技术领域technical field
本实用新型涉及机器人技术领域，具体为一种可自由旋转的机器人。The utility model relates to the technical field of robots, in particular to a freely rotating robot.
背景技术Background technique
随着机械自动化的普及应用，机械驱动装置已经广泛使用，有很多机械驱动装置存在着反应速度慢、动作传递位置不精确，噪音大，且动作参数不合理的缺点，现有机械驱动臂的驱动电机一般是设置在机械臂内，以带动机械臂的运动，导致厚度和重量较大，并且机械臂的运动空间也大大减小，随着科技的快速发展，在工业生产中人力的操作慢慢的被自动化装置代替，自动化生产流水线已经越来越多地应用在各个领域，根据不同产业和具体工位要求，对自动化生产流水线上的机械手及其传动形式会有不同的设计标准，传动可靠的机械手传动装置会对整个自动化生产流水线的工作效率带来很大的提升，但是大多数的工业机器人在使用时不够轻便灵活，完成一个工作任务往往需要进行很多步骤，不仅使用麻烦，耗费了时间，增加了时间成本，而且降低了工作效率，并且但是现有的工业机器人在稳定性上达不到要求，结构上又较为死板，灵活性不强，往往不能同时达到不同角度和高强度的使用需求，实用性不高。With the popularization and application of mechanical automation, mechanical driving devices have been widely used. There are many mechanical driving devices that have the disadvantages of slow response speed, inaccurate motion transmission position, high noise, and unreasonable motion parameters. The motor is generally installed in the manipulator to drive the movement of the manipulator, resulting in a large thickness and weight, and the movement space of the manipulator is also greatly reduced. With the rapid development of science and technology, human operation in industrial production is slow are replaced by automated devices, and automated production lines have been increasingly used in various fields. According to different industries and specific station requirements, there will be different design standards for manipulators and their transmission forms on automated production lines. Reliable transmission The manipulator transmission device will greatly improve the work efficiency of the entire automated production line, but most industrial robots are not light and flexible when used, and many steps are often required to complete a task, which is not only troublesome to use, but also time-consuming. It increases time cost and reduces work efficiency. However, the existing industrial robots do not meet the requirements in terms of stability, are relatively rigid in structure, and have low flexibility. They often cannot meet the needs of different angles and high strength at the same time. , the practicability is not high.
实用新型内容Utility model content
本实用新型的目的在于提供一种可自由旋转的机器人，具备工作灵活，多轴转动，位移精度高的特点，解决了现有技术中的问题。The purpose of the utility model is to provide a freely rotatable robot, which has the characteristics of flexible work, multi-axis rotation and high displacement precision, and solves the problems in the prior art.
为实现上述目的，本实用新型提供如下技术方案：一种可自由旋转的机器人，包括底座，所述底座由固定块、连接套筒和底座转轴组成，固定块的顶部设置有连接套筒，所述连接套筒的中心处设置有底座转轴，底座转轴在连接套筒的内圈竖直设置，底座转轴的外圈设置有第一轴，所述第一轴与底座活动套装，第一轴的外表面设置有第一轴电机，第一轴电机的输出端设置有第二轴，所述第二轴的一端与第一轴电机固定套接，第二轴的另一端设置有第三轴，第三轴的外表面分别设置有第三轴一号电机和第三轴二号电机，所述第三轴二号电机的输出端设置有第四轴，第四轴的一端设置有第四轴连接件，所述第四轴通过第四轴连接件与第三轴二号电机的输出端活动装配，第四轴的另一端设置有U型卡口，所述U型卡口的内侧设置有第五轴，第五轴的外表面插装有第五轴连接件，所述第五轴连接件的两端分别与U型卡口的内侧面活动装配，第五轴连接件与第五轴固定装配，第五轴的输出端还设置有第六轴，所述第六轴居中设置在第五轴的底部，第六轴与第五轴活动装配。In order to achieve the above object, the utility model provides the following technical solutions: a freely rotatable robot, including a base, the base is composed of a fixed block, a connecting sleeve and a rotating shaft of the base, and the top of the fixed block is provided with a connecting sleeve, so The center of the connecting sleeve is provided with a base rotating shaft, the base rotating shaft is vertically arranged on the inner ring of the connecting sleeve, and the outer ring of the base rotating shaft is provided with a first shaft, the first shaft is movable with the base, and the first shaft The outer surface is provided with a first shaft motor, the output end of the first shaft motor is provided with a second shaft, one end of the second shaft is fixedly socketed with the first shaft motor, and the other end of the second shaft is provided with a third shaft, The outer surface of the third shaft is respectively provided with the No. 1 motor of the third shaft and the No. 2 motor of the third shaft, the output end of the No. 2 motor of the third shaft is provided with a fourth shaft, and one end of the fourth shaft is provided with a fourth shaft A connector, the fourth shaft is movably assembled with the output end of the second motor of the third shaft through the fourth shaft connector, the other end of the fourth shaft is provided with a U-shaped bayonet, and the inside of the U-shaped bayonet is provided The fifth shaft, the outer surface of the fifth shaft is inserted with a fifth shaft connector, the two ends of the fifth shaft connector are respectively movably assembled with the inner surface of the U-shaped bayonet, the fifth shaft connector and the fifth shaft Fixed assembly, the output end of the fifth shaft is also provided with a sixth shaft, the sixth shaft is centrally arranged at the bottom of the fifth shaft, and the sixth shaft and the fifth shaft are movably assembled.
优选的，所述第三轴一号电机的输出端与第二轴的上端固定套接。Preferably, the output end of the No. 1 motor of the third shaft is fixedly socketed with the upper end of the second shaft.
优选的，所述第四轴与底座水平间隔设置，第二轴分别与第一轴、第三轴垂直设置。Preferably, the fourth axis is horizontally spaced from the base, and the second axis is perpendicular to the first axis and the third axis respectively.
优选的，所述第五轴通过第五轴连接件与第四轴一侧的U型卡口轴连接。Preferably, the fifth shaft is connected to the U-shaped bayonet shaft on one side of the fourth shaft through a fifth shaft connector.
与现有技术相比，本实用新型的有益效果如下：Compared with the prior art, the beneficial effects of the utility model are as follows:
本可自由旋转的机器人，装置整体造型轻巧，内部驱动装置与机械臂相对分离，使得轴臂整体重量轻巧，所需的整体驱动力更低，机械功耗显著减小，各轴独立受控于不同的驱动电机，控制精度更高，独立性更好，使之运行稳定，不易失控，六轴皆可独立旋转，装置自由度更高，灵活性更好，并使得装置整体适用范围更广，实用性更佳。The robot that can rotate freely, the overall shape of the device is light and compact, and the internal drive device is relatively separated from the mechanical arm, so that the overall weight of the axis arm is light, the required overall driving force is lower, the mechanical power consumption is significantly reduced, and each axis is independently controlled by Different driving motors have higher control precision and better independence, making it stable and not easy to lose control. All six axes can rotate independently, the device has a higher degree of freedom, better flexibility, and makes the overall application of the device wider. Better practicality.
附图说明Description of drawings
图1为本实用新型的拆分效果图；Fig. 1 is the split effect figure of the utility model;
图2为本实用新型的装配图；Fig. 2 is the assembly drawing of the present utility model;
图3为本实用新型的整体结构图。Fig. 3 is the overall structure diagram of the utility model.
图中：1底座、11固定块、12连接套筒、13底座转轴、2第一轴、21第一轴电机、3第二轴、4第三轴、41第三轴一号电机、42第三轴二号电机、5第四轴、51第四轴连接件、52U型卡口、6第五轴、61第五轴连接件、7第六轴。In the figure: 1 base, 11 fixed block, 12 connecting sleeve, 13 base rotating shaft, 2 first shaft, 21 first shaft motor, 3 second shaft, 4 third shaft, 41 third shaft No. 1 motor, 42 Three-axis No. 2 motor, 5 fourth axis, 51 fourth axis connector, 52 U-shaped bayonet, 6 fifth axis, 61 fifth axis connector, 7 sixth axis.
具体实施方式Detailed ways
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
请参阅图1-3，一种可自由旋转的机器人，包括底座1，底座1由固定块11、连接套筒12和底座转轴13组成，固定块11的顶部设置有连接套筒12，连接套筒12的中心处设置有底座转轴13，底座转轴13在连接套筒12的内圈竖直设置，底座转轴13的外圈设置有第一轴2，第一轴2围绕底座转轴13自动转动，第一轴2与底座1活动套装，第一轴2的外表面设置有第一轴电机21，第一轴电机21的输出端设置有第二轴3，第二轴3伴随第二轴3的摆动也随之摆动，第二轴3的一端与第一轴电机21固定套接，第二轴3的另一端设置有第三轴4，第三轴一号电机41的输出端与第二轴3的上端固定套接，第三轴一号电机41在第二轴3的顶部并驱动第二轴3进行摆动，第一轴电机21在第二轴3的低部驱动第二轴3相对摆动，第二轴3双向受控，更为灵活、轻巧，第三轴4的外表面分别设置有第三轴一号电机41和第三轴二号电机42，第三轴二号电机42的输出端设置有第四轴5，第三轴二号电机42带动第四轴5相对转动，第四轴5与底座1水平间隔设置，第四轴5与底座1间隔一定的距离，从而扩大安全距离，避免第四轴5在运转中与底座1产生接触，第二轴3分别与第一轴2、第三轴4垂直设置，第四轴5的一端设置有第四轴连接件51，第四轴5通过第四轴连接件51与第三轴二号电机42的输出端活动装配，第四轴5的另一端设置有U型卡口52，U型卡口52的内侧设置有第五轴6，第五轴6的外表面插装有第五轴连接件61，第五轴连接件61的两端分别与U型卡口52的内侧面活动装配，第五轴6通过第五轴连接件61与第四轴5一侧的U型卡口52轴连接，第五轴6围绕第五轴连接件61进行定轴转动，第五轴连接件61与第五轴6固定装配，第五轴6的输出端还设置有第六轴7，第六轴7居中设置在第五轴6的底部，第六轴7与第五轴6活动装配，第六轴7在第五轴6的底部自由旋转，第六轴7的外表面可通过自由组装机械手或夹紧工具以实现不同的操作，装置整体造型轻巧，内部驱动装置与机械臂相对分离，使得轴臂整体重量轻巧，所需的整体驱动力更低，机械功耗显著减小，各轴独立受控于不同的驱动电机，控制精度更高，独立性更好，使之运行稳定，不易失控，六轴皆可独立旋转，装置自由度更高，灵活性更好，并使得装置整体适用范围更广，实用性更佳。Please refer to Fig. 1-3, a kind of robot that can rotate freely, comprises base 1, and base 1 is made up of fixed block 11, connecting sleeve 12 and base rotating shaft 13, and the top of fixed block 11 is provided with connecting sleeve 12, and connecting sleeve The center of the cylinder 12 is provided with a base rotating shaft 13, which is vertically arranged on the inner ring of the connecting sleeve 12, and the outer ring of the base rotating shaft 13 is provided with a first shaft 2, and the first shaft 2 automatically rotates around the base rotating shaft 13, The first shaft 2 is movable with the base 1. The outer surface of the first shaft 2 is provided with a first shaft motor 21. The output end of the first shaft motor 21 is provided with a second shaft 3. The second shaft 3 is accompanied by the second shaft 3. Swing also swings thereupon, one end of the second shaft 3 is fixedly socketed with the first shaft motor 21, the other end of the second shaft 3 is provided with a third shaft 4, and the output end of the third shaft No. 1 motor 41 is connected to the second shaft The upper end of 3 is fixedly socketed, the third shaft No. 1 motor 41 is on the top of the second shaft 3 and drives the second shaft 3 to swing, and the first shaft motor 21 drives the second shaft 3 to swing relative to the lower part of the second shaft 3 , the second shaft 3 is bidirectionally controlled, more flexible and lightweight, the outer surface of the third shaft 4 is respectively provided with the third shaft No. 1 motor 41 and the third shaft No. 2 motor 42, and the output of the third shaft No. 2 motor 42 The fourth shaft 5 is arranged at the end, and the second motor 42 of the third shaft drives the fourth shaft 5 to rotate relatively. , to prevent the fourth shaft 5 from coming into contact with the base 1 during operation, the second shaft 3 is arranged perpendicularly to the first shaft 2 and the third shaft 4 respectively, and one end of the fourth shaft 5 is provided with a fourth shaft connecting piece 51, and the fourth shaft The shaft 5 is movably assembled with the output end of the second motor 42 of the third shaft through the fourth shaft connector 51, the other end of the fourth shaft 5 is provided with a U-shaped bayonet 52, and the inner side of the U-shaped bayonet 52 is provided with a fifth shaft 6. A fifth shaft connector 61 is inserted on the outer surface of the fifth shaft 6, and the two ends of the fifth shaft connector 61 are respectively movably assembled with the inner surface of the U-shaped bayonet 52, and the fifth shaft 6 is connected by the fifth shaft The piece 61 is pivotally connected with the U-shaped bayonet 52 on one side of the fourth shaft 5, and the fifth shaft 6 rotates around the fifth shaft connecting piece 61, and the fifth shaft connecting piece 61 is fixedly assembled with the fifth shaft 6. The output end of the shaft 6 is also provided with a sixth shaft 7, the sixth shaft 7 is centrally arranged at the bottom of the fifth shaft 6, the sixth shaft 7 is movably assembled with the fifth shaft 6, and the sixth shaft 7 is at the bottom of the fifth shaft 6 Free rotation, the outer surface of the sixth axis 7 can be freely assembled with manipulators or clamping tools to achieve different operations. The driving force is lower, the mechanical power consumption is significantly reduced, each axis is independently controlled by different drive motors, the control accuracy is higher, and the independence is better, so that it runs stably and is not easy to lose control. All six axes can rotate independently and the device is free Higher precision, better flexibility, wider applicability and better practicability of the device as a whole.
综上所述：本可自由旋转的机器人，装置整体造型轻巧，内部驱动装置与机械臂相对分离，使得轴臂整体重量轻巧，所需的整体驱动力更低，机械功耗显著减小，各轴独立受控于不同的驱动电机，控制精度更高，独立性更好，使之运行稳定，不易失控，六轴皆可独立旋转，装置自由度更高，灵活性更好，并使得装置整体适用范围更广，实用性更佳。To sum up: the robot that can rotate freely, the overall shape of the device is light, and the internal drive device is relatively separated from the mechanical arm, so that the overall weight of the shaft arm is light, the required overall driving force is lower, and the mechanical power consumption is significantly reduced. The axes are independently controlled by different drive motors, with higher control precision and better independence, making it stable and not easy to lose control. All six axes can rotate independently, with higher degrees of freedom and better flexibility, and make the overall The scope of application is wider and the practicability is better.
尽管已经示出和描述了本实用新型的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本实用新型的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721737894.8UCN207564481U (en) | 2017-12-11 | 2017-12-11 | A freely rotating robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721737894.8UCN207564481U (en) | 2017-12-11 | 2017-12-11 | A freely rotating robot |
| Publication Number | Publication Date |
|---|---|
| CN207564481Utrue CN207564481U (en) | 2018-07-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721737894.8UExpired - Fee RelatedCN207564481U (en) | 2017-12-11 | 2017-12-11 | A freely rotating robot |
| Country | Link |
|---|---|
| CN (1) | CN207564481U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789389A (en)* | 2018-07-27 | 2018-11-13 | 广东伯朗特智能装备股份有限公司 | A kind of rotating mechanism, multi-axis robot and assemble method |
| CN109719436A (en)* | 2019-03-19 | 2019-05-07 | 安徽机电职业技术学院 | A kind of welding robot |
| CN109759759A (en)* | 2019-03-19 | 2019-05-17 | 安徽机电职业技术学院 | A kind of beddo frame robot welding production assembly line |
| CN111941397A (en)* | 2020-08-17 | 2020-11-17 | 宁波肯倍机器人科技有限公司 | 20 kg all-purpose robot |
| CN111958633A (en)* | 2020-08-17 | 2020-11-20 | 宁波肯倍机器人科技有限公司 | 10 kg all-purpose robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789389A (en)* | 2018-07-27 | 2018-11-13 | 广东伯朗特智能装备股份有限公司 | A kind of rotating mechanism, multi-axis robot and assemble method |
| CN108789389B (en)* | 2018-07-27 | 2023-11-03 | 伯朗特机器人股份有限公司 | Rotating mechanism, multi-axis robot and assembling method |
| CN109719436A (en)* | 2019-03-19 | 2019-05-07 | 安徽机电职业技术学院 | A kind of welding robot |
| CN109759759A (en)* | 2019-03-19 | 2019-05-17 | 安徽机电职业技术学院 | A kind of beddo frame robot welding production assembly line |
| CN109759759B (en)* | 2019-03-19 | 2021-08-10 | 安徽机电职业技术学院 | Robot welding production line for electric bed frame |
| CN111941397A (en)* | 2020-08-17 | 2020-11-17 | 宁波肯倍机器人科技有限公司 | 20 kg all-purpose robot |
| CN111958633A (en)* | 2020-08-17 | 2020-11-20 | 宁波肯倍机器人科技有限公司 | 10 kg all-purpose robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180703 Termination date:20191211 |