CN106737607A - Six-joint robot - Google Patents
Six-joint robot Download PDFInfo
- Publication number
- CN106737607A CN106737607A CN201710080682.5A CN201710080682A CN106737607A CN 106737607 A CN106737607 A CN 106737607A CN 201710080682 A CN201710080682 A CN 201710080682A CN 106737607 A CN106737607 A CN 106737607A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- reductor
- drive
- driving mechanism
- power output
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 239000012636 effector Substances 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000003860 storage Methods 0.000 claims description 40
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000008450 motivation Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 12
- 238000000354 decomposition reaction Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010923 batch production Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six-joint robot, including rotating seat, swing arm, stacker, swinging head, the first swing driving mechanism, the second swing driving mechanism, rotary drive mechanism, the 3rd swing driving mechanism and end effector mechanism, swing arm is vertically placed on rotating seat, and can be horizontally rotated under rotating seat drive；First swing driving mechanism is located on rotating seat, and the first swing driving mechanism can drive swing arm swing；Stacker is on swing arm upside, on stacker, by rotary drive mechanism on stacker, the second swing driving mechanism can drive stacker to move to swinging head to second swing driving mechanism, so that swinging head swings up and down, rotary drive mechanism can drive swinging head to rotate；On swinging head, the 3rd swing driving mechanism can also drive end effector mechanism to swing up and down for 3rd swing driving mechanism and end effector mechanism；The six-joint robot high transmission accuracy, operate steadily, the situation that can be prevented effectively from joint motions shake occurs.
Description
Technical field
The present invention relates to manipulator technical field, a kind of six-joint robot is specifically provided.
Background technology
Manipulator, can imitate some holding functions of staff and arm, be used to by fixed routine crawl, carry object or operation
The automatic pilot of instrument.It can replace mechanization and automation of the heavy labor of people to realize producing, can be in harmful ring
Operated under border to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
However, the manipulator all generally existings on domestic market：Complex structure, transmission efficiency are low, control is unstable
The common fault such as fixed, moving range is limited so that manipulator function is relatively simple and production cost is high in the industrial production, no
Can manufacture and be widely popularized.
In view of this, it is special to propose the present invention.
The content of the invention
In order to overcome drawbacks described above, the invention provides a kind of six-joint robot, its is simple and reasonable for structure, compact, transmission
High precision, operate steadily, and crawl area is big.
The technical scheme that is used to solve its technical problem of the present invention is：A kind of six-joint robot, including rotating seat,
Swing arm, stacker, swinging head, the first swing driving mechanism, the second swing driving mechanism, rotary drive mechanism, the 3rd swing and drive
Motivation structure and it is used to accept grabbing assembly and can drive the end effector mechanism that grabbing assembly rotates, wherein, the swing arm
It is vertically arranged on the rotating seat, and can be horizontally rotated under the drive of the rotating seat；The first wobble drive machine
Structure is also arranged on the rotating seat, and first swing driving mechanism can also drive the swing arm to carry out swing；
The stacker is movably set on the upside of the swing arm, and second swing driving mechanism is arranged on the stacker,
The swinging head is also arranged on the stacker by the rotary drive mechanism, and second swing driving mechanism can also
Enough drive the stacker to move, and then cause that the swinging head swings up and down, the rotary drive mechanism can also band
The dynamic swinging head rotation；In addition, the 3rd swing driving mechanism and end effector mechanism may be contained within the swinging head,
And the 3rd swing driving mechanism can also drive the end effector mechanism to swing up and down.
As a further improvement on the present invention, realize that the swing arm is vertically arranged on the rotating seat, and can be in institute
Stating the structure horizontally rotated under the drive of rotating seat is：The rotating seat includes base, lid and rotary drive assembly, wherein,
A notch the first storage tank upward, notch of the lid removable cover together in first storage tank are formed with the base
On, the swing arm is vertically arranged on the lid；The rotary drive assembly include the first servo motor, the first inputting shaft and
First reductor, first servo motor positioning is arranged on the lid, and first servo motor power output
Axle is also protruded into first storage tank, and first inputting shaft and the first reductor are built in first storage tank,
And first inputting shaft is fixedly sheathed on the power output shaft of first servo motor, and also subtract with described first simultaneously
Fast machine is connected by meshing transmission, in addition, the power output shaft of first reductor is also located by connecting with the lid, and then can
The relatively described base of the lid is driven to horizontally rotate -170 °~170 °.
As a further improvement on the present invention, realize that first swing driving mechanism is arranged on the rotating seat, and
The structure that first swing driving mechanism can also drive the swing arm carries out swing is：Positioned on the lid and set
It is equipped with a undertaking bearing, and the undertaking bearing and is also formed with one second storage tank；
First swing driving mechanism includes the second servo motor, the second inputting shaft and the second reductor, wherein, it is described
Second servo motor positioning be arranged on the lid, the axis direction of the power output shaft of second servo motor with it is described
The axis direction of the power output shaft of the first servo motor is perpendicular, and the power output shaft of second servo motor is also protruded into
In second storage tank, second inputting shaft and the second reductor are built in second storage tank, and described
Two reductors are also located by connecting by second inputting shaft with the power output shaft of second servo motor；The swing arm
Downside removable cover together on the notch of second storage tank, and simultaneously the downside of the swing arm also with second reductor
Clutch end is located by connecting, with enable the swing arm around second servo motor power output shaft rotate -70 °~
150°。
As a further improvement on the present invention, realize that second swing driving mechanism is arranged on the stacker, and
Second swing driving mechanism can also drive the structure of stacker motion to be：Formed on the side of the stacker
There is one the 3rd storage tank；
Second swing driving mechanism includes the 3rd servo motor, the 3rd inputting shaft and the 3rd reductor, wherein, it is described
3rd servo motor positioning is arranged on the stacker, and the power output shaft of the 3rd servo motor also protrudes into described the
In three storage tanks；3rd inputting shaft and the 3rd reductor are built in the 3rd storage tank, and the described 3rd slows down
Machine is also located by connecting by the 3rd inputting shaft and the power output shaft of the 3rd servo motor, in addition, the described 3rd subtracts
The clutch end of fast machine is also located by connecting with the 3rd storage tank, to enable the stacker around the 3rd servo
The power output shaft of motor rotates -15 °~170 °；
In addition, be covered on the upside of the swing arm on the notch of the 3rd storage tank, and the upside of the swing arm simultaneously
Also rotated with the 3rd storage tank and be connected.
As a further improvement on the present invention, realize that the swinging head is arranged at described holding by the rotary drive mechanism
On joint chair, and the rotary drive mechanism can also drive the structure of swinging head rotation to be：The rotary drive mechanism bag
The 4th servo motor and the 4th reductor are included, the 4th servo motor positioning is arranged on the stacker, and the described 4th
The power output shaft of servo motor is also located by connecting in the 4th reductor, the clutch end of the 4th reductor and institute
Swinging head side is stated to be located by connecting, with enable the swinging head around the 4th servo motor power output shaft rotation-
180 °~180 °.
As a further improvement on the present invention, the rotary drive mechanism also include the first connector, intersect bearing and
Second connector, wherein, first connector is fixedly connected on the clutch end of the 4th reductor, the intersection
Bearing positioning is socketed on outside first connector, and second connector is locked and connected and intersected on bearing in described, and simultaneously
Second connector is also locked and connected with the swinging head side.
As a further improvement on the present invention, the end effector mechanism includes connector, the 5th servo motor and is used to
The 5th reductor of grabbing assembly is accepted, the connector is rotationally connected with the another of the swinging head dorsad the 4th reductor
On side, the 5th servo motor positioning is arranged on the connector, and the 5th servo motor power output shaft
Also it is located by connecting in the 5th reductor, to enable the 5th reductor defeated around the power of the 5th servo motor
Shaft rotates -360 °~360 °；
3rd swing driving mechanism includes the 6th servo motor, and the 6th servo motor positioning is arranged at described
On swinging head, and the 6th servo motor can drive the connector to be rotated relative to the swinging head.
As a further improvement on the present invention, the swinging head dorsad the 4th reductor opposite side be in bifurcated；
The connector be T-shaped tee pipe fitting, its there is main pipe and be vertical at the main pipe go up and with the master
The vertical tube that body is connected, the main pipe is rotationally connected between the bifurcated, and the 5th servo motor positioning sets
It is placed in the vertical tube, and the power output shaft of the 5th servo motor is also stretched out outside the vertical tube；
Moreover, it is achieved that the structure that the 6th servo motor can drive the connector to be rotated relative to the swinging head
For：An accommodating cavity for being used to house the 6th servo motor is also formed with the swinging head, the accommodating cavity is opened
Mouthful on the lateral surface of the swinging head, to form a mounting hole, and the mounting hole also with the shaft end position of the main pipe
In homonymy；The 6th reductor, two belt pulleys and a synchronous belt are additionally provided with, the 6th reductor is located by connecting in the master
On one shaft end of body, power output shaft and described sixth of two belt pulley difference fixed cover located at the 6th servo motor
On the input shaft of reductor, and two belt pulley is also connected by the synchronous belt drive, to enable the main pipe
- 135 °~135 ° are rotated around its axial line.
As a further improvement on the present invention, it is additionally provided with heavy-duty connector on the base.
The beneficial effects of the invention are as follows：Compared to prior art, the six-joint robot has advantages below：1. overall structure
Simply, it is reasonable, compact, high transmission accuracy, operate steadily, the situation that can be effectively prevented from joint motions shake occurs；2. capture
Area is big, improves production efficiency；3. dismount simply, easy to maintenance, maintenance cost is low；4. wanting for product batch production can be met
Ask, reduce production cost.
Brief description of the drawings
Fig. 1 is a view stereo structural representation of the first embodiment of six-joint robot of the present invention；
Fig. 2 is another view stereo structural representation of the first embodiment of six-joint robot of the present invention；
Fig. 3 is the main structure diagram of six-joint robot shown in Fig. 1；
Fig. 4 is the side structure schematic view of six-joint robot shown in Fig. 1；
Fig. 5 is the decomposition texture schematic diagram of rotating seat described in six-joint robot shown in Fig. 1；
Fig. 6 is that the first swing driving mechanism described in six-joint robot shown in Fig. 1 is assemblied in the local knot accepted on bearing
Structure schematic diagram；
Fig. 7 shows for the assembling decomposition texture shown in Fig. 1 described in six-joint robot between the first swing driving mechanism and swing arm
It is intended to；
Fig. 8 is the assembling decomposition texture shown in Fig. 1 described in six-joint robot between the second swing driving mechanism and stacker
Schematic diagram；
Fig. 9 illustrates for the assembling decomposition texture shown in Fig. 1 described in six-joint robot between rotary drive mechanism and swinging head
Figure；
Figure 10 is shown in Fig. 1 described in six-joint robot between the 3rd swing driving mechanism and end effector mechanism and swinging head
Assembling decomposition texture schematic diagram；
Figure 11 is the decomposition texture schematic diagram of end effector mechanism described in six-joint robot shown in Fig. 1；
Figure 12 is a view stereo structural representation of second embodiment of six-joint robot of the present invention；
Figure 13 is another view stereo structural representation of second embodiment of six-joint robot of the present invention；
Figure 14 is the main structure diagram of six-joint robot shown in Figure 12；
Figure 15 is the side structure schematic view of six-joint robot shown in Figure 12；
Figure 16 shows for the assembling decomposition texture shown in Figure 12 described in six-joint robot between rotary drive mechanism and swinging head
It is intended to；
Figure 17 is a view stereo structural representation of the third embodiment of six-joint robot of the present invention；
Figure 18 is another view stereo structural representation of the third embodiment of six-joint robot of the present invention；
Figure 19 is the main structure diagram of six-joint robot shown in Figure 17；
Figure 20 is the side structure schematic view of six-joint robot shown in Figure 17；
Figure 21 decomposes knot for the assembling shown in Figure 17 described in six-joint robot between the second swing driving mechanism and stacker
Structure schematic diagram；
Figure 22 shows for the assembling decomposition texture shown in Figure 17 described in six-joint robot between rotary drive mechanism and swinging head
It is intended to.
With reference to accompanying drawing, make the following instructions：
1 --- rotating seat 10 --- base
11 --- lid 12 --- first servo motors
13 --- the first inputting shaft 14 --- first reductors
15 --- accepting bearing 16 --- heavy-duty connectors
2 --- swing arm 3 --- stackers
4 --- swinging head 5 --- first swing driving mechanisms
50 --- the second servo motor 51 --- second inputting shafts
52 --- the second reductor 6 --- second swing driving mechanisms
60 --- the 3rd servo motor 61 --- the 3rd inputting shafts
62 --- the 3rd reductor 7 --- rotary drive mechanisms
70 --- the 4th servo motor 71 --- the 4th reductors
72 --- the first connectors 73 --- intersect bearing
74 --- the second connector 75 --- connection pipe body
8 --- the 3rd swing driving mechanism 80 --- the 6th servo motors
81 --- the 6th reductor 82 --- belt pulleys
9 --- end effector mechanism 90 --- connectors
91 --- the 5th servo motor 92 --- the 5th reductors
900 --- main pipe 901 --- vertical tubes
Specific embodiment
Referring to figure to a preferred embodiment of the present invention will be described in detail.
Embodiment 1：
Refering to shown in accompanying drawing 1~4, the solid of the first implementation method of six-joint robot of the present invention is respectively illustrated
Structural representation, main structure diagram and side structure schematic view.Described six-joint robot include rotating seat 1, swing arm 2,
Stacker 3, swinging head 4, the first swing driving mechanism 5, the second swing driving mechanism 6, rotary drive mechanism the 7, the 3rd swing and drive
Motivation structure 8 and it is used to accept grabbing assembly and can drives the end effector mechanism 9 that grabbing assembly rotates (grabbing assembly can
Using vacuum cup, Pneumatic clamping jaw or electromagnet), wherein, the swing arm 2 is vertically arranged on the rotating seat 1, and can
Horizontally rotated under the drive of the rotating seat 1；First swing driving mechanism 5 is also arranged on the rotating seat 1, and institute
Stating the first swing driving mechanism 5 can also drive the swing arm 2 to carry out swing；The stacker 3 is movably set in described
On the upside of swing arm 2, second swing driving mechanism 6 is arranged on the stacker 3, and the swinging head 4 is by the rotation
Turn drive mechanism 7 to be also arranged on the stacker 3, and second swing driving mechanism 6 can also drive the stacker 3
Motion, and then cause that the swinging head 4 swings up and down, the rotary drive mechanism 7 can also drive the swinging head 3 to revolve
Turn；In addition, the 3rd swing driving mechanism 8 and end effector mechanism 9 may be contained within the swinging head 3, and the described 3rd
Swing driving mechanism 8 can also drive the end effector mechanism 9 to swing up and down.
In the present embodiment, realize that the swing arm 2 is vertically arranged on the rotating seat 1, and can be in the rotating seat 1
Drive under horizontally rotate structure be：The rotating seat 1 includes base 10, lid 11 and rotary drive assembly, wherein, it is described
A notch the first storage tank upward, notch of the removable cover of the lid 11 together in first storage tank are formed with base 10
On, the swing arm 2 is vertically arranged on the lid 11；The rotary drive assembly includes that the first servo motor 12, first enter
The reductor 14 of power axle 13 and first, the positioning of the first servo motor 12 is arranged on the lid 11, and first servo
The power output shaft of motor 12 is also protruded into first storage tank, and the reductor 14 of first inputting shaft 13 and first is built-in
In first storage tank, and first inputting shaft 13 is fixedly sheathed in the power output shaft of first servo motor 12
On, and be also connected by meshing transmission with first reductor 14 simultaneously, in addition, the power output shaft of first reductor 14 is also
It is located by connecting with the lid 11, and then the relatively described base 10 of the lid 11 can be driven to horizontally rotate -170 °~170 °
(referring particularly to shown in accompanying drawing 5).
In the present embodiment, realize that first swing driving mechanism 5 is arranged on the rotating seat 1, and described first
The structure that swing driving mechanism 5 can also drive the swing arm 2 and carry out swing is：Positioned on the lid 11 and be provided with
One accepts bearing 15, and described undertaking be also formed with one second storage tank on bearing 15；
First swing driving mechanism 5 includes the second servo motor 50, the second inputting shaft 51 and the second reductor 52, its
In, the positioning of the second servo motor 50 is arranged on the lid 11, the power output shaft of second servo motor 50
Axis direction is perpendicular with the axis direction of the power output shaft of first servo motor 12, and second servo motor 50
Power output shaft also protrude into second storage tank, the reductor 52 of second inputting shaft 51 and second is built in described
In second storage tank, and second reductor 52 is also dynamic with second servo motor 50 by second inputting shaft 51
Power output shaft is located by connecting；The downside removable cover of the swing arm 2 is together on the notch of second storage tank, and the pendulum simultaneously
Clutch end of the downside of arm 2 also with second reductor 52 is located by connecting, to enable the swing arm 2 around described
The power output shaft of two servo motors 50 rotates -70 °~150 ° (referring particularly to shown in accompanying drawing 5,6 and 7).
In the present embodiment, realize that second swing driving mechanism 6 is arranged on the stacker 3, and described second
Swing driving mechanism 6 can also drive the stacker 3 move structure be：One is formed with the side of the stacker 3
3rd storage tank；Second swing driving mechanism 6 includes the 3rd servo motor 60, the 3rd inputting shaft 61 and the 3rd reductor
62, wherein, the positioning of the 3rd servo motor 60 is arranged on the stacker 3, and the zero-bit state with the six-joint robot is
Benchmark, the axis direction of the power output shaft of the 3rd servo motor 60 and the power output shaft of first servo motor 12
Axis direction it is perpendicular, and the power output shaft of the 3rd servo motor 60 also protrudes into the 3rd storage tank；It is described
3rd inputting shaft 61 and the 3rd reductor 62 are built in the 3rd storage tank, and the 3rd reductor 62 also passes through institute
State the 3rd inputting shaft 61 to be located by connecting with the power output shaft of the 3rd servo motor 60, in addition, the 3rd reductor 52
Clutch end be also located by connecting with the 3rd storage tank, to enable the stacker 3 around the 3rd servo horse
Power output shaft up to 60 rotates -15 °~170 °；In addition, the upside of the swing arm 2 is covered on the notch of the 3rd storage tank
On, and the upside of the swing arm 2 is also connected (referring particularly to shown in accompanying drawing 8) with the 3rd storage tank rotation simultaneously.
In the present embodiment, realize that the swinging head 4 is arranged on the stacker 3 by the rotary drive mechanism 7,
And the rotary drive mechanism 7 can also drive the swinging head 3 rotate structure be：The rotary drive mechanism 7 includes the
Four servo motors 70 and the 4th reductor 71, the positioning of the 4th servo motor 70 are arranged on the stacker 3, with six axle
On the basis of the zero-bit state of robot, axis direction and the 3rd servo of the power output shaft of the 4th servo motor 70
The axis direction of the power output shaft of motor 60 is perpendicular, and the power output shaft of the 4th servo motor 70 is also located by connecting
In the 4th reductor 71, clutch end and the side of the swinging head 4 of the 4th reductor 71 are located by connecting, so that
Obtaining the swinging head 4 can rotate -180 °~180 ° around the power output shaft of the 4th servo motor 70.
Preferably, the rotary drive mechanism 7 also includes the first connector 72, intersects the connector of bearing 73 and second
74, wherein, first connector 72 is fixedly connected on the clutch end of the 4th reductor 71, the intersection bearing
73 positioning are socketed on outside first connector 72, and second connector 74 is locked and connected and intersected on bearing 73 in described, and
Second connector 74 is also locked and connected with the side of the swinging head 4 simultaneously；It is also possible to provide have a connection pipe body 75,
The connection pipe body 75 is fixedly connected between second connector 74 and the side of the swinging head 4 (referring particularly to the institute of accompanying drawing 9
Show).
In the present embodiment, the end effector mechanism 9 includes connector 90, the 5th servo motor 91 and is used to accept to grab
Take the 5th reductor 92 of component, the connector 90 is rotationally connected with dorsad the 4th reductor 71 of the swinging head 4
On opposite side, the 5th servo motor 91 positioning is arranged on the connector 90, and the 5th servo motor 91 is dynamic
Power output shaft is also located by connecting in the 5th reductor 92, to enable the 5th reductor 92 around the 5th servo
The power output shaft of motor 91 rotates -360 °~360 °；3rd swing driving mechanism 8 includes the 6th servo motor 80,
The positioning of 6th servo motor 80 is arranged on the swinging head 4, and the 6th servo motor 80 can drive the company
Fitting 90 rotates relative to the swinging head 4.
Preferably, the swinging head 4 dorsad the 4th reductor 71 opposite side be in bifurcated；The connector 90 is
T-shaped tee pipe fitting, it has main pipe 900 and is vertical on the main pipe 900 and is connected with the main pipe 900
Vertical tube 901, the main pipe 900 is rotationally connected between the bifurcated, and the positioning of the 5th servo motor 91 is arranged at
In the vertical tube 901, and the power output shaft of the 5th servo motor 91 is also stretched out outside the vertical tube 901；
Moreover, it is achieved that the 6th servo motor 80 can drive what the connector 90 rotated relative to the swinging head 4
Structure is：An accommodating cavity for being used to house the 6th servo motor 80 is also formed with the swinging head 4, it is described accommodating
Cavities open on the lateral surface of the swinging head 4, to form a mounting hole, and the mounting hole also with the main pipe 900
A shaft end be located at homonymy；It is additionally provided with 81, two synchronous belts of belt pulley 82 and of the 6th reductor, the 6th reductor 81
It is located by connecting on a shaft end of the main pipe 900, two belt pulley 82 difference fixed cover is located at the 6th servo motor
On the input shaft of 80 power output shaft and the 6th reductor 81, and two belt pulley 82 is also passed by the synchronous belt
Dynamic connection, to enable that the main pipe 900 rotates -135 °~135 ° (referring particularly to the institute of accompanying drawing 10 and 11 around its axial line
Show).
In addition in the present embodiment, heavy-duty connector 16 is additionally provided with the base 10.
Embodiment 2：
Refering to the vertical of second implementation method for shown in accompanying drawing 12~15, respectively illustrating six-joint robot of the present invention
Body structural representation, main structure diagram and side structure schematic view.
Six-joint robot shown in embodiment 2 is essentially consisted in the difference of six-joint robot shown in embodiment 1：Face shaping has
Assembling mode between difference, and rotary drive mechanism and swinging head is variant (refering to shown in accompanying drawing 16)；Six shown in embodiment 2
In axle robot the mutual annexation of the structure of remaining feature/mechanism and remaining feature/mechanism and operating principle with
Embodiment 1 is identical.
Embodiment 3：
Refering to the vertical of the third implementation method for shown in accompanying drawing 17~20, respectively illustrating six-joint robot of the present invention
Body structural representation, main structure diagram and side structure schematic view.
Six-joint robot shown in embodiment 3 is essentially consisted in the difference of six-joint robot shown in embodiment 1：Face shaping has
Difference, the assembling mode between second swing driving mechanism and stacker is variant (refering to shown in accompanying drawing 21), and rotation
Assembling mode between drive mechanism and swinging head is variant (refering to shown in accompanying drawing 22)；It is remaining in six-joint robot shown in embodiment 3
The mutual annexation of structure and remaining feature/mechanism and operating principle of lower component/mechanism are same as Example 1.
In sum, compared to prior art, six-joint robot of the present invention has advantages below：1. overall structure
Simply, it is reasonable, compact, high transmission accuracy, operate steadily, the situation that can be effectively prevented from joint motions shake occurs；2. capture
Area is big, improves production efficiency；3. dismount simply, easy to maintenance, maintenance cost is low；4. wanting for product batch production can be met
Ask, reduce production cost.
Above-mentioned implementation method only illustrative effect of the invention, not for the limitation present invention, it is noted that for
For those skilled in the art, on the premise of the technology of the present invention principle is not departed from, some changing can also be made
Enter and modification, these are improved and modification also should be regarded as within the scope of the present invention.
Claims (9)
1. a kind of six-joint robot, it is characterised in that：Including rotating seat (1), swing arm (2), stacker (3), swinging head (4),
One swing driving mechanism (5), the second swing driving mechanism (6), rotary drive mechanism (7), the 3rd swing driving mechanism (8), with
And it is used to the end effector mechanism (9) accepted grabbing assembly and grabbing assembly can be driven to rotate, wherein, the swing arm (2) is erected
To being arranged on the rotating seat (1), and can be horizontally rotated under the drive of the rotating seat (1)；Described first swings drive
Motivation structure (5) is also arranged on the rotating seat (1), and first swing driving mechanism (5) can also drive the swing arm
(2) swing is carried out；The stacker (3) is movably set on the upside of the swing arm (2), the second wobble drive machine
Structure (6) is arranged on the stacker (3), and the swinging head (4) is also arranged at described holding by the rotary drive mechanism (7)
On joint chair (3), and second swing driving mechanism (6) can also drive the stacker (3) to move, and then cause the pendulum
Dynamic head (4) swings up and down, and the rotary drive mechanism (7) can also drive the swinging head (3) to rotate；In addition, described
3rd swing driving mechanism (8) and end effector mechanism (9) may be contained within the swinging head (3), and the described 3rd swings drive
Motivation structure (8) can also drive the end effector mechanism (9) to swing up and down.
2. six-joint robot according to claim 1, it is characterised in that：Realize that the swing arm (2) is vertically arranged to described
On rotating seat (1), and the structure that can be horizontally rotated under the drive of the rotating seat (1) is：The rotating seat (1) is the bottom of including
Seat (10), lid (11) and rotary drive assembly, wherein, a notch first housing upward is formed with the base (10)
Groove, together on the notch of first storage tank, the swing arm (2) is vertically arranged to the lid to lid (11) removable cover
(11) on；The rotary drive assembly includes the first servo motor (12), the first inputting shaft (13) and the first reductor (14), institute
State the first servo motor (12) positioning be arranged on the lid (11), and first servo motor (12) power output shaft
Also protrude into first storage tank, first inputting shaft (13) and the first reductor (14) are built in described first and house
In groove, and first inputting shaft (13) is fixedly sheathed on the power output shaft of first servo motor (12), and also same
When be connected by meshing transmission with first reductor (14), in addition, the power output shaft of first reductor (14) also with institute
Lid (11) is stated to be located by connecting, so can drive the lid (11) base (10) relatively horizontally rotate -170 °~
170°。
3. six-joint robot according to claim 2, it is characterised in that：Realize that first swing driving mechanism (5) sets
Put on the rotating seat (1), and first swing driving mechanism (5) can also drive the swing arm (2) to carry out front and rear pendulum
Dynamic structure is：Positioning is provided with a undertaking bearing (15), and undertaking bearing (15) also shape on the lid (11)
The storage tanks of Cheng Youyi second；
First swing driving mechanism (5) includes the second servo motor (50), the second inputting shaft (51) and the second reductor
(52), wherein, second servo motor (50) positioning is arranged on the lid (11), second servo motor (50)
The axis direction of power output shaft is perpendicular and described with the axis direction of the power output shaft of first servo motor (12)
The power output shaft of the second servo motor (50) is also protruded into second storage tank, and second inputting shaft (51) and second subtracts
Fast machine (52) is built in second storage tank, and second reductor (52) also passes through second inputting shaft (51)
Power output shaft with second servo motor (50) is located by connecting；The downside removable cover of the swing arm (2) is together in described
On the notch of two storage tanks, and the downside of the swing arm (2) is also determined with the clutch end of second reductor (52) simultaneously
Position connection, to cause that the swing arm (2) can rotate -70 °~150 ° around the power output shaft of second servo motor (50).
4. six-joint robot according to claim 3, it is characterised in that：Realize that second swing driving mechanism (6) sets
It is placed on the stacker (3), and second swing driving mechanism (6) can also drive the knot that the stacker (3) is moved
Structure is：One the 3rd storage tank is formed with the side of the stacker (3)；
Second swing driving mechanism (6) includes the 3rd servo motor (60), the 3rd inputting shaft (61) and the 3rd reductor
(62), wherein, the 3rd servo motor (60) positioning is arranged on the stacker (3), and the 3rd servo motor
(60) power output shaft is also protruded into the 3rd storage tank；3rd inputting shaft (61) and the 3rd reductor (62) are interior
It is placed in the 3rd storage tank, and the 3rd reductor (62) is also watched by the 3rd inputting shaft (61) with the described 3rd
The power output shaft for taking motor (60) is located by connecting, in addition, the clutch end of the 3rd reductor (52) is also with described
Three storage tanks are located by connecting, to cause that the stacker (3) can revolve around the power output shaft of the 3rd servo motor (60)
Turn -15 °~170 °；
In addition, be covered on the notch of the 3rd storage tank on the upside of the swing arm (2), and the swing arm (2) simultaneously is upper
Side also rotates with the 3rd storage tank and is connected.
5. six-joint robot according to claim 1, it is characterised in that：Realize the swinging head (4) by the rotation
Drive mechanism (7) is arranged on the stacker (3), and the rotary drive mechanism (7) can also drive the swinging head (3)
The structure of rotation is：The rotary drive mechanism (7) includes the 4th servo motor (70) and the 4th reductor (71), the described 4th
Servo motor (70) positioning is arranged on the stacker (3), and the power output shaft of the 4th servo motor (70) is also fixed
Position is connected to the 4th reductor (71), clutch end and the swinging head (4) side of the 4th reductor (71)
Be located by connecting, with cause the swinging head (4) can around the 4th servo motor (70) power output shaft rotate -180 °~
180°。
6. six-joint robot according to claim 5, it is characterised in that：The rotary drive mechanism (7) also includes
One connector (72), intersection bearing (73) and the second connector (74), wherein, first connector (72) is fixedly connected on institute
State on the clutch end of the 4th reductor (71), intersection bearing (73) positioning is socketed on first connector (72)
Outward, second connector (74) is locked and connected and intersects on bearing (73) in described, and second connector (74) is gone back simultaneously
Locked and connected with the swinging head (4) side.
7. six-joint robot according to claim 5, it is characterised in that：The end effector mechanism (9) is including connector
(90), the 5th servo motor (91) and it is used to accept the 5th reductor (92) of grabbing assembly, the connector (90) rotates and connects
The swinging head (4) is connected to dorsad on the opposite side of the 4th reductor (71), the 5th servo motor (91) positioning sets
It is placed on the connector (90), and the power output shaft of the 5th servo motor (91) is also located by connecting and subtract in the described 5th
Fast machine (92), with cause the 5th reductor (92) can around the 5th servo motor (91) power output shaft rotation-
360 °~360 °；
3rd swing driving mechanism (8) includes the 6th servo motor (80), and the 6th servo motor (80) positioning sets
It is placed on the swinging head (4), and the 6th servo motor (80) can drive the relatively described swing of the connector (90)
Head (4) rotation.
8. six-joint robot according to claim 7, it is characterised in that：The swinging head (4) dorsad the 4th deceleration
The opposite side of machine (71) is in bifurcated；
The connector (90) is T-shaped tee pipe fitting, and it has main pipe (900) and is vertical on the main pipe (900)
And the vertical tube (901) being connected with the main pipe (900), the main pipe (900) be rotationally connected with the bifurcated it
Between, the 5th servo motor (91) positioning is arranged in the vertical tube (901), and the 5th servo motor (91)
Power output shaft also stretches out the vertical tube (901) outward；
Moreover, it is achieved that the 6th servo motor (80) can drive the connector (90) to be rotated relative to the swinging head (4)
Structure be：An accommodating cavity for being used to house the 6th servo motor (80), institute are also formed with the swinging head (4)
Accommodating cavities open is stated on the lateral surface of the swinging head (4), to form a mounting hole, and the mounting hole also with the master
One shaft end of body (900) is located at homonymy；It is additionally provided with the 6th reductor (81), two belt pulleys (82) and a synchronous belt, institute
State the 6th reductor (81) to be located by connecting on a shaft end of the main pipe (900), two belt pulley (82) distinguishes fixed cover
On the power output shaft of the 6th servo motor (80) and the input shaft of the 6th reductor (81), and two belt
Wheel (82) is also connected by the synchronous belt drive, to cause that the main pipe (900) can rotate -135 ° around its axial line
~135 °.
9. six-joint robot according to claim 2, it is characterised in that：Heavy duty is additionally provided with the base (10) even
Connect device (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080682.5A CN106737607A (en) | 2017-02-15 | 2017-02-15 | Six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080682.5A CN106737607A (en) | 2017-02-15 | 2017-02-15 | Six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737607A true CN106737607A (en) | 2017-05-31 |
Family
ID=58957250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710080682.5A Pending CN106737607A (en) | 2017-02-15 | 2017-02-15 | Six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737607A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
| CN109834638A (en) * | 2017-11-27 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of space fastening high torch bolt device |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN110103480A (en) * | 2019-05-10 | 2019-08-09 | 浙江乔士智能工业股份有限公司 | Oil can automatic assembling detects production line |
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2283982A1 (en) * | 2009-08-12 | 2011-02-16 | Simaupro Galicia, S.L. | Robotised system for filling boxes |
| CN203752149U (en) * | 2014-03-25 | 2014-08-06 | 宁波摩科机器人科技有限公司 | Six-axis robot |
| CN204487159U (en) * | 2015-01-28 | 2015-07-22 | 柯昆（昆山）自动化有限公司 | A kind of robot for corrugated plating welding |
| 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 |
| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN106078758A (en) * | 2016-06-30 | 2016-11-09 | 武汉中建幕墙有限公司 | Decoration of exterior wall product automatic glue injection apparatus and method |
| CN205835337U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of six-joint robot |
| CN206578815U (en) * | 2017-02-15 | 2017-10-24 | 昆山威创自动化科技有限公司 | Six-joint robot |
-
2017
- 2017-02-15 CN CN201710080682.5A patent/CN106737607A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2283982A1 (en) * | 2009-08-12 | 2011-02-16 | Simaupro Galicia, S.L. | Robotised system for filling boxes |
| CN203752149U (en) * | 2014-03-25 | 2014-08-06 | 宁波摩科机器人科技有限公司 | Six-axis robot |
| CN204487159U (en) * | 2015-01-28 | 2015-07-22 | 柯昆（昆山）自动化有限公司 | A kind of robot for corrugated plating welding |
| 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 |
| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN106078758A (en) * | 2016-06-30 | 2016-11-09 | 武汉中建幕墙有限公司 | Decoration of exterior wall product automatic glue injection apparatus and method |
| CN205835337U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of six-joint robot |
| CN206578815U (en) * | 2017-02-15 | 2017-10-24 | 昆山威创自动化科技有限公司 | Six-joint robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834638A (en) * | 2017-11-27 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of space fastening high torch bolt device |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108312134B (en) * | 2018-02-01 | 2021-05-11 | 江西华士科技股份有限公司 | Six-axis robot |
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
| CN110238834B (en) * | 2018-03-09 | 2024-04-30 | 杨锐涛 | Robot |
| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
| CN110103480A (en) * | 2019-05-10 | 2019-08-09 | 浙江乔士智能工业股份有限公司 | Oil can automatic assembling detects production line |
| CN110091316A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737607A (en) | Six-joint robot | |
| CN206869906U (en) | A kind of industry mechanical arm with adsorption function | |
| CN204658445U (en) | A kind of Industrial robots Mechanical mechanism of six degree of freedom | |
| CN206578815U (en) | Six-joint robot | |
| CN208629439U (en) | Six-axis robot | |
| CN204658443U (en) | A kind of robotic mechanism | |
| CN205111421U (en) | Arm robot | |
| CN108312134A (en) | A kind of six-joint robot | |
| CN106272529A (en) | A kind of two refer to formula loading and unloading rotating machine arm | |
| CN207346752U (en) | A kind of gripper grabbing device | |
| CN110238834A (en) | A kind of robot | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN106671072A (en) | Four-shaft stacking robot | |
| CN207172065U (en) | A kind of turntable type machine automatization feeding mechanical hand | |
| CN107351112A (en) | Robot manipulator | |
| WO1988000515A1 (en) | Wrist mechanism of a robot used in a clean air atmosphere | |
| CN105127982A (en) | Rapid and high-precision robot manipulator | |
| CN110788850B (en) | Control method of energy-saving industrial robot | |
| CN105382834B (en) | Three-freedom-degree controllable mechanical manipulator | |
| CN107053250A (en) | A kind of Five-degree-of-freedmanipulator manipulator armshaft based on rotation platform | |
| CN208729826U (en) | A kind of two-degree-of-freedom industrial robot articulated driving equipment | |
| CN206216674U (en) | A kind of light loading robotics people structure | |
| CN109760036A (en) | Apery both arms cooperation robot based on synchronous belt pulley transmission | |
| CN112140151A (en) | Circular leather edge cutting device suitable for different diameters | |
| CN207189659U (en) | A kind of six-joint robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
|
| RJ01 | Rejection of invention patent application after publication |