CN105500369B - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN105500369B CN105500369B CN201610079313.XA CN201610079313A CN105500369B CN 105500369 B CN105500369 B CN 105500369B CN 201610079313 A CN201610079313 A CN 201610079313A CN 105500369 B CN105500369 B CN 105500369B
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- China
- Prior art keywords
- horn
- motor
- pulley
- pedestal
- belt pulley
- 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.)
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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
- B25J9/10—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
-
- 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
- B25J9/126—Rotary actuators
Abstract
The present invention relates to technical field of mechanical automation, more particularly, to robot.The robot includes pedestal, the first horn and the second horn；First horn is rotated with pedestal and is connected, and the other end is rotated with one end of the second horn and is connected, in addition to the first power source and the first transmission mechanism；First power source is arranged on the first horn, and positioned at the rotation junction of the first horn and pedestal；First power source is connected by the first transmission mechanism and the second horn, to drive the second horn to be rotated relative to the first horn.Due to, by the rotation junction for driving the first power source that the second horn is rotated to be arranged on pedestal and the first horn, so, when the first horn and the second horn are rotated relative to pedestal, the weight of first horn and the second horn is relatively light, so as to reduce the inertia of the first horn and the second horn, the precision of robot motion is not only increased, the load capacity of robot is also add.
Description
Technical field
The present invention relates to technical field of mechanical automation, more particularly, to robot.
Background technology
With scientific and technical constantly development, today that economic condition is increasingly improved, automated production has been daily life
Indispensable part in production.The work(such as being used for replacing artificial realization carrying, reason material and piling up in food or medical industry
The robot of energy.
Robot of the prior art includes pedestal, large arm and forearm, and one end of large arm is rotated with pedestal to be connected, the other end
Rotate and be connected with one end of forearm；A motor is provided with pedestal, the power output shaft of the motor is fixed with large arm to be electrically connected
Connect, connected with driving large arm to be rotated relative to pedestal；One end away from pedestal is provided with another motor in large arm, the motor
Power output shaft be connected with forearm, with drive forearm relative to large arm rotate connect；The one end of forearm away from large arm can be set
It is equipped with executing agency and performs power source；Perform power source to be connected with the executing agency, to drive executing agency to perform
Corresponding action.
When robot of the prior art, when performing in corresponding action process, the motor on pedestal drives large arm to turn
Dynamic, the motor powered forearm in large arm is walked around dynamic, and the executing agency on forearm performs corresponding action.But, large arm and forearm
Weight it is larger, so, during large arm and forearm are rotated relative to pedestal, the inertia of large arm and forearm is larger so that
Influence the precision of robot motion.
The content of the invention
It is an object of the invention to provide robot, with solve the inertia of large arm present in prior art and forearm compared with
Greatly, so as to influence the technical problem of the precision of robot motion.
A kind of robot that the present invention is provided, including pedestal, the first horn and the second horn；First horn is rotated with pedestal
Connection, the other end is rotated with one end of the second horn and is connected, in addition to the first power source and the first transmission mechanism；First power source
It is arranged on the first horn, and positioned at the rotation junction of the first horn and pedestal；First power source passes through the first transmission mechanism
It is connected with the second horn, to drive the second horn to be rotated relative to the first horn.
Further, the first transmission mechanism includes drive pulley and driven pulley；First power source is the first motor,
Drive pulley is arranged on the power output shaft of the first motor；On first horn away from pedestal one end, be rotatably connected to from
Belt pulley is moved, and driven pulley is fixedly connected with the second horn；Drive pulley and driven pulley are connected by belt transmission
Connect.
Further, robot also includes big belt pulley and small belt pulley；Big belt pulley and small belt pulley are coaxially disposed, and
Big belt pulley and small belt pulley are rotated with the first horn to be connected；Drive pulley is connected with big belt pulley by belt transmission, small
Belt pulley is connected by belt and driven pulley.
Further, the diameter of the diameter of driven pulley and big belt pulley is more than the diameter of drive pulley；Driven skin
The diameter of belt wheel and the diameter of big belt pulley are more than the diameter of small belt pulley.
Further, the first horn includes motor bearing tube；Motor bearing tube is the hollow housing of one end open；First machine
One end of the nearly pedestal of arm rest is provided with mounting groove；On the side wall of mounting groove, along the direction of the side wall extension, annular gear is provided with
Plate；The openend of motor bearing tube is plugged in mounting groove, and the openend of motor bearing tube is abutted with ring baffle；First electricity
Machine is arranged in motor bearing tube, and drive pulley wheel and the first motor are located at the both sides of ring baffle.
Further, installation cavity is provided with the first horn, installation cavity is connected with mounting groove, and driven pulley is arranged at
In installation cavity.
Further, the second motor is provided with pedestal, the power output shaft of the second motor is connected with motor bearing tube.
Further, the power output shaft biography of reductor, the input of reductor and the second motor is additionally provided with pedestal
Dynamic connection；The output end of reductor is connected with motor bearing tube；
And/or, the power output shaft of the power output shaft of the second motor and the first motor is located on same axis.
Further, robot also includes the 3rd horn；One end of 3rd horn is with the second horn away from the first horn
One end rotates connection；The 3rd motor is provided with second horn, and the 3rd motor is located at the rotation of the second horn and the first horn
Junction；3rd motor is connected by the second transmission mechanism and the 3rd horn, to drive the 3rd horn relative to the second machine
Arm is rotated.
Further, executing agency and actuating motor are provided with the second horn；Actuating motor be arranged on the second horn with
The rotation junction of first horn, executing agency is arranged on the one end of the second horn away from the first horn, and actuating motor is with performing
Mechanism driving is connected, to drive executing agency to move.
The robot that the present invention is provided, the first power source is arranged on the rotation junction of the first horn and pedestal by it, and
First power source is connected by the first transmission mechanism and the second horn, to drive the second horn to turn relative to the first horn
It is dynamic.Due to, by the rotation junction for driving the first power source that the second horn is rotated to be arranged on pedestal and the first horn, so,
When the first horn and the second horn are rotated relative to pedestal, the weight of the first horn and the second horn is relatively light, so as to drop
The low inertia of first horn and the second horn, not only increases the precision of robot motion, also add the negative of robot
Carrying capacity.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of robot provided in an embodiment of the present invention；
The structural representation for the robot that Fig. 2 provides for another embodiment of the present invention.
Reference：
The motors of 1- second；2- pedestals；3- reductors；
The motors of 4- first；5- motor bearing tubes；6- drive pulleys；
7- big belt pulleys；8- small belt pulleys；9- driven pulleies；
The horns of 10- first；11- actuating motors；The belt wheels of 12- first；
The belt wheels of 13- the 3rd；The belt wheels of 14- the 5th；The belt wheels of 15- the 6th；
The belt wheels of 16- the 4th；The belt wheels of 17- second；The input of 31- reductors；
The output end of 32- reductors；101- mounting grooves；102- ring baffles；
103- installation cavitys；The horns of 18- second.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is the structural representation of robot provided in an embodiment of the present invention.As shown in figure 1, the one of the present embodiment offer
Plant robot, including pedestal 2, the first horn 10 and the second horn 18；First horn 10 and pedestal 2 are rotated and be connecteds, the other end and
One end of second horn 18 rotates connection, in addition to the first power source and the first transmission mechanism；First power source is arranged on first
On horn 10, and positioned at the rotation junction of the first horn 10 and pedestal 2；First power source passes through the first transmission mechanism and second
Horn 18 is connected, to drive the second horn 18 to be rotated relative to the first horn 10.
Wherein, the species of the first power source can be to be a variety of, such as：Motor, internal combustion engine or hydraulic motor etc., also may be used
To be cylinder, hydraulic cylinder or electric cylinder etc..
The structure type of first transmission mechanism can be to be a variety of, such as：First transmission mechanism include drive pulley 6 and from
Dynamic belt pulley 9；First power source is the first motor 4, and drive pulley 6 is arranged on the power output shaft of the first motor 4；First
One end away from pedestal 2 on horn 10, is rotatably connected to driven pulley 9, and the horn 18 of driven pulley 9 and second is fixed and connected
Connect；Drive pulley 6 and driven pulley 9 are connected by belt transmission.Certainly, the first transmission mechanism can also be gear and chain
The kind of drive of bar.
And for example：When the first power source is cylinder, hydraulic cylinder or electric cylinder, the first transmission mechanism can be connecting rod and song
One end of the kind of drive of handle, i.e. cylinder is rotated with the first horn 10 and is connected, and the other end is fixedly connected with one end of connecting rod, connecting rod
The other end and one end of crank rotate and connect, the other end of crank is fixedly connected with the second horn 18.So, the straight line of cylinder
Motion is rotated by crank and circumferentially moved, so as to drive the second horn 18 to be rotated relative to the first horn 10.
Certainly, more stablize for the motion of robot, from the kind of drive of belt wheel and belt.
In addition, robot is in addition to including the first horn 10 and the second horn 18, the 3rd horn and the 4th can also be included
The more horns of horn, even the 5th horn etc..The power source for driving the 3rd horn is arranged on the second horn 18 and first
The rotation junction of horn 10, it is with power source to drive the 3rd horn to be rotated relative to the second horn 18 by transmission mechanism；By band
The power source of dynamic 4th horn is arranged on the rotation junction of the 3rd horn and the second horn 18, and the power source moved transmission mechanism
The 4th horn is driven to be rotated relative to the 3rd horn；The power source for driving the 5th horn is arranged on the 4th horn and the 3rd horn
Rotation junction, the power source by transmission mechanism drive the 5th horn be driven relative to the 4th horn.
The robot that the present embodiment is provided, it connects the rotation that the first power source is arranged on the first horn 10 and pedestal 2
Place, and the first power source is connected by the first transmission mechanism with the second horn 18, to drive the second horn 18 relative to the
One horn 10 is rotated.Due to the first power source that the second horn 18 is rotated will be driven to be arranged on turning for the horn 10 of pedestal 2 and first
Dynamic junction, so, when the first horn 10 and the second horn 18 are rotated relative to pedestal 2, the first horn 10 and the second horn
18 weight is relatively light, so as to reduce the inertia of the first horn 10 and the second horn 18, not only increases robot motion
Precision, also add the load capacity of robot.
As shown in figure 1, on the basis of above-described embodiment, further, robot also includes big belt pulley 7 and belt lace
Wheel 8；Big belt pulley 7 and small belt pulley 8 are coaxially disposed, and big belt pulley 7 and small belt pulley 8 are rotated with the first horn 10 and be connected；
Drive pulley 6 is connected with big belt pulley 7 by belt transmission, and small belt pulley 8 is driven by belt and driven pulley 9 to be connected
Connect.
Wherein, the diameter of the diameter of driven pulley 9 and big belt pulley 7 is more than the diameter of drive pulley 6；Follower belt
The diameter of wheel 9 and the diameter of big belt pulley 7 are more than the diameter of small belt pulley 8.
When robot is during motion, the first motor 4 drives drive pulley 6 to rotate, and drive pulley 6 drives greatly
Belt pulley 7 is rotated, therefore diameter of the diameter more than driving gear of big belt pulley 7, so, the rotating speed of the first motor 4 passes through master
Dynamic belt pulley 6 and big belt pulley 7 reduce rotating speed, to cause the second horn 18 to be down to relative to the velocity of rotation of the first horn 10
Suitable rotating speed, improves the stability of the second horn 18.
When big belt pulley 7 drives small belt pulley 8 to rotate, small belt pulley 8 drives driven pulley 9 to rotate, because belt lace
The diameter of wheel 8 is less than the diameter of driven pulley 9, so as on the premise of the stability of the second horn 18 is ensured, improve the
The velocity of rotation of two horns 18.
As shown in figure 1, on the basis of above-described embodiment, further, the first horn 10 includes motor bearing tube 5；Electricity
Machine bearing tube 5 is the hollow housing of one end open；First horn 10 is provided with mounting groove 101 close to one end of pedestal 2；Mounting groove
On 101 side wall, along the direction of the side wall extension, ring baffle 102 is provided with；The openend of motor bearing tube 5 is plugged in peace
In tankage 101, and the openend of motor bearing tube 5 is abutted with ring baffle 102；First motor 4 is arranged on motor bearing tube 5
It is interior, and the wheel of drive pulley 6 is located at the both sides of ring baffle 102 with the first motor 4.
Wherein, motor bearing tube 5 and mounting groove 101 can be split-type design, or unitary design.
Further, installation cavity 103 is provided with the first horn 10, installation cavity 103 is connected with mounting groove 101, driven skin
Belt wheel 9 is arranged in installation cavity 103.In addition, big belt pulley 7 and small belt pulley 8 are also disposed in installation cavity 103, and great Pi
Belt wheel 7 and small belt pulley 8 are located between drive pulley 6 and driven pulley 9.
Further, the second motor 1 is provided with pedestal 2, power output shaft and the motor bearing tube 5 of the second motor 1 connect
Connect.
First motor 4 is arranged on motor in bearing tube, and the openend of motor bearing tube 5 is plugged in mounting groove
In 101 so that the input shaft of the first motor 4 passes through ring baffle 102.The blind end of motor bearing tube 5 is rotated with pedestal 2 to be connected
Connect.
Moved using the drive motor bearing tube 5 of the second motor 1, so as to drive the first horn 10 to be rotated relative to pedestal 2.From
And the second motor 1 is rearmounted on the base 2, reduce the inertia of the first horn 10 and the second horn 18.
As shown in figure 1, on the basis of above-described embodiment, in order to improve the stability in motion process of robot,
Further, the power output shaft of the power output shaft of the second motor 1 and the first motor 4 is located on same axis.
On the basis of above-described embodiment, more stablize and accurate in order that obtaining robot overall operation, further,
Decelerator 3 is additionally provided with pedestal 2, the input 31 of reductor is connected with the pto of the second motor 1；Reductor
Output end 32 be connected with motor bearing tube 5.
On the basis of above-described embodiment, further, robot also includes the 3rd horn；One end of 3rd horn and the
The one end of two horns 18 away from the first horn 10 rotates connection；The 3rd motor, and the 3rd motor position are provided with second horn 18
In the rotation junction of the second horn 18 and the first horn 10；3rd motor is connected by the second transmission mechanism and the transmission of the 3rd horn
Connect, to drive the 3rd horn to be rotated relative to the second horn 18.
Wherein, the structure type of the second transmission mechanism can be a variety of, be preferably, the structure type of the second transmission mechanism
It is identical with the structure type of first structure, all it is to have drive pulley 6, driven pulley 9 and big belt pulley 7 and small belt pulley
8 compositions.
Certainly, the structure type of the second horn 18 can be a variety of, and preferably, the inwall of the second horn 18 is hollow, and the
Three motors and the second transmission mechanism are arranged in the second horn 18.And the biography of the driven pulley 9 on the first horn 10
Moving axis is fixedly connected with the second horn 18.
In addition, the 4th horn, the 5th horn and the 6th horn etc. multiple horns can also be included in the present embodiment, it is many
Individual horn can rotate connection successively from beginning to end, and drive the knot of the power source and transmission mechanism of each horn with the 3rd horn
Configuration formula is consistent.
In the present embodiment, it is power source is rearmounted on previous horn, so as to reduce the inertia of latter horn, carry
The high precision of robot motion, while also increasing the load capacity of robot.
The structural representation for the robot that Fig. 2 provides for another embodiment of the present invention.As shown in Fig. 2 in above-described embodiment
On the basis of, further, executing agency and actuating motor 11 are provided with the second horn 18；Actuating motor 11 is arranged on second
The rotation junction of the horn 10 of horn 18 and first, executing agency is arranged on the one end of the second horn 18 away from the first horn 10,
Actuating motor 11 is connected with executing agency, to drive executing agency to move.
Wherein, the species of executing agency can be a variety of, and preferably, executing agency includes ball-screw spline and end
Hold executive item；Ball-screw spline is arranged on the one end of horn away from the first horn 10, in the leading screw of ball-screw spline
Lower end is provided with end-effector.And, the species of end-effector can be it is a variety of, for example：Sucker or electromagnetic absorption device
Deng.
The drive connection mode of actuating motor 11 and executing agency can be it is a variety of, for example：Actuating motor 11 includes leading screw
Motor and spline motor；The first belt wheel 12, the leading screw spiral shell of ball-screw spline are provided with the power output shaft of spindle motor
The second belt wheel 17 is provided with mother, the first belt wheel 12 and the second belt wheel 17 are connected by belt transmission；In the dynamic of spline motor
The 4th belt wheel 16, the 3rd band are respectively provided with the spline mother being provided with power output shaft on the 3rd belt wheel 13, ball-screw spline
The belt wheel 16 of wheel 13 and the 4th is connected by belt transmission.
Certainly, in order that the structure of robot is more compact, the inner hollow of the second horn 18, by spindle motor and spline
Motor is placed side by side on the inner surface of the second horn 18, and the direction side by side of spindle motor and spline motor and the second horn 18
Length direction is vertical.Power transmission shaft is vertically arranged with the second horn 18, and the upper end of power transmission shaft is provided with the 5th belt wheel 14；Pass
The lower end of moving axis is provided with the 6th belt wheel 15；Second belt wheel 17 is arranged on the top of the 4th belt wheel 16.So so that the second horn 18
Structure it is more compact, reduce the second horn 18 thickness；Simultaneously as actuating motor 11 is arranged on the upper of the second horn 18
Side, also allows for the maintenance and maintenance in later stage.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (8)
1. a kind of robot, including pedestal, the first horn and the second horn；First horn is rotated with the pedestal and is connected,
The other end is rotated with one end of second horn and is connected, it is characterised in that also including the first power source and the first transmission mechanism；
First power source is arranged on first horn, and is connected positioned at first horn with the rotation of the pedestal
Place；First power source is connected by first transmission mechanism and second horn, to drive second machine
Arm is rotated relative to first horn；
First power source is the first motor；
First transmission mechanism includes drive pulley and driven pulley；
First horn includes motor bearing tube；
The motor bearing tube is the hollow housing of one end open；First horn is provided with peace close to one end of the pedestal
Tankage；On the side wall of the mounting groove, along the direction of the side wall extension, ring baffle is provided with；The motor bearing tube is opened
Mouth end is plugged in the mounting groove, and the openend of the motor bearing tube is abutted with the ring baffle；First electricity
Machine is arranged in the motor bearing tube, and the drive pulley is located at the two of the ring baffle with first motor
Side；
The second motor is provided with the pedestal, the power output shaft of second motor is connected with the motor bearing tube.
2. robot according to claim 1, it is characterised in that the drive pulley is arranged on the power of the first motor
On output shaft；One end away from the pedestal, is rotatably connected to the driven pulley on first horn, and described driven
Belt pulley is fixedly connected with second horn；The drive pulley and the driven pulley are connected by belt transmission.
3. robot according to claim 2, it is characterised in that also including big belt pulley and small belt pulley；
The big belt pulley and the small belt pulley are coaxially disposed, and the big belt pulley and the small belt pulley and described first
Horn rotates connection；
The drive pulley is connected with the big belt pulley by belt transmission, the small belt pulley by belt with it is described from
Dynamic pulley drive connection.
4. robot according to claim 3, it is characterised in that the diameter of the driven pulley and the big belt pulley
Diameter be more than the drive pulley diameter；The diameter of the diameter of the driven pulley and the big belt pulley is more than institute
State the diameter of small belt pulley.
5. the robot according to any one of claim 2-4, it is characterised in that be provided with installation in first horn
Chamber, the installation cavity is connected with the mounting groove, and the driven pulley is arranged in the installation cavity.
6. robot according to claim 1, it is characterised in that reductor, the deceleration are additionally provided with the pedestal
The input of machine is connected with the pto of second motor；The output end of the reductor is carried with the motor
Cylinder connection；
And/or, the power output shaft of the power output shaft of second motor and first motor is located on same axis.
7. the robot according to claim any one of 1-4, it is characterised in that also including the 3rd horn；
One end of 3rd horn rotates with the one end of second horn away from first horn and is connected；
The 3rd motor is provided with second horn, and the 3rd motor is located at second horn and first horn
Rotation junction；3rd motor is connected by the second transmission mechanism and the 3rd horn, to drive described the
Three horns are rotated relative to second horn.
8. the robot according to claim any one of 1-4, it is characterised in that be provided with execution machine on second horn
Structure and actuating motor；
The actuating motor is arranged on the rotation junction of second horn and first horn, and the executing agency is set
In the one end of second horn away from first horn, the actuating motor is connected with the executing agency, with band
Dynamic executing agency's motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079313.XA CN105500369B (en) | 2016-02-04 | 2016-02-04 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079313.XA CN105500369B (en) | 2016-02-04 | 2016-02-04 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105500369A CN105500369A (en) | 2016-04-20 |
| CN105500369B true CN105500369B (en) | 2017-08-25 |
Family
ID=55708863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610079313.XA Active CN105500369B (en) | 2016-02-04 | 2016-02-04 | Robot |
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| CN (1) | CN105500369B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248028B (en) * | 2020-09-10 | 2022-04-01 | 珠海格力电器股份有限公司 | Articulated arm structure and robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324934B1 (en) * | 1999-03-01 | 2001-12-04 | Creative Design Corporation | Robot arm |
| US7975568B2 (en) * | 2008-04-24 | 2011-07-12 | Asm Technology Singapore Pte Ltd | Robotic arm driving mechanism |
| CN201922441U (en) * | 2010-12-15 | 2011-08-10 | 沈阳新松机器人自动化股份有限公司 | Mechanical capable of being turned laterally of tail-end actuator for transporting platy workpieces |
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-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 |
| CN205343115U (en) * | 2016-02-04 | 2016-06-29 | 威海新北洋正棋机器人股份有限公司 | Robot |
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2016
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| CN105500369A (en) | 2016-04-20 |
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