CN206536453U - A kind of big arm configuration for heavy-load type six-joint robot - Google Patents
A kind of big arm configuration for heavy-load type six-joint robot Download PDFInfo
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- CN206536453U CN206536453U CN201720138004.5U CN201720138004U CN206536453U CN 206536453 U CN206536453 U CN 206536453U CN 201720138004 U CN201720138004 U CN 201720138004U CN 206536453 U CN206536453 U CN 206536453U
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- connecting shaft
- match wheel
- wheel
- axle servomotor
- joint robot
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Abstract
The utility model discloses a kind of big arm configuration for heavy-load type six-joint robot, including base, the lower end of the base is provided with foundation bolt and installs side, the upper end of the base drives the first connecting shaft having for rotation by first axle servomotor, and first be provided with slideway in connecting shaft, the big arm configuration of six-joint robot of the utility model design can change the relative position between mobile bar and the second connecting shaft pedestal using pushing meanss, so as to reduce the power provided needed for the second axle servomotor, and can be by changing installation site of the second axle servomotor in the first connecting shaft, and utilize the first different match wheel of diameter, second match wheel and the 3rd match wheel are used as transmission medium, the power of output required for changing the second axle servomotor, so as to which the effective object larger to weight carries out transport operation, reduce the performance requirement to motor, with very high practical value.
Description
Technical field
The utility model is related to six-joint robot structure-design technique field, is specially that one kind is used for the axle machine of heavy-load type six
The big arm configuration of people.
Background technology
With the development of industrial automation, increasing operating post is replaced by robot, especially a few thing
The uninteresting post of bad environments, action, existing industrial robot is mainly prosthetic robot or fluid pressure type machine
Therefore mobility in people, wherein the six-joint robot three dimensions powerful due to possessing is widely used in carrying, spray
The fields such as paint, electric welding, the torque that servomotor is carried after six-joint robot is heavily loaded due to end in progress carrying work is larger,
There is very high requirement to the performance of the servomotor of joint, therefore limit its ability to work, if invention one kind can
Effectively reduction is to new six shaft mechanicals National People's Congress arm configuration its working range of raising that just can be effective of servomotor requirement and right
The bearing capacity of end weight, a kind of big arm configuration in heavy-load type six-joint robot is we provided for this.
Utility model content
The purpose of this utility model is to provide a kind of big arm configuration for heavy-load type six-joint robot, existing to solve
Robot's arm working range is small in technology and the problem of poor bearing capacity.
To achieve the above object, the utility model provides following technical scheme：It is a kind of for heavy-load type six-joint robot
Big arm configuration, including base, the lower end of the base are provided with foundation bolt and install side, and the upper end of the base passes through first axle
Servomotor driving has the first connecting shaft for rotation, and slideway is provided with the first connecting shaft, and the left end of the slideway is set
The second axle servomotor is equipped with, and the second axle servomotor is connected by flange with the first connecting shaft, the second axle servo
The right-hand member of motor is provided through the driving wheel of the first connecting shaft, and the upper end of the first connecting shaft is hinged by jointed shaft and is provided with
It is provided with the right side of second connecting shaft pedestal, the second connecting shaft pedestal on the right side of mounting seat, and mounting seat and is provided with first
It is provided with the right side of match wheel, first match wheel on the right side of the second match wheel, and the second match wheel and the 3rd cooperation is installed
Wheel, the rear end of the second connecting shaft pedestal is provided with socket on guide rod, and guide rod and is provided with mobile bar, and described second connects
The upper end of spindle pedestal is provided with the pushing meanss for driving mobile bar, and the 3rd match wheel includes upper junction plate, and on
The lower end of connecting plate is provided with lower connecting plate, and the lower end of the lower connecting plate is provided with the gear ring matched with driving wheel, and upper company
It is provided with fishplate bar and lower connecting plate in bolt apertures, the bolt apertures and is provided with connection mounting seat and each match wheel or cooperation
Between the bolt being attached between wheel, and the first match wheel, the second match wheel and the 3rd match wheel except size dimension successively
Equal proportion increase external structure is identical.
It is preferred that, lightening hole is provided with the upper junction plate and lower connecting plate, and lightening hole is scallop hole.
It is preferred that, the pushing meanss are single pole double acting hydraulic cylinder or ball screw rod type motor push rod.
Compared with prior art, the beneficial effects of the utility model are：The six-joint robot large arm of the utility model design
Structure can change the relative position between mobile bar and the second connecting shaft pedestal using pushing meanss, be watched so as to reduce the second axle
The power provided needed for motor is provided, and can by changing installation site of the second axle servomotor in the first connecting shaft, and
By the use of the first different match wheel of diameter, the second match wheel and the 3rd match wheel as transmission medium, change the second axle and watch
The power of output required for taking motor, so that the effective object larger to weight carries out transport operation, reduces the performance to motor
It is required that, with very high practical value.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the structural representation of the match wheel of the utility model the 3rd.
In figure：1 base, 2 first connecting shafts, 3 driving wheels, 4 mounting seats, 5 the 3rd match wheels, 501 gear rings, connect on 502
Plate, 503 lower connecting plates, 504 bolt apertures, 505 bolts, 6 second match wheels, 7 first match wheels, 8 pushing meanss, 9 guide rods, 10
Mobile bar, 11 second connecting shaft pedestals, 12 jointed shafts, 13 flanges, 14 second axle servomotors, 15 slideways, 16 first axles are watched
Take motor, 17 foundation bolts and side, 18 lightening holes are installed.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1-2 is referred to, the utility model provides a kind of technical scheme：A kind of large arm for heavy-load type six-joint robot
Structure, including base 1, the lower end of base 1 are provided with foundation bolt and install side 17, and the upper end of base 1 passes through first axle servo electricity
Machine 16 drives the first connecting shaft 2 having for rotation, and slideway 15 is provided with the first connecting shaft 2, and the left end of slideway 15 is set
There is the second axle servomotor 14, and the second axle servomotor 14 is connected by flange 13 with the first connecting shaft 2, the second axle servo
The right-hand member of motor 14 is provided through the driving wheel 3 of the first connecting shaft 2, and the upper end of the first connecting shaft 2 is cut with scissors by jointed shaft 12
Connect and the second connecting shaft pedestal 11 is installed, the right side of the second connecting shaft pedestal 11 is provided with mounting seat 4, and the right side of mounting seat 4
First match wheel 7 is installed, the right side of the first match wheel 7 is provided with the second match wheel 6, and the right side of the second match wheel 6 is installed
There is the 3rd match wheel 5, the rear end of the second connecting shaft pedestal 11 is provided with socket on guide rod 9, and guide rod 9 and is provided with mobile bar
10, the upper end of the second connecting shaft pedestal 11 is provided with the pushing meanss 8 for driving mobile bar 10.
3rd match wheel 5 includes upper junction plate 502, and the lower end of upper junction plate 502 is provided with lower connecting plate 503, lower company
The lower end of fishplate bar 503 is provided with the gear ring 501 matched with driving wheel 3, and upper junction plate 502 and lower connecting plate 503 and is respectively provided with
There is the spiral shell for being provided with and being attached between connection mounting seat 4 and each match wheel or match wheel in bolt apertures 504, bolt apertures 504
Between bolt 505, and the first match wheel 7, the second match wheel 6 and the 3rd match wheel 5 in addition to the increase of size dimension successively equal proportion
Structure is identical, and lightening hole 18 is provided with upper junction plate 502 and lower connecting plate 503, and lightening hole 18 is scallop hole, is pushed away
Dynamic device 8 is single pole double acting hydraulic cylinder or ball screw rod type motor push rod.
The device can change the relative position between the connecting shaft pedestal 11 of mobile bar 10 and second using pushing meanss 8,
So as to reduce the power provided needed for the second axle servomotor 14, and it can be connected by changing the second axle servomotor 14 first
Installation site in spindle 2, and made using the first different match wheel 7 of diameter, the second match wheel 6 and the 3rd match wheel 5
For transmission medium, the power of output required for changing the second axle servomotor 14, so that the effective object larger to weight is carried out
Transport operation, reduces the performance requirement to motor, with very high practical value.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out in the case where not departing from principle of the present utility model and spirit a variety of changes, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (3)
1. a kind of big arm configuration for heavy-load type six-joint robot, including base (1), the lower end of the base (1) are provided with
Foundation bolt installs side (17), it is characterised in that：The upper end of the base (1) is driven useful by first axle servomotor (16)
Slideway (15) is provided with the first connecting shaft (2) of rotation, and in the first connecting shaft (2), the left end of the slideway (15) is set
There is the second axle servomotor (14), and the second axle servomotor (14) is connected by flange (13) with the first connecting shaft (2), institute
The right-hand member for stating the second axle servomotor (14) is provided through the driving wheel (3) of the first connecting shaft (2), and the first connecting shaft (2)
Upper end be hinged by jointed shaft (12) the second connecting shaft pedestal (11) be installed, the right side of the second connecting shaft pedestal (11)
It is provided with the right side of mounting seat (4), and mounting seat (4) and the first match wheel (7) is installed, the right side of first match wheel (7)
It is provided with the right side of the second match wheel (6), and the second match wheel (6) and the 3rd match wheel (5) is installed, the second connecting shaft base
The rear end of seat (11) is provided with socket on guide rod (9), and guide rod (9) and is provided with mobile bar (10), second connecting shaft
The upper end of pedestal (11) is provided with the pushing meanss (8) for driving mobile bar (10), and the 3rd match wheel (5) includes upper company
Fishplate bar (502), and the lower end of upper junction plate (502) is provided with lower connecting plate (503), the lower end of the lower connecting plate (503) is set
It is equipped with the gear ring (501) matched with driving wheel (3), and upper junction plate (502) and lower connecting plate (503) and is provided with bolt apertures
(504), it is provided with what is be attached between connection mounting seat (4) and each match wheel or match wheel in the bolt apertures (504)
Between bolt (505), and the first match wheel (7), the second match wheel (6) and the 3rd match wheel (5) except size dimension successively etc.
Ratio increase external structure is identical.
2. a kind of big arm configuration for heavy-load type six-joint robot according to claim 1, it is characterised in that：On described
Lightening hole (18) is provided with connecting plate (502) and lower connecting plate (503), and lightening hole (18) is scallop hole.
3. a kind of big arm configuration for heavy-load type six-joint robot according to claim 1, it is characterised in that：It is described to push away
Dynamic device (8) is single pole double acting hydraulic cylinder or ball screw rod type motor push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720138004.5U CN206536453U (en) | 2017-02-16 | 2017-02-16 | A kind of big arm configuration for heavy-load type six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720138004.5U CN206536453U (en) | 2017-02-16 | 2017-02-16 | A kind of big arm configuration for heavy-load type six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206536453U true CN206536453U (en) | 2017-10-03 |
Family
ID=59948736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720138004.5U Active CN206536453U (en) | 2017-02-16 | 2017-02-16 | A kind of big arm configuration for heavy-load type six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206536453U (en) |
-
2017
- 2017-02-16 CN CN201720138004.5U patent/CN206536453U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: On basis of prior art, Effective date of registration: 20180614 Granted publication date: 20171003 Pledgee: Beijing Jingxi Xinrong Cci Capital Ltd Pledgor: Ao Bo (Jiangsu) Co., Ltd. robot Registration number: 2018990000454 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200421 Granted publication date: 20171003 Pledgee: Beijing Jingxi Xinrong Cci Capital Ltd Pledgor: AOBO (JIANGSU) ROBOT Co.,Ltd. Registration number: 2018990000454 |