CN208854634U - A kind of robot automatic arm in six joints - Google Patents
A kind of robot automatic arm in six joints Download PDFInfo
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- CN208854634U CN208854634U CN201820931300.5U CN201820931300U CN208854634U CN 208854634 U CN208854634 U CN 208854634U CN 201820931300 U CN201820931300 U CN 201820931300U CN 208854634 U CN208854634 U CN 208854634U
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- speed reducer
- servo motor
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- axle
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Abstract
The utility model relates to arrive machinery equipment field, specifically a kind of robot automatic arm in six joints.The robot automatic arm in six joints, including first axle base, the first axis servo motor, first axle linkage speed reducer and the second axis base.The utility model devises a kind of robot and passes through rotation and swing with the automatic arm in six joints, arm any position may be implemented and angle grabs pcb board function, it no matter is all that traditional structure can not match in excellence or beauty from operation precision and running speed, and this arm structure is succinct, it is easy to overhaul and safeguard, can has wide range of applications.The utility model patent respectively drives component with the automatic arm in six joints by electrical control machine people, and the comprehensive grabbing workpiece of arm may be implemented, improve the crawl Efficiency and accuracy of pcb board workpiece.
Description
Technical field
The utility model relates to arrive machinery equipment field, specifically a kind of robot automatic arm in six joints.
Background technique
Current used same category of device, will such as realize pcb board level crawl function, general to watch using structure is extremely complex
Clothes lifting or easy cylinder lifting structure, above two structure market application is universal, is gone up and down using servo, accurate positioning,
But design assembly or maintenance improve and its difficulty, in addition structural area is very huge, so that equipment can not integrally scale, such as uses
Cylinder lifting, positioning accuracy generally not enough precisely, are not used in more and more accurate equipment and the speed of service also restrict
The capacity requirements of equipment
In order to solve the above-mentioned technical problem, the utility model devises a kind of robot automatic arm in six joints, the machine
Device people, by rotation and swing, may be implemented arm any position and angle grab pcb board function with the automatic arm in six joints
Can, it no matter is all that traditional structure can not match in excellence or beauty, and this arm structure is succinct, is easy to overhaul from operation precision and running speed
With maintenance, can have wide range of applications.The utility model patent is respectively driven by electrical control machine people with the automatic arm in six joints
The comprehensive grabbing workpiece of arm may be implemented in component, improves the crawl Efficiency and accuracy of pcb board workpiece.
Utility model content
In order to overcome defect present in background technique, the utility model solves technical solution used by its technical problem
It is: a kind of robot automatic arm in six joints, including first axle base, the first axis servo motor, first axle linkage speed reducer
With the second axis base, the first axle base is interior to be equipped with the first axis servo motor and first axle linkage speed reducer, the first axle
Base is equipped with the second axis base, and first axis servo motor can drive the second axis base by first axle linkage speed reducer
Prolong main shaft rotation, is equipped with the second axis servo motor and the second axis linkage speed reducer in the second axis base, second axis is watched
It takes and is linked together between motor and the second axis linkage speed reducer by transmission belt, the second axis linkage speed reducer is equipped with the
Three axis bases, second axis servo motor can be driven by transmission belt and the second axis linkage speed reducer before and after third axis base
It swings, third axis servo motor and third axis linkage speed reducer, the third axis servo motor is equipped in the third axis base
It is linked together between third axis linkage speed reducer by transmission belt, the third axis linkage speed reducer is equipped with the 4th axis machine
Seat, the third axis servo motor can drive the 4th axis base swing by transmission belt and third axis linkage speed reducer,
The 4th axis base is equipped with the 5th axis base, is equipped with the 4th axis servo motor, the 5th axis servo in the 5th axis base
Motor and five-axle linkage speed reducer, the 4th axis servo motor are able to drive the 5th axis base and prolong main shaft rotation, and described the
It is linked together between five axis servo motors and five-axle linkage speed reducer by transmission belt, on the five-axle linkage speed reducer
Equipped with the 6th axis base, the 5th axis servo motor can drive the 6th axis machine by five-axle linkage speed reducer and transmission belt
Seat swing, the 6th axis base is interior to be equipped with the 6th axis servo motor and six-axis linkage speed reducer, and the 6th axis is watched
Take motor be able to drive six-axis linkage speed reducer prolong main shaft rotation.
The utility model devises a kind of robot automatic arm in six joints, and the robot is logical with the automatic arm in six joints
Rotation and swing are crossed, arm any position and angle may be implemented and grab pcb board function, no matter from operation precision and operating
All it is that traditional structure can not match in excellence or beauty, and this arm structure is succinct in speed, is easy to overhaul and safeguard, can have wide range of applications.
The utility model patent respectively drives component with the automatic arm in six joints by electrical control machine people, and arm side entirely may be implemented
Position grabbing workpiece, improves the crawl Efficiency and accuracy of pcb board workpiece.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural schematic diagram of robot of the utility model automatic arm in six joints；
Fig. 2 is a kind of main view of robot of the utility model automatic arm in six joints；
Wherein: 1, first axle base；2, the first axis servo motor；3, first axle linkage speed reducer；4, the second axis base；5,
Second axis servo motor；6, the second axis linkage speed reducer；7, third axis base；8, third axis servo motor；9, three-shaft linkage
Speed reducer；10, the 4th axis base；11, the 4th axis servo motor；12, the 5th axis base；13, the 5th axis servo motor；14,
Five-axle linkage speed reducer；15, the 6th axis servo motor；16, six-axis linkage speed reducer；17, transmission belt；18, the 6th axis machine
Seat.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.Attached drawing is simplified schematic diagram, only to show
Meaning mode illustrates the basic structure of the utility model, therefore it only shows composition related with the utility model.
Specific embodiment please refers to Fig. 1 ~ 2, a kind of robot automatic arm in six joints, including first axle base 1,
One axis servo motor 2, first axle linkage speed reducer 3 and the second axis base 4, the first axle base 1 is interior to be equipped with first axle servo
Motor 2 and first axle linkage speed reducer 3, the first axle base 1 are equipped with the second axis base 4, first axis servo motor 2
The second axis base 4 can be driven to prolong main shaft rotation by first axle linkage speed reducer 3, be equipped with second in the second axis base 4
Axis servo motor 5 and the second axis linkage speed reducer 6, pass through between second axis servo motor 5 and the second axis linkage speed reducer 6
Transmission belt 17 links together, and the second axis linkage speed reducer 6 is equipped with third axis base 7, second axis servo motor 5
7 swing of third axis base can be driven by transmission belt 17 and the second axis linkage speed reducer 6, in the third axis base 7
Equipped with third axis servo motor 8 and third axis linkage speed reducer 9, the third axis servo motor 8 and third axis linkage speed reducer 9
Between linked together by transmission belt 17, the third axis linkage speed reducer 9 is equipped with the 4th axis base 10, the third axis
Servo motor 8 can drive 10 swing of the 4th axis base by transmission belt 17 and third axis linkage speed reducer 9, and the described 4th
Axis base 10 is equipped with the 5th axis base 12, is equipped with the 4th axis servo motor 11, the 5th axis servo in the 5th axis base 12
Motor 13 and five-axle linkage speed reducer 14, the 4th axis servo motor 11 are able to drive the 5th axis base 12 and prolong main shaft rotation
Turn, is linked together between the 5th axis servo motor 13 and five-axle linkage speed reducer 14 by transmission belt 17, described the
Five-axle linkage speed reducer 14 is equipped with the 6th axis base 18, and the 5th axis servo motor 13 can be slowed down by five-axle linkage
Machine 14 and transmission belt 17 drive 18 swing of the 6th axis base, are equipped with the 6th axis servo motor 15 in the 6th axis base 18
With six-axis linkage speed reducer 16, the 6th axis servo motor 15 is able to drive six-axis linkage speed reducer 16 and prolongs main shaft rotation
Turn.
The utility model devises a kind of robot automatic arm in six joints, and the robot is logical with the automatic arm in six joints
Rotation and swing are crossed, arm any position and angle may be implemented and grab pcb board function, no matter from operation precision and operating
All it is that traditional structure can not match in excellence or beauty, and this arm structure is succinct in speed, is easy to overhaul and safeguard, can have wide range of applications.
The utility model patent respectively drives component with the automatic arm in six joints by electrical control machine people, and arm side entirely may be implemented
Position grabbing workpiece, improves the crawl Efficiency and accuracy of pcb board workpiece.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (1)
1. a kind of robot automatic arm in six joints, including first axle base (1), the first axis servo motor (2), first axle connection
Dynamic speed reducer (3) and the second axis base (4), it is characterised in that: the first axis servo motor is equipped in the first axle base (1)
(2) and first axle linkage speed reducer (3), the first axle base (1) are equipped with the second axis base (4), the first axle servo
Motor (2) can drive the second axis base (4) to prolong main shaft rotation, the second axis base by first axle linkage speed reducer (3)
(4) the second axis servo motor (5) and the second axis linkage speed reducer (6), second axis servo motor (5) and the second axis are equipped in
It is linked together between linkage speed reducer (6) by transmission belt (17), the second axis linkage speed reducer (6) is equipped with third axis
Base (7), second axis servo motor (5) can drive third by transmission belt (17) and the second axis linkage speed reducer (6)
Axis base (7) swing, the third axis base (7) is interior to be equipped with third axis servo motor (8) and third axis linkage speed reducer
(9), it is linked together between the third axis servo motor (8) and third axis linkage speed reducer (9) by transmission belt (17), institute
Third axis linkage speed reducer (9) is stated equipped with the 4th axis base (10), the third axis servo motor (8) can pass through transmission belt
(17) and third axis linkage speed reducer (9) drives the 4th axis base (10) swing, and the 4th axis base (10) is equipped with
5th axis base (12), the 5th axis base (12) is interior to be equipped with the 4th axis servo motor (11), the 5th axis servo motor (13)
With five-axle linkage speed reducer (14), the 4th axis servo motor (11) is able to drive the 5th axis base (12) and prolongs main shaft rotation
Turn, linked together between the 5th axis servo motor (13) and five-axle linkage speed reducer (14) by transmission belt (17),
The five-axle linkage speed reducer (14) is equipped with the 6th axis base (18), and the 5th axis servo motor (13) can be by the
Five-axle linkage speed reducer (14) and transmission belt (17) drive the 6th axis base (18) swing, and the 6th axis base (18) is interior
Equipped with the 6th axis servo motor (15) and six-axis linkage speed reducer (16), the 6th axis servo motor (15) is able to drive
Six-axis linkage speed reducer (16) prolongs main shaft rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931300.5U CN208854634U (en) | 2018-06-15 | 2018-06-15 | A kind of robot automatic arm in six joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931300.5U CN208854634U (en) | 2018-06-15 | 2018-06-15 | A kind of robot automatic arm in six joints |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208854634U true CN208854634U (en) | 2019-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820931300.5U Active CN208854634U (en) | 2018-06-15 | 2018-06-15 | A kind of robot automatic arm in six joints |
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| Country | Link |
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| CN (1) | CN208854634U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270991A (en) * | 2019-06-10 | 2019-09-24 | 潍坊海丰自动化科技有限公司 | A kind of six axis mechanisms |
-
2018
- 2018-06-15 CN CN201820931300.5U patent/CN208854634U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270991A (en) * | 2019-06-10 | 2019-09-24 | 潍坊海丰自动化科技有限公司 | A kind of six axis mechanisms |
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