CN206913151U - A kind of articulated robot - Google Patents
A kind of articulated robot Download PDFInfo
- Publication number
- CN206913151U CN206913151U CN201720640486.4U CN201720640486U CN206913151U CN 206913151 U CN206913151 U CN 206913151U CN 201720640486 U CN201720640486 U CN 201720640486U CN 206913151 U CN206913151 U CN 206913151U
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- China
- Prior art keywords
- forearm
- large arm
- arm
- motor
- line set
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- 210000000245 forearm Anatomy 0.000 claims abstract description 32
- 210000000707 wrist Anatomy 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims 1
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
Abstract
The utility model discloses a kind of articulated robot, including large arm, forearm, the 4th motor, arm line set, 4th motor is located on the left of the end of large arm, the output shaft of 4th motor is stretched out to the right and the forearm with being located on the right side of large arm is connected, one end of arm line set is located at the left side of large arm, wall line set is across forearm and large arm so that the other end of arm line set is located at the right side of large arm.Large arm can be thus allowed to be consumed energy to lower swing during swinging 180 degree very few, for such movement inertia with regard to small, robot motion can be very flexible.
Description
Technical field
It the utility model is related to a kind of articulated robot.
Background technology
With the development of science and technology robot gradually replaces being manually entered commercial Application, such as carry, assemble, packing factory
Process needed for operation, efficiently reduces labour.And six-joint robot is industrially most commonly used that, existing six axles machine
People, because its design is unreasonable, when its large arm overturns 180 degree, it can only be rotated up, such rotary inertia can be unusual
Greatly, energy is also very expended, is unfavorable for energy-conserving and environment-protective.And existing wrist motion inertia is also very big, these factors
Robot motion will be caused dumb, power consumption is big.
Utility model content
The technical problems to be solved in the utility model is：A kind of articulated robot is provided.
The solution that the utility model solves its technical problem is：
A kind of articulated robot, including large arm, forearm, the 4th motor, arm line set, the end that the 4th motor is located at large arm are left
Side, the output shaft of the 4th motor is stretched out to the right and the forearm with being located on the right side of large arm is connected, and one end of arm line set is located at large arm
Left side, wall line set is across forearm and large arm so that the other end of arm line set is located at the right side of large arm.
As the further improvement of above-mentioned technical proposal, arm line set includes leading portion, back segment, and leading portion is located at the right side of forearm, preceding
The top of section is fixed on forearm, and the end of leading portion is fixed on the rear end of forearm, and the top of back segment is fixed on the rear end of forearm
On, the end of back segment is fixed on the right side of large arm.
As the further improvement of above-mentioned technical proposal, in addition to the 5th motor, wrist, before the 5th motor is located at forearm
On end, the output shaft of the 5th motor forward extends out, and wrist is located at the right side of forearm, is used between the output shaft and wrist of the 5th motor
Angular wheel group connects.
The beneficial effects of the utility model are：A kind of articulated robot, including large arm, forearm, the 4th motor, arm line set,
4th motor is located on the left of the end of large arm, and the output shaft of the 4th motor stretches out to the right and the forearm with being located on the right side of large arm connects
Connect, one end of arm line set is located at the left side of large arm, and wall line set is across forearm and large arm so that the other end of arm line set is located at large arm
Right side.Large arm can be thus allowed to be consumed energy to lower swing during swinging 180 degree very few, such movement inertia is just
Small, robot motion can be very flexible.The utility model is used for robot.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The accompanying drawing to be used is briefly described.Obviously, described accompanying drawing is part of the embodiment of the present utility model, rather than entirely
Portion's embodiment, those skilled in the art on the premise of not paying creative work, can also obtain it according to these accompanying drawings
His design and accompanying drawing.
Fig. 1 is the three-dimensional schematic diagram of the utility model embodiment；
Fig. 2 is Fig. 1 close-up schematic view；
Fig. 3 is the overlooking the structure diagram of the utility model embodiment；
Fig. 4 is Fig. 3 close-up schematic view.
Embodiment
Design, concrete structure and caused technique effect of the present utility model are carried out below with reference to embodiment and accompanying drawing
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is part of the embodiment of the present utility model, rather than whole embodiments, based on embodiment of the present utility model, the skill of this area
The other embodiment that art personnel are obtained on the premise of not paying creative work, belong to the model of the utility model protection
Enclose.In addition, all connection/annexations being previously mentioned in text, not singly refer to component and directly connect, and refer to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, to form more excellent draw bail.Each technology in the utility model is special
Sign, can be with combination of interactions on the premise of not conflicting conflict.
Referring to figs. 1 to Fig. 4, this is embodiment of the present utility model, specifically：
A kind of articulated robot, including large arm 2, forearm 3, the 4th motor 5, arm line set, the 4th motor 5 are located at large arm 2
On the left of end, the output shaft of the 4th motor 5 is stretched out to the right and the forearm 3 with being located at the right side of large arm 2 is connected, one end of arm line set
It is located at the left side of large arm 2, wall line set is across forearm 3 and large arm 2 so that the other end of arm line set is located at the right side of large arm 2.So
With regard to large arm can be allowed to be consumed energy to lower swing during swinging 180 degree very few, with regard to small, robot moves such movement inertia
Making can be very flexible.
The arm line set of the present embodiment includes leading portion 61, back segment 62, and leading portion 61 is located at the right side of forearm 3, and the top of leading portion 61 is consolidated
It is scheduled on forearm 3, the end of leading portion 61 is fixed on the rear end of forearm 3, and the top of back segment 62 is fixed on the rear end of forearm 3,
The end of back segment 62 is fixed on the right side of large arm 2.It will not thus allow large arm to cover with arm line during rotation to interfere,
Movement inertia can further be reduced.
In order to reduce the movement inertia of wrist, the present embodiment also includes the 5th motor 7, wrist 8, and the 5th motor 7 is located at small
On the front end of arm 3, the output shaft of the 5th motor 7 forward extends out, and wrist 8 is located at the right side of forearm 3, the output shaft of the 5th motor 7
It is connected between wrist 8 with angular wheel group 10.
Better embodiment of the present utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make a variety of equivalent changes on the premise of without prejudice to the utility model spirit
Type or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (3)
1. a kind of articulated robot, including large arm (2), forearm (3), the 4th motor (5), arm line set, it is characterised in that：4th electricity
Machine (5) is located on the left of the end of large arm (2), and the output shaft of the 4th motor (5) stretches out and with being located on the right side of large arm (2) to the right
Forearm (3) connects, and one end of arm line set is located at the left sides of large arm (2), and wall line set is across forearm (3) and large arm (2) so that arm line
The other end of set is located at the right side of large arm (2).
A kind of 2. articulated robot according to claim 1, it is characterised in that：Arm line set includes leading portion (61), back segment
(62), leading portion (61) is located at the right side of forearm (3), and the top of leading portion (61) is fixed on forearm (3), and the end of leading portion (61) is fixed
On the rear end of forearm (3), the top of back segment (62) is fixed on the rear end of forearm (3), and the end of back segment (62) is fixed on greatly
On the right side of arm (2).
A kind of 3. articulated robot according to claim 1, it is characterised in that：Also include the 5th motor (7), wrist (8),
5th motor (7) is located on the front end of forearm (3), and the output shaft of the 5th motor (7) forward extends out, and wrist (8) is located at forearm (3)
Right side, be connected between the output shaft and wrist (8) of the 5th motor (7) with angular wheel group (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720640486.4U CN206913151U (en) | 2017-06-02 | 2017-06-02 | A kind of articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720640486.4U CN206913151U (en) | 2017-06-02 | 2017-06-02 | A kind of articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206913151U true CN206913151U (en) | 2018-01-23 |
Family
ID=61314424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720640486.4U Active CN206913151U (en) | 2017-06-02 | 2017-06-02 | A kind of articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206913151U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283418A (en) * | 2017-06-02 | 2017-10-24 | 佛山华数机器人有限公司 | A kind of articulated robot |
-
2017
- 2017-06-02 CN CN201720640486.4U patent/CN206913151U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283418A (en) * | 2017-06-02 | 2017-10-24 | 佛山华数机器人有限公司 | A kind of articulated robot |
| CN107283418B (en) * | 2017-06-02 | 2023-05-02 | 佛山华数机器人有限公司 | Joint robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180209 Address after: 528000 Guangdong Province Nanhai District of Foshan City Shishan Songgang Songxia Industrial Park in Taoyuan Road No. 19 Co-patentee after: FOSHAN INSTITUTE OF INTELLIGENT EQUIPMENT TECHNOLOGY Patentee after: FOSHAN HS ROBOTER Corp. Address before: 528000 Guangdong Province Nanhai District of Foshan City Shishan Songgang Songxia Industrial Park in Taoyuan Road No. 19 Patentee before: FOSHAN HS ROBOTER Corp. |
|
| IP01 | Partial invalidation of patent right | ||
| IP01 | Partial invalidation of patent right |
Commission number: 5W121802 Conclusion of examination: On the basis of claims 1 and 2 submitted by the patentee on May 12, 2020, which remain valid in the examination decision of No. 46056 request for invalidation, the patent right shall continue to be valid Decision date of declaring invalidation: 20210318 Decision number of declaring invalidation: 48665 Denomination of utility model: A joint robot Granted publication date: 20180123 Patentee: FOSHAN HS ROBOTER Corp.|FOSHAN INSTITUTE OF INTELLIGENT EQUIPMENT TECHNOLOGY |