CN103029125A - 机器人 - Google Patents
机器人 Download PDFInfo
- Publication number
- CN103029125A CN103029125A CN2011102970140A CN201110297014A CN103029125A CN 103029125 A CN103029125 A CN 103029125A CN 2011102970140 A CN2011102970140 A CN 2011102970140A CN 201110297014 A CN201110297014 A CN 201110297014A CN 103029125 A CN103029125 A CN 103029125A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- robot
- gear
- fixedly connected
- driving
- 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.)
- Granted
Links
Images
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
Description
机器人 | 100 |
基座 | 10 |
第一机械臂 | 20 |
第一轴线 | 22 |
收容部 | 24 |
第一连接端 | 26 |
第二连接端 | 28 |
第二机械臂 | 30 |
第二轴线 | 32 |
固定端 | 34 |
收容槽 | 342、364 |
输出端 | 36 |
端面 | 361 |
过线孔 | 102、362、772、802 |
第一驱动件 | 40 |
驱动轴 | 42 |
第一传动机构 | 50 |
第一主动轮 | 52 |
第一传动带 | 54 |
第一从动轮 | 56 |
轴孔 | 562、572 |
传动件 | 57、77 |
螺钉 | 51 |
减速器 | 58、79 |
连接件 | 59 |
柔轮 | 581、791 |
凸缘 | 5813、7913 |
刚轮 | 583、793 |
轴承 | 585、795 |
第二驱动件 | 60 |
转轴 | 62 |
第二传动机构 | 70 |
第二主动轮 | 71 |
传动轴 | 72 |
传动端 | 722 |
固定端 | 724 |
第二从动轮 | 73 |
第二传动带 | 75 |
齿轮副 | 76 |
第一锥齿轮 | 762 |
第二锥齿轮 | 764 |
输出轴 | 80 |
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110297014.0A CN103029125B (zh) | 2011-09-30 | 2011-09-30 | 机器人 |
TW100137085A TWI461272B (zh) | 2011-09-30 | 2011-10-13 | 機器人 |
US13/488,584 US8910539B2 (en) | 2011-09-30 | 2012-06-05 | Robot with reducer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110297014.0A CN103029125B (zh) | 2011-09-30 | 2011-09-30 | 机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103029125A true CN103029125A (zh) | 2013-04-10 |
CN103029125B CN103029125B (zh) | 2015-05-20 |
Family
ID=47991390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110297014.0A Expired - Fee Related CN103029125B (zh) | 2011-09-30 | 2011-09-30 | 机器人 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8910539B2 (zh) |
CN (1) | CN103029125B (zh) |
TW (1) | TWI461272B (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103192369A (zh) * | 2013-04-18 | 2013-07-10 | 岳强 | 一种新型码垛机器人腰部旋转装置 |
CN103921284A (zh) * | 2014-05-04 | 2014-07-16 | 南京信息工程大学 | 一种机器人腕部驱动机构 |
CN104511899A (zh) * | 2013-09-27 | 2015-04-15 | 中日龙(襄阳)机电技术开发有限公司 | 二轴数控电动姿势部机构 |
CN107363825A (zh) * | 2017-08-25 | 2017-11-21 | 安徽大学 | 一种基于谐波减速的欠驱动2r机械臂装置 |
CN107414809A (zh) * | 2017-06-20 | 2017-12-01 | 深圳市迈步机器人科技有限公司 | 一种机械臂 |
CN107972021A (zh) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | 一种多轴机械臂 |
CN108161956A (zh) * | 2017-11-30 | 2018-06-15 | 盛天誉 | 机器人 |
CN109746904A (zh) * | 2017-11-02 | 2019-05-14 | 精工爱普生株式会社 | 机器人及机器人系统 |
CN110303519A (zh) * | 2019-07-09 | 2019-10-08 | 郑州科技学院 | 腕关节及机器人 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5423910B1 (ja) * | 2013-01-17 | 2014-02-19 | 株式会社安川電機 | ロボット |
JP6250372B2 (ja) * | 2013-11-22 | 2017-12-20 | Ntn株式会社 | 自動溶接機 |
USD781943S1 (en) * | 2014-04-11 | 2017-03-21 | Abb Gomtec Gmbh | Robotic arm component |
DE102015200374A1 (de) * | 2015-01-13 | 2016-07-14 | Kuka Roboter Gmbh | Getriebe, elektrische Antriebsvorrichtung und Industrieroboter |
WO2017081137A1 (en) * | 2015-11-10 | 2017-05-18 | Technische Universiteit Eindhoven | Modular robotic device for precision surgical bone removal and other applications |
JP6426646B2 (ja) * | 2016-03-23 | 2018-11-21 | ファナック株式会社 | ロボットの手首構造 |
USD890238S1 (en) * | 2018-03-02 | 2020-07-14 | Abb Schweiz Ag | Joint for an industrial robot |
USD898090S1 (en) * | 2018-05-18 | 2020-10-06 | Universal Robots A/S | Toothed connection flange for a robot joint |
USD895705S1 (en) * | 2018-05-18 | 2020-09-08 | Universal Robots A/S | Robot joint having an input flange, an output flange, and a top lid |
US10856944B2 (en) * | 2018-11-05 | 2020-12-08 | Hiwin Technologies Corp. | Triaxial motion device |
USD890829S1 (en) * | 2019-03-15 | 2020-07-21 | Misty Robotics, Inc. | Flange for a robotic arm |
USD891494S1 (en) * | 2019-03-15 | 2020-07-28 | Misty Robotics, Inc. | Socket for a Robotic arm |
TWM624165U (zh) * | 2021-11-17 | 2022-03-01 | 正崴精密工業股份有限公司 | 電機控制手臂伸縮旋轉及模組化 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080034920A1 (en) * | 2006-08-10 | 2008-02-14 | Fanuc Ltd | Wrist driving structure for industrial robot |
JP2008073833A (ja) * | 2006-08-24 | 2008-04-03 | Fanuc Ltd | 産業用ロボットアームの駆動機構 |
EP2230053A2 (en) * | 2009-03-16 | 2010-09-22 | Kabushiki Kaisha Yaskawa Denki | Industrial robot and control method |
CN102069493A (zh) * | 2009-11-19 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件及机器人 |
CN102267134A (zh) * | 2011-07-12 | 2011-12-07 | 浙江万丰摩轮有限公司 | 一种多功能通用机器人 |
CN102554922A (zh) * | 2012-02-06 | 2012-07-11 | 北京联合大学 | 一种五自由度数控机械手的操作方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4671732A (en) * | 1982-11-19 | 1987-06-09 | American Cimflex Corporation | Industrial robot |
GB2149707B (en) * | 1983-11-15 | 1987-10-28 | Hitachi Shipbuilding Eng Co | Automatic welding apparatus |
DE3447701A1 (de) * | 1984-12-28 | 1986-07-10 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Industrie-roboter fuer unterschiedliche einsatzzwecke |
DE20012444U1 (de) * | 2000-07-18 | 2001-08-23 | Kuka Roboter Gmbh | Getriebe, insbesondere für einen Roboter |
CN2625122Y (zh) * | 2003-07-11 | 2004-07-14 | 张军辉 | 五轴机械手 |
JP4719010B2 (ja) * | 2005-01-21 | 2011-07-06 | 日本電産サンキョー株式会社 | 産業用ロボット |
JP4232795B2 (ja) * | 2005-10-19 | 2009-03-04 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
JP5457922B2 (ja) * | 2010-04-14 | 2014-04-02 | 株式会社ダイヘン | 産業用ロボット |
-
2011
- 2011-09-30 CN CN201110297014.0A patent/CN103029125B/zh not_active Expired - Fee Related
- 2011-10-13 TW TW100137085A patent/TWI461272B/zh not_active IP Right Cessation
-
2012
- 2012-06-05 US US13/488,584 patent/US8910539B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080034920A1 (en) * | 2006-08-10 | 2008-02-14 | Fanuc Ltd | Wrist driving structure for industrial robot |
JP2008073833A (ja) * | 2006-08-24 | 2008-04-03 | Fanuc Ltd | 産業用ロボットアームの駆動機構 |
EP2230053A2 (en) * | 2009-03-16 | 2010-09-22 | Kabushiki Kaisha Yaskawa Denki | Industrial robot and control method |
CN102069493A (zh) * | 2009-11-19 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件及机器人 |
CN102267134A (zh) * | 2011-07-12 | 2011-12-07 | 浙江万丰摩轮有限公司 | 一种多功能通用机器人 |
CN102554922A (zh) * | 2012-02-06 | 2012-07-11 | 北京联合大学 | 一种五自由度数控机械手的操作方法 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103192369A (zh) * | 2013-04-18 | 2013-07-10 | 岳强 | 一种新型码垛机器人腰部旋转装置 |
CN104511899A (zh) * | 2013-09-27 | 2015-04-15 | 中日龙(襄阳)机电技术开发有限公司 | 二轴数控电动姿势部机构 |
CN103921284A (zh) * | 2014-05-04 | 2014-07-16 | 南京信息工程大学 | 一种机器人腕部驱动机构 |
CN107414809A (zh) * | 2017-06-20 | 2017-12-01 | 深圳市迈步机器人科技有限公司 | 一种机械臂 |
CN107363825A (zh) * | 2017-08-25 | 2017-11-21 | 安徽大学 | 一种基于谐波减速的欠驱动2r机械臂装置 |
CN107363825B (zh) * | 2017-08-25 | 2020-07-07 | 安徽大学 | 一种基于谐波减速的欠驱动2r机械臂装置 |
CN109746904A (zh) * | 2017-11-02 | 2019-05-14 | 精工爱普生株式会社 | 机器人及机器人系统 |
CN108161956A (zh) * | 2017-11-30 | 2018-06-15 | 盛天誉 | 机器人 |
CN108161956B (zh) * | 2017-11-30 | 2020-02-21 | 盛天誉 | 机器人 |
CN107972021A (zh) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | 一种多轴机械臂 |
CN110303519A (zh) * | 2019-07-09 | 2019-10-08 | 郑州科技学院 | 腕关节及机器人 |
Also Published As
Publication number | Publication date |
---|---|
US8910539B2 (en) | 2014-12-16 |
TWI461272B (zh) | 2014-11-21 |
TW201313419A (zh) | 2013-04-01 |
CN103029125B (zh) | 2015-05-20 |
US20130081502A1 (en) | 2013-04-04 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20161216 Address after: Guangdong city of Shenzhen province Nanshan District Taoyuan Tong Lang Tianliao Industrial Zone A14 Building 2 floor Patentee after: Shenzhen Caina Semiconductor Equipment Co., Ltd. Address before: 518109 Guangdong city of Shenzhen province Baoan District Longhua Town Industrial Zone tabulaeformis tenth East Ring Road No. 2 two Patentee before: Hongfujin Precision Industry (Shenzhen) Co., Ltd. Patentee before: Honghai Precision Industry Co., Ltd. |
|
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: 20150520 Termination date: 20190930 |