CN104742116B - A kind of novel robot with five degrees of freedom mechanism - Google Patents

A kind of novel robot with five degrees of freedom mechanism Download PDF

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Publication number
CN104742116B
CN104742116B CN201510070429.2A CN201510070429A CN104742116B CN 104742116 B CN104742116 B CN 104742116B CN 201510070429 A CN201510070429 A CN 201510070429A CN 104742116 B CN104742116 B CN 104742116B
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CN
China
Prior art keywords
arm
servomotor
synchronous pulley
rotary joint
harmonic
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CN201510070429.2A
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Chinese (zh)
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CN104742116A (en
Inventor
付庄
赵言正
闫维新
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浙江瑞鹏机器人科技有限公司
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Priority to CN201510070429.2A priority Critical patent/CN104742116B/en
Publication of CN104742116A publication Critical patent/CN104742116A/en
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Publication of CN104742116B publication Critical patent/CN104742116B/en

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Abstract

The invention provides a kind of novel robot with five degrees of freedom mechanism, comprise a pedestal, a linear module and a mechanical arm, linear module is fixed on pedestal, and linear module comprises motor, ball-screw, guide rail and slide block;Mechanical arm is arranged on slide block, and mechanical arm can move up and down along the guide rail vertically placed;Mechanical arm comprises four rotary joints, and first three joints axes is parallel, and most end joints axes is vertical with first three joints axes.Its joint arrangement, on the basis of SCARA robot architecture, is improved, is added one degree of freedom by the present invention so that robot more motility.Different end-of-arm tooling can be assembled as required, for the little object of weight carrying, position and assemble, or carry out welding job etc., the suitability is strong, and simple and reliable for structure.

Description

A kind of novel robot with five degrees of freedom mechanism
Technical field
The present invention relates to Industrial Robot Technology field, in particular it relates to a kind of five degree of freedom tandem type Multi Role Aircraft Device robot mechanism.
Background technology
General SCARA robot has two bar structures of concatenation, the arm of similar people, portable construction, response Hurry up, operation in the confined space can be put in and then regain, be suitable for moving and picking and placeing object.It is on x, y direction There is compliance, and in Z-direction, there is good rigidity, it is adaptable to plane positioning, and carry out in vertical direction Assembling.But need adjust capture thing attitude occasion, especially higher to end requirement on flexibility and need consider During cost, common SCARA robot is difficult to be competent at, it is therefore necessary to improved it.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of novel robot with five degrees of freedom mechanism, There is the function of similar SCARA robot in this robot, can be equipped with different end-of-arm toolings as required, to complete The work of different occasions, as carried, assemble or welding etc., and has more higher than SCARA robot Dexterity.
For realizing object above, the present invention provides a kind of novel robot with five degrees of freedom mechanism, including pedestal, linearly Module and mechanical arm, wherein: mechanical arm includes large arm, linking arm, forearm and the wrist being sequentially connected with, linear mould Group includes linear guides and the slide block slided up and down along this linear guides, and linear guides is fixedly connected with the base to realize line Property module and pedestal connection, large arm is arranged on slide block the connection realizing mechanical arm with linear module;
Described robot mechanism comprises five joints, constituted between the large arm in the most linear module and mechanical arm The individual linear joint along vertical axis direction, and mechanical arm intraware i.e. large arm, linking arm, forearm, wrist it Between three rotary joints around vertical axis constituting and a rotary joint around horizontal axis carrying of wrist, wherein: Three rotary joints around vertical axis be respectively between large arm and linking arm constitute the first rotary joint, linking arm with The 3rd rotary joint constituted between the second rotary joint, forearm and the wrist that constitute between forearm, one around level The rotary joint of axis is the 4th rotary joint that wrist end carries;First rotary joint, the second rotary joint, 3rd rotary joint, the 4th rotary joint all can do single axial movement;First rotary joint, the second rotary joint, The rotation axis of three rotary joints is the plumb line being parallel to each other, and the rotation axis of the 4th rotary joint is and the first rotation Turn the vertical horizontal line of rotation axis of joint, the second rotary joint, the 3rd rotary joint.
Preferably, described linear module also includes motor and the ball-screw being attached thereto, motor driven ball Leading screw, is that slide block makees the linear motion of vertical direction along linear guides by convert rotational motion;Large arm in mechanical arm Removably it is connected on the slide block in described linear module, thus realizes mechanical arm along linear module vertical axis side To rectilinear movement up and down, i.e. realize the movement of described linear joint.
Preferably, described large arm include the first servomotor, the first synchronous pulley, the second synchronous pulley, first Harmonic speed reducer, wherein: the output shaft of the first servomotor connects the first synchronous pulley, first harmonic decelerator Power shaft connects the second synchronous pulley, output shaft is connected with one end of linking arm, and the first synchronous pulley and second synchronizes Connected by Timing Belt between belt wheel;First servomotor transfers power to first by first, second synchronous pulley Harmonic speed reducer, after first harmonic decelerator slows down, drives linking arm by the output shaft of first harmonic decelerator Rotate relative to large arm, i.e. realize the rotation of described first rotary joint.
It is highly preferred that the second described synchronous pulley is coaxial with first harmonic decelerator, described linking arm is around second Synchronous pulley rotates with the i.e. first axle of axis of first harmonic decelerator.
Preferably, described forearm include second harmonic decelerator, the 3rd synchronous pulley, the 4th synchronous pulley, Two servomotors, wherein: the output shaft of the second servomotor connects the 4th synchronous pulley, second harmonic decelerator Power shaft connects the 3rd synchronous pulley, the other end of output shaft connection linking arm, and the 3rd synchronous pulley and the 4th synchronizes Connected by Timing Belt between belt wheel;Second servomotor gives second by the four, the 3rd synchronous pulley transmission power Harmonic speed reducer, after second harmonic decelerator slows down, drives forearm phase by the outfan of second harmonic decelerator Linking arm is rotated, i.e. realizes the rotation of described second rotary joint.
It is highly preferred that described second harmonic decelerator is coaxial with the 3rd synchronous pulley, described linking arm is around second Axis that is second axis of harmonic speed reducer and the 3rd synchronous pulley rotates.
Preferably, described forearm also include third harmonic decelerator, the 3rd servomotor, the first gear, the 4th Servomotor, the second gear, wherein: the output shaft of the 3rd servomotor connects the power shaft of third harmonic decelerator, The output shaft of third harmonic decelerator connects the first gear, and first, second gear engagement coordinates, and the second gear connects Wrist;3rd servomotor slows down through third harmonic decelerator, and is given by first, second gear transmission power Wrist, thus drive wrist to rotate relative to forearm, i.e. realize the rotation of described 3rd rotary joint.
It is highly preferred that axis that is the 3rd axis of the 4th described servomotor and the second gear centre overlap, described Wrist rotate around the 3rd axis.
It is highly preferred that the 4th described servomotor rotates and is independent of each other with the second gear.
It is highly preferred that the 3rd described servomotor and third harmonic decelerator, the first gear are coaxial.
It is highly preferred that the 3rd described servomotor and the 4th servomotor are arranged side by side.
Preferably, described wrist includes that the first bevel gear, the second bevel gear, the 4th harmonic speed reducer, end are defeated Shaft, wherein: end output shaft is installed on the end of the 4th harmonic speed reducer, the second bevel gear is fixed on the 4th and watches Taking the outfan of motor, the first bevel gear, the second bevel gear engagement coordinate;The outfan of the 4th servomotor passes through First bevel gear realize with the second bevel gear orthogonal transmission give the 4th harmonic speed reducer, subtract through the 4th harmonic speed reducer After speed, drive end output shaft to rotate around the i.e. four axistyle of himself axis, i.e. realize described 4th rotary joint Rotate.
It is highly preferred that the first described bevel gear center overlaps with four axistyle, the second described bevel gear center with 3rd dead in line.
It is highly preferred that described end output shaft can install different end-of-arm toolings as required additional.
The present invention adds one degree of freedom at end, makes total degree of freedom reach 5, and dexterity is higher;Particularly as follows:
Control the motor rotation in linear module so that it is driving set frame mechanical arm to move up and down, this is linear joint Motion;Control the first servomotor operating in large arm so that it is drive connection arm rotates relative to large arm, this It it is the motion of the first rotary joint;Control the second servomotor operating in forearm so that it is drive forearm relative to even Connecing arm to rotate, this is the motion of the second rotary joint;Control the 3rd servomotor operating in forearm so that it is Driving wrist entirety to rotate relative to forearm, this is the motion of the 3rd rotary joint;Linear joint, the first rotation Turn joint, the second rotary joint, the 3rd rotary joint motion for the movement of end-of-arm tooling;Control in forearm 4th servomotor operating so that it is driving end output shaft to rotate, this is the motion of the 4th rotary joint, is used for adjusting The attitude of whole end-of-arm tooling.
Compared with prior art, the present invention has a following beneficial effect:
The present invention is improved based on SCARA robot modeling, and when being for linear motion, institute is relevant Joint together makees integral elevating;Adding one degree of freedom at end, make total degree of freedom reach 5, dexterity is higher, The attitude of end-of-arm tooling can be made adjustment;Use the scheme of motor postposition, in order to avoid end joint transmission chain Long, reduce the difference in height of end section and adjacent one arm so that latter two articulation structure is more compact, and will Move up and down joint and be placed on cardinal extremity.This robot mechanism is so made not only to have similar SCARA robot Advantage, and due to the increase of degree of freedom, dexterity is higher, and function is more various.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special Levy, purpose and advantage will become more apparent upon:
Fig. 1 is that the present invention is monolithically fabricated figure;
Fig. 2 is that mechanical arm each several part of the present invention constitutes schematic diagram;
In figure: pedestal 1, linear module 2, large arm 3, linking arm 4, forearm 5, wrist 6;
First servomotor the 7, first synchronous pulley the 8, second synchronous pulley 9, first harmonic decelerator 10, Two harmonic speed reducer the 11, the 3rd synchronous pulley the 12, the 4th synchronous pulley the 13, second servomotors the 14, the 3rd are humorous Ripple decelerator the 15, the 3rd servomotor the 16, first gear the 17, the 4th servomotor the 18, second gear 19, end End output shaft 20, first axle the 21, second axis the 22, the 3rd axis 23, four axistyle the 24, first bevel gear 25, the second bevel gear the 26, the 4th harmonic speed reducer 27.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into Protection scope of the present invention.
As shown in Figure 1, 2, the present embodiment provides a kind of novel robot with five degrees of freedom mechanism, including pedestal 1, line Property module 2, large arm 3, linking arm 4, forearm 5 and wrist 6, wherein: the large arm 3 that is sequentially connected with, linking arm 4, forearm 5 and wrist 6 constitute a mechanical arm, linear module 2 by motor, ball-screw, linear guides and Slide block forms, and slide block can slide up and down along linear guides, and the linear guides in linear module 2 is detachable by screw Be arranged on pedestal 1, the large arm 3 in mechanical arm is removably mounted on the cunning in linear module 2 by screw On block, thus mechanical arm can move up and down along the linear guides vertically placed.
As in figure 2 it is shown, described robot mechanism comprises five joints altogether, in the most linear module 2 and mechanical arm The linear joint along vertical axis direction constituted between large arm 3, and mechanical arm intraware i.e. large arm 3 with Three rotations around vertical axis direction constituted between linking arm 4, linking arm 4 and forearm 5, forearm 5 and wrist 6 Turn joint and an end rotary joint around horizontal axis direction that wrist 6 carries, wherein: large arm 3 and linking arm Being the first rotary joint between 4, its shaft axis is first axle 21;It it is the second rotation between linking arm 4 and forearm 5 Turning joint, its shaft axis is the second axis 22;It is the 3rd rotary joint between forearm 5 and wrist 6, its shaft axis It it is the 3rd axis 23;Wrist 6 is the 4th rotary joint from end of tape rotary joint, and its shaft axis is four axistyle 24。
In the present embodiment, described first axle the 21, second axis the 22, the 3rd axis 23 is plumb line and mutually Parallel;Described four axistyle 24 is horizontal line, and with described first axle the 21, second axis the 22, the 3rd Axis 23 is vertical.
In the present embodiment, in described linear module 2: motor, ball-screw, linear guides and slide block;Linearly Module 2 possesses and realizes the most reciprocating function of mechanical arm, concrete: motor driven ball screws, It is that slide block makees the linear motion of vertical direction along linear guides by convert rotational motion, thus realizes mechanical arm along linear The linear motion up and down of vertical direction is made in guide rail vertical axis direction, i.e. realizes the movement of described linear joint.
As a preferred implementation, as in figure 2 it is shown, described large arm 3 include the first servomotor 7, One synchronous pulley the 8, second synchronous pulley 9, first harmonic decelerator 10, wherein: the first servomotor 7 defeated Shaft connects the first synchronous pulley 8, and the power shaft of first harmonic decelerator 10 connects the second synchronous pulley 9, output Axle is connected by one end of screw with linking arm 4, by same between the first synchronous pulley 8 and the second synchronous pulley 9 Step band connects;
Described first servomotor 7 is for driving that is first rotary joint fortune of the joint between large arm 3 and linking arm 4 Dynamic: the first servomotor 7 transfers power to first harmonic by first synchronous pulley the 8, second synchronous pulley 9 and subtracts Speed device 10, after first harmonic decelerator 10 slows down, is dynamically connected by the output shaft band of first harmonic decelerator 10 Arm 4 rotates relative to large arm 3;Described linking arm 4 is ± 90 ° relative to the range of movement of large arm 3.
In the present embodiment, the second described synchronous pulley 9 is coaxial with first harmonic decelerator 10, described linking arm 4 Axis i.e. first axle 21 around the second synchronous pulley 9 with first harmonic decelerator 10 rotates.
As a preferred implementation, as in figure 2 it is shown, described forearm 5 include second harmonic decelerator 11, 3rd synchronous pulley the 12, the 4th synchronous pulley the 13, second servomotor 14, third harmonic decelerator the 15, the 3rd Servomotor the 16, first gear the 17, the 4th servomotor the 18, second gear 19, wherein:
The output shaft of described second servomotor 14 connects the 4th synchronous pulley 13, second harmonic decelerator 11 defeated Enter that axle connects the 3rd synchronous pulley 12, output shaft connects the other end of linking arm 4, the 3rd synchronous pulley 12 and the Connected by Timing Belt between four synchronous pulleys 13;
Second servomotor 14 is in order to drive that is second rotary joint motion of the joint between forearm 5 and linking arm 4: Second servomotor 14 transmits power by the 4th synchronous pulley the 13, the 3rd synchronous pulley 12 and slows down to second harmonic Device 11, after second harmonic decelerator 11 slows down, drives forearm 5 by the outfan of second harmonic decelerator 11 Rotate relative to linking arm 4;Described forearm 5 is ± 90 ° relative to the range of movement of linking arm 4;
Described 3rd servomotor 16 connects the power shaft of third harmonic decelerator 15, third harmonic decelerator 15 Output shaft connect the first gear 17, the second gear 19 connects wrist 6, the first gear 17 and the second gear 19 Engagement coordinates;
Described 3rd servomotor 16 is for controlling the fortune of joint that is the 3rd rotary joint between forearm 5 and wrist 6 Dynamic: the 3rd servomotor 16 slows down through third harmonic decelerator 15, and by the first gear 17 and the second tooth Wheel 19 transmission power is to wrist 6, thus drives wrist 6 to rotate relative to forearm 5.
In the present embodiment, described second harmonic decelerator 11 is coaxial with the 3rd synchronous pulley 12, described linking arm 4 rotate around axis that is second axis 22 of second harmonic decelerator 11 with the 3rd synchronous pulley 12.
In the present embodiment, the 3rd described servomotor 16 is coaxial with third harmonic decelerator the 15, first gear 17.
In the present embodiment, in axis that is the 3rd axis 23 of the 4th described servomotor 18 and the second gear 19 Heart line overlaps, and the second described gear 19 drives described wrist 6 to rotate around the 3rd axis 23;Described the 4th watches Take motor 18 relatively independent with the motion of described second gear 19, be independent of each other.
In the present embodiment, the 3rd described servomotor 16 is arranged side by side with the 4th servomotor 18.
As a preferred implementation, as in figure 2 it is shown, described wrist 6 includes end output shaft 20, first Bevel gear the 25, second bevel gear the 26, the 4th harmonic speed reducer 27, wherein: end output shaft 20 is installed on the 4th The end of harmonic speed reducer 27, the second bevel gear 26 is fixed on the outfan of the 4th servomotor 18, the first cone Gear 25 engages cooperation with the second bevel gear 26;
Described 4th servomotor 18 is for controlling the wrist 6 rotation from end of tape joint that is the 4th rotary joint: 4th servomotor 18 outfan realizes orthogonal transmission to the 4th by the second bevel gear 26 with the first bevel gear 25 Harmonic speed reducer 27, and after the 4th harmonic speed reducer 27 slows down, drive end output shaft 20 around himself axle Line i.e. four axistyle 24 rotates;The range of movement of described end output shaft 20 is ± 180 °.
In the present embodiment, the second described bevel gear 26 centrage and the 3rd axis 23 overlap, the first described cone Gear 25 centrage and four axistyle 24 overlap.
In the present embodiment, described end output shaft 20 can install different end-of-arm toolings as required additional.
As a preferred implementation, a length of 280mm of described linking arm, its relative fortune with described large arm Dynamic scope is ± 90 °;Described forearm lengths 330mm, it relative to the range of movement of described linking arm is ±90°;The range of movement of described wrist end output shaft is ± 180 °.
As a preferred implementation, described linear module is with retractable guard;Described mechanical arm local and Overall all with sealing device, for the most dust-proof, anti-steam and oil smoke.
As a example by welding process, installing welding gun on described end output shaft 20 additional, welding gun deformation trace is by before above-mentioned Four joint controls, arc welding gun head attitude by above-mentioned from end of tape joint control, specific as follows:
Control linear module 2, along the large arm 3 being arranged on slide block by drive is made along the linear guides vertically placed Lower motion, thus realize the motion at vertical direction of the set frame mechanical arm;Control the first servomotor 7 to drive even simultaneously Connect arm 4 rotate around first axle 21 relative to large arm 3, control the second servomotor 14 drive forearm 5 relative to Linking arm 4 rotates around the second axis 22, control the 3rd servomotor 16 drives wrist 6 to revolve around the 3rd axis 23 Turn, so can realize the consecutive variations of welding torch position in effective working space;Control the 4th servomotor 18 to drive Dynamic end output shaft 20 rotates around four axistyle 24, adjusts the attitude of welding gun to adapt to the change of surface of the work shape, Also can avoid the occurrence of narrow space on some position and cause the unapproachable situation of welding gun.
The present invention is improved based on SCARA robot modeling, and when being for linear motion, institute is relevant Joint together makees integral elevating;Adding one degree of freedom at end, make total degree of freedom reach 5, dexterity is higher, The attitude of end-of-arm tooling can be made adjustment;Use the scheme of motor postposition, in order to avoid end joint transmission chain Long, reduce the difference in height of end section and adjacent one arm so that latter two articulation structure is more compact, and will Move up and down joint and be placed on cardinal extremity.This robot mechanism is so made not only to have similar SCARA robot Advantage, and due to the increase of degree of freedom, dexterity is higher, and function is more various.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, This has no effect on the flesh and blood of the present invention.

Claims (5)

1. a novel robot with five degrees of freedom mechanism, it is characterised in that include pedestal, linear module and mechanical arm, Wherein: mechanical arm includes large arm, linking arm, forearm and the wrist being sequentially connected with, linear module includes linearly leads Rail and the slide block slided up and down along this linear guides, linear guides is fixedly connected with the base to realize linear module and pedestal Connecting, large arm is arranged on slide block the connection realizing mechanical arm with linear module;Large arm and forearm lay respectively at linking arm The top at both ends;
Described robot mechanism comprises five joints, constituted between the large arm in the most linear module and mechanical arm The individual linear joint along vertical axis direction, and mechanical arm intraware i.e. large arm, linking arm, forearm, wrist it Between three rotary joints around vertical axis constituting and a rotary joint around horizontal axis carrying of wrist, wherein: Three rotary joints around vertical axis be respectively between large arm and linking arm constitute the first rotary joint, linking arm with The 3rd rotary joint constituted between the second rotary joint, forearm and the wrist that constitute between forearm, one around level The rotary joint of axis is the 4th rotary joint that wrist end carries;First rotary joint, the second rotary joint, 3rd rotary joint, the 4th rotary joint all can do single axial movement;First rotary joint, the second rotary joint, The rotation axis of three rotary joints is the plumb line being parallel to each other, and the rotation axis of the 4th rotary joint is and the first rotation Turn the vertical horizontal line of rotation axis of joint, the second rotary joint, the 3rd rotary joint;
Described linear module also includes motor and the ball-screw being attached thereto, motor driven ball screws, incites somebody to action Convert rotational motion is that slide block makees the linear motion of vertical direction along linear guides;Large arm in mechanical arm is removably It is connected on the slide block in described linear module, thus realizes upper and lower along linear module vertical axis direction of mechanical arm Rectilinear movement, i.e. realizes the movement of described linear joint;
Described large arm includes that the first servomotor, the first synchronous pulley, the second synchronous pulley, first harmonic slow down Device, wherein: the output shaft of the first servomotor connects the first synchronous pulley, the power shaft of first harmonic decelerator is even Connect the second synchronous pulley, output shaft is connected, between the first synchronous pulley and the second synchronous pulley with one end of linking arm Connected by Timing Belt;First servomotor transfers power to first harmonic by first, second synchronous pulley and slows down Device, after first harmonic decelerator slows down, drives linking arm relative to greatly by the output shaft of first harmonic decelerator Arm rotates, and i.e. realizes the rotation of described first rotary joint;
Described forearm includes second harmonic decelerator, the 3rd synchronous pulley, the 4th synchronous pulley, the second servo electricity Machine, wherein: the output shaft of the second servomotor connects the 4th synchronous pulley, the power shaft of second harmonic decelerator is even Connect the 3rd synchronous pulley, the other end of output shaft connection linking arm, between the 3rd synchronous pulley and the 4th synchronous pulley Connected by Timing Belt;Second servomotor is slowed down to second harmonic by the four, the 3rd synchronous pulley transmission power Device, after second harmonic decelerator slows down, drives forearm relative to connection by the outfan of second harmonic decelerator Arm rotates, and i.e. realizes the rotation of described second rotary joint;
Described forearm also include third harmonic decelerator, the 3rd servomotor, the first gear, the 4th servomotor, Second gear, wherein: the output shaft of the 3rd servomotor connects the power shaft of third harmonic decelerator, third harmonic The output shaft of decelerator connects the first gear, and first, second gear engagement coordinates, and the second gear connects wrist;The Three servomotors slow down through third harmonic decelerator, and by first, second gear transmission power to wrist, from And drive wrist to rotate relative to forearm, i.e. realize the rotation of described 3rd rotary joint;
Described wrist includes the first bevel gear, the second bevel gear, the 4th harmonic speed reducer, end output shaft, its In: end output shaft is installed on the end of the 4th harmonic speed reducer, and the second bevel gear is fixed on the 4th servomotor Outfan, the first bevel gear, the second bevel gear engagement coordinate;The outfan of the 4th servomotor is by the first cone tooth Wheel realizes orthogonal transmission to the 4th harmonic speed reducer with the second bevel gear, after the 4th harmonic speed reducer deceleration, drives Dynamic end output shaft rotates around the i.e. four axistyle of himself axis, i.e. realizes the rotation of described 4th rotary joint.
One the most according to claim 1 novel robot with five degrees of freedom mechanism, it is characterised in that described Second synchronous pulley is coaxial with first harmonic decelerator, and described linking arm subtracts with first harmonic around the second synchronous pulley The i.e. first axle of axis of speed device rotates.
One the most according to claim 1 novel robot with five degrees of freedom mechanism, it is characterised in that described Second harmonic decelerator is coaxial with the 3rd synchronous pulley, and described linking arm synchronizes around second harmonic decelerator and the 3rd The axis of belt wheel that is second axis rotates.
One the most according to claim 1 novel robot with five degrees of freedom mechanism, it is characterised in that described Axis that is the 3rd axis of the 4th servomotor and the second gear centre overlap, and described wrist is revolved around the 3rd axis Turn;The 4th described servomotor rotates and is independent of each other with the second gear;The 3rd described servomotor and the 3rd humorous Ripple decelerator, the first gear are coaxial;The 3rd described servomotor and the 4th servomotor are arranged side by side.
One the most according to claim 1 novel robot with five degrees of freedom mechanism, it is characterised in that described First bevel gear center overlaps with four axistyle, the second described bevel gear center and the 3rd dead in line.
CN201510070429.2A 2015-02-10 2015-02-10 A kind of novel robot with five degrees of freedom mechanism CN104742116B (en)

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