CN105479446A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN105479446A CN105479446A CN201610079247.6A CN201610079247A CN105479446A CN 105479446 A CN105479446 A CN 105479446A CN 201610079247 A CN201610079247 A CN 201610079247A CN 105479446 A CN105479446 A CN 105479446A
- Authority
- CN
- China
- Prior art keywords
- horn
- motor
- output shaft
- pulley
- transmission mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to the technical field of mechanical automation, in particular to a robot. The robot comprises an actuator arm, a power mechanism, a transmission mechanism and an actuator, wherein the power mechanism is arranged on the actuator arm, and an output shaft and the transmission mechanism are located at the upper end of the power mechanism; the power mechanism is in transmission connection with the output shaft to drive the output shaft to rotate; the output shaft is in transmission connection with the actuator through the transmission mechanism to drive the actuator to move. The power mechanism is in transmission connection with the output shaft located at the upper end of the power mechanism, and the output shaft is connected with the transmission mechanism, so that the transmission mechanism is suspended above the actuator arm, and the overall height and inertia of the actuator arm are reduced further. In addition, the transmission mechanism is suspended above the actuator arm and is convenient for work staff to repair and maintain.
Description
Technical field
The present invention relates to technical field of mechanical automation, especially relate to a kind of robot.
Background technology
Along with science and technology constantly develops, today that economic condition improves day by day, automated production has been indispensable part in daily production.Such as be used for replacing manually realizing carrying at food or medical industry, reason material and the robot of function such as to pile up.
Robot of the prior art comprises pedestal, large arm and forearm, and one end and the pedestal of large arm are rotationally connected, and one end of the other end and forearm is rotationally connected; Pedestal is provided with a motor, and the power output shaft of this motor is fixedly connected with large arm, is rotationally connected relative to pedestal to drive large arm; Large arm is provided with another motor away from one end of pedestal, and the power output shaft of this motor is connected with forearm, is rotationally connected relative to large arm to drive forearm; Forearm is provided with executing agency away from one end of large arm and performs power source; Perform the below that power source is arranged on forearm, and be in transmission connection by transmission mechanism and described executing agency, perform corresponding action to drive executing agency.
But, robot of the prior art is when arranging execution power source, need the below by support, execution power source and power source being hung on forearm, not only make the whole height of forearm increase, be also not easy to staff's maintenance simultaneously and perform power source and transmission mechanism.
Summary of the invention
The object of the present invention is to provide robot, comparatively large with the inertia solving the forearm existed in prior art, thus affect the technical problem of the precision of robot motion.
A kind of robot provided by the invention, comprises and performs horn, actuating unit, transmission mechanism and executing agency; Actuating unit is arranged on and performs above horn, and output shaft and transmission mechanism are positioned at the upper end of actuating unit; Actuating unit and output shaft are in transmission connection, to drive output shaft rotation; Output shaft is in transmission connection by transmission mechanism and executing agency, moves to drive executing agency.
Further, robot also comprises connection horn; The one end performing horn is rotationally connected with the one end being connected horn; Actuating unit be arranged on perform horn and be connected horn be rotationally connected place, executing agency is arranged on execution horn one end away from connection horn.
Further, executing agency comprises ball-screw ball spline; Actuating unit comprises the first motor, the second motor; Transmission mechanism comprises the first transmission mechanism and the second transmission mechanism; Ball-screw ball spline is arranged on and performs on horn, the first motor and the second motor be all arranged on perform horn be connected horn be rotationally connected place, and the power output shaft of the power output shaft of the first motor and the second motor is output shaft; First motor is connected with feed screw nut by the first transmission mechanism, and the second motor is connected with spline mother by the second transmission mechanism.
Further, the first transmission mechanism comprises the first drive pulley and the first driven pulley; First drive pulley is arranged on the power output shaft of the first motor, and the first driven pulley is arranged on the feed screw nut of ball-screw ball spline; First drive pulley is connected by belt transmission with the first driven pulley.
Further, the second transmission mechanism comprises the second drive pulley and described second driven pulley; Second drive pulley is arranged on the power output shaft of the second motor, and the second driven pulley is arranged on the spline mother of ball-screw ball spline; Second drive pulley is connected by belt transmission with the second driven pulley.
Further, perform on horn and be provided with upper cover, upper cover becomes installing space with execution machine upper-arm circumference; In installing space, the first motor and the second motor are disposed side by side on the upper surface performing horn; In installing space, between the second motor and ball-screw ball spline, be also rotatably connected to power transmission shaft; The axis direction of power transmission shaft is consistent with the axis direction of the second motor and the axis direction of ball-screw ball spline respectively; One end of power transmission shaft is provided with big belt pulley, and the other end is provided with small belt pulley; Second drive pulley is in transmission connection by belt and big belt pulley, and small belt pulley is in transmission connection by belt and the second driven pulley.
Further, the diameter of the first drive pulley is less than the diameter of the first driven pulley;
And/or the diameter of big belt pulley is greater than the diameter of the second drive pulley, the second drive pulley is greater than small belt pulley, and the second driven pulley is greater than the second drive pulley.
Further, robot also comprises pedestal, connects horn and is rotationally connected away from the one end and pedestal performing horn; Connect on horn and be provided with the 3rd motor, and the 3rd motor is positioned at and connects being rotationally connected of horn and pedestal; 3rd motor is in transmission connection by belt pulley and execution horn, performs horn relative to the rotation of connection horn to drive.
Further, in pedestal, be provided with the 4th motor, the power output shaft of the 4th motor be connected horn and be fixedly connected with, connect horn rotate relative to pedestal to drive.
Further, the power output shaft of the 3rd motor and the power output shaft of the 4th motor are positioned on same axis.
Robot provided by the invention, actuating unit and the output shaft being positioned at actuating unit upper end are in transmission connection, output shaft is connected with transmission mechanism again, thus makes transmission mechanism be suspended in the top performing horn, further reduces the whole height and inertia that perform horn.In addition, transmission mechanism is suspended from and performs above horn, thus is convenient to staff and carries out keeping in repair and safeguarding.
Accompanying drawing explanation
In order to be illustrated more clearly in the specific embodiment of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in detailed description of the invention or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the robot that Fig. 1 provides for the embodiment of the present invention;
The structural representation of the robot that Fig. 2 provides for another embodiment of the present invention;
The structural representation of the robot that Fig. 3 provides for further embodiment of this invention.
Reference numeral:
1-the 4th motor; 2-pedestal; 3-reductor;
4-the 3rd motor; 5-motor bearing tube; 6-first belt wheel;
7-the 3rd belt wheel; 8-the 4th belt wheel; 9-second belt wheel;
10-connects horn; 11-actuating unit; 12-first drive pulley;
13-second drive pulley; 14-big belt pulley; 15-small belt pulley;
16-second driven pulley; 17-first driven pulley; 18-performs horn;
19-transmission mechanism; 20-executing agency; The input of 31-reductor;
The output of 32-reductor; 101-mounting groove; 102-ring baffle;
103-installation cavity.
Detailed description of the invention
Be clearly and completely described technical scheme of the present invention below in conjunction with accompanying drawing, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In describing the invention, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
The structural representation of the robot that Fig. 1 provides for the embodiment of the present invention.As shown in Figure 1, a kind of robot that the present embodiment provides, comprises and performs horn 18, actuating unit, transmission mechanism 19 and executing agency 20; Actuating unit is arranged on and performs above horn 18, and output shaft and transmission mechanism 19 are positioned at the upper end of actuating unit; Actuating unit and output shaft are in transmission connection, to drive output shaft rotation; Output shaft is in transmission connection with executing agency 20 by transmission mechanism 19, moves to drive executing agency 20.
Wherein, the version of actuating unit 11, transmission mechanism 19 and described executing agency 20 can be multiple, such as: executing agency 20 comprises U-shaped frame and two jig arm, one end of a jig arm and U-shaped frame is rotationally connected, the other end of another jig arm and U-shaped frame is rotationally connected, and U-shaped frame bending place is provided with through hole; One end of pull bar is fixedly connected with two jig arm respectively through through hole.Actuating unit 11 is motor, internal combustion engine or hoist engine etc., and power source drives output shaft rotation.Transmission mechanism 19 can be rope or gear and tooth bar etc., and output shaft can be moved by rope or gear and rack drives pull bar, thus two jig arm is opened mutually or closed, to decontrol or Clamp load.
The robot that the present embodiment provides, actuating unit 11 and the output shaft being positioned at actuating unit 11 upper end are in transmission connection, output shaft is connected with transmission mechanism 19 again, thus makes transmission mechanism 19 be suspended in the top performing horn, further reduces the whole height and inertia that perform horn 18.In addition, transmission mechanism 19 is suspended from and performs above horn 18, thus is convenient to staff and carries out keeping in repair and safeguarding.
As shown in Figure 1, on the basis of above-described embodiment, further, robot also comprises and connects horn 10 and execution horn 18; The one end connecting horn 10 is rotationally connected with execution horn 18; Actuating unit 11 is arranged on described execution horn 18, and be positioned at perform horn 18 and be connected horn 10 be rotationally connected place, executing agency 20 is arranged on execution horn 18 one end away from described connection horn 10.
Actuating unit 11 is arranged on perform horn 18 and be connected horn 10 be rotationally connected place, namely actuating unit 11 is positioned in the center of rotation of execution horn 18.Executing agency 20 be arranged on and perform horn 18 away from the one end connecting horn 10, actuating unit 11 and executing agency 20 are in transmission connection, and move to drive executing agency 20.Like this, when performing horn relative to connecting in the process of horn 10 rotation, perform on horn 18 and only have executing agency 20, the weight performing horn 18 is reduced, effectively reduce the inertia performing horn, thus improve the precision of robot motion, meanwhile, too increase the load capacity of robot.
Certainly, in the present invention, the version of actuating unit 11, transmission mechanism 19 and executing agency 20 can be multiple, just repeat no longer one by one at this, below with actuating unit 11 for motor, executing agency 20 is ball-screw ball spline, and transmission mechanism 19 belt pulley is example, introduces about the distribution mode between actuating unit 11 and transmission mechanism 19.
The structural representation of the robot that Fig. 2 provides for another embodiment of the present invention.As shown in Figure 2, on the basis of above-described embodiment, further, executing agency 20 comprises ball-screw ball spline; Actuating unit 11 comprises the first motor, the second motor; Transmission mechanism 19 comprises the first transmission mechanism 19 and the second transmission mechanism 19; Ball-screw ball spline is arranged on and performs on horn, the first motor and the second motor be all arranged on perform horn 18 be connected horn 10 be rotationally connected place, and the power output shaft of the power output shaft of the first motor and the second motor is output shaft; First motor is connected with feed screw nut by the first transmission mechanism 19, and the second motor is connected with spline mother by the second transmission mechanism 19.
Wherein, the model of ball-screw ball spline can be multiple, such as: BNS-A type, BNS type, NS-A type or NS type etc.Certainly, in the present embodiment, end-effector can also be comprised, such as sucker or electromagnetic absorption device etc.In addition, for the ease of installing end-effector, the axle of ball-screw ball spline is designed to hollow.
In addition, in the present embodiment, actuating unit 11 comprises the one in the power sources such as motor, hydraulic motor or internal combustion engine, and preferably, actuating unit 11 comprises the first motor, the second motor, the first transmission mechanism 19 and the second transmission mechanism 19; First motor and the second motor be all arranged on perform horn be connected horn 10 be rotationally connected place; First motor is connected with feed screw nut by the first transmission mechanism 19, and the second motor is connected with spline mother by the second transmission mechanism 19.
Wherein, the version of the first transmission mechanism 19 and the second transmission mechanism 19 can be multiple, such as: the first transmission mechanism 19 and the second transmission mechanism 19 can be the kind of drive of gear and chain, and also can by kind of drive of gear and tooth bar etc.
In the present embodiment, utilize the first motor and the second motor to drive feed screw nut and spline mother rotate or stop respectively, thus realize the axle rectilinear motion of ball-screw ball spline, rotary motion and screw.Not only reduce the inertia performing horn 18, make robot motion more will precisely, also make robot motion more various.
As depicted in figs. 1 and 2, on the basis of above-described embodiment, further, the first transmission mechanism 19 comprises the first drive pulley 12 and the first driven pulley 17; First drive pulley 12 is arranged on the power output shaft of the first motor, and the first driven pulley 17 is arranged on the feed screw nut of ball-screw ball spline; First drive pulley 12 is connected by belt transmission with the first driven pulley 17.
As depicted in figs. 1 and 2, further, the second transmission mechanism 19 comprises the second drive pulley 13 and described second driven pulley 16; Second drive pulley 13 is arranged on the power output shaft of the second motor, and the second driven pulley 16 is arranged on the spline mother of ball-screw ball spline; Second drive pulley 13 is connected by belt transmission with the second driven pulley 16.
In the present embodiment, utilize the kind of drive in belt pulley and area, stability and the reliability of transmission can be ensured, make the action of robot more by accurate.
As depicted in figs. 1 and 2, on the basis of above-described embodiment, further, perform on horn 18 and be provided with upper cover, upper cover and execution horn 18 surround installing space; In installing space, the first motor and the second motor are disposed side by side on the upper surface performing horn 18; In installing space, between the second motor and ball-screw ball spline, be also rotatably connected to power transmission shaft, the axis direction of power transmission shaft is consistent with the axis direction of the second motor and the axis direction of ball-screw ball spline respectively; One end of power transmission shaft is provided with big belt pulley 14, and the other end is provided with small belt pulley 15; Second drive pulley 13 is in transmission connection by belt and big belt pulley 14, and small belt pulley 15 is in transmission connection by belt and the second driven pulley 16.
Wherein, it can be multiple for performing the shape of horn 18, such as: rectangle, square or oval etc.Certainly for the ease of installing, the surrounding performing horn 18 is also provided with coaming plate, is the hollow housing of upper end open, and the first motor and the second motor are arranged on the inner bottom surface of execution horn 18.
In the present embodiment, the first motor and the second motor being arranged on side by side is performed on horn 18.Like this, namely the first drive pulley 12 of the first motor is in transmission connection by first driven pulley 17 of belt with the feed screw nut being positioned at top.And the second drive pulley 13 of the second motor, then pass through the transmission of big belt pulley 14 and small belt pulley 15, be in transmission connection with second driven pulley 16 of the spline mother being positioned at below.Thus the first transmission mechanism 19 and the second transmission mechanism 19 are hung on execution horn 18, be convenient to maintenance and the maintenance of staff first transmission mechanism 19 and the second transmission mechanism 19.In addition, because the first motor, the second motor, the first transmission mechanism 19 and the second transmission mechanism 19 are all positioned at the top performing horn, so, decrease the thickness performing horn.
As depicted in figs. 1 and 2, on the basis of above-described embodiment, further, the diameter of the first drive pulley 12 is less than the diameter of the first driven pulley 17.Thus improve the transmission speed of feed screw nut, improve machine task efficiency.
As depicted in figs. 1 and 2, on the basis of above-described embodiment, further, the diameter of big belt pulley 14 is greater than the diameter of the second drive pulley 13, and the second drive pulley 13 is greater than small belt pulley 15, and the second driven pulley 16 is greater than the second drive pulley 13.Thus improve the transmission speed of spline mother, improve machine task efficiency.
The structural representation of the robot that Fig. 3 provides for further embodiment of this invention.As shown in Figure 2, on the basis of above-described embodiment, further, robot also comprises pedestal 2, connects horn 10 and is rotationally connected away from the one end and pedestal 2 performing horn; Connect on horn 10 and be provided with the 3rd motor 4, and the 3rd motor 4 is positioned at and connects being rotationally connected of horn 10 and pedestal 2; 3rd motor 4 is in transmission connection by belt pulley and execution horn 18, rotates relative to connection horn 10 to drive execution horn 18.
Wherein, perform the transmission speed of horn 18 to improve, the 3rd motor 4 is provided with the first belt wheel 6, be provided with the second belt wheel 9 connecting horn 10 one end away from pedestal 2; On connection horn 10, between the first belt wheel 6 and the second belt wheel 9, be rotatably connected to the 3rd belt wheel 7 and the 4th belt wheel 8 of coaxial setting; The diameter of the second belt wheel 9 and the diameter of the 3rd belt wheel 7 are greater than the diameter of the first belt wheel 6; The diameter of the second belt wheel 9 and the diameter of the 3rd belt wheel 7 are greater than the diameter of the 4th belt wheel 8; First belt wheel 6 is in transmission connection by belt and the 3rd belt wheel 7, and the 4th belt wheel 8 is in transmission connection by the second belt wheel 9 of belt.Like this, diameter due to the first belt wheel 6 is less than the diameter of the 3rd belt wheel 7, thus improves the stability performing horn 18, and the diameter of the 4th belt wheel 8 is less than the diameter of the second belt wheel 9, can ensure, under the prerequisite of the stability performing horn 18, to improve the velocity of rotation performing horn 18.
In the present embodiment, the robot that the present embodiment provides, its the 3rd motor 4 is arranged on connect horn 10 and pedestal 2 be rotationally connected place, and the 3rd motor 4 by belt wheel with perform horn 18 and be in transmission connection, perform horn 18 rotate relative to connection horn 10 to drive.Due to, by drive perform the 3rd motor 4 that rotates of horn 18 be arranged on pedestal 2 be connected horn 10 be rotationally connected place, so, when connecting horn 10 and execution horn 18 rotates relative to pedestal 2, the weight connecting horn 10 and execution horn 18 is relatively light, thus reduce the inertia connecting horn 10 and perform horn 18, not only increase the precision of robot motion, also further increase the load capacity of robot.
As shown in Figure 3, on the basis of above-described embodiment, further, the power output shaft being provided with the 4th motor the 1, four motor 1 in pedestal 2 be connected horn 10 and be fixedly connected with, connect horn 10 rotate relative to pedestal 2 to drive.
Wherein, connect horn 10 and comprise motor bearing tube 5; Motor bearing tube 5 is the hollow housing of one end open; Connect horn 10 and one end of pedestal 2 is provided with mounting groove 101; On the sidewall of mounting groove 101, along the direction that this sidewall extends, be provided with ring baffle 102; The openend of motor bearing tube 5 is plugged in mounting groove 101, and the openend of motor bearing tube 5 abuts with ring baffle 102; 3rd motor 4 is arranged in motor bearing tube 5, and the first belt wheel 6 and the 3rd motor 4 are positioned at the both sides of ring baffle 102.Connect in horn 10 and be provided with installation cavity 103, installation cavity 103 is communicated with mounting groove 101, and the second belt pulley, the 3rd belt pulley and the 4th belt pulley are all arranged in installation cavity 103; Blind end and the pedestal 2 of motor bearing tube 5 are rotationally connected.
In addition, the power output shaft being provided with the 4th motor the 1, four motor 1 in pedestal 22 is connected with motor bearing tube 5, and the power output shaft of the power output shaft of the 3rd motor 4 and the 4th motor 1 is positioned on same axis.Certainly, in order to connect the operation that horn 10 can be more stable, be also provided with reductor 3 on the base 2, the input 31 of reductor is connected with the 4th motor 1, and the output 32 of reductor is connected with the 3rd motor 4.
In this enforcement, utilize the 3rd motor 4 drive motor bearing tube 5 to move, thus drive connection horn 10 to rotate relative to pedestal 2.Thus by the base 2 rearmounted for the 3rd motor 4, decrease the inertia connecting horn 10 and perform horn 18.And make the power output shaft of the power output shaft of the 3rd motor 4 and the 4th motor 1 be positioned on same axis, improve the stability in motion process of robot.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a robot, is characterized in that, comprises and performs horn, actuating unit, transmission mechanism and executing agency; Described actuating unit is arranged on above described execution horn, and output shaft and described transmission mechanism are all positioned at the upper end of actuating unit; Described actuating unit and described output shaft are in transmission connection, to drive described output shaft rotation; Described output shaft is in transmission connection by described transmission mechanism and described executing agency, moves to drive described executing agency.
2. robot according to claim 1, is characterized in that, also comprises connection horn; One end of described execution horn is rotationally connected with described one end being connected horn;
What described actuating unit was arranged on described execution horn and described connection horn is rotationally connected place, and described executing agency is arranged on described execution horn one end away from described connection horn.
3. robot according to claim 2, is characterized in that, described executing agency comprises ball-screw ball spline; Described actuating unit comprises the first motor, the second motor; Described transmission mechanism comprises the first transmission mechanism and the second transmission mechanism;
Described ball-screw ball spline is arranged on described execution horn, what described first motor and described second motor were all arranged on described execution horn and described connection horn is rotationally connected place, and the power output shaft of the power output shaft of described first motor and described second motor is described output shaft; Described first motor is connected with feed screw nut by described first transmission mechanism, and described second motor is connected with spline mother by described second transmission mechanism.
4. robot according to claim 3, is characterized in that, described first transmission mechanism comprises the first drive pulley and the first driven pulley;
Described first drive pulley is arranged on the power output shaft of described first motor, and described first driven pulley is arranged on the feed screw nut of described ball-screw ball spline; Described first drive pulley is connected by belt transmission with described first driven pulley.
5. robot according to claim 4, is characterized in that, described second transmission mechanism comprises the second drive pulley and described second driven pulley;
Described second drive pulley is arranged on the power output shaft of described second motor, and described second driven pulley is arranged on the spline mother of described ball-screw ball spline; Described second drive pulley is connected by belt transmission with described second driven pulley.
6. robot according to claim 5, is characterized in that, described execution horn is provided with upper cover, and described upper cover becomes installing space with described execution machine upper-arm circumference;
In described installing space, described first motor and described second motor are disposed side by side on the upper surface of described execution horn; In described installing space, between described second motor and described ball-screw ball spline, be also rotatably connected to power transmission shaft; The axis direction of described power transmission shaft is consistent with the axis direction of described second motor and the axis direction of described ball-screw ball spline respectively;
One end of described power transmission shaft is provided with big belt pulley, and the other end is provided with small belt pulley; Described second drive pulley is in transmission connection by belt and described big belt pulley, and described small belt pulley is in transmission connection by belt and described second driven pulley.
7. robot according to claim 6, is characterized in that, the diameter of described first drive pulley is less than the diameter of described first driven pulley;
And/or the diameter of described big belt pulley is greater than the diameter of described second drive pulley, described second drive pulley is greater than described small belt pulley, and described second driven pulley is greater than described second drive pulley.
8. the robot according to any one of claim 1-7, is characterized in that, also comprises pedestal, and described connection horn is rotationally connected away from one end of described execution horn and described pedestal; Described connection horn is provided with the 3rd motor, and described 3rd motor is positioned at being rotationally connected of described connection horn and described pedestal; Described 3rd motor is in transmission connection by belt pulley and described execution horn, rotates relative to described connection horn to drive described execution horn.
9. robot according to claim 8, is characterized in that, is provided with the 4th motor in described pedestal, and the power output shaft of described 4th motor is fixedly connected with the described horn that is connected, and rotates relative to described pedestal to drive described connection horn.
10. robot according to claim 9, is characterized in that, the power output shaft of described 3rd motor and the power output shaft of described 4th motor are positioned on same axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079247.6A CN105479446A (en) | 2016-02-04 | 2016-02-04 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079247.6A CN105479446A (en) | 2016-02-04 | 2016-02-04 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105479446A true CN105479446A (en) | 2016-04-13 |
Family
ID=55666898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610079247.6A Pending CN105479446A (en) | 2016-02-04 | 2016-02-04 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479446A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN107685345A (en) * | 2017-09-28 | 2018-02-13 | 深圳市行者机器人技术有限公司 | A kind of damper of biped robot |
| CN109760029A (en) * | 2019-03-22 | 2019-05-17 | 中国电子科技集团公司第三十八研究所 | Platypelloid type one armed robot based on synchronous belt pulley transmission |
| CN110103211A (en) * | 2019-06-06 | 2019-08-09 | 深圳市秘银科技有限公司 | A kind of manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010014268A1 (en) * | 1998-10-28 | 2001-08-16 | Charles S. Bryson | Multi-axis transfer arm with an extensible tracked carriage |
| CN1617789A (en) * | 2001-12-04 | 2005-05-18 | 罗兹株式会社 | Scalar type robot for carrying flat plate-like object, and flat plate-like object processing system |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| CN203495947U (en) * | 2013-09-23 | 2014-03-26 | 成都泛华航空仪表电器有限公司 | Horizontal multi-joint robot not driven by belt |
| CN103753600A (en) * | 2014-02-18 | 2014-04-30 | 威海正棋机电技术有限公司 | Horizontal joint robot with air forced convection system |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN204976630U (en) * | 2015-07-24 | 2016-01-20 | 沈阳通用机器人技术股份有限公司 | Horizontal joint robot of four -axis |
| CN205497464U (en) * | 2016-02-04 | 2016-08-24 | 威海新北洋正棋机器人股份有限公司 | Robot |
-
2016
- 2016-02-04 CN CN201610079247.6A patent/CN105479446A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010014268A1 (en) * | 1998-10-28 | 2001-08-16 | Charles S. Bryson | Multi-axis transfer arm with an extensible tracked carriage |
| CN1617789A (en) * | 2001-12-04 | 2005-05-18 | 罗兹株式会社 | Scalar type robot for carrying flat plate-like object, and flat plate-like object processing system |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| CN203495947U (en) * | 2013-09-23 | 2014-03-26 | 成都泛华航空仪表电器有限公司 | Horizontal multi-joint robot not driven by belt |
| CN103753600A (en) * | 2014-02-18 | 2014-04-30 | 威海正棋机电技术有限公司 | Horizontal joint robot with air forced convection system |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN204976630U (en) * | 2015-07-24 | 2016-01-20 | 沈阳通用机器人技术股份有限公司 | Horizontal joint robot of four -axis |
| CN205497464U (en) * | 2016-02-04 | 2016-08-24 | 威海新北洋正棋机器人股份有限公司 | Robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN107685345A (en) * | 2017-09-28 | 2018-02-13 | 深圳市行者机器人技术有限公司 | A kind of damper of biped robot |
| CN109760029A (en) * | 2019-03-22 | 2019-05-17 | 中国电子科技集团公司第三十八研究所 | Platypelloid type one armed robot based on synchronous belt pulley transmission |
| CN110103211A (en) * | 2019-06-06 | 2019-08-09 | 深圳市秘银科技有限公司 | A kind of manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105479446A (en) | Robot | |
| CN102069499B (en) | Parallel robot | |
| CN104290100A (en) | Clamping device | |
| CN103707296A (en) | Four-shaft mechanical arm for grabbing sheet metal parts | |
| CN102837306A (en) | Electric push rod manipulator | |
| CN205844520U (en) | radar monitoring device | |
| CN202528200U (en) | Mechanical arm | |
| CN202622801U (en) | Electric push rod type manipulator | |
| CN104465071A (en) | Automatic winding device of mutual inductor | |
| CN104175329A (en) | Modularized joint for hollow series-connection mechanical arm | |
| CN204935640U (en) | The robot that a kind of view-based access control model vibration feeding is drawn | |
| CN108557493A (en) | A kind of metamorphic mechanisms formula robot palletizer | |
| CN205325675U (en) | Holding position formula rocking arm manipulator | |
| CN205497464U (en) | Robot | |
| CN210968883U (en) | Sucker manipulator for moving articles | |
| CN106737603B (en) | A kind of moving platform mechanism of ball-screw series connection pinion and-rack | |
| CN102554917A (en) | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation | |
| CN205129835U (en) | Six coordinated type robots | |
| TWI428218B (en) | Parallel robot | |
| JP5098562B2 (en) | Workpiece transfer robot and transfer method | |
| CN207414557U (en) | A kind of gas furnace pipeline arc welding equipment | |
| CN205343115U (en) | Robot | |
| CN105500369A (en) | Robot | |
| CN205798770U (en) | A kind of six axle welding manipulators | |
| CN203513216U (en) | Servo control driven lifting rotational compound motion mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160413 |
|
| RJ01 | Rejection of invention patent application after publication |