CN218476698U - Six-degree-of-freedom industrial robot structure - Google Patents
Six-degree-of-freedom industrial robot structure Download PDFInfo
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- CN218476698U CN218476698U CN202220466632.7U CN202220466632U CN218476698U CN 218476698 U CN218476698 U CN 218476698U CN 202220466632 U CN202220466632 U CN 202220466632U CN 218476698 U CN218476698 U CN 218476698U
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- driving motor
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Abstract
The utility model discloses a six-degree-of-freedom industrial robot structure, which comprises a base, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a first rotating arm, a second rotating arm, a third rotating arm and a fourth rotating arm; the utility model fixes the first joint shell on the base, and the first joint output shaft is fixedly connected with the first rotating arm; the second joint shell is fixed on the second rotating arm, and an output shaft of the second joint shell is fixedly connected with the first rotating arm; the third joint shell is arranged on the third rotating arm, and an output shaft of the third joint shell is fixedly connected with the second rotating arm; the fourth joint shell is arranged on the third rotating arm, and the output shaft is fixedly connected with the fourth rotating arm; the fifth joint is arranged on the fifth rotating arm, and the output shaft of the fifth joint is fixedly connected with the fourth rotating arm; and a sixth joint is arranged on the fifth rotating arm, so that the output shaft of the sixth joint is the installation part of the working load of the robot mechanism, the base is a fixed part, and the rest parts are movable parts.
Description
Technical Field
The utility model relates to a mechanical design field, concretely relates to six degree of freedom industrial robot structures.
Background
At present, most industrial robots adopt servo motors and speed reducers as modes of power of all shafts, so that a plurality of complex transmission mechanisms are needed, and the internal structure is complex due to the complex joint structure, so that the final robot structure is heavy; the structure is complicated, the overhaul and maintenance cost is high, the generation cost is high, the dead weight of the structure causes large dynamic load loss, the efficiency is low, and the appearance is bloated and not beautiful.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a six-degree-of-freedom industrial robot structure is provided to solve the technical problem who mentions in the above-mentioned background art.
The utility model discloses six degree of freedom industrial robot structures realize through following technical scheme: the robot comprises a base, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a workload mounting piece;
the first joint is arranged on the base; the first rotating arm is arranged on the first joint; a second joint is arranged between the first rotating arm and the second rotating arm; a third joint is arranged between the third rotating arm and the second rotating arm; a fourth joint is arranged between the third rotating arm and the fourth rotating arm; and a fifth joint is arranged between the fourth rotating arm and the fifth rotating arm, and a sixth joint is arranged between the fifth rotating arm and the workload mounting part.
As the preferred technical scheme, a first joint driver is installed in the base; the first joint driver is connected with the first rotating arm in a driving mode.
As a preferred technical scheme, a second joint driving motor is installed on a second rotating arm, an output shaft of the second joint driving motor is fixedly connected with a first rotating arm, a second joint auxiliary supporting assembly is installed on the second rotating arm, the other end of the second joint auxiliary supporting assembly is connected with the first rotating arm, and a second joint power-off brake is installed on the first rotating arm and connected with a rotor of the second joint driving motor;
a third joint driving motor is installed on the third rotating arm, an output shaft of the third joint driving motor is fixedly connected with the second rotating arm, a third joint auxiliary supporting assembly is installed on the second rotating arm, the other end of the third joint auxiliary supporting assembly is connected with the third rotating arm, and a third joint power-off brake is installed on the second rotating arm and is fixedly connected with a rotor of the third joint driving motor;
a fourth joint driving motor is arranged on the fourth joint, a fourth joint auxiliary supporting piece A and a fourth joint auxiliary supporting piece B are arranged on the third rotating arm, and the other ends of the fourth joint auxiliary supporting piece A and the fourth joint auxiliary supporting piece B are connected with the fourth rotating arm; the fourth rotating arm is fixedly connected with a fourth joint driving motor;
a fifth joint driving motor is arranged on the fifth rotating arm, a connecting piece is arranged at the end part of the fourth rotating arm and is connected with the fifth joint driving motor,
a fifth joint auxiliary supporting assembly and a fifth joint auxiliary supporting assembly connecting piece are arranged on the fifth rotating arm;
an end cover is arranged at the end part of the fifth rotating arm, a sixth joint driving motor is installed on the sixth joint, and the sixth joint driving motor is connected with the end cover; a fifth driving motor is arranged in the sixth joint, and the working load mounting part is arranged on the fifth driving motor; meanwhile, a sixth joint auxiliary supporting assembly is installed on the load installation part and connected with the end cover.
The utility model has the advantages that: fixing a first joint shell on a base, wherein a first joint output shaft is fixedly connected with a first rotating arm; the second joint shell is fixed on the second rotating arm, and an output shaft of the second joint shell is fixedly connected with the first rotating arm; the third joint shell is arranged on the third rotating arm, and an output shaft of the third joint shell is fixedly connected with the second rotating arm; the fourth joint shell is arranged on the third rotating arm, and an output shaft of the fourth joint shell is fixedly connected with the fourth rotating arm; the fifth joint is arranged on the fifth rotating arm, and the output shaft of the fifth joint is fixedly connected with the fourth rotating arm; and a sixth joint is arranged on the fifth rotating arm, so that the output shaft of the sixth joint is a working load mounting part of the robot mechanism, the base is a fixed part, and the rest parts are movable parts.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a six-degree-of-freedom industrial robot structure of the present invention;
FIG. 2 is a schematic illustration of a portion of a first joint;
FIG. 3 is a schematic diagram of a portion of the second and third joints;
FIG. 4 is a schematic illustration of a fourth joint partially in perspective;
FIG. 5 is a first schematic view of a portion of the fifth and sixth joints;
fig. 6 is a second schematic view of a fifth and sixth joint partially schematic.
Detailed Description
As shown in fig. 1-6, the present invention relates to a six-degree-of-freedom industrial robot structure, which comprises a base 1, a first joint 2, a second joint 4, a third joint 6, a fourth joint 8, a fifth joint 10, a sixth joint 12, a first rotating arm 3, a second rotating arm 5, a third rotating arm 7, a fourth rotating arm 9, a fifth rotating arm 11, and a workload installation part 13;
the first joint 2 is arranged on the base 1; the first rotating arm 3 is arranged on the first joint 2; a second joint 4 is arranged between the first rotating arm 3 and the second rotating arm 5; a third joint 6 is arranged between the third rotating arm 7 and the second rotating arm 5; a fourth joint 8 is arranged between the third rotating arm 7 and the fourth rotating arm 9; a fifth joint 10 is installed between the fourth rotating arm 9 and the fifth rotating arm 11, and a sixth joint 12 is installed between the fifth rotating arm 11 and the workload mount 13.
In this embodiment, a first joint driver 201 is installed in the base 1; the first joint driver 201 is drivingly connected to the first rotating arm 3.
In this embodiment, a second joint driving motor 401 is installed on the second rotating arm 5, an output shaft of the second joint driving motor 401 is fixedly connected with the first rotating arm 3, a second joint auxiliary supporting assembly 403 is installed on the second rotating arm 05, the other end of the second joint auxiliary supporting assembly 403 is connected with the first rotating arm 3, a second joint power-off brake 402 is installed on the first rotating arm 3, and the second joint power-off brake is connected with a rotor of the second joint driving motor 401;
a third joint driving motor 601 is installed on the third rotating arm 7, an output shaft of the driving motor 601 is fixedly connected with the second rotating arm 5, a third joint auxiliary supporting assembly 603 is installed on the second rotating arm 5, the other end of the third joint auxiliary supporting assembly 603 is connected with the third rotating arm 7, a third joint power-off brake 602 is installed on the second rotating arm 5 and is fixedly connected with a rotor of the third joint motor 601;
a fourth joint driving motor 801 is installed on the fourth joint 8, a fourth joint auxiliary bearing member A802 and a fourth joint auxiliary bearing member B803 are installed on the third rotating arm 7, and the other ends of the fourth joint auxiliary bearing member A802 and the fourth joint auxiliary bearing member B803 are both connected with a fourth rotating arm 9; the fourth rotating arm 9 is fixedly connected with a fourth joint driving motor 801;
a fifth joint driving motor 1001 is installed on the fifth rotating arm 11, a connecting member 902 is installed at an end of the fourth rotating arm, and is connected to the fifth joint driving motor 1001,
a fifth joint auxiliary support assembly 1002 and a fifth joint auxiliary support assembly 1002 connecting piece 902 are arranged on the fifth rotating arm 11;
an end cover 1102 is arranged at the end part of the fifth rotating arm 11, a sixth joint driving motor 901 is installed on the sixth joint 12, and the sixth joint driving motor 901 is connected with the end cover 1102; a fifth driving motor 1201 is arranged in the sixth joint 12, and the working load mounting part 13 is mounted on the fifth driving motor 1201; with a sixth joint auxiliary support assembly 1202 mounted to load mount 13, sixth joint auxiliary support assembly 1202 being attached to end cap 1102.
In this embodiment, all joints except the first joint and the sixth joint are supported symmetrically by using double bearings to ensure structural stability, and the output shaft of the sixth joint is provided with a high-strength crossed roller bearing to ensure load stability and prolong the service life of the speed reduction motor of the sixth joint.
In the embodiment, all joints adopt high-precision integral servo speed reduction motors as rotating power; the second rotating arm and the fourth rotating arm adopt a hollow design to reduce self weight and provide an internal cable passing space; and a third joint power-off brake is installed on the two rotating arms and is fixedly connected with a rotor of a third joint motor, and the second joint and the third joint are locked to rotate under the condition of rated load under the condition of power failure.
The beneficial effects of the utility model are that: fixing a first joint shell on a base, wherein a first joint output shaft is fixedly connected with a first rotating arm; the second joint shell is fixed on the second rotating arm, and an output shaft of the second joint shell is fixedly connected with the first rotating arm; the third joint shell is arranged on the third rotating arm, and an output shaft of the third joint shell is fixedly connected with the second rotating arm; the fourth joint shell is arranged on the third rotating arm, and an output shaft of the fourth joint shell is fixedly connected with the fourth rotating arm; the fifth joint is arranged on the fifth rotating arm, and the output shaft of the fifth joint is fixedly connected with the fourth rotating arm; and a sixth joint is arranged on the fifth rotating arm, so that the output shaft of the sixth joint is the installation part of the working load of the robot mechanism, the base is a fixed part, and the rest parts are movable parts.
The above are only embodiments of the present invention, but the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative work should be covered within the scope of protection of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (3)
1. A six-degree-of-freedom industrial robot structure is characterized in that: the device comprises a base (1), a first joint (2), a second joint (4), a third joint (6), a fourth joint (8), a fifth joint (10), a sixth joint (12), a first rotating arm (3), a second rotating arm (5), a third rotating arm (7), a fourth rotating arm (9), a fifth rotating arm (11) and a workload mounting piece (13);
the first joint (2) is arranged on the base (1); the first rotating arm (3) is arranged on the first joint (2); a second joint (4) is arranged between the first rotating arm (3) and the second rotating arm (5); a third joint (6) is arranged between the third rotating arm (7) and the second rotating arm (5); a fourth joint (8) is arranged between the third rotating arm (7) and the fourth rotating arm (9); a fifth joint (10) is installed between the fourth rotating arm (9) and the fifth rotating arm (11), and a sixth joint (12) is installed between the fifth rotating arm (11) and the workload installation piece (13).
2. The six degree-of-freedom industrial robot structure of claim 1, characterized in that: a first joint driver (201) is arranged in the base (1); the first joint driver (201) is connected with the first rotating arm (3) in a driving way.
3. The six degree-of-freedom industrial robot structure of claim 1, characterized in that: a second joint driving motor (401) is installed on the second rotating arm (5), an output shaft of the second joint driving motor (401) is fixedly connected with the first rotating arm (3), a second joint auxiliary supporting assembly (403) is installed on the second rotating arm (05), the other end of the second joint auxiliary supporting assembly (403) is connected with the first rotating arm (3), a second joint power-off brake (402) is installed on the first rotating arm (3), and the second joint power-off brake is connected with a rotor of the second joint driving motor (401);
a third joint driving motor (601) is installed on the third rotating arm (7), an output shaft of the third joint driving motor (601) is fixedly connected with the second rotating arm (5), a third joint auxiliary supporting assembly (603) is installed on the second rotating arm (5), the other end of the third joint auxiliary supporting assembly (603) is connected with the third rotating arm (7), a third joint power-off brake (602) is installed on the second rotating arm (5), and the third joint power-off brake is fixedly connected with a rotor of the third joint driving motor (601);
a fourth joint driving motor (801) is installed on the fourth joint (8), a fourth joint auxiliary bearing A (802) and a fourth joint auxiliary bearing B (803) are installed on the third rotating arm (7), and the other ends of the fourth joint auxiliary bearing A (802) and the fourth joint auxiliary bearing B (803) are connected with a fourth rotating arm (9); the fourth rotating arm (9) is fixedly connected with a fourth joint driving motor (801);
a fifth joint driving motor (1001) is arranged on the fifth rotating arm (11), a connecting piece (902) is arranged at the end part of the fourth rotating arm and is connected with the fifth joint driving motor (1001),
a fifth joint auxiliary supporting assembly (1002) is installed on the fifth rotating arm (11), and a connecting piece (902) of the fifth joint auxiliary supporting assembly (1002) is arranged on the fifth rotating arm;
an end cover (1102) is arranged at the end part of the fifth rotating arm (11), a sixth joint driving motor (901) is installed on the sixth joint (12), and the sixth joint driving motor (901) is connected with the end cover (1102); a fifth driving motor (1201) is arranged in the sixth joint (12), and the working load mounting piece (13) is mounted on the fifth driving motor (1201); meanwhile, a sixth joint auxiliary supporting assembly (1202) is installed on the load installation part (13), and the sixth joint auxiliary supporting assembly (1202) is connected with the end cover (1102).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022200915956 | 2022-01-14 | ||
| CN202220091595 | 2022-01-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218476698U true CN218476698U (en) | 2023-02-14 |
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ID=85164556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220466632.7U Active CN218476698U (en) | 2022-01-14 | 2022-03-04 | Six-degree-of-freedom industrial robot structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218476698U (en) |
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2022
- 2022-03-04 CN CN202220466632.7U patent/CN218476698U/en active Active
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