CN106182074A - Six-DOF industrial robot - Google Patents
Six-DOF industrial robot Download PDFInfo
- Publication number
- CN106182074A CN106182074A CN201610545883.3A CN201610545883A CN106182074A CN 106182074 A CN106182074 A CN 106182074A CN 201610545883 A CN201610545883 A CN 201610545883A CN 106182074 A CN106182074 A CN 106182074A
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- China
- Prior art keywords
- joint
- decelerator
- iii
- motor
- large arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotics, it is Six-DOF industrial robot in particular, described Six-DOF industrial robot includes base, the top of described base is provided with joint I, the top of described rotation dish is provided with balancing weight, the top of rotation dish is provided with joint II, and described motor II is arranged on the inside of joint rotating disk, and decelerator II is fixing with motor II to be connected.Connect in the rotating shaft of described decelerator II and have large arm, described large arm is flexibly connected with joint rotating disk, the top of large arm is provided with joint III, described motor III is fixing with decelerator III to be connected, motor III and decelerator III are installed in the inside of joint housing, joint housing is flexibly connected with the top of large arm, joint IV is installed on described joint housing, the output shaft of described motor IV is connected with rotating shaft, turn the tip of the axis and joint VI is installed, described joint VI is movably arranged on joint V, and described joint V is connected on joint IV.
Description
Technical field
The present invention relates to robotics, be Six-DOF industrial robot in particular.
Background technology
Robot is to automatically control being commonly called as of machine (Robot), automatically control machine include all simulating human behaviors or
Thought and the machinery (such as robot dog, machine cat etc.) simulating other biological.Definition to robot also has a lot of classification in the narrow sense
Method and dispute, some computer program is even also referred to as robot.In contemporary industry, robot refers to automatically perform task
Man-made machine device, in order to replace or to assist human work.Highly emulated robot in ideal is senior integral traffic control opinion, machinery
Electronics, computer and artificial intelligence, materialogy and bionic product, current scientific circles research and develop to this direction.
Industrial robot is the multi-joint manipulator towards industrial circle or multivariant installations, and it can be held automatically
Row work, is to realize a kind of machine of various function by self power and control ability.It can accept mankind commander, it is possible to
Run with the program according to layout in advance, the principle guiding principle that modern industrial robot can also be formulated according to artificial intelligence technology
Action.
Summary of the invention
The technical problem that present invention mainly solves is to provide Six-DOF industrial robot, it is possible to realize six-freedom degree
Activity, stability of rotation, it is possible to effectively perform various actions.
For solving above-mentioned technical problem, the present invention relates to robotics, be six degree of freedom industry in particular
Robot, described Six-DOF industrial robot includes that base, the top of described base are provided with joint I, described pass
Joint I includes motor I, decelerator I, gear shaft, internal gear sleeve, fixing sleeve, thrust ball bearing, rotation dish and casing, described
Motor I be connected with decelerator I, decelerator I is arranged on the top of casing, and gear shaft is connected with the output shaft of decelerator I,
And gear shaft is movably connected in the inside of casing, internal gear sleeve matches with gear shaft, and internal gear sleeve and rotation
Fixing connection between dish, fixing sleeve is fixedly connected on the inside of casing.
The top of described rotation dish is provided with balancing weight, and the top of rotation dish is provided with joint II, described joint II
Including joint rotating disk, motor II and decelerator II, described motor II is arranged on the inside of joint rotating disk, decelerator II and motor
II fixing connection.Connecting in the rotating shaft of described decelerator II has large arm, described large arm to be flexibly connected with joint rotating disk, large arm
Top joint III is installed, described joint III includes joint housing, motor III and decelerator III, described motor III with subtract
Speed device III is fixing to be connected, and motor III and decelerator III are installed in the inside of joint housing, and joint housing is alive with the top of large arm
Being dynamically connected, described joint housing is provided with joint IV, described joint IV includes motor IV and rotating shaft, described motor IV
Output shaft be connected with rotating shaft, turn the tip of the axis and joint VI be installed, described joint VI is movably arranged on joint V, described
Joint V be connected on joint IV.
As the further optimization of the technical program, between described internal gear sleeve and fixing sleeve, pass through bearing fit
Connect.
As the further optimization of the technical program, described balancing weight has polylith.
As the further optimization of the technical program, it is connected by bearing fit between described gear shaft and casing.
As the further optimization of the technical program, between described internal gear sleeve and rotation dish, pass through thrust ball bearing
It is connected.
As the further optimization of the technical program, it is bolted between described large arm and decelerator II, large arm
And it is bolted between decelerator III.
Having the beneficial effect that of Six-DOF industrial robot of the present invention
Being capable of the activity of six-freedom degree, quality of fit is high, stability of rotation, it is possible to effectively perform various actions.
Accompanying drawing explanation
The present invention will be further described in detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the front view of Six-DOF industrial robot of the present invention.
Fig. 2 is the left view of Six-DOF industrial robot of the present invention.
Fig. 3 is the structural representation in the joint I 2 of Six-DOF industrial robot of the present invention.
Fig. 4 is the structural representation in the joint II 4 of Six-DOF industrial robot of the present invention.
Fig. 5 is the structural representation in the joint III 6 of Six-DOF industrial robot of the present invention.
Fig. 6 is the large arm 5 of Six-DOF industrial robot of the present invention, joint IV 7 and the structural representation in joint V 8.
In figure: base 1；Joint I 2；Motor I 2-1；Decelerator I 2-2；Gear shaft 2-3；Internal gear sleeve 2-4；Fixed cover
Cylinder 2-5；Thrust ball bearing 2-6；Rotation dish 2-7；Casing 2-8；Balancing weight 3；Joint II 4；Joint rotating disk 4-1；Motor II 4-2；
Decelerator II 4-3；Large arm 5；Joint III 6；Joint housing 6-1；Motor III 6-2；Decelerator III 6-3；Joint IV 7；Motor IV 7-
1；Rotating shaft 7-2；Joint V 8；Joint VI 9.
Detailed description of the invention
Detailed description of the invention one:
Below in conjunction with Fig. 1,2,3,4,5,6, present embodiment is described, the present invention relates to robotics, more specifically
Saying it is Six-DOF industrial robot, described Six-DOF industrial robot includes base 1, the top peace of described base 1
Equipped with joint I 2, described joint I 2 includes motor I 2-1, decelerator I 2-2, gear shaft 2-3, internal gear sleeve 2-4, fixed cover
Cylinder 2-5, thrust ball bearing 2-6, rotation dish 2-7 and casing 2-8, described motor I 2-1 is connected with decelerator I 2-2, slows down
Device I 2-2 is arranged on the top of casing 2-8, and gear shaft 2-3 is connected with the output shaft of decelerator I 2-2, and gear shaft 2-3 lives
Being automatically connected in the inside of casing 2-8, internal gear sleeve 2-4 matches with gear shaft 2-3, and internal gear sleeve 2-4 and rotation
Fixing connection between dish 2-7, fixing sleeve 2-5 is fixedly connected on the inside of casing 2-8；Motor I 2-1 rotates through decelerator
After the deceleration of I 2-2, driven gear axle 2-3 rotates, thus the internal gear sleeve 2-4 being meshed with gear shaft 2-3 rotates, and finally makes
The rotation dish 2-7 must being connected with internal gear sleeve 2-4 rotates, and will realize industrial robot rotation in horizontal plane.
The top of described rotation dish 2-7 is provided with balancing weight 3, and balancing weight 3 is favorably improved stablizing of robot work
Property, the top of rotation dish 2-7 is provided with joint II 4, and described joint II 4 includes joint rotating disk 4-1, motor II 4-2 and deceleration
Device II 4-3, described motor II 4-2 are arranged on the inside of joint rotating disk 4-1, and decelerator II 4-3 and motor II 4-2 is fixing even
Connect；Motor II 4-2 rotates through and drives large arm 5 to rotate after decelerator II 4-3 slows down, and will realize the swing of large arm 5.Described subtracts
Connecting in the rotating shaft of speed device II 4-3 has large arm 5, described large arm 5 to be flexibly connected with joint rotating disk 4-1, and the top of large arm 5 is installed
Joint III 6, described joint III 6 is had to include joint housing 6-1, motor III 6-2 and decelerator III 6-3, described motor III 6-2
Fixing with decelerator III 6-3 and be connected, motor III 6-2 and decelerator III 6-3 is installed in the inside of joint housing 6-1, joint shell
Body 6-1 is flexibly connected with the top of large arm 5, motor III 6-2 rotate through decelerator III 6-3 slow down, due to decelerator III 6-3 with
It is bolted between large arm 5, thus motor III 6-2 will drive joint housing 6-1 to rotate, it is achieved industrial robot joint V
The reciprocally swinging of 8.Being provided with joint IV 7 on described joint housing 6-1, described joint IV 7 includes motor IV 7-1 and rotating shaft
7-2, the output shaft of described motor IV 7-1 is connected with rotating shaft 7-2, and the end of rotating shaft 7-2 is provided with joint VI 9, described
Joint VI 9 is movably arranged on joint V 8, and described joint V 8 is connected on joint IV 7.Rotate to drive by motor IV 7-1 and turn
Axle 7-2 rotates, thus is arranged on and drives the joint VI 9 on rotating shaft 7-2 to rotate；It is capable of the activity of six-freedom degree,
Quality of fit is high, stability of rotation, it is possible to effectively perform various actions.
Detailed description of the invention two:
Below in conjunction with Fig. 1,2,3,4,5,6, present embodiment being described, the internal gear sleeve 2-4 described in present embodiment is with solid
Determine to be connected by bearing fit between sleeve 2-5.
Detailed description of the invention three:
Below in conjunction with Fig. 1,2,3,4,5,6, present embodiment being described, the balancing weight 3 described in present embodiment has polylith.
Detailed description of the invention four:
Below in conjunction with Fig. 1,2,3,4,5,6, present embodiment, the gear shaft 2-3 described in present embodiment and casing 2-are described
Connected by bearing fit between 8.
Detailed description of the invention five:
Below in conjunction with Fig. 1,2,3,4,5,6 illustrate present embodiment, the internal gear sleeve 2-4 described in present embodiment with turn
It is connected by thrust ball bearing 2-6 between Moving plate 2-7.
Detailed description of the invention six:
Below in conjunction with Fig. 1,2,3,4,5,6, present embodiment is described, the large arm 5 described in present embodiment and decelerator II 4-
It is bolted between 3, is bolted between large arm 5 and decelerator III 6-3.
Although the present invention is open the most as above with preferred embodiment, but it is not limited to the present invention, any is familiar with this
The people of technology, without departing from the spirit and scope of the present invention, can do various change and modification, the therefore protection of the present invention
Scope should be with being as the criterion that claims are defined.
Claims (6)
1. Six-DOF industrial robot, including: base (1), it is characterised in that: the top of described base (1) is installed relevant
Joint I (2), described joint I (2) include motor I (2-1), decelerator I (2-2), gear shaft (2-3), internal gear sleeve (2-4),
Fixing sleeve (2-5), thrust ball bearing (2-6), rotation dish (2-7) and casing (2-8), described motor I (2-1) and decelerator
I (2-2) is connected, and decelerator I (2-2) is arranged on the top of casing (2-8), and gear shaft (2-3) is defeated with decelerator I (2-2)
Shaft is connected, and gear shaft (2-3) is movably connected in the inside of casing (2-8), internal gear sleeve (2-4) and gear shaft
(2-3) match, and fixing between internal gear sleeve (2-4) with rotation dish (2-7) is connected, the fixing company of fixing sleeve (2-5)
It is connected on the inside of casing (2-8)；
The top of described rotation dish (2-7) is provided with balancing weight (3), and the top of rotation dish (2-7) is provided with joint II (4),
Described joint II (4) includes joint rotating disk (4-1), motor II (4-2) and decelerator II (4-3), described motor II (4-2)
Being arranged on the inside of joint rotating disk (4-1), decelerator II (4-3) is fixing with motor II (4-2) to be connected；Described decelerator II
(4-3) connecting in rotating shaft has large arm (5), described large arm (5) to be flexibly connected with joint rotating disk (4-1), the top of large arm (5)
Being provided with joint III (6), described joint III (6) includes joint housing (6-1), motor III (6-2) and decelerator III (6-3),
Described motor III (6-2) is fixing with decelerator III (6-3) to be connected, and motor III (6-2) and decelerator III (6-3) are installed in pass
The inside of joint housing (6-1), joint housing (6-1) is flexibly connected with the top of large arm (5), on described joint housing (6-1)
Being provided with joint IV (7), described joint IV (7) includes motor IV (7-1) and rotating shaft (7-2), described motor IV (7-1)
Output shaft is connected with rotating shaft (7-2), and the end of rotating shaft (7-2) is provided with joint VI (9), the movable peace in described joint VI (9)
Being contained in joint V (8), described joint V (8) is connected on joint IV (7).
Six-DOF industrial robot the most according to claim 1, it is characterised in that: described internal gear sleeve (2-4)
It is connected by bearing fit with between fixing sleeve (2-5).
Six-DOF industrial robot the most according to claim 1, it is characterised in that: described balancing weight (3) has polylith.
Six-DOF industrial robot the most according to claim 1, it is characterised in that: described gear shaft (2-3) and case
Connected by bearing fit between body (2-8).
Six-DOF industrial robot the most according to claim 2, it is characterised in that: described internal gear sleeve (2-4)
And it is connected by thrust ball bearing (2-6) between rotation dish (2-7).
Six-DOF industrial robot the most according to claim 1, it is characterised in that: described large arm (5) and decelerator
It is bolted between II (4-3), is bolted between large arm (5) and decelerator III (6-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545883.3A CN106182074A (en) | 2016-07-12 | 2016-07-12 | Six-DOF industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545883.3A CN106182074A (en) | 2016-07-12 | 2016-07-12 | Six-DOF industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182074A true CN106182074A (en) | 2016-12-07 |
Family
ID=57477468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610545883.3A Pending CN106182074A (en) | 2016-07-12 | 2016-07-12 | Six-DOF industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106182074A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000509A (en) * | 2017-12-07 | 2018-05-08 | 石宏杰 | A kind of mechanical arm of high intensity, control method and robot device |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2085398A (en) * | 1980-08-15 | 1982-04-28 | Dainichi Kiko Kk | Industrial robot |
| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | 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 |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| CN105033990A (en) * | 2015-08-13 | 2015-11-11 | 宁波宫铁精机有限公司 | Simple mechanical arm |
-
2016
- 2016-07-12 CN CN201610545883.3A patent/CN106182074A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2085398A (en) * | 1980-08-15 | 1982-04-28 | Dainichi Kiko Kk | Industrial robot |
| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | Robot |
| CN204658443U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of robotic mechanism |
| 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 |
| CN105033990A (en) * | 2015-08-13 | 2015-11-11 | 宁波宫铁精机有限公司 | Simple mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000509A (en) * | 2017-12-07 | 2018-05-08 | 石宏杰 | A kind of mechanical arm of high intensity, control method and robot device |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
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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 |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |