worm screw 147 of the first motor 148 are connected；The front end of left guide bracket 142 top and bottom sidewall is plugged in swing
The annular guide channel 112 of seat 11；
Horizontal plane rotating mechanism includes right guide bracket 144, right gear 145 and the second motor 146；Right guide bracket 144 vertical section
" Qian " font sleeping in right side；Right spindle 1411 passes through bearing hinge joint on the left side wall of right guide bracket 144；Right guide bracket 144 upper
Right gear 145 it is articulated with between lower wall；Second motor 146 is fixed on right guide bracket 144 lower surface straight up；Second motor
The output shaft of 146 is connected with right gear 145；Right gear 145 engages with the annular rack 1111 in tooth bar mounting groove 111；The right side is led
The front end of seat 144 top and bottom sidewalls is plugged in the annular guide channel 112 of swing seat 11；Rotate hands execution end to be arranged on spheroid.
As shown in Fig. 2～Fig. 4, Fig. 8, telescoping mechanism 20 includes retractable support seat 22, base 21, threaded rod 23, screw rod 25
With the 3rd motor 26；Base 21 includes base plate 212 and some first support bars 211；First support bar 211 one end is fixed on connection
The bottom surface of seat 12, the other end are fixed on base plate 212；Base plate 212 offers some circular holes and screwed hole of centre；Retractable support seat
22 include gripper shoe 222 and some second support bars 221；Second support bar 221 one end is plugged in the circular hole of base plate 212, separately
One end is fixed in gripper shoe 222；Gripper shoe 222 center is fixed with bearing；Threaded rod 23 upper end is screwed onto the center of base plate 212
Screwed hole is interior, lower end is plugged in bearing；Threaded rod 23 bottom is fixed with worm gear 24；Screw rod 25 is articulated in a pair and is fixed on support
In the 3rd gripper shoe 251 on plate 222；Screw rod 25 engages with worm gear 24；Screw rod 25 is fixed on the output shaft of the 3rd motor 26.
As it is shown in figure 1, described first driver element include being arranged on arm 30 the 4th motor, couple the 4th motor with
First gear unit of swing arm 40；Described first gear unit includes the second gear being articulated on arm 30 and being coaxially disposed
32 and the 3rd gear, the 4th gear 34 and the first synchronous pulley 35 that are articulated on arm 30 and are coaxially disposed, be articulated in arm
The 3rd axle 36 on 30, the second synchronous pulley 37 being fixedly mounted on the 3rd axle 36；Pacify on the output shaft of described 4th motor
Equipped with the first gear 31, the first gear 31 engages with the second gear 32, and the 3rd gear and the 4th gear 34 engage, the first Timing Belt
Wheel 35 is coupled with the second synchronous pulley 37 by Timing Belt 38, and the 3rd axle 36 is fixing with swing arm 40 to be connected.
Concrete operations are as follows: telescoping mechanism 20: the three motor 26 drives worm screw 24 to rotate, and worm screw 24 is driven by worm gear 24
Threaded rod 23 rotates；Due to the existence of the second support bar 221, threaded rod 23 can only drive space swing mechanism 10 to move up and down.
Space swing mechanism 10: vertical plane rotating mechanism drives the first worm screw 147 to rotate by the first motor 148, first
Worm screw 147 drives spheroid 141 to rotate on vertical plane by the first worm gear 143；Horizontal plane rotating mechanism passes through the second motor
146 drive right gear 145 to rotate, and right gear 145 drives vertical plane rotating mechanism to revolve in the horizontal plane by annular rack 1111
Turn.The first driver element, the second driver element, space swing mechanism 10, telescoping mechanism 20 cooperating under, rotate hands hold
Row end arbitrarily can swing in space as the wrist of natural person.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (3)
1. a wrist for six-shaft industrial robot, the swing arm (40) including arm (30), being articulated in arm (30) front end, drives
The first driver element that movable pendulum swing arm (40) swings, the rotation hands being fixed on swing arm (40) front end rotating disk (41) and driving
The second driver element that rotating disk (41) rotates；Central axis when described swing arm (40) swings is in the rotation of rotating disk (41)
Turn centrage；Rotate hands and include telescoping mechanism (20) and space swing mechanism (10)；Telescoping mechanism (20) is fixed on swing arm
(40) in rotating disk (41)；Space swing mechanism (10) is fixed on the front end of telescoping mechanism (20)；It is characterized in that: space is put
Motivation structure (10) includes swing seat (11), connects seat (12) and swing mechanism (14)；Connecting seat (12) is that upper surface offers circle
The cylinder of post groove；Swing seat (11) is an annulus；There is an annular tooth bar mounting groove at swing seat (11) center, medial wall
(111)；The bottom of tooth bar mounting groove (111) is fixed with an annular rack (1111)；Swing seat (11) is positioned at tooth bar mounting groove
(111) medial wall of upper and lower sides offers a pair annular guide channel (112)；Swing mechanism (14) includes that spheroid (141), vertical plane revolve
Rotation mechanism, horizontal plane rotating mechanism；Left rotary shaft (1412) and right spindle (1411) is formed on the sidewall of spheroid (141) left and right；
Vertical plane rotating mechanism includes left guide bracket (142), the first worm gear (143), the first worm screw (147) and the first motor (148)；
Left guide bracket (142) vertical section is in " Qian " font lain on the left side；Left rotary shaft (1412) is right at left guide bracket (142) by bearing hinge joint
On sidewall；First worm gear (143) is held within the left rotary shaft (1412) in left guide bracket (142)；First worm screw (147) vertically pivot
It is connected between the top and bottom sidewall of left guide bracket (142)；First worm screw (147) engages with the first worm gear (143)；First motor (148)
It is fixed on straight up on left guide bracket (142) lower surface；The output shaft of the first motor (148) and the first worm screw (147) are connected；Left
The front end of guide bracket (142) top and bottom sidewall is plugged in the annular guide channel (112) of swing seat (11)；Horizontal plane rotating mechanism includes the right side
Guide bracket (144), right gear (145) and the second motor (146)；Right guide bracket (144) vertical section is " Qian " font that right side is sleeping；Right
Rotating shaft (1411) passes through bearing hinge joint on the left side wall of right guide bracket (144)；It is articulated with between the top and bottom sidewall of right guide bracket (144)
Right gear (145)；Second motor (146) is fixed on right guide bracket (144) lower surface straight up；Second motor (146) defeated
Shaft is connected with right gear (145)；Right gear (145) engages with the annular rack (1111) in tooth bar mounting groove (111)；The right side is led
The front end of seat (144) top and bottom sidewall is plugged in the annular guide channel (112) of swing seat (11)；Rotate hands execution end and be arranged on spheroid
On.
The wrist of a kind of six-shaft industrial robot the most according to claim 1, it is characterised in that: telescoping mechanism (20) includes
Retractable support seat (22), base (21), threaded rod (23), screw rod (25) and the 3rd motor (26)；Base (21) includes base plate
And some first support bars (211) (212)；First support bar (211) one end be fixed on connect seat (12) bottom surface, the other end solid
It is scheduled on base plate (212)；Base plate (212) offers some circular holes and screwed hole of centre；Retractable support seat (22) includes gripper shoe
And some second support bars (221) (222)；Second support bar (221) one end is plugged in the circular hole of base plate (212), the other end
It is fixed in gripper shoe (222)；Gripper shoe (222) center is fixed with bearing；Threaded rod (23) upper end is screwed onto base plate (212)
Screwed hole of centre is interior, lower end is plugged in bearing；Threaded rod (23) bottom is fixed with worm gear (24)；Screw rod (25) is articulated in a pair
It is fixed in the 3rd gripper shoe (251) in gripper shoe (222)；Screw rod (25) engages with worm gear (24)；Screw rod (25) is fixed on
The output shaft of the 3rd motor (26).
The wrist of a kind of six-shaft industrial robot the most according to claim 1, it is characterised in that: described first drives list
Unit includes the 4th motor being arranged on arm (30), couples the 4th motor the first gear unit with swing arm (40)；Described
First gear unit includes the second gear (32) and the 3rd gear that are articulated on arm (30) and are coaxially disposed, is articulated in arm
(30) upper and the 4th gear (34) that is coaxially disposed and the first synchronous pulley (35), the 3rd axle being articulated on arm (30)
(36) the second synchronous pulley (37) on the 3rd axle (36), it is fixedly mounted on；It is provided with on the output shaft of described 4th motor
One gear (31), the first gear (31) engages with the second gear (32), and the 3rd gear and the engagement of the 4th gear (34), first synchronizes
Belt wheel (35) is coupled with the second synchronous pulley (37) by Timing Belt (38), and the 3rd axle (36) is fixing with swing arm (40) to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620553963.9U CN205799575U (en) | 2016-06-08 | 2016-06-08 | A kind of wrist of six-shaft industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620553963.9U CN205799575U (en) | 2016-06-08 | 2016-06-08 | A kind of wrist of six-shaft industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799575U true CN205799575U (en) | 2016-12-14 |
Family
ID=58142666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620553963.9U Expired - Fee Related CN205799575U (en) | 2016-06-08 | 2016-06-08 | A kind of wrist of six-shaft industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799575U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904481A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Wrist of six-axis industrial robot |
-
2016
- 2016-06-08 CN CN201620553963.9U patent/CN205799575U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904481A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Wrist of six-axis industrial robot |
| CN105904481B (en) * | 2016-06-08 | 2017-12-26 | 新疆三力智能科技有限公司 | A kind of wrist of six-shaft industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Sihui Inventor before: Fu Shuzhen |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170427 Address after: 523430 Guangdong city of Dongguan province Liaobu three Road Town Hengkeng cross East Baoding Science Park building A Patentee after: Dongguan United robot equipment Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20170608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |