CN208629439U - Six-axis robot - Google Patents
Six-axis robot Download PDFInfo
- Publication number
- CN208629439U CN208629439U CN201820800516.8U CN201820800516U CN208629439U CN 208629439 U CN208629439 U CN 208629439U CN 201820800516 U CN201820800516 U CN 201820800516U CN 208629439 U CN208629439 U CN 208629439U
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- Prior art keywords
- wrist
- chassis
- flange
- arm
- tooth
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- 210000000707 wrist Anatomy 0.000 claims abstract description 100
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims description 34
- 210000004744 fore-foot Anatomy 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000233855 Orchidaceae Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a six-axis robot, which comprises a box body base; a base plate rotating turbine box is arranged on the box body base; a chassis flange cover is arranged on the top surface of the chassis rotating turbine box; the chassis flange cover is provided with a chassis rotating turbine shaft upper flange cover; a driving arm seat is arranged on the flange cover on the rotating turbine shaft of the chassis; the driving arm seat is provided with a first arm, a cycloid speed reducer and a connecting rod servo motor through an arm mounting flange; a wrist motor gear box is arranged on the second arm seat; the rear end face of the wrist motor gear box is respectively provided with a first planetary reducer, a second planetary reducer and a third planetary reducer; the first planetary reducer, the second planetary reducer and the third planetary reducer are respectively connected with a first rotating arm motor, a second rotating arm motor and a third rotating arm motor; the utility model discloses small, drive ratio scope is big, efficient, operate steadily, low noise strong adaptability.
Description
Technical field
The utility model relates to Industrial Robot Technology field, especially a kind of six-joint robot.
Background technique
Six-joint robot belongs to the robot of six-freedom degree, has very big flexibility and universal, mechanical hand
Certain holding functions that manpower and arm can be imitated, being automatically brought into operation for object or operational instrument is grabbed, carried by fixed routine
Device, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, it can replace the heavy labor of people
Dynamic mechanization and automation to realize production, can operate under hostile environment to protect personal safety, therefore be widely used in
Machine-building, metallurgy, light industry, atomic energy, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry etc.
Field.The working strength of worker is greatly reduced, improves production efficiency.But there are volumes for current six-joint robot structure
Greatly, the defects of transmission efficiency is low, and repeatable accuracy is poor, and noise is big.
Utility model content
In order to overcome the disadvantages mentioned above of the prior art, the purpose of the utility model is to provide a kind of small in size, transmission ratio models
Enclose the low adaptable six-joint robot of big, high-efficient, smooth running, noise.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of six-joint robot, including cabinet bottom
Seat；Wherein: chassis revolving wormgear case is installed on the cabinet base；The chassis revolving wormgear case top surface is provided with chassis method
Orchid lid；Chassis revolving wormgear axis upper flange lid is provided on the chassis blind flange；The chassis revolving wormgear axis upper flange lid
On be provided with driving arm seat；The driving arm seat is equipped with the first arm, cycloid speed reducer and connecting rod by arm mounting flange
Servo motor；First arm lower end connects connecting rod one end with the connecting-rod bearing by link transmission axis；On first arm
It holds and the connecting rod other end passes through the second arm joint axle center respectively and the connecting-rod bearing is connect with second-hand's arm seat；The second-hand
Wrist motor gearbox is installed on arm seat；The wrist motor gearbox rear end face be separately installed with the first planetary reducer,
Second planetary reducer and third planet speed reducer；First planetary reducer, the second planetary reducer and third planet subtract
Fast machine is connected separately with first rotating arm motor, the second rotating arm motor and third rotating arm motor.
As further improvement of the utility model: being respectively arranged with chassis rotation whirlpool inside the chassis revolving wormgear case
Wheel, chassis revolving wormgear axis, chassis rotation scroll bar, chassis rotation scroll bar bearing flange, chassis rotate scroll bar motor flange, chassis
Swivel bearing, chassis revolving wormgear axis lower flange, chassis revolving wormgear axis lower flange bearing, chassis revolving wormgear axis upper flange axis
It holds；The chassis revolving wormgear is mounted on the chassis revolving wormgear axis by chassis swivel bearing；The chassis rotates whirlpool
Wheel engages connection with chassis rotation scroll bar；Side is respectively arranged with chassis rotating electric machine outside the chassis revolving wormgear case
And electronic box；The chassis rotating electric machine is connect with chassis rotation scroll bar.
As further improvement of the utility model: the wrist motor gearbox front end face passes through the second arm rotary process
Blue and second arm swivel bearing flanged joint the first wrist central axis；It is solid that first wrist center shaft end is equipped with fore paw
Reservation；The fore paw fixing seat connects fore paw flange；Fore paw flange left and right ends are connected with wrist front end rotary flange；Institute
It states wrist front end rotary flange and passes through end bearing top cover and wrist front end center axis connection before wrist front end flange and wrist respectively；
The second wrist central axis and third wrist central axis are equipped with by coaxial bearing inside the first wrist central axis.
As further improvement of the utility model: including and the first planetary reduction gear inside the wrist motor gearbox
Wrist straight-tooth that machine, the second planetary reducer and third planet speed reducer are separately connected by wrist motor gear connecting shaft, with
First order straight-tooth, second level straight-tooth and the third level straight-tooth that the wrist straight-tooth engages respectively；The first order straight-tooth, the second level
Straight-tooth and third level straight-tooth are separately mounted to the first wrist central axis, the second wrist central axis and third wrist by bearing
On central axis.
As further improvement of the utility model: include inside the rotary flange of the wrist front end wrist rotation gear and
Wrist front-end-cone tooth；The wrist rotation gear is driven by wrist bevel gear Pivot axle and wrist front-end-cone tooth engagement；
It include the first transmission cone tooth and the second transmission cone tooth inside the fore paw flange；The first transmission cone tooth and the second transmission cone tooth
It is separately mounted on the second wrist central axis and third wrist central axis by bearing；The first transmission cone tooth and second
Transmission cone tooth rotates gear transmission connection by wrist axis and wrist bearing and wrist.
Compared with prior art, the utility model has the beneficial effects that being adjusted by each out-of-alignment so that entire machine
Device people's flexible rotating, the operating environment suitable for various complexity.Cycloid speed reducer and the direct-connected mode of connecting rod servo motor, the first row
Star speed reducer, the second planetary reducer and third planet speed reducer are directly connected to first rotating arm motor, the second rotating arm respectively
Motor and third rotating arm motor mode design extremely simple, conveniently.Rationally using cycloid speed reducer design, easy to maintenance, hold
Easily decompose installation, minimum parts count and simple lubrication；Small in size using planetary reducer, transmission efficiency is high, deceleration model
Enclose wide, precision height；To enhance the scope of activities of six-joint robot, flexibility in industrial production activities and practical is improved
Property, it operates and uses convenient for people, adapting it to property is stronger.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model chassis revolving wormgear case schematic diagram of internal structure；
Fig. 3 is the utility model wrist motor gearbox schematic diagram of internal structure；
Fig. 4 is the utility model wrist center spindle structure schematic diagram；
Fig. 5 is the utility model wrist front end rotary flange and fore paw flange schematic diagram of internal structure.
Specific embodiment
Now in conjunction with Detailed description of the invention, the present invention will be further described with embodiment:
Such as Fig. 1 to Fig. 5, a kind of six-joint robot, including cabinet base 1；Wherein: bottom being installed on the cabinet base 1
Disc spins turbine box 2；2 top surface of chassis revolving wormgear case is provided with chassis blind flange 3；It is arranged on the chassis blind flange 3
There is chassis revolving wormgear axis upper flange lid 4；Driving arm seat 5 is provided on the chassis revolving wormgear axis upper flange lid 4；The drive
Swing arm seat 5 is equipped with the first arm 7, cycloid speed reducer 8 and connecting rod servo motor 9 by arm mounting flange 6；It is described first-hand
7 lower end of arm connects 12 one end of connecting rod by link transmission axis 10 and the connecting-rod bearing 11；First arm, 7 upper end and connecting rod 12
The other end passes through the second arm joint axle center 13 respectively and the connecting-rod bearing 11 is connect with second-hand's arm seat 14；Second-hand's arm seat
Wrist motor gearbox 15 is installed on 14；15 rear end face of wrist motor gearbox is separately installed with the first planetary reducer
16, the second planetary reducer 17 and third planet speed reducer 18；First planetary reducer 16,7 and of the second planetary reducer
Third planet speed reducer 18 is connected separately with first rotating arm motor 19, the second rotating arm motor 20 and third rotating arm motor
21。
The utility model is using cycloid speed reducer and the direct-connected mode of connecting rod servo motor, the first planetary reducer, the second row
Star speed reducer and third planet speed reducer are directly connected to first rotating arm motor, the second rotating arm motor and third rotating arm respectively
Motor mode designs extremely simple, conveniently；Rationally using cycloid speed reducer design, easy to maintenance, it is easy to decompose installation, at least
Parts count and simple lubrication；High ratio and high efficiency single-stage driving are compact-sized small in size due to using Gear Planet Transmission
Principle, pto input shaft make its type obtain size as small as possible on same axial line；The low cycloid of smooth running noise
The needle tooth engagement number of teeth is more, and overlap coefficient is big and with the mechanism that parts balance, and vibration and throat sound is made to be limited in minimum；
Using reliable, the service life is long；Planet-gear speed reducer is light-weight, small in size, gear range is big, high-efficient, smooth running, noise
The features such as low adaptable；Many advantages, such as planetary reducer is small in size with its, and transmission efficiency is high, and reduction range is wide, and precision is high,
And it is widely used in the transmission systems such as servo, stepping, direct current.It is exactly master under the premise of guaranteeing precision drive that it, which is acted on,
Being used to, which reduces revolving speed, increases torque and reduces load/motor rotary inertia ratio.
Chassis revolving wormgear 22, chassis revolving wormgear axis 23, chassis are respectively arranged with inside the chassis revolving wormgear case 2
Rotate scroll bar 24, chassis rotation scroll bar bearing flange 25, chassis rotation scroll bar motor flange 26, chassis swivel bearing 27, chassis
Revolving wormgear axis lower flange 28；The chassis revolving wormgear 22 is mounted on the chassis revolving wormgear by chassis swivel bearing 27
On axis 23；The chassis revolving wormgear 22 engages connection with chassis rotation scroll bar 24；Outside the chassis revolving wormgear case 2
Side is respectively arranged with chassis rotating electric machine 29 and electronic box 30；The chassis rotating electric machine is connect with chassis rotation scroll bar.
15 front end face of wrist motor gearbox passes through the second arm rotary flange 31 and the second arm swivel bearing method
Orchid 32 connects the first wrist central axis 33；First wrist central axis, 33 end is equipped with fore paw fixing seat 34；The fore paw
Fixing seat 34 connects fore paw flange 35；35 left and right ends of fore paw flange are connected with wrist front end rotary flange 36；The hand
Wrist front end rotary flange 36 passes through end bearing top cover 38 and wrist front end center axis 39 before wrist front end flange 37 and wrist respectively
Connection；Second wrist central axis 40 and third wrist center are equipped with by coaxial bearing inside the first wrist central axis 33
Axis 41.
Include inside the wrist motor gearbox 15 and the first planetary reducer 16, the second planetary reducer 17 and third
The wrist straight-tooth 43 and the wrist straight-tooth 43 that planetary reducer 18 is separately connected by wrist motor gear connecting shaft 42 are distinguished
First order straight-tooth 44, second level straight-tooth 45 and the third level straight-tooth 46 of engagement；The first order straight-tooth 44,45 and of second level straight-tooth
Third level straight-tooth 46 is separately mounted to the first wrist central axis 33, the second wrist central axis 40 and third wrist by bearing
On central axis 41.
It include wrist rotation gear 47 and wrist front-end-cone tooth 48 inside wrist front end rotary flange 36；The wrist
It rotates gear 47 and passes through 48 engaged transmission of wrist bevel gear Pivot axle 49 and wrist front-end-cone tooth；In the fore paw flange 35
Portion includes the first transmission cone tooth 50 and the second transmission cone tooth 51；The first transmission cone tooth 50 and the second transmission cone tooth 51 pass through axis
It holds and is separately mounted to the second wrist central axis 40 and third wrist central axis 41
On；The first transmission cone tooth 50 and the second transmission cone tooth 51 pass through wrist axis and wrist bearing and wrist rotary teeth
Wheel transmission connection.
Working principle of the utility model is: first pass through electronic box when people use the six-joint robot and power on, chassis
Rotating electric machine drives chassis rotation scroll bar to be rotated, and then the chassis revolving wormgear engaged with chassis rotation scroll bar rotates, from
And the 360 degree rotation for driving the rotation of driving arm seat to carry out first horizontal direction to robot is adjusted, and passes through drive link servo electricity
Machine drives the first arm and connecting rod to realize robot vertical direction 180 degree oscillation adjustment；By driving first rotating arm motor band
Dynamic first wrist center axis rotation, and then wrist front end rotary flange and fore paw flange rotary is driven to carry out 360 degree rotation adjusting；
The second wrist center axis rotation is driven by the second rotating arm motor of driving, further transmission is mounted on the second wrist central axis
First transmission cone tooth, realize wrist front end rotary flange around fore paw flange 180 degree rotate adjust；By driving third rotating arm
Motor drives third wrist center axis rotation；It is further driven the second transmission cone tooth being mounted on third wrist central axis, it is real
Existing wrist front end center axis 360 degree rotation is adjusted；It is adjusted by each out-of-alignment so that entire robot flexible rotating, is applicable in
In the operating environment of various complexity.Cycloid speed reducer and the direct-connected mode of connecting rod servo motor, the first planetary reducer, the second planet
Speed reducer and third planet speed reducer are directly connected to first rotating arm motor, the second rotating arm motor and third rotating arm electricity respectively
Machine mode designs extremely simple, conveniently.
In conclusion after those skilled in the art read the utility model file, skill according to the present utility model
Art scheme and technical concept are not necessarily to creative mental labour and make other various corresponding conversion schemes, and it is practical new to belong to this
The range that type is protected.
Claims (5)
1. a kind of six-joint robot, including cabinet base；It is characterized by: being equipped with chassis revolving wormgear on the cabinet base
Case；The chassis revolving wormgear case top surface is provided with chassis blind flange；Chassis revolving wormgear is provided on the chassis blind flange
Axis upper flange lid；The chassis revolving wormgear axis upper flange, which covers, is provided with driving arm seat；The driving arm seat is pacified by arm
Dress flange is equipped with the first arm, cycloid speed reducer and connecting rod servo motor；First arm lower end passes through link transmission axis
Connecting rod one end is connected with the connecting-rod bearing；First arm upper end and the connecting rod other end pass through the second arm joint axle center respectively
It is connect with the connecting-rod bearing with second-hand's arm seat；Wrist motor gearbox is installed on second-hand's arm seat；The wrist motor
Gear-box rear end face is separately installed with the first planetary reducer, the second planetary reducer and third planet speed reducer；Described first
Planetary reducer, the second planetary reducer and third planet speed reducer are connected separately with first rotating arm motor, the second rotating arm
Motor and third rotating arm motor.
2. a kind of six-joint robot according to claim 1, it is characterised in that: inside the chassis revolving wormgear case respectively
It is provided with chassis revolving wormgear, chassis revolving wormgear axis, chassis rotation scroll bar, chassis rotation scroll bar bearing flange, chassis rotation
Scroll bar motor flange, chassis swivel bearing, chassis revolving wormgear axis lower flange, chassis revolving wormgear axis lower flange bearing, chassis
Revolving wormgear axis upper flange bearing；The chassis revolving wormgear is mounted on the chassis revolving wormgear axis by chassis swivel bearing
On；The chassis revolving wormgear engages connection with chassis rotation scroll bar；Side difference outside the chassis revolving wormgear case
It is provided with chassis rotating electric machine and electronic box；The chassis rotating electric machine is connect with chassis rotation scroll bar.
3. a kind of six-joint robot according to claim 1, it is characterised in that: the wrist motor gearbox front end face is logical
Cross the second arm rotary flange and second arm swivel bearing flanged joint the first wrist central axis；The first wrist central axis
End is equipped with fore paw fixing seat；The fore paw fixing seat connects fore paw flange；Fore paw flange left and right ends are connected with hand
Wrist front end rotary flange；Wrist front end rotary flange passes through end bearing top cover and wrist before wrist front end flange and wrist respectively
Portion's front end center axis connection；The second wrist central axis and third are equipped with by coaxial bearing inside the first wrist central axis
Wrist central axis.
4. a kind of six-joint robot according to claim 3, it is characterised in that: include inside the wrist motor gearbox
It is separately connected with the first planetary reducer, the second planetary reducer and third planet speed reducer by wrist motor gear connecting shaft
Wrist straight-tooth, the first order straight-tooth, second level straight-tooth and the third level straight-tooth that are engaged respectively with the wrist straight-tooth；Described first
Grade straight-tooth, second level straight-tooth and third level straight-tooth are separately mounted to the first wrist central axis, in the second wrist by bearing
In mandrel and third wrist central axis.
5. a kind of six-joint robot according to claim 3, it is characterised in that: packet inside the rotary flange of the wrist front end
Include wrist rotation gear and wrist front-end-cone tooth；Before the wrist rotation gear is by wrist bevel gear Pivot axle and wrist
The transmission of end cone tooth engagement；It include the first transmission cone tooth and the second transmission cone tooth inside the fore paw flange；The first transmission cone
Tooth and the second transmission cone tooth are separately mounted on the second wrist central axis and third wrist central axis by bearing；First passes
Mantle tooth and the second transmission cone tooth pass through wrist axis and wrist bearing and wrist rotation gear transmission connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820800516.8U CN208629439U (en) | 2018-05-28 | 2018-05-28 | Six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820800516.8U CN208629439U (en) | 2018-05-28 | 2018-05-28 | Six-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208629439U true CN208629439U (en) | 2019-03-22 |
Family
ID=65732534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820800516.8U Expired - Fee Related CN208629439U (en) | 2018-05-28 | 2018-05-28 | Six-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208629439U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065059A (en) * | 2019-06-11 | 2019-07-30 | 东莞市知鑫科技服务有限公司 | A kind of industrial processes rotary machine hand-drive carry arm and its operating method |
| CN110125921A (en) * | 2019-05-13 | 2019-08-16 | 金陵科技学院 | A kind of pick device and its pick-up method for the pickup mobile phone from gap |
| CN110282038A (en) * | 2019-06-28 | 2019-09-27 | 兰州理工大学 | Field detection robot |
| CN110587194A (en) * | 2019-10-16 | 2019-12-20 | 重庆工业职业技术学院 | Bionic welding manipulator for electronic product |
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| CN110842904A (en) * | 2019-12-18 | 2020-02-28 | 江苏诺必达机器人科技有限公司 | Transmission mechanism suitable for six-axis robot |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
| CN112518718A (en) * | 2020-11-26 | 2021-03-19 | 苏州鑫睿益荣信息技术有限公司 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
| CN113733073A (en) * | 2021-09-26 | 2021-12-03 | 重庆七腾科技有限公司 | Mechanical arm transmission device, robot system and using method |
-
2018
- 2018-05-28 CN CN201820800516.8U patent/CN208629439U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125921A (en) * | 2019-05-13 | 2019-08-16 | 金陵科技学院 | A kind of pick device and its pick-up method for the pickup mobile phone from gap |
| CN110065059A (en) * | 2019-06-11 | 2019-07-30 | 东莞市知鑫科技服务有限公司 | A kind of industrial processes rotary machine hand-drive carry arm and its operating method |
| CN110282038A (en) * | 2019-06-28 | 2019-09-27 | 兰州理工大学 | Field detection robot |
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| CN110587586B (en) * | 2019-09-29 | 2024-09-20 | 纳博特南京科技有限公司 | Six-axis mechanical arm |
| CN110587194A (en) * | 2019-10-16 | 2019-12-20 | 重庆工业职业技术学院 | Bionic welding manipulator for electronic product |
| CN110842904A (en) * | 2019-12-18 | 2020-02-28 | 江苏诺必达机器人科技有限公司 | Transmission mechanism suitable for six-axis robot |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
| CN112518718A (en) * | 2020-11-26 | 2021-03-19 | 苏州鑫睿益荣信息技术有限公司 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
| CN113733073A (en) * | 2021-09-26 | 2021-12-03 | 重庆七腾科技有限公司 | Mechanical arm transmission device, robot system and using method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190322 Termination date: 20200528 |
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| CF01 | Termination of patent right due to non-payment of annual fee |