CN103895031B - 一种具有三自由度的机器人腕部 - Google Patents
一种具有三自由度的机器人腕部 Download PDFInfo
- Publication number
- CN103895031B CN103895031B CN201410137330.5A CN201410137330A CN103895031B CN 103895031 B CN103895031 B CN 103895031B CN 201410137330 A CN201410137330 A CN 201410137330A CN 103895031 B CN103895031 B CN 103895031B
- Authority
- CN
- China
- Prior art keywords
- power transmission
- transmission shaft
- input
- bearing
- driving shaft
- 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.)
- Active
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 232
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 description 23
- 230000001105 regulatory effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- HCOLPNRPCMFHOH-UHFFFAOYSA-N Prodigiosin Natural products CCCCCC1C=C(C=C/2N=C(C=C2OC)c3ccc[nH]3)N=C1C HCOLPNRPCMFHOH-UHFFFAOYSA-N 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- TWFGRJUTAULJPZ-USZBIXTISA-N prodigiosin Chemical compound N1=C(C)C(CCCCC)=C\C1=C/C1=NC(C=2[N]C=CC=2)=C[C]1OC TWFGRJUTAULJPZ-USZBIXTISA-N 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Retarders (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410137330.5A CN103895031B (zh) | 2014-04-04 | 2014-04-04 | 一种具有三自由度的机器人腕部 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410137330.5A CN103895031B (zh) | 2014-04-04 | 2014-04-04 | 一种具有三自由度的机器人腕部 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103895031A CN103895031A (zh) | 2014-07-02 |
CN103895031B true CN103895031B (zh) | 2015-12-02 |
Family
ID=50986762
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410137330.5A Active CN103895031B (zh) | 2014-04-04 | 2014-04-04 | 一种具有三自由度的机器人腕部 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103895031B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105108775B (zh) * | 2015-09-24 | 2017-12-15 | 浙江钱江摩托股份有限公司 | 一种机器人的轴承保护结构 |
CN107856056B (zh) * | 2017-12-18 | 2024-02-20 | 浙江钱江机器人有限公司 | 一种机器人的腕部件 |
CN109605420B (zh) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | 一种机器人的旋转结构 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4807486A (en) * | 1987-11-09 | 1989-02-28 | Gmf Robotics Corporation | Three-axes wrist mechanism |
US5661387A (en) * | 1992-02-29 | 1997-08-26 | Stadele, Deceased; Erhard | Device for manipulating objects in a gripper or the like |
JP4659098B2 (ja) * | 2009-02-13 | 2011-03-30 | ファナック株式会社 | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット |
CN102049787B (zh) * | 2009-11-06 | 2014-02-19 | 鸿富锦精密工业(深圳)有限公司 | 采用齿轮侧隙调整装置的工业机器人 |
CN101973038A (zh) * | 2010-11-26 | 2011-02-16 | 天津市盖德涂装科技有限公司 | 三自由度空心手腕 |
CN203418542U (zh) * | 2013-05-02 | 2014-02-05 | 浙江乐佰特自动化科技有限公司 | 工业关节机器人传动机构 |
CN203752163U (zh) * | 2014-04-04 | 2014-08-06 | 浙江钱江摩托股份有限公司 | 一种具有三自由度的机器人腕部 |
-
2014
- 2014-04-04 CN CN201410137330.5A patent/CN103895031B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN103895031A (zh) | 2014-07-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102069504B (zh) | 机器人臂部件 | |
CN103878786B (zh) | 一种机器人的具有三自由度的腕部 | |
CN201300331Y (zh) | 双导程蜗轮蜗杆传动机构 | |
CN103895031B (zh) | 一种具有三自由度的机器人腕部 | |
CN108626379B (zh) | 一种工业机器人的腕部齿轮传动侧隙的调整结构及其使用方法 | |
US10859138B2 (en) | Precision planetary gear | |
WO2007023783A1 (ja) | センタークランク式偏心揺動型減速機 | |
CN203752163U (zh) | 一种具有三自由度的机器人腕部 | |
CN104500660A (zh) | 工业机器人零回差摆线减速器 | |
CN202356980U (zh) | 双摆轴任意分度万能铣头 | |
US9017206B2 (en) | Gear device | |
US9989141B2 (en) | Fastening structure for fastening driven member to strain wave gearing device unit, and strain wave gearing device unit | |
CN102003500A (zh) | 一种摆线减速器 | |
CN211288680U (zh) | 一种齿轮传动器 | |
CN203752162U (zh) | 一种机器人的具有三自由度的腕部 | |
US8833195B2 (en) | Gear backlash adjusting mechanism and robot arm assembly having the same | |
CN206501114U (zh) | 一种工业六轴机器人手腕传动机构 | |
JP5709700B2 (ja) | 産業機械の旋回装置 | |
CN210178783U (zh) | 能够任意调节两连接轴圆周方向角度的鼓形齿联轴器 | |
CN106884961B (zh) | 轴承减速机 | |
CN113172619B (zh) | 一种可旋转伸缩的打磨机械臂 | |
CN205572055U (zh) | 一种凸轮式环形分度装置 | |
CN111872972B (zh) | 一种焊接机器人嵌套式关节的齿轮间隙微调结构 | |
CN204852192U (zh) | 一种球体活齿传动装置 | |
CN205956314U (zh) | 一种应用于工业机器人的精密rv减速器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
ASS | Succession or assignment of patent right |
Owner name: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. Effective date: 20140722 |
|
C41 | Transfer of patent application or patent right or utility model | ||
C53 | Correction of patent for invention or patent application | ||
CB03 | Change of inventor or designer information |
Inventor after: Kong Minxiu Inventor after: Deng Dinghong Inventor after: Liang Hengbin Inventor before: Jiang Jiakai Inventor before: Cai Liangzheng Inventor before: Deng Dinghong Inventor before: Yuan Jianjun Inventor before: Gao Sibang |
|
COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: JIANG JIAKAI CAI LIANGZHENG DENG DINGHONG YUAN JIANJUN GAO SIBANG TO: KONG MINXIU DENG DINGHONG LIANG HENGBIN |
|
TA01 | Transfer of patent application right |
Effective date of registration: 20140722 Address after: Taiping Street of Wenling city Taizhou city Zhejiang province 317500 000 Chang Road No. 318 Applicant after: Qianjiang Motorcycle Co., Ltd., Zhejiang Applicant after: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. Address before: Taiping Street of Wenling city Taizhou city Zhejiang province 317500 000 Chang Road No. 318 Applicant before: Qianjiang Motorcycle Co., Ltd., Zhejiang |
|
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170407 Address after: 317500 Wenling City, Zhejiang Province East Street, Jinping Avenue, No. 169 Patentee after: Zhejiang Qianjiang robot Co., Ltd. Address before: Taiping Street of Wenling city Taizhou city Zhejiang province 317500 000 Chang Road No. 318 Patentee before: Qianjiang Motorcycle Co., Ltd., Zhejiang Patentee before: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200903 Address after: 311200 Hongxing Road, Qiaonan District, Xiaoshan Economic and Technological Development Zone, Hangzhou City, Zhejiang Province, 389 Patentee after: Hangzhou Qianjiang Robot Co.,Ltd. Address before: 317500 Wenling City, Zhejiang Province East Street, Jinping Avenue, No. 169 Patentee before: ZHEJIANG QIANJIANG ROBOT Co.,Ltd. |
|
TR01 | Transfer of patent right |