CN214163007U - Multi-shaft direct-connection driving robot - Google Patents
Multi-shaft direct-connection driving robot Download PDFInfo
- Publication number
- CN214163007U CN214163007U CN202022491960.6U CN202022491960U CN214163007U CN 214163007 U CN214163007 U CN 214163007U CN 202022491960 U CN202022491960 U CN 202022491960U CN 214163007 U CN214163007 U CN 214163007U
- Authority
- CN
- China
- Prior art keywords
- transmission
- transmission joint
- assembly
- speed reducer
- joint assembly
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of the industrial robot and specifically relates to a multiaxis directly links drive robot is related to, the on-line screen storage device comprises a base, second transmission joint subassembly, by the transmission subassembly that third transmission joint subassembly and fourth transmission joint subassembly constitute, and controlling means, the transmission subassembly is rotated in keeping away from second transmission joint subassembly one end and is connected with manipulator subassembly, still include by controlling means control, and correspond drive second transmission joint subassembly respectively and rotate for the base, drive transmission subassembly rotates and drive manipulator subassembly for transmission subassembly pivoted three servo motor for second transmission joint subassembly. Above-mentioned robot, connect the drive through servo motor at every transmission joint subassembly junction, the connection drive of transmission joint subassembly has been accomplished and has abandoned the braking mode of traditional gear and hold-in range structure, realizes high accuracy, efficient mechanical transmission, easy operation, compact structure, spare part is few, and the fault rate is low.
Description
Technical Field
The utility model belongs to the technical field of the industrial robot hand and specifically relates to a multiaxis directly links drive robot is related to.
Background
The robot technology has a certain history in foreign countries, and our country has vigorously developed the industrial robot technology in recent years and has achieved a series of technical achievements, but still has a certain gap with developed countries. The multi-axis manipulator is a very important component in the field of robots, can freely move in a three-dimensional space, and can accurately and quickly carry out a large amount of repetitive work such as carrying, welding, grinding, polishing, spraying and the like. Especially, in some factories with high labor intensity, more time consumption and severe working environment, the manipulator plays a role in lifting.
However, most of multi-axis manipulators are connected with a gear through a motor in a braking mode, and the gear is matched with a synchronous belt for transmission to drive each joint of the manipulator to move.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide a multi-axis direct-connection driving robot for the technical problems of inflexible movement, low transmission efficiency, unstable brake control and poor accuracy caused by the movement of each joint of the mechanical arm driven by the motor-driven connecting gear and the synchronous belt.
The multi-axis direct-connection driving robot comprises a base, a second transmission joint component, a transmission component and a control device, wherein the transmission component is composed of a third transmission joint component and a fourth transmission joint component; the second transmission joint component is rotatably arranged at the top of the base; the third transmission joint component comprises a main arm and arm seats respectively connected with two ends of the main arm; one arm seat of the third transmission joint component is rotationally connected with the fourth transmission joint component so as to drive the third transmission joint component and the fourth transmission joint component to rotate coaxially; the transmission assembly is rotatably arranged on the second transmission joint assembly;
the manipulator assembly is rotatably connected to one end, far away from the second transmission joint assembly, of the transmission assembly, and consists of a fifth transmission joint assembly and a sixth transmission joint assembly, one end of the fifth transmission joint assembly is connected with the fourth transmission joint assembly to rotate, the other end of the fifth transmission joint assembly is rotatably connected with the sixth transmission joint assembly, and the sixth transmission joint assembly is used for being connected with an external working component;
the manipulator is characterized by further comprising three servo motors which are controlled by the control device and respectively correspondingly drive the second transmission joint component to rotate relative to the base, the transmission component to rotate relative to the second transmission joint component and the manipulator component to rotate relative to the transmission component.
As a further aspect of the present invention: the second transmission joint assembly comprises a rotary shaft seat, a first servo motor, a second servo motor, a first speed reducer and a second speed reducer, wherein the rotary shaft seat is provided with a horizontal port and a vertical port, the first speed reducer is arranged at the horizontal port and is rotationally connected with the base, and the second speed reducer is arranged at the vertical port; the first servo motor is installed on the horizontal port and is in transmission connection with the first speed reducer, the second servo motor is installed on the vertical port and is in transmission connection with the second speed reducer, and the third transmission joint assembly is in rotary connection with the second speed reducer on the arm seat adjacent to one side of the second transmission joint assembly.
As a further aspect of the present invention: the arm seat of the third transmission joint assembly, which is far away from one end of the second transmission joint assembly, is provided with a third servo motor and a third speed reducer in transmission connection with the third servo motor, and the fourth transmission joint assembly is in rotation connection with the third speed reducer.
As a further aspect of the present invention: the fourth transmission joint assembly comprises a short arm rotationally connected with the third speed reducer, a fourth servo motor with an output end penetrating through the short arm and a fourth speed reducer in transmission connection with an output end of the fourth servo motor, and the manipulator assembly is rotationally connected with the fourth speed reducer.
As a further aspect of the present invention: the fifth transmission joint assembly comprises a middle arm which is rotatably connected with the fourth speed reducer, and a threading plate which is rotatably connected with the sixth transmission joint assembly is arranged at the tail end of the middle arm.
As a further aspect of the present invention: the sixth transmission joint assembly comprises a shaft seat, a fifth speed reducer, a fifth servo motor, a sixth servo motor and a sixth speed reducer, wherein the shaft seat, the fifth speed reducer, the fifth servo motor, the sixth servo motor and the sixth speed reducer are arranged in the shaft seat respectively, one side of the shaft seat is connected and rotated by the fifth speed reducer and the threading plate, a rotating shaft is arranged on one side of the shaft seat close to the fifth speed reducer and is rotatably connected with the threading plate, an output shaft of the fifth servo motor penetrates through the shaft seat and is in transmission with an input shaft of the fifth speed reducer, and an output shaft of the sixth servo motor is in transmission with the sixth speed reducer.
As a further aspect of the present invention: the output end of the sixth speed reducer is connected with a rotating flange, and the rotating flange is used for connecting an external working component.
As a further aspect of the present invention: and the rotary shaft seat is provided with a transition cable tie code and an arched cable tie code.
The multi-axis direct-connected driving robot is connected and driven at the joint of each transmission joint component through the speed reducer connected between the output end of each servo motor and each transmission joint component, and the connection and driving between each transmission joint component completely abandons the traditional braking mode of the matching transmission of gears and synchronous belts, thereby realizing the mechanical transmission with high precision and high efficiency, simple operation, compact structure, less parts, low failure rate, good environmental applicability and ensuring precision and inertia; and the corresponding programming of the control software system is also very simple, and the production cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of the multi-axis direct-connected driving robot of the present invention.
Fig. 2 is an exploded view of the multi-axis direct-connected driving robot of the present invention.
Fig. 3 is a schematic structural view of one of the third transmission joint assemblies of the multi-axis direct-coupled driving robot of the present invention.
Fig. 4 is a schematic diagram of the second transmission joint assembly and the base matching structure of the multi-axis direct-connected driving robot of the present invention.
Fig. 5 is a schematic structural view of a sixth transmission joint assembly of the multi-axis direct-connection driving robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are based on the orientations and positional relationships shown in the drawings, and are used for convenience in description and simplicity in operation, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
Referring to fig. 1 to 5, the present invention provides a multi-axis direct-connected driving robot, which includes a base 1, a second transmission joint assembly 2, a transmission assembly composed of a third transmission joint assembly 3a and a fourth transmission joint assembly 3b, and a control device; the second transmission joint component 2 is rotatably arranged at the top of the base 1; the third transmission joint assembly 3a includes a main arm 31a and arm seats 30a connected to both ends of the main arm 31a, respectively; an arm seat 30a of the third transmission joint component 3a is rotatably connected with the fourth transmission joint component 3b so as to drive the third transmission joint component 3a and the fourth transmission joint component 3b to coaxially rotate; the transmission assembly is rotationally arranged on the second transmission joint assembly 2; the transmission assembly is rotatably connected with a manipulator assembly at one end far away from the second transmission joint assembly 2, the manipulator assembly consists of a fifth transmission joint assembly 5 and a sixth transmission joint assembly 6, one end of the fifth transmission joint assembly 5 is rotatably connected with the fourth transmission joint assembly 3b, the other end of the fifth transmission joint assembly 5 is rotatably connected with the sixth transmission joint assembly 6, and the sixth transmission joint assembly 6 is used for connecting an external working component; the manipulator robot further comprises three servo motors which are controlled by the control device and respectively drive the second transmission joint assembly 2 to rotate relative to the base 1, drive the transmission assembly to rotate relative to the second transmission joint assembly 2 and drive the manipulator assembly to rotate relative to the transmission assembly.
The multi-axis direct-connected driving robot is connected and driven at the joint of each transmission joint component through the speed reducer connected between the output end of each servo motor and each transmission joint component, and the connection and driving between each transmission joint component completely abandons the traditional braking mode of the matching transmission of gears and synchronous belts, thereby realizing the mechanical transmission with high precision and high efficiency, simple operation, compact structure, less parts, low failure rate, good environmental applicability and ensuring precision and inertia; the corresponding programming of the control software system is also simple, and the production cost is reduced; simultaneously the utility model discloses a multiaxis directly links driving robot has that the structure is small and exquisite, fast, moment is big, working range advantage such as wide, can realize various actions in a flexible way, and the joint is stable in the course of the work, satisfies various demands.
The second transmission joint assembly 2 is used as a transmission assembly and a bottom layer rotation connection assembly of a manipulator assembly, and in order to realize that the transmission assembly and the manipulator assembly rotate on the base 1, referring to fig. 1, 3 and 4, the second transmission joint assembly 2 comprises a rotary shaft seat 20, a first servo motor 21, a second servo motor 22, a first speed reducer and a second speed reducer 23, wherein the rotary shaft seat 20 is provided with a horizontal port and a vertical port, the first speed reducer is arranged at the horizontal port and is rotatably connected with the base 1, and the second speed reducer 23 is arranged at the vertical port; the first servo motor 21 is arranged on the horizontal port and is connected with the first speed reducer for transmission, and the first speed reducer is driven to rotate by the first servo motor 21, so that the second transmission joint component 2 rotates on the base 1; the second servo motor 22 is installed on the vertical port and is connected with the second speed reducer 23 for transmission, and the third transmission joint component 3a is rotatably connected with the second speed reducer 23 at the arm seat 30a adjacent to one end of the second transmission joint component 2, so that the second speed reducer 23 is driven to rotate by the second servo motor 22 to drive the third transmission joint component 3a to rotate on the second transmission joint component 2.
Preferably, the third transmission joint component 3a is provided with a third servo motor 33a and a third speed reducer 34a in transmission connection with the third servo motor 33a on the arm base 30a far from the end of the second transmission joint component 2, and the fourth transmission joint component 3b is in rotation connection with the third speed reducer 34a, so that the third servo motor 33a drives the third speed reducer 34a to rotate, and the third transmission joint component 3b is driven to rotate on the third transmission joint component 3 a.
Preferably, the fourth transmission joint assembly 3b includes a short arm 31b rotatably connected to the third speed reducer 34a, a fourth servo motor 30b having an output end passing through the short arm 31b, and a fourth speed reducer 32b rotatably connected to an output end of the fourth servo motor 30b, and the manipulator assembly is rotatably connected to the fourth speed reducer 32b, so that the fourth speed reducer 32b is driven by the fourth servo motor 30b to rotate, thereby driving the manipulator assembly to rotate on the fourth transmission joint assembly 3 b.
The manipulator assembly is used for connecting external working components, different positions of the external working components can be changed through the manipulator assembly to work, referring to fig. 2 and 5, the manipulator assembly comprises a fifth transmission joint assembly 5 and a sixth transmission joint assembly 6 rotationally connected with the fifth transmission joint assembly 5, the fifth transmission joint assembly 5 comprises a middle arm 53 rotationally connected with a fourth speed reducer 42, and therefore the fourth speed reducer 31b is driven to rotate through a fourth servo motor 31b, and the middle arm 53 is driven to rotate on the fourth transmission joint assembly 3 b. Furthermore, the tail end of the middle arm 53 is provided with a threading plate 50 which is rotatably connected with the sixth transmission joint assembly 6, the sixth transmission joint 6 comprises a shaft seat 60, a fifth speed reducer 51, a fifth servo motor 52, a sixth servo motor 62 and a sixth speed reducer 63 which are respectively arranged in the shaft seat 60, one side of the shaft seat 60 is connected with the threading plate 50 through the fifth speed reducer 51, one side of the shaft seat 60, which is adjacent to the fifth speed reducer 51, is provided with a rotating shaft, the rotating shaft is connected with the threading plate 50 for rotation, an output shaft of the fifth servo motor 52 passes through the shaft seat 60 to be connected with an input shaft of the fifth speed reducer 51, one end of the shaft seat 60 is connected with the threading plate 50 through the fifth speed reducer 51, the other end of the shaft seat 60 is connected with the threading plate 50 through the rotating shaft, and the fifth servo motor 52 drives the fifth speed reducer 51 to drive the shaft seat 60 to rotate on the threading plate 50; an output shaft of the sixth servo motor 62 is connected with a sixth speed reducer 63, an output end of the sixth speed reducer 63 is connected with a rotating flange 61, the rotating flange 61 is used for connecting an external working component, and the external working component is enabled to change different working positions to perform operation through mutual rotation of the fifth transmission joint assembly 5 and the sixth transmission joint assembly 6.
The control device is used for controlling the operation of each transmission joint component on the robot, and the control device is respectively and electrically connected to the first servo motor 21, the second servo motor, the third servo motor 33, the fourth servo motor 30b, the fifth servo motor 52 and the sixth servo motor 62 so as to control the operation of the first servo motor 21, the second servo motor, the third servo motor 33a, the fourth servo motor 30b, the fifth servo motor 52 and the sixth servo motor 62. The multi-axis direct-connection driving robot is connected with the speed reducer connected between each transmission joint component through the output end of each servo motor at the joint of each transmission joint component for connection driving, and the traditional braking mode that a gear and a synchronous belt are matched for transmission is completely abandoned by the connection driving between each transmission joint component, so that high-precision and high-efficiency mechanical transmission is realized.
Preferentially, in order to arrange electric wires and air pipes neatly and neatly, the transition wire binding codes 201 and the arch wire binding codes 202 are arranged on the rotary shaft seat 20, so that the connecting wires and the installed air pipes are neat and not easy to disorder, and the maintenance in the later period is facilitated.
Preferably, in order to save energy and protect environment and improve precision, in one embodiment, a harmonic speed reducer, an RV speed reducer, or another energy-saving speed reducer can be used for the first speed reducer, the second speed reducer 23, the third speed reducer 34, the fourth speed reducer 42, the fifth speed reducer 51, and the sixth speed reducer 63, which are not illustrated herein.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The multi-axis direct-connection driving robot is characterized by comprising a base (1), a second transmission joint component (2), a transmission component and a control device, wherein the transmission component is composed of a third transmission joint component (3a) and a fourth transmission joint component (3 b); the second transmission joint component (2) is rotatably arranged at the top of the base (1); the third transmission joint assembly (3a) comprises a main arm (31a) and arm bases (30a) which are respectively connected with two ends of the main arm (31 a); one arm seat (30a) of the third transmission joint component (3a) is rotationally connected with the fourth transmission joint component (3b) so as to drive the third transmission joint component (3a) and the fourth transmission joint component (3b) to rotate coaxially; the transmission assembly is rotationally arranged on the second transmission joint assembly (2);
the manipulator assembly is rotatably connected to one end, far away from the second transmission joint assembly (2), of the transmission assembly, the manipulator assembly is composed of a fifth transmission joint assembly (5) and a sixth transmission joint assembly (6), one end of the fifth transmission joint assembly (5) is rotatably connected with the fourth transmission joint assembly (3b), the other end of the fifth transmission joint assembly (5) is rotatably connected with the sixth transmission joint assembly (6), and the sixth transmission joint assembly (6) is used for being connected with an external working component;
the manipulator is characterized by further comprising three servo motors which are controlled by the control device and respectively correspondingly drive the second transmission joint assembly (2) to rotate relative to the base (1), drive the transmission assembly to rotate relative to the second transmission joint assembly (2) and drive the manipulator assembly to rotate relative to the transmission assembly.
2. The multi-axis direct-connection drive robot as claimed in claim 1, wherein the second transmission joint assembly (2) comprises a rotary shaft seat (20), a first servomotor (21), a second servomotor (22), a first reducer and a second reducer (23), wherein the rotary shaft seat (20) has a horizontal port and a vertical port, the first reducer is arranged at the horizontal port and is rotatably connected with the base (1), and the second reducer (23) is arranged at the vertical port; the first servo motor (21) is installed on the horizontal port and is connected with the first speed reducer for transmission, the second servo motor (22) is installed on the vertical port and is connected with the second speed reducer (23) for transmission, and the third transmission joint component (3a) is rotatably connected with the second speed reducer (23) on an arm seat (30a) adjacent to one end of the second transmission joint component (2).
3. The multi-axis direct drive robot as claimed in claim 1, wherein the third transmission joint assembly (3a) is provided with a third servo motor (33a) and a third reducer (34a) in transmission connection with the third servo motor (33a) at an arm base (30a) at an end far from the second transmission joint assembly (2), and the fourth transmission joint assembly (3b) is in rotational connection with the third reducer (34 a).
4. The multi-axis direct drive robot as claimed in claim 3, wherein the fourth transmission joint assembly (3b) comprises a short arm (31b) rotatably connected to the third reducer (34a), a fourth servomotor (30b) having an output end passing through the short arm (31b), and a fourth reducer (32b) rotatably connected to an output end of the fourth servomotor (30b), and the manipulator assembly is rotatably connected to the fourth reducer (32 b).
5. The multi-axis direct drive robot as claimed in claim 4, wherein the fifth transmission joint assembly (5) comprises a middle arm (53) rotatably connected with the fourth speed reducer (32b), and a threading plate (50) rotatably connected with the sixth transmission joint assembly (6) is arranged at the tail end of the middle arm (53).
6. The multi-axis direct-connection drive robot as claimed in claim 5, wherein the sixth transmission joint assembly (6) comprises a shaft seat (60) with a cavity, a fifth speed reducer (51), a fifth servo motor (52), a sixth servo motor (62) and a sixth speed reducer (63) which are respectively arranged in the shaft seat (60), one side of the shaft seat (60) is connected with the threading plate (50) by the fifth speed reducer (51) to rotate, a rotating shaft is arranged on one side of the shaft seat (60) adjacent to the fifth speed reducer (51), the rotating shaft is rotationally connected with the threading plate (50), an output shaft of the fifth servo motor (52) penetrates through the shaft seat (60) and is connected with an input shaft of the fifth speed reducer (51) for transmission, and an output shaft of the sixth servo motor (62) is connected with and driven by the sixth speed reducer (63).
7. The multi-axis direct drive robot as claimed in claim 6, wherein a rotary flange (61) is connected to an output end of the sixth speed reducer (63), and the rotary flange (61) is used for connecting an external working component.
8. The multi-axis direct-connection drive robot as claimed in claim 2, wherein the rotary shaft seat (20) is provided with a transition cable tie (201) and an arch cable tie (202) for arranging the connected lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022491960.6U CN214163007U (en) | 2020-11-02 | 2020-11-02 | Multi-shaft direct-connection driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022491960.6U CN214163007U (en) | 2020-11-02 | 2020-11-02 | Multi-shaft direct-connection driving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214163007U true CN214163007U (en) | 2021-09-10 |
Family
ID=77598965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022491960.6U Active CN214163007U (en) | 2020-11-02 | 2020-11-02 | Multi-shaft direct-connection driving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214163007U (en) |
-
2020
- 2020-11-02 CN CN202022491960.6U patent/CN214163007U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102554921B (en) | Numerical-control manipulator with five degrees of freedom | |
| CN205466154U (en) | Manipulator | |
| CN211160469U (en) | Five-axis glue dispenser | |
| CN204546556U (en) | The parallel steering wheel of double freedom based on differential gear train | |
| CN100366400C (en) | Flexible rope driven three and four degree of freedom decoupling parallel mechanism | |
| CN206465095U (en) | Six-DOF industrial robot and equipment | |
| CN206241514U (en) | A kind of controllable link-type welding robot of multiple degrees of freedom | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN106737642A (en) | Speed reducing driving device, drive system and control method based on Dual-Servo Motor | |
| CN214163007U (en) | Multi-shaft direct-connection driving robot | |
| CN109227522A (en) | A kind of omni-directional moving mechanism and hoisting machine people's system | |
| CN203427028U (en) | Four-degree-of-freedom hybrid robot | |
| CN103419192A (en) | Four-degree-of-freedom hybrid robot | |
| CN208592849U (en) | A kind of seven axis joint robots based on hollow driver | |
| CN209175757U (en) | A kind of five shaft industrial robots | |
| CN106695745A (en) | Novel planar under-actuated mechanical arm device | |
| CN109249405A (en) | A kind of omnidirectional's big corner high-precision attitude adjustment robot of mobile auxiliary drive | |
| CN103722562B (en) | Mechanical joint and the mechanical arm of applying it | |
| CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
| CN113650050A (en) | Synchronous belt drive's high-efficient transmission efficiency arm | |
| CN213946455U (en) | Mounting structure of industrial robot single-joint multi-model speed reducer | |
| CN108839057A (en) | A kind of modularization parameterization design method of Industrial robots Mechanical's structure | |
| CN220408731U (en) | Triaxial robot | |
| CN203696282U (en) | Welding robot based on rectangular coordinates system | |
| CN213499307U (en) | Universal practical training platform for modular six-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |