Industrial 6-joint robotic manipulator
Final Products
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6-joint mechanical arm
6-axis robot for packaging palletising with a load of 25 kg and goods palletised up to 1.7 metres high.
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How it works?
What is Automatic mechanical arm？
GUANGDONG YIREN TECHNOLOGY CO., LTD. Provide different kind of bread,cake and biscuit sandwich machines. Bread slicer,spreader floss machine,Premade packing mdwiching for different flavour then transfer to the packing machine automatically. Energy saving and labor saving.6-joint automatic robotic arm is widely used in the packaging field, can be used for boxing, sorting, palletising, handling, loading and unloading, etc., welding field also has applications, 6-joint main flexible, fast speed and high precision.
Machine Details
Features:
Work scope diagram
Installation interface diagram
Inertia tensor of the connecting rod relative to the center of mass
Object | Base | Rotating sea components | Boom components | Small arm fixed seat components | Small arm components | Wrist |
Consult | Coordinate system 0 | Coordinate system 1 | Coordinate system 2 | Coordinate system 3 | Coordinate system 4 | Coordinate system 5 |
lxx (Kgmm²） | / | 1,8×10 | 2.3×10 | 5.3×10 | 3.8×10 | 1.1×10 |
lyy (Kgmm²) | / | 2.0×10° | 3.8×10 | 2.2×10 | 7.2×10° | 9.3×10 |
lzz (Kgmm²) | / | 7 8×10⁵ | 2.2×10 | 1 0×10⁵ | 3 7×10⁵ | 7 3×10⁵ |
Joint coupling
Joint | J1-J2 | J2-J3 | J3-J4 | J4-J5 | J4-J6 | J5-J6 |
Coupling relationship equation (Coupling coefficient) | / | / | / | / | / | 11.7 |
Reducer parameters
Model | 50C | 42D | 25D | 32 Harmonic | 20 Harmonic | Gearbox |
Reducer reduction retio | 32.54 | 105 | 81 | 50 | 50 | / |
Comprehensive reduction ratio | 97.62 | 104 | 80 | 102 | 102 | 35.1 |
Rated output speed | 15 | 15 | 15 | 40 | 25 | / |
(N-m)Rated torque | 490 | 412 | 245 | 76 | 34 | / |
Permissible torque for starting and stopping | 1225 | 1029 | 612 | 216 | 75 | / |
Instantaneous maximum torque | 2450 | 2058 | 1225 | 382 | 127 | // |
(N-m)Moment rigidity | 1764 | 1660 | 784 | / | / | / |
Instantaneous maximum torque | 3528 | 3320 | 1568 | / | / | / |
Motor parameters
Joint | J1 | J2 | J3 | J4 | J5 | J6 |
Motor Medel | 130 | 80 | 80 | 60 | 60 | 40 |
Reted power | 1.5 | 1.5 | 0.75 | 0.4 | 0.1 | 0.1 |
Reted voltage | 220 | |||||
Reted current | 7 | 7 | 5 | 2.6 | 0.85 | 0.85 |
Reted torque | 4.77 | 4.77 | 2.38 | 1.27 | 0.31 | 0.31 |
Reted speed | 3000 | 3000 | 3000 | 3000 | 3000 | 3000 |
Maximum speed | 3200 | 3200 | 4100 | 5000 | 5000 | 5400 |
(*10e-4kgm²) Rotor inertia
| 9 | 9 | 1.2 | 0.4 | 0.06 | 0.06 |
(V/Krpm)Line back electromotive force coefficient | 48 | 48 | 36.2 | 33 | 25.2 | 25.2 |
Number of pole pairs | 5 | |||||
Encoder | 17 bit muti turn insulation value Tamagawa agreement | |||||
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