CN113414759B - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN113414759B CN113414759B CN202110749722.7A CN202110749722A CN113414759B CN 113414759 B CN113414759 B CN 113414759B CN 202110749722 A CN202110749722 A CN 202110749722A CN 113414759 B CN113414759 B CN 113414759B
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- mechanical arm
- speed reducer
- base flange
- robot
- motor
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000005096 rolling process Methods 0.000 claims description 51
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 238000005452 bending Methods 0.000 abstract description 24
- 230000002035 prolonged effect Effects 0.000 abstract description 8
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a robot, wherein, the robot includes: a base flange for mounting the first motor; the first speed reducer is connected with the first motor; the first mechanical arm is connected with the first speed reducer; and a force transfer mechanism coupled to the base flange and the first mechanical arm for transferring the force on the first speed reducer to the base flange. The robot can directly transfer the bending moment and the centrifugal force born by the first speed reducer to the frame flange through the force transfer mechanism, so that the bending moment and the centrifugal force born by the first speed reducer are reduced, and the service life of the speed reducer is prolonged to a certain extent.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot.
Background
The first speed reducer of the SCARA (horizontal multi-joint) industrial robot generally adopts a harmonic speed reducer, and the connection mode is that a first mechanical arm is connected with the outer ring of a rigid bearing of the first speed reducer, and a base flange is connected with a steel wheel of the first speed reducer. Therefore, the first speed reducer bears both torque and bending moment and centrifugal force, which reduces the service life of the speed reducer to a great extent. When the robot moves, due to the actions of bending moment, centrifugal force and the like, parts such as a machine base flange, a first speed reducer and the like can generate certain deformation, so that the speed reducer wave generator and the speed reducer flexible gear are eccentric, the harmonic speed reducer flexible gear and the steel gear are abnormal in meshing, vibration noise is generated, and the service life is prolonged.
In order to solve the defects of the prior art, a robot is necessary to be provided.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the robot which can directly transfer the bending moment and the centrifugal force born by the first speed reducer to the flange of the machine base through the force transfer mechanism, so that the bending moment and the centrifugal force born by the first speed reducer are reduced, and the service life of the speed reducer is prolonged to a certain extent.
The application provides a robot, wherein, the robot includes:
a base flange for mounting the first motor;
the first speed reducer is connected with the first motor;
the first mechanical arm is connected with the first speed reducer; and a force transfer mechanism coupled to the base flange and the first mechanical arm for transferring the force on the first speed reducer to the base flange.
In one possible embodiment, the force transfer mechanism comprises:
the first mechanical arm fixing ring is sleeved on the outer side of the base flange and can be connected with the base flange in a rotating mode, and the first mechanical arm fixing ring is fixedly connected with the first mechanical arm.
In one possible embodiment, the force transferring mechanism further includes a rolling member, wherein a first rolling groove is formed in an inner side wall of the first mechanical arm fixing ring, a second rolling groove corresponding to the first rolling groove is formed in an outer side wall of the base flange, and the rolling member is matched with the first rolling groove and the second rolling groove.
In one possible embodiment, the base flange includes a flange plate and a hollow cylinder protruding on the flange plate, and the second rolling groove is formed in the outer wall of the hollow cylinder.
In one possible embodiment, the force transfer mechanism further comprises: and the elastic gasket is arranged between the first mechanical arm and the first mechanical arm fixing ring.
In one possible embodiment, the first mechanical arm, the elastic washer and the first mechanical arm fixing ring are connected through bolts.
In one possible implementation manner, the first mechanical arm is provided with a first through hole, the elastic gasket is provided with a second through hole, the first mechanical arm fixing ring is provided with an opening, and the bolt sequentially passes through the first through hole, the second through hole and the opening to connect the first mechanical arm, the elastic gasket and the first mechanical arm fixing ring.
In one possible embodiment, the device further comprises a base connected with the base flange to support the base flange.
In one possible implementation manner, a second speed reducer is further arranged on the first mechanical arm, and the second motor is connected with the second mechanical arm through the second speed reducer.
In one possible implementation manner, the second mechanical arm is provided with a third motor and a fourth motor which are independent, wherein the third motor is connected with the ball screw spline integral shaft through a first synchronous belt so that the ball screw spline integral shaft moves up and down, and the fourth motor is connected with the ball screw spline integral shaft through a second synchronous belt, an intermediate shaft assembly and a third synchronous belt in sequence so as to drive the ball screw spline integral shaft to rotate.
The above-described features may be combined in various suitable ways or replaced by equivalent features as long as the object of the present invention can be achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings, in which:
FIG. 1 shows a schematic view of a robot of the present invention;
FIG. 2 shows an enlarged view of portion A of FIG. 1;
FIG. 3 shows a schematic view of the resilient gasket of the present invention in a first operative condition;
FIG. 4 shows a schematic view of the resilient gasket of the present invention in a second operative condition;
FIG. 5 shows a schematic view of a stand flange of the present invention;
FIG. 6 shows a schematic view of an elastomeric gasket of the present invention; and
fig. 7 shows a schematic view of a first arm retainer ring of the present invention.
In the drawings, like parts are designated with like reference numerals. The figures are not drawn to scale.
Reference numerals:
1-a stand;
2-a first motor;
3-a frame flange and 31-a second rolling groove;
4-a first mechanical arm fixing ring, 41-opening holes and 42-a first rolling groove;
5-rolling parts;
6-an elastic washer, 61-a second through hole;
7-a first mechanical arm;
8-a first speed reducer;
9-a bolt;
10-bolts;
11-bolts;
12-bolts;
13-a second speed reducer;
14-a second motor;
15. a fourth motor;
16-a countershaft assembly;
17-a third motor;
18-a second synchronous belt;
19-a third synchronous belt;
20-a first synchronization belt;
21-a second mechanical arm;
22-ball screw spline integral shaft.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the present application provides a robot, specifically, as shown in fig. 1 to 7, the robot of the present invention includes: the device comprises a base flange 3, a first speed reducer 8, a first mechanical arm 7 and a force transfer mechanism, wherein the base flange 3 is used for mounting a first motor 2, the first speed reducer 8 is connected with the first motor 2, and the first mechanical arm 7 is connected with the first speed reducer 8; and a force transfer mechanism interfaces with the base flange 3 and the first mechanical arm 7 to transfer the force on the first speed reducer 8 to the base flange 3.
Specifically, in the prior art, in a general robot, a first mechanical arm is connected with a first speed reducer, and the first speed reducer is connected with a base flange. According to the connecting mode, the first speed reducer bears all bending moment generated by the first mechanical arm and the load of the tail end body of the first mechanical arm, and centrifugal force generated during movement, so that the service life of the first speed reducer is reduced to a certain extent by the bending moment and the centrifugal force; on the other hand, bending moment and centrifugal force enable the joint of the first mechanical arm, the base flange and the first speed reducer to deform, so that the wave generator of the first speed reducer is eccentric, the flexible gear and the steel gear of the first speed reducer are abnormal in meshing, vibration noise is generated, and meanwhile, the service life of the speed reducer is also reduced due to abnormal meshing of the flexible gear and the steel gear.
According to the robot disclosed by the invention, the bending moment born by the first speed reducer 8, the centrifugal force and other acting forces are directly transferred to the frame flange 3 through the force transfer mechanism, so that the bending moment born by the first speed reducer 8 and the centrifugal force are reduced, the service life of the speed reducer is prolonged to a certain extent, on the other hand, the deformation of parts caused by the bending moment and the centrifugal force is reduced, the eccentricity of a wave generator is weakened, and the vibration noise caused by abnormal meshing of a flexible gear and a steel gear of the speed reducer is avoided.
Specifically, the force transfer mechanism includes: the first mechanical arm fixing ring 4 is sleeved on the outer side of the base flange 3 and can be connected with the base flange 3 in a rotating mode, and the first mechanical arm fixing ring 4 is fixedly connected with the first mechanical arm 7. In addition, the force transfer mechanism further includes a rolling member 5 (may also be referred to as a roller), wherein the inner sidewall of the first mechanical arm fixing ring 4 is provided with a first rolling groove 42, the outer sidewall of the base flange 3 is provided with a second rolling groove 31 corresponding to the first rolling groove 42, and the rolling member 5 is matched with the first rolling groove 42 and the second rolling groove 31.
Further, the force transfer mechanism further includes: the elastic gasket 6, the elastic gasket 6 locates between first arm 7 and the first arm retainer plate 4.
Specifically, the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3 are in contact fit. The first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 are locked by bolts 10 and can rotate around the base flange 3 by the rolling piece 5; when the device works, bending moment and centrifugal force born by the first speed reducer 8 (when the structure is not adopted, the transmission process of the bending moment and the centrifugal force is that the first mechanical arm 7, the first speed reducer 8 and the frame flange 3) can be acted on the frame flange 3 through the first mechanical arm 7, the first mechanical arm fixing ring 4, the rolling piece 5 and the frame flange 3, so that the effect of the centrifugal force and the bending moment on the first speed reducer 8 is weakened.
Specifically, the base flange 3 includes a flange plate 32 and a hollow column 33 protruding from the flange plate 32, and the second rolling groove 31 is formed on the outer wall of the hollow column 33.
The first mechanical arm 7 is provided with a first through hole, the elastic gasket 6 is provided with a second through hole 61, the first mechanical arm fixing ring 4 is provided with an opening 41, and the bolt 10 sequentially passes through the first through hole, the second through hole 62 and the opening 41 to connect the first mechanical arm 7, the elastic gasket 6 and the first mechanical arm fixing ring 4.
In a specific embodiment, the robot further comprises a base 1, and the base 1 is connected with the base flange 3 to support the base flange 3.
Further, the first mechanical arm 7 is also provided with a second speed reducer 13, and the second motor 14 is connected with the second mechanical arm 21 through the second speed reducer 13. Further, a third motor 14 and a fourth motor 15 which are independent of each other are arranged on the second mechanical arm 21, wherein the third motor 14 is connected with a ball screw spline integral shaft 22 through a first synchronous belt 20 so as to enable the ball screw spline integral shaft 22 to move up and down, the fourth motor 15 is connected with the ball screw spline integral shaft 22 through a second synchronous belt 18, an intermediate shaft assembly 16 and a third synchronous belt 19 in sequence (wherein the second synchronous belt 16 and the third synchronous belt 19 of the invention are both connected with the intermediate shaft, the intermediate shaft is provided with two pulleys with different sizes and are concentrically arranged at different axial positions, namely the rotation centers are the same), one side of the second synchronous belt 18 is connected with the intermediate shaft assembly 16, the other side of the second synchronous belt 18 is connected with the fourth motor 18, one side of the third synchronous belt 19 is connected with the intermediate shaft assembly 16, and the other side of the third synchronous belt 19 is connected with the ball screw spline integral shaft 22 so as to drive the ball screw spline integral shaft 22 to rotate.
Wherein the above-mentioned components such as the machine base 1, the first motor 2, the rolling member 5, the first mechanical arm 7, the first speed reducer 8, the bolt 10, the second speed reducer 13, the second motor 14, the fourth motor 15, the intermediate shaft 16, the third motor 17; the structures of the second timing belt 18, the third timing belt 19, the first timing belt 20, the second mechanical arm 21, and the ball screw spline integral shaft 22 are well known to those skilled in the art, and will not be described in detail herein.
A specific embodiment of the robot of the present invention will now be described in detail with reference to fig. 1 to 7 to make the present invention more clear, which is not intended to limit the present invention.
The present invention will now be described by way of example with respect to a robot-based horizontal articulated arm (SCARA) robot, although other types of robots are possible and are not particularly limited thereto.
The invention provides a SCARA robot, which comprises a first speed reducer stress transfer structure, wherein a first mechanical arm 7 is connected with a frame flange 3 through a first mechanical arm fixing ring 4 (such as a first mechanical arm fixing steel ring), an elastic washer 6 and a rolling piece 5, so that the action of centrifugal force and bending moment of the robot on the first speed reducer 8 is weakened, the vibration is reduced, and the service life is prolonged.
In the SCARA robot, the first speed reducer directly transfers the bending moment and the centrifugal force born by the first speed reducer to the frame flange through the stress transfer structure, and the SCARA robot has the advantages that on one hand, the bending moment and the centrifugal force born by the first speed reducer are reduced, and the service life of the speed reducer of the harmonic speed reducer is prolonged to a certain extent; on the other hand, the eccentricity of the wave generator is reduced, the abnormal meshing of the flexible gear and the steel gear of the harmonic speed reducer is avoided, the vibration noise is reduced, and meanwhile, the service life is prolonged.
In the best mode of the invention, as shown in fig. 1 and 2, the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3 are in contact fit. The first mechanical arm 7, the elastic gasket 6 and the first mechanical arm fixing ring 4 are locked by bolts 10, a first rolling groove 42 is formed in the inner side wall of the first mechanical arm fixing ring 4, a second rolling groove 31 corresponding to the first rolling groove 42 is formed in the outer side wall of the base flange 3, the rolling piece 5 is matched with the first rolling groove 42 and the second rolling groove 31, and the first mechanical arm 7, the elastic gasket 6 and the first mechanical arm fixing ring 4 can rotate around the base flange 3 through the rolling piece 5; during operation, the bending moment and the centrifugal force born by the first speed reducer 8 can sequentially pass through the first mechanical arm 7, the first mechanical arm fixing steel ring 4, the rolling piece 5 and the base flange 3, and finally act on the base flange 3, so that the effect of the centrifugal force and the bending moment on the first speed reducer 8 is weakened.
As shown in fig. 3 and 4, the elastic washer 6 is schematically shown in its working mechanism. In general, the first mechanical arm 7, the elastic washer 6, and the first mechanical arm fixing ring 4 are locked by the bolts 10, and at this time, the thickness of the elastic washer is C (which may also be considered as the distance between the upper end surface of the first mechanical arm fixing ring 4 and the lower end surface of the first mechanical arm 7), and due to the machining error, there is a gap (and/or play) between the rolling member 5 and the first mechanical arm fixing ring 4, and the roller rolling groove on the base flange 3, as shown in fig. 3, such a gap (and/or play) affects the force transfer between the first mechanical arm ring 4 and the base flange 3. The torque of the bolt 10 is increased to enable the first mechanical arm fixing steel ring 4 to move upwards, the thickness of the elastic gasket 6 is compressed to C-l, the relative positions of the upper surface of the base flange 3 and the lower surface of the first mechanical arm 7 are not changed before and after adjustment, the distance is constant to A, and as shown in fig. 4, the rolling piece 5 is fully contacted with the first mechanical arm fixing ring 4 and the roller grooves on the base flange 3.
As shown in fig. 5, the base flange 3 is a schematic structure of a base flange 3, unlike a conventional base flange, the base flange 3 includes a flange plate 32 and a hollow column 33 protruding from the flange plate 32, and a second rolling groove 31 is formed on an outer wall of the hollow column 33.
As shown in fig. 6, a schematic structural view of the elastic washer 6 is shown, and the elastic washer 6 is provided with a second through hole 61 through which a bolt passes. The elastic gasket 6 may be a gasket of a special structure or/and a special material, and its function is: firstly, the gap between the first mechanical arm 7 and the first mechanical arm fixing ring 4 is avoided (the gap exists between the first mechanical arm 7 and the first mechanical arm fixing ring, so that the force transfer between the first mechanical arm and the first mechanical arm is realized only through the bolts 10, and the reliability cannot be ensured); second, the gap (and/or play) between the first robot arm ring 4, the frame flange 3 and the roller 5 is adjusted.
As shown in fig. 7, the first arm fixing ring 4 is configured, a screw hole 41 fixed to the first arm 7 and the elastic washer 6 is provided in the first arm fixing ring 4, and a first rolling groove 42 (which may be also referred to as a ball groove) is provided on the inner side.
The roller grooves (first roller groove 42 and second roller groove 31) in fig. 6 and 7 are not necessarily arc-shaped, and the rolling members 5 are not necessarily spherical, and their main functions are: the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3 are matched, and axial force and radial force can be transmitted between the first mechanical arm fixing ring, the rolling piece 5 and the base flange 3, so that the transfer and transmission of bending moment and centrifugal force of the first speed reducer of the robot are realized.
In addition, the SCARA industrial robot of the present embodiment includes a frame 1, a first motor 2, a first speed reducer 8, a first mechanical arm 7, a second speed reducer 13, a second motor 14, a second mechanical arm 21, a third motor 17, a fourth motor 15, a ball spline integral shaft 22, a second timing belt 18, a third timing belt 19, a first timing belt 20, and a first mechanical arm ring 4, a rolling member 5, and an elastic washer 6; the first motor 2 is fixed on the base 1 through the base flange 3 (the first motor 2 is fixed on the base flange 3 through bolts 12, the base flange 3 is fixed on the base 1 through bolts 11, for example), the input end of the first speed reducer 8 is connected with the base flange 3, the output end of the first speed reducer 8 is connected with the first mechanical arm 7 (the main bodies of the first speed reducer 8 and the first mechanical arm 7 are also connected through bolts 9, for example), and under the driving of the first motor 2, the first mechanical arm 7 rotates around the axis of the first motor 2 under the decelerating action of the first speed reducer 8; the second motor 14 is fixed on the second mechanical arm 21, the input end of the second speed reducer 13 is connected with the second mechanical arm 21, the output end of the second speed reducer 13 is connected with the first mechanical arm 7, the second mechanical arm 21 rotates around the axis of the second motor 14 through the speed reduction of the second speed reducer 13 under the drive of the second motor 14; the third motor 17 is fixed on the second mechanical arm 21, and drives the ball screw spline integral shaft 22 to vertically move up and down through the transmission of the third synchronous belt 20; the fourth motor 15 is fixed on the second mechanical arm 21, and drives the ball screw spline integral shaft 22 to rotate through the transmission of the second synchronous belt 18, the intermediate shaft assembly 16 and the third synchronous belt 19; the third motor 17 and the fourth motor 15 are driven in combination to perform a desired movement of the ball screw spline integral shaft 22. The first mechanical arm 7, the elastic gasket 6 and the first mechanical arm fixing ring 4 are locked through bolts 10, and the first mechanical arm 7, the elastic gasket 6 and the first mechanical arm fixing ring 4 can rotate around the base flange 3 through the rolling piece 5.
The SCARA robot of the present invention comprises: the machine comprises a machine base flange, rollers, a first mechanical arm fixing ring and an elastic gasket, wherein roller grooves matched with the rollers are formed in the first mechanical arm fixing ring and the machine base flange, the first mechanical arm fixing ring and the elastic gasket are fixed together through bolts, and the first mechanical arm fixing ring and the machine base flange realize force transmission through the rollers. Gaps (and/or play) among the first mechanical arm fixing ring, the roller and the base flange are adjusted through the elastic gasket, so that the first mechanical arm fixing ring, the roller and the base flange can be in close contact, and force transmission is effectively realized; in the invention, the bending moment and the centrifugal force born by the first speed reducer are directly transmitted to the frame flange through the first mechanical arm fixing ring and the rollers. The beneficial effects are as follows: on one hand, the effect of bending moment and centrifugal force on the first speed reducer is reduced, and the service life of the first speed reducer is prolonged; on the other hand, the deformation of parts caused by bending moment and centrifugal force is reduced, the eccentricity of the wave generator is weakened, and vibration noise caused by abnormal meshing of the flexible gear and the steel gear of the harmonic speed reducer is avoided.
In the description of the present invention, it should be understood that the terms "upper," "lower," "bottom," "top," "front," "rear," "inner," "outer," "left," "right," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (7)
1. A robot, the robot comprising:
a base flange for mounting the first motor;
the first speed reducer is connected with the first motor;
the first mechanical arm is connected with the first speed reducer; and
a force transfer mechanism coupled to the base flange and the first mechanical arm to transfer the force on the first speed reducer to the base flange;
the force transfer mechanism comprises a first mechanical arm fixing ring which is sleeved on the outer side of the base flange and can be connected with the base flange in a rotating way, wherein the first mechanical arm fixing ring is fixedly connected with the first mechanical arm;
the force transfer mechanism further comprises a rolling piece, wherein a first rolling groove is formed in the inner side wall of the first mechanical arm fixing ring, a second rolling groove corresponding to the first rolling groove is formed in the outer side wall of the base flange, and the rolling piece is matched with the first rolling groove and the second rolling groove;
the base flange comprises a flange plate and a hollow cylinder protruding on the flange plate, and the second rolling groove is formed in the outer wall of the hollow cylinder.
2. The robot of claim 1, wherein the force transfer mechanism further comprises: and the elastic gasket is arranged between the first mechanical arm and the first mechanical arm fixing ring.
3. The robot of claim 2, wherein the first mechanical arm, the elastic washer, and the first mechanical arm fixing ring are connected by bolts.
4. The robot of claim 3, wherein the first mechanical arm is provided with a first through hole, the elastic washer is provided with a second through hole, the first mechanical arm fixing ring is provided with an opening, and the bolt sequentially passes through the first through hole, the second through hole and the opening to connect the first mechanical arm, the elastic washer and the first mechanical arm fixing ring.
5. The robot of any of claims 1-4, further comprising a base that interfaces with the base flange to support the base flange.
6. The robot of claim 5, wherein the first mechanical arm is further provided with a second speed reducer, and the second motor is connected with the second mechanical arm through the second speed reducer.
7. The robot of claim 6, wherein the second mechanical arm is provided with a third motor and a fourth motor which are independent, wherein the third motor is connected with the ball screw spline integral shaft through a first synchronous belt so as to enable the ball screw spline integral shaft to move up and down, and the fourth motor is connected with the ball screw spline integral shaft through a second synchronous belt, an intermediate shaft assembly and a third synchronous belt in sequence so as to drive the ball screw spline integral shaft to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110749722.7A CN113414759B (en) | 2021-07-02 | 2021-07-02 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110749722.7A CN113414759B (en) | 2021-07-02 | 2021-07-02 | Robot |
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| CN113414759A CN113414759A (en) | 2021-09-21 |
| CN113414759B true CN113414759B (en) | 2023-07-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114454210A (en) * | 2022-03-24 | 2022-05-10 | 珠海格力电器股份有限公司 | Horizontal multi-joint robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001095A (en) * | 2009-09-03 | 2011-04-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN111409064A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | Three-axis and four-axis joint structure of SCARA robot and SCARA robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549493B (en) * | 2008-06-19 | 2010-07-28 | 大连理工大学 | A dual-arm glass substrate handling robot |
| JP5338223B2 (en) * | 2008-09-25 | 2013-11-13 | セイコーエプソン株式会社 | SCARA robot wrist axis rotation drive mechanism |
| CN103802090A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Dual-arm carrying manipulator |
| CN108839012A (en) * | 2018-08-07 | 2018-11-20 | 上海大学 | A kind of sixdegree-of-freedom simulation |
| CN210910088U (en) * | 2019-10-23 | 2020-07-03 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
| CN112847427A (en) * | 2021-02-02 | 2021-05-28 | 昆明理工大学 | A five-degree-of-freedom folding robotic arm |
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- 2021-07-02 CN CN202110749722.7A patent/CN113414759B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001095A (en) * | 2009-09-03 | 2011-04-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN111409064A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | Three-axis and four-axis joint structure of SCARA robot and SCARA robot |
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