CN203738788U - Six-DOF (degree of freedom) light modular robot - Google Patents
Six-DOF (degree of freedom) light modular robot Download PDFInfo
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- CN203738788U CN203738788U CN201420107573.XU CN201420107573U CN203738788U CN 203738788 U CN203738788 U CN 203738788U CN 201420107573 U CN201420107573 U CN 201420107573U CN 203738788 U CN203738788 U CN 203738788U
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- 241000531807 Psophiidae Species 0.000 claims description 30
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
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- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
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- 230000004048 modification Effects 0.000 description 2
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- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model discloses a robot, in particular to a six-DOF (degree of freedom) light modular robot which is small and exquisite in structure and higher in carrying capacity. The six-DOF light modular robot comprises a base, a No.1 arm, a No.2 arm and a joint group, wherein the joint group comprises six joints, and each joint comprises a rotary end rotating in 360 degrees and a fixed end perpendicular to the rotary plane of the rotary end; the rotary end and the fixed end of the No.1 arm are connected with the base and the rotary end of the No.2 arm respectively, and the fixed end of the No.2 arm is fixed at one end of the No.1 arm; and the rotary end and the fixed end of a No.3 arm are connected with a connecting part of the other end of the No.1 arm and one end of the No.2 arm respectively; the rotary end and the fixed end of a No.4 joint is connected with the fixed end of a No.5 joint and the other end of the No.2 arm respectively, and the rotary end of the No.5 arm is connected with the fixed end of a No.6 joint; and the base, the No.1 arm, the No.2 arm and the joints all adopt hollow tubular structures internally provided with cables.
Description
Technical field
The utility model relates to Robotics field, particularly relates to a kind of 6DOF lightweight modules robot.
Background technology
Industrial robot has extremely important effect in productive life, all the time, international robot market is that some are heavy type, costliness and the clumsy robot of this manufacturing industry design by engineer, but in application in practice, be not that all industrial flow links all need large-scale robot to bear heavier load, contrary, light, quick mechanical arm has been born assembling and extraction work more and more, and the robot of small-sized low noise should be reply industrial enterprise's automation and rationalization demand the most simply, the most rational solution.
But the kinematic accuracy in the each joint of robot, bearing capacity, robust motion etc. are all subject to the impact of mutual alignment relation, action relationships between each element in joint, in order to realize robot Miniaturization Design, in the limited space of joint of robot, reasonable Arrangement position of components is most important; Meanwhile, the industrial robot of present stage is being realized after Miniaturization Design, and its nominal load is can corresponding reduction a lot, and the contradiction how solving between physical dimension and the bearing capacity of robot becomes an important problem.
Utility model content
For solving the problems of the technologies described above, the utility model provides the 6DOF lightweight modules that a kind of structure is small and exquisite and bearing capacity is higher robot.
A kind of 6DOF lightweight modules of the present utility model robot, comprise base, trumpeter's arm, two trumpeter's arm and joint set, described joint set comprises six joints, and described joint is respectively a joint, No. two joints, No. three joints, No. four joints, No. five joints and No. six joints, described joint include the rotation end of 360 ° of rotations and with the perpendicular stiff end of described rotation end rotational plane;
The rotation end in a described joint is connected with the rotation end in described base and No. two joints respectively with stiff end, the stiff end in described No. two joints is fixed on one end of described trumpeter's arm, the rotation end in described No. three joints is connected with one end of two trumpeter's arms with the coupling part of described trumpeter's arm other end respectively with stiff end, the rotation end in described No. four joints is connected with the other end of described two trumpeter's arms with the stiff end in described No. five joints respectively with stiff end, and the rotation end in described No. five joints is connected with the stiff end in No. six joints;
Further, described base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
Further, described joint comprises being arranged on servomotor, Timing Belt and the tension structure of inside, joint and being arranged on joint rotates brake and the decelerator held, wherein, servomotor is used for providing torque and is connected with described toothed belt transmission, described Timing Belt is used for primary speed-down and the input to decelerator by described transmission of torque, described decelerator is for double reduction and export torque, described strainer is for controlling the tensioning of Timing Belt, and described brake is braked described decelerator for synchronous dead electricity in the time of servomotor dead electricity.
Further, described base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
Further, the rotation end maximum (top) speed in a described joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in described No. four joints, No. five joints and No. six joints was 180 degree/seconds.
Compared with prior art the beneficial effects of the utility model are: have following characteristics compared with traditional industry robot: 1) modularized design, is easier to install and use; 2) motion mode of six specific frees degree of employing, increases its working range greatly, has reduced industrial robot work dead band; 3) own wt is little, and weight--to-power ratio is large, and load can reach 10kg, is 1/4.5 of robot own wt; 4) flexible operation degree is high, and working space is large.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation in joint in the utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following examples are used for illustrating the utility model, but are not used for limiting scope of the present utility model.
As depicted in figs. 1 and 2, a kind of 6DOF lightweight modules of the present utility model robot, comprise base 1, trumpeter's arm 2, two trumpeter's arm 3 and joint set, joint set comprises six joints, and joint is respectively joint 21, No. two joints 22, No. three joints 23, No. four joints 24, No. five joints 25 and No. six joints 26, joint includes the rotation end of 360 ° of rotations and the perpendicular stiff end with rotating end rotational plane; The rotation end in a joint 21 is connected with the rotation end in base 1 and No. two joints 22 respectively with stiff end, the stiff end in No. two joints 22 is fixed on one end of trumpeter's arm 2, the rotation end in No. three joints 23 is connected with one end of two trumpeter's arms 3 with the coupling part 4 of another 2 one end of trumpeter's arm respectively with stiff end, the rotation end in No. four joints 24 is connected with the other end of two trumpeter's arms 3 with the stiff end in No. five joints 25 respectively with stiff end, and the rotation end in No. five joints 25 is connected with the stiff end in No. six joints 26; Base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
Robot is fixed on operating position by base, six joints directly or be indirectly cascaded by arm, the motion in six joints is by the driven by servomotor of inside, joint separately, complete independently motion separately, each joint all can be done +/-360 degree and be rotated, the motion mode of this six specific frees degree, can make its working range greatly increase, and has reduced industrial robot work dead band (position that but cannot arrive within the scope of displacement); Due to working environment and product requirement attractive in appearance, robot is by interior cabling mode, all cables all and arm inside inner from joint pass through, and structure itself adopts aluminum alloy materials, alleviate greatly the weight of self, while, because structure is simple and compact, has more increased the handling speed of equipment, has saved the time.
A kind of 6DOF lightweight modules of the present utility model robot, joint comprises the servomotor 11 that is arranged on inside, joint, Timing Belt 14 and tension structure and be arranged on joint rotate end brake 12 and decelerator 13, wherein, servomotor is used for providing torque and is connected with toothed belt transmission, Timing Belt is used for primary speed-down and the input to decelerator by transmission of torque, decelerator is for double reduction and export torque, strainer is for controlling the tensioning of Timing Belt, can carry out tensioning to Timing Belt at robot outside rotation jackscrew, jackscrew is provided with 2, its China and foreign countries' jackscrew plays locking effect.And pulley structure noise is little, motion steadily; Brake, for synchronous dead electricity brake retarder in the time of servomotor dead electricity, has improved the positional precision of robot.The decelerator in the each joint of robot is harmonic speed reducer, and transmission accuracy and bearing capacity are high, can realize small size and big retarding ratio, and steadily, without impacting, noise is little in motion.
A kind of 6DOF lightweight modules of the present utility model robot, base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
A kind of 6DOF lightweight modules of the present utility model robot, the high capacity 10kg of robot, working range 1300mm, the rotation end maximum (top) speed in a joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in No. four joints, No. five joints and No. six joints was 180 degree/seconds.
The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; do not departing under the prerequisite of the utility model know-why; can also make some improvement and modification, these improve and modification also should be considered as protection domain of the present utility model.
Claims (5)
1. a 6DOF lightweight modules robot, it is characterized in that, comprise base, trumpeter's arm, two trumpeter's arm and joint set, described joint set comprises six joints, and described joint is respectively a joint, No. two joints, No. three joints, No. four joints, No. five joints and No. six joints, described joint include the rotation end of 360 ° of rotations and with the perpendicular stiff end of described rotation end rotational plane;
The rotation end in a described joint is connected with the rotation end in described base and No. two joints respectively with stiff end, the stiff end in described No. two joints is fixed on one end of described trumpeter's arm, the rotation end in described No. three joints is connected with one end of two trumpeter's arms with the coupling part of described trumpeter's arm other end respectively with stiff end, the rotation end in described No. four joints is connected with the other end of described two trumpeter's arms with the stiff end in described No. five joints respectively with stiff end, and the rotation end in described No. five joints is connected with the stiff end in No. six joints.
2. a kind of 6DOF lightweight modules as claimed in claim 1 robot, is characterized in that, described base, trumpeter's arm, two trumpeter's arms and joint are inside and are provided with the hollow tubular structures of cable.
3. a kind of 6DOF lightweight modules as claimed in claim 1 robot, it is characterized in that, described joint comprises the servomotor that is arranged on inside, joint, Timing Belt and tension structure and be arranged on joint rotate end brake and decelerator, wherein, servomotor is used for providing torque and is connected with described toothed belt transmission, described Timing Belt is used for primary speed-down and the input to decelerator by described transmission of torque, described decelerator is for double reduction and export torque, described strainer is for controlling the tensioning of Timing Belt, described brake is braked described decelerator for synchronous dead electricity in the time of servomotor dead electricity.
4. a kind of 6DOF lightweight modules as claimed in claim 1 robot, is characterized in that, described base, trumpeter's arm, two trumpeter's arms and joint set all adopt aluminum alloy materials to make.
5. a kind of 6DOF lightweight modules as claimed in claim 1 robot, it is characterized in that, the rotation end maximum (top) speed in a described joint, No. two joints and No. three joints was 120 degree/seconds, and the rotation end maximum (top) speed in described No. four joints, No. five joints and No. six joints was 180 degree/seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420107573.XU CN203738788U (en) | 2014-03-11 | 2014-03-11 | Six-DOF (degree of freedom) light modular robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420107573.XU CN203738788U (en) | 2014-03-11 | 2014-03-11 | Six-DOF (degree of freedom) light modular robot |
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| CN203738788U true CN203738788U (en) | 2014-07-30 |
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| CN201420107573.XU Expired - Lifetime CN203738788U (en) | 2014-03-11 | 2014-03-11 | Six-DOF (degree of freedom) light modular robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817687A (en) * | 2014-03-11 | 2014-05-28 | 北京中盛华旭电子科技有限公司 | Six degrees of freedom lightweight modular robot |
| CN104647364A (en) * | 2015-02-04 | 2015-05-27 | 中船重工鹏力（南京）智能装备***有限公司 | Reconfigurable vertical joint type four-shaft robot |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN111093905A (en) * | 2017-08-31 | 2020-05-01 | 川崎重工业株式会社 | Multi-joint robot |
-
2014
- 2014-03-11 CN CN201420107573.XU patent/CN203738788U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817687A (en) * | 2014-03-11 | 2014-05-28 | 北京中盛华旭电子科技有限公司 | Six degrees of freedom lightweight modular robot |
| CN104647364A (en) * | 2015-02-04 | 2015-05-27 | 中船重工鹏力（南京）智能装备***有限公司 | Reconfigurable vertical joint type four-shaft robot |
| CN111093905A (en) * | 2017-08-31 | 2020-05-01 | 川崎重工业株式会社 | Multi-joint robot |
| CN111093905B (en) * | 2017-08-31 | 2022-09-27 | 川崎重工业株式会社 | Multi-joint robot |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151209 Address after: 100085 Beijing Haidian District information on Road No. 1 (Beijing is a high-tech Development Company No. 1-2) B Building 2 room 216 Patentee after: BEIJING HUIZHONG KILTER ROBOT TECHNOLOGY STOCK CO.,LTD. Address before: 100085 Beijing Haidian District information on Golden Road No. 1 building room 108 Patentee before: BEIJING VSUNTEK Co.,Ltd. |
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| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: In the economic and Technological Development Zone two 100176 street Beijing City Hospital No. 8 Han enterprise Bay 15 building 6 layer Patentee after: BEIJING HUIZHONG KILTER ROBOT TECHNOLOGY STOCK CO.,LTD. Address before: 100085 Beijing Haidian District information on Road No. 1 (Beijing is a high-tech Development Company No. 1-2) B Building 2 room 216 Patentee before: BEIJING HUIZHONG KILTER ROBOT TECHNOLOGY STOCK CO.,LTD. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140730 |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Li Qiaoling Document name: Notice of Termination of Patent Rights |