CN207290094U - A kind of six-joint robot system - Google Patents
A kind of six-joint robot system Download PDFInfo
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- CN207290094U CN207290094U CN201721114397.2U CN201721114397U CN207290094U CN 207290094 U CN207290094 U CN 207290094U CN 201721114397 U CN201721114397 U CN 201721114397U CN 207290094 U CN207290094 U CN 207290094U
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Abstract
The utility model discloses a kind of six-joint robot system, including：Rack, six axis robot and control system, six axis robot includes base, executing agency and the first joint being sequentially connected successively, second joint, 3rd joint, 4th joint, 5th joint and the 6th joint, first joint includes the first housing, first servomotor and first harmonic gear reducer, second joint includes having the first master arm and the second housing of the first slave arm and the second servomotor and second harmonic gear reducer, 3rd joint includes the 3rd housing, 3rd servomotor and third harmonic gear reducer, 4th joint includes the 4th housing, 4th servomotor and the 4th harmonic wave speed reducing machine, 5th joint includes the 5th housing, 5th servomotor and the 5th harmonic wave speed reducing machine, 6th joint includes the 5th housing, 6th servomotor and the 6th harmonic wave speed reducing machine.The utility model can improve the work efficiency and precision of six-joint robot system.
Description
Technical field
Automaton technical field is the utility model is related to, more particularly to a kind of six-joint robot system.
Background technology
Six-joint robot system is as a kind of automatic control device, typically by control system, rack and six axis machines
Tool hand is formed.Wherein, for six axis robot as a kind of automatic pilot, it can imitate human hand under control of the control system
Some actions with arm by fixed routine being captured, carried object or operation instrument.
Six axis robot is mostly jointed robot structure, and the brachium of six axis robot can be made to reach certain length, and can
With in three dimensions free movement to perform operation.But the driving in most of each joints of six axis robot is by same at present
Step wheel with synchronous belt couple realize, in this way, also cause six axis robot not only bradykinesia and also entirety stationarity it is low, from
And also reduce the work efficiency and precision of six-joint robot system.
Utility model content
The problem of being existing six-joint robot system work efficiency and low precision to be solved in the utility model.
To solve the above-mentioned problems, the utility model provides a kind of six-joint robot system, including：Rack, be fixed on institute
The six axis robot in rack and the control system for controlling the six axis robot are stated, the six axis robot includes bottom
Seat, executing agency and the first joint being sequentially connected successively, second joint, the 3rd joint, the 4th joint, the 5th joint and the
Six joints, first joint include being articulated in the first servomotor of the first housing on the base and drive connection and
First harmonic gear reducer, forms for first servomotor and the first harmonic between the base and first housing
First installation position of gear reducer installation；The second joint include the second housing with the first master arm and the first slave arm with
And the second servomotor and second harmonic gear reducer being drivingly connected, the other end of first housing lead in being configured as first
Bearing block, one end of first master arm and one end of first slave arm are rotatablely connected with described first respectively
The both sides of axis bearing, formed between axis bearing in first master arm and described first for second servomotor and
Second installation position of second harmonic gear reducer installation；3rd joint includes the 3rd servo of the 3rd housing and drive connection
Motor and third harmonic gear reducer, axis bearing during one end of the 3rd housing is configured as second, and respectively with described
The other end of one master arm, the other end of first slave arm are hinged, and first master arm is held with axis in described second
The 3rd installation position for the 3rd servomotor and third harmonic gear reducer installation is formed between seat；4th joint
Including the 4th housing and the 4th servomotor of drive connection and the 4th harmonic wave speed reducing machine, one end of the 4th housing and institute
The other end pivotal fit of the 3rd housing is stated, and is formed supply the 4th servo point solution and the 4th harmonic reduction between the two
4th installation position of machine installation；5th joint is humorous including the 5th housing and the 5th servomotor of drive connection and the 5th
Ripple gear reducer, axis bearing during one end of the 5th housing is configured as the 3rd, the other end of the 4th housing are equipped with hinge
The second master arm and the second slave arm of axis bearing both sides in the described 3rd are connected to, in second master arm and the described 3rd
The 5th installation position installed for the 5th servomotor and the 5th harmonic wave speed reducing machine is formed between axis bearing；Described 6th closes
Section includes the 6th housing and the 6th servomotor of drive connection and the 6th harmonic wave for being articulated in the 5th housing other end
Gear reducer, the executing agency are sequentially connected in the other end of the 6th housing, and are formed watched for the described 6th between the two
Take the 6th installation position of motor and the 6th harmonic wave speed reducing machine installation.
Preferably, the six axis robot further includes the heat sink on the base.
Preferably, the six axis robot is further included is used to fix plug-in device on the 5th housing
Installing plate.
Preferably, the six-joint robot system further includes the teaching box in the rack.
Preferably, the base is made using gray cast iron.
Preferably, first housing, the 3rd housing, the 5th housing using aluminium alloy make and
Into.
Preferably, second housing also has the horizontal stroke for connecting first master arm and first slave arm
Bar, forms the I-shaped skeleton of second housing between the cross bar and first master arm, first slave arm.
Preferably, the I-shaped skeleton is made using aluminium alloy.
Preferably, second housing, which further includes, is covered on first master arm and first slave arm
The first cover board and the second cover board, first cover board and second cover board are made using ABS plastic.
Preferably, the 4th housing have Y-shaped skeleton and be covered in second master arm with it is described
The 3rd cover board and the 4th cover board on second slave arm, the Y-shaped skeleton are made by aluminium alloy, the 3rd cover board and
4th cover board is made using ABS plastic.
Compared with prior art, the beneficial effects of the utility model are：
The six-joint robot system of the utility model embodiment, due to each intra-articular driving mechanism of its six axis robot
Be by servomotor and harmonic reducing mechanism into, therefore, can be greatly enhanced the six axis robot running speed and
Precision, and the second joint due to having a great influence in the six axis robot to its brachium and the 4th joint employ side
The structure of side auxiliary is driven, and hence it is also possible to so that stationarity of the six axis robot in operation process, so that six
The work efficiency and precision of axis robot system improve.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the six-joint robot system in the utility model embodiment；
Fig. 2 is the overall structure diagram of the six axis robot in the utility model embodiment；
Fig. 3 is the half sectional view of the six axis robot in the utility model embodiment；
Fig. 4 is the sectional view with base and the first joint in the utility model embodiment；
Fig. 5 is axis bearing in carrying first in the utility model embodiment, second joint, the 3rd driving mechanism and the
The sectional view of axis bearing in two；
Fig. 6 is with logical in the 3rd housing, the 4th joint, the 5th driving mechanism and the 3rd in the utility model embodiment
The sectional view of bearing block；
Fig. 7 is the sectional view with the 5th housing and the 6th joint in the utility model embodiment；
Fig. 8 is the structure diagram of the first housing in the utility model embodiment；
Fig. 9 is the structure diagram of the I-shaped skeleton of the second housing in the utility model embodiment；
Figure 10 is the structure diagram of the 3rd housing in the utility model embodiment；
Figure 11 is the structure diagram of the Y-shaped skeleton of the 4th housing in the utility model embodiment；
Figure 12 is the structure diagram of the 5th housing in the utility model embodiment.
Wherein, 100, six axis robot；200th, rack；300th, heat sink；400th, installing plate；500th, electric cabinet；600th, match somebody with somebody
Pouring weight；1st, base；2nd, the first joint；21st, the first housing；22nd, the first servomotor；23rd, first harmonic gear reducer；24th, first
Middle axis bearing；25th, angular contact bearing；26th, radial reinforcing rib；3rd, second joint；31st, the second housing；32nd, the second servo electricity
Machine；33rd, second harmonic gear reducer；34th, the first master arm；341st, the first cover board；35th, the first slave arm；351st, the second cover board；
36th, cross bar；37th, the first arc reinforcing rib；38th, the second arc reinforcing rib；39th, I-shaped skeleton；4th, the 3rd joint；41st, the 3rd
Housing；42nd, the 3rd servomotor；43rd, third harmonic gear reducer；44th, axis bearing in second；5th, the 4th joint；51st, the 4th shell
Body；52nd, the 4th servomotor；53rd, the 4th harmonic wave speed reducing machine；54th, base portion；55th, the second master arm；551st, the 3rd cover board；56th,
Two slave arms；561st, the 4th cover board；57th, Y-shaped skeleton；6th, the 5th joint；61st, the 5th housing；62nd, the 5th servomotor；63、
5th harmonic wave speed reducing machine；64th, axis bearing in the 3rd；7th, the 6th joint；71st, the 6th housing；72nd, the 6th servomotor；73rd,
Six harmonic wave speed reducing machines；8th, executing agency's mounting flange.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not intended to limit the scope of the present invention.
As shown in Figure 1, a kind of six-joint robot system of the preferred embodiment in the utility model, including rack 200, it is fixed on
Six axis robot 100 in the rack 200 and the control system for controlling the six axis robot 100, wherein, the control
System processed can not only include the electric cabinet 500 and teaching box being arranged in the rack 200, but also can include such as display screen
Other equipment.And the simple program built in the control system can realize the control to the six axis robot 100.This
Outside, clump weight 600 can also be set in the bottom of the rack 200, to improve the stabilization of six-joint robot system at work
Property.
As shown in Figures 2 and 3, the six axis robot 100 can include base 1, executing agency and successively transmission connect
The first joint 2, second joint 3, the 3rd joint 4, the 4th joint 5, the 5th joint 6 and the 6th joint 7 connect, wherein, described
The output terminal in six joints 7 is connected with the executing agency.
Above-mentioned six axis robot 100 passes through the first joint 2, second joint 3, the 3rd joint 4, described
Cooperation between 5th joint 6 and the 6th joint 7, can make the six axis robot 100 form jointed robot structure,
And there are 6 frees degree, and it is exemplary, in 6 frees degree, wherein 3 positions that may be used to determine executing agency,
And the other three may be used to determine the direction (or posture) of executing agency, and executing agency can adjust as needed, such as
Can be the power tool of welding gun, sucker or spanner etc, naturally it is also possible to be other instruments.
Fixed mechanism of the base 1 as six axis robot 100, it is the spine of whole six axis robot 100, is six
The movement of axis robot 100 provides safeguard, it is therefore necessary to possesses the firm, characteristic of antidetonation.Exemplary, the base 1 can be with
Using the high gray cast iron machine-shaping of weakening, to bear and absorb the vibration that robot is produced in motion process, avoid deforming.
As shown in figure 4, first joint 2 is used as first turning joint, its process to work in six axis robot 100
It is middle to need to bear the rotary inertia caused by other joints, it is therefore desirable to ensure its rigid.It is described in the present embodiment
First joint 2 can include the first driving mechanism and the first housing 21 being articulated on the base 1.
Wherein, as shown in figure 8, first housing 21 can use the material of such as aluminium alloy to pass through essence casting time processing
Shaping, in this way, can greatly ensure the rigid of first housing 21, and reduces the weight of itself of the first housing 21
Amount.In addition, the radiation of the form as heronsbill can be set on first housing 21 contact surface opposite with the base 1
Shape reinforcing rib 26, so, it can be ensured that the equal uniform force in 21 everywhere of the first housing, avoid first housing 21 because by
Power is uneven and deformation occurs and even ruptures.Certainly, in order to be connected with the second joint 3, first housing 21 is away from described
Axis bearing 24 during one end of first base 1 is configured as first.The first bottom bracket bearing seat as a result of closed loop configuration, because
Notch sensitive is not present in this, so as to it is difficult to produce deformation.
First driving mechanism can be made of the first servomotor 22 and first harmonic gear reducer 23 being drivingly connected,
And the first installation position for first driving mechanism installation is formed between the base 1 and first housing 21.Specifically,
First installation position can do description below, be watched for example, can be set in the inner cavity of the base 1 for fixing described first
The first mounting flange of motor 22 and the steel wheel of the first harmonic gear reducer 23 is taken, sets and is used in the inner cavity of the base 1
First output flange of the flexbile gear of the fixed first harmonic gear reducer 23, and first housing 21 and the base 1 it
Between, i.e., joint sets angular contact bearing 25, so that first servomotor 22, the first harmonic gear reducer 23 can be with
Form direct coupled structure between the base 1, in this way, not only can to avoid the first joint 2 in transmission process caused metal
Particle, and ability to bear of the base 1 to rotary inertia caused by other joints can also be further improved, avoid sending out
Raw deformation.
As shown in figure 5, the second joint 3 is used as second turning joint, it directly affects the six axis robot 100
Arm length degree, correspondingly, and be easiest to the joint for being influenced and being deformed upon by rotary inertia, therefore, need to possess structure
The features such as rigidity is strong, body lightweight.The second joint 3 in the present embodiment can include the second driving mechanism and second shell
Body 31.
Wherein, as shown in figure 9, second housing 31 has the first master arm 34 and the first slave arm 35 to match,
First master arm 34 and the symmetrical both sides for being arranged at axis bearing 24 in described first of first slave arm 35, and
And one end of one end of first master arm 34 and first slave arm 35 respectively with axis bearing 24 in described first
Both sides are hinged, so that first housing 21 axis bearing 24 can rotate in described first.And preferably, can also make
The cross bar 36 for connecting first master arm 34 and first slave arm 35 is added on second housing 31, and makes the horizontal stroke
The I-shaped skeleton 39 of second housing 31 is formed between bar 36 and first master arm 34, first slave arm 35.
So as to ensure the rigidity of second housing 31.Certainly, in order to strengthen the cross bar 36 and first master arm 34, described the
Bonding strength between one slave arm 35, can also connect the first arc between the cross bar 36 and first master arm 34
Reinforcing rib 37, connects the second arc reinforcing rib 38 between the cross bar 36 and first slave arm 35.And the I-shaped bone
Frame 39 can use the material of such as aluminium alloy to be processed and formed at one time by essence casting, in this way, can greatly ensure the I-shaped
The rigid of type skeleton 39, and reduce its weight.Exemplary, the I-shaped skeleton 39 is in moulding process, Ke Yixuan
With die casting one-shot forming technique, to ensure that the compactness that material combines, pole without sand holes, are improved in the inside of the I-shaped skeleton 39
Ensure the rigid of second housing 31 greatly, avoid deforming upon.
It is exemplary of course for avoiding dust from polluting, can also be in 34 and first slave arm 35 of the first master arm
The first cover board 341 of upper capping and the second cover board 351.And preferably, first cover board 341 and second cover board 351 can be with
It is made using ABS plastic, to reduce the weight of second joint.
Also formed between axis bearing 24 in first master arm 34 and described first and pacified for second driving mechanism
Second installation position of dress.Second driving mechanism can be by the second servomotor 32 and second harmonic gear reducer that are drivingly connected
33 are formed.Specifically, second installation position can do description below, for example, can be in one end of first master arm 34
The second mounting flange for being used for fixing second servomotor 32 and the steel wheel of the second harmonic gear reducer 33 is set, in institute
State the side that axis bearing 24 is opposite with first master arm 34 in first and set and be used to fix the second harmonic gear reducer
Second output flange of 33 flexbile gear so that first driving mechanism and first housing 21, second housing 31 it
Between can be fixed using direct coupled structure, to ensure the axis of first servomotor 22 and the first harmonic gear reducer 23, hole
Dock, in this way, can not only improve its precision, but also second housing 31 can also be eliminated in the axis in described first
Caused metallic particles in 24 rotation process of bearing, so as to extend the service life of the second joint 3.
The second joint 3 is connected between first joint 2 and the 3rd joint 4, therefore the second joint 3
Movement it is directly related with two joints.3rd joint 4 is used as the 3rd turning joint, it can include the 3rd driving machine
Structure and the 3rd housing 41, wherein, as shown in Figure 10, the 3rd housing 41 can use the material of such as aluminium alloy to pass through essence casting
It is processed and formed at one time, in this way, can greatly ensure the rigid of the 3rd housing 41, and reduces its weight.Described
Axis bearing 44 during one end of three housings 41 can be configured as second, the both sides of the axis bearing 44 in second respectively with it is described
The other end of first master arm 34, the other end of first slave arm 35 are hinged, and axis bearing 44 is gone back in described second
The 3rd installation position for the 3rd driving mechanism installation is formed between first master arm 34.
Specifically, the 3rd installation position can do description below, for example, the 3rd driving mechanism can include driving
The 3rd servomotor 42 and third harmonic gear reducer 43 of connection, and the other end of first master arm 34 can set and be used for
The 3rd mounting flange of the 3rd servomotor 42 and the steel wheel of the third harmonic gear reducer 43 is fixed, is led in described second
The side opposite with first master arm 34 of bearing block 44 can be set for fixing the soft of the third harmonic gear reducer 43
3rd output flange of wheel, so that can be between the 3rd driving mechanism and the 3rd housing 41, second housing 31
Fixed using direct coupled structure, to ensure that the axis of the 3rd servomotor 42 and the third harmonic gear reducer 43, hole dock,
In this way, can not only improve its precision, but also the 3rd housing 41 caused metal in rotation process can also be eliminated
Particle, so as to extend the service life of the second joint 3.In addition, above-mentioned setting can also make the second joint 3 have one
Side drives, the design feature of side auxiliary, so as to not only ensure that the second joint 3 even six axis robot 100 is whole
The stationarity of body, but also the six axis robot 100 can be eliminated because of rotary inertia and caused by deformation problems so that with institute
Base 1 is stated together so that deformation is less likely to occur six axis robot 100.
Further, as shown in fig. 6, the 4th joint 5 is used as the 4th turning joint, can be set to include
4th driving mechanism and the 4th housing 51, and it is in as shown in figure 11 Y-shaped skeleton 57 to have the 4th housing 51, and be somebody's turn to do
Y-shaped skeleton 57 can use the material of such as aluminium alloy to be processed and formed at one time by essence casting, in this way, can greatly ensure institute
The rigid of Y-shaped skeleton 57 is stated, and reduces the 4th housing 51 weight of itself.
During assembling, one end of the 4th housing 51 is configured as base portion 54, and the other end of the 4th housing 51 is set
There is the second master arm 55 and the second slave arm 56 stretched out from the base portion 54, wherein, the base portion 54 is articulated in described
The other end of three housings 41, and formed between the 3rd housing 41 and installed for the 4th of the 4th driving mechanism installation
Position.Specifically, the 4th installation position can do description below, for example, the 4th driving mechanism can include being drivingly connected
The 4th servomotor 52 and the 4th harmonic wave speed reducing machine 53, and can be set on the 3rd housing 41 for fixing the described 4th
4th mounting flange of the steel wheel of servomotor 52 and the 4th harmonic wave speed reducing machine 53, can set on the base portion 54 and be used for
4th output flange of the flexbile gear of fixed 4th harmonic wave speed reducing machine 53, so that the 4th driving mechanism and the 3rd shell
It can be fixed between body 41, the 4th housing 51 using direct coupled structure, to ensure the 4th servomotor 52 and described the
The axis of four harmonic wave speed reducing machines 53, hole are docked, in this way, can not only improve its precision, but also can also eliminate the 4th shell
The caused metallic particles in rotation process of body 51, so as to extend the service life in the 3rd joint 4.
It is exemplary of course for avoiding dust from polluting, can also be in 55 and second slave arm 56 of the second master arm
The 3rd cover board 551 of upper capping and the 4th cover board 561.And preferably, the 3rd cover board 551 and the 4th cover board 561 can be with
It is made using ABS plastic, to reduce the weight of the 4th housing 51.
As shown in fig. 7, the 5th joint 6 is used as the 5th turning joint, the 5th driving mechanism and the 5th can be included
Housing 61, wherein, as shown in figure 12, axis bearing 64 during one end of the 5th housing 61 is configured as the 3rd, and described
The end with second active wall, the end of second slave arm 56 are hingedly matched somebody with somebody respectively for the both sides of axis bearing 64 in three
Close, and form for the 5th driving mechanism installation in second master arm 55 and the described 3rd between axis bearing 64
Five installation positions.And the 5th housing 61 can use the material of such as aluminium alloy to be processed and formed at one time by essence casting, in this way, can
Greatly to ensure the rigid of the 5th housing 61, and reduce its weight.Further, it is also possible on the 5th housing
Set and be used to fix plug-in device, such as the installing plate 400 of industrial camera, oil pipe and tracheae etc..
Specifically, the 5th installation position can do description below, for example, the 5th driving mechanism can include driving
The 5th servomotor 62 and the 5th harmonic wave speed reducing machine 63 of connection, and can be set on second master arm 55 for fixing institute
State the 5th mounting flange of the 5th servomotor 62 and the steel wheel of the 5th harmonic wave speed reducing machine 63, axis bearing in the described 3rd
64 sides opposite with second master arm 55 can set of the flexbile gear for fixing the 5th harmonic wave speed reducing machine 63
Five output flanges, so as to can be used between the 5th driving mechanism and the 4th housing 51, the 5th housing 61 straight
Link structure to fix, to ensure that the axis of the 5th servomotor 62 and the 5th harmonic wave speed reducing machine 63, hole dock, in this way,
Its precision can be not only improved, but also the 5th housing 61 caused metallic particles in rotation process can also be eliminated,
So as to extend the service life in the 4th joint 5.In addition, above-mentioned setting can also be such that the 4th joint 5 is driven with side
It is dynamic, the design feature of side auxiliary, so that not only ensure that the overall stationarity in operation process in the 4th joint 5, and
And the 4th joint 5 can also be eliminated because of rotary inertia and caused by deformation problems, so as to further improve the six axis machine
The mechanical strength of tool hand 100, makes it that deformation to be less likely to occur.
As the turning joint being connected with end effector mechanism, it can include the 6th driving mechanism in 6th joint 7
With the 6th housing 71, wherein, the 6th housing 71 is articulated in the other end of the 5th housing 61, and with the 5th housing
The 6th installation position for the 6th driving mechanism installation is formed between 61.Specifically, the 6th installation position can be done as
Lower explanation, for example, the 6th driving mechanism can include the 6th servomotor 72 and the 6th harmonic wave speed reducing machine being drivingly connected
73, and can be set on the 5th housing 61 for fixing the 6th servomotor 72 and the 6th harmonic wave speed reducing machine 73
Steel wheel the 6th mounting flange, the 6th housing 71 side opposite with the 5th housing 61 can be set for fixing
6th output flange of the flexbile gear of the 6th harmonic wave speed reducing machine 73, so that the 6th driving mechanism and the 5th housing
61st, can be fixed between the 6th housing 71 using direct coupled structure, to ensure the 6th servomotor 72 and the described 6th
The axis of harmonic wave speed reducing machine 73, hole are docked, in this way, can not only improve its precision, but also can also eliminate the 6th housing
71 in rotation process caused metallic particles, so as to extend the service life in the 5th joint 6.In addition, the described 6th
The output terminal in joint 7 can also set executing agency's mounting flange 8, in order to be connected with executing agency.
Above-mentioned six-joint robot system, since each intra-articular driving mechanism of its six axis robot 100 is by watching
Take motor and harmonic reducing mechanism into, therefore, the running speed and precision of the six axis robot 100 can be greatly enhanced,
And since 3 and the 4th joint 5 of second joint having a great influence in the six axis robot 100 to its brachium employs side
The structure of side auxiliary is driven, and hence it is also possible to so that stationarity of the six axis robot 100 in operation process, so that
The work efficiency and precision for making six-joint robot system improve.
And due to the selection of each joint making material, in the case where ensureing the mechanical strength of the six axis robot 100,
It can also make the weight saving in each joint, to reduce the load produced by case weight to each motor, so as to further carry
The performance of the high six axis robot 100, makes the six-joint robot system to work with efficient stable.
It is, of course, also possible on the base 1 set heat sink 300, with the inside to the six axis robot 100 into
Row cooling, such as the internal temperature of the six axis robot 100 can be made to be maintained at less than 40 DEG C, to ensure each intra-articular servo
Motor will not produce failure because of overheat, so as to further improve the running speed of the six axis robot 100, improve six axis machines
The work efficiency and precision of device people's system.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (10)
1. a kind of six-joint robot system, including：Rack, the six axis robot being fixed on the rack and described for controlling
The control system of six axis robot, it is characterised in that the six axis robot include base, executing agency and successively transmission connect
The first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint connect, first joint include pivot
The first housing and the first servomotor of drive connection and first harmonic gear reducer being connected on the base, the base with
The first installation position for first servomotor and first harmonic gear reducer installation is formed between first housing；Institute
Stating second joint includes having the first master arm and the second housing of the first slave arm and the second servomotor of drive connection
With second harmonic gear reducer, axis bearing during the other end of first housing is configured as first, first master arm
One end of one end and first slave arm is rotatablely connected with the both sides of axis bearing in described first respectively, and described first
The installed for second servomotor and second harmonic gear reducer is formed in master arm and described first between axis bearing
Two installation positions；3rd joint includes the 3rd housing and the 3rd servomotor and third harmonic gear reducer of drive connection,
Axis bearing during one end of 3rd housing is configured as second, and the other end with first master arm, described respectively
The other end of first slave arm is hinged, and is formed between axis bearing in first master arm and described second and is watched for the described 3rd
Take motor and the 3rd installation position of third harmonic gear reducer installation；4th joint includes the 4th housing and driving connects
The 4th servomotor connect and the 4th harmonic wave speed reducing machine, one end of the 4th housing are pivotally connected with the other end of the 3rd housing
Coordinate, and form the 4th installation position installed for the 4th servo point solution and the 4th harmonic wave speed reducing machine between the two；Institute
Stating the 5th joint includes the 5th housing and the 5th servomotor of drive connection and the 5th harmonic wave speed reducing machine, the 5th housing
One end be configured as the 3rd in axis bearing, the other end of the 4th housing is equipped be articulated with the described 3rd in axis bearing
The second master arm and the second slave arm of both sides, form between axis bearing in second master arm and the described 3rd described in supplying
5th servomotor and the 5th installation position of the 5th harmonic wave speed reducing machine installation；6th joint includes being articulated in the 5th shell
The 6th housing and the 6th servomotor of drive connection and the 6th harmonic wave speed reducing machine of the body other end, executing agency's transmission
The other end of the 6th housing is connected to, and is formed supply the 6th servomotor and the 6th harmonic reduction between the two
6th installation position of machine installation.
2. six-joint robot system as claimed in claim 1, it is characterised in that the six axis robot is further included arranged on described
Heat sink on base.
3. six-joint robot system as claimed in claim 1, it is characterised in that the six axis robot is further included arranged on described
It is used for the installing plate for fixing plug-in device on 5th housing.
4. six-joint robot system as claimed in claim 1, it is characterised in that the six-joint robot system, which further includes, to be arranged on
Teaching box in the rack.
5. six-joint robot system as claimed in claim 1, it is characterised in that the base is made using gray cast iron.
6. six-joint robot system as claimed in claim 1, it is characterised in that first housing, the 3rd housing, institute
The 5th housing is stated to be made using aluminium alloy.
7. six-joint robot system as claimed in claim 1, it is characterised in that second housing, which also has, connects described the
The cross bar of one master arm and first slave arm, shape between the cross bar and first master arm, first slave arm
Into the I-shaped skeleton of second housing.
8. six-joint robot system as claimed in claim 7, it is characterised in that the I-shaped skeleton is made of aluminium alloy
Form.
9. six-joint robot system as claimed in claim 8, it is characterised in that second housing further include be covered in it is described
First master arm and the first cover board and the second cover board on first slave arm, first cover board and second cover board are equal
It is made using ABS plastic.
10. six-joint robot system as claimed in claim 1, it is characterised in that the 4th housing have Y-shaped skeleton with
And be covered in the 3rd cover board and the 4th cover board on second master arm and second slave arm, the Y-shaped skeleton by
Aluminium alloy is made, and the 3rd cover board and the 4th cover board are made using ABS plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968343A (en) * | 2019-04-16 | 2019-07-05 | 广东省智能制造研究所 | A kind of wheel hub die casting carrying six-shaft industrial robot |
| CN113418465A (en) * | 2021-06-08 | 2021-09-21 | 长春汽车工业高等专科学校 | Three-dimensional scanning device and method based on laser triangulation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968343A (en) * | 2019-04-16 | 2019-07-05 | 广东省智能制造研究所 | A kind of wheel hub die casting carrying six-shaft industrial robot |
| CN113418465A (en) * | 2021-06-08 | 2021-09-21 | 长春汽车工业高等专科学校 | Three-dimensional scanning device and method based on laser triangulation method |
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