CN208867176U - Simple structure six-joint robot - Google Patents

Simple structure six-joint robot Download PDF

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Publication number
CN208867176U
CN208867176U CN201820796101.8U CN201820796101U CN208867176U CN 208867176 U CN208867176 U CN 208867176U CN 201820796101 U CN201820796101 U CN 201820796101U CN 208867176 U CN208867176 U CN 208867176U
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CN
China
Prior art keywords
axis
servo motor
axis rotary
simple structure
joint robot
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Expired - Fee Related
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CN201820796101.8U
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Chinese (zh)
Inventor
张亚平
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Individual
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Individual
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Priority to CN201820796101.8U priority Critical patent/CN208867176U/en
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Publication of CN208867176U publication Critical patent/CN208867176U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The purpose of this utility model is to provide a kind of simple structure six-joint robots.The simple structure six-joint robot, using articulated linkage mechanism, gear drive, servo electrical machinery system, to realize the X-axis rotation of Z axis rotation, large arm, the X-axis rotation of forearm, the X-axis rotation of small arm connection, the Y-axis rotation of forearm, the Y-axis rotation of small arm connection.Not only structure is terse for the utility model, low manufacture cost, but also can be realized six s functions of six-joint robot.The all trades and professions being widely applicable in industrial circle.

Description

Simple structure six-joint robot
Technical field
The utility model relates to a kind of simple structure six-joint robot devices.
Background technique
With China's industrial automation, intelligentized fast development, six-joint robot widely applies to each row Industry, the use of six-joint robot is to working environment, the reduction employee for improving production efficiency, raising product quality and improvement employee Labor intensity, produce very excellent effect.
But six-joint robot is expensive, the cost using the automated production equipment of six-joint robot is relatively high, Therefore, in order to which six-joint robot is more widely used, a kind of six-joint robot of simple structure is developed, six axis are reduced The cost of manufacture of robot is exactly very necessary.
The utility model --- simple structure six-joint robot can not only realize six s functions of six-joint robot, and Structure is terse, low manufacture cost, so, the utility model --- simple structure six-joint robot, with very big market potential and Extensive customer demand.
Summary of the invention
The purpose of this utility model is to provide a kind of simple structure six-joint robots.The simple structure six-joint robot, Using articulated linkage mechanism, gear drive, servo electrical machinery system, to realize Z axis rotation, the X-axis rotation of large arm, forearm X-axis rotation, small arm connection X-axis rotation, forearm Y-axis rotation, small arm connection Y-axis rotation.The utility model is not only tied Structure is terse, low manufacture cost, and can be realized six s functions of six-joint robot.It is widely applicable for each in industrial circle Each industry of row.
The utility model is achieved through the following technical solutions:
A kind of simple structure six-joint robot, it includes base, Z axis rotary part, X-axis rotary part 1, X-axis rotating part Part 2, Y-axis rotary part 1, X-axis rotary part 3, Y-axis rotary part 2 and electric control system.
The base is the support member of simple structure six-joint robot.
The Z axis rotary part is the mechanism that simple structure six-joint robot can be made to rotate about the z axis, it includes Servo motor 1, Z axis rotary components, servo motor 1, Z axis rotary components are mounted on base, servo motor 1 and Z axis rotation group Part connection.
The X-axis rotary part 1 is the mechanism that the large arm of simple structure six-joint robot can be made to rotate around X-axis, It includes servo motor 2, X-axis rotary components, and servo motor 2 couples with X-axis rotary components, servo motor 2, X-axis rotary components It is mounted on Z axis rotary part.
The X-axis rotary part 2 is the machine that the forearm of simple structure six-joint robot can be made to rotate around X1 axis Structure, it includes servo motor 3, articulated linkage mechanism, and servo motor 3 couples with articulated linkage mechanism, and servo motor 3 hingedly connects Linkage is mounted on X-axis rotary part 1.
The Y-axis rotary part 1 is the mechanism that the forearm of simple structure six-joint robot can be made to rotate around Y-axis, It includes servo motor 4, gear drive A, and servo motor 4 couples with gear drive A, servo motor 4, gear drive Mechanism A is mounted on X-axis rotary part 2.
The X-axis rotary part 3 is that the connector of a forearm that can make simple structure six-joint robot is rotated around X2 axis Mechanism, it includes servo motor 5, gear drive B, connection sleeve, bevel gear group 1, and bevel gear group 1 is mounted on connector sleeve On cylinder, servo motor 5, gear drive B, connection sleeve are mounted on X-axis rotary part 2.
The Y-axis rotary part 2 is the connector turntable of the forearm that can make simple structure six-joint robot around Y-axis The mechanism of rotation, it includes servo motor 6, gear drive C, connecting rod, bevel gear group 2, gear drive D, umbrella tooth Wheel group 3, servo motor 6, gear drive C are mounted on X-axis rotary part 2, servo motor 6, gear drive C and company Extension bar connection, connecting rod are connect with bevel gear group 2, gear drive D, bevel gear group 3, bevel gear group 2, gear drive D, bevel gear group 3 is mounted on X-axis rotary part 3.
The electric control system is the various movements to all parts of simple structure six-joint robot, movement progress The system of automatic control, it includes electric cabinet.
The electric cabinet of simple structure six-joint robot is set to be powered.
Then, servo motor 1 drives the operation of Z axis rotary components, turns about the Z axis simple structure six-joint robot.
Then, servo motor 2 drives the operation of X-axis rotary components, turns about the X axis simple structure six-joint robot large arm.
Then, servo motor 3 drives the operation of articulated linkage mechanism, turns simple structure six-joint robot forearm around X1 axis It is dynamic.
Then, servo motor 4 drives gear drive A operation, turns simple structure six-joint robot forearm around Y-axis It is dynamic.
Then, servo motor 5, drive gear drive B, connection sleeve, bevel gear group 1 are run, and make simple structure six The connector of the forearm of axis robot is rotated around X2 axis.
Then, servo motor 6 drives gear drive C, connecting rod, bevel gear group 2, gear drive D, bevel gear 3 operation of group, rotates the connector turntable of the forearm of simple structure six-joint robot around Y-axis.
The utility model --- all movements, the movement of each component part of simple structure six-joint robot, by simple structure The electric control system of six-joint robot controls operation.
It is compared with the prior art, the utility model has the beneficial effects that:
One, structure be terse, low manufacture cost.
Secondly, can be realized six s functions of six-joint robot.
Detailed description of the invention
Fig. 1 is the utility model --- the 3-D view of simple structure six-joint robot.
Wherein, 1, base;2, electric cabinet;3, large arm;4, forearm;5, connector;6, connector turntable.
Fig. 2 is the utility model --- the side view of simple structure six-joint robot.
Wherein, 7, X-axis rotary components;8, servo motor 2;9, Z axis rotary components;10, servo motor 1.
Fig. 3 is the utility model --- the partial view one of simple structure six-joint robot.
Wherein, 11, articulated linkage mechanism;12, servo motor 3.
Fig. 4 is the utility model --- the partial view two of simple structure six-joint robot.
Wherein, 13, servo motor 5;14, gear drive B;15, servo motor 4;16, gear drive A;17, Gear drive D.
Fig. 5 is the utility model --- the partial view three of simple structure six-joint robot.
Wherein, 18, servo motor 6;19, gear drive C.
Fig. 6 is the utility model --- the partial view four of simple structure six-joint robot.
Wherein, 20, bevel gear group 1;21, bevel gear group 2;22, bevel gear group 3.
Fig. 7 is the utility model --- the partial sectional view of simple structure six-joint robot.
Wherein, 23, connection sleeve;24, connecting rod.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is further described the utility model:
The 2 of simple structure six-joint robot, electric cabinet is set to be powered.
Further, 10, the drive of servo motor 19, the operation of Z axis rotary components, make simple structure six-joint robot about the z axis Rotation.
Further, 8, the drive of servo motor 27, the operation of X-axis rotary components, make simple structure six-joint robot 3, large arm It turns about the X axis.
Further, 12, servo motor 3 drives the operation of 11, articulated linkage mechanism, makes simple structure six-joint robot 4, small Arm is rotated around X1 axis.
Further, 15, servo motor 4 drives 16, gear drive A operation, make simple structure six-joint robot 4, Forearm is rotated around Y-axis.
Further, 13, servo motor 5, drive 14, gear drive B, 23, connection sleeve, 20, the fortune of bevel gear group 1 Row, make simple structure six-joint robot 4, the 5 of forearm, connector around X2 axis rotate.
Further, 18, servo motor 6 drive 19, gear drive C, 24, connecting rod, 21, bevel gear group 2,17, Gear drive D, 22, bevel gear group 3 are run, and revolve the 6 of the forearm of simple structure six-joint robot, connector turntable around Y-axis Turn.
The utility model --- all movements, the movement of each component part of simple structure six-joint robot, by simple structure The electric control system of six-joint robot controls operation.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality The mode of applying carries out change and modification appropriate, and therefore, the utility model is not limited to specific implementation disclosed and described above Mode should also be as falling into the protection scope of the claims of the present utility model to some modifications and changes of the utility model, In addition, although using some specific terms in this specification, these terms are merely for convenience of description, not to this reality With novel composition any restrictions.

Claims (1)

1. a kind of simple structure six-joint robot, it includes base, Z axis rotary part, X-axis rotary part and electrical control system System;
The base is the support member of simple structure six-joint robot;
The Z axis rotary part is the mechanism that simple structure six-joint robot can be made to rotate about the z axis, including servo electricity Machine, Z axis rotary components, servo motor, Z axis rotary components are mounted on base, and servo motor couples with Z axis rotary components;
The X-axis rotary part is the mechanism that the large arm of simple structure six-joint robot can be made to rotate around X-axis, including Servo motor, X-axis rotary components, servo motor couple with X-axis rotary components, and servo motor, X-axis rotary components are mounted on Z axis On rotary part;
The electric control system is the various movements to all parts of simple structure six-joint robot, moves progress automatically The system of control, it includes electric cabinet;
It is characterized in that, it includes: X-axis rotary part, Y-axis rotary part, X-axis rotary part, Y-axis rotary part;
The X-axis rotary part is the mechanism that the forearm of simple structure six-joint robot can be made to rotate around X-axis, including Servo motor, articulated linkage mechanism, servo motor couple with articulated linkage mechanism, and servo motor, articulated linkage mechanism are mounted on X On axis rotary part;
The Y-axis rotary part is the mechanism that the forearm of simple structure six-joint robot can be made to rotate around Y-axis, including Servo motor, gear drive A, servo motor couple with gear drive A, servo motor, gear drive A installation On X-axis rotary part;
The X-axis rotary part is the machine that the connector of a forearm that can make simple structure six-joint robot is rotated around X-axis Structure, including servo motor, gear drive B, connection sleeve, bevel gear group, bevel gear group are mounted on connection sleeve, servo Motor, gear drive B, connection sleeve are mounted on X-axis rotary part;
The Y-axis rotary part is that the connector turntable of the forearm that can make simple structure six-joint robot is rotated around Y-axis Mechanism, including servo motor, gear drive C, connecting rod, bevel gear group, gear drive D, bevel gear group, servo electricity Machine, gear drive C are mounted on X-axis rotary part, and servo motor, gear drive C are connect with connecting rod, connecting rod It is connect with bevel gear group, gear drive D, bevel gear group, bevel gear group, gear drive D, bevel gear group are mounted on X On axis rotary part;
All movements, the movement of each component part of simple structure six-joint robot are controlled by electric control system and are run.
CN201820796101.8U 2018-05-28 2018-05-28 Simple structure six-joint robot Expired - Fee Related CN208867176U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820796101.8U CN208867176U (en) 2018-05-28 2018-05-28 Simple structure six-joint robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820796101.8U CN208867176U (en) 2018-05-28 2018-05-28 Simple structure six-joint robot

Publications (1)

Publication Number Publication Date
CN208867176U true CN208867176U (en) 2019-05-17

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110371633A (en) * 2019-07-22 2019-10-25 深圳市航瑞物流自动化有限公司 A kind of automatic Material Handling System
CN111745750A (en) * 2020-06-30 2020-10-09 南京埃斯顿机器人工程有限公司 Plank punching robot
CN112715338A (en) * 2020-12-03 2021-04-30 江苏海洋大学 Multifunctional gardening maintenance device and maintenance method thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110371633A (en) * 2019-07-22 2019-10-25 深圳市航瑞物流自动化有限公司 A kind of automatic Material Handling System
CN111745750A (en) * 2020-06-30 2020-10-09 南京埃斯顿机器人工程有限公司 Plank punching robot
CN112715338A (en) * 2020-12-03 2021-04-30 江苏海洋大学 Multifunctional gardening maintenance device and maintenance method thereof

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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190517

Termination date: 20210528

CF01 Termination of patent right due to non-payment of annual fee