CN104875198B - Rectangular co-ordinate six-joint robot - Google Patents
Rectangular co-ordinate six-joint robot Download PDFInfo
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- CN104875198B CN104875198B CN201510242757.6A CN201510242757A CN104875198B CN 104875198 B CN104875198 B CN 104875198B CN 201510242757 A CN201510242757 A CN 201510242757A CN 104875198 B CN104875198 B CN 104875198B
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- power source
- vertical pivot
- longitudinal axis
- rotary shaft
- axis
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Abstract
Rectangular co-ordinate six-joint robot, includes base, and the base is provided with transverse axis, the longitudinal axis and vertical pivot, it is characterised in that：The transverse axis, the longitudinal axis and vertical pivot are in rectangular coordinate system in space, the longitudinal axis is arranged on transverse axis and the longitudinal axis is moved axially by the transmission of the first power source along transverse axis, the vertical pivot is arranged on the longitudinal axis and vertical pivot is moved axially by the transmission of the second power source along the longitudinal axis, the vertical pivot is also driven on the longitudinal axis along the axial lifting moving of vertical pivot by the 3rd power source, the vertical pivot is also rotated by the transmission of the 4th power source around vertical pivot axis, the bottom of the vertical pivot is connected with the first rotary shaft for installation tool seat, first rotary shaft and plane-parallel, first rotary shaft is driven by the 5th power source to be rotated around the first rotating shaft axis, the second rotary shaft for disposing workpiece is additionally provided with the base, second rotary shaft is driven by the 6th power source to be rotated around the second rotating shaft axis.
Description
Technical field
The present invention relates to a kind of robot, more particularly to be a kind of rectangular co-ordinate six-joint robot.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout.In industrial welding, carry, gluing, spraying is top can be improved by robot
Production efficiency, raising accuracy, stability.
The content of the invention
In view of technical problem present in background technology, technical problem solved by the invention aims to provide a kind of right angle and sat
Mark six-joint robot.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
Rectangular co-ordinate six-joint robot, includes base, and the base is provided with transverse axis, the longitudinal axis and vertical pivot, and its feature exists
In：The transverse axis, the longitudinal axis and vertical pivot are in rectangular coordinate system in space, and the longitudinal axis is arranged on transverse axis and the longitudinal axis is by the first power
Source transmission is moved axially along transverse axis, and the vertical pivot is arranged on the longitudinal axis and vertical pivot is driven along the longitudinal axis by the second power source and axially moved
Dynamic, the vertical pivot is also driven on the longitudinal axis along the axial lifting moving of vertical pivot by the 3rd power source, and the vertical pivot is also by the 4th power
Source transmission is around the rotation of vertical pivot axis, and the bottom of the vertical pivot is connected with the first rotary shaft for installation tool seat, first rotation
Rotating shaft and plane-parallel, first rotary shaft is driven by the 5th power source to be rotated around the first rotating shaft axis, on the base
The second rotary shaft for disposing workpiece is additionally provided with, second rotary shaft is driven around the second rotating shaft axis by the 6th power source
Rotation.
First power source, the second power source, the 3rd power source, the 4th power source, the 5th power source and the 6th power
Source is using the motor being independently arranged.
Each motor is connected with controller, and the displacement signal of the longitudinal axis is gathered or/and measured by encoder, is adopted by encoder
The first rotary shaft of collection or/and measurement, the rotary angle signal of the second rotary shaft, gather or/and measure vertical shaft by encoder
Displacement and rotary angle signal, encoder gather signal and control each motor to rotate by controller.
Transverse axis is arranged on base by column.
Beneficial effects of the present invention are the instruments such as welding gun, spray gun, glue rifle to be arranged in tool seat, tool seat is in this hair
Production operation is carried out in bright robot, can stablize, be accurately performed work in every task, particularly in industrial welding, is applied
Above the production operations such as glue, spraying, therefore the present invention has prominent substantive distinguishing features and significantly entered compared with prior art
Step.
Brief description of the drawings
The relevant details and operation principle of embodiments of the present invention and embodiment are described below in conjunction with the accompanying drawings.
Fig. 1 is positive structure diagram of the invention.
Fig. 2 is Fig. 1 right side structure schematic view.
Fig. 3 is dimensional structure diagram of the invention.
Embodiment
Referring to accompanying drawing, in present embodiment, rectangular co-ordinate six-joint robot includes base 1, the base is provided with horizontal stroke
Axle 2, the longitudinal axis 3 and vertical pivot, the transverse axis 2, the longitudinal axis 3 and vertical pivot will be in rectangular coordinate system in space, and transverse axis 2 is in X-axis in the present embodiment
On direction, in the Y-axis direction, vertical pivot is in the Z-axis direction for the longitudinal axis 3.Transverse axis is arranged on base 1 by column 11, crossbeam 12.
The longitudinal axis 3 is arranged on transverse axis 2 and the longitudinal axis is by the first power source（Such as 1# motors）Transmission is axially moved along transverse axis 2
It is dynamic, guide rail can be set in the present embodiment on transverse axis 2, and the longitudinal axis will be arranged on sliding seat；Can be by setting independent compile
Code device gathers or/and measured the displacement signal moved on transverse axis of the longitudinal axis.
The vertical pivot is arranged on the longitudinal axis 3 and vertical pivot is by the second power source（Such as 2# motors）Transmission is axially moved along the longitudinal axis 3
It is dynamic, guide rail can also be set in the present embodiment on the longitudinal axis 3, and vertical pivot will be arranged on sliding seat；Can be independent by setting
Encoder gathers or/and measured the displacement signal that vertical pivot is moved on the longitudinal axis.
The vertical pivot is also by the 3rd power source（Such as 3# motors）It is driven on the longitudinal axis along the axial lifting moving of vertical pivot, it is described perpendicular
Axle is also by the 4th power source（Such as 4# motors）Transmission is around the rotation of vertical pivot axis.Worm and gear is driven by 3# motors in the present embodiment
Group travelling gear rack assembly in future, vertical pivot is enclosed in outer tube 4 and keeps constant, tooth with the relative axial position of outer tube 4
Bar will be vertically arranged in outside outer tube, and 3# motors move gear rack elevating by gear, can by set individual encoders come
Collection or/and the lifting displacement signal of measurement vertical shaft；4# motors drive vertical pivot by gear assembly in the inward turning of outer tube 4
Turn, can gather or/and measure the rotary angle signal of vertical shaft by setting individual encoders.
The bottom of the vertical pivot is connected with the first rotary shaft 5 for installation tool seat, first rotary shaft and horizontal plane
Parallel, first rotary shaft is by the 5th power source（Such as 5# motors）Transmission is inside the first rotating shaft axis rotation, the present embodiment
Mounting bracket can be set to be installed for 5# motors and the first rotary shaft in vertical pivot bottom.The instruments such as welding gun, spray gun, glue rifle are arranged on
In tool seat.
The second rotary shaft 6 for disposing workpiece is additionally provided with the base 1, second rotary shaft is by the 6th power source
（Such as 6# motors）Transmission around the rotation of the second rotating shaft axis, workpiece clamp or be pressed in or other modes are placed in the second rotary shaft
On, workpiece is rotated by the second rotary shaft, instrument can be allowed to handle the diverse location of workpiece when processing.
Each motor of 1#, 2#, 3#, 4#, 5#, 6# is connected with controller, and each encoder collection signal passes through controller control
Each motor is rotated.
When rectangular co-ordinate six-joint robot works, workpiece is placed in the second rotary shaft, the instrument in tool seat starts
Operation is processed to workpiece, the position of instrument is adjusted in tool seat by each motor of 1#, 2#, 3#, 4#, 5# and then makes instrument
The different position positions of workpiece are processed.The instruments such as welding gun, spray gun, glue rifle are arranged in tool seat, tool seat is in this hair
Production operation is carried out in bright robot, can stablize, be accurately performed work in every task, particularly in industrial welding, is applied
Above the production operations such as glue, spraying.
Claims (4)
1. rectangular co-ordinate six-joint robot, includes base（1）, the base is provided with transverse axis（2）, the longitudinal axis（3）And vertical pivot, its
It is characterised by：The transverse axis（2）, the longitudinal axis（3）It is in rectangular coordinate system in space, the longitudinal axis with vertical pivot（3）It is arranged on transverse axis（2）On
And the longitudinal axis（3）It is driven by the first power source along transverse axis（2）Axial movement, the vertical pivot is arranged on the longitudinal axis（3）Upper and vertical pivot
It is driven by the second power source along the longitudinal axis（3）Axial movement, the vertical pivot is also driven on the longitudinal axis along vertical pivot axle by the 3rd power source
To lifting moving, the vertical pivot is also rotated by the transmission of the 4th power source around vertical pivot axis, and the bottom of the vertical pivot, which is connected with, to be used for
First rotary shaft of installation tool seat（5）, first rotary shaft（5）With plane-parallel, first rotary shaft（5）Moved by the 5th
Power source is driven around the first rotary shaft（5）Axis rotates, the base（1）On be additionally provided with the second rotary shaft for disposing workpiece
（6）, second rotary shaft（6）By the transmission of the 6th power source around the second rotary shaft（6）Axis rotates；Vertical pivot is set in outer tube
（4）Interior and and outer tube（4）Relative axial position keep it is constant, the rack of rack and pinion assembly will be vertically arranged in outer tube
（4）Outside, the 3rd power source and the 4th power source include motor, and the motor of the 3rd power source drives worm and gear group travelling gear
Rack assembly, the gear band carry-over bar lifting of rack and pinion assembly；The motor of 4th power source drives vertical pivot by gear assembly
In outer tube（4）Interior rotation.
2. rectangular co-ordinate six-joint robot as claimed in claim 1, it is characterised in that：First power source, the second power
Source, the 3rd power source, the 4th power source, the 5th power source and the 6th power source are using the motor being independently arranged.
3. rectangular co-ordinate six-joint robot as claimed in claim 2, it is characterised in that：Each motor is connected with controller, is passed through
Encoder gathers or/and measured the displacement signal of the longitudinal axis, passes through encoder and gathers or/and measure the first rotary shaft, the second rotation
The rotary angle signal of axle, gathers or/and measures displacement and the rotary angle signal of vertical shaft, encoder collection letter by encoder
Number each motor is controlled to rotate by controller.
4. rectangular co-ordinate six-joint robot as claimed in claim 1, it is characterised in that：Transverse axis is arranged on base by column
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510242757.6A CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510242757.6A CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104875198A CN104875198A (en) | 2015-09-02 |
| CN104875198B true CN104875198B (en) | 2017-07-25 |
Family
ID=53943002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510242757.6A Expired - Fee Related CN104875198B (en) | 2015-05-14 | 2015-05-14 | Rectangular co-ordinate six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104875198B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522572B (en) * | 2016-02-03 | 2018-02-06 | 余晓娜 | The shaft industrial robot of compact three |
| CN107932490B (en) * | 2017-12-30 | 2018-11-27 | 泰州市龙泽环境科技有限公司 | A kind of intelligent robot |
| CN108128622B (en) * | 2017-12-30 | 2018-12-18 | 徐州海德力工业机械有限公司 | A kind of robot |
| CN111390935B (en) * | 2020-04-23 | 2021-07-23 | 青岛中和重工工业有限公司 | Manipulator for welding |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2263572Y (en) * | 1996-06-25 | 1997-10-01 | 万小穗 | Electric manipulator |
| ITTO20010575A1 (en) * | 2001-06-15 | 2002-12-15 | Comau Spa | LINE OF OPERATING UNITS FOR THE PERFORMANCE OF MACHINE PROCESSING PROVIDED WITH MODULAR TRANSLATING DEVICES FOR THE TRANSFER OF |
| DE202007006226U1 (en) * | 2007-04-27 | 2008-09-04 | Robert Bosch Gmbh | Kit for a handling system |
| CN101456182B (en) * | 2007-12-12 | 2012-03-28 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN201304647Y (en) * | 2008-12-05 | 2009-09-09 | 中国科学院沈阳自动化研究所 | Rail-switching mechanical arm |
| CN104511897A (en) * | 2013-09-29 | 2015-04-15 | 张祥 | Novel rectangular coordinate robot device |
| CN103862369A (en) * | 2014-03-25 | 2014-06-18 | 昆山艾思迪机械科技有限公司 | Automatic feeding and discharging mechanism of six-shaft five-linkage tool grinder |
| CN104029194B (en) * | 2014-06-18 | 2016-04-06 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
| CN204604322U (en) * | 2015-05-14 | 2015-09-02 | 上海宜功焊接科技有限公司 | Rectangular co-ordinate six-joint robot |
-
2015
- 2015-05-14 CN CN201510242757.6A patent/CN104875198B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104875198A (en) | 2015-09-02 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Shengguo Inventor before: Wang Shengguo Inventor before: Yu Li |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170615 Address after: 201600 Shanghai City, Songjiang District small town Kunshan Guanghua Road No. 650 building 11 Applicant after: Shanghai Gong Rui Electric Technology Co., Ltd. Address before: 201100 1D15 room, No. 89 Xin Bang Road, Shanghai, Minhang District Applicant before: Shanghai should merit welding Science and Technology Ltd. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170725 Termination date: 20210514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |