CN208880719U - A kind of nested type gear transmission structure for six-shaft industrial robot - Google Patents
A kind of nested type gear transmission structure for six-shaft industrial robot Download PDFInfo
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- CN208880719U CN208880719U CN201821518015.7U CN201821518015U CN208880719U CN 208880719 U CN208880719 U CN 208880719U CN 201821518015 U CN201821518015 U CN 201821518015U CN 208880719 U CN208880719 U CN 208880719U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 30
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- 238000005452 bending Methods 0.000 description 1
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Abstract
The utility model relates to Industrial Robot Technology fields, more particularly to a kind of nested type gear transmission structure for six-shaft industrial robot, including five axis transmission axles, five axis speed reducers, six axis transmission axles and six axis speed reducers, five axis transmission axles and six axis transmission axles are concentric shafts, five axis transmission axles are hollow rotating shaft, six axis transmission axles are placed in inside five axis transmission axles, five axis transmission axles are linked by the axis speed reducer of transmission mechanism one and five, six axis transmission axles are linked by the axis speed reducer of transmission mechanism two and six, pass through the postposition of five axis, six spindle motor, meet the rotational freedom of five axis, six axis, realize that motor driven individually controls five or six axis, and it is compact-sized, it runs smoothly, therefore the marketing of the utility model is higher.
Description
Technical field
The utility model relates to Industrial Robot Technology fields, and in particular to a kind of the 5th the 6th spindle motor of six-joint robot
The drive mechanism of postposition.
Background technique
As enterprises using the labor cost rises steadily, industrial robot gradually comes into the visual field of the public.Industrial robot is face
To the multi-joint manipulator or multivariant installations of industrial circle, it is to execute work automatically, and lean on self power
A kind of machine of various functions is realized with control ability.Six-shaft industrial machine controls six freedom by six joint tandem compounds
Degree has very big flexibility and universal, can freely be moved in three-dimensional space, therefore be widely used
In fields such as plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry, drastically reduce worker's
Working strength improves production efficiency, realizes automated production.
Currently, the five, the 6th axis of most of six-shaft industrial robots all use motor and speed reducer directly in joint
The mode of driving, such as application No. is 201620947806.6 Chinese patents to disclose a kind of six-shaft industrial robot, the machine
Servo motor in people is mounted on joint, and the input terminal of each harmonic speed reducer in mechanical principal arm is all electric with the servo in the joint
Machine exports axis connection, and the fixing end of each harmonic wave speed reducing machine is all connect with the mechanical arm in last joint, the output of each harmonic wave speed reducing machine
End is all connect with the mechanical arm in the joint, not only make in long-term cycle operation inside cable distorted by multiple bending and
Damage, while also increasing the load of three spindle motors, and due to the limitation of space and appearance, so that five axis, six spindle motors
Selection is limited, to reduce the nominal load of five axis, six axis.
Utility model content
Purpose of the utility model is to solve the above problems, provide a kind of nesting for six-shaft industrial robot
Formula gear transmission structure.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of nested type gear transmission structure for six-shaft industrial robot, including five axis transmission axles, five axis speed reducers,
Six axis transmission axles and six axis speed reducers, five axis transmission axles and six axis transmission axles are concentric shafts, and the five axis transmission axle is hollow turn
Moving axis, the six axis transmission axle are placed in inside the five axis transmission axle, and the five axis transmission axle passes through the axis of transmission mechanism one and five
Speed reducer linkage, the six axis transmission axle are linked by the axis speed reducer of transmission mechanism two and six.
Further, the transmission mechanism one includes five shaft bevel gears of shaft bevel gears one and five two.
Further, the transmission mechanism two includes six shaft bevel gears one, six shaft bevel gears two, spur gear one, spur gear
Two, six shaft bevel gears three and six shaft bevel gears four.
Further, five axis connection axis are equipped between the five axis transmission axle and five shaft bevel gears one.
Further, it is additionally provided with six axis transmission short axle one, six shaft bevel gears two transmit short axle one by six axis
It links with the spur gear one.
Further, it is additionally provided with six axis transmission short axle two, the spur gear two transmits short axle two and institute by six axis
State the linkage of six shaft bevel gears three.
Compared with the prior art, a kind of nested type gear transmission structure for six-shaft industrial robot of the utility model has
Have it is following the utility model has the advantages that
One, the postposition of five axis, six spindle motor meets the rotational freedom of five axis, six axis, realizes motor driven to five or six axis lists
Solely control；
Two, six axis transmission axles are linked in inside five axis transmission axles, more transmission in small space, compact-sized, run smoothly, pass
It is efficiency of movement and high transmission accuracy, accurate, reliable, while having the characteristics that small in size, shape is light and handy beautiful；
Three, the center of gravity of robot moves back, and improves structural stability, is transferred power to accordingly by a series of transmission devices
Joint, alleviates the self weight of robot architecture end, and overall load ability is stronger.
Detailed description of the invention
Fig. 1 is the utility model five, six axis power transmission structure figures；
In figure: six axis transmission axle of 1-, five axis transmission axle of 2-, five axis connection axis of 3-, five shaft bevel gears one of 4-, five axial cone tooth of 5-
Wheel two, five axis speed reducer of 6-, six shaft bevel gears one of 7-, six shaft bevel gears two of 8-, six axis of 9- transmission short axle one, 10- spur gear one,
11- spur gear two, six axis of 12- transmit short axle two, six shaft bevel gears three of 13-, six shaft bevel gears four of 14-, six axis speed reducer of 15-.
Specific embodiment
Explanation is further described to the technical solution of the utility model below by specific embodiment.
As shown in Figure 1, a kind of nested type gear transmission structure for six-shaft industrial robot, including five axis transmission axles 2,
Five axis speed reducers 6, six axis transmission axles 1 and six axis speed reducers 15, five axis transmission axles 2 and six axis transmission axles 1 are concentric shafts, and five axis pass
Defeated axis 2 is hollow rotating shaft, and six axis transmission axles 1 are placed in inside five axis transmission axles 2.Five axis transmission axles 2 by transmission mechanism one with
The linkage of five axis speed reducers 6, six axis transmission axles 1 are linked by the axis of transmission mechanism two and six speed reducer 15.Wherein transmission mechanism one wraps
Include five axis transmission axles 2, five axis connection axis 3, five shaft bevel gears 1, five shaft bevel gears 25 and five axis speed reducers 6.Transmission mechanism
Two include six axis transmission axles 1, six shaft bevel gears 1, six shaft bevel gears 8, six axis transmission short axle 1, spur gear 1, spur gear
2 11, six axis transmit short axle 2 12, six shaft bevel gears 3 13, six shaft bevel gears 4 14 and six axis speed reducers 15.The transmission of six axis
Axis 1 is linked in the fitting that more transmission structures in small space are realized inside five axis transmission axles 2, and five axis and six axis power pass through gear
It organizes while transmitting, do not interfere with each other, and can ensure that the accuracy of power transmitting.
Axis transmission axle 2 is connect by five shaft bevel gears 1, five shaft bevel gears 25 with five axis speed reducers 6, six axis transmission axles 1
Pass through six shaft bevel gears 1, six shaft bevel gears 28, spur gear 1, spur gear 2 11, six shaft bevel gears 3 13 and six axis
Bevel gear 4 14 connect with six axis speed reducers 15.Five axis input terminals are defeated by power by connecting with power source by five axis transmission axles 2
Enter, output end is outputed power by bevel-gear sett to five axis speed reducers 6, realizes the rotational freedom of five axis.Six axis input terminals
Power is inputted by being connect with power source by six axis transmission axles 1, realizes that power passes by a pair of of spur gear and two pairs of bevel gears
Defeated, output end delivers power to six axis speed reducers 15 by bevel gear, realizes the rotational freedom of six axis.Five axis are realized simultaneously
The postposition of six spindle motors.
Five axis connection axis 3 are equipped between five axis transmission axles 2 and five shaft bevel gears 1, power source drives five axis transmission axles 2,
Five shaft bevel gears 1 are transmitted to through five axis connection axis 3.Five shaft bevel gears 25 are connect with five axis speed reducers 6.Five shaft bevel gears 1
Five axis speed reducers 6 are transmitted power to after engaging with five shaft bevel gears 25, after the rotational freedom and five spindle motors of realizing five axis
The purpose set.
Six axis transmission axles 1 are connect by six shaft bevel gears 1 with six shaft bevel gears 28, and power source drives six axis transmission axles
1, six shaft bevel gears 8 are delivered power to after six shaft bevel gears 1 are engaged with six shaft bevel gears 28.Six axis transmission components are also
Short axle 1 is transmitted equipped with six axis, six shaft bevel gears 28 transmit short axle 1 by six axis and spur gear 1 links.Through spur gear
After one 10 engage with spur gear 2 11, power transmission is to spur gear 2 11.Six axis transmission components are additionally provided with six axis transmission short axle two
12, spur gear 2 11 is transmitted after short axle 2 12 is connect with six shaft bevel gears 3 13 by six axis and is outputed power.Through six axial cone teeth
3 13 are taken turns to engage with six shaft bevel gears 4 14, after six shaft bevel gears 4 14 are connect with six axis speed reducers 15, power transmission to six axis
Speed reducer 15 realizes the purpose of six axis rotational freedoms and six spindle motor postpositions.
The embodiments of the present invention are described in detail above, for those of ordinary skill in the art, according to
According to thought provided by the utility model, will change in specific embodiment, and these changes also should be regarded as it is practical
Novel protection scope.
A kind of nested type gear transmission structure for six-shaft industrial robot of the utility model, passes through five axis, six spindle motor
Postposition, meet five axis, six axis rotational freedom, realize motor driven five or six axis are individually controlled, and it is compact-sized, fortune
Row is steady, transmission efficiency and high transmission accuracy, accurate, reliable, has small in size, the light and handy beautiful and overall load ability of shape more
By force, therefore the marketing of the utility model is higher.
Claims (6)
1. a kind of nested type gear transmission structure for six-shaft industrial robot, including five axis transmission axles (2), five axis speed reducers
(6), six axis transmission axles (1) and six axis speed reducers (15), it is characterised in that:
The five axis transmission axle (2) and the six axis transmission axle (1) are concentric shafts, and the five axis transmission axle (2) is hollow rotation
Axis, it is internal that the six axis transmission axle (1) is placed in the five axis transmission axle (2)；
The five axis transmission axle (2) is linked by transmission mechanism one and the five axis speed reducer (6)；
The six axis transmission axle (1) is linked by transmission mechanism two and the six axis speed reducer (15).
2. the nested type gear transmission structure according to claim 1 for six-shaft industrial robot, it is characterised in that: institute
Stating transmission mechanism one includes five shaft bevel gears one (4) and five shaft bevel gears two (5).
3. the nested type gear transmission structure according to claim 1 for six-shaft industrial robot, it is characterised in that: institute
Stating transmission mechanism two includes six shaft bevel gears one (7), six shaft bevel gears two (8), spur gear one (10), spur gear two (11), six
Shaft bevel gears three (13) and six shaft bevel gears four (14).
4. the nested type gear transmission structure according to claim 2 for six-shaft industrial robot, it is characterised in that: institute
It states and is equipped with five axis connection axis (3) between five axis transmission axles (2) and five shaft bevel gears one (4).
5. the nested type gear transmission structure according to claim 3 for six-shaft industrial robot, it is characterised in that: also
Short axle one (9) are transmitted equipped with six axis, six shaft bevel gears two (8) pass through six axis transmission short axle one (9) and the straight-tooth
Take turns one (10) linkage.
6. the nested type gear transmission structure according to claim 3 for six-shaft industrial robot, it is characterised in that: also
Short axle two (12) are transmitted equipped with six axis, the spur gear two (11) passes through six axis transmission short axle two (12) and six axial cone
Gear three (13) linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821518015.7U CN208880719U (en) | 2018-09-17 | 2018-09-17 | A kind of nested type gear transmission structure for six-shaft industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821518015.7U CN208880719U (en) | 2018-09-17 | 2018-09-17 | A kind of nested type gear transmission structure for six-shaft industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880719U true CN208880719U (en) | 2019-05-21 |
Family
ID=66512712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821518015.7U Active CN208880719U (en) | 2018-09-17 | 2018-09-17 | A kind of nested type gear transmission structure for six-shaft industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880719U (en) |
-
2018
- 2018-09-17 CN CN201821518015.7U patent/CN208880719U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231011 Address after: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee after: Zhejiang Jinggong Integrated Technology Co.,Ltd. Address before: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee before: ZHEJIANG JINGGONG ROBOTICS & INTELLIGENT EQUIPMENT CO.,LTD. |
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| TR01 | Transfer of patent right |