CN207465228U - A kind of holosymmetric six-joint robot of working space - Google Patents
A kind of holosymmetric six-joint robot of working space Download PDFInfo
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- CN207465228U CN207465228U CN201721466603.6U CN201721466603U CN207465228U CN 207465228 U CN207465228 U CN 207465228U CN 201721466603 U CN201721466603 U CN 201721466603U CN 207465228 U CN207465228 U CN 207465228U
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Abstract
The utility model is related to robotic technology fields, and in particular to a kind of holosymmetric six-joint robot of working space, since an axis, two axis and three axle positions are on straight line, four axis, five axis and six axle positions are on another straight line；One axis, two axis and three axle positions in straight line and four axis, five axis and six axle positions in another straight line be mutually perpendicular to, therefore, can be so that each to turn axle base substantially zeroed so that the swing track of mechanical arm is symmetrical.In addition, since the movement angle in each joint is full symmetric, so that the working space left-right and front-back of the six-joint robot of the utility model is all symmetrical, working space is close to a ball, can station be all set in the four direction all around of robot, and then space availability ratio can be improved, improve production efficiency.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of holosymmetric six-joint robot of working space.
Background technology
Six-joint robot is free to the carry out activity in three dimensions, can quickly and accurately be carried, welded,
A large amount of repetitive works such as spraying.In traditional factory, the work such as carrying, welding are substantially what is completed by manually,
With labor intensity it is big, take that more, uninteresting, working environment is severe, easily causes the problems such as pollution.Secondly, manual operation
Process consistency be relatively inaccessible to, quality control is not easy, so as to increase the cost of enterprise.Therefore, in these areas, it is
Pole such as needs robot quickly and accurately to be carried to material, installs, welding, spraying at the operations.
However, six axis robotic arms of the prior art are since there are distances between shaft so that not right before and after its track swung
Claim, therefore six-joint robot of the prior art is all biased into the design that robot works in front, and robot rear
But very little, the i.e. space at robot rear are to waste to working space, lead to not realize the production design of multistation.
Utility model content
For the prior art there are above-mentioned technical problem, the utility model provides a kind of holosymmetric six axis machine of working space
Device people, the six-joint robot can realize the production design of multistation.
To achieve the above object, the utility model provides following technical scheme：
There is provided a kind of working space holosymmetric six-joint robot, including：
One axis；
Two axis, be arranged on an axis and can a relatively described shaft rotation move；
One spindle motor is arranged on two axis and the relatively described shaft rotation of two axis can be driven to move；
Three axis, one end are installed in rotation on two axis；
Two spindle motors are arranged on two axis and three axis can be driven to be rotated on two axis；
Four spindle motors are installed in rotation on the other end of three axis, and four spindle motors drive four shaft rotations to move；
Three spindle motors are arranged on three axis and four spindle motor can be driven to be rotated on three axis；
Five axis, with four axis connection；
Five spindle motors are arranged on five axis and relatively described four shaft rotation of five axis can be driven to move；
Six axis, with five axis connection；
Six spindle motors are arranged on six axis and six axis can be driven to be moved with respect to five shaft rotations；
It is characterized in that：
One axis, two axis and three axle position are on straight line, four axis, five axis and six axis
On another straight line；
One axis, two axis and three axle position in straight line and four axis, five axis and described six
Axle position in another straight line be mutually perpendicular to.
One axis be set as can 360 degree rotation rotating seat.
Two spindle motor is provided with arc shaft, the arc shaft and three axis connection, and can make three axis
Along the arc pivot.
The angle of central angle corresponding to the arc shaft is set as 200 degree~270 degree.
The angle of central angle corresponding to the arc shaft is set as 220 degree.
The axis of three spindle motor is vertical with the axis of three axis, the axis of three spindle motor and four axis
Axis is set on the same line.
The beneficial effects of the utility model：
The holosymmetric six-joint robot of a kind of working space of the utility model, since an axis, two axis and three axle positions are in one
On straight line, four axis, five axis and six axle positions are on another straight line；One axis, two axis and three axle positions in straight line and four axis,
Five axis and six axle positions in another straight line be mutually perpendicular to, therefore, can be so that each to turn axle base substantially zeroed so that mechanical arm
Swing track it is symmetrical.In addition, since the movement angle in each joint is full symmetric so that the six axis machines of the utility model
The working space left-right and front-back of people is all symmetrical, and working space, can be in four sides all around of robot close to a ball
To station is all set, and then space availability ratio can be improved, production efficiency is improved.
Description of the drawings
Fig. 1 is a kind of structure diagram of the holosymmetric six-joint robot of working space of the utility model.
Fig. 2 is a kind of schematic diagram of the motion range of the holosymmetric six-joint robot of working space of the utility model.
Reference numeral：
One axis 1, a spindle motor 11；
Two axis 2, two spindle motors 21, arc shaft 201；
Three axis 3, three spindle motors 31；
Four axis 4, four spindle motors 41；
Five axis 5, five spindle motors 51；
Six axis 6, six spindle motors 61；
Motion range 7.
Specific embodiment
The utility model is described in detail below in conjunction with specific embodiment and attached drawing.
Embodiment 1.
A kind of holosymmetric six-joint robot of working space of the present embodiment, as shown in Figure 1, including：One axis 1；Two axis 2,
It is arranged on an axis 1 and can be rotated relative to an axis 1；One spindle motor 11 is arranged on two axis 2 and can drive two axis, a 2 opposite axis 1
Rotation；Three axis 3, one end are installed in rotation on two axis 2；Two spindle motors 21, are arranged on two axis 2 and can drive dynamic triaxial 3 and exist
It is rotated on two axis 2；Four spindle motors 41 are installed in rotation on the other end of three axis 3, and four spindle motors 41 drive four axis 4 to rotate；
Three spindle motors 31 are arranged on three axis 3 and four spindle motors 41 can be driven to be rotated on three axis 3；Five axis 5 are connect with four axis 4；Five
Spindle motor 51 is arranged on five axis 5 and five axis 5 can be driven to be rotated relative to four axis 4；Six axis 6 are connect with five axis 5；Six spindle motors
61, it is arranged on six axis 6 and six axis 6 can be driven to be rotated relative to five axis 5；Wherein, an axis 1, two axis 2 and three axis 3 are located at one directly
On line, four axis 4, five axis 5 and six axis 6 are located on another straight line；The straight line and four that one axis 1, two axis 2 and three axis 3 are located at
The another straight line that axis 4, five axis 5 and six axis 6 are located at is mutually perpendicular to.It therefore, can be so that each to turn axle base substantially zeroed so that
The swing track of mechanical arm is symmetrical.In addition, since the movement angle in each joint is full symmetric so that the six of the utility model
The working space left-right and front-back of axis robot is all symmetrical, and working space, can be in robot all around close to a ball
Four direction all sets station, and then can improve space availability ratio, improves production efficiency.
In the present embodiment, an axis 1 be set as can 360 degree rotation rotating seat, and then enable to the six-joint robot energy
Enough four directions all around in robot all set station, and then can improve space availability ratio, improve production efficiency.
In the present embodiment, two spindle motors 21 are provided with arc shaft 201, and arc shaft 201 is connect with three axis 3, and can be made
Arcuately shaft 201 moves three axis 3, so that the working space left-right and front-back of the six-joint robot of the utility model is all right
Claim.
In the present embodiment, the angle of the central angle corresponding to arc shaft 201 is set as 220 degree, so that this practicality
The working space left-right and front-back of novel six-joint robot is all symmetrical.
In the present embodiment, the axis of three spindle motors 31 is vertical with the axis of three axis 3, the axis of three spindle motors 31 and four axis 4
Axis setting on the same line so that the working space left-right and front-back of the six-joint robot of the utility model is all right
Claim, working space can all set station, and then can improve close to a ball in the four direction all around of robot
Space availability ratio improves production efficiency.
Embodiment 2.
A kind of embodiment 2 of the holosymmetric six-joint robot of working space of the utility model, the present embodiment and embodiment 1
The difference lies in, in the present embodiment, the angle of the central angle corresponding to arc shaft 201 is set as 200 degree, so that
The working space left-right and front-back of the six-joint robot of the utility model is all symmetrical.The other structures and operation principle of the present embodiment with
Embodiment 1 is identical, and details are not described herein.
Embodiment 3.
A kind of embodiment 2 of the holosymmetric six-joint robot of working space of the utility model, the present embodiment and embodiment 1
The difference lies in, in the present embodiment, the angle of the central angle corresponding to arc shaft 201 is set as 270 degree, so that
The working space left-right and front-back of the six-joint robot of the utility model is all symmetrical.The other structures and operation principle of the present embodiment with
Embodiment 1 is identical, and details are not described herein.
Finally it should be noted that above example is only to illustrate the technical solution of the utility model rather than to this reality
With the limitation of novel protected range, although being explained in detail with reference to preferred embodiment to the utility model, this field it is general
Lead to it will be appreciated by the skilled person that can be modified or replaced equivalently to the technical solution of the utility model, without departing from this
The spirit and scope of utility model technical solution.
Claims (6)
1. a kind of holosymmetric six-joint robot of working space, including：
One axis；
Two axis, be arranged on an axis and can a relatively described shaft rotation move；
One spindle motor is arranged on two axis and the relatively described shaft rotation of two axis can be driven to move；
Three axis, one end are installed in rotation on two axis；
Two spindle motors are arranged on two axis and three axis can be driven to be rotated on two axis；
Four spindle motors are installed in rotation on the other end of three axis, and four spindle motors drive four shaft rotations to move；
Three spindle motors are arranged on three axis and four spindle motor can be driven to be rotated on three axis；
Five axis, with four axis connection；
Five spindle motors are arranged on five axis and relatively described four shaft rotation of five axis can be driven to move；
Six axis, with five axis connection；
Six spindle motors are arranged on six axis and six axis can be driven to be moved with respect to five shaft rotations；
It is characterized in that：
One axis, two axis and three axle position on straight line, four axis, five axis and six axle position in
On another straight line；
One axis, two axis and three axle position in straight line and four axis, five axis and six axle position
In another straight line be mutually perpendicular to.
2. a kind of holosymmetric six-joint robot of working space according to claim 1, it is characterised in that：One axis is set
Be set to can 360 degree rotation rotating seat.
3. a kind of holosymmetric six-joint robot of working space according to claim 1, it is characterised in that：The two axis electricity
Machine is provided with arc shaft, the arc shaft and three axis connection, and can make three axis along the arc pivot.
4. a kind of holosymmetric six-joint robot of working space according to claim 3, it is characterised in that：The arc turns
The angle of central angle corresponding to axis is set as 200 degree~270 degree.
5. a kind of holosymmetric six-joint robot of working space according to claim 4, it is characterised in that：The arc turns
The angle of central angle corresponding to axis is set as 220 degree.
6. a kind of holosymmetric six-joint robot of working space according to claim 1, it is characterised in that：The three axis electricity
The axis of machine is vertical with the axis of three axis, and the axis of three spindle motor and the axis of four axis are arranged on same straight line
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721466603.6U CN207465228U (en) | 2017-11-03 | 2017-11-03 | A kind of holosymmetric six-joint robot of working space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721466603.6U CN207465228U (en) | 2017-11-03 | 2017-11-03 | A kind of holosymmetric six-joint robot of working space |
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| Publication Number | Publication Date |
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| CN207465228U true CN207465228U (en) | 2018-06-08 |
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ID=62263114
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721466603.6U Active CN207465228U (en) | 2017-11-03 | 2017-11-03 | A kind of holosymmetric six-joint robot of working space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683252A (en) * | 2022-04-27 | 2022-07-01 | 上海交通大学 | Four-foot robot light-duty operation mechanical arm with symmetrical configuration |
-
2017
- 2017-11-03 CN CN201721466603.6U patent/CN207465228U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683252A (en) * | 2022-04-27 | 2022-07-01 | 上海交通大学 | Four-foot robot light-duty operation mechanical arm with symmetrical configuration |
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