CN201664923U - Six-DOF industrial robot - Google Patents
Six-DOF industrial robot Download PDFInfo
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- CN201664923U CN201664923U CN2010201571271U CN201020157127U CN201664923U CN 201664923 U CN201664923 U CN 201664923U CN 2010201571271 U CN2010201571271 U CN 2010201571271U CN 201020157127 U CN201020157127 U CN 201020157127U CN 201664923 U CN201664923 U CN 201664923U
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- industrial robot
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Abstract
A six-DOF industrial robot comprises a base, a base pillar, a principal arm, a vice arm, a wrist component, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and servo motors. On the base is fixedly connected the base pillar. The servo motors drive the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft via the gear driving groups in the principal arm and the vice arm, wherein the servo motor for driving the first rotating shaft is installed in the base pillar. The industrial robot of the utility model enables an improved electric scheme to enable the industrial robot to precisely process products, enhancing the qualified rate and the integral quality of the products. The replacement of the manual operation with the robot saves the labor cost. The utility model is simple in structure and low in cost and the replacement of an imported robot saves a lot of funds. In addition, the robot can be installed and used in a matching manner according to the production lines under continuous development.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of six degree of freedom industrial robot.
Background technology
In China, greatly developing manufacturing industry, it also is the embodiment of a national strength, and manufacturing one of them very important developing direction is exactly by means of modern science and technology, realizes the automation of manufacture process.In this process, various industrial robots must play a very important effect therein, and a lot of operation tasks will be finished by various industrial robots.
In addition, also more and more higher along with the progress of development of science and technology and society, and require the moderate cost of product to the requirement of various products, embody a kind of real good and cheap.Adopt industrial robot can help enterprise operators to satisfy the demand in this market,,, then in its whole operation process, just can not produce error, the total quality of product is produced the raising of a matter as long as program setting is correct owing to be the robot manipulation.Saved simultaneously a large amount of labour cost again.
Just because of industrial robot has the irreplaceable advantage of people, it has obtained development at full speed in the recent period, puts into robot in the industrial production speed about with 50000 covers in Europe every year and is enhancing, and then the speed about 80000 covers is enhancing in the Asia.
Owing to original manufacturing industry foundation is weak, a lot of industrial operation processes is in the past all by manually finishing in China.In recent years, the manufacturing development speed of China was in the prostatitis in area, whole Asia, and increasing enginerring works and various streamline production all begin to adopt industrial robot.But at present in the industrial human-computer device people that China uses (particularly high-grade robot), the overwhelming majority all is import, has really of home makely just occupied a very little part.
Summary of the invention
The technical problem that solves:
The utility model provides a kind of six degree of freedom industrial robot, has solved above-mentioned China's industrial robot equipment configuration imperfection, artificial pipelining, the problem of reduction operating efficiency.
The utility model is the technical solution problem by the following technical programs:
A kind of six degree of freedom industrial robot comprises base, pedestal column, principal arm, auxiliary, wrist parts, first rotating shaft, second rotating shaft, the 3rd rotating shaft, the 4th rotating shaft, servomotor; Fixedly connected pedestal column on the base, the upper end of pedestal column connects first rotating shaft, and second rotating shaft is vertically set on the end of first rotating shaft, and the other end of second rotating shaft is connected with principal arm, principal arm horizontally rotates around first rotating shaft, vertically rotates with respect to first rotating shaft around second rotating shaft again; The 3rd rotating shaft is with respect to second shaft parallel, auxiliary vertically rotates around the relative principal arm of the 3rd rotating shaft, relative the 3rd rotating shaft is arranged vertically the 4th rotating shaft in the auxiliary, the 4th rotating shaft one end connects the wrist parts, the wrist parts rotate around the 4th rotating shaft, and servomotor drives first rotating shaft by the gear drive group in principal arm and the auxiliary, second rotating shaft, the 3rd rotating shaft, the 4th rotating shaft rotation; The servomotor that drives first rotating shaft is installed in the pedestal column.
Six degree of freedom industrial robot described in the utility model, described wrist parts comprise universal joint, the 5th rotating shaft, the 6th rotating shaft, gear train; Gear train is separately positioned in the 4th rotating shaft and the 5th rotating shaft and is meshing with each other, the gear train engagement of gear train in the 6th rotating shaft and the 5th rotating shaft, and the 5th rotating shaft, the 6th rotating shaft are arranged in the universal joint, and universal joint is arranged on the leading section of auxiliary.
Six degree of freedom industrial robot described in the utility model, the described first rotating shaft steering angle scope is 0-300 °.
Six degree of freedom industrial robot described in the utility model, the described second rotating shaft steering angle scope is 0-120 °.
Six degree of freedom industrial robot described in the utility model, described the 3rd rotating shaft steering angle scope is 0-120 °.
Six degree of freedom industrial robot described in the utility model, described the 4th rotating shaft steering angle scope is 0-360 °.
Beneficial effect
The industrial robot that the utility model provides utilizes the anthropomorphic worker's industry of mating die between base, the major and minor arm to raise labour productivity; Enabling perfect electric scheme is that industrial robot can accurately be processed product, improves the qualification rate of product and the total quality of product; Industrial robot substitutes manually-operated and saves labour cost; The simple cost of this industrial robot structure is lower, replaces the import robot, saves substantial contribution; And this robot can carry out supporting installing and using according to the production line of continually developing.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the enlarged diagram of A-A among Fig. 1;
Fig. 3 is a principal arm internal gear transmission group structural scheme of mechanism;
Fig. 4 is an auxiliary internal gear transmission group structural scheme of mechanism;
Fig. 5 is a robot electrical control block diagram;
1 is base, the 11st among the figure, pedestal column, the 2nd, and principal arm, the 3rd, auxiliary, the 4th, wrist parts, 5 are that first rotating shaft, 51 is that second rotating shaft, 52 is that the 3rd rotating shaft, 54 is that the 4th rotating shaft, 55 is the 5th rotating shafts, the 6th, servomotor, the 7th, universal joint, the 8th, gear train.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described:
As shown in Figure 1 and Figure 2: a kind of six degree of freedom industrial robot comprises base 1, pedestal column 11, principal arm 2, auxiliary 3, wrist parts 4, the first rotating shafts 5, the second rotating shafts 51, the three rotating shafts 52, the four rotating shafts 53, servomotor 6; Fixedly connected pedestal column 11 on the base 1, the upper end of pedestal column 11 connects first rotating shaft 5, second rotating shaft 51 is vertically set on the end of first rotating shaft 5, the other end of second rotating shaft 51 is connected with principal arm 2, principal arm 2 horizontally rotates around first rotating shaft 5, vertically rotates with respect to first rotating shaft 5 around second rotating shaft 51 again; The 3rd rotating shaft 52 is parallel with respect to second rotating shaft 51, auxiliary 3 vertically rotates around the 3rd rotating shaft 52 relative principal arms 2, relative the 3rd rotating shaft 52 is arranged vertically the 4th rotating shaft 53 in the auxiliary 3, the 4th rotating shaft 53 1 ends connect wrist parts 4, wrist parts 4 are around the 4th rotating shaft 53 rotations, and servomotor 6 drives first rotating shaft, 5, the second rotating shafts 51 by the gear drive group in principal arm 2 and the auxiliary 3, the 3rd rotating shaft 52, the four rotating shafts 53 rotations; The servomotor 6 that drives first rotating shaft 5 is installed in the pedestal column 11.
Compact conformation in the principal arm of Fig. 4, described this six-DOF robot of Fig. 5 and the auxiliary, because mechanism itself, with other machines physiognomy ratio, the robot of same size, the moment of torsion that this robot transmitted is bigger than other; This robot can self be equipped with reducing gear according to the real work requirement, also can join reducing gear in addition.
Following table is the steering range of each rotating shaft:
| ? | Working range |
| First rotating shaft | 300°? |
| Second rotating shaft | ±60°? |
| The 3rd rotating shaft | ±60°? |
| The 4th rotating shaft | ±180°? |
| The 5th rotating shaft | ±80°? |
| The 6th rotating shaft | 360°? |
The electric part of this robot concentrates in the electric cabinet, the motion of each is controlled by servomotor respectively, every movement velocity can be regulated within the specific limits, the control of whole action is controlled by motion controller, entire machine people's motion mode can be simulated in advance, carry out actual act after to be determined again, the transmission between each signal is finished by communication cable.Specific as follows:
(1) overall plan
This robot recommends to adopt Mitsubishi Q series module formula PLC as the master control device, the logical action of control robot.Adopt the master controller of Mitsubishi Q series Q172CPUN motion controller as motion.The Q172CPUN motion controller can be controlled 8 motion control at most, and this robot realizes 6 frees degree, i.e. 6 position motion, and 6 concrete motion sees the mechanical part scheme for details.Guidance panel adopts the very color GT1155-QSBD-C touch-screen of 5.7 cun 256 look of Mitsubishi, and the operation interface design is friendly.The movement locus of robot can be downloaded among the PLC by download cable behind upper PC analog simulation, realizes the OFFLINE Simulation Control.
(2) logical action control
Logical action control adopts Mitsubishi Q series Q01CPU to control as action logic
Central processing unit (CPU) is equipped with the PLC that base plate (Q312B), power module (Q61P), input module (QX40-S1), output module (QY41P) etc. are formed modular, the interrelated logic action of control robot.
(3) operation interface
Guidance panel adopts the very color GT1155-QSBD-C touch-screen of 5.7 cun 256 look of Mitsubishi, and the operation interface design is friendly.
(4) positioning control
The master controller of Mitsubishi Q series Q172CPUN motion controller as motion, the action that the control robot is 6 are adopted in the positioning control of robot.The performer of 6 actions adopts the position half-closed loop control system that control+servo amplifier+servomotor constituted.(control components and parts inventory sees electrical control components and parts inventory for details).Control unit, position goes out correct positive and negative pulse according to the command assignment of Q172CPUN motion controller, this pulse is sent to servo amplifier, servo amplifier produces correct driving signal, drive servomotor and rotate the correct number of turns and angle, thereby control each shaft mechanical drive unit and finish correct stroke and angle, realize the track of expection.(5) off-line simulation
The motion of the relevant kinematic axis of movement locus design of robot, the design more complicated.For this reason, be provided with off-line emulation system.This analogue system is installed on the upper PC, upper PC is according to the position of the motion of operator's input, according to certain algorithm, design 3D (three-dimensional) movement locus of optimization, simulated program generates distance and the angle that each kinematic axis of robot will move automatically according to the 3D track, and generating good data can be downloaded in the central processing unit of PLC by communication cable by downloading.PLC to various moving cells, finishes the movement locus identical with off-line simulation with this data allocations.The off-line simulation program can adopt c++, JAVA, software programmings such as MATLAB, C# according to the actual kinetic equation of this robot.
Claims (6)
1. a six degree of freedom industrial robot is characterized in that: comprise base (1), pedestal column (11), principal arm (2), auxiliary (3), wrist parts (4), first rotating shaft (5), second rotating shaft (51), the 3rd rotating shaft (52), the 4th rotating shaft (53), servomotor (6); Base (1) is gone up fixedly connected pedestal column (11), the upper end of pedestal column (11) connects first rotating shaft (5), second rotating shaft (51) is vertically set on the end of first rotating shaft (5), the other end of second rotating shaft (51) is connected with principal arm (2), principal arm (2) horizontally rotates around first rotating shaft (5), again around second rotating shaft (51) with respect to the vertical rotation of first rotating shaft (5); The 3rd rotating shaft (52) is parallel with respect to second rotating shaft (51), auxiliary (3) is around the 3rd rotating shaft (52) the vertical rotation of principal arm (2) relatively, relative the 3rd rotating shaft (52) is arranged vertically the 4th rotating shaft (53) in the auxiliary (3), the 4th rotating shaft (53) one ends connect wrist parts (4), wrist parts (4) rotate around the 4th rotating shaft (53), servomotor (6) drives first rotating shaft (5) by the interior gear drive group of principal arm (2) and auxiliary (3), second rotating shaft (51), the 3rd rotating shaft (52), the 4th rotating shaft (53) rotation; The servomotor (6) that drives first rotating shaft (5) is installed in the pedestal column (11).
2. according to the described six degree of freedom industrial robot of claim 1, it is characterized in that: described wrist parts (4) comprise universal joint (7), the 5th rotating shaft (54), the 6th rotating shaft (55), gear train (8); Gear train (8) is separately positioned in the 4th rotating shaft (53) and the 5th rotating shaft (54) and is meshing with each other, gear train (8) in the 6th rotating shaft (55) and the engagement of the gear train (8) of the 5th rotating shaft (55), the 5th rotating shaft (54), the 6th rotating shaft (55) are arranged in the universal joint (7), and universal joint (7) is arranged on the leading section of auxiliary (3).
3. six degree of freedom industrial robot according to claim 1 is characterized in that: described first rotating shaft (5) steering angle scope is 0-300 °.
4. six degree of freedom industrial robot according to claim 1 is characterized in that: described second rotating shaft (51) steering angle scope is 0-120 °.
5. six degree of freedom industrial robot according to claim 1 is characterized in that: described the 3rd rotating shaft (52) steering angle scope is 0-120 °.
6. six degree of freedom industrial robot according to claim 1 is characterized in that: described the 4th rotating shaft (53) steering angle scope is 0-360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201571271U CN201664923U (en) | 2010-04-09 | 2010-04-09 | Six-DOF industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201571271U CN201664923U (en) | 2010-04-09 | 2010-04-09 | Six-DOF industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201664923U true CN201664923U (en) | 2010-12-08 |
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ID=43265875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201571271U Expired - Fee Related CN201664923U (en) | 2010-04-09 | 2010-04-09 | Six-DOF industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201664923U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN108858164A (en) * | 2018-08-13 | 2018-11-23 | 竺灵云 | A kind of industrial machine National People's Congress arm structure |
| CN109213030A (en) * | 2018-08-09 | 2019-01-15 | 北京云迹科技有限公司 | Industrial personal computer integrating device for robot |
-
2010
- 2010-04-09 CN CN2010201571271U patent/CN201664923U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785239A (en) * | 2012-07-23 | 2012-11-21 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN102785239B (en) * | 2012-07-23 | 2015-04-29 | 东莞市李群自动化设备有限公司 | Industrial robot of six-degrees of freedom |
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN103208224B (en) * | 2013-04-28 | 2015-03-11 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN109213030A (en) * | 2018-08-09 | 2019-01-15 | 北京云迹科技有限公司 | Industrial personal computer integrating device for robot |
| CN108858164A (en) * | 2018-08-13 | 2018-11-23 | 竺灵云 | A kind of industrial machine National People's Congress arm structure |
| CN108858164B (en) * | 2018-08-13 | 2021-07-30 | 品湛自动化设备制造(苏州)有限公司 | Big arm structure of industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101208 Termination date: 20120409 |