CN206296900U - The six axis robot device of light-type - Google Patents
The six axis robot device of light-type Download PDFInfo
- Publication number
- CN206296900U CN206296900U CN201621420327.5U CN201621420327U CN206296900U CN 206296900 U CN206296900 U CN 206296900U CN 201621420327 U CN201621420327 U CN 201621420327U CN 206296900 U CN206296900 U CN 206296900U
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- China
- Prior art keywords
- shaft
- shaft body
- galianconism
- shaft bodies
- bodies
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Abstract
The utility model provides a kind of six axis robot device of light-type, including base, a shaft body, two shaft bodies, three shaft bodies, four shaft bodies.Five shaft bodies and six shaft bodies, wherein, a shaft body is arranged on the base, a shaft body, two shaft bodies, three shaft bodies, four shaft bodies.Five shaft bodies and six shaft bodies rotate connection successively, and are connected with motor respectively, for when object is captured by motor-driven rotation.Two shaft bodies are long-armed, and four shaft body is galianconism, and the galianconism is the thick cylinder in middle thin two ends, and the damaged surface is provided with direction equally distributed reinforcement vertically.And be provided with long-armed and galianconism structure, particularly galianconism and realize that the lightweight of galianconism is set by setting reinforcement, while not influenceing the intensity of galianconism, the mitigation of galianconism weight reduces long-armed support pressure, and then ensures the crawl efficiency to weight.The characteristics of manipulator has lightweight, crawl weight efficiency is higher.
Description
Technical field
The utility model is related to robotic device technical field, the six axis robot device of more particularly to a kind of light-type.
Background technology
At present, the robot for industrially using in order to expanding machinery people job area and improve robot manipulating task it is flexible
Degree, mechanical mechanism when can use six axles.For example, in the Chinese utility model patent application of Application No. 201520381522.0,
Disclose a kind of six-joint robot.Artificial six axis structure of the machine, but its long-armed and galianconism is linear structure so that should
Robot capture weight when, the heavier-weight of the robot itself such as the galianconism of required carrying, long-armed and attachment structure.Grabbing
When taking weight, limited by self structure, it is impossible to the heavier object of crawl, and when crawl weight is needed, against merely
Extension galianconism, long-armed diameter also can further increase own wt, be unfavorable for capturing weight.Additionally, the robot profile knot
Structure is stiff, easily scrapes.
Utility model content
The purpose of this utility model is the six axis robot device for providing a kind of light-type, to solve existing six axles machine
Weight capacity existing for tool hand is by itself being limited the problem that larger, contour structures are easy to scrape.
To achieve the above object, the utility model provides a kind of six axis robot device of light-type, including base, one
Shaft body, two shaft bodies, three shaft bodies, four shaft bodies.Five shaft bodies and six shaft bodies, a shaft body are arranged on the bottom
It is connected on seat and with a spindle motor, two shaft body is rotated with a shaft body and is connected, and two shaft body and two axles
Motor is connected, and three shaft body is rotated with two shaft body and is connected, and three shaft body is connected with three spindle motors, described
Four shaft bodies and three shaft body are rotated and are connected, and four shaft body is connected with four spindle motors, five shaft body and institute
State four shaft bodies and rotate connection, and five shaft body is connected with five spindle motors, six shaft body turns with five shaft body
Connection is moved, and six shaft body is connected with six spindle motors, wherein, two shaft body is long-armed, and four shaft body is short
Arm, the galianconism is the thick cylinder in middle thin two ends, and the damaged surface is provided with direction equally distributed reinforcement vertically.
It is preferred that described long-armed and described galianconism be it is streamlined.
It is preferred that a diameter of its of the galianconism middle rotates the 1/2~2/ of the end diameter being connected with three shaft bodies
3。
It is preferred that it is described long-armed for streamlined, and one end sectional dimension being connected with a shaft body is more than itself and three axle sheets
Body phase one end even.
It is preferred that a spindle motor, two spindle motors, three spindle motors are external motor.
The utility model has the advantages that：
Turned successively by setting a shaft body, two shaft bodies, three shaft bodies, four shaft bodies, five shaft bodies and six shaft bodies
Connection is moved, and each axle is connected with motor respectively so that the manipulator has good scope of activities, and flexibility ratio is larger.
And be provided with long-armed and galianconism structure, particularly galianconism and realize that the lightweight of galianconism is set by setting reinforcement, while not shadow
The intensity of galianconism is rung, the mitigation of galianconism weight reduces long-armed support pressure, and then ensures the crawl efficiency to weight.The machinery
The characteristics of hand has lightweight, crawl weight efficiency is higher.
Brief description of the drawings
The six axis robot structural representation that Fig. 1 is provided for the utility model preferred embodiment.
Label declaration：1- bases；The shaft bodies of 2- mono-；The spindle motors of 3- mono-；The spindle motors of 4- bis-；The shaft bodies of 5- bis-；The axles of 6- tri- electricity
Machine；The shaft bodies of 7- tri-；The spindle motors of 8- tetra-；The shaft bodies of 9- tetra-；The shaft bodies of 10- five；The shaft bodies of 11- six；91- reinforcements.
Specific embodiment
Below with reference to accompanying drawing of the present utility model, the technical scheme in the utility model embodiment is carried out clear, complete
Whole description and discussion, it is clear that as described herein is only a part of example of the present utility model, is not whole realities
Example, based on the embodiment in the utility model, those of ordinary skill in the art institute on the premise of creative work is not made
The every other embodiment for obtaining, belongs to protection domain of the present utility model.
For the ease of the understanding to the utility model embodiment, make into one by taking specific embodiment as an example below in conjunction with accompanying drawing
The explanation of step, and each embodiment does not constitute the restriction to the utility model embodiment.
As shown in figure 1, the six axis robot device of the light-type that the present embodiment is provided, including base 1, a shaft body 2, two
Shaft body 5, three shaft bodies 7, four shaft bodies 9, five shaft bodies 10 and six shaft bodies 11, wherein, a shaft body 2 is arranged on base 1
It is upper and and be connected with a spindle motor 3, two shaft bodies 5 are connected with the rotation of a shaft body 2, and two shaft bodies 5 and the phase of two spindle motor 4
Even, three shaft bodies 7 and two shaft body 5 rotation is connected, and three shaft bodies 7 are connected with three spindle motors 6, four shaft bodies 9 and three axle sheets
Body 7 rotates connection, and four shaft bodies 9 are connected with four spindle motors 8, and five shaft bodies 10 are rotated with four shaft body 9 and are connected, and five axle sheets
Body 10 is connected with five spindle motor (not shown in figure 1)s, and six shaft bodies 11 and five shaft body 10 are rotated and be connected, and six shaft bodies 11 and
Six spindle motor (not shown in figure 1)s are connected.Structure those skilled in the art that connection is rotated between each axle can set as needed
Flange, rotating shaft or other rotation connection structures being connected with corresponding motor are set to, as long as it can be driven by corresponding motor
To drive corresponding axle to be rotated.
Wherein, two shaft bodies 5 are long-armed, and four shaft bodies 9 are galianconism, and galianconism is the thick cylinder in middle thin two ends, cylinder table
Face is provided with direction equally distributed reinforcement 9 vertically.The manipulator is strengthened by reinforcement 9 to the intensity of galianconism, can
Keep its bearing constant while with to being refined in the middle of galianconism, and then realize the light-weight design of manipulator, while
Also preferably meet the demand that the manipulator captures weight, improve the Grasping skill to weight.And the lightweight of own wt sets
Meter, also further accordingly improves the weight size of its weight that can be born, and the effect of the reduction of own wt is embodied in
Pair can capture in the increase of weight weight, crawl efficiency is effectively improved in the case where other parts structure is not changed.
Wherein, as shown in figure 1, the reinforcement in the present embodiment is provided only on galianconism middle rotates company with three shaft body 7
Between the end for connecing, the end of the galianconism other end is used to be connected with five shaft bodies and five spindle motors.Certainly, it is preferable to carry out at other
In example, reinforcement can be arranged on the two ends of galianconism, to provide more preferable light-weight design and load bearing effect.
Preferably, as shown in figure 1, above-mentioned long-armed and galianconism be it is streamlined.This fairshaped setting is not only caused
The manipulator is overall more attractive in appearance, at the same also cause the relatively existing robot in the manipulator surface more it is mellow and full it is smooth, avoid
When carrying heavy goods are carried out using the manipulator, manipulator itself scrapes other objects or is crawled thing, and then is effectively prevented from this
Manipulator is to other objects or is crawled thing and damages.
In a preferred embodiment, a diameter of its of galianconism middle rotates the 1/ of the end diameter being connected with three shaft bodies
The diameter of the galianconism middle in 2, namely the present embodiment is 1: 2 with the ratio of one end thereof diameter.This set causes this
Manipulator can have bigger bearing capacity on the basis of itself more lightweight setting, and by reinforcement to galianconism
Intensity strengthened so that the performance that it bears weight is very good.Certainly, in other preferred embodiments, in the middle of galianconism
A diameter of its at place rotates the 2/3 of the end diameter being connected with three shaft bodies, or by between middle diameter and end diameter
Ratio is set to any one value in the middle of 1/2~2/3, and those skilled in the art can unrestricted choice as needed.
In another preferred embodiment, long-armed (namely two shaft bodies 5) are streamlined, and be connected with a shaft body 2
End section size is more than one end that it is connected with three shaft bodies 7.The setting of this arm configuration long so that it is reducing own wt
While, can be three shaft bodies 7, four shaft bodies 9, five shaft bodies 10, six shaft bodies 11, corresponding connection knot between each axle
Structure and each motor provide more firm support force, equally play preferable support effect, the weight overall to improve manipulator
Thing crawl efficiency contributes.
In another preferred embodiment, a spindle motor 3, two spindle motors 4, three spindle motors 6 are external motor, this motor
The structure of external causes the manipulator due to electric machine external, and the housing of the joint being connected without each axle is amplified accommodating
Motor, and then cause that the overall outer dimensions of manipulator significantly reduce, while the motor of external is advantageously in radiating, it is to avoid
The temperature that motor work is caused too long is too high, influences manipulator service life.
The above, specific embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, any those skilled in the art in the technical scope that the utility model is disclosed, the deformation done to the utility model
Or replace, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with described
Scope of the claims is defined.
Claims (5)
1. the six axis robot device of a kind of light-type, it is characterised in that including base, a shaft body, two shaft bodies, three axle sheets
Body, four shaft bodies, five shaft bodies and six shaft bodies, a shaft body are arranged on the base and are connected with a spindle motor,
Two shaft body is rotated with a shaft body and is connected, and two shaft body is connected with two spindle motors, three shaft body
Rotated with two shaft body and be connected, and three shaft body is connected with three spindle motors, four shaft body and the three axles sheet
Body rotates connection, and four shaft body is connected with four spindle motors, and five shaft body is rotated with four shaft body and is connected, and
Five shaft body is connected with five spindle motors, and six shaft body is rotated with five shaft body and is connected, and six shaft body
It is connected with six spindle motors, wherein, two shaft body is long-armed, and four shaft body is galianconism, and the galianconism is middle thin by two
The thick cylinder in end, the damaged surface is provided with direction equally distributed reinforcement vertically.
2. the six axis robot device of light-type according to claim 1, it is characterised in that described long-armed and described galianconism
It is streamlined.
3. the six axis robot device of light-type according to claim 1 and 2, it is characterised in that the galianconism middle
A diameter of its 1/2~2/3 of the end diameter being connected is rotated with three shaft bodies.
4. the six axis robot device of light-type according to claim 1, it is characterised in that described long-armed for streamlined,
And one end sectional dimension being connected with a shaft body is more than one end that it is connected with three shaft bodies.
5. the six axis robot device of light-type according to claim 1 a, it is characterised in that spindle motor, two axles
Motor, three spindle motors are external motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621420327.5U CN206296900U (en) | 2016-12-22 | 2016-12-22 | The six axis robot device of light-type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621420327.5U CN206296900U (en) | 2016-12-22 | 2016-12-22 | The six axis robot device of light-type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296900U true CN206296900U (en) | 2017-07-04 |
Family
ID=59204296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621420327.5U Expired - Fee Related CN206296900U (en) | 2016-12-22 | 2016-12-22 | The six axis robot device of light-type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296900U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719436A (en) * | 2019-03-19 | 2019-05-07 | 安徽机电职业技术学院 | A kind of welding robot |
-
2016
- 2016-12-22 CN CN201621420327.5U patent/CN206296900U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719436A (en) * | 2019-03-19 | 2019-05-07 | 安徽机电职业技术学院 | A kind of welding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170704 Termination date: 20191222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |