CN206242052U - A kind of high performance six-joint robot - Google Patents
A kind of high performance six-joint robot Download PDFInfo
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- CN206242052U CN206242052U CN201621227716.6U CN201621227716U CN206242052U CN 206242052 U CN206242052 U CN 206242052U CN 201621227716 U CN201621227716 U CN 201621227716U CN 206242052 U CN206242052 U CN 206242052U
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- pivoted arm
- servomotor
- rotating wheel
- swivel base
- hollow axle
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Abstract
The utility model discloses a kind of high performance six-joint robot, include base, it is arranged at the first swivel base on base, the second pivoted arm being connected with the first swivel base, the 3rd swivel base being connected with the second pivoted arm, the 4th pivoted arm being connected with the 3rd swivel base, the 5th pivoted arm being connected with the 4th pivoted arm and the end effector being connected with the 5th pivoted arm, feature is that the 3rd swivel base is provided with hollow axle, 4th pivoted arm is connected with the hollow axle, 4th pivoted arm is provided with the 5th servomotor that the 5th pivoted arm of control is rotated and the 6th servomotor for controlling end effector to rotate, the connecting line of the 5th servomotor and the 6th servomotor is extend into hollow axle.Due to being provided with hollow axle, therefore the drives line of motor, control line, pickup wire, tracheae etc. can be stowed in the hollow axle, therefore neither influence the rotation of each axle, various pipelines can be allowed to be not exposed to the external world again, can not be limited the use field of the six-joint robot, in may be used on more fields.
Description
Technical field
The utility model is related to robotics, specifically a kind of high performance six-joint robot.
Background technology
With the development of science and technology, the application of robot is increasingly wider, and the action of robot is also more and more finer
With personalize.Such as six-joint robot just can be moved freely in three dimensions, simulate the hand motion of the mankind.
However, existing six-joint robot needs six motors altogether, to drive six axles rotations, wherein the 6th of top
Axle is minimum, therefore is provided with motor in connected 5th axle and controls the 6th axle to rotate, it is easy to cause its accuracy
It is poor, and the weight of robot upper part has been aggravated, so as to influence balance quality；In addition, existing six-joint robot, its each electricity
The electric wire of machine be substantially it is exposed and the exposure such as electric wire, control line is not suitable for some occasions and uses outside outside so that
The use field of the six-joint robot is limited.
The content of the invention
For the problems of above-mentioned prior art, it is high, applicable that the purpose of this utility model is to provide a kind of accuracy
The wide high performance six-joint robot of scope.
To reach above-mentioned purpose, the technical scheme that the utility model is used is：A kind of high performance six-joint robot, bag
Base has been included, the 3rd of second pivoted arm and the connection of the second pivoted arm of the first swivel base being arranged on base and the connection of the first swivel base the
5th pivoted arm of the 4th pivoted arm and the connection of the 4th pivoted arm of swivel base and the connection of the 3rd swivel base and the end being connected with the 5th pivoted arm
End actuator, is characterized in that the 3rd swivel base is provided with hollow axle, and the 4th pivoted arm is connected with the hollow axle,
4th pivoted arm is provided with the 6th of the 5th servomotor and control end effector rotation for controlling the 5th pivoted arm to rotate
The connecting line of servomotor, the 5th servomotor and the 6th servomotor is extend into the hollow axle.
Preferably, the end effector is connected to the 5th pivoted arm end, and the 5th pivoted arm is connected to the 4th pivoted arm end
The centre position in portion, the wherein one side of the 4th pivoted arm end is provided with the first rotating wheel, first rotating wheel and institute
State the 5th pivoted arm to be connected, power transmission realized by driving member between first rotating wheel and the 5th servomotor,
First rotating wheel drives the 5th pivoted arm to rotate when rotating.
Preferably, the another side of the 4th pivoted arm end is provided with the second rotating wheel, and second rotating wheel is to institute
State and wheel shaft is extended with the 5th pivoted arm, the wheel the tip of the axis is socketed with helical gear, and the end effector is in the 5th pivoted arm
Correspondence is extended with rotary shaft, and the rotary shaft is provided with the gear being meshed with the helical gear, second rotating wheel and institute
State and power transmission is realized by driving member between the 6th servomotor, second rotating wheel drives the end to perform when rotating
Device is rotated.
Preferably, cavity, the 5th servomotor and the 6th servo are provided with inside the latter half of the 4th pivoted arm
Motor is installed in the cavity；The top half intermediate recess of the 4th pivoted arm has installation position, the 5th pivoted arm peace
In the installation position of top half end.
Preferably, the middle part of the 3rd swivel base is axocoel, and the hollow axle is installed in rotation in the axocoel；
The front-end and back-end of the 3rd swivel base are respectively provided with motor cabinet, and the 4th servomotor, institute are provided with the motor cabinet of the front end
State that the 4th servomotor is identical with the installation direction of hollow axle, the hollow axle is towards the motor shaft side of the 4th servomotor
To the 3rd rotating wheel is provided with, power transmission is realized by driving member between the 3rd rotating wheel and the 4th servomotor,
4th rotating wheel drives the hollow axle and the 4th pivoted arm synchronous axial system when rotating.
Preferably, the 3rd servomotor, the 3rd servomotor are installed on the motor cabinet of the 3rd swivel base rear end
Motor shaft be connected with the end of second pivoted arm, the motor shaft of the 3rd servomotor drives the described 3rd when rotating
Swivel base is rotated relative to second pivoted arm.
Preferably, first rotating wheel, the second rotating wheel and the 3rd rotating wheel are big belt pulley, the 5th servo
Small belt pulley is socketed with the motor shaft of motor, the 6th servomotor and the 4th servomotor, the driving member corresponds to set
It is connected on the belt on big belt pulley and small belt pulley.
Preferably, the first servomotor is installed, the motor shaft of first servomotor is raised upward in the base,
The bottom of first swivel base is connected with first servomotor.
Preferably, first swivel base is provided with motor position, is provided with the second servomotor on motor position, and described the
Two servomotors are connected with the end of second pivoted arm, and the motor shaft of second servomotor drives described the when rotating
Two pivoted arms are rotated relative to first swivel base.
Preferably, the hollow axle is the solid axis body in upper hollow bottom, and the hollow space on top is therefrom to dally
The cylindrical cavity that the top down of axle extends, the side of the cylindrical cavity is provided with the window with the cylindrical cavity insertion.
The beneficial effects of the utility model are：
（1）Due to being provided with hollow axle, therefore the drives line of motor, control line, pickup wire, tracheae etc. can be stowed to
In the hollow axle, therefore the rotation of each axle is neither influenceed, various pipelines can be allowed to be not exposed to the external world again, make the six-joint robot
Be can not be limited using field, in may be used on more fields.
（2）The 6th servomotor of end effector will be controlled to be arranged on the 4th pivoted arm, performed so as to alleviate end
The weight of device, it is ensured that the flexibility of the end effector motion and accuracy, may be used on the six-joint robot more accurate
Field.
The utility model is described in further detail with reference to the accompanying drawings and examples.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is decomposition texture schematic diagram of the present utility model.
Fig. 3 shows for the decomposition texture of the pivoted arm of the utility model the 3rd, the 4th pivoted arm, the 5th pivoted arm and end effector part
It is intended to.
Fig. 4 shows for the sectional structure of the pivoted arm of the utility model the 3rd, the 4th pivoted arm, the 5th pivoted arm and end effector part
It is intended to.
Fig. 5 is the dimensional structure diagram of the pivoted arm of the utility model the 4th.
Specific embodiment
As depicted in figs. 1 and 2, the high performance six-joint robot of the utility model embodiment, includes base 7, sets
3rd swivel base 3 of the second pivoted arm 2 and the second pivoted arm 2 connection connected in the first transposase 11 on base 7 and the first transposase 11 and
4th pivoted arm 4 of the connection of the 3rd swivel base 3 and the 5th pivoted arm 5 of the connection of the 4th pivoted arm 4 and the end being connected with the 5th pivoted arm 5
Actuator 6, wherein, the 3rd swivel base 3 is provided with hollow axle 8, and the hollow axle 8 can be under the drive of the 4th servomotor 41
Rotate, the 4th pivoted arm 4 is connected with hollow axle 8, it is achieved thereby that the 4th pivoted arm 4 is with the synchronous axial system of hollow axle 8, the
Four pivoted arms 4 are provided with the 5th servomotor 51 of the control rotation of the 5th pivoted arm 5 and the 6th of the control rotation of end effector 6 watches
Take motor 61；The hollow axle 8 is the solid axis body in upper hollow bottom, and the hollow space on top is the top from hollow axle 8
The cylindrical cavity 81 that portion extends downwardly, the side of the cylindrical cavity 81 is provided with the window 82 with the insertion of cylindrical cavity 81, by the He of the 5th servomotor 51
The connecting line of the 6th servomotor 61 is extend into hollow axle 8, so that these connecting lines will not be directly exposed to the external world, therefore
The rotation of each axle is neither influenceed, various pipelines can be allowed to be not exposed to the external world again, making the use field of the six-joint robot will not receive
To limitation, in may be used on more fields.
As shown in Fig. 2 the bottom of base 7 of the embodiment is provided with interlocking plate 71, interlocking plate 71 can be secured to by bolt
Required place, is provided with the first servomotor 11 in the base 7, the motor shaft of first servomotor 11 is raised upward, should
The bottom of the first transposase 11 is connected with the motor shaft of the first servomotor 11, so as to realize that the first servomotor 11 drives first
Transposase 11 is rotated around the shaft core of base 7；First transposase 11 of the embodiment is provided with motor position 12, and the is provided with motor position 12
Two servomotors 21, the motor shaft of second servomotor 21 is connected with the one end of the second pivoted arm 2, the second servomotor 21
Motor shaft drive relative first transposase 11 of the second pivoted arm 2 to swing when rotating.
As shown in figure 5, the middle part of the 3rd swivel base 3 of the embodiment is axocoel 32, and the front opening of the axocoel 32, this is hollow
Rotating shaft 8 is installed in rotation in axocoel 32；The front-end and back-end of the 3rd swivel base 3 are respectively provided with motor cabinet 33, wherein rear end
Motor cabinet 33 is to protrude the platform parallel with the shaft core of axocoel 32 from the outer chamber wall of axocoel 32, is installed on the motor cabinet 33 of the rear end
There is the 3rd servomotor 31, the motor shaft of the 3rd servomotor 31 passes through the through hole in the middle of motor cabinet 33, with the second pivoted arm 2
The other end is connected, therefore relative 2 turns of second pivoted arm of the 3rd swivel base 3 can be driven during the rotation of the motor shaft of the 3rd servomotor 31
It is dynamic.The motor cabinet 33 of the front end of the 3rd swivel base 3 of the embodiment is the platform extended anteriorly out from the bottom of axocoel 32, the front end
4th servomotor 41 is installed, the 4th servomotor 41 is identical with the installation direction of hollow axle 8 on motor cabinet 33, and should
The motor shaft of the 4th servomotor 41 reaches lower section towards through motor cabinet 33, and small belt pulley 94 is socketed with the motor shaft,
The bottom intermediate throughholes of axocoel 32 of the embodiment, the bottom of the hollow axle 8 reaches lower section through the through hole, in its external part
Portion is socketed with big belt pulley（That is the 3rd rotating wheel 93）, belt 95 is passed through between the small belt pulley 94 and big belt pulley（It is driven
Part）Connection, therefore be driven by belt 95 and drive hollow axle 8 to rotate during the rotation of the motor shaft of the 4th servomotor 41, in this
The top of pony axle 8 is connected with the 4th pivoted arm 4, therefore drives the synchronous axial system of the 4th pivoted arm 4 during the rotation of hollow axle 8.
As shown in Figure 3 and Figure 4, cavity 42 is provided with inside the latter half of the 4th pivoted arm 4 of the embodiment, in the cavity 42
5th servomotor 51 and the 6th servomotor 61 are installed, chimb, the 5th servomotor 51 are provided with the two side of cavity 42
It is connected on chimb by screwed lock with the 6th servomotor 61；The top half intermediate recess of the 4th pivoted arm 4 has installation position 43,
5th pivoted arm 5 is arranged in the installation position 43 of top half end, on the one side of the end of the top half of the 4th pivoted arm 4
The first rotating wheel 91 is provided with, first rotating wheel 91 is big belt pulley, is socketed with the motor shaft of the 5th servomotor 51 small
Belt pulley 94, is socketed with belt 95, and first rotating wheel 91 to the 5th between first rotating wheel 91 and small belt pulley 94
The direction of pivoted arm 5 is convexly equipped with connecting shaft, and the 5th pivoted arm 5 is correspondingly provided with connecting hole in the middle of side, by connecting shaft and connecting hole phase
Coordinate and realize the first rotating wheel 91 and drive the synchronous axial system of the 5th pivoted arm 5.The opposite side of the end of the top half of the 4th pivoted arm 4
Face is provided with the second rotating wheel 92, and second rotating wheel 92 is big belt pulley, is socketed on the motor shaft of the 6th servomotor 61
There is small belt pulley 94, belt 95 is socketed between second rotating wheel 92 and small belt pulley 94, when the 6th servomotor 61 works
Second rotating wheel 92 is driven to rotate；Second rotating wheel 92 is socketed to wheel shaft is extended with the 5th pivoted arm 5 in wheel the tip of the axis
There is helical gear 90；The end effector 6 of the embodiment is extended with rotary shaft 62 to correspondence in the 5th pivoted arm 5, in the rotary shaft 62
The gear 60 being meshed with helical gear 90 is provided with, the gear 60 can be similarly helical gear, or spur gear, the 5th turn
Arm 5 is provided with hollow space 52, and the helical gear 90 and gear 60 being meshed are respectively positioned in the hollow space 52 of the 5th pivoted arm 5, therefore
End effector 6 is driven to rotate when second rotating wheel 92 is rotated.
Although the utility model is to be described with reference to specific embodiments, this description is not meant to the utility model
It is construed as limiting.With reference to description of the present utility model, other changes of the disclosed embodiments are all for those skilled in the art
It is anticipated that, this change should belong in appended claims limited range.
Claims (10)
1. a kind of high performance six-joint robot, includes base（7）, it is arranged at base（7）On the first swivel base（1）With
One swivel base（1）Second pivoted arm of connection（2）With the second pivoted arm（2）3rd swivel base of connection（3）With the 3rd swivel base（3）Connection
4th pivoted arm（4）With the 4th pivoted arm（4）5th pivoted arm of connection（5）And with the 5th pivoted arm（5）The end effector of connection
（6）, it is characterised in that：3rd swivel base（3）It is provided with hollow axle（8）, the 4th pivoted arm（4）With the hollow axle
（8）It is connected, the 4th pivoted arm（4）It is provided with the 5th pivoted arm of control（5）The 5th servomotor for rotating（51）And control
End effector（6）The 6th servomotor for rotating（61）, the 5th servomotor（51）With the 6th servomotor（61）'s
Connecting line extend into the hollow axle（8）It is interior.
2. high performance six-joint robot according to claim 1, it is characterised in that：The end effector（6）Connection
In the 5th pivoted arm（5）End, the 5th pivoted arm（5）It is connected to the 4th pivoted arm（4）The centre position of end, the 4th pivoted arm
（4）The wherein one side of end is provided with the first rotating wheel（91）, first rotating wheel（91）With the 5th pivoted arm（5）Phase
Connection, first rotating wheel（91）With the 5th servomotor（51）Between power transmission is realized by driving member, it is described
First rotating wheel（91）The 5th pivoted arm is driven during rotation（5）Rotate.
3. high performance six-joint robot according to claim 2, it is characterised in that：4th pivoted arm（4）End
Another side is provided with the second rotating wheel（92）, second rotating wheel（92）To the 5th pivoted arm（5）Wheel shaft is inside extended with,
The wheel the tip of the axis is socketed with helical gear（90）, the end effector（6）To the 5th pivoted arm（5）Interior correspondence is extended with rotation
Axle（62）, the rotary shaft（62）It is provided with and the helical gear（90）The gear being meshed（60）, second rotating wheel
（92）With the 6th servomotor（61）Between power transmission, second rotating wheel are realized by driving member（92）During rotation
Drive the end effector（6）Rotate.
4. high performance six-joint robot according to claim 1, it is characterised in that：4th pivoted arm（4）Lower half
Partial interior is provided with cavity（42）, the 5th servomotor（51）With the 6th servomotor（61）It is installed in the cavity
（42）In；4th pivoted arm（4）Top half intermediate recess have installation position（43）, the 5th pivoted arm（5）Installed in upper
The installation position of half part end（43）In.
5. high performance six-joint robot according to claim 1, it is characterised in that：3rd swivel base（3）Middle part
It is axocoel（32）, the hollow axle（8）It is installed in rotation on the axocoel（32）In；3rd swivel base（3）Front end
Motor cabinet is respectively provided with rear end（33）, the motor cabinet of the front end（33）On the 4th servomotor is installed（41）, the described 4th
Servomotor（41）With hollow axle（8）Installation direction it is identical, the hollow axle（8）Towards the 4th servomotor（41）'s
Motor direction of principal axis is provided with the 3rd rotating wheel（93）, the 3rd rotating wheel（93）With the 4th servomotor（41）Between pass through
Driving member realizes power transmission, the 3rd rotating wheel（93）The hollow axle is driven during rotation（8）With the 4th pivoted arm
（4）Synchronous axial system.
6. high performance six-joint robot according to claim 5, it is characterised in that：3rd swivel base（3）Rear end
Motor cabinet（33）On the 3rd servomotor is installed（31）, the 3rd servomotor（31）Motor shaft and second pivoted arm
（2）End be connected, the 3rd servomotor（31）Motor shaft rotate when drive the 3rd swivel base（3）It is relatively described
Second pivoted arm（2）Rotate.
7. the high performance six-joint robot according to Claims 2 or 3 or 5, it is characterised in that：First rotating wheel
（91）, the second rotating wheel（92）With the 3rd rotating wheel（93）It is big belt pulley, the 5th servomotor（51）, the 6th servo
Motor（61）With the 4th servomotor（41）Motor shaft on be socketed with small belt pulley（94）, the driving member correspond to socket
In big belt pulley and small belt pulley（94）On belt（95）.
8. high performance six-joint robot according to claim 1, it is characterised in that：The base（7）In be provided with
One servomotor（11）, first servomotor（11）Motor shaft it is raised upward, first swivel base（1）Bottom and institute
State the first servomotor（11）It is connected.
9. the high performance six-joint robot according to claim 1 or 8, it is characterised in that：First swivel base（1）On set
There is motor position（12）, the motor position（12）On the second servomotor is installed（21）, second servomotor（21）With institute
State the second pivoted arm（2）End be connected, second servomotor（21）Motor shaft rotate when drive second pivoted arm
（2）Relatively described first swivel base（1）Rotate.
10. high performance six-joint robot according to claim 1, it is characterised in that：The hollow axle（8）It is top
The solid axis body of hollow lower, the hollow space on top is the cylindrical cavity extended from the top down of hollow axle（81）, the circle
Chamber（81）Side be provided with and the cylindrical cavity（81）The window of insertion（82）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621227716.6U CN206242052U (en) | 2016-11-15 | 2016-11-15 | A kind of high performance six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621227716.6U CN206242052U (en) | 2016-11-15 | 2016-11-15 | A kind of high performance six-joint robot |
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| Publication Number | Publication Date |
|---|---|
| CN206242052U true CN206242052U (en) | 2017-06-13 |
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ID=59000378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621227716.6U Active CN206242052U (en) | 2016-11-15 | 2016-11-15 | A kind of high performance six-joint robot |
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| Country | Link |
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| CN (1) | CN206242052U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN112109071A (en) * | 2020-08-31 | 2020-12-22 | 中国科学院沈阳自动化研究所 | High-dexterity assembling mechanism in narrow space |
-
2016
- 2016-11-15 CN CN201621227716.6U patent/CN206242052U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN112109071A (en) * | 2020-08-31 | 2020-12-22 | 中国科学院沈阳自动化研究所 | High-dexterity assembling mechanism in narrow space |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181106 Address after: 272000 Yang Shang Town, Wenshang County, Jining, Shandong, 300 meters north Patentee after: Shandong Qingdong Intelligent Technology Co., Ltd. Address before: 510000 No. nine team of stone village, Taiping Town, Conghua City, Guangzhou, Guangdong, China No. 27 Co-patentee before: He Haoxing Patentee before: Fang Qiaoqing |
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| TR01 | Transfer of patent right |