CN206690130U - Double bracket six-joint robots - Google Patents
Double bracket six-joint robots Download PDFInfo
- Publication number
- CN206690130U CN206690130U CN201720452221.1U CN201720452221U CN206690130U CN 206690130 U CN206690130 U CN 206690130U CN 201720452221 U CN201720452221 U CN 201720452221U CN 206690130 U CN206690130 U CN 206690130U
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- China
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- arm
- bracket
- servomotor
- rotation
- principal
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Abstract
It the utility model is related to a kind of double bracket six-joint robots, it includes rotating seat, underarm, upper arm, turning arm, bracket, operating head, the 4th servomotor is provided with upper arm, turning arm is connected with the 4th servo motor transmission in rotation, the bracket of rotation is set in turning arm, and be connected and bracket and drive the 5th servomotor of bracket rotation, the 6th servomotor is set in bracket, and is passed through the 6th servomotor and driven operating head to rotate.Turning arm includes principal arm and from arm, 4th servo motor transmission of principal arm one end and upper arm connects to form rotation, the principal arm other end is provided with U-shaped opening, set in U-shaped opening by the 7th servomotor drive rotation from arm, the bracket of rotation is respectively provided with from arm both ends, and drives the 5th servomotor of bracket rotation；Under original state, out of the half of arm and corresponding bracket and operating head insertion U-shaped opening.Above-mentioned to use double brackets and dual operation header structure, the fixture that changes the outfit is more convenient, improves the operating efficiency of six-joint robot.
Description
Technical field
Industrial robot is the utility model is related to, is a kind of double bracket six-joint robots.
Background technology
Six-joint robot generally comprises six-freedom degree, respectively rotates（S axles）, underarm（L axles）, upper arm（U axles）, wrist
Rotation（R axles）, wrist swinging（B axle）Turned round with wrist（T axles）, each free degree is using servomotor driving.According to the free degree
Distribution, six-joint robot generally include base, underarm, upper arm, turning arm, bracket, operating head, and operating head is according to be actually needed can
Nipper is connected, robot coordinates fixture the function such as can realize carrying, drill, weld, spraying.Existing six-joint robot leads to
Often be provided only with a bracket and operating head, when need to change the outfit other fixtures when, it is necessary to first dismantle the fixture on origin operation head, then pacify
New fixture is filled, is so not only wasted time and energy, and influences the efficiency of operation.Therefore, need to carry out existing six-joint robot
Improve.
The content of the invention
To overcome above-mentioned deficiency, the utility model designs a kind of double bracket six-joint robots, it is solved existing six axles machine
Device people only has an operating head, and function is more single, and change the outfit the more inconvenient technical problem of fixture.It uses following technical side
Case is realized.
A kind of double bracket six-joint robots, it includes rotating seat, underarm, upper arm, turning arm, bracket, operating head, rotating seat
Rotated by the first Serve Motor Control of inside, be hinged between underarm lower end and rotating seat, and by being fixed on the second of rotating seat
Servomotor drives underarm to be swung relative to rotating seat, is hinged between underarm upper end and upper arm, and the 3rd servo electricity in upper arm
Machine drives upper arm, and relative to lower arm swing, upper arm is interior to be provided with the 4th servomotor, and turning arm is connected with the 4th servo motor transmission
In rotation, the bracket of rotation is set in turning arm, and is connected and bracket and drives the 5th servomotor of bracket rotation, wrist
6th servomotor is set in arm, and drives operating head to rotate by the 6th servomotor.The turning arm include principal arm and from
Arm, turning arm are connected to form rotation by described principal arm one end with the 4th servo motor transmission of the upper arm, the principal arm other end
Provided with U-shaped opening, set in U-shaped opening as described in the 7th servomotor drives rotation from arm, rotation is respectively provided with from arm both ends
The bracket, and drive bracket rotation the 5th servomotor；Under original state, the half from arm and should half
The corresponding bracket and operating head are embedded in not exposed in the U-shaped opening.By said structure, there is the six-joint robot
Double bracket and dual operation heads, when one group of bracket and in running order operating head, another group of bracket and operating head embedded rotating
It is stand-by in arm, so as to when need to change the outfit fixture when, without dismantling the fixture that has used, directly rotate above-mentioned from arm, make stand-by
Bracket and operating head screw out out of principal arm U-shaped opening, and connect new fixture, the bracket and operating head of first installs fixture
It is stand-by in the U-shaped opening of precession principal arm, changing the outfit for fixture is realized with this, operates with more convenient, improves six-joint robot
The efficiency of work.
In above-mentioned double bracket six-joint robots, the 7th servomotor is positioned at the middle part out of arm, and the 7th watches
Take motor and carry both-end output shaft, rotating shaft of two output shafts as described in from arm relative to principal arm rotation, and two output shafts
In at least one output shaft be fixedly connected with gear through principal arm side, gear engagement is locked in the gear grooved that the principal arm side is provided with
It is interior, gear grooved threaded connection dust cap, and by dust cap to gear position limiting.By said structure, simplify from arm relative to
The structure of principal arm rotation, and rotation control more flexibility and reliability.
Described to be provided with spacing projection from the side of arm in above-mentioned double bracket six-joint robots, the inner side of the principal arm is provided with
When being embedded in from the half of arm in the principal arm U-shaped opening, the limit sliding chutes with the spacing cooperation of the spacing projection.Pass through the knot
Structure, improve the reliability relative to principal arm rotation in place from arm.
Further, it is provided with the limit sliding chutes and is linked with the spacing projection and control the 7th servomotor to stop
Turn limit switch, with this improve the 7th private take motor work reliability and security.
The utility model has the advantage of with dual operation head, the fixture that changes the outfit is more convenient, and folder need to frequently be dismantled by eliminating
What is had is cumbersome, improves the efficiency of six-joint robot work.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is Fig. 1 top surface mplifying structure schematic diagram.
Fig. 3 is the broken section structural representation that the utility model principal arm is connected with from arm.
Sequence number and entitled in figure：1st, rotating seat, 2, underarm, 3, upper arm, 4, principal arm, 401, limit sliding chutes, 501, spacing
Projection, 5, from arm, 6, bracket, 7, operating head, the 8, the 5th servomotor, the 9, the 7th servomotor, 901, rotating shaft, 10, gear,
11st, dust cap.
Embodiment
In conjunction with accompanying drawing, the utility model is described as follows.
As Figure 1-3, this pair of bracket six-joint robot includes rotating seat 1, underarm 2, upper arm 3, turning arm, bracket 6, behaviour
Make first 7, rotating seat 1 is rotated by the first Serve Motor Control of inside, is hinged between the lower end of underarm 2 and rotating seat 1, and rotating
Second servomotor is set in seat 1, drives underarm 2 to be swung relative to rotating seat 1 by the second servomotor.The upper end of underarm 2 with it is upper
It is hinged between arm 3, and the 3rd servomotor is set in upper arm 3, drives upper arm 3 to be put relative to underarm 2 by the 3rd servomotor
It is dynamic.The 4th servomotor is additionally provided with upper arm 3, turning arm is connected to form rotation by rotating shaft 901 with the 4th servo motor transmission
Motion.The bracket 6 of rotation is set in turning arm, and by drive, transmission belt drive connection bracket 6 and drives bracket 6 to put
The 5th servomotor 8 turned.6th servomotor is set in bracket 6, directly drives operating head 7 to revolve by the 6th servomotor
Turn.Above-mentioned turning arm includes principal arm 4 and is connected to form rotation with the 4th servo motor transmission of upper arm 3 from arm 5, the one end of principal arm 4,
The other end of principal arm 4 is provided with U-shaped opening, set in U-shaped opening by the 7th servomotor 9 drive rotation from arm 5, from the both ends of arm 5
The bracket 6 of rotation is respectively provided with, and drives the 5th servomotor 8 of the rotation of bracket 6.Under original state, from the half of arm 5 and right
It is not exposed in bracket 6 and operating head 7 the insertion U-shaped opening answered, it is in from second half and the corresponding bracket 6 and operating head 7 of arm 5
Work station.
Above-mentioned 7th servomotor 9 is positioned at middle part out of arm 5, and the 7th servomotor 9 carries both-end output shaft, two
Output shaft is as the rotating shaft 901 from arm 5 relative to the rotation of principal arm 4, and two rotating shafts 901 are each passed through the corresponding side of principal arm 4 simultaneously
Gear 10 is fixedly connected with, gear 10, which engages, to be lock onto in the groove of gear 10 that the corresponding side of principal arm 4 is provided with, the threaded connection of the groove of gear 10
Dust cap 11, and it is spacing to gear 10 by dust cap 11.So as to when the 7th servomotor 9 rotates, directly drive and be revolved from arm 5
Turn.
In order to improve the reliability and security that are rotated from arm 5 relative to principal arm 4, spacing projection is provided with from the side of arm 5
501, the inner side of principal arm 4 is provided with when out of the half of arm 5 insertion principal arm 4U type openings, with 501 spacing cooperation of spacing projection
Limit sliding chutes 401, limit sliding chutes 401 are interior to be provided with spacing the opening for being linked with spacing projection 501 and controlling the stalling of the 7th servomotor 9
Close.
Claims (4)
1. a kind of double bracket six-joint robots, it includes rotating seat（1）, underarm（2）, upper arm（3）, turning arm, bracket（6）, behaviour
Make head（7）, rotating seat（1）Rotated by the first Serve Motor Control of inside, underarm（2）Lower end and rotating seat（1）Between be hinged,
And by being fixed on rotating seat（1）The second servomotor drive underarm（2）Relative to rotating seat（1）Swing, underarm（2）Upper end with
Upper arm（3）Between be hinged, and upper arm（3）The 3rd interior servomotor drives upper arm（3）Relative to underarm（2）Swing, upper arm（3）
The 4th servomotor is inside provided with, turning arm is connected with the 4th servo motor transmission in rotation, the interior bracket for setting rotation of turning arm
（6）, and drive connection bracket（6）And drive bracket（6）5th servomotor of rotation（8）, bracket（6）It is interior to set the 6th to watch
Motor is taken, and operating head is driven by the 6th servomotor（7）Rotation；It is characterized in that the turning arm includes principal arm（4）With
From arm（5）, turning arm passes through the principal arm（4）One end and the upper arm（3）The 4th servo motor transmission connect to form rotation,
Principal arm（4）The other end is provided with U-shaped opening, is set in U-shaped opening by the 7th servomotor（9）Drive the described from arm of rotation（5）,
From arm（5）Both ends are respectively provided with the bracket of rotation（6）, and drive bracket（6）The 5th servomotor of rotation（8）；
It is described from arm under original state（5）Half and should described bracket corresponding to half（6）And operating head（7）The embedded U-shaped opening
It is inside not exposed.
2. double bracket six-joint robots according to claim 1, it is characterised in that the 7th servomotor（9）Positioned at institute
State from arm（5）Interior middle part, and the 7th servomotor（9）With both-end output shaft, two output shafts are used as described from arm（5）Phase
For principal arm（4）The rotating shaft of rotation（901）, and at least one output shaft passes through principal arm in two output shafts（4）Side, which is fixed, to be connected
Connect gear（10）, gear（10）Engagement is locked in principal arm（4）The gear that the side is provided with（10）In groove, gear（10）Groove is threadedly coupled
Dust cap（11）, and pass through dust cap（11）To gear（10）It is spacing.
3. double bracket six-joint robots according to claim 1, it is characterised in that described from arm（5）Side be provided with it is spacing
Projection（501）, the principal arm（4）Inner side be provided with when from arm（5）Half be embedded in the principal arm（4）When in U-shaped opening, with institute
State spacing projection（501）The limit sliding chutes of spacing cooperation（401）.
4. double bracket six-joint robots according to claim 3, it is characterised in that the limit sliding chutes（401）It is interior be provided with
The spacing projection（501）Link and control the 7th servomotor（9）The limit switch of stalling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452221.1U CN206690130U (en) | 2017-04-27 | 2017-04-27 | Double bracket six-joint robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452221.1U CN206690130U (en) | 2017-04-27 | 2017-04-27 | Double bracket six-joint robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690130U true CN206690130U (en) | 2017-12-01 |
Family
ID=60446903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720452221.1U Expired - Fee Related CN206690130U (en) | 2017-04-27 | 2017-04-27 | Double bracket six-joint robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206690130U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053248A (en) * | 2017-04-27 | 2017-08-18 | 浙江长兴平适尔机器人科技有限公司 | Double bracket six-joint robots |
| CN108214545A (en) * | 2017-12-29 | 2018-06-29 | 株洲因奈斯精密刀具有限公司 | Linear mechanical hand mechanical arm |
-
2017
- 2017-04-27 CN CN201720452221.1U patent/CN206690130U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053248A (en) * | 2017-04-27 | 2017-08-18 | 浙江长兴平适尔机器人科技有限公司 | Double bracket six-joint robots |
| CN108214545A (en) * | 2017-12-29 | 2018-06-29 | 株洲因奈斯精密刀具有限公司 | Linear mechanical hand mechanical arm |
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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 |
Granted publication date: 20171201 Termination date: 20180427 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |