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A six-degree-of-freedom industrial robot

An industrial robot and degree-of-freedom technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of high environmental requirements and inability to assemble robots, achieve good meshing, eliminate return errors, and reduce wear and tear.

Active Publication Date: 2022-02-01
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is because assembly robots have high environmental requirements and high precision requirements, but the existing technology cannot meet them.

Method used

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  • A six-degree-of-freedom industrial robot
  • A six-degree-of-freedom industrial robot
  • A six-degree-of-freedom industrial robot

Examples

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Embodiment 1

[0035] A six-degree-of-freedom industrial robot, its structure is as follows figure 1 , 2 As shown, it includes machine base 1, waist 2, upper arm 3, forearm 4, rotating wrist 5, swinging wrist 6, end effector 7 connected in sequence, end effector 7 is connected with the workpiece to be operated, and the swinging wrist 6 and the rotary wrist 5 transmit power through a micro-motion mechanism. A fifth motor is arranged in the rotary wrist 5, and the connection between the swing wrist 6 and the rotary wrist 5 is connected by a fifth harmonic reducer. The micro-motion mechanism is as follows: Figure 6 , 7As shown, it includes a transmission gear 21 meshing with the rotation shaft of the fifth motor and the drive shaft of the fifth harmonic reducer respectively, and the transmission gear 21 is connected with the rotation shaft 16 of the fifth motor and the drive shaft of the fifth harmonic reducer The meshing part of 17 is fixed with a sheet 22, the profile of the sheet is coaxi...

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Abstract

The invention relates to a six-degree-of-freedom industrial robot, which includes a machine base, a waist, a large arm, a small arm, a rotating wrist, a swinging wrist, and an end effector connected in sequence. There is a fifth motor in the rotating wrist, and a fifth harmonic reducer in the swinging wrist. The micro-motion mechanism includes the rotating shaft of the fifth motor and the driving shaft of the fifth harmonic reducer respectively. The meshing transmission gear, and the meshing part of the transmission gear and the fifth motor shaft and the driving shaft of the fifth harmonic reducer is fixed with a sheet, and the profile of the sheet is coaxial and the same diameter as the profile of the transmission gear meshing part, and The profile of the sheet is provided with teeth and engages with the rotating shaft of the fifth motor and the driving shaft of the fifth harmonic reducer. Compared with the prior art, the transmission error accumulation of the present invention is reduced, the transmission efficiency is high, the speed is fast, and the volume is small.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a six-degree-of-freedom industrial robot. Background technique [0002] Palletizing robots are new technologies that accompany the rise of logistics. At present, more and more companies have an urgent hope to speed up their logistics and reduce economic costs. Factors such as comprehensive efficiency and cost have driven the demand for handling and palletizing robots. The logistics industry is often a labor-intensive industry. Basically, regular-shaped objects such as bags and boxes are placed in the specified position in a certain order. This kind of labor is highly repetitive, labor-intensive, and consumes a lot of physical strength for workers. , so that the efficiency is low and it is difficult to meet the production requirements, so the palletizing robot is often bulky and has a large carrying capacity. [0003] Assembly robots are industrial robots that combine...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/00
CPCB25J9/00B25J9/10B25J9/102
Inventor 张振山李阳崔国华
Owner SHANGHAI UNIV OF ENG SCI
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