CN213815260U - Simulation assembly simplified model of six-axis cooperative robot - Google Patents
Simulation assembly simplified model of six-axis cooperative robot Download PDFInfo
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- CN213815260U CN213815260U CN202023074583.2U CN202023074583U CN213815260U CN 213815260 U CN213815260 U CN 213815260U CN 202023074583 U CN202023074583 U CN 202023074583U CN 213815260 U CN213815260 U CN 213815260U
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Abstract
The utility model belongs to the robot model field, specifically speaking are model is simplified in simulation assembly of six axis cooperation robot, including the base that connects gradually, a joint, big arm, forearm, four-axis joint and five-axis joint, wherein the magnet that is used for connecting is all installed to base, a joint, big arm, forearm, four-axis joint's both ends and five-axis joint's one end, and adjacent magnet's polarity is opposite, the guide way has been seted up to base and the one end of a articulate, five-axis joint is equipped with the uide pin with four-axis articulated one end, the one end of a joint, big arm, forearm and four-axis joint is equipped with the uide pin that is used for connecting, and the guide way that is used for connecting is seted up to the other end. The utility model can be disassembled and assembled, and is convenient for teaching demonstration; the model can be repeatedly used, and the motion and the action of the robot can be demonstrated.
Description
Technical Field
The utility model belongs to robot model field, specifically speaking are model is simplified in simulation assembly of six axis cooperation robots.
Background
With the development of science and technology and society, the robot model technology plays an increasingly greater role in teaching demonstration and simulation operation learning; the model can not be disassembled and assembled for demonstration by using the traditional robot model, and meanwhile, the model can not be used for demonstration teaching of the robot assembly line.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned problem that traditional robot model exists, the utility model aims to provide a model is simplified in simulation assembly of six axis cooperation robots.
The purpose of the utility model is realized through the following technical scheme:
the utility model discloses a base, an axle joint, big arm, forearm, four-axis joint and five-axis joint that connect gradually, wherein the magnet that is used for connecting is all installed to base, an axle joint, big arm, forearm, four-axis joint's both ends and five-axis joint's one end, and the polarity of adjacent magnet is opposite, the guide way has been seted up to base and the one end that an axle articulate, five-axis joint is equipped with the uide pin with four-axis articulated one end, the one end of an axle joint, big arm, forearm and four-axis joint is equipped with the uide pin that is used for connecting, and the guide way that is used for connecting is seted up to the other end.
Wherein: the outer surface of the magnet is coplanar with the mounted end surface.
The two ends of the base are both provided with grooves for accommodating the magnets A, the grooves at the two ends are arranged in parallel, and one end connected with the shaft joint is provided with the guide groove along the height direction of the base.
The two ends of the shaft joint are provided with grooves, the grooves at the two ends are provided with magnets B used for connecting the base and the large arm, the grooves at the two ends of the shaft joint are vertically formed, one end of the shaft joint connected with the base is provided with the guide pin, and the other end of the shaft joint connected with the large arm is provided with the guide groove.
The two ends of the large arm are provided with grooves, the grooves at the two ends are internally provided with magnets C used for connecting a shaft joint and a small arm, the grooves at the two ends of the large arm are arranged in parallel, one end of the large arm connected with the shaft joint is provided with the guide pin, and the other end of the large arm connected with the small arm is provided with a guide groove.
The two ends of the small arm are provided with grooves, the grooves at the two ends are internally provided with magnets D used for connecting the large arm and the four-axis joint, the grooves at the two ends of the small arm are arranged in parallel, one end of the small arm connected with the large arm is provided with the guide pin, and the other end of the small arm connected with the four-axis joint is provided with a guide groove.
Grooves are formed in two ends of each four-axis joint, magnets E used for connecting the forearm and the five-axis joint are contained in the grooves in the two ends of each four-axis joint, the grooves in the two ends of each four-axis joint are vertically formed, the guide pin is arranged at one end, connected with the forearm, of each four-axis joint, and the guide groove is formed at the other end, connected with the five-axis joint, of each four-axis joint.
The five-axis joint is provided with a groove at one end connected with the four-axis joint, a magnet F used for connecting the four-axis joint is arranged in the groove, and the guide pin is arranged at one end connected with the five-axis joint and the four-axis joint.
The magnet is annular, the axial center line of the magnet is collinear with the axial center line of the guide pin, and the axial center of the magnet is collinear with the axial center line of the guide groove.
The utility model discloses an advantage does with positive effect:
the utility model can be disassembled and assembled, and is convenient for teaching demonstration; the model can be repeatedly used, and the motion and the action of the robot can be demonstrated.
Drawings
Fig. 1 is a schematic view of the overall appearance three-dimensional structure of the present invention;
fig. 2 is a sectional view of the internal structure of the present invention;
wherein: the device comprises a base 1, an axial joint 2, a large arm 3, a small arm 4, a four-axis joint 5, a five-axis joint 6, a magnet A7, a magnet B8, a magnet C9, a magnet D10, a magnet E11, a magnet F12, a guide pin 13 and a guide groove 14.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, the utility model discloses a base 1 that connects gradually, an axle joint 2, big arm 3, forearm 4, four-axis joint 5 and five-axis joint 6, wherein base 1, an axle joint 2, big arm 3, forearm 4, the magnet that is used for connecting is all installed at four-axis joint 5's both ends and five-axis joint 6's one end, the polarity of adjacent magnet is opposite, guide way 14 has been seted up to base 1 and the one end that an axle joint 2 is connected, five-axis joint 6 is equipped with uide pin 13 with the one end that four-axis joint 5 is connected, an axle joint 2, big arm 3, forearm 4 and four-axis joint 5's one end are equipped with uide pin 13 that is used for connecting, the guide way 14 that is used for connecting is seted up to the other end.
The both ends of base 1 of this embodiment all set up the recess of holding magnet A7, and the recess parallel at both ends is seted up, and the guide way 14 has been seted up along base 1 direction of height to the one end of being connected with an axle joint 2. The base 1 is fixed at the fixed end by a magnet A7 in the groove at the lower end and is connected with a shaft joint 2 by a magnet A7 in the groove at the upper end.
Both ends of an axle joint 2 of this embodiment all set up flutedly, all hold in the recess at both ends and be used for connecting base 1 and big arm 3's magnet B8, and the recess at an axle joint 2 both ends is seted up perpendicularly, and this one end that an axle joint 2 is connected with base 1 is equipped with guide pin 13, and the guide way 14 has been seted up to the other end of being connected with big arm 3.
The both ends of the big arm 3 of this embodiment have all been seted up flutedly, all hold in the recess at both ends and be used for connecting a pivot joint 2 and forearm 4's magnet C9, and the recess parallel of big arm 3 both ends is seted up, and this big arm 3 is equipped with uide pin 13 with the one end that a pivot joint 2 is connected, and the guide way 14 has been seted up to the other end of being connected with forearm 4.
The both ends of forearm 4 of this embodiment all are seted up flutedly, all hold in the recess at both ends and are used for connecting big arm 3 and four-axis joint 5's magnet D10, and the recess parallel at forearm 4 both ends is seted up, and this forearm 4 is equipped with uide pin 13 with the one end that big arm 3 is connected, and the guide way 14 has been seted up to the other end of being connected with four-axis joint 5.
The both ends of four-axis joint 5 of this embodiment all set up flutedly, all hold in the recess at both ends and be used for connecting forearm 4 and five-axis joint 6's magnet E11, and the recess at four-axis joint 5 both ends is seted up perpendicularly, and the one end that this four-axis joint 5 is connected with forearm 4 is equipped with guide pin 13, and the guide way 14 has been seted up to the other end that is connected with five-axis joint 6.
In the embodiment, a groove is formed in one end, connected with the four-axis joint 5, of the five-axis joint 6, a magnet F12 used for being connected with the four-axis joint 5 is arranged in the groove, and a guide pin 13 is arranged at one end, connected with the four-axis joint 5, of the five-axis joint 6.
In the present embodiment, the magnets a7, B8, C9, D10, E11, and F12 are all ring-shaped, and the outer surfaces of the magnets are flush with the end surfaces to which they are attached, that is, the magnets are all embedded.
The axial center line of the magnet a7 attached to the upper end of the base 1 of the present embodiment is collinear with the axial center line of the guide groove 14 formed in the upper end of the base 1.
In the embodiment, the axial center line of the magnet B8 at one end of the shaft joint 2 is collinear with the axial center line of the guide pin 13 arranged at the end, and is collinear with the axial center line of the magnet A7 arranged at the upper end of the base 1 and the guide groove 14 arranged at the upper end of the base 1, so that the guide pin 13 at one end of the shaft joint 2 can be inserted into the guide groove 14 arranged at the upper end of the base 1; the axial center line of the magnet B8 at the other end of the one-axis joint 2 is collinear with the axial center line of the guide groove 14 formed at the one end, and is perpendicular to the axial center lines of the magnet B8 and the guide pin 13 at the one end of the one-axis joint 2.
The axial center line of the magnet C9 at one end of the large arm 3 of the embodiment is collinear with the axial center line of the guide pin 13 arranged at the end, and is collinear with the axial center line of the magnet B8 at the other end of the shaft joint 2 and the guide groove 14 arranged at the other end, so that the guide pin 13 at one end of the large arm 3 can be inserted into the guide groove 14 arranged at the other end of the shaft joint 2; the axial center of the magnet C9 at the other end of the large arm 3 is collinear with the axial center line of the guide groove 14 formed at the end, and is parallel to the axial center line of the magnet C9 at the one end of the large arm 3 and the axial center line of the guide pin 13 provided at the one end.
The axial center line of the magnet D10 at one end of the small arm 4 in the embodiment is collinear with the axial center line of the guide pin 13 arranged at the end, and is collinear with the axial center line of the magnet C9 at the other end of the large arm 3 and the guide groove 14 arranged at the other end, so that the guide pin 13 at one end of the small arm 4 can be inserted into the guide groove 14 arranged at the other end of the large arm 3; the axial center line of the magnet D10 at the other end of the small arm 4 is collinear with the axial center line of the guide groove 14 formed at the one end, and is parallel to the axial center line of the magnet D10 at the one end of the small arm 4 and the axial center line of the guide pin 13 provided at the one end.
The axial center line of the magnet E11 at one end of the four-axis joint 5 of the embodiment is collinear with the axial center line of the guide pin 13 arranged at the end, and is collinear with the axial center line of the magnet D10 at the other end of the small arm 4 and the guide groove 14 arranged at the other end, so that the guide pin 13 at one end of the four-axis joint 5 can be inserted into the guide groove 14 arranged at the other end of the small arm 4; the axial center line of the magnet E11 at the other end of the four-axis joint 5 is collinear with the axial center line of the guide groove 14 formed at the other end, and is perpendicular to the axial center line of the magnet E11 at one end of the four-axis joint 5 and the axial center line of the guide pin 13 provided at one end.
The axial center line of the magnet F at the lower end of the five-axis joint 6 in the embodiment is collinear with the axial center line of the guide pin 13 arranged at the end, and is collinear with the axial center line of the magnet E11 at the other end of the four-axis joint 5 and the guide groove 14 formed at the other end, so that the guide pin 13 at the lower end of the five-axis joint 6 can be inserted into the guide groove 14 formed at the other end of the four-axis joint 5.
The utility model discloses a six main parts of model all adopt the epoxy material to make, are connected adjacent two parts through magnet, uide pin and guide way, realize the arbitrary dismouting of robot model to accomplish repeatedly usable's purpose.
Claims (9)
1. A simulation assembly simplified model of a six-axis cooperative robot is characterized in that: including base (1), one axle joint (2), big arm (3), forearm (4), four-axis joint (5) and five-axis joint (6) that connect gradually, wherein the magnet that is used for connecting is all installed at the both ends of base (1), one axle joint (2), big arm (3), forearm (4), four-axis joint (5) and the one end of five-axis joint (6), and the polarity of adjacent magnet is opposite, guide way (14) have been seted up to base (1) and the one end that one axle joint (2) are connected, the one end that five-axis joint (6) and four-axis joint (5) are connected is equipped with uide pin (13), the one end of one axle joint (2), big arm (3), forearm (4) and four-axis joint (5) is equipped with uide pin (13) that are used for connecting, and guide way (14) that are used for connecting are seted up to the other end.
2. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the outer surface of the magnet is coplanar with the mounted end surface.
3. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the two ends of the base (1) are provided with grooves for containing the magnets A (7), the grooves at the two ends are arranged in parallel, and one end connected with the shaft joint (2) is provided with the guide groove (14) along the height direction of the base (1).
4. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the two ends of the shaft joint (2) are provided with grooves, the grooves at the two ends are internally provided with magnets B (8) used for connecting the base (1) and the large arm (3), the grooves at the two ends of the shaft joint (2) are vertically formed, one end of the shaft joint (2) connected with the base (1) is provided with the guide pin (13), and the other end of the shaft joint connected with the large arm (3) is provided with the guide groove (14).
5. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the two ends of the large arm (3) are provided with grooves, the grooves at the two ends are internally provided with magnets C (9) used for connecting a shaft joint (2) and a small arm (4), the grooves at the two ends of the large arm (3) are arranged in parallel, one end of the large arm (3) connected with the shaft joint (2) is provided with the guide pin (13), and the other end of the large arm connected with the small arm (4) is provided with the guide groove (14).
6. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the both ends of forearm (4) all are seted up flutedly, both ends all hold in the recess and be used for connecting big arm (3) and four-axis joint (5) magnet D (10), the recess parallel of forearm (4) both ends is seted up, this forearm (4) with the one end that big arm (3) are connected is equipped with uide pin (13), with guide way (14) have been seted up to the other end that four-axis joint (5) are connected.
7. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the two ends of the four-axis joint (5) are provided with grooves, the grooves at the two ends are internally provided with magnets E (11) used for connecting the small arm (4) and the five-axis joint (6), the grooves at the two ends of the four-axis joint (5) are vertically provided, the four-axis joint (5) and one end connected with the small arm (4) are provided with the guide pin (13), and the other end connected with the five-axis joint (6) is provided with the guide groove (14).
8. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the five-axis joint (6) is provided with a groove at one end connected with the four-axis joint (5), a magnet F (12) used for being connected with the four-axis joint (5) is arranged in the groove, and the guide pin (13) is arranged at one end connected with the five-axis joint (6) and the four-axis joint (5).
9. The six-axis collaborative robot simulation assembly simplified model of claim 1, wherein: the magnet is annular, the axial center line of the magnet is collinear with the axial center line of the guide pin (13), and the axial center of the magnet is collinear with the axial center line of the guide groove (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023074583.2U CN213815260U (en) | 2020-12-18 | 2020-12-18 | Simulation assembly simplified model of six-axis cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023074583.2U CN213815260U (en) | 2020-12-18 | 2020-12-18 | Simulation assembly simplified model of six-axis cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213815260U true CN213815260U (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023074583.2U Active CN213815260U (en) | 2020-12-18 | 2020-12-18 | Simulation assembly simplified model of six-axis cooperative robot |
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| Country | Link |
|---|---|
| CN (1) | CN213815260U (en) |
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- 2020-12-18 CN CN202023074583.2U patent/CN213815260U/en active Active
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