CN206230522U - Modularization six-joint robot - Google Patents
Modularization six-joint robot Download PDFInfo
- Publication number
- CN206230522U CN206230522U CN201621163744.6U CN201621163744U CN206230522U CN 206230522 U CN206230522 U CN 206230522U CN 201621163744 U CN201621163744 U CN 201621163744U CN 206230522 U CN206230522 U CN 206230522U
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- axle
- modules
- reductors
- modularization
- module
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Abstract
The utility model discloses modularization six-joint robot, comprising axle module and base, described axle module is located on base, it is characterised in that：Described axle module is made up of an axle module, two axle modules, three axle modules, four axle modules, five axle modules and six axle modules, a described axle module is arranged on base, one spindle motor connects an axle bearing by an axle reductor, two spindle motors of two described axle modules connect the lower end of arm by two axle reductors, and three spindle motors of three described axle modules connect the upper end of arm by three axle reductors.The utility model be it is a kind of can the six-joint robot of the hanging splicing structure of modularization that is combined to six axles of two axles, the six-joint robot convenient disassembly of the design realizes a tractor serves several purposes, with sound construction, low cost, combination is easy, it is convenient to manufacture, the advantage having a wide range of application.
Description
Technical field
The utility model is related to industrial robot, especially modularization six-joint robot, belongs to technical field.
Background technology
Robot is divided into two major classes, i.e. industrial robot and special type by the roboticist of China from applied environment
Robot.So-called industrial robot is exactly the multi-joint manipulator or multi-freedom robot towards industrial circle.And extraordinary machine
Device people is then in addition to industrial robot, for nonmanufacturing industry and serve the various sophisticated machine people of the mankind, including：Service
Robot, underwater robot, amusement robot, military robot, agricultural robot, robotization machine etc..
In the prior art, six-joint robot close structure, it has not been convenient to be combined into two axles to wu-zhi-shan pig, range of application
It is restricted.
Utility model content
The purpose of this utility model is to solve the defect of above-mentioned prior art, there is provided a kind of convenient disassembly, a machine are more
Modularization six-joint robot.
The purpose of this utility model can be reached by adopting the following technical scheme that：
Modularization six-joint robot, comprising axle module and base, described axle module is located on base, it is characterised in that：
Described axle module is made up of an axle module, two axle modules, three axle modules, four axle modules, five axle modules and six axle modules, described
An axle module be arranged on base, a spindle motor connects an axle bearing, the two of described two axle modules by an axle reductor
Spindle motor connects the lower end of arm by two axle reductors, and three spindle motors of three described axle modules are connected by three axle reductors
The upper end of arm, three described axle reductors are fixed on three bracing strut lower ends, and four spindle motors of four described axle modules pass through four
Axle reductor connects four axle journal cores, and four described axle reductors are fixed on four bracing struts, and five axles of five described axle modules are electric
Machine connects six bracing strut lower ends by five axle reductors, and six spindle motors of six described axle modules connect six by six axle reductors
Axle output panel, six axle output panels are provided with actuator, and six described axle reductors are fixed on six bracing strut upper ends.
Used as a kind of preferred scheme, an axle reductor and an axle bearing of a described axle module are connected by an axle bearing core
Connect.
As a kind of preferred scheme, the longitudinal section Cheng " Shang of two bracing struts of described two axle modules " font, upper end connection
Two axle reductors, lower end is fixed on an axle bearing.
Used as a kind of preferred scheme, described three bracing struts of three axle modules and four bracing struts of four axle modules are connected, and are indulged
Section is in reverse " F " font.
Used as a kind of preferred scheme, five bracing struts of five described axle modules are in "U" shaped, and five bracing struts are fixed on four axles
On neck core.
Used as a kind of preferred scheme, the longitudinal section of six bracing struts of described six axle modules is in reverse inverted " L " font.
The utility model be it is a kind of can the six-joint robot of the hanging splicing structure of modularization that is combined to six axles of two axles, should
The six-joint robot convenient disassembly of design, realizes a tractor serves several purposes, and with sound construction, low cost, combination is easy, convenient production system
Make, the advantage having a wide range of application.
Brief description of the drawings
Fig. 1, Fig. 2 are structural representation of the present utility model.
Wherein, the axle modules of 1- mono-, the spindle motors of 101- mono-, the axle reductors of 102- mono-, the axle bearing cores of 103- mono-, 104-
One axle bearing, the axle modules of 2- bis-, the spindle motors of 201- bis-, the axle reductors of 202- bis-, the bracing struts of 203- bis-, 204- arms,
The axle modules of 3- tri-, the spindle motors of 301- tri-, the axle reductors of 302- tri-, the bracing struts of 303- tri-, the axle modules of 4- tetra-, the axles of 401- tetra-
Motor, the axle reductors of 402- tetra-, the bracing struts of 403- tetra-, the axle journal cores of 404- tetra-, the axle modules of 5- five, the spindle motors of 501- five,
The axle reductors of 502- five, the bracing struts of 503- five, the axle modules of 6- six, the spindle motors of 601- six, the axle reductors of 602- six, 603-
Six bracing struts, the axle output panels of 604- six, 605- actuators, 7- bases.
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 implementation
Example, is further elaborated to modularization six-joint robot.It should be appreciated that specific embodiment described herein is only used
To explain the utility model, it is not used to limit the utility model.
Embodiment 1：
As shown in Figure 1 and Figure 2, the modularization six-joint robot of the present embodiment, comprising axle module and base 7, described Axle mould
Block is located on base 7, it is characterised in that：Described axle module is by an axle module 1, two axle modules 2, three axle modules 3, four axle modules
4th, five axle modules 5 and six axle modules 6 are constituted, and a described axle module 1 is arranged on base 7, and a spindle motor 101 is subtracted by an axle
Fast machine 102 connects an axle bearing 104, and two spindle motors 201 of two described axle modules 2 connect arm by two axle reductor 202
204 lower end, three spindle motors 301 of three described axle modules 3 connect the upper end of arm 204 by three axle reductor 302, described
Three axle reductors 302 be fixed on the lower end of three bracing strut 303, four spindle motors 401 of four described axle modules 4 are slowed down by four axles
Machine 402 connects four axle journal cores 404, and four described axle reductors 402 are fixed on four bracing struts 403, described five axle modules 5
Five spindle motors 501 connect the lower end of six bracing strut 603 by five axle reductor 502, six spindle motors 601 of described six axle modules 6
Six axle output panels 604 are connected by six axle reductor 602, six axle output panels 604 are provided with actuator 605, and six described axles subtract
Fast machine 602 is fixed on the upper end of six bracing strut 603.
As shown in Fig. 2 an axle reductor 102 of a described axle module 1 and an axle bearing 104 pass through an axle bearing core
103 connections.
As shown in Fig. 2 the longitudinal section Cheng " Shang of two bracing struts 203 of two described axle modules 2 " font, upper end connects two axles
Reductor 202, lower end is fixed on an axle bearing 104.
As shown in Fig. 2 four bracing struts 403 of three bracing struts 303 of three described axle modules 3 and four axle modules 4 are connected, indulge
Section is in reverse " F " font.
As shown in Fig. 2 five bracing struts 503 of five described axle modules 5 are in "U" shaped, five bracing struts 503 are fixed on four axles
On neck core 404.
As shown in Fig. 2 the longitudinal section of six bracing struts 603 of six described axle modules 6 is in reverse inverted " L " font.
The utility model be it is a kind of can the six-joint robot of the hanging splicing structure of modularization that is combined to six axles of two axles, should
The six-joint robot convenient disassembly of design, realizes a tractor serves several purposes, and with sound construction, low cost, combination is easy, convenient production system
Make, the advantage having a wide range of application.
The above, the protection domain of only the utility model patent preferred embodiment, but the utility model patent is simultaneously
Be not limited to this, any one skilled in the art in the scope disclosed in the utility model patent, according to this
Technical scheme and its utility model patent design of utility model patent are subject to equivalent or change, belong to the utility model
The protection domain of patent.
Claims (6)
1. modularization six-joint robot, comprising axle module and base（7）, described axle module is located at base（7）On, its feature exists
In：Described axle module is by an axle module（1）, two axle modules（2）, three axle modules（3）, four axle modules（4）, five axle modules（5）
With six axle modules（6）Constitute, a described axle module（1）Installed in base（7）On, a spindle motor（101）Slowed down by an axle
Machine（102）Connect an axle bearing（104）, described two axle modules（2）Two spindle motors（201）By two axle reductors（202）
Connection arm（204）Lower end, three described axle modules（3）Three spindle motors（301）By three axle reductors（302）Connection hand
Arm（204）Upper end, three described axle reductors（302）It is fixed on three bracing struts（303）Lower end, four described axle modules（4）
Four spindle motors（401）By four axle reductors（402）Connect four axle journal cores（404）, described four axle reductors（402）It is fixed
In four bracing struts（403）On, five described axle modules（5）Five spindle motors（501）By five axle reductors（502）Connect six axles
Support（603）Lower end, six described axle modules（6）Six spindle motors（601）By six axle reductors（602）Connect the output of six axles
Disk（604）, six axle output panels（604）It is provided with actuator（605）, described six axle reductors（602）It is fixed on six bracing struts
（603）Upper end.
2. modularization six-joint robot according to claim 1, it is characterised in that：A described axle module（1）An axle
Reductor（102）With an axle bearing（104）By an axle bearing core（103）Connection.
3. modularization six-joint robot according to claim 1, it is characterised in that：Two described axle modules（2）Two axles
Support（203）Longitudinal section Cheng " Shang " font, upper end connects two axle reductors（202）, lower end is fixed on an axle bearing（104）
On.
4. modularization six-joint robot according to claim 1, it is characterised in that：Three described axle modules（3）Three axles
Support（303）With four axle modules（4）Four bracing struts（403）Connection, longitudinal section is in reverse " F " font.
5. modularization six-joint robot according to claim 1, it is characterised in that：Five described axle modules（5）Five axles
Support（503）In "U" shaped, five bracing struts（503）It is fixed on four axle journal cores（404）On.
6. modularization six-joint robot according to claim 1, it is characterised in that：Six described axle modules（6）Six axles
Support（603）Longitudinal section be in reverse inverted " L " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621163744.6U CN206230522U (en) | 2016-11-02 | 2016-11-02 | Modularization six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621163744.6U CN206230522U (en) | 2016-11-02 | 2016-11-02 | Modularization six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206230522U true CN206230522U (en) | 2017-06-09 |
Family
ID=58982915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621163744.6U Expired - Fee Related CN206230522U (en) | 2016-11-02 | 2016-11-02 | Modularization six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206230522U (en) |
-
2016
- 2016-11-02 CN CN201621163744.6U patent/CN206230522U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170609 Termination date: 20201102 |