CN205799513U - A kind of six axle all-purpose robots of double small arm - Google Patents
A kind of six axle all-purpose robots of double small arm Download PDFInfo
- Publication number
- CN205799513U CN205799513U CN201620762821.3U CN201620762821U CN205799513U CN 205799513 U CN205799513 U CN 205799513U CN 201620762821 U CN201620762821 U CN 201620762821U CN 205799513 U CN205799513 U CN 205799513U
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- CN
- China
- Prior art keywords
- forearm
- postbrachium
- fixed
- large arm
- gear
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses six axle all-purpose robots of a kind of double small arm, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are arranged in large arm by split mechanism.Two forearms of the present utility model both can be rotated by the relatively large arm of split mechanism, and two forearms also can make relative rotation, to adapt to various processing operating mode, the working performance of hoisting machine people under the driving of split mechanism.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of six axle all-purpose robots.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axles being provided with both arms and leads to
With robot, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm is around waist transfer part
Part rotates.Light-duty six axle all-purpose robots of the prior art, it has a forearm, makes whole machine task efficiency difficult
To get a promotion.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that six axle all-purpose robots of a kind of double small arm.
For reaching above-mentioned purpose, this utility model provides six axle all-purpose robots of a kind of double small arm, including base body,
The waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm, waist rotation member around
Base body rotates, and large arm rotates around waist rotation member；Large arm upper end is fixed with the first driving motor；Described forearm includes the first forearm
It is arranged in large arm by split mechanism with the second forearm, the first forearm and the second forearm；Split mechanism include drive shaft, a pair
Cylinder ring, the first forearm driving means；Described first forearm includes the first forearm and the first postbrachium；Described second forearm includes
Two forearms and the second postbrachium；First postbrachium is inverted " Qian "；Second postbrachium is inverted " Qian "；The upper surface of the first postbrachium is solid
It is scheduled on the rear end of the first forearm；The upper surface of the second postbrachium is fixed on the rear end of the second forearm；A pair cylinder ring one end is fixed on
On the lateral surface of two support wall in order of the second postbrachium lower end, the other end is articulated on two supporting walls of the first postbrachium lower end；Drive
Axle one end through the first postbrachium side supporting walls and be fixed on lower end two supporting walls of the second postbrachium, the other end and first drives
Dynamic motor output shaft is fixing to be connected；First forearm driving means is arranged between cylinder ring and the first postbrachium.
Preferred as technique scheme, the first forearm driving means includes the second driving motor, the first gear and
Two gears；Second drives motor to be horizontally fixed on the medial surface of side supporting walls of the first postbrachium；First gear is fixed on
On two output shafts driving motor；Second gear is fixed on the outer circumference face of cylinder ring；Second gear and the first gear are nibbled
Close.
Preferred as technique scheme, drive shaft one end is at cylinder ring through the position of the first postbrachium, drive shaft
Diameter is less than the internal diameter of cylinder ring.
Preferred as technique scheme, the first forearm front end offers the first installing hole；Second forearm front end is offered
There is the second installing hole.
The beneficial effects of the utility model are: two forearms both can be rotated by the relatively large arm of split mechanism, two
Forearm also can make relative rotation under the driving of split mechanism, to adapt to various processing operating mode, and the operation effect of hoisting machine people
Rate.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 be forearm of the present utility model face structural representation；
Fig. 3 is the side-looking structural representation of forearm of the present utility model；
Fig. 4 is the cross-sectional view of A-A in Fig. 3 of the present utility model；
In figure, 10, base body；20, large arm；21, first motor is driven；211, motor output shaft；22, the first forearm；
221, the first forearm；222, the first postbrachium；223, second motor is driven；2231, the first gear；23, the second forearm；231, second
Forearm；232, the second postbrachium；233, drive shaft；234, cylinder ring；2341, the second gear；30, waist rotation member.
Detailed description of the invention
As shown in Figure 1 to 4, six axle all-purpose robots of a kind of double small arm, including base body 10, it is articulated in base body 10
On waist rotation member 30, the large arm 20 being articulated on waist rotation member 30, the forearm that is arranged in large arm 20, waist rotation member 30 is the end of around
Pedestal 10 rotates, and large arm 20 rotates around waist rotation member 30；Large arm 20 upper end is fixed with the first driving motor 21；Described forearm includes
First forearm 22 and the second forearm 23, the first forearm 22 and the second forearm 23 are arranged in large arm 20 by split mechanism；Split
Mechanism includes drive shaft 233, a pair cylinder ring the 234, first forearm driving means；Described first forearm 22 includes the first forearm
221 and first postbrachium 222；Described second forearm 23 includes the second forearm 231 and the second postbrachium 232；First postbrachium 222 is in inversion
" Qian "；Second postbrachium 232 is in inverted " Qian "；The upper surface of the first postbrachium 222 is fixed on the rear end of the first forearm 221；The
The upper surface of two postbrachiums 232 is fixed on the rear end of the second forearm 231；A pair cylinder ring 234 one end is fixed on the second postbrachium 232 times
On the lateral surface of two support wall in order of end, the other end is articulated on two supporting walls of the first postbrachium 222 lower end；Drive shaft 233 1
Hold through the first postbrachium 222 side supporting walls and be fixed on lower end two supporting walls of the second postbrachium 232, the other end and first
Drive the fixing connection of motor output shaft 211 of motor 21；First forearm driving means is arranged on cylinder ring 234 and the first postbrachium
Between 222.
As shown in Figure 3, Figure 4, the first forearm driving means includes second driving motor the 223, first gear 2231 and second
Gear 2241；On the medial surface of the side supporting walls that the second driving motor 223 is horizontally fixed on the first postbrachium 222；First gear
On 2231 output shafts being fixed on the second driving motor 223；Second gear 2241 is fixed on the outer circumference face of cylinder ring 234
On；Second gear 2241 engages with the first gear 2231.
As shown in Figure 4, drive shaft 233 one end is at cylinder ring 234 through the position of the first postbrachium 222, and drive shaft 233 is straight
Footpath is less than the internal diameter of cylinder ring 234.
As it is shown on figure 3, the first forearm 221 front end offers the first installing hole；Second forearm 231 front end offers the second peace
Dress hole.
Concrete operations are as follows: when needing forearm unitary rotation, only need to start the first driving motor 21, and first drives motor 21 to carry
Dynamic drive shaft 233 rotates, and drive shaft 233 drives the second forearm 23 to rotate, owing to second drives motor the 223, first gear 2231
With the existence of the second gear 2341, the first forearm 22 rotates with the second forearm 23 the most together；
When the first forearm 22 and the second forearm 23 do relative motion, start the second driving motor 223 by the first gear
2231 and second gear 2241 make the first forearm 22 around cylinder ring 234 (the i.e. second forearm 23) rotate.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (4)
1. six axle all-purpose robots of double small arm, including base body (10), the waist rotation member that is articulated on base body (10)
(30), the large arm (20) that is articulated on waist rotation member (30), the forearm that is arranged in large arm (20), waist rotation member (30) is around base
Body (10) rotates, and large arm (20) rotates around waist rotation member (30)；Large arm (20) upper end is fixed with the first driving motor (21)；It is special
Levy and be: described forearm includes that the first forearm (22) and the second forearm (23), the first forearm (22) and the second forearm (23) pass through
Split mechanism is arranged in large arm (20)；Split mechanism includes that drive shaft (233), a pair cylinder ring (234), the first forearm drive
Device；Described first forearm (22) includes the first forearm (221) and the first postbrachium (222)；Described second forearm (23) includes
Two forearms (231) and the second postbrachium (232)；First postbrachium (222) is in inverted " Qian "；Second postbrachium (232) is in inverted
" Qian "；The upper surface of the first postbrachium (222) is fixed on the rear end of the first forearm (221)；The upper surface of the second postbrachium (232) is fixed
Rear end in the second forearm (231)；A pair cylinder ring (234) one end is fixed on two support wall in order of the second postbrachium (232) lower end
Lateral surface on, the other end is articulated on two supporting walls of the first postbrachium (222) lower end；Drive shaft (233) one end passes first
Postbrachium (222) side supporting walls and be fixed on lower end two supporting walls of the second postbrachium (232), the other end and first drive electricity
The motor output shaft (211) of machine (21) is fixing to be connected；First forearm driving means is arranged on cylinder ring (234) and the first postbrachium
(222) between.
Six axle all-purpose robots of a kind of double small arm the most according to claim 1, it is characterised in that: the first forearm drives dress
Put and include the second driving motor (223), the first gear (2231) and the second gear (2241)；Second drives motor (223) level
On the medial surface of the side supporting walls being fixed on the first postbrachium (222)；First gear (2231) is fixed on the second driving motor
(223) on output shaft；Second gear (2241) is fixed on the outer circumference face of cylinder ring (234)；Second gear (2241)
Engage with the first gear (2231).
Six axle all-purpose robots of a kind of double small arm the most according to claim 1, it is characterised in that: drive shaft (233)
Holding the position through the first postbrachium (222) is cylinder ring (234) place, and drive shaft (233) diameter is interior less than cylinder ring (234)
Footpath.
Six axle all-purpose robots of a kind of double small arm the most according to claim 1, it is characterised in that: the first forearm (221)
Front end offers the first installing hole；Second forearm (231) front end offers the second installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762821.3U CN205799513U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots of double small arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762821.3U CN205799513U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots of double small arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799513U true CN205799513U (en) | 2016-12-14 |
Family
ID=57508071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620762821.3U Expired - Fee Related CN205799513U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots of double small arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799513U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965500A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Six-axis universal robot with two lower arms |
-
2016
- 2016-07-18 CN CN201620762821.3U patent/CN205799513U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965500A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Six-axis universal robot with two lower arms |
| CN105965500B (en) * | 2016-07-18 | 2018-06-19 | 谢美玲 | A kind of six axis all-purpose robots of double small arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170607 Address after: 529040 Guangdong province Jiangmen jin'ou Road No. 38 Patentee after: JIANGMEN SEASANG HARDWARE INDUSTRY Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170607 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |