CN214724215U - Six-axis column coordinate industrial robot - Google Patents
Six-axis column coordinate industrial robot Download PDFInfo
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- CN214724215U CN214724215U CN202022026297.2U CN202022026297U CN214724215U CN 214724215 U CN214724215 U CN 214724215U CN 202022026297 U CN202022026297 U CN 202022026297U CN 214724215 U CN214724215 U CN 214724215U
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Abstract
The utility model relates to a six-axis column coordinate industrial robot, which comprises a base part, a stand column part, a slide seat part, a first arm rod part, a second arm rod part, a vertical arm part, a lower arm part, a wrist connecting flange and a calibration rod, wherein the slide seat part and the stand column part form a vertical direction moving shaft pair; the first arm rod part and the sliding seat part form a first-stage horizontal rotating shaft pair; the second arm lever part and the first arm lever part form a second-stage horizontal rotating shaft pair; the vertical arm part and the second arm part form a third-stage horizontal rotating shaft pair; the lower cross arm part is horizontally arranged at the lower end of the vertical arm part and vertically rotates to form a vertical rotating shaft pair; the robot is suitable for various process requirements, and can calibrate the mechanical zero position of each joint shaft simply and quickly with high precision under the conditions of factory calibration and zero loss, so that the motion precision of the industrial robot is improved.
Description
Technical Field
The utility model belongs to the technical field of big-and-middle-sized special industrial robot equipment technique and specifically relates to a six-axis column coordinate industrial robot.
Background
The industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, and is highly automatic in work. The intelligent, multifunctional and flexible automatic production is realized. Industrial robots need better position accessibility and pose accessibility.
The mechanical zero point position of the industrial robot is an important basis for forming a robot kinematic model, and the industrial robot can achieve the highest point precision and track precision or can completely move in a motion set by programming only when obtaining a high-precision calibration zero point. Especially, in the off-line programming application under the absolute coordinate environment, the high position attitude precision application of auxiliary locating such as laser, video and the like, the mechanical zero point position of the robot is a key factor for meeting the high precision application of the robot.
The application of the traditional six-axis joint industrial robot in the continuous closed track of the space has certain limitation. In many cases, a six-axis joint industrial robot system needs to add an external coordinate walking axis to expand the application range of the robot. The robot mechanical zero calibration is near the joint, the angle calibration measurement radius is small, the error influence factor is large, and the high-precision zero calibration can be achieved only by means of other external tool methods.
How to realize the application of the industrial robot in the application can realize the application of a space continuous closed track, has larger space accessibility and is suitable for various process requirements. Meanwhile, the mechanical zero position of each joint shaft can be calibrated with high precision under the conditions of factory calibration and zero loss, and the motion precision of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the integrated application cost of the robot system is reduced, and the technical problem which is urgently needed to be solved by researchers is solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defect that prior art exists, provide a six-axis cylindrical coordinates industrial robot.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
a six-axis column coordinate industrial robot comprises a base part, a stand column part, a sliding seat part, a first arm rod part, a second arm rod part, a vertical arm part, a lower cross arm part, a wrist connecting flange and a calibration rod, wherein the stand column part is fixedly connected with the base part, the sliding seat part is installed on the stand column part, and the sliding seat part and the stand column part form a vertical direction moving shaft pair;
the first arm rod part is arranged on the sliding seat part, and the first arm rod part and the sliding seat part form a first-stage horizontal rotating shaft pair;
the second arm lever part is arranged on the first arm lever part, and the second arm lever part and the first arm lever part form a second-stage horizontal rotating shaft pair;
the vertical arm component is arranged on the second arm rod component, and the vertical arm component and the second arm rod component form a third-stage horizontal rotating shaft pair;
the lower cross arm part is horizontally arranged at the lower end of the vertical arm part and vertically rotates to form a vertical rotating shaft pair;
the wrist shaft assembly at the front end of the lower cross arm part is vertically orthogonal to the upper-stage vertical revolving shaft pair, the wrist connecting flange is installed at the front end of the lower cross arm part, and the calibration rod is installed on the wrist connecting flange when the mechanical zero position of each joint shaft is calibrated.
Furthermore, the upright post component adopts a box-shaped post structure, and is provided with a lower bearing seat, a ball screw, a lifting nut seat, a nut, two groups of linear guide rails which are matched with each other, a sliding block, a bearing seat component, a speed reducer and a servo motor;
the servo motor, the speed reducer, the bearing seat assembly and the ball screw are integrally arranged on the upright post part, and the lower part of the ball screw is arranged on the lower bearing seat;
two groups of linear guide rails and sliding blocks are arranged on the connecting surface of the guide rail of the upright post part; the lifting nut seat, the nut and the ball screw are matched and are arranged on the corresponding connecting surface of the sliding seat component together with the sliding block to form a vertical moving shaft pair moving along the linear guide rail.
Furthermore, the lower part of the upright post part is provided with a hinged support assembly, the hinged support assembly is fixedly connected with the base part and is suitable for controlling the arm rod of the robot to be folded, and the upright post part is horizontally connected.
Furthermore, a first servo motor, a first RV reducer, a first hollow transmission shaft and a first bearing part are arranged on one side of the sliding seat part;
the sliding seat component is fixedly connected with the first RV reducer, the first servo motor is installed at the input end of the first RV reducer, a first hollow transmission shaft is installed on the output flange face of the first RV reducer, the first hollow transmission shaft is matched with a bearing inner hole of the first bearing component, the first bearing component is supported on the sliding seat component, and the shaft end of the first hollow transmission shaft is fixedly installed with the first arm rod component to form a first-stage horizontal rotating shaft pair.
Furthermore, one side of the first arm lever part is provided with a second servo motor, a second RV reducer, a second hollow transmission shaft and a second bearing part;
a second RV reducer is fixedly installed at the extending end of the first arm lever part, and the input end of the second RV reducer is connected with a second servo motor; the second hollow transmission shaft is arranged on the output flange face of the second RV reducer, the second hollow transmission shaft is matched with a bearing inner hole of a second bearing part, the second bearing part is supported on the first arm rod part, the shaft end of the second hollow transmission shaft is fixedly installed with the second arm rod part to form a second-stage horizontal rotating shaft pair, a front-end arm rod servo motor cable penetrates through the second hollow transmission shaft to the first arm rod part, and a calibration block used for calibrating the mechanical zero point position of the joint shaft is designed on the first arm rod part.
Furthermore, a third servo motor, a third RV reducer, a third hollow transmission shaft and a third bearing part are arranged on one side of the second arm rod part;
the third hollow transmission shaft is matched with a bearing inner hole of a third bearing part, the third bearing part is supported on the second arm lever part, and the shaft end of the third hollow transmission shaft is fixedly installed with a vertical arm part to form a third-stage horizontal rotating shaft pair;
and the front-end arm lever servo motor cable penetrates through the third hollow transmission shaft to the second arm lever part, and the second arm lever part is provided with a calibration block for calibrating the mechanical zero position of the joint shaft.
Furthermore, one side of the vertical arm component is provided with a first transmission component, a first bevel gear component, a second bevel gear component and a horizontal rotating shaft component;
a first transmission assembly consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface at the lower part of the vertical arm component, a first bevel gear assembly is arranged at the output end of the first transmission assembly, the first bevel gear assembly is orthogonally meshed with a second bevel gear assembly, the second bevel gear assembly is arranged on a horizontal revolving shaft assembly, the horizontal revolving shaft assembly forms a vertical revolving shaft pair, a lower cross arm component is arranged at the front end of the horizontal revolving shaft assembly, and a front end arm rod servo motor cable penetrates through the horizontal revolving shaft assembly to the vertical arm component.
Furthermore, one side of the lower cross arm component is provided with a second transmission component, a third bevel gear component, a fourth bevel gear component and a wrist shaft component;
the second transmission assembly consisting of a servo motor and a harmonic reducer is arranged on a connecting surface corresponding to the lower cross arm part, the output end of the second transmission assembly is provided with a third bevel gear assembly, the third bevel gear assembly is orthogonally meshed with a fourth bevel gear assembly, the fourth bevel gear assembly is arranged on a wrist shaft assembly, the wrist shaft assembly is arranged at the front end of the lower cross arm part, the wrist is connected with a flange, a rotary shaft pair formed by the wrist shaft assembly is orthogonal to an upper-level vertical rotary shaft pair, and an external tool is arranged perpendicular to the wrist shaft.
The utility model has the advantages that: the absolute position precision of the robot arm rod coordinate system, the rigidity of the robot system and the attitude precision of the tail end tool are superior to those of the existing six-joint robot in the principle of robot construction. The working range is larger, a larger working space can be built on a smaller occupied ground, the industrial robot can realize the application of a space continuous closed track in the application, and has larger space accessibility, and the method is suitable for various process requirements, and simultaneously can simply and quickly calibrate the mechanical zero position of each joint shaft with high precision under the conditions of factory calibration and zero loss, thereby improving the motion precision of the industrial robot, realizing the operation and application of the space coordinates of the industrial robot, having higher spatial position posture, being very suitable for the operation and application of the robot with offline track planning, and being based on laser, video and other auxiliary locating conditions, the end tool can be operated and applied with high precision under various postures.
Meanwhile, the space structure optimization of the robot structure is realized, the arm rod structure is the most compact, and a large working space can be built on a small occupied ground. In the aspect of accessibility of the gesture of the robot wrist tool, the terminal tool can achieve the accessibility of any gesture in a three-dimensional space, and no gesture application dead angle exists. The industrial robot can realize the application of a space continuous closed track in application, has larger space accessibility and is suitable for various process requirements. Meanwhile, the mechanical zero position of each joint shaft can be calibrated simply and quickly with high precision under the conditions of factory calibration and zero loss, and the precision of the motion of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the robot operation application of off-line track planning is very suitable, and the high-precision operation application of the end tool under various postures is realized under the auxiliary locating conditions based on laser, video and the like. When the arm rod of the robot is folded and the upright column part is laid and connected, the transportation and the transition of equipment and the on-site quick installation and application are facilitated.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of the utility model in a folded state;
fig. 2 is a schematic cross-sectional view of the present invention in the unfolded state.
Detailed Description
As shown in fig. 1 and fig. 2, a six-axis cylindrical coordinate industrial robot comprises a base part 1, a column part 2, a sliding seat part 3, a first arm lever part 4, a second arm lever part 5, a vertical arm part 6, a lower cross arm part 7, a wrist connecting flange 8 and a calibration rod 9, wherein the column part 2 is fixedly connected with the base part 1, the sliding seat part 3 is installed on the column part 2, and the sliding seat part 3 and the column part 2 form a vertical direction moving shaft pair;
the first arm rod part 4 is arranged on the sliding seat part 3, and the first arm rod part 4 and the sliding seat part 3 form a first-stage horizontal rotating shaft pair;
the second arm lever part 5 is arranged on the first arm lever part 4, and the second arm lever part 5 and the first arm lever part 4 form a second-stage horizontal rotating shaft pair;
the vertical arm part 6 is arranged on the second arm rod part 5, and the vertical arm part 6 and the second arm rod part 5 form a third-stage horizontal rotating shaft pair;
the lower cross arm part 7 is horizontally arranged at the lower end of the vertical arm part 6 and vertically rotates to form a vertical rotating shaft pair;
the wrist shaft component at the front end part of the lower cross arm part 7 is vertically orthogonal to the upper-level vertical revolving shaft pair, the wrist connecting flange 8 is installed at the front end part of the lower cross arm part 7, and the calibration rod 9 is installed on the wrist connecting flange 8 when the mechanical zero position of each joint shaft is calibrated.
The structural design and the D-H parameter design of the arm lever of the robot meet the functional requirements of the arm lever for folding completely. When the mechanical zero position of each joint shaft is calibrated, the calibration rod 9 is installed on the wrist connecting flange 8, the servo motor brake and the vector energy of each joint shaft of the robot are released, each joint shaft is manually rotated, so that the calibration blocks of the first arm rod part 4 and the second arm rod part 5 are overlapped, the knife edge at the front end of the calibration rod 9 is overlapped with the positioning surface of the calibration block, and the mechanical zero position calibration of all the joint shafts except the upright post part 2 is completed at one time.
Further, the upright column component 2 adopts a box column structure, and a lower bearing seat 201, a ball screw 202, a lifting nut seat 203, a nut 204, two groups of linear guide rails 205 which are matched with each other, a sliding block 206, a bearing seat assembly 207, a speed reducer 208 and a servo motor 209 are arranged on the upright column component 2;
the servo motor 209, the reducer 208, the bearing seat assembly 207 and the ball screw 202 are integrally installed on the upright column component 2, and the lower part of the ball screw 202 is installed on the lower bearing seat 201;
two groups of linear guide rails 205 and sliding blocks 206 are arranged on the guide rail connecting surface of the upright post component 2; the elevator nut base 203 and the nut 204 are engaged with the ball screw 202 and are mounted on the corresponding coupling surfaces of the slide member 3 together with the slider 206, forming a vertical moving axis pair that moves along the linear guide 205.
The hinged support component 210 is installed on the lower portion of the upright post component 2, the hinged support component 210 is fixedly connected with the base component 1 and is suitable for controlling the folding of the arm rod of the robot, and when the upright post component 2 is laid flat and connected, the equipment is convenient to transport, transfer and install and apply on site quickly.
One side of the sliding seat component 3 is provided with a first servo motor 301, a first RV reducer 302, a first hollow transmission shaft 303 and a first bearing component 304;
the sliding seat component 3 is fixedly connected with a first RV reducer 302, a first servo motor 301 is installed at the input end of the first RV reducer 302, a first hollow transmission shaft 303 is installed on the output flange face of the first RV reducer 302, the first hollow transmission shaft 303 is matched with a bearing inner hole of the first bearing component 304, the first bearing component 304 is supported on the sliding seat component 3, and the shaft end of the first hollow transmission shaft 303 is fixedly installed with a first arm rod component 4 to form a first-stage horizontal rotating shaft pair.
Further, a second servo motor 401, a second RV reducer 402, a second hollow transmission shaft 403, and a second bearing member 404 are provided on one side of the first arm lever member 4;
a second RV reducer 402 is fixedly installed at the extending end of the first arm lever part 4, and the input end of the second RV reducer 402 is connected with a second servo motor 401; a second hollow transmission shaft 403 is arranged on the output flange surface of the second RV reducer 402, the second hollow transmission shaft 403 is matched with a bearing inner hole of a second bearing part 404, the second bearing part 404 is supported on the first arm rod part 4, the shaft end of the second hollow transmission shaft 403 is fixedly arranged with the second arm rod part 5 to form a second-stage horizontal rotating shaft pair, a front-end arm rod servo motor cable penetrates through the second hollow transmission shaft 403 to reach the first arm rod part 4, and a calibration block for calibrating the mechanical zero position of the joint shaft is designed on the first arm rod part 4.
Further, a third servo motor 501, a third RV reducer 502, a third hollow transmission shaft 503 and a third bearing component 504 are arranged on one side of the second arm lever component 5;
a third RV reducer 502 is fixedly installed at the extending end of the second arm lever part 5, the input end of the third RV reducer 502 is connected with a third servo motor 501, a third hollow transmission shaft 503 is installed on the output flange surface of the third RV reducer 502, the third hollow transmission shaft 503 is matched with a bearing inner hole of a third bearing part 504, the third bearing part 504 is supported on the second arm lever part 5, and the shaft end of the third hollow transmission shaft 503 is fixedly installed with a vertical arm part 6 to form a third-stage horizontal rotating shaft pair;
the front end arm lever servo motor cable passes through the third hollow transmission shaft 503 to the second arm lever part 5, and the second arm lever part 5 is provided with a calibration block for calibrating the mechanical zero point position of the joint shaft.
Further, a first transmission assembly 601, a first bevel gear assembly 602, a second bevel gear assembly 603, and a horizontal swivel shaft assembly 604 are provided at one side of the vertical arm member 6;
a first transmission assembly 601 composed of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface of the lower part of the vertical arm component 6, a first bevel gear assembly 602 is arranged at the output end of the first transmission assembly 601, the first bevel gear assembly 602 is orthogonally meshed with a second bevel gear assembly 603, the second bevel gear assembly 603 is arranged on a horizontal revolving shaft assembly 604, the horizontal revolving shaft assembly 604 forms a vertical revolving shaft pair, a lower cross arm component 7 is arranged at the front end of the horizontal revolving shaft assembly 604, and a front end arm rod servo motor cable penetrates through the horizontal revolving shaft assembly 604 to the vertical arm component 6.
One side of the lower cross arm component 7 is provided with a second transmission assembly 701, a third bevel gear assembly 702, a fourth bevel gear assembly 703 and a wrist shaft assembly 704;
a second transmission assembly 701 composed of a servo motor and a harmonic reducer is installed on a corresponding connecting surface of a lower cross arm part 7, a third bevel gear assembly 702 is installed at the output end of the second transmission assembly 701, the third bevel gear assembly 702 is orthogonally meshed with a fourth bevel gear assembly 703, the fourth bevel gear assembly 703 is installed on a wrist shaft assembly 704, the wrist shaft assembly 704 is installed at the front end of the lower cross arm part 7, a wrist connecting flange 8 is connected with a rotary shaft pair composed of the wrist shaft assembly 704, the rotary shaft pair is orthogonal to a vertical rotary shaft pair of the upper level, and an external tool is installed perpendicular to the wrist shaft.
The absolute position precision of the robot arm rod coordinate system, the rigidity of the robot system and the attitude precision of the tail end tool are superior to those of the existing 6-joint robot in the robot construction principle. The working range is larger, a larger working space can be built on a smaller occupied ground, the industrial robot can realize the application of a space continuous closed track in the application, and has larger space accessibility, and the method is suitable for various process requirements, and simultaneously can simply and quickly calibrate the mechanical zero position of each joint shaft with high precision under the conditions of factory calibration and zero loss, thereby improving the motion precision of the industrial robot, realizing the operation and application of the space coordinates of the industrial robot, having higher spatial position posture, being very suitable for the operation and application of the robot with offline track planning, and being based on laser, video and other auxiliary locating conditions, the end tool can be operated and applied with high precision under various postures.
Meanwhile, the space structure optimization of the robot structure is realized, the arm rod structure is the most compact, and a large working space can be built on a small occupied ground. In the aspect of accessibility of the gesture of the robot wrist tool, the terminal tool can achieve the accessibility of any gesture in a three-dimensional space, and no gesture application dead angle exists. The industrial robot can realize the application of a space continuous closed track in application, has larger space accessibility and is suitable for various process requirements. Meanwhile, the mechanical zero position of each joint shaft can be calibrated simply and quickly with high precision under the conditions of factory calibration and zero loss, and the precision of the motion of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the robot operation application of off-line track planning is very suitable, and the high-precision operation application of the end tool under various postures is realized under the auxiliary locating conditions based on laser, video and the like. When the arm rod of the robot is folded and the upright column part is laid and connected, the transportation and the transition of equipment and the on-site quick installation and application are facilitated.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A six-axis column coordinate industrial robot comprises a base part (1), an upright part (2), a sliding seat part (3), a first arm rod part (4), a second arm rod part (5), a vertical arm part (6), a lower cross arm part (7), a wrist connecting flange (8) and a calibration rod (9), and is characterized in that the upright part (2) is fixedly connected with the base part (1), the sliding seat part (3) is installed on the upright part (2), and the sliding seat part (3) and the upright part (2) form a vertical direction moving shaft pair;
the first arm rod part (4) is arranged on the sliding seat part (3), and the first arm rod part (4) and the sliding seat part (3) form a first-stage horizontal rotating shaft pair;
the second arm lever part (5) is arranged on the first arm lever part (4), and the second arm lever part (5) and the first arm lever part (4) form a second-stage horizontal rotating shaft pair;
the vertical arm component (6) is arranged on the second arm rod component (5), and the vertical arm component (6) and the second arm rod component (5) form a third-stage horizontal rotating shaft pair;
the lower cross arm part (7) is horizontally arranged at the lower end of the vertical arm part (6) and vertically rotates to form a vertical rotating shaft pair;
a wrist shaft assembly at the front end part of the lower cross arm component (7) is vertically orthogonal to the upper-level vertical revolving shaft pair, a wrist connecting flange (8) is installed at the front end part of the lower cross arm component (7), and a calibration rod (9) is installed on the wrist connecting flange (8) when the mechanical zero position of each joint shaft is calibrated;
the lower part of the upright post component (2) is provided with a hinged support component (210), the hinged support component (210) is fixedly connected with the base component (1) and is suitable for controlling the arm lever of the robot to be folded, and the upright post component (2) is horizontally connected.
2. The six-axis cylindrical coordinate industrial robot is characterized in that the column part (2) adopts a box-shaped column structure, and a lower bearing seat (201), a ball screw (202), a lifting nut seat (203), a nut (204), two groups of linear guide rails (205) which are matched with each other, a sliding block (206), a bearing seat assembly (207), a speed reducer (208) and a servo motor (209) are arranged on the column part (2);
the servo motor (209), the speed reducer (208), the bearing seat assembly (207) and the ball screw (202) are integrally installed on the upright post component (2), and the lower part of the ball screw (202) is installed on the lower bearing seat (201);
two groups of linear guide rails (205) and sliding blocks (206) are arranged on the guide rail connecting surface of the upright post component (2); the lifting nut seat (203) and the nut (204) are matched with the ball screw (202) and are arranged on the corresponding connecting surface of the sliding seat component (3) together with the sliding block (206) to form a vertical moving shaft pair moving along the linear guide rail (205).
3. A six-axis cylindrical industrial robot according to claim 2, characterized in that one side of the slide part (3) is provided with a first servo motor (301), a first RV reducer (302), a first hollow drive shaft (303), a first bearing part (304);
slide part (3) and first RV reduction gear (302) fixed connection, install at first RV reduction gear (302) input first servo motor (301), install first hollow transmission shaft (303) on first RV reduction gear (302) output flange face, first hollow transmission shaft (303) and the bearing hole cooperation of first bearing part (304), first bearing part (304) support is on slide part (3), first hollow transmission shaft 303 axle head and first armed lever member (4) fixed mounting constitute first level horizontal swivel axle pair.
4. A six-axis cylindrical coordinate industrial robot according to claim 3, characterized in that one side of the first arm part (4) is provided with a second servo motor (401), a second RV reducer (402), a second hollow drive shaft (403), a second bearing part (404);
a second RV reducer (402) is fixedly installed at the extending end of the first arm lever part (4), and the input end of the second RV reducer (402) is connected with a second servo motor (401); second hollow transmission shaft (403) is installed on the output flange face of second RV reducer (402), the bearing hole cooperation of second hollow transmission shaft (403) and second bearing part (404), second bearing part (404) supports on first armed lever part (4), second hollow transmission shaft (403) axle head and second armed lever part (5) fixed mounting, constitute second level horizontal revolving axle pair, front end armed lever servo motor cable passes second hollow transmission shaft (403), to first armed lever part (4), design has the calibration piece that is used for demarcating joint axle machinery zero point position on first armed lever part (4).
5. A six-axis cylindrical industrial robot according to claim 4, characterized in that one side of the second arm part (5) is provided with a third servo motor (501), a third RV reducer (502), a third hollow drive shaft (503), a third bearing part (504);
the third-level horizontal rotating shaft pair is formed by fixedly mounting a third RV reducer (502) at the extending end of the second arm lever part (5), connecting the input end of the third RV reducer (502) with a third servo motor (501), mounting a third hollow transmission shaft (503) on the output flange surface of the third RV reducer (502), matching the third hollow transmission shaft (503) with the bearing inner hole of a third bearing part (504), supporting the third bearing part (504) on the second arm lever part (5), and fixedly mounting the shaft end of the third hollow transmission shaft (503) with a vertical arm part (6);
the front end arm lever servo motor cable passes through the third hollow transmission shaft (503) to the second arm lever part (5), and the second arm lever part (5) is provided with a calibration block for calibrating the mechanical zero point position of the joint shaft.
6. A six-axis cylindrical industrial robot according to claim 5, characterized in that one side of the vertical arm part (6) is provided with a first transmission assembly (601), a first bevel gear assembly (602), a second bevel gear assembly (603) and a horizontal swivel axis assembly (604);
a first transmission assembly (601) consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface of the lower part of a vertical arm component (6), a first bevel gear assembly (602) is arranged at the output end of the first transmission assembly (601), the first bevel gear assembly (602) is orthogonally meshed with a second bevel gear assembly (603), the second bevel gear assembly (603) is arranged on a horizontal revolving shaft assembly (604), the horizontal revolving shaft assembly (604) forms a vertical revolving shaft pair, a lower cross arm component (7) is arranged at the front end of the horizontal revolving shaft assembly (604), and a front end arm rod servo motor cable penetrates through the horizontal revolving shaft assembly (604) to the vertical arm component (6).
7. A six-axis cylindrical industrial robot according to claim 6, characterized in that one side of the lower cross arm part (7) is provided with a second transmission assembly (701), a third bevel gear assembly (702), a fourth bevel gear assembly (703) and a wrist shaft assembly (704);
a second transmission assembly (701) consisting of a servo motor and a harmonic reducer is arranged on a corresponding connecting surface of a lower horizontal arm component (7), a third bevel gear assembly (702) is arranged at the output end of the second transmission assembly (701), the third bevel gear assembly (702) is orthogonally meshed with a fourth bevel gear assembly (703), the fourth bevel gear assembly (703) is arranged on a wrist shaft assembly (704), the wrist shaft assembly (704) is arranged at the front end of the lower horizontal arm component (7), a wrist part is connected with a flange (8), a rotary shaft pair formed by the wrist shaft assembly (704) is orthogonal to an upper-level vertical rotary shaft pair, and an external tool is arranged perpendicular to the wrist shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022026297.2U CN214724215U (en) | 2020-09-16 | 2020-09-16 | Six-axis column coordinate industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022026297.2U CN214724215U (en) | 2020-09-16 | 2020-09-16 | Six-axis column coordinate industrial robot |
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