CN205129835U - Six coordinated type robots - Google Patents
Six coordinated type robots Download PDFInfo
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- CN205129835U CN205129835U CN201520698238.6U CN201520698238U CN205129835U CN 205129835 U CN205129835 U CN 205129835U CN 201520698238 U CN201520698238 U CN 201520698238U CN 205129835 U CN205129835 U CN 205129835U
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- decelerator
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- arm
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Abstract
The utility model relates to an automation equipment technical field discloses a six coordinated type robots, include that the fixing base reaches and fixing base swing joint's roating seat, the roating seat is connected with and lifts the arm, it is provided with rotatable frame to lift the arm, the frame is connected with the motion arm, still including being used for the drive a roating seat pivoted RV reduction gear, drive lift the 2nd RV reduction gear, the drive that the arm lifted the action the 3rd RV reduction gear of frame swing angle drives the rotatory fourth RV reduction gear of motion arm with setting up in the frame, this robot is finally realized six stroke control by six RV reduction gears, thereby can satisfy the supplementary needs of different processing environment, owing to adopting the reduction gear like RV, under high performance servo motor's the condition, the precision height has, vibrate for a short time, low noise, low energy consumption, this kind of six integration have the high integration in integrated control's robot, big and the easy to maintain's of working stroke advantage.
Description
Technical field
The utility model relates to technical field of automation equipment, particularly relates to a kind of six-axis linkage formula robot.
Background technology
Along with the raising of China's labor cost, the manufacturing industry of China is impelled constantly to innovate upgrading, such as: present stage, China widelyd popularize machine substitution plan etc., the upgrading of its final object promoting enterprise manufacturing equipment, reduce the recruitment cost of enterprise, improve the quality of product, namely need to manufacture high efficiency, high-intelligentization equipment in order to replace traditional manual operation, certainly, Current Domestic has also all produced a large amount of intelligent machine equipment outward, but, this kind of equipment is from actual service condition, play complementary operation under manually-operated prerequisite, and, existing intelligent machine equipment often can only pass through simple mechanism kinematic, comparatively complicated operation can not be completed, and once need complicated, during the operating procedure of Long Distances, namely need multiple intelligent machine equipment to interact and coordinate just can complete, now, for intelligent machine equipment, expensive, general enterprise is difficult to buy multiple intelligent machine equipment simultaneously, seriously constrain the use of intelligent machine equipment, and this multiple intelligent machine equipment maintenance difficulties is each other larger.In view of this, the deficiency that inventor exists for current intelligent machine apparatus field, through test of many times, has invented a kind of six-axis linkage formula robot finally.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, and provide a kind of six-axis linkage formula robot, it is high that robot has integrated level, and impulse stroke is large and be easy to the advantage safeguarded.
For achieving the above object, a kind of six-axis linkage formula robot of the present utility model, the rotating seat comprising holder and be flexibly connected with holder, described rotating seat is connected with lift arm, described lift arm is provided with rotating support, described support is connected with motion arm, also comprising the RV decelerator for driving described rotating seat to rotate, driving the 2nd RV decelerator of lift arm lifting action, driving the 3rd RV decelerator of described support pendulum angle and being arranged at support and the 4th RV decelerator driving motion arm to rotate.
Further, the planet stent that a described RV decelerator comprises the first servo motor, the first internal gear and is arranged in the first internal gear, described first servo motor is connected with the first power transmission shaft through described planet stent, described first transmission the tip of the axis is provided with driving gear, described planet stent is provided with three second driving shafts, the two ends of described second driving shaft are respectively arranged with the first row star-wheel and the second planetary gear, described the first row star-wheel engages with driving gear, and described second planetary gear engages with the first internal gear.
Further, a described RV decelerator comprises the first servo motor, first internal gear and the planet stent be arranged in the first internal gear, described first servo motor is connected with the first power transmission shaft through described planet stent, described first transmission the tip of the axis is provided with driving gear, described planet stent is provided with three second driving shafts, one end of described second driving shaft is provided with the first row star-wheel, also comprise the second driven wheel and the 3rd driven wheel with the second driven wheel staggered superposition, described second driven wheel and the 3rd driven wheel are connected with the other end of second driving shaft and engage with the first internal gear.
Further, described 2nd RV decelerator, the 3rd RV decelerator are all identical with the structure of a RV decelerator.
Further, described 4th RV decelerator is the second servo motor, and the output shaft of described second servo motor drives motion arm to rotate.
Further, the external part of described motion arm is hinged with the 6th RV decelerator, and described motion arm is also provided with the 5th RV decelerator for driving described 6th RV decelerator to rotate to an angle.
Preferably, described 5th RV decelerator comprises the 3rd servo motor, the first synchronizing wheel, Timing Belt and the second synchronizing wheel, described 3rd servo motor driven first synchronizing wheel rotates, described first synchronizing wheel is in transmission connection by Timing Belt and the second synchronizing wheel, and described second synchronizing wheel is coaxially fixedly connected with the jointed shaft of the 6th RV decelerator.
The beneficial effects of the utility model: compared with prior art, a kind of six-axis linkage formula robot of the present utility model, the rotation of certain angle is realized by rotating seat, simultaneously, at lift arm, under the effect of support and motion arm, robot can realize the stroke adjustment of six axles, thus the auxiliary needs of different processing environment can be met, owing to have employed RV decelerator, when high performance servo motor, there is vibration little, noise is low, the advantage that energy consumption is low, this multiaxis be integrated in one control robot there is high integration, the large advantage with being easy to safeguard of impulse stroke.
Accompanying drawing explanation
Fig. 1 is stereogram of the present utility model.
Fig. 2 is front view of the present utility model.
Fig. 3 is that the A-A of Fig. 2 is to sectional view.
Fig. 4 is the assembly structure figure of a RV decelerator of the present utility model, the 2nd RV decelerator and rotating seat.
Fig. 5 is that the B-B of Fig. 4 is to sectional view.
Fig. 6 is that the C-C of Fig. 4 is to sectional view.
Fig. 7 is C-C another preferred structure to sectional view of Fig. 4.
Reference numeral comprises:
Holder--11, rotating seat--12, lift arm--13,
Support--14, motion arm--the 15, one RV decelerator--2,
First servo motor--21, first internal gear--22, planet stent--23,
First power transmission shaft--24, second driving shaft--25, the first row star-wheel--26,
Second planetary gear--the 27, second driven wheel--the 28, three driven wheel--29,
2nd RV decelerator--the 3, three RV decelerator--the 4, four RV decelerator--5,
6th RV decelerator--the 6, five RV decelerator--the 7, three servo motor--71,
First synchronizing wheel--the 72, second synchronizing wheel-73.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
See Fig. 1 to Fig. 7, a kind of six-axis linkage formula robot of the present utility model, the rotating seat 12 comprising holder 11 and be flexibly connected with holder 11, described rotating seat 12 is connected with lift arm 13, described lift arm 13 is provided with rotating support 14, described support 14 is connected with motion arm 15, also comprise the RV decelerator 2 for driving described rotating seat 12 to rotate, drive the 2nd RV decelerator 3 of lift arm 13 lifting action, drive the 3rd RV decelerator 4 of described support 14 pendulum angle and be arranged at support 14 and the 4th RV decelerator 5 driving motion arm 15 to rotate.The operation principle of robot is: a RV decelerator 2 drives rotating seat 12 to realize the rotation of certain angle, in general be the angle rotation between 0 ~ 35 degree, described 2nd RV decelerator 3 drives lift arm 13 to realize praising action, such as, material transmission between upper station and lower station all needs lift arm 13 to realize high-low-position to fetch and deliver material, described 3rd RV decelerator 4 further realizes the adjustment of respective angles to support 14, the regulation of longitudinal angle making motion arm 15 be adapted to differing heights regulates, when carrying out the operations such as material assembling, the 4th RV decelerator 5 pairs of materials can be utilized to realize rotating, such as: automatic screw nailing, automatically to soup etc. in mould, robot can realize the stroke adjustment of six axles, thus can meet the auxiliary needs of different processing environment, and this multiaxis is integrated in one, and to have high integration, impulse stroke large and be easy to the advantage safeguarded for the robot that controls.
In the technical program, refer to Fig. 6, a described RV decelerator 2 comprises the first servo motor 21, first internal gear 22 and the planet stent 23 be arranged in the first internal gear 22, described first servo motor 21 is connected with the first power transmission shaft 24 through described planet stent 23, the end of described first power transmission shaft 24 is provided with driving gear, described planet stent 23 is provided with three second driving shafts 25, the two ends of described second driving shaft 25 are respectively arranged with the first row star-wheel 26 and the second planetary gear 27, described the first row star-wheel 26 engages with driving gear, described second planetary gear 27 engages with the first internal gear 22.First power transmission shaft 24 is under the driving of the first servo motor 21, three second driving shafts 25 are driven by driving gear, three second driving shafts 25, under the effect of the second planetary gear 27, make the first internal gear 22 realize rotating, thus reach the motion arm 15 of whole robot is realized angle displacement.
As another preferred embodiment of a RV decelerator 2, refer to Fig. 7, a described RV decelerator 2 comprises the first servo motor 21, first internal gear 22 and the planet stent 23 be arranged in the first internal gear 22, described first servo motor 21 is connected with the first power transmission shaft 24 through described planet stent 23, the end of described first power transmission shaft 24 is provided with driving gear, described planet stent 23 is provided with three second driving shafts 25, one end of described second driving shaft 25 is provided with the first row star-wheel 26, also comprise the second driven wheel 28 and the 3rd driven wheel 29 with the second driven wheel 28 staggered superposition, described second driven wheel 28 and the 3rd driven wheel 29 are all connected with the other end of second driving shaft 25 and engage with the first internal gear 22.First power transmission shaft 24 is under the driving of the first servo motor 21, described first servo motor 21 preferably adopts high performance servo, three second driving shafts 25 are driven by driving gear, three second driving shafts 25 drive to the second driven wheel 28 and the 3rd driven wheel 29 of superposition, make the first internal gear 22 realize rotating, thus reach the motion arm 15 of whole robot is realized angle displacement; The advantage of the manner is, utilizes two gears superposing dislocation, can eliminate backlash, can increase precision of back and forth circling round, can control more accurately.
In the technical program, described 2nd RV decelerator 3, the 3rd RV decelerator 4, the 4th RV decelerator 5, the 5th RV decelerator the 7, six RV decelerator 6 are all identical with the structure of a RV decelerator 2.Corresponding mechanism principle is identical, and this is no longer going to repeat them.
In addition, because RV decelerator is made up of the prime of a planet-gear speed reducer and the rear class of a cycloidal planetary gear speed reducer, RV decelerator has compact conformation, high pulling torque, gearratio is large, and has the gearing of auto-lock function under certain condition, is one of the most frequently used reductor and vibrates little, noise is low, and energy consumption is low.
It develops out on the basis of traditional Cycloid drive, not only overcome the shortcoming of general pin cycloid transmission, and because there is the series of advantages such as volume is little, lightweight, gear range is large, the life-span is long, precision keeps stable, efficiency is high, stable drive.Day by day be subject to extensive concern both domestic and external.RV decelerator forms with its volume little by cycloidal-pin wheel and planet stent, and anti-impact force is strong, and moment of torsion is large, and positioning precision is high, vibrates little, and the plurality of advantages such as speed reducing ratio is large are widely used in industrial robot.
In order to realize swivel feeding to some material, described 4th RV decelerator 5 is the second servo motor, and the output shaft of described second servo motor drives motion arm 15 to rotate.
In the technical program, the external part of described motion arm 15 is hinged with the 6th RV decelerator 6, and described motion arm 15 is also provided with the 5th RV decelerator 7 for driving described 6th RV decelerator 6 to rotate to an angle.Described 5th RV decelerator 7 comprises the 3rd servo motor 71, first synchronizing wheel 72, Timing Belt and the second synchronizing wheel 73, described 3rd servo motor 71 drives the first synchronizing wheel 72 to rotate, described first synchronizing wheel 72 is in transmission connection by Timing Belt and the second synchronizing wheel 73, and described second synchronizing wheel 73 is coaxially fixedly connected with the jointed shaft of the 6th RV decelerator 6.During work, described 6th RV decelerator 6 can install corresponding soup ladle further by ring flange, described 6th RV decelerator 6 drives for small size high performance servo motor and undersized RV decelerator, also electric screwdriver etc. can be installed, when the 6th RV decelerator 6 is positioned at corresponding machining position, 3rd servo motor 71 drives the first synchronizing wheel 72, under the effect of Timing Belt, 6th RV decelerator 6 is adjusted corresponding angle by the second synchronizing wheel 73, this adjustment angle is generally between 0 ~ 90 degree, namely to vertical angle 45 degree and 45 degree, the downward elevation angle, thus the impulse stroke that can realize in a big way.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (6)
1. a six-axis linkage formula robot, the rotating seat (12) comprising holder (11) and be flexibly connected with holder (11), it is characterized in that: described rotating seat (12) is connected with lift arm (13), described lift arm (13) is provided with rotating support (14), and described support (14) is connected with motion arm (15);
Also comprising the RV decelerator (2) for driving described rotating seat (12) to rotate, driving the 2nd RV decelerator (3) of lift arm (13) lifting action, driving the 3rd RV decelerator (4) of described support (14) pendulum angle and being arranged at support (14) and the 4th RV decelerator (6) driving motion arm (15) to rotate
The external part of described motion arm (15) is hinged with the 6th RV decelerator (6), and described motion arm (15) is also provided with the 5th RV decelerator (7) for driving described 6th RV decelerator (6) to rotate to an angle.
2. a kind of six-axis linkage formula robot according to claim 1, it is characterized in that: a described RV decelerator (2) comprises the first servo motor (21), first internal gear (22) and the planet stent (23) be arranged in the first internal gear (22), described first servo motor (21) is connected with the first power transmission shaft (24) through described planet stent (23), the end of described first power transmission shaft (24) is provided with driving gear, described planet stent (23) is provided with three second driving shafts (25), the two ends of described second driving shaft (25) are respectively arranged with the first row star-wheel (26) and the second planetary gear (27), described the first row star-wheel (26) is engaged with driving gear, described second planetary gear (27) is engaged with the first internal gear (22).
3. a kind of six-axis linkage formula robot according to claim 1, it is characterized in that: a described RV decelerator (2) comprises the first servo motor (21), first internal gear (22) and the planet stent (23) be arranged in the first internal gear (22), described first servo motor (21) is connected with the first power transmission shaft (24) through described planet stent (23), the end of described first power transmission shaft (24) is provided with driving gear, described planet stent (23) is provided with three second driving shafts (25), one end of described second driving shaft (25) is provided with the first row star-wheel (26), a described RV decelerator (2) also comprises the second driven wheel (28) and the 3rd driven wheel (29) with the second driven wheel (28) staggered superposition, described second driven wheel (28) and the 3rd driven wheel (29) are all connected with the other end of second driving shaft (25) and engage with the first internal gear (22).
4. a kind of six-axis linkage formula robot according to claim 1, is characterized in that: described 2nd RV decelerator (3), the 3rd RV decelerator (4) are all identical with the structure of a RV decelerator (2).
5. a kind of six-axis linkage formula robot according to claim 1, is characterized in that: described 4th RV decelerator (5) is the second servo motor, and the output shaft of described second servo motor drives motion arm (15) to rotate.
6. a kind of six-axis linkage formula robot according to claim 1, it is characterized in that: described 5th RV decelerator (7) comprises the 3rd servo motor (71), the first synchronizing wheel (72), Timing Belt and the second synchronizing wheel (73), described 3rd servo motor (71) drives the first synchronizing wheel (72) to rotate, described first synchronizing wheel (72) is in transmission connection by Timing Belt and the second synchronizing wheel (73), and described second synchronizing wheel (73) is coaxially fixedly connected with the jointed shaft of the 6th RV decelerator (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520698238.6U CN205129835U (en) | 2015-09-10 | 2015-09-10 | Six coordinated type robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520698238.6U CN205129835U (en) | 2015-09-10 | 2015-09-10 | Six coordinated type robots |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113008A (en) * | 2016-07-11 | 2016-11-16 | 广东澳德电子有限公司 | A kind of articulated robot |
| CN106312011A (en) * | 2016-11-08 | 2017-01-11 | 东莞市松庆智能自动化科技有限公司 | Automobile steering wheel automatic pressure casting production device |
| CN108526781A (en) * | 2018-06-08 | 2018-09-14 | 徐超 | The welding method of six shaft mechanical arms |
| CN110653835A (en) * | 2019-10-25 | 2020-01-07 | 深圳中科捷飞科技有限公司 | Metering room robot, metering room robot system and metering room oil production measuring method |
-
2015
- 2015-09-10 CN CN201520698238.6U patent/CN205129835U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113008A (en) * | 2016-07-11 | 2016-11-16 | 广东澳德电子有限公司 | A kind of articulated robot |
| CN106113008B (en) * | 2016-07-11 | 2024-04-19 | 广东澳德电子有限公司 | Multi-joint robot |
| CN106312011A (en) * | 2016-11-08 | 2017-01-11 | 东莞市松庆智能自动化科技有限公司 | Automobile steering wheel automatic pressure casting production device |
| CN108526781A (en) * | 2018-06-08 | 2018-09-14 | 徐超 | The welding method of six shaft mechanical arms |
| CN110653835A (en) * | 2019-10-25 | 2020-01-07 | 深圳中科捷飞科技有限公司 | Metering room robot, metering room robot system and metering room oil production measuring method |
| CN110653835B (en) * | 2019-10-25 | 2021-05-11 | 深圳中科捷飞科技有限公司 | Metering interval oil measuring and yield measuring method |
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Effective date of registration: 20230914 Granted publication date: 20160406 |