CN209504119U - A kind of heavy type six-joint robot - Google Patents
A kind of heavy type six-joint robot Download PDFInfo
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- CN209504119U CN209504119U CN201821926252.7U CN201821926252U CN209504119U CN 209504119 U CN209504119 U CN 209504119U CN 201821926252 U CN201821926252 U CN 201821926252U CN 209504119 U CN209504119 U CN 209504119U
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- wrist
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Abstract
The utility model discloses a kind of heavy six-joint robots, including controller, pedestal, swivel base, large arm, three axis lower arms, forearm, connecting rod, wrist, the top of pedestal is equipped with the axis servo motor for being connected to swivel base, the top of swivel base is equipped with first connector of the large arm one end that is clamped and connected, second connector, the other end of large arm be equipped with respectively with forearm, the fixing seat of connecting rod connection, first connector is equipped with the two axis servo motors for being drivingly connected large arm, second connector is equipped with the three axis servo motors for being drivingly connected three axis lower arms, three axis lower arms are connected with balance weight departing from one end of three axis servo motors, connecting rod is connected to three axis lower arms departing from one end of fixing seat, fixing seat is equipped with the four axis servo motors for being drivingly connected forearm, forearm is equipped with five axis servo motors of connection wrist, inner wrist is equipped with six axis servo motors.
Description
Technical field
The utility model relates to industrial manufacturing automation fields, and in particular to a kind of heavy type six-joint robot.
Background technique
Heavy type transfer robot purposes is more and more extensive at present, and market competition is also more and more fierce, researches and develops a new heavy type
The cost of robot is also quite high, to expand our company's product battle line, promotes the market competitiveness of our company, this patent proposes one
The body construction of the heavy six machine robots of kind, to meet robot building industry low-end market demand.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of heavy six-joint robots, can be convenient on different directions
Crawl and keep the angle of wrist, structure is simple, and maintenance cost is low, is easy to use, and lacks caused by the prior art to solve
It falls into.
The utility model provides technical solution below to solve above-mentioned technical problem: a kind of heavy type six-joint robot,
In, including controller, pedestal, swivel base, large arm, three axis lower arms, forearm, connecting rod, wrist, the top of the pedestal, which is equipped with, to be connected to
One axis servo motor of the swivel base, the top of the swivel base are equipped with first connector of the described large arm one end that is clamped and connected, the
Two connectors, the other end of the large arm are equipped with the fixing seat connecting respectively with the forearm, the connecting rod, first connection
Part is equipped with the two axis servo motors for being drivingly connected the large arm, and second connector, which is equipped with, to be drivingly connected under three axis
Three axis servo motors of arm, the three axis lower arm is connected with balance weight departing from one end of the three axis servo motor, described
Connecting rod is connected to the three axis lower arm departing from one end of the fixing seat, and the fixing seat, which is equipped with, is drivingly connected the forearm
Four axis servo motors, the forearm is equipped with the five axis servo motors for connecting the wrist, and the inner wrist is equipped with six axis
Servo motor；
The controller controls the connection one axis servo motor, the two axis servo motor, the three axis servo respectively
Motor, the four axis servo motor, the five axis servo motor, the six axis servo motor.
Above-mentioned a kind of heavy six-joint robot, wherein the fixing seat bottom is respectively equipped with more at a distance described in connection
The first connecting shaft, the second connecting shaft of the connection connecting rod of large arm；
Three axis lower arm company of being equipped between the balance weight and the three axis servo motor and at the nearly balance weight
Connect the third connecting shaft of the connecting rod.
Above-mentioned a kind of heavy six-joint robot, wherein the axis servo motor, which is equipped with, connects the one of the swivel base
Axis output shaft, the two axis servo motor are equipped with the two axis output shafts for connecting the large arm, set on the three axis servo motor
There are the three axis output shafts for connecting the three axis lower arm, the four axis servo motor is equipped with the four axis output for connecting the forearm
Axis.
Above-mentioned a kind of heavy six-joint robot, wherein the axis servo motor is defeated equipped with an axis is sheathed on
One axis speed reducer of shaft, the two axis servo motor is equipped with the two axis speed reducers for being sheathed on the two axis output shaft, described
Three axis servo motors are equipped with the three axis speed reducers for being sheathed on the three axis output shaft, and the four axis servo motor is equipped with and is arranged
In four axis speed reducers of the four axis output shaft.
Above-mentioned a kind of heavy six-joint robot, wherein first connecting shaft, second connecting shaft, the third
Connecting shaft, the three axis output shaft are rendered as quadrangle in position.
Above-mentioned a kind of heavy six-joint robot, wherein the forearm is equipped with connection departing from one end of the fixing seat
The actuating arm of the wrist, the actuating arm connect the fixation chamber to be formed and place the five axis servo motor with the forearm,
The actuating arm be it is U-shaped, including the fixed arm being fixedly connected and fixed plate, five axis output gears are successively arranged inside the fixed arm
Wheel, five axis transition gear axles, five axis input gear axles, be successively arranged in the five axis input gear axle five axis input gears,
Five axis speed reducers, the five axis servo motor are equipped with the five axis output shafts for connecting the five axis output gear, the five axis mistake
The five axis transition gears for being arranged with and matching the five axis output gear, the five axis input gear respectively are crossed on gear shaft, it is described
Five axis speed reducers are equipped with the output flange axis for being connected to the wrist side, and the wrist is departing from the five axis speed reducer
Side is connected to the fixed plate.
Above-mentioned a kind of heavy six-joint robot, wherein the six axis servo motor is equipped with six through the wrist
Axis input shaft leans out and is arranged with six axis speed reducers on the six axis input shaft of the wrist, connects on the six axis speed reducer
Equipped with output flange.
It is according to a kind of technical solution effect that heavy six-joint robot provides of above-mentioned the utility model: convenient for different directions
On crawl and keep the angle of wrist, structure is simple, and maintenance cost is low, is easy to use.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of heavy six axis machine of the utility model；
Fig. 2 is the structural schematic diagram of forearm and wrist in a kind of heavy six axis machine of the utility model.
Wherein, appended drawing reference is as follows: pedestal 101, transposase 11 02, large arm 103, three axis lower arms 104, forearm 105, connecting rod
106, wrist 107, an axis servo motor 108, the first connector 109, the second connector 110, fixing seat 111, two axis servo electricity
Machine 112, three axis servo motors 113, balance weight 114, four axis servo motors 115, the first connecting shaft 116, the second connecting shaft 117,
Third connecting shaft 118, actuating arm 119, five axis servo motors 201, fixed chamber 202, fixed arm 203, fixed plate 204, five axis
Output gear 205, five axis transition gear axles 206, five axis input gear axles 207, five axis input gears 208, five axis speed reducers
209, five axis output shafts 210, five axis transition gears 211, output flange axis 212, six axis servo motors 213, six axis input shafts
214, six axis speed reducers 215, output flange 216.
Specific embodiment
In order to realize utility model technological means, create feature, reach purpose and effect is easy to understand, lower knot
Conjunction is specifically illustrating, and the utility model is further described.
One preferred embodiment of the utility model is to provide a kind of heavy six-joint robot, it is therefore an objective to convenient on different directions
Crawl and keep the angle of wrist, structure is simple, and maintenance cost is low, is easy to use.
As shown in Figure 1, it is a kind of heavy type six-joint robot, wherein including controller, pedestal 101, transposase 11 02, large arm 103,
Three axis lower arms 104, forearm 105, connecting rod 106, wrist 107, the top of pedestal 101 are equipped with the axis servo for being connected to transposase 11 02
Motor 108, the top of transposase 11 02 are equipped with first connector 109, the second connector 110 of 103 one end of large arm that is clamped and connected, greatly
The other end of arm 103 is equipped with the fixing seat 111 connecting respectively with forearm 105, connecting rod 106, and the first connector 109 is equipped with driving
Two axis servo motors 112 of large arm 103 are connected, the second connector 110 is equipped with the three axis servos for being drivingly connected three axis lower arms 104
Motor 113, three axis lower arms 104 are connected with balance weight 114 departing from one end of three axis servo motors 113, connecting rod 106 departing from
One end of fixing seat 111 is connected to three axis lower arms 104, and fixing seat 111 is equipped with the four axis servo motors for being drivingly connected forearm 105
115, forearm 105 is equipped with five axis servo motors 201 of connection wrist 107, is equipped with six axis servo motors 213 inside wrist 107；
Controller controls connection one axis servo motor 108, two axis servo motors 112, three axis servo motors 113, four respectively
Axis servo motor 115, five axis servo motors 201, six axis servo motors 213, an axis servo motor 108 driving band moving base 101
Rotation, the driving of two axis servo motors 112 drive large arm 103 to rotate, and 104 turns of dynamic triaxial lower arm of band of the driving of three axis servo motors 113
Dynamic, the driving of four axis servo motors 115 drives forearm 105 to rotate, and the driving of five axis servo motors 201 drives wrist 107 to rotate, six axis
The driving of servo motor 213 drives output flange 216 to rotate.
A kind of heavy six-joint robot provided in this embodiment, 111 bottom of fixing seat of use is respectively equipped with more at a distance
It connects the first connecting shaft 116 of large arm 103, connect the second connecting shaft 117 of connecting rod 106；
Three axis lower arms 104 are equipped with connection company between balance weight 114 and three axis servo motors 113 and at nearly balance weight 114
The third connecting shaft 118 of bar 106.
A kind of heavy six-joint robot provided in this embodiment, an axis servo motor 108 of use are equipped with connection swivel base
A 102 axis output shaft, two axis servo motors 112 are equipped with two axis output shafts of connection large arm 103, three axis servo motors 113
Three axis output shafts of three axis lower arms 104 of connection are equipped with, four axis servo motors 115 are equipped with the four axis output of connection forearm 105
Axis.
A kind of heavy six-joint robot provided in this embodiment, an axis servo motor 108 of use, which is equipped with, is sheathed on one
One axis speed reducer of axis output shaft, two axis servo motors 112 are equipped with the two axis speed reducers for being sheathed on two axis output shafts, and three axis are watched
It takes motor 113 and is equipped with the three axis speed reducers for being sheathed on three axis output shafts, four axis servo motors 115 are defeated equipped with four axis are sheathed on
Four axis speed reducers of shaft.
A kind of heavy six-joint robot provided in this embodiment, the first connecting shaft 116 of use, the second connecting shaft 117, the
Three connecting shafts 118, three axis output shafts are rendered as quadrangle in position.
As shown in Fig. 2, a kind of heavy six-joint robot provided in this embodiment, the forearm 105 of use is departing from fixing seat
111 one end is equipped with the actuating arm 119 of connection wrist 107, and actuating arm 119 connect formation with forearm 105 and places five axis servo electricity
The fixation chamber 202 of machine 201, actuating arm 119 be it is U-shaped, including the fixed arm 203 that is fixedly connected and fixed plate 204, fixed arm
Five axis output gears 205, five axis transition gear axles 206, five axis input gear axles 207 are successively arranged inside 203, five axis input tooth
Five axis input gears 208, five axis speed reducers 209 are successively arranged on wheel shaft 207, five axis servo motors 201 are equipped with connection five
Five axis output shafts 210 of axis output gear 205 are arranged in five axis transition gear axles 206 and match five axis output gears respectively
205, five axis transition gears 211 of five axis input gears 208, five axis speed reducers 209 are equipped with and are connected to the defeated of 107 side of wrist
Flange shaft 212 out, wrist 107 are connected to fixed plate 204 departing from the side of five axis speed reducers 209.
A kind of heavy six-joint robot provided in this embodiment, six axis servo motors 213 of use, which are equipped with, runs through wrist
107 six axis input shafts 214 lean out and are arranged with six axis speed reducers 215, six axis speed reducers on six axis input shafts 214 of wrist 107
Output flange 216 is connected on 215.
To sum up, a kind of heavy six-joint robot of the utility model, convenient for the crawl on different directions and can keep hand
The angle of wrist, structure is simple, and maintenance cost is low, is easy to use.
The specific embodiment of utility model is described above.It is to be appreciated that utility model is not limited to
Above-mentioned particular implementation, devices and structures not described in detail herein should be understood as is given with the common mode in this field
To implement；Those skilled in the art, which can make various deformations or amendments within the scope of the claims and make, several simply to push away
It drills, deform or replaces, this has no effect on the substantive content of utility model.
Claims (7)
1. it is a kind of heavy type six-joint robot, which is characterized in that including controller, pedestal, swivel base, large arm, three axis lower arms, forearm,
Connecting rod, wrist, the top of the pedestal are equipped with the axis servo motor for being connected to the swivel base, and the top of the swivel base is equipped with folder
Hold the first connector, the second connector for connecting described large arm one end, the other end of the large arm be equipped with respectively with the forearm,
The fixing seat of the connecting rod connection, first connector is equipped with the two axis servo motors for being drivingly connected the large arm, described
Second connector is equipped with the three axis servo motors for being drivingly connected the three axis lower arm, and the three axis lower arm is departing from three axis
One end of servo motor is connected with balance weight, and the connecting rod is connected under three axis departing from one end of the fixing seat
Arm, the fixing seat are equipped with the four axis servo motors for being drivingly connected the forearm, and the forearm, which is equipped with, connects the wrist
Five axis servo motors, the inner wrist be equipped with six axis servo motors；
The controller control respectively the connection one axis servo motor, the two axis servo motor, the three axis servo motor,
The four axis servo motor, the five axis servo motor, the six axis servo motor.
2. a kind of heavy six-joint robot as described in claim 1, which is characterized in that the fixing seat bottom is divided more at a distance
The first connecting shaft of the large arm, the second connecting shaft of the connection connecting rod She You not connected；
The three axis lower arm is equipped with connection institute between the balance weight and the three axis servo motor and at the nearly balance weight
State the third connecting shaft of connecting rod.
3. a kind of heavy six-joint robot as claimed in claim 2, which is characterized in that the axis servo motor, which is equipped with, to be connected
Connecing an axis output shaft of the swivel base, the two axis servo motor is equipped with the two axis output shafts for connecting the large arm, and described three
Axis servo motor is equipped with the three axis output shafts for connecting the three axis lower arm, and it is described small that the four axis servo motor is equipped with connection
Four axis output shafts of arm.
4. a kind of heavy six-joint robot as claimed in claim 3, which is characterized in that the axis servo motor is equipped with set
Set on an axis speed reducer of the axis output shaft, the two axis servo motor is equipped with and is sheathed on the two of the two axis output shaft
Axis speed reducer, the three axis servo motor are equipped with the three axis speed reducers for being sheathed on the three axis output shaft, the four axis servo
Motor is equipped with the four axis speed reducers for being sheathed on the four axis output shaft.
5. a kind of heavy six-joint robot as claimed in claim 4, which is characterized in that first connecting shaft, described second
Connecting shaft, the third connecting shaft, the three axis output shaft are rendered as quadrangle in position.
6. a kind of heavy six-joint robot as claimed in claim 4, which is characterized in that the forearm is departing from the fixing seat
One end be equipped with the actuating arm for connecting the wrist, the actuating arm is connect with the forearm to form that place the five axis servo electric
The fixation chamber of machine, the actuating arm be it is U-shaped, including the fixed arm being fixedly connected and fixed plate, inside the fixed arm successively
Equipped with five axis output gears, five axis transition gear axles, five axis input gear axles, successively it is arranged in the five axis input gear axle
Five axis input gears, five axis speed reducers, the five axis servo motor are equipped with the five axis output for connecting the five axis output gear
Axis is arranged with five axis for matching the five axis output gear, the five axis input gear respectively in the five axis transition gear axle
Transition gear, the five axis speed reducer are equipped with the output flange axis for being connected to the wrist side, and the wrist is departing from institute
The side for stating five axis speed reducers is connected to the fixed plate.
7. a kind of heavy six-joint robot as claimed in claim 6, which is characterized in that the six axis servo motor is equipped with and passes through
The six axis input shafts for wearing the wrist lean out and are arranged with six axis speed reducers on the six axis input shaft of the wrist, and described six
Output flange is connected on axis speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821926252.7U CN209504119U (en) | 2018-11-21 | 2018-11-21 | A kind of heavy type six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821926252.7U CN209504119U (en) | 2018-11-21 | 2018-11-21 | A kind of heavy type six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504119U true CN209504119U (en) | 2019-10-18 |
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ID=68190124
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821926252.7U Active CN209504119U (en) | 2018-11-21 | 2018-11-21 | A kind of heavy type six-joint robot |
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| Country | Link |
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| CN (1) | CN209504119U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
| WO2023093558A1 (en) * | 2021-11-29 | 2023-06-01 | 北京精准医械科技有限公司 | Spatial parallelogram linkage structure and miniaturized mechanical arm having same, and application of miniaturized mechanical arm |
-
2018
- 2018-11-21 CN CN201821926252.7U patent/CN209504119U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500326A (en) * | 2021-06-15 | 2021-10-15 | 倍可机器人(无锡)有限公司 | Folding seven-shaft welding robot structure |
| WO2023093558A1 (en) * | 2021-11-29 | 2023-06-01 | 北京精准医械科技有限公司 | Spatial parallelogram linkage structure and miniaturized mechanical arm having same, and application of miniaturized mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200428 Address after: 242000 No.8, baijianshan Road, Xuancheng economic and Technological Development Zone, Xuancheng City, Anhui Province Patentee after: Anhui huanting Intelligent Technology Co., Ltd Address before: 201801 3 2 storeys of Hengcang Highway 2465, Jiading District, Shanghai Patentee before: Shanghai Huanting Intelligent Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220225 Address after: 242000 No. 8, baijianshan Road, Feicai office, Xuanzhou District, Xuancheng City, Anhui Province Patentee after: Anhui Yunhua Intelligent Equipment Co.,Ltd. Address before: 242000 No.8 baijianshan Road, Xuancheng economic and Technological Development Zone, Xuancheng City, Anhui Province Patentee before: Anhui huanting Intelligent Technology Co.,Ltd. |