CN207387653U - Forge and press robot in six joints - Google Patents
Forge and press robot in six joints Download PDFInfo
- Publication number
- CN207387653U CN207387653U CN201721364067.9U CN201721364067U CN207387653U CN 207387653 U CN207387653 U CN 207387653U CN 201721364067 U CN201721364067 U CN 201721364067U CN 207387653 U CN207387653 U CN 207387653U
- Authority
- CN
- China
- Prior art keywords
- joint
- turntable
- rotatably connected
- shoulder joint
- shoulder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of six joints forging and stamping robots, are characterized in that：Including pedestal, shoulder joint, elbow joint, wrist joint and feeding fixture, horizontally rotate on pedestal and be connected with turntable, shoulder joint is rotatably connected on turntable vertically, one side of the shoulder joint away from turntable is rotatably connected to connecting seat vertically, the elbow joint is rotatably connected on connecting seat, wrist joint is rotatably connected on elbow joint, the feeding fixture is rotatably connected on wrist joint, there are two yielding rubbers towards installation on the side of shoulder joint for the turntable, the yielding rubber is located at shoulder joint on same perpendicular, described two yielding rubbers are towards one side of the shoulder joint away from turntable arrangement at an acute angle, it is hinged on the turntable that there are two adjustment seats, the yielding rubber is mounted in adjustment seat.The rotational angle that positioning shoulder joint is limited by yielding rubber of the utility model avoids the occurrence of the situation of weight offset.
Description
Technical field
The utility model is related to a kind of forging equipment, in particular it is related to a kind of six joints forging and stamping robot.
Background technology
Six joints forging and stamping robot is generally used for crawl and carrying to object, it is the mechanical energy of carrying large object
Hand, either by object rotation or oscilaltion etc., it is all an indispensable assistant.Forge and press robot one in six joints
As include pedestal, shoulder joint, elbow joint, wrist joint and feeding fixture, wherein shoulder joint is most long, undertakes main rotation displacement work(
Can, own wt is also relatively heavy, and in six joints forging and stamping robot stopping process, shoulder joint is always maintained at working condition
Words, shoulder joint can be supported always by connecting the driving motor of shoulder joint, remain stress, driving motor aging can be caused to add
Soon, the service life of driving motor is reduced.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of six joints forging and stamping robot.
To achieve the above object, the utility model provides following technical solution：
A kind of six joints forging and stamping robot, including pedestal, shoulder joint, elbow joint, wrist joint and feeding fixture, water on pedestal
Flat to be rotatably connected to turntable, shoulder joint is rotatably connected on turntable vertically, and one side of the shoulder joint away from turntable turns vertically
Dynamic to be connected with connecting seat, the elbow joint is rotatably connected on connecting seat, and wrist joint is rotatably connected on elbow joint, the feeding
Fixture is rotatably connected on wrist joint, and there are two yielding rubber, the shoulders towards installation on the side of shoulder joint for the turntable
The side that joint is connected with turntable is equipped with overlap joint ear, and the yielding rubber is located at overlap joint ear on same perpendicular, described to take
Lug is contradicted on yielding rubber, and described two yielding rubbers are from the both sides for being arranged on overlap joint ear, towards overlap joint ear arrangement.
Through the above technical solutions, the utility model is in by being located at two yielding rubbers of same level with elbow joint
Angle is arranged, limits the slewing area of the one end of shoulder joint away from turntable, when in six joints, forging and stamping robot is shut down, shoulder joint
Section is rotated in relaxed state, shoulder joint, and the overlap joint ear in shoulder joint is contradicted on yielding rubber, and gravity is largely transferred to slow
It rushes on rubber, avoids the support force needed for driving motor support shoulder joint, extend the service life of driving motor.
Preferably, hinged there are two adjustment seat on the turntable, the adjustment seat, which is equipped with, abuts bolt, the abutting
Bolt is connected on the side wall of turntable, and the yielding rubber is mounted in adjustment seat.
It through the above technical solutions, adjustment seat is hinged on turntable, can be rotated compared with turntable, with this to slow
The direction for rushing rubber is changed, to adjust direction of the yielding rubber towards shoulder joint, to ensure that six joints of different model are forged
The overlap joint problem of the different shoulder joint in robot is pressed, prevents overweight press forging from robot being caused to lay particular stress on, while by supporting
Connecting bolt locks adjustment seat, prevents the yielding rubber regulated from occurring displacement in use.
Preferably, the connecting seat is rotatably connected on shoulder joint towards on the one side side wall of turntable, the connecting seat
Center and the center of turntable are located on same vertical plane.
Through the above technical solutions, the setting by shoulder joint both ends connecting seat and turntable can make connecting seat rear end
The center of elbow joint, wrist joint and feeding fixture, which is held in, to be located in turntable on same vertical plane, forges and presses six joints
Robot obtains weight distribution evenly.
Preferably, the shoulder joint is equipped with arc recessing groove towards the one side of connecting seat.
Through the above technical solutions, the setting of arc recessing groove can be provided as elbow joint, wrist joint and feeding fixture more
Big rotation space avoids situation about colliding with shoulder joint.
Description of the drawings
Fig. 1 is the structure diagram that robot is forged and pressed in six joint of the utility model；
Fig. 2 is the side view that robot is forged and pressed in six joint of the utility model.
Reference numeral：1st, pedestal；2nd, shoulder joint；3rd, elbow joint；4th, wrist joint；5th, turntable；6th, connecting seat；7th, extracting jaw
Tool；8th, adjustment seat；9th, hinge bar；10th, bolt is abutted；11st, arc recessing groove；12nd, yielding rubber；13rd, ear is overlapped.
Specific embodiment
Robot is forged and pressed by Fig. 1 to Fig. 2 to a kind of six joints of the utility model to be further described.
A kind of six joints forging and stamping robot, including pedestal 1, shoulder joint 2, elbow joint 3, wrist joint 4 and feeding fixture 7, base
Horizontally rotate on seat 1 and be connected with turntable 5, shoulder joint 2 is rotatably connected on vertically on turntable 5, and shoulder joint 2 is away from turntable 5
One side be rotatably connected to connecting seat 6 vertically, the elbow joint 3 is rotatably connected on connecting seat 6, and wrist joint 4 is rotatably connected on
On elbow joint 3, the feeding fixture 7 is rotatably connected on wrist joint 4, and the turntable 5 is towards installing on the side of shoulder joint 2
There are two yielding rubber 12, the side that the shoulder joint 2 is connected with turntable 5 is equipped with overlap joint ear 13, and the yielding rubber 12 is with taking
Lug 13 is located on same perpendicular, it is described overlap joint ear 13 contradict on yielding rubber 12, described two yielding rubbers 12 from
The both sides of overlap joint ear 13 are arranged on, are arranged towards overlap joint ear 13.
It is further arranged to, hinged there are two adjustment seat 8 on the turntable 5, the middle part of the adjustment seat 8, which is equipped with, to be hinged
Bar 9, the hinge bar 9 are hinged on turntable 5, are set in the adjustment seat 8 there are two abutting bolt 10, described to abut bolt 10
With 8 thread fitting of adjustment seat, described two both sides for abutting bolt 10 and being arranged symmetrically in hinge bar 9, the abutting bolt 10 supports
It is connected on the side wall of turntable 5, the yielding rubber 12 is mounted in adjustment seat 8.
It is further arranged to, the connecting seat 6 is rotatably connected on shoulder joint 2 towards on the one side side wall of turntable 5, described
The center of connecting seat 6 and the center of turntable 5 are located on same vertical plane.
It is further arranged to, the shoulder joint 2 is equipped with arc recessing groove 11 towards the one side of connecting seat 6.
The above is only the preferred embodiment of the utility model, and the scope of protection of the utility model is not limited merely to
Above-described embodiment, all technical solutions belonged under the utility model thinking belong to the scope of protection of the utility model.It should refer to
Go out, for those skilled in the art, several improvement under the premise of the utility model principle is not departed from and
Retouching, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (4)
1. a kind of six joints forging and stamping robot, horizontal on pedestal including pedestal, shoulder joint, elbow joint, wrist joint and feeding fixture
Turntable is rotatably connected to, shoulder joint is rotatably connected on turntable vertically, and one side of the shoulder joint away from turntable rotates vertically
Connecting seat is connected with, the elbow joint is rotatably connected on connecting seat, and wrist joint is rotatably connected on elbow joint, the extracting jaw
Tool is rotatably connected on wrist joint, it is characterised in that：There are two buffering rubbers towards installation on the side of shoulder joint for the turntable
Glue, the side that the shoulder joint is connected with turntable are equipped with overlap joint ear, and the yielding rubber is located at same perpendicular with overlap joint ear
On, the overlap joint ear is contradicted on yielding rubber, and described two yielding rubbers are from the both sides for being arranged on overlap joint ear, towards overlap joint ear
Arrangement.
2. robot is forged and pressed in six joint according to claim 1, it is characterised in that：It is hinged on the turntable that there are two adjust
Seat is saved, the adjustment seat, which is equipped with, abuts bolt, and the abutting bolt is connected on the side wall of turntable, the yielding rubber peace
In adjustment seat.
3. robot is forged and pressed in six joint according to claim 1, it is characterised in that：The connecting seat is rotatably connected on shoulder joint
It saves towards on the one side side wall of turntable, the center of the connecting seat and the center of turntable are located on same vertical plane.
4. robot is forged and pressed in six joint according to claim 3, it is characterised in that：The shoulder joint is towards the one of connecting seat
Side is equipped with arc recessing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721364067.9U CN207387653U (en) | 2017-10-23 | 2017-10-23 | Forge and press robot in six joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721364067.9U CN207387653U (en) | 2017-10-23 | 2017-10-23 | Forge and press robot in six joints |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207387653U true CN207387653U (en) | 2018-05-22 |
Family
ID=62329305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721364067.9U Expired - Fee Related CN207387653U (en) | 2017-10-23 | 2017-10-23 | Forge and press robot in six joints |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207387653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941354A (en) * | 2018-09-06 | 2018-12-07 | 东莞市海威智能装备股份有限公司 | A kind of multiple degrees of freedom pressing robot |
-
2017
- 2017-10-23 CN CN201721364067.9U patent/CN207387653U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941354A (en) * | 2018-09-06 | 2018-12-07 | 东莞市海威智能装备股份有限公司 | A kind of multiple degrees of freedom pressing robot |
| CN108941354B (en) * | 2018-09-06 | 2023-06-20 | 东莞市海威智能装备股份有限公司 | Multi-degree-of-freedom stamping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203853917U (en) | Vehicle door assembling fixture | |
| CN207387653U (en) | Forge and press robot in six joints | |
| CN205872376U (en) | Rocking arm formula chock | |
| CN202447848U (en) | Auxiliary device for welding of vehicle frame | |
| CN202867515U (en) | Spherical washer for connection of bolt of drill rod of drilling machine | |
| CN207971897U (en) | A kind of bearing installing tool | |
| CN207829577U (en) | A kind of mounting structure of communication equipment platform | |
| CN215394921U (en) | Electric wrench with auxiliary positioning device | |
| CN206691962U (en) | Tire conveying robot | |
| CN205466315U (en) | Arm booster unit of robot | |
| CN214213082U (en) | Multifunctional truss manipulator paw | |
| CN205169590U (en) | But fast loading and unloading's aircraft bonnet fastener | |
| CN204983687U (en) | Novel wallboard mounting plate | |
| CN202879600U (en) | Novel lower hinging structure of front frame and rear frame | |
| CN207178461U (en) | A kind of simple type bearing support | |
| CN203665098U (en) | Adjustable workbench | |
| CN205676012U (en) | A kind of electric rotary-type suspender | |
| CN203712563U (en) | Clamping device of cylinder head of agricultural machine | |
| CN212156082U (en) | Long service life's constant force spring support | |
| CN204778582U (en) | Scissors style jack | |
| CN104908008B (en) | Equipment made by a kind of pipe that dissipates | |
| CN215363589U (en) | Turnover device used after sleeving of slender pipe system | |
| CN209868093U (en) | Adjustable angle production line transmission frock | |
| CN218556906U (en) | Auxiliary device for mounting bolts of yaw brake of wind generating set | |
| CN210635411U (en) | Color steel plate blanking manipulator |
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: 20180522 Termination date: 20181023 |