CN105945924A - Six-shaft robot - Google Patents
Six-shaft robot Download PDFInfo
- Publication number
- CN105945924A CN105945924A CN201610527414.9A CN201610527414A CN105945924A CN 105945924 A CN105945924 A CN 105945924A CN 201610527414 A CN201610527414 A CN 201610527414A CN 105945924 A CN105945924 A CN 105945924A
- Authority
- CN
- China
- Prior art keywords
- axles
- shaft
- motor
- rotate
- spindle motors
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-shaft robot. The six-shaft robot comprises a first shaft, a second shaft, a first shaft motor, a third shaft, a second shaft motor, a fourth shaft motor, a third shaft motor, a fifth shaft, a fifth shaft motor, a sixth shaft and a sixth shaft motor. The second shaft is arranged on the first shaft and can rotate relative to the first shaft. The first shaft motor is arranged on the second shaft and can drive the second shaft to rotate relative to the first shaft. One end of the third shaft is rotationally arranged on the second shaft. The second shaft motor is arranged on the second shaft and can drive the third shaft to rotate on the second shaft. The fourth shaft motor is rotationally arranged at the other end of the third shaft, and the fourth shaft motor drives the fourth shaft to rotate. The third shaft motor is arranged on the third shaft and can drive the fourth shaft motor to rotate on the third shaft. The fifth shaft is connected with the fourth shaft. The fifth shaft motor is arranged on the fifth shaft and can drive the fifth shaft to rotate relative to the fourth shaft. The sixth shaft is connected with the fifth shaft, and the sixth shaft motor is arranged on the sixth shaft and can drive the sixth shaft to rotate relative to most of the five shafts. Through combination of the six shafts, movement in the large range can be achieved through the combination, and the six-shaft robot adapts to various different using environments.
Description
Technical field
ThisInventionBelong to industrial robot field, particularly relate toA kind of six-joint robot。
Background technology
During realizing the present invention, inventor finds that prior art at least there is problems in that conventional industrial robot uses four axles or five axle construction, it is possible to the range of movement of realization is limited.
Summary of the invention
The technical problem to be solved is to provide one and is capable of large range of motion, adapts to the six-joint robot of multiple application.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is:A kind of six-joint robot, have:
One axle；
Two axles, are arranged on a described axle and can rotate relative to a described axle；
One spindle motor, is arranged on described two axles and described two axles can be driven to rotate relative to a described axle；
Three axles, one end is installed in rotation on described two axles；
Two spindle motors, are arranged on described two axles and described three axles can be driven to rotate on described two axles；
Four spindle motors, are installed in rotation on the other end of described three axles, and four spindle motors drive four axles to rotate；
Three spindle motors, are arranged on described three axles and described four spindle motors can be driven to rotate on described three axles；
Five axles, are connected with described four axles；
Five spindle motors, are arranged on described five axles and can drive five axles to rotate relative to described four axles；
Six axles, are connected with described five axles；
Six spindle motors, are arranged on described six axles and can drive described six axle relative majority five axles to rotate.
Described four axles and described five axles are positioned on straight line.
The most described five axles of described six axles.
Described five axles are provided with nameplate.
A technical scheme in technique scheme has the advantage that or beneficial effect, use six axle construction, having multiple degree of freedom, combination is capable of large range of motion, adapts to multiple different use environment, compact conformation, movement velocity is fast, has higher repetitive positioning accuracy and tracking accuracy, uses bus architecture, expanded application is convenient, it is adaptable to the industries such as lathe loading and unloading, cut, polishing.
Accompanying drawing explanation
Figure 1The structural representation of the six-joint robot for providing in the embodiment of the present inventionFigure；
Figure 2ForFigure 1The stravismus of six-joint robotFigure；
Figure 3ForFigure 1The vertical view of six-joint robotFigure；
Above-mentionedIn figureLabelling be: 1 a, axle, 11, one spindle motor, 2, two axles, 21, two spindle motors, 3, three axles, 31, three spindle motors, 4, four axles, 41, four spindle motors, 5, five axles, 51, five spindle motors, 6, six axles.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction withAccompanying drawingEmbodiment of the present invention is described further in detail.
SeeFigure 1-3,A kind of six-joint robot, have:
One axle；
Two axles, are arranged on an axle and can rotate relative to an axle；
One spindle motor, is arranged on two axles and two axles can be driven to rotate relative to an axle；
Three axles, one end is installed in rotation on two axles；
Two spindle motors, are arranged on two axles and can drive dynamic triaxial and rotate on two axles；
Four spindle motors, are installed in rotation on the other end of three axles, and four spindle motors drive four axles to rotate；
Three spindle motors, are arranged on three axles and can drive four spindle motors to rotate on three axles；
Five axles, are connected with four axles；
Five spindle motors, are arranged on five axles and five axles can be driven to rotate relative to four axles；
Six axles, are connected with five axles；
Six spindle motors, are arranged on six axles and can drive six axle relative majority five axles to rotate.
As Figure 1Shown in, it is possible to pressIn figureArrow direction, the combination of six axles, combination is capable of large range of motion, adapts to multiple different use environment.
Four axles and five axles are positioned on straight line.
Vertical five axles of six axles.
Five axles are provided with nameplate.
After using above-mentioned structure, use six axle construction, having multiple degree of freedom, combination is capable of large range of motion, adapts to multiple different use environment, compact conformation, movement velocity is fast, has higher repetitive positioning accuracy and tracking accuracy, uses bus architecture, expanded application is convenient, it is adaptable to the industries such as lathe loading and unloading, cut, polishing.
Above in conjunction withAccompanying drawingThe present invention is exemplarily described; obviously the present invention implements and is not subject to the restrictions described above; if the improvement of the various unsubstantialities that the method design that have employed the present invention is carried out with technical scheme; or the most improved design by the present invention and technical scheme directly apply to other occasion, all within protection scope of the present invention.
Claims (4)
1. a six-joint robot, it is characterised in that have:
One axle；
Two axles, are arranged on a described axle and can rotate relative to a described axle；
One spindle motor, is arranged on described two axles and described two axles can be driven to rotate relative to a described axle；
Three axles, one end is installed in rotation on described two axles；
Two spindle motors, are arranged on described two axles and described three axles can be driven to rotate on described two axles；
Four spindle motors, are installed in rotation on the other end of described three axles, and four spindle motors drive four axles to rotate；
Three spindle motors, are arranged on described three axles and described four spindle motors can be driven to rotate on described three axles；
Five axles, are connected with described four axles；
Five spindle motors, are arranged on described five axles and can drive five axles to rotate relative to described four axles；
Six axles, are connected with described five axles；
Six spindle motors, are arranged on described six axles and can drive described six axle relative majority five axles to rotate.
2. six-joint robot as claimed in claim 1, it is characterised in that described four axles and described five axle positions
On straight line.
3. six-joint robot as claimed in claim 2, it is characterised in that the most described five axles of described six axles.
4. six-joint robot as claimed in claim 3, it is characterised in that described five axles are provided with nameplate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527414.9A CN105945924A (en) | 2016-07-06 | 2016-07-06 | Six-shaft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527414.9A CN105945924A (en) | 2016-07-06 | 2016-07-06 | Six-shaft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105945924A true CN105945924A (en) | 2016-09-21 |
Family
ID=56899528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610527414.9A Pending CN105945924A (en) | 2016-07-06 | 2016-07-06 | Six-shaft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945924A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107803842A (en) * | 2017-10-23 | 2018-03-16 | 深圳智英电子有限公司 | A kind of top box of digital machine board aging charging manipulator |
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3939836A1 (en) * | 1988-12-02 | 1990-06-07 | Tokico Ltd | INDUSTRIAL ROBOT |
| JP2006503721A (en) * | 2002-10-21 | 2006-02-02 | エフエスアイ インターナショナル インコーポレイテッド | Education of robots with tactile sensors |
| JP2007168053A (en) * | 2005-12-26 | 2007-07-05 | Denso Wave Inc | Teaching method of vertical articulated type robot and industrial robot device |
| CN103568002A (en) * | 2013-06-25 | 2014-02-12 | 王常勇 | Six-axis degree-of-freedom manipulator |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN204819493U (en) * | 2015-06-04 | 2015-12-02 | 洁誉科技（上海）有限公司 | Six industrial robot |
-
2016
- 2016-07-06 CN CN201610527414.9A patent/CN105945924A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3939836A1 (en) * | 1988-12-02 | 1990-06-07 | Tokico Ltd | INDUSTRIAL ROBOT |
| JP2006503721A (en) * | 2002-10-21 | 2006-02-02 | エフエスアイ インターナショナル インコーポレイテッド | Education of robots with tactile sensors |
| JP2007168053A (en) * | 2005-12-26 | 2007-07-05 | Denso Wave Inc | Teaching method of vertical articulated type robot and industrial robot device |
| CN103568002A (en) * | 2013-06-25 | 2014-02-12 | 王常勇 | Six-axis degree-of-freedom manipulator |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN204819493U (en) * | 2015-06-04 | 2015-12-02 | 洁誉科技（上海）有限公司 | Six industrial robot |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186749A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | Using the mechanical wrist of direct drive mode |
| CN107803842A (en) * | 2017-10-23 | 2018-03-16 | 深圳智英电子有限公司 | A kind of top box of digital machine board aging charging manipulator |
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104440896A (en) | Cylindrical coordinate robot | |
| CN201997951U (en) | Double swinging mechanism | |
| CN103481283A (en) | Three-axis five-bar parallel manipulator | |
| CN105945924A (en) | Six-shaft robot | |
| CN102233585A (en) | Arm member of robot | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| US11945065B2 (en) | Multi-axis turntable | |
| CN104742152A (en) | Tandem type multi-joint mechanical arm | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN103963069A (en) | Rope-driven continuous robot | |
| JP2010247280A (en) | Universal robot device | |
| CN205129850U (en) | Move secondary drive's four degree of freedom parallel transfer robots | |
| CN105563458A (en) | Parallel robot of plane four-bar mechanism | |
| CN106041891A (en) | Six-shaft robot arm | |
| CN105364910A (en) | Four-freedom-degree parallel sorting robot driven by rotation pairs | |
| CN204819505U (en) | Five swing arm joint robot | |
| CN203831110U (en) | Clamp device for lathe machining on ball valve ball core | |
| CN105058377A (en) | Five-shaft swing arm joint robot | |
| CN204061781U (en) | Linear drives swing angle device | |
| CN203945364U (en) | Heavy duty transfer robot | |
| CN102562985A (en) | Ball screw pair transmission mechanism with rotating nut | |
| CN208117536U (en) | Burnishing device | |
| CN204964175U (en) | Discharge equipment of circulation ball steering gear | |
| CN205254773U (en) | Double speed pivot | |
| CN205780238U (en) | A kind of anti abrasive double crosslinking gear shaft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160921 |