CN209504117U - Compact industrial robot - Google Patents
Compact industrial robot Download PDFInfo
- Publication number
- CN209504117U CN209504117U CN201920150577.9U CN201920150577U CN209504117U CN 209504117 U CN209504117 U CN 209504117U CN 201920150577 U CN201920150577 U CN 201920150577U CN 209504117 U CN209504117 U CN 209504117U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- transmission mechanism
- motor
- shell
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses compact industrial robots, including pedestal, mechanical arm, transmission mechanism and power mechanism；The working range of mechanical arm in the utility model is closer to pedestal, and transmission mechanism and power mechanism are corresponding is mounted on inside corresponding mechanical arm, while being rotatablely connected between each mechanical arm by transmission mechanism, reduces occupied area to greatest extent；Realize compact-sized technical effect；Since this industrial robot part is few, light-weight, height is low, it can be embedded in compact production work station, met the needs of the confined space uses；The fixed-wing of pedestal is equipped with fixation hole, and the industrial robot is fixed on production work station by the bolt through fixation hole, enhances its stability；It realizes and is docked with the structure of existing equipment simultaneously.
Description
Technical field
The utility model relates to robotic technology fields, especially compact industrial robot.
Background technique
Industrial robot refers to the certain holding functions that can imitate manpower and arm, to fixed routine crawl, carries object
Or the automatic pilot of operational instrument, it can replace the heavy labor of people to realize the mechanization and automation of production, can be
Operation is very widely used to protect personal safety under hostile environment.
Industrial robot is mainly made of hand, movement mechanism and control system.Hand is the component for grasping workpiece, can be with
According to by the concrete condition of grasping object and there are many structure type, such as clamp-type, adsorptivity；Movement mechanism is to keep hand complete
Defined movement is realized at rotation or swing, the movement or compound motion on various directions, is changed by the position of grasping object
And posture.Control system is by the control of the motor to industrial robot motion mechanism, Lai Shixian specific action.
Existing robot can be divided into articulated type industrial robot or Cartesian robot according to movement mechanism, still
They have the disadvantage that
1, bulky, need to occupy very big work-yard, place limited for space is not available；
2, it can only be placed directly on corresponding platform, can not be fixed with it, stability is poor.
Utility model content
Purpose of the utility model is to solve the above problems, devise compact industrial robot.
Realize that above-mentioned purpose the technical solution of the utility model is compact industrial robot, 1. compact industrial machines
People, including pedestal, mechanical arm, transmission mechanism and power mechanism, the mechanical arm include first mechanical arm, second mechanical arm,
Three-mechanical arm and the 4th mechanical arm, the transmission mechanism include the first transmission mechanism, the second transmission mechanism, third transmission mechanism,
4th transmission mechanism and the 5th transmission mechanism；The power mechanism includes first motor, the second motor, third motor, the 4th electricity
Machine and the 5th motor；
5th transmission mechanism and the 5th motor are installed in the inside of pedestal, and the pedestal passes through the 5th driver
Structure and first mechanical arm are rotatablely connected；The pedestal is equipped with fixed-wing, offers fixation hole on the fixed-wing；
First transmission mechanism and first motor are installed in the inside of first mechanical arm, and the first mechanical arm is logical
It crosses the first transmission mechanism and second mechanical arm is rotatablely connected；
Second transmission mechanism and the second motor are installed in the inside of second mechanical arm, and the second mechanical arm is logical
It crosses the second transmission mechanism and third mechanical arm is rotatablely connected；
The third transmission mechanism and third motor are installed in the inside of third mechanical arm, and the third mechanical arm is logical
It crosses third transmission mechanism and the 4th mechanical arm is rotatablely connected；
4th transmission mechanism and the 4th motor are installed in the inside of the 4th mechanical arm.
Further, the pedestal further includes base shell and fixed frame, is fixedly connected at the top of the base shell
Fixed frame, the fixed-wing is set to the bottom surrounding of base shell, and is integrally formed with base shell, equidistant on the fixed-wing
Several fixation holes are offered, the fixation hole is threaded hole.
Further, the pedestal further includes the 5th electric machine support, and the 5th electric machine support passes through connector and pedestal
The bottom of shell is fixedly linked, and the 5th electric machine support is fixed on the inside of base shell.
Further, the 5th transmission mechanism include first bearing, first rotating shaft, the first drive bevel gear, first from
Dynamic bevel gear, first gear and the 5th rotating disc；The first bearing is fixed on the bottom of pedestal, wears in the first bearing
There is first rotating shaft, the outside of the first rotating shaft is successively arranged with the first driven wheel of differential, second bearing and first from bottom to top
Gear, the first driven wheel of differential engagement are connected with the first drive bevel gear, and the first drive bevel gear fixing sleeve is set to
On the output shaft of 5th motor, the second bearing is fixed on the side of the 5th electric machine support, the first gear engagement connection
There is the 5th rotating disc, the teeth outside teeth and first gear inside the 5th rotating disc match, the 5th rotation
Disk turning set is set to the inside of fixed frame.
Further, the first mechanical arm include first mechanical arm shell and be set to first mechanical arm interior of shell
First motor and the first transmission mechanism, the first mechanical arm shell pass through the top stationary phase of connector and the 5th rotating disc
Even, first transmission mechanism include the first transmission mechanism shell, second gear, third gear, the 4th gear, the 5th gear,
Second shaft, third shaft, 3rd bearing, fourth bearing and the first rotating disc, the second gear fixing sleeve are set to the first electricity
On the output shaft of machine, second gear engagement is connected with third gear, and third gear and the are arranged in second shaft
Four gears, the both ends of second shaft are arranged with 3rd bearing, and the 3rd bearing and fourth bearing are arranged in first
In transmission mechanism shell, the 4th gear engagement is connected with the 5th gear, and the 5th gear fixing sleeve is set to third shaft
On, one end of the third shaft is arranged with fourth bearing, and the other end fixing sleeve of the third shaft is equipped with the first rotating disc,
First rotating disc wears the first transmission mechanism shell and extends to the outside of the first transmission mechanism shell, first rotation
Disk is fixedly linked far from one end of the 5th gear by connector and second mechanical arm shell.
Further, the second mechanical arm include second mechanical arm shell and be set to second mechanical arm interior of shell
The second motor and the second transmission mechanism, second transmission mechanism includes the second drive bevel gear, the second driven wheel of differential, the
Four shafts, the second rotating disc and 5th bearing；The second drive bevel gear fixing sleeve is set on the output shaft of the second motor, institute
It states the engagement of the second drive bevel gear and is connected with the second driven wheel of differential, the second driven wheel of differential fixing sleeve is set to the 4th shaft
On, one end of the 4th shaft is arranged with 5th bearing, and the 5th bearing is fixed on second mechanical arm shell, and described
The other end fixing sleeve of four shafts be equipped with the second rotating disc, second rotating disc include fixed disk, movable disk and connection bolt,
The fixed disk is fixed by connector and the outer shell phase of second mechanical arm, and the fixed disk passes through connection bolt and movable disk phase
Even, the movable disk is set to third mechanical arm interior of shell；Second transmission mechanism is mechanical by the second rotating disc and third
Arm is fixedly linked.
Further, the third mechanical arm include third mechanical arm shell and be set to third mechanical arm interior of shell
Third motor and third transmission mechanism, the third transmission mechanism includes third drive bevel gear, third driven wheel of differential,
Five shafts, connecting shaft, third rotating disc and 6th bearing, the connecting shaft include the first connecting shaft and the second connecting shaft；It is described
Third drive bevel gear fixing sleeve is set on the output shaft of third motor, third drive bevel gear engagement be connected with third from
Dynamic bevel gear, the third driven wheel of differential fixing sleeve are set in the 5th shaft, and one end of the 5th shaft is arranged with the 6th
Bearing, the 6th bearing are fixed on third mechanical arm shell, and the other end fixing sleeve of the 5th shaft turns equipped with third
Moving plate, the third rotating disc are fixed with the first connecting shaft far from one end of third driven wheel of differential, and first connecting shaft is remote
One end from third rotating disc is fixedly connected with the second connecting shaft by connector, and second connecting shaft is fixed at the 4th machine
The side of tool arm, the third mechanical arm are fixedly linked by connecting shaft and the 4th mechanical arm.
Further, the 4th mechanical arm including the 4th mechanical arm shell and is set to the 4th mechanical arm interior of shell
The 4th motor and the 4th transmission mechanism, the 4th transmission mechanism includes the 4th rotating disc, and the 4th rotating disc is fastened on
One end of 4th mechanical arm shell.
Further, the power mechanism is all made of servo motor.
Further, the output shaft end of second motor and third motor passes through connector and is fixedly connected with motor branch
Support.
Compared with prior art, the utility model has the advantage that is with beneficial effect,
1, the working range of mechanical arm is closer to pedestal, and the first transmission mechanism, the second transmission mechanism, third driver
Structure, the 4th transmission mechanism, the 5th transmission mechanism, first motor, the second motor, third motor, the 4th motor and the 5th motor are equal
It is corresponding to be mounted on inside corresponding mechanical arm, while being rotatablely connected between each mechanical arm by transmission mechanism, to greatest extent
Reduce occupied area；Realize compact-sized technical effect；Since this industrial robot part is few, light-weight, height is low,
It can be embedded in compact production work station, met the needs of the confined space uses.
2, the fixed-wing of pedestal is equipped with fixation hole, and the industrial robot is fixed on life by the bolt through fixation hole
It produces on work station, enhances its stability；It realizes and is docked with the structure of existing equipment simultaneously.
Detailed description of the invention
Fig. 1 is the appearance diagram of the utility model compact industrial robot；
Fig. 2 is the appearance diagram of the utility model compact industrial robot；
Fig. 3 is the explosive view of the utility model compact industrial robot；
Structure when Fig. 4 is mechanical arm shell and base shell opening in the utility model compact industrial robot is shown
It is intended to；
Structure when Fig. 5 is mechanical arm shell and base shell opening in the utility model compact industrial robot is shown
It is intended to；
Fig. 6 is the schematic diagram of internal structure of pedestal in the utility model compact industrial robot；
Fig. 7 is the schematic diagram of internal structure of first mechanical arm in the utility model compact industrial robot；
Fig. 8 is the schematic diagram of internal structure of second mechanical arm in the utility model compact industrial robot；
Fig. 9 is the schematic diagram of internal structure of third mechanical arm in the utility model compact industrial robot；
Figure 10 is the schematic diagram of internal structure of the 4th mechanical arm in the utility model compact industrial robot.
In figure, 1 pedestal；101 base shells；102 fixed-wings；103 fixation holes；104 fixed frames；105 the 5th electric machine supports；
106 second bearings；2 first mechanical arms；201 first mechanical arm shells；3 second mechanical arms；301 second mechanical arm shells；4 thirds
Mechanical arm；401 third mechanical arm shells；5 the 4th mechanical arms；501 the 4th mechanical arm shells；6 the 5th transmission mechanisms；601 first
Bearing；602 first rotating shafts；603 first drive bevel gears；604 first driven wheel of differential；605 first gears；606 the 5th rotations
Disk；7 first transmission mechanisms；701 second gears；702 third gears；703 the 4th gears；704 the 5th gears；705 second shafts；
706 third shafts；707 3rd bearings；708 fourth bearings；709 first rotating discs；7010 first transmission mechanism shells；8 second
Transmission mechanism；801 second drive bevel gears；802 second driven wheel of differential；803 the 4th shafts；804 second rotating discs；8041 is solid
Price fixing；8042 movable disks；8043 connection bolts；805 5th bearings；9 third transmission mechanisms；901 third drive bevel gears；902
Third driven wheel of differential；903 the 5th shafts；904 third rotating discs；905 connecting shafts；9051 first connecting shafts；9052 second connect
Spindle；906 6th bearings；10 the 4th transmission mechanisms；1001 the 4th rotating discs；11 first motors；12 second motors；13 thirds electricity
Machine；14 the 4th motors；15 the 5th motors；16 motor support frames.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As Figure 1-10 shows, compact industrial robot, including pedestal 1, mechanical arm, transmission mechanism and power mechanism, institute
Stating mechanical arm includes first mechanical arm 2, second mechanical arm 3, third mechanical arm 4 and the 4th mechanical arm 5, and the transmission mechanism includes
First transmission mechanism 7, the second transmission mechanism 8, third transmission mechanism 9, the 4th transmission mechanism 10 and the 5th transmission mechanism 6；It is described
Power mechanism includes first motor 11, the second motor 12, third motor 13, the 4th motor 14 and the 5th motor 15；Described 5th
Transmission mechanism 6 and the 5th motor 15 are installed in the inside of pedestal 1, and the pedestal 1 passes through the 5th transmission mechanism 6 and the first machine
Tool arm 2 is rotatablely connected；First transmission mechanism 7 and first motor 11 are installed in the inside of first mechanical arm 2, and first machine
Tool arm 2 is rotatablely connected by the first transmission mechanism 7 with second mechanical arm 3；Second transmission mechanism 8 and the second motor 12 are installed in
The inside of second mechanical arm 3, and the second mechanical arm 3 is rotatablely connected by the second transmission mechanism 8 with third mechanical arm 4；The
Three transmission mechanisms 9 and third motor 13 are installed in the inside of third mechanical arm 4, and the third mechanical arm 4 is passed by third
Motivation structure 9 and the 4th mechanical arm 5 are rotatablely connected；4th transmission mechanism 10 and the 4th motor 14 are installed in the 4th mechanical arm 5
It is internal；The design of this structure makes the working range of mechanical arm closer to pedestal 1, and the first transmission mechanism 7, the second transmission mechanism 8, the
Three transmission mechanisms 9, the 4th transmission mechanism 10, the 5th transmission mechanism 6, first motor 11, the second motor 12, third motor 13,
Four motors 14 and the 5th motor 15 is corresponding is mounted on inside corresponding mechanical arm, while passing through driver between each mechanical arm
Structure rotation connection, reduces occupied area to greatest extent；Compact-sized technical effect is realized, almost may be mounted at and appoint
It is where square, such as inside work station, on mechanical equipment top or production line near other robots；Due to this industrial machine
People's part is few, light-weight, height is low, can be embedded in compact production work station, meet the needs of the confined space uses；It is suitble to
The application of space anxiety.
The pedestal 1 is equipped with fixed-wing 102, offers fixation hole 103 on the fixed-wing 102；The fixed-wing of pedestal 1
102 are equipped with fixation hole 103, and the industrial robot is fixed on production work station by the bolt through fixation hole 103, increase
Its strong stability；It realizes and is docked with the structure of existing equipment simultaneously；The pedestal 1 further includes base shell 101 and fixed frame
104, the top of the base shell 101 is fixedly connected with fixed frame 104, and the fixed-wing 102 is set to the bottom of base shell 101
Portion's surrounding, and be integrally formed with base shell 101, several fixation holes 103 are equidistantly offered on the fixed-wing 102, it is described
Fixation hole 103 is threaded hole；Pedestal 1 further includes the 5th electric machine support 105, the 5th electric machine support 105 by connector with
The bottom of base shell 101 is fixedly linked, and the 5th electric machine support 105 is fixed on the inside of base shell 101；5th electricity
Machine support 105 is for the 5th motor 15 of fixed support；
5th transmission mechanism 6 and the 5th motor 15 are installed in the inside of pedestal 1, and the pedestal 1 passes through the 5th transmission
Mechanism 6 and first mechanical arm 2 are rotatablely connected；5th transmission mechanism 6 includes first bearing 601, first rotating shaft 602, first
Drive bevel gear 603, the first driven wheel of differential 604, first gear 605 and the 5th rotating disc 606；The first bearing 601 is solid
Due to being equipped with first rotating shaft 602 in the bottom of pedestal 1, the first bearing 601, the outside of the first rotating shaft 602 is under
The first driven wheel of differential 604, second bearing 106 and first gear 605 are successively arranged on and, second bearing 106 is used to support
First rotating shaft 602, the engagement of the first driven wheel of differential 604 are connected with the first drive bevel gear 603, gear drive, its biography
Dynamic to compare accurate, high-efficient, compact-sized, reliable operation, the service life is long；First drive bevel gear, 603 fixing sleeve is set to the
On the output shaft of five motors 15, the second bearing 106 is fixed on the side of the 5th electric machine support 105, the first gear 605
Engagement is connected with the 5th rotating disc 606, the teeth inside the 5th rotating disc 606 and the teeth phase outside first gear 605
Matching, 606 turning set of the 5th rotating disc are set to the inside of fixed frame 104；
First mechanical arm 2 is rotatablely connected by the first transmission mechanism 7 with second mechanical arm 3；The first mechanical arm 2 includes
First mechanical arm shell 201 and first motor 11 and the first transmission mechanism 7 inside first mechanical arm shell 201, institute
It states first mechanical arm shell 201 to be fixedly linked by the top of connector and the 5th rotating disc 606, first transmission mechanism 7
Including the first transmission mechanism shell 7010, second gear 701, third gear 702, the 4th gear 703, the 5th gear 704, second
Shaft 705, third shaft 706,3rd bearing 707, fourth bearing 708 and the first rotating disc 709, the second gear 701 are solid
Surely it being sheathed on the output shaft of first motor 11, the second gear 701, which engages, is connected with third gear 702, and described second turn
Third gear 702 and the 4th gear 703 are arranged on axis 705, the both ends of second shaft 705 are arranged with 3rd bearing
707, the 3rd bearing 707 and fourth bearing 708 are arranged in the first transmission mechanism shell 7010, the 4th gear
703 engagements are connected with the 5th gear 704, and gear drive, its transmission ratio is more accurate, high-efficient, compact-sized, reliable operation,
Service life is long；5th gear, 704 fixing sleeve is set in third shaft 706, and one end of the third shaft 706 is arranged with the 4th
The other end fixing sleeve of bearing 708, the third shaft 706 is equipped with the first rotating disc 7091, and first rotating disc 709 is worn
First transmission mechanism shell 7010 and the outside for extending to the first transmission mechanism shell 7010, first rotating disc 7091 are separate
One end of 5th gear 704 is fixedly linked by connector with second mechanical arm shell 301；
Second mechanical arm 3 is rotatablely connected by the second transmission mechanism 8 with third mechanical arm 4；The second mechanical arm 3 includes
Second mechanical arm shell 301 and the second motor 12 and the second transmission mechanism 8 inside second mechanical arm shell 301, institute
Stating the second transmission mechanism 8 includes the second drive bevel gear 801, the second driven wheel of differential 802, the 4th shaft 803, the second rotating disc
804 and 5th bearing 805；Second drive bevel gear, 801 fixing sleeve is set on the output shaft of the second motor 12, and described second
The engagement of drive bevel gear 801 is connected with the second driven wheel of differential 802, and gear drive, its transmission ratio is more accurate, high-efficient, knot
Structure is compact, reliable operation, and the service life is long；Second driven wheel of differential, 802 fixing sleeve is set in the 4th shaft 803, and the described 4th
One end of shaft 803 is arranged with 5th bearing 805, and the 5th bearing 805 is fixed on second mechanical arm shell 301, described
The other end fixing sleeve of 4th shaft 803 is equipped with the second rotating disc 804, and second rotating disc 804 includes fixed disk 8041, lives
Moving plate 8042 and connection bolt 8043, the fixed disk 8041 is fixed by connector and 301 phase of second mechanical arm shell, described
Fixed disk 8041 is connected by connecting bolt 8043 with movable disk 8042, and the movable disk 8042 is set to third mechanical arm shell
Inside 401；Second transmission mechanism 8 is fixedly linked by the second rotating disc 804 with third mechanical arm 4；
Third mechanical arm 4 is rotatablely connected by third transmission mechanism 9 and the 4th mechanical arm 5；The third mechanical arm 4 includes
Third mechanical arm shell 401 and third motor 13 and third transmission mechanism 9 inside third mechanical arm shell 401, institute
State third transmission mechanism 9 include third drive bevel gear 901, third driven wheel of differential 902, the 5th shaft 903, connecting shaft 904,
Third rotating disc 905 and 6th bearing 906, the connecting shaft 904 include the first connecting shaft 9041 and the second connecting shaft 9042；Institute
901 fixing sleeve of third drive bevel gear is stated on the output shaft of third motor 13, the engagement of third drive bevel gear 901 connects
It is connected to third driven wheel of differential 902, gear drive, its transmission ratio is more accurate, high-efficient, compact-sized, reliable operation, the service life
It is long；902 fixing sleeve of third driven wheel of differential is set in the 5th shaft 903, and one end of the 5th shaft 903 is arranged with the
Six bearings 906, the 6th bearing 906 are fixed on third mechanical arm shell 401, and the other end of the 5th shaft 903 is solid
Surely it is arranged with third rotating disc 904, the third rotating disc 904 is fixed with first far from one end of third driven wheel of differential 902
Connecting shaft 9051, first connecting shaft 9051 are fixedly connected with second by connector far from one end of third rotating disc 904
Connecting shaft 9052, second connecting shaft 9052 are fixed at the side of the 4th mechanical arm 5, and the third mechanical arm 4 passes through company
Spindle 905 is fixedly linked with the 4th mechanical arm 5；
4th transmission mechanism 10 and the 4th motor 14 are installed in the inside of the 4th mechanical arm 5；Described 4th is mechanical
Arm 5 includes the 4th mechanical arm shell 501 and the 4th motor 14 and the 4th transmission inside the 4th mechanical arm shell 501
Mechanism 10, the 4th transmission mechanism 10 include the 4th rotating disc 1001, and the 4th rotating disc 1001 is fastened on the 4th machinery
One end of arm shell 501；
Power mechanism is all made of servo motor, and is Light Aluminum Alloy servo motor, and light structure, power is powerful, can be real
Existing industrial robot high-speed cruising.The output shaft end of second motor 12 and third motor 13 passes through connector and is fixedly connected with electricity
Machine support frame 16, for protecting output shaft, and respectively to the second drive bevel gear 801 and third drive bevel gear 901 thereon
It is supported.
Working principle: powering on, and is controlled using control pair power mechanism, first as needed, opens the 5th
Motor 15, the 5th motor 15 drive the first drive bevel gear 603 fixed on its output shaft to be rotated, and then drive and nibble with it
The first driven wheel of differential 604 for closing connection is rotated, and is further driven to the rotation of first rotating shaft 602, is fixed on first turn therewith
The first gear 605 on 602 top of axis rotates, and drives the 5th rotating disc 606 rotation for engaging connection, while driving and the 5th
The fixed first mechanical arm shell 201 of rotating disc 606 rotates, and completes the rotation in the horizontal direction of first mechanical arm 2, may be implemented
360 ° of level rotations close the 5th motor 15 when the position for being adjusted to need；
Then it is then turned on first motor 11, first motor 11 drives fixed on its output shaft 701 turns of second gear
It is dynamic, and then the third gear 702 for engaging connection is driven to rotate, third gear 702 drives second turn be firmly connected with it
Axis 705 and the 4th gear 703 being fixedly connected with the second shaft 705 rotation, and then drive the 5th engaged with the 4th gear 703
Gear 704 rotates, while the first rotating disc 709 for driving third shaft 706 to rotate and be fixed in third shaft 706 carries out
Rotation, the first rotating disc 709 wear the first transmission mechanism shell 7010 and extend to the outside of the first transmission mechanism shell 7010,
The one end of first rotating disc 709 far from the 5th gear 704 is fixedly linked by connector with second mechanical arm shell 301；Into one
It with the first rotating disc 709 is the center of circle that step, which drives second mechanical arm 3 to realize, and length moves in a circle for radius, when being adjusted to
When the position needed, first motor 11 is closed；
Be then turned on the second motor 12, the second motor 12 drive the second drive bevel gear 801 fixed on its output shaft into
Row rotation, and then the second driven wheel of differential 802 for engaging connection is driven to be rotated, it is further driven to the 4th shaft 803
Rotation, the second rotating disc 804 being fixed in the 4th shaft 803 therewith are rotated, and the second rotating disc 804 includes fixed disk
8041, movable disk 8042 and connection bolt 8043, fixed disk 8041 are fixed by connector and 301 phase of second mechanical arm shell,
Fixed disk 8041 is connected by connecting bolt 8043 with movable disk 8042, and the movable disk 8042 is set to third mechanical arm shell
Inside 401；Second transmission mechanism 8 is fixedly linked by the second rotating disc 804 with third mechanical arm 4；It is further driven to
It is the center of circle that three-mechanical arm 4, which is realized with the second rotating disc 804, and length moves in a circle for radius, when the position for being adjusted to need
When setting, the second motor 12 is closed；
Be then turned on third motor 13, third motor 13 drive third drive bevel gear 901 fixed on its output shaft into
Row rotation, and then the third driven wheel of differential 902 for engaging connection is driven to be rotated, it is further driven to the 5th shaft 903
Rotation, the third rotating disc 904 being fixed in the 5th shaft 903 therewith are rotated, and third rotating disc 904 is driven far from third
One end of bevel gear 902 is fixed with the first connecting shaft 9051, and the first connecting shaft 9051 passes through far from one end of third rotating disc 904
Connector is fixedly connected with the second connecting shaft 9052, and the second connecting shaft 9052 is fixed at the side of the 4th mechanical arm 5, third machine
Tool arm 4 is fixedly linked by connecting shaft 905 with the 4th mechanical arm 5；The 4th mechanical arm 5 is further driven to realize with third rotating disc
904 be the center of circle, and length moves in a circle for radius, when the position for being adjusted to need, closes third motor 13；
It is then turned on the 4th motor 14, the 4th motor 14 drives 1001 turns of the 4th rotating disc fixed on its output shaft
It is dynamic, it is further driven to the rotation that the manipulator being fixedly mounted on the 4th rotating disc 1001 carries out respective angles, when being adjusted to need
When the angle position wanted, the 4th motor 14 is closed.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (10)
1. compact industrial robot, including pedestal, mechanical arm, transmission mechanism and power mechanism, the mechanical arm includes first
Mechanical arm, second mechanical arm, third mechanical arm and the 4th mechanical arm, the transmission mechanism include the first transmission mechanism, the second biography
Motivation structure, third transmission mechanism, the 4th transmission mechanism and the 5th transmission mechanism；The power mechanism includes first motor, second
Motor, third motor, the 4th motor and the 5th motor；It is characterized in that,
5th transmission mechanism and the 5th motor are installed in the inside of pedestal, and the pedestal by the 5th transmission mechanism with
First mechanical arm rotation connection；The pedestal is equipped with fixed-wing, offers fixation hole on the fixed-wing；
First transmission mechanism and first motor are installed in the inside of first mechanical arm, and the first mechanical arm passes through the
One transmission mechanism and second mechanical arm are rotatablely connected；
Second transmission mechanism and the second motor are installed in the inside of second mechanical arm, and the second mechanical arm passes through the
Two transmission mechanisms and third mechanical arm are rotatablely connected；
The third transmission mechanism and third motor are installed in the inside of third mechanical arm, and the third mechanical arm passes through the
Three transmission mechanisms and the 4th mechanical arm are rotatablely connected；
4th transmission mechanism and the 4th motor are installed in the inside of the 4th mechanical arm.
2. compact industrial robot according to claim 1, which is characterized in that the pedestal further include base shell and
Fixed frame is fixedly connected with fixed frame at the top of the base shell, and the fixed-wing is set to the bottom surrounding of base shell, and
It is integrally formed with base shell, several fixation holes is equidistantly offered on the fixed-wing, the fixation hole is threaded hole.
3. compact industrial robot according to claim 2, which is characterized in that the pedestal further includes the 5th motor branch
Frame, the 5th electric machine support are fixedly linked by the bottom of connector and base shell, and the 5th electric machine support is fixed
In the inside of base shell.
4. compact industrial robot according to claim 1,2 or 3, which is characterized in that the 5th transmission mechanism packet
Include first bearing, first rotating shaft, the first drive bevel gear, the first driven wheel of differential, first gear and the 5th rotating disc；Described
One bearing is fixed on the bottom of pedestal, is equipped with first rotating shaft in the first bearing, the outside of the first rotating shaft from lower and
On be successively arranged with the first driven wheel of differential, second bearing and first gear, the first driven wheel of differential engagement is connected with the
One drive bevel gear, the first drive bevel gear fixing sleeve are set on the output shaft of the 5th motor, and the second bearing is fixed
In the side of the 5th electric machine support, the first gear engagement is connected with the 5th rotating disc, the tooth inside the 5th rotating disc
Tooth matches with the teeth outside first gear, and the 5th turn disc is sheathed on the inside of fixed frame.
5. compact industrial robot according to claim 4, which is characterized in that the first mechanical arm includes the first machine
Tool arm shell and first motor and the first transmission mechanism set on first mechanical arm interior of shell, outside the first mechanical arm
Shell is fixedly linked by the top of connector and the 5th rotating disc, first transmission mechanism include the first transmission mechanism shell,
Second gear, third gear, the 4th gear, the 5th gear, the second shaft, third shaft, 3rd bearing, fourth bearing and first
Rotating disc, the second gear fixing sleeve are set on the output shaft of first motor, and the second gear engagement is connected with third tooth
It takes turns, is arranged with third gear and the 4th gear in second shaft, the both ends of second shaft are arranged with 3rd bearing,
The 3rd bearing and fourth bearing are arranged in the first transmission mechanism shell, and the 4th gear engagement is connected with the 5th tooth
Wheel, the 5th gear fixing sleeve are set in third shaft, and one end of the third shaft is arranged with fourth bearing, the third
The other end fixing sleeve of shaft is equipped with the first rotating disc, and first rotating disc wears the first transmission mechanism shell and extends to the
The outside of one transmission mechanism shell, first rotating disc pass through outside connector and second mechanical arm far from one end of the 5th gear
Shell is fixedly linked.
6. compact industrial robot according to claim 4, which is characterized in that the second mechanical arm includes the second machine
Tool arm shell and the second motor and the second transmission mechanism set on second mechanical arm interior of shell, second transmission mechanism
Including the second drive bevel gear, the second driven wheel of differential, the 4th shaft, the second rotating disc and 5th bearing；Described second actively
Bevel gear fixing sleeve is set on the output shaft of the second motor, and the second drive bevel gear engagement is connected with second from mantle tooth
Wheel, the second driven wheel of differential fixing sleeve are set in the 4th shaft, and one end of the 4th shaft is arranged with 5th bearing, institute
It states 5th bearing to be fixed on second mechanical arm shell, the other end fixing sleeve of the 4th shaft is equipped with the second rotating disc, institute
Stating the second rotating disc includes that fixed disk, movable disk and connection bolt, the fixed disk pass through connector and second mechanical arm shell
Mutually fixed, the fixed disk is connected by connecting bolt with movable disk, and the movable disk is set to third mechanical arm interior of shell；Institute
The second transmission mechanism is stated to be fixedly linked by the second rotating disc and third mechanical arm.
7. compact industrial robot according to claim 4, which is characterized in that the third mechanical arm includes third machine
Tool arm shell and third motor and third transmission mechanism set on third mechanical arm interior of shell, the third transmission mechanism
Including third drive bevel gear, third driven wheel of differential, the 5th shaft, connecting shaft, third rotating disc and 6th bearing, the company
Spindle includes the first connecting shaft and the second connecting shaft；The third drive bevel gear fixing sleeve is set to the output shaft of third motor
On, third drive bevel gear engagement is connected with third driven wheel of differential, and the third driven wheel of differential fixing sleeve is set to the
In five shafts, one end of the 5th shaft is arranged with 6th bearing, and the 6th bearing is fixed on third mechanical arm shell,
The other end fixing sleeve of 5th shaft be equipped with third rotating disc, the third rotating disc far from third driven wheel of differential one
End is fixed with the first connecting shaft, and first connecting shaft is fixedly connected with second by connector far from one end of third rotating disc
Connecting shaft, second connecting shaft are fixed at the side of the 4th mechanical arm, and the third mechanical arm passes through connecting shaft and the 4th
Mechanical arm is fixedly linked.
8. compact industrial robot according to claim 4, which is characterized in that the 4th mechanical arm includes the 4th machine
Tool arm shell and the 4th motor and the 4th transmission mechanism set on the 4th mechanical arm interior of shell, the 4th transmission mechanism
Including the 4th rotating disc, the 4th rotating disc is fastened on one end of the 4th mechanical arm shell.
9. compact industrial robot according to claim 1, which is characterized in that the power mechanism is all made of servo electricity
Machine.
10. compact industrial robot according to claim 1, which is characterized in that second motor and third motor
Output shaft end pass through connector and be fixedly connected with motor support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150577.9U CN209504117U (en) | 2019-01-28 | 2019-01-28 | Compact industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150577.9U CN209504117U (en) | 2019-01-28 | 2019-01-28 | Compact industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504117U true CN209504117U (en) | 2019-10-18 |
Family
ID=68203175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920150577.9U Expired - Fee Related CN209504117U (en) | 2019-01-28 | 2019-01-28 | Compact industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209504117U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814965A (en) * | 2021-10-11 | 2021-12-21 | 嘉兴浮昇科技有限公司 | High-speed six-axis robot |
| CN117189833A (en) * | 2023-11-07 | 2023-12-08 | 张家港江苏科技大学产业技术研究院 | Damping base of mechanical arm |
-
2019
- 2019-01-28 CN CN201920150577.9U patent/CN209504117U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814965A (en) * | 2021-10-11 | 2021-12-21 | 嘉兴浮昇科技有限公司 | High-speed six-axis robot |
| CN117189833A (en) * | 2023-11-07 | 2023-12-08 | 张家港江苏科技大学产业技术研究院 | Damping base of mechanical arm |
| CN117189833B (en) * | 2023-11-07 | 2024-02-06 | 张家港江苏科技大学产业技术研究院 | Damping base of mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107322590B (en) | Multiple degrees of freedom hydraulic manipulator | |
| CN102059697B (en) | Translating branch chain and parallel robot using same | |
| US8381609B2 (en) | Articulated structure for a multi-axis robot, and a robot including such a structure | |
| CN204658445U (en) | A kind of Industrial robots Mechanical mechanism of six degree of freedom | |
| WO2016106962A1 (en) | Cable-strut combination driven parallel robotic palletizer | |
| CN102029615B (en) | Parallel mechanism and translational branched chain thereof | |
| CN100562410C (en) | A kind of planar multiple-articulation robot | |
| CN108839012A (en) | A kind of sixdegree-of-freedom simulation | |
| CN209504117U (en) | Compact industrial robot | |
| CN104552288A (en) | Flexible six-shaft robot | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| US20110106302A1 (en) | Robot arm assembly and industrial robot using the same | |
| CN112847427A (en) | Five-degree-of-freedom folding mechanical arm | |
| CN112025754A (en) | Underwater multifunctional electric mechanical arm | |
| CN205614670U (en) | High -precision locate mode industrial robot | |
| CN2303703Y (en) | Fully double-revolving type welding position-changing machine | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| KR101171810B1 (en) | Manipulator with an external rotor motor | |
| CN207548752U (en) | A kind of Five-degree-of-freedmanipulator manipulator | |
| CN207807739U (en) | A kind of light-duty Multi-shaft mechanical arm | |
| CN106142129A (en) | A kind of synchronous belt drive structure for electronic-controlled power steering | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN109551467A (en) | Industry robot comprising acting axle construction | |
| CN210790980U (en) | Spring balance weight gravity center rear-mounted crank slide bar mechanical arm | |
| CN209408488U (en) | Industry robot comprising acting axle construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191018 Termination date: 20210128 |