CN206011071U - A kind of six-shaft industrial robot - Google Patents
A kind of six-shaft industrial robot Download PDFInfo
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- CN206011071U CN206011071U CN201620947806.6U CN201620947806U CN206011071U CN 206011071 U CN206011071 U CN 206011071U CN 201620947806 U CN201620947806 U CN 201620947806U CN 206011071 U CN206011071 U CN 206011071U
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- servomotor
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Abstract
The utility model discloses a kind of six-shaft industrial robot, it is characterised in that：It is made up of base, mechanical principal arm and three part of mechanical wrist, above the first mechanical arm of the fixing end connect base of the second harmonic reductor of described mechanical principal arm.5th servomotor of described mechanical wrist is fixed on the 4th mechanical arm afterbody of mechanical principal arm.This utility model is provided with needle bearing, adjusts the position of needle bearing, shrinks and compresses Timing Belt, the transmission effect of optimized synchronization band；Bearing gland and synchronous grinding wheel press cap is provided with, be easy for installation and removal driven pulley；The input of each harmonic wave speed reducing machine in mechanical principal arm is all connected with the servo motor output shaft in the joint, the fixing end of each harmonic wave speed reducing machine is all connected with the mechanical arm in last joint, the outfan of each harmonic wave speed reducing machine is all connected with the mechanical arm in the joint, each mechanical arm is realized being connected in series, and ensures each mechanical arm smooth rotation.
Description
Technical field
This utility model is related to industrial robot, and especially a kind of six-shaft industrial robot, belongs to technical field.
Background technology
With being gradually reduced for demographic dividend, enterprises using the labor cost rises steadily, and the public just progressively come into by industrial robot
The visual field.The persisting regressions of demographic dividend, bring great opportunity to develop to Robot industry；In the case where national policy is supported,
Industry is expected to welcome the outbreak period.Industrial robot be towards industrial circle multi-joint manipulator or multivariant machine fill
Put, it can execute work automatically, be a kind of machine that various functions are realized by self power and control ability.
Six-shaft industrial robot by six joint tandem compounds control six-freedom degrees, with very strong versatility, extensively
Various fields are applied to, industrial automation level is significantly improved.But current six-shaft industrial robot generally existing
Defect, each mechanical arm connection are chaotic, and mechanical rotation fluctuation is big.
Utility model content
The purpose of this utility model is the defect in order to solve above-mentioned prior art, there is provided a kind of six axle works of stability of rotation
Industry robot.
The purpose of this utility model can be reached by adopting the following technical scheme that：
A kind of six-shaft industrial robot, it is characterised in that：It is made up of base, mechanical principal arm and three part of mechanical wrist, institute
The base that states comprising base fixed station, the first servomotor, first harmonic reductor, the first drivewheel, the first Timing Belt, first
Needle bearing, the first driven pulley, taper roll bearing, first mechanical arm, bearing gland and synchronous grinding wheel press cap, described first are humorous
The fixing end connect base fixed station of ripple reductor, the input of first harmonic reductor connect the output of the first servomotor
Axle, the outfan of first harmonic reductor connect the first drivewheel, and the first servomotor is fixed on base fixed station, described
First drivewheel connects the first driven pulley by the first Timing Belt, and the first driven pulley is located at the lower section of first mechanical arm, the first machine
Tool arm is socketed on taper roll bearing, and described taper roll bearing is fixed on base fixed station, described bearing gland
It is located above taper roll bearing, described synchronous grinding wheel press cap is located at the lower section of the first driven pulley；
Mechanical principal arm comprising the second servomotor, second harmonic reductor, second mechanical arm, the 3rd servomotor, the 3rd
Harmonic wave speed reducing machine, three-mechanical arm, the 4th servomotor, the 4th harmonic wave speed reducing machine and the 4th mechanical arm, described second harmonic
The input of reductor connects the output shaft of the second servomotor, the outfan connection second mechanical arm of second harmonic reductor
Lower section, the fixing end of described third harmonic reductor connects the top of second mechanical arm, the input of third harmonic reductor
The output shaft of the 3rd servomotor of end connection, below the outfan connection three-mechanical arm of third harmonic reductor, described the
The fixing end of four harmonic wave speed reducing machines connects the top of three-mechanical arm, and the input of the 4th harmonic wave speed reducing machine connects the 4th servo electricity
Machine output shaft, the outfan of the 4th harmonic wave speed reducing machine connect the head of the 4th mechanical arm；
Described mechanical wrist subtracts comprising the 5th servomotor, the 5th harmonic wave speed reducing machine, the 6th servomotor, the 6th harmonic wave
Fast machine, the 5th drivewheel, the 5th Timing Belt, the 5th needle bearing, the 5th driven pulley, left-handed rotating shaft, left deep groove ball bearing, the 5th
Harmonic wave speed reducing machine installing plate, the 6th servomotor installing plate, dextral shaft, right deep groove ball bearing, bearing cap and axle jump ring, institute
The 5th servomotor that states connects the 5th drivewheel, and the 5th drivewheel connects the 5th driven pulley by the 5th Timing Belt, described
5th driven pulley connects the input of the 5th harmonic wave speed reducing machine, the outfan connection the of the 5th harmonic wave speed reducing machine by left-handed rotating shaft
Six servomotor installing plates, the fixing end of the 5th harmonic wave speed reducing machine connect the 5th harmonic wave speed reducing machine installing plate, described left zanjon
Ball bearing and right deep groove ball bearing are located on the 5th harmonic wave speed reducing machine installing plate, and left-handed rotating shaft and dextral shaft one end are socketed respectively
On left deep groove ball bearing and right deep groove ball bearing, the described dextral shaft other end connects the 6th servomotor installing plate, institute
The 6th servomotor installing plate that states connects the 6th servomotor installing plate, and the 6th described harmonic wave speed reducing machine sends out input connection
The output shaft of the 6th servomotor installing plate, described axle jump ring are located on right deep groove ball bearing, and dextral shaft periphery is provided with
Bearing cap.
As a kind of preferred version, the first of the fixing end connect base of the second harmonic reductor of described mechanical principal arm
Above mechanical arm.
Used as a kind of preferred version, the 5th servomotor of described mechanical wrist is fixed on the 4th machinery of mechanical principal arm
Arm afterbody.
This utility model has following beneficial effect relative to prior art：
1st, this utility model is provided with needle bearing, adjusts the position of needle bearing, shrinks and compresses Timing Belt, optimized synchronization
The transmission effect of band；
2nd, this utility model is provided with bearing gland and synchronous grinding wheel press cap, and be easy for installation and removal driven pulley；
3rd, the input of each harmonic wave speed reducing machine in this utility model machinery principal arm is all exported with the servomotor in the joint
Axle connects, and the fixing end of each harmonic wave speed reducing machine is all connected with the mechanical arm in last joint, the outfan of each harmonic wave speed reducing machine all with
The mechanical arm connection in the joint, each mechanical arm are realized being connected in series, and ensure each mechanical arm smooth rotation；
4th, the 6th servomotor installing plate of the present utility model connects the outfan of the 5th harmonic wave speed reducing machine, ensures robot
6th axle stable drive.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 to Fig. 4 is this utility model base portion view.
Fig. 5 is sectional view of the present utility model.
Fig. 6 to Fig. 9 is this utility model wrist view.
Wherein, 1- bases fixed station, the first servomotors of 2-, 3- first harmonic reductors, the first drivewheels of 4-,
The first Timing Belts of 5-, the first needle bearings of 6-, the first driven pulleys of 7-, 8- taper roll bearings, 9- first mechanical arms,
10- bearing glands, 11- synchronization grinding wheel press caps, the second servomotors of 12-, 13- second harmonic reductors, the second machineries of 14-
Arm, the 3rd servomotors of 15-, 16- third harmonic reductors, 17- three-mechanical arms, the 4th servomotors of 18-, 19-
Four harmonic wave speed reducing machines, the 4th mechanical arms of 20-, the 5th servomotors of 21-, the 5th harmonic wave speed reducing machines of 22-, the 6th servos of 23-
Motor, the 6th harmonic wave speed reducing machines of 24-, the 5th drivewheels of 25-, the 5th Timing Belts of 26-, the 5th needle bearings of 27-, 28-
Five driven pulleys, the left-handed rotating shafts of 29-, the left deep groove ball bearings of 30-, the 5th harmonic wave speed reducing machine installing plates of 31-, the 6th servos of 32-
Motor mounting plate, 33- dextral shafts, the right deep groove ball bearings of 34-, 35- bearing caps, 36- axle jump rings.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to a kind of six-shaft industrial robot.It should be appreciated that specific embodiment described herein is only
In order to explain this utility model, it is not used to limit this utility model.
Embodiment 1：
As shown in Figures 1 to 9, a kind of six-shaft industrial robot of the present embodiment, it is characterised in that：Main by base, machinery
Arm and three part of mechanical wrist are constituted, and as shown in Figures 2 to 4, described base includes base fixed station 1, the first servomotor
2nd, first harmonic reductor 3, the first drivewheel 4, the first Timing Belt 5, the first needle bearing 6, the first driven pulley 7, taper roller
Bearing 8, first mechanical arm 9, bearing gland 10 and synchronous grinding wheel press cap 11, the fixing end of described first harmonic reductor 3 connect
Base fixed station 1, the input of first harmonic reductor 3 connect the output shaft of the first servomotor 2, first harmonic reductor 3
Outfan connect the first drivewheel 4, the first servomotor 2 is fixed on base fixed station 1, and the first described drivewheel 4 leads to
Cross the first Timing Belt 5 and connect the first driven pulley 7, the first driven pulley 7 is located at the lower section of first mechanical arm 9, and first mechanical arm 9 is socketed
On taper roll bearing 8, described taper roll bearing 8 is fixed on base fixed station 1, and described bearing gland 10 is located at
Above taper roll bearing 8, described synchronous grinding wheel press cap 11 is located at the lower section of the first driven pulley 7.Wherein, the first Timing Belt 5 exists
The position of the first needle bearing 6 in transmission process, can be adjusted, is shunk and is compressed the first Timing Belt 5, to optimize the first Timing Belt
5 transmission effect.The pairing of taper roll bearing 8 is used, and is installed in base fixed station 1, by bearing gland 10 and first from
The position of taper roll bearing 8 fixed by driving wheel 7, and the use of synchronous grinding wheel press cap 11 can be easy for installation and removal the first driven pulley 7.
As shown in figure 5, described mechanical principal arm includes the second servomotor 12, the 13, second machinery of second harmonic reductor
Arm 14, the 3rd servomotor 15, third harmonic reductor 16, three-mechanical arm 17, the 4th servomotor 18, the 4th harmonic reduction
Machine 19 and the 4th mechanical arm 20, the input of described second harmonic reductor 13 connect the output shaft of the second servomotor 12,
The outfan of second harmonic reductor 13 connects the lower section of second mechanical arm 14, the fixation of described third harmonic reductor 16
The top of end connection second mechanical arm 14, the input of third harmonic reductor 16 connect the output shaft of the 3rd servomotor 15,
Below the outfan connection three-mechanical arm 17 of third harmonic reductor 16, the fixing end of the 4th described harmonic wave speed reducing machine 19 connects
The top of three-mechanical arm 17 is connect, the input of the 4th harmonic wave speed reducing machine 19 connects 18 output shaft of the 4th servomotor, and the 4th is humorous
The outfan of ripple reductor 19 connects the head of the 4th mechanical arm 20.The input of each harmonic wave speed reducing machine in mechanical principal arm all with
The servo motor output shaft connection in the joint, the fixing end of each harmonic wave speed reducing machine is all connected with the mechanical arm in last joint, each humorous
The outfan of ripple reductor is all connected with the mechanical arm in the joint, and each mechanical arm is realized being connected in series, and ensures that each mechanical arm is steady
Rotate.
As shown in Figures 6 to 9, described mechanical wrist includes the 5th servomotor 21, the 5th harmonic wave speed reducing machine the 22, the 6th
Servomotor 23, the 6th harmonic wave speed reducing machine 24, the 5th drivewheel 25, the 5th Timing Belt 26, the 5th needle bearing the 27, the 5th are driven
Wheel 28, left-handed rotating shaft 29, left deep groove ball bearing 30, the 5th harmonic wave speed reducing machine installing plate 31, the 6th servomotor installing plate 32, the right side
Rotary shaft 33, right deep groove ball bearing 34, bearing cap 35 and axle jump ring 36, the described connection of the 5th servomotor 21 the 5th is actively
Wheel 25, the 5th drivewheel 25 connect the 5th driven pulley 28 by the 5th Timing Belt 26, and the 5th described driven pulley 28 is by left-handed
Rotating shaft 29 connects the input of the 5th harmonic wave speed reducing machine 22, and the outfan of the 5th harmonic wave speed reducing machine 22 connects the 6th servomotor peace
Dress plate 32, the fixing end of the 5th harmonic wave speed reducing machine 22 connect the 5th harmonic wave speed reducing machine installing plate 31, described left deep groove ball bearing
30 and right deep groove ball bearing 34 be located on the 5th harmonic wave speed reducing machine installing plate 31, left-handed rotating shaft 29 and 33 one end of dextral shaft difference
It is socketed on left deep groove ball bearing 30 and right deep groove ball bearing 34, described 33 other end of dextral shaft connects the 6th servomotor
Installing plate 32, described the 6th servomotor installing plate 32 connect the 6th servomotor installing plate 32, and the 6th described harmonic wave subtracts
24 inputs of fast machine connect the output shaft of the 6th servomotor installing plate 32, and described axle jump ring 36 is located at right deep-groove ball axle
Hold on 34,33 periphery of dextral shaft is provided with bearing cap 35.Wherein, the 5th servomotor 21 is same by the 5th drivewheel the 25, the 5th
Step band 26 and the 5th driven pulley 28 drive the 5th harmonic wave speed reducing machine 22 to rotate, and the 5th Timing Belt 26 can be adjusted in transmission process
The position of whole 5th needle bearing 27, shrinks and compresses the 5th Timing Belt 26, to optimize the transmission effect of the 5th Timing Belt 26.Such as
Shown in Fig. 8, the 6th servomotor installing plate 32 connects the outfan of the 5th harmonic wave speed reducing machine 22, ensures robot the 6th axle transmission
Steadily, the other end of the 6th servomotor installing plate 32 is connected with dextral shaft 33 and right deep groove ball bearing 34, and selects bearing
Gland 35 and axle jump ring 36 fix dextral shaft 33 and right deep groove ball bearing 34 respectively.
As shown in figure 5, the first machinery of the fixing end connect base of the second harmonic reductor 13 of described mechanical principal arm
Above arm 9.
As shown in fig. 6, the 5th servomotor 21 of described mechanical wrist is fixed on the 4th mechanical arm 20 of mechanical principal arm
Afterbody.
The above, the protection domain of only this utility model patent preferred embodiment, but this utility model patent is simultaneously
Be not limited to this, any those familiar with the art in the scope disclosed in this utility model patent, according to this
The technical scheme of utility model patent and its utility model patent design in addition equivalent or change, belong to this utility model
The protection domain of patent.
Claims (3)
1. a kind of six-shaft industrial robot, it is characterised in that：It is made up of base, mechanical principal arm and three part of mechanical wrist, described
Base include base fixed station（1）, the first servomotor（2）, first harmonic reductor（3）, the first drivewheel（4）, first
Timing Belt（5）, the first needle bearing（6）, the first driven pulley（7）, taper roll bearing（8）, first mechanical arm（9）, bearing pressure
Lid（10）With synchronous grinding wheel press cap（11）, described first harmonic reductor（3）Fixing end connect base fixed station（1）, first
Harmonic wave speed reducing machine（3）Input connect the first servomotor（2）Output shaft, first harmonic reductor（3）Outfan connect
Connect the first drivewheel（4）, the first servomotor（2）It is fixed on base fixed station（1）On, described the first drivewheel（4）Pass through
First Timing Belt（5）Connect the first driven pulley（7）, the first driven pulley（7）It is located at first mechanical arm（9）Lower section, first machinery
Arm（9）It is socketed in taper roll bearing（8）On, described taper roll bearing（8）It is fixed on base fixed station（1）On, described
Bearing gland（10）It is located at taper roll bearing（8）Top, described synchronous grinding wheel press cap（11）It is located at the first driven pulley（7）'s
Lower section；
Described mechanical principal arm includes the second servomotor（12）, second harmonic reductor（13）, second mechanical arm（14）,
Three servomotors（15）, third harmonic reductor（16）, three-mechanical arm（17）, the 4th servomotor（18）, the 4th harmonic wave subtracts
Fast machine（19）With the 4th mechanical arm（20）, described second harmonic reductor（13）Input connect the second servomotor
（12）Output shaft, second harmonic reductor（13）Outfan connection second mechanical arm（14）Lower section, described the 3rd be humorous
Ripple reductor（16）Fixing end connection second mechanical arm（14）Top, third harmonic reductor（16）Input connection the
Three servomotors（15）Output shaft, third harmonic reductor（16）Outfan connection three-mechanical arm（17）Lower section, described
The 4th harmonic wave speed reducing machine（19）Fixing end connection three-mechanical arm（17）Top, the 4th harmonic wave speed reducing machine（19）Input
The 4th servomotor of end connection（18）Output shaft, the 4th harmonic wave speed reducing machine（19）Outfan connect the 4th mechanical arm（20）Head
Portion；
Described mechanical wrist includes the 5th servomotor（21）, the 5th harmonic wave speed reducing machine（22）, the 6th servomotor（23）,
Six harmonic wave speed reducing machines（24）, the 5th drivewheel（25）, the 5th Timing Belt（26）, the 5th needle bearing（27）, the 5th driven pulley
（28）, left-handed rotating shaft（29）, left deep groove ball bearing（30）, the 5th harmonic wave speed reducing machine installing plate（31）, the 6th servomotor install
Plate（32）, dextral shaft（33）, right deep groove ball bearing（34）, bearing cap（35）With axle jump ring（36）, described the 5th servo
Motor（21）Connect the 5th drivewheel（25）, the 5th drivewheel（25）By the 5th Timing Belt（26）Connect the 5th driven pulley
（28）, described the 5th driven pulley（28）By left-handed rotating shaft（29）Connect the 5th harmonic wave speed reducing machine（22）Input, the 5th
Harmonic wave speed reducing machine（22）Outfan connect the 6th servomotor installing plate（32）, the 5th harmonic wave speed reducing machine（22）Fixing end connect
Connect the 5th harmonic wave speed reducing machine installing plate（31）, described left deep groove ball bearing（30）With right deep groove ball bearing（34）It is located at the 5th humorous
Ripple reductor installing plate（31）On, left-handed rotating shaft（29）And dextral shaft（33）One end is socketed in left deep groove ball bearing respectively（30）
With right deep groove ball bearing（34）On, described dextral shaft（33）The other end connects the 6th servomotor installing plate（32）, described
The 6th servomotor installing plate（32）Connect the 6th servomotor installing plate（32）, described the 6th harmonic wave speed reducing machine（24）Send out
Input connects the 6th servomotor installing plate（32）Output shaft, described axle jump ring（36）It is located at right deep groove ball bearing
（34）On, dextral shaft（33）Periphery is provided with bearing cap（35）.
2. a kind of six-shaft industrial robot according to claim 1, it is characterised in that：The second of described mechanical principal arm is humorous
Ripple reductor（13）Fixing end connect base first mechanical arm（9）Top.
3. a kind of six-shaft industrial robot according to claim 1, it is characterised in that：The 5th of described mechanical wrist watches
Take motor（21）It is fixed on the 4th mechanical arm of mechanical principal arm（20）Afterbody.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620947806.6U CN206011071U (en) | 2016-08-26 | 2016-08-26 | A kind of six-shaft industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620947806.6U CN206011071U (en) | 2016-08-26 | 2016-08-26 | A kind of six-shaft industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN206011071U true CN206011071U (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620947806.6U Active CN206011071U (en) | 2016-08-26 | 2016-08-26 | A kind of six-shaft industrial robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414817A (en) * | 2017-07-04 | 2017-12-01 | 长春工业大学 | A kind of pieced six degree of freedom joint type industrial robot and control system |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108544486A (en) * | 2018-03-30 | 2018-09-18 | 苏州容浦机电科技有限公司 | A kind of multi-spindle machining hand with reluctance servo motor |
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
| WO2022121689A1 (en) * | 2020-12-11 | 2022-06-16 | 深圳市越疆科技有限公司 | Lightweight tabletop robotic arm base and lightweight tabletop robotic arm |
| EP4049803A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
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2016
- 2016-08-26 CN CN201620947806.6U patent/CN206011071U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414817A (en) * | 2017-07-04 | 2017-12-01 | 长春工业大学 | A kind of pieced six degree of freedom joint type industrial robot and control system |
| CN107414817B (en) * | 2017-07-04 | 2023-04-25 | 国网吉林省电力有限公司白山供电公司 | Spliced-inserted type six-degree-of-freedom joint type industrial robot |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108312134B (en) * | 2018-02-01 | 2021-05-11 | 江西华士科技股份有限公司 | Six-axis robot |
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
| CN110238834B (en) * | 2018-03-09 | 2024-04-30 | 杨锐涛 | Robot |
| CN108544486A (en) * | 2018-03-30 | 2018-09-18 | 苏州容浦机电科技有限公司 | A kind of multi-spindle machining hand with reluctance servo motor |
| EP4049803A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4049804A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| WO2022121689A1 (en) * | 2020-12-11 | 2022-06-16 | 深圳市越疆科技有限公司 | Lightweight tabletop robotic arm base and lightweight tabletop robotic arm |
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