CN207616569U - A kind of industry six-joint robot - Google Patents
A kind of industry six-joint robot Download PDFInfo
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- CN207616569U CN207616569U CN201721742674.4U CN201721742674U CN207616569U CN 207616569 U CN207616569 U CN 207616569U CN 201721742674 U CN201721742674 U CN 201721742674U CN 207616569 U CN207616569 U CN 207616569U
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- drive rod
- gear
- forearm
- output gear
- joint robot
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Abstract
The utility model discloses a kind of industrial six-joint robots, including sequentially connected pedestal, rotating seat, large arm, forearm driving shell, forearm and wrist body, it is provided with servo motor group in the forearm driving shell, gear set is equipped in the forearm driving shell, drive rod piece and speed reducer, the gear set includes the multiple input gear that axis is mutually parallel, multiple output gears of coaxial arrangement, accordingly engaged between input gear and output gear, rod piece is driven to run through speed reducer and forearm, power is passed to speed reducer and driving rod piece by motor group by gear set, the utility model is by the way that output gear to be coaxially disposed, gear set is reduced in the volume on driving rod piece axis direction, so that its space structure is more reasonable compact.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, and in particular to a kind of industry six-joint robot.
Background technology
In the NC Machining Process of part, the part that a process processes is needed first to remove, then to process face work
The second step processing is completed in another tooling of same workbench or on another machining center for positioning datum, it usually needs
Fitting turnover and after rotating by a certain angle, then move in another tooling and process, the processing of entire part is so sequentially completed, such as
Fruit is manually performed the installation of these different type lathes, has prodigious error, the batch consistency of part production and assembly
Difference, therefore modern industry such as is completed the taking-up of part, rotation, is positioned, put at actions, the industrial robot using six-joint robot
It is mainly used in the fields such as handling, unloading, spray painting, surface treatment, arc-welding, spot welding, existing six-joint robot includes rotation (S
Axis), underarm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swinging (B axle) and wrist revolution (T axis), pass through S axis, L
Axis, U axis, R axis, S axis and T axis are interior comprising S axis to realize degree of freedom action of the robot in six direction, wherein wrist body component
With T axis, to realize that the swing and revolution of wrist, current low-load six-joint robot can pass through the connection of synchronous pulley and synchronous belt
The rotation that two axis are realized in driving is closed, two pairs of belt wheels are separately mounted on the opposite two sides of forearm, take up a large area, and synchronous belt
It is also complex with the adjustment of synchronous pulley position, to solve problems, have partial robotic motor and speed reducer it
Between use gear drive, but it is still without space is made full use of, and there is a problem of that volume is excessive.
Utility model content
That the purpose of this utility model is to provide a kind of space structures is compact, small, accurate industrial six axis of transmission ratio
Robot.
A kind of industrial six-joint robot of technical solutions of the utility model, including sequentially connected pedestal, rotating seat, large arm,
Forearm driving shell, forearm and wrist body are provided with servo motor group in the forearm driving shell, and tooth is equipped in the forearm driving shell
Wheel group, driving rod piece and speed reducer, the servo motor group include first motor, the second motor and third motor；The gear
Group include axis be mutually parallel the first input gear, the second input gear and third input gear, be coaxially disposed it is first defeated
Go out gear, the second output gear and third output gear, the first output gear, the second output gear, third output gear are before
Arm is arranged in order to large arm direction, and the first input gear is engaged with the first output gear, the second input gear and the second output gear
Wheel engagement, third input gear engage with third output gear, the driving rod piece include the first drive rod for being coaxially disposed with
Second drive rod, second drive rod is located in the first drive rod and the second drive rod stretches out first close to one end of large arm and drives
Outside lever, the second deep groove ball bearing is equipped between the first drive rod and the second drive rod, the speed reducer is connect with forearm；
The first motor output shaft is connect with the first input gear, second motor output shaft and the second input gear
Connection, the third motor output shaft are connect with third input gear；First output gear is connect with speed reducer input terminal, and second
Output gear is set on the first drive rod, and third output gear is set in the part that the second drive rod is located at outside the first drive rod
On, driving rod piece runs through the speed reducer and forearm, and driving rod piece is connect away from the end of forearm driving shell with wrist body.
Preferably, a kind of industrial six-joint robot described in the utility model is additionally provided with spline in the forearm driving shell
Seat, the spline fitting are set on the first drive rod, and the first deep groove ball bearing is equipped between the spline fitting and the first drive rod, described
First output gear is installed on spline fitting, and is coupled with decelerating motor input terminal spline by the spline fitting.
Preferably, a kind of industrial six-joint robot described in the utility model is additionally provided with bearing in the forearm driving shell
Seat, the spline fitting are arranged in bearing block, and third deep groove ball bearing is equipped between spline fitting and bearing block.
Preferably, a kind of industrial six-joint robot described in the utility model, the speed reducer deviate from the first output gear
End be equipped with counter flange, between the counter flange and the first drive rod be equipped with the 4th deep groove ball bearing, counter flange with before
It is connected by screw between arm.
Preferably, a kind of industrial six-joint robot described in the utility model, second deep groove ball bearing pass through first
Baffle ring is fixed on the first drive rod.
Preferably, a kind of industrial six-joint robot described in the utility model, the third deep groove ball bearing pass through second
Baffle ring is fixed on bearing block.
Preferably, a kind of industrial six-joint robot described in the utility model, the 4th deep groove ball bearing pass through third
Baffle ring is arranged on counter flange.
Preferably, a kind of industrial six-joint robot described in the utility model, first drive rod is close to the one of large arm
The first oil sealing is equipped between end and the second drive rod.
Preferably, a kind of industrial six-joint robot described in the utility model, between the counter flange and the first drive rod
Equipped with the second oil sealing, CONTACT WITH FRICTION between second oil sealing and the first drive rod.
The utility model technology advantageous effect：
Centering when the industrial six-joint robot that technical solutions of the utility model provide is by installation is aligned described to adjust
The engagement accuracy of three pairs of gears achievees the purpose that power transmits, and speed reducer, the first drive rod, the second drive rod form three axis
Independent drive mechanism transmits three rotating speeds and realizes that wrist rotation, swing and revolution action, non-interference and transmission ratio are smart respectively
Really, the first output gear, the second output gear and third output gear are coaxially disposed, while the first drive rod is set in second
In drive rod, and integrally run through speed reducer and forearm so that space structure is rationally compact, effectively reduces floor space.
Description of the drawings
Fig. 1 is the industrial six-joint robot structural schematic diagram of the utility model embodiment；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the A-A sectional views of Fig. 1；
Fig. 4 is enlarged diagram at B in Fig. 3；
Fig. 5 is gear set structural schematic diagram.
Specific implementation mode
For ease of those skilled in the art understand that technical solutions of the utility model, new to this practicality in conjunction with Figure of description
Type technical solution is described further.
Refering to fig. 1, a kind of industrial six-joint robot provided by the utility model includes sequentially connected pedestal 32, rotating seat
31, large arm 30, forearm driving shell 1, forearm 2 and wrist body 3 are provided with servo motor group in the forearm driving shell 1, the forearm
Gear set, driving rod piece and speed reducer 18 are equipped in driving shell 1, the power of servo motor group output passes to drive by gear set
Lever part and speed reducer 18.
As shown in Figures 2 to 5, the servo motor group includes first motor 4, the second motor 5 and third motor 6；It is described
Gear set includes the first input gear 7, the second input gear 8 and third input gear 9, the coaxial arrangement that axis is mutually parallel
First output gear 10, the second output gear 11 and third output gear 12, the first output gear 10, the second output gear 11,
Third output gear 12 is arranged in order from forearm 2 to 30 direction of large arm, and the first input gear 7 is engaged with the first output gear 10,
Second input gear 8 engages 11 with the second output gear, and third input gear 9 is engaged with third output gear 12, the driving
Rod piece includes the first drive rod 13 and the second drive rod 14 of coaxial arrangement, and second drive rod 14 is located at the first drive rod 13
Interior and the second drive rod 14 is stretched out close to one end of large arm 32 outside the first drive rod 13, the first drive rod 13 and the second drive rod 14
Between be equipped with the second deep groove ball bearing 17, the speed reducer 18 connect with forearm 2；
4 output shaft of the first motor is connect with the first input gear 7,5 output shaft of the second motor and the second input
Gear 8 connects, and 6 output shaft of third motor is connect with third input gear 9；First output gear 10 and the first drive rod 13
Coaxial arrangement, and connect with 18 input terminal of speed reducer, the second output gear 11 wheel is set on the first drive rod 13 and passes through screw
It is fixedly connected with the first drive rod 13, third output gear 12 is set in the portion that the second drive rod 14 is located at outside the first drive rod 13
It on point, and is fixedly connected with the second drive rod 14 by locking nut, driving rod piece runs through speed reducer 18 and forearm 2, drive rod
Part is connect away from the end of forearm driving shell 1 with wrist body 3.
The power that first motor 4 exports is transferred to and subtracts via intermeshing first input gear 7, the first output gear 10
Fast machine 18, more specifically, being equipped with spline fitting 21 in forearm driving shell 1, spline fitting 21 is set on the first drive rod 13, the flower
The first deep groove ball bearing 16 is equipped between keyseat 21 and the first drive rod 13, the first output gear 10 is fixed on spline fitting 21, and
Coupled by spline with the input terminal of speed reducer 18, assembly letter is coupled using spline and accuracy rate is high；The spline fitting 21 setting exists
In one bearing block 22, bearing block 22 is installed in forearm driving shell 1, and third deep-groove ball axis is equipped between spline fitting 21 and bearing block 22
Hold 23.The power of second motor 5 output is transferred to the first drive through intermeshing second input gear 8, the second output gear 11
Lever 13.The power that third motor 6 exports is transferred to the via intermeshing third input gear 9, third output gear 12
Two drive rods 14.Three road power are transmitted simultaneously by gear set, are not interfere with each other, as long as adjusting corresponding input gear and output gear
Engagement accuracy between wheel is the accuracy that can ensure that power and transmit, and realizes the dynamic of wrist rotation, wrist swinging and wrist revolution
Make, in addition, the first drive rod 13 is set in outside the second drive rod 14, and be coaxially disposed, and rod piece is driven to run through speed reducer 18,
To drive speed reducer 18, the first output gear of the first drive rod 13 and the second drive rod 14, the second output gear 11 and
Necessarily be coaxially disposed between three output gears 12, reduce gear set perpendicular to driving rod piece axis direction on spatial volume,
Make its space structure with compact and reasonable, can be adapted for the working size range of bigger.
Speed reducer 26 is equipped with counter flange 26 away from the end of the first output gear 10, and the counter flange 26 and first drives
It is equipped with the 4th deep groove ball bearing 27 between lever 13, is connected by screw between counter flange 26 and forearm 2.
The power that gear set passes out is big, and rotating speed is high, and plain bearing friction coefficient is big, easily wears, and is unfavorable for subsequently tieing up
Shield, therefore the bearing used in the technical program is deep groove ball bearing, limit speed high spy small with friction coefficient
Point, it is durable, it is replaced without often repair.Specifically, the second deep groove ball bearing 17 is fixed on first by the first baffle ring 20
On drive rod 13；Third deep groove ball bearing 23 is fixed on by the second baffle ring 24 on bearing block 22；4th deep-groove ball axis 27 holds logical
Third baffle ring 28 is crossed to be arranged on counter flange 26.
In addition, the first drive rod 13 is equipped with the first oil sealing 19, transition between one end of large arm 32 and the second drive rod 14
The second oil sealing 29, CONTACT WITH FRICTION between second oil sealing 29 and the first drive rod 13 are equipped between flange 26 and the first drive rod 13.
Technical solutions of the utility model are exemplarily described utility model above in conjunction with attached drawing, it is clear that this practicality
Novel specific implementation is not subject to the restrictions described above, as long as using the methodology and technical solution progress of the utility model
Various unsubstantialities improve, or it is not improved the design of utility model and technical solution are directly applied into other occasions,
It both is within the protection scope of the present invention.
Claims (9)
1. a kind of industry six-joint robot, including sequentially connected pedestal, rotating seat, large arm, forearm driving shell, forearm and wrist
Body is provided with servo motor group in the forearm driving shell, which is characterized in that gear set, driving are equipped in the forearm driving shell
Rod piece and speed reducer, the servo motor group include first motor, the second motor and third motor；The gear set includes axis
First output gear of the first input gear, the second input gear and the third input gear, coaxial arrangement that are mutually parallel, second
Output gear and third output gear, the first output gear, the second output gear, third output gear are from forearm to large arm direction
It is arranged in order, the first input gear is engaged with the first output gear, and the second input gear is engaged with the second output gear, and third is defeated
Enter gear to engage with third output gear, the driving rod piece includes the first drive rod and the second drive rod of coaxial arrangement, institute
State that the second drive rod is located in the first drive rod and the second drive rod is stretched out close to one end of large arm outside the first drive rod, first drives
The second deep-groove ball axis is equipped between lever and the second drive rod, the speed reducer is connect with forearm；
The first motor output shaft is connect with the first input gear, and second motor output shaft and the second input gear connect
It connects, the third motor output shaft is connect with third input gear；First output gear is connect with speed reducer input terminal, and second is defeated
Go out gear to be set on the first drive rod, third output gear is set in the part that the second drive rod is located at outside the first drive rod
On, driving rod piece runs through the speed reducer and forearm, and driving rod piece is connect away from the end of forearm driving shell with wrist body.
2. a kind of industrial six-joint robot according to claim 1, which is characterized in that be additionally provided in the forearm driving shell
Spline fitting, the spline fitting are set on the first drive rod, and the first deep groove ball bearing is equipped between the spline fitting and the first drive rod,
First output gear is installed on spline fitting, and is coupled with decelerating motor input terminal spline by the spline fitting.
3. a kind of industrial six-joint robot according to claim 2, which is characterized in that be additionally provided in the forearm driving shell
Bearing block, the spline fitting are arranged in bearing block, and third deep groove ball bearing is equipped between spline fitting and bearing block.
4. a kind of industrial six-joint robot according to claim 1, which is characterized in that the speed reducer is away from the first output
The end of gear is equipped with counter flange, and the 4th deep groove ball bearing, counter flange are equipped between the counter flange and the first drive rod
It is connected by screw between forearm.
5. a kind of industrial six-joint robot according to claim 2, which is characterized in that second deep groove ball bearing passes through
First baffle ring is fixed on the first drive rod.
6. a kind of industrial six-joint robot according to claim 3, which is characterized in that the third deep groove ball bearing passes through
Second baffle ring is fixed on bearing block.
7. a kind of industrial six-joint robot according to claim 4, which is characterized in that the 4th deep groove ball bearing passes through
Third baffle ring is arranged on counter flange.
8. a kind of industrial six-joint robot according to claim 1, which is characterized in that first drive rod is close to large arm
One end and the second drive rod between be equipped with the first oil sealing.
9. a kind of industrial six-joint robot according to claim 4 or 7, which is characterized in that the counter flange and first
The second oil sealing, CONTACT WITH FRICTION between second oil sealing and the first drive rod are equipped between drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742674.4U CN207616569U (en) | 2017-12-14 | 2017-12-14 | A kind of industry six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742674.4U CN207616569U (en) | 2017-12-14 | 2017-12-14 | A kind of industry six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207616569U true CN207616569U (en) | 2018-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721742674.4U Active CN207616569U (en) | 2017-12-14 | 2017-12-14 | A kind of industry six-joint robot |
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| Country | Link |
|---|---|
| CN (1) | CN207616569U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873191A (en) * | 2021-01-19 | 2021-06-01 | 国工信(沧州)机器人有限公司 | Positioning device for shaft gear of industrial robot |
-
2017
- 2017-12-14 CN CN201721742674.4U patent/CN207616569U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873191A (en) * | 2021-01-19 | 2021-06-01 | 国工信(沧州)机器人有限公司 | Positioning device for shaft gear of industrial robot |
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