CN105904481B - 一种六轴工业机器人的手腕 - Google Patents
一种六轴工业机器人的手腕 Download PDFInfo
- Publication number
- CN105904481B CN105904481B CN201610409284.9A CN201610409284A CN105904481B CN 105904481 B CN105904481 B CN 105904481B CN 201610409284 A CN201610409284 A CN 201610409284A CN 105904481 B CN105904481 B CN 105904481B
- Authority
- CN
- China
- Prior art keywords
- swing
- gear
- fixed
- motor
- arm
- 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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Links
Classifications
-
- 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
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- 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
- B25J9/0024—Wrist motors at rear part of the upper arm
-
- 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
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
Abstract
Description
Claims (1)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610409284.9A CN105904481B (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
CN201711101814.4A CN107825399A (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610409284.9A CN105904481B (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711101814.4A Division CN107825399A (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105904481A CN105904481A (zh) | 2016-08-31 |
CN105904481B true CN105904481B (zh) | 2017-12-26 |
Family
ID=56750116
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711101814.4A Pending CN107825399A (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
CN201610409284.9A Active CN105904481B (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711101814.4A Pending CN107825399A (zh) | 2016-06-08 | 2016-06-08 | 一种六轴工业机器人的手腕 |
Country Status (1)
Country | Link |
---|---|
CN (2) | CN107825399A (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106361418B (zh) * | 2016-09-21 | 2018-09-14 | 东莞市联洲知识产权运营管理有限公司 | 一种半自动化的手术取物器械 |
CN110303490B (zh) * | 2019-07-27 | 2021-01-15 | 南京昱晟机器人科技有限公司 | 一种工业机器人用抓取装置及方法 |
CN112643663B (zh) * | 2020-12-21 | 2022-05-06 | 重庆三峡学院 | 一种人工智能升降机械臂用定向组件 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4045958A (en) * | 1976-03-25 | 1977-09-06 | Thomas H. Hudson | Multi-directional positioner |
US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
US5533418A (en) * | 1994-12-09 | 1996-07-09 | Kung C. Wu | Spherical robotic shoulder joint |
JP4378345B2 (ja) * | 2002-07-25 | 2009-12-02 | 株式会社エッチャンデス | 3自由度回転システム及びその応用 |
JP4411437B2 (ja) * | 2005-02-18 | 2010-02-10 | 国立大学法人 鹿児島大学 | 3自由度能動回転関節 |
US7735385B2 (en) * | 2007-08-09 | 2010-06-15 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Joint assembly |
CN102452080A (zh) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
EP2792328A1 (en) * | 2011-12-13 | 2014-10-22 | Movasu, Inc. | Apparatus for controlling joint exercise |
CN205148264U (zh) * | 2015-08-17 | 2016-04-13 | 上海航天精密机械研究所 | 用于球形贮箱的双自由度旋转变位装置 |
CN205799575U (zh) * | 2016-06-08 | 2016-12-14 | 佛山市联智新创科技有限公司 | 一种六轴工业机器人的手腕 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201505901U (zh) * | 2009-08-21 | 2010-06-16 | 浙江豪情汽车制造有限公司 | 自动升料工作台 |
CN201800045U (zh) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | 多自由度机器人的夹紧机构 |
CN203611246U (zh) * | 2013-11-01 | 2014-05-28 | 莱恩精机(深圳)有限公司 | 一种工业机器人 |
-
2016
- 2016-06-08 CN CN201711101814.4A patent/CN107825399A/zh active Pending
- 2016-06-08 CN CN201610409284.9A patent/CN105904481B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4045958A (en) * | 1976-03-25 | 1977-09-06 | Thomas H. Hudson | Multi-directional positioner |
US4628765A (en) * | 1985-02-27 | 1986-12-16 | Rensselaer Polytechnic Institute | Spherical robotic wrist joint |
US5533418A (en) * | 1994-12-09 | 1996-07-09 | Kung C. Wu | Spherical robotic shoulder joint |
JP4378345B2 (ja) * | 2002-07-25 | 2009-12-02 | 株式会社エッチャンデス | 3自由度回転システム及びその応用 |
JP4411437B2 (ja) * | 2005-02-18 | 2010-02-10 | 国立大学法人 鹿児島大学 | 3自由度能動回転関節 |
US7735385B2 (en) * | 2007-08-09 | 2010-06-15 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Joint assembly |
CN102452080A (zh) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
EP2792328A1 (en) * | 2011-12-13 | 2014-10-22 | Movasu, Inc. | Apparatus for controlling joint exercise |
CN205148264U (zh) * | 2015-08-17 | 2016-04-13 | 上海航天精密机械研究所 | 用于球形贮箱的双自由度旋转变位装置 |
CN205799575U (zh) * | 2016-06-08 | 2016-12-14 | 佛山市联智新创科技有限公司 | 一种六轴工业机器人的手腕 |
Also Published As
Publication number | Publication date |
---|---|
CN105904481A (zh) | 2016-08-31 |
CN107825399A (zh) | 2018-03-23 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
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TA01 | Transfer of patent application right |
Effective date of registration: 20171026 Address after: Quan Lu and Lu Lu in Hunan province high tech Development Zone 410000 Changsha Pine Road interchange of agricultural extension venture building 14 Building 1463 room Applicant after: Changsha Shuanghesheng Enterprise Management Limited Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
TA01 | Transfer of patent application right | ||
CB03 | Change of inventor or designer information |
Inventor after: Li Linqing Inventor before: Fu Shuzhen |
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CB03 | Change of inventor or designer information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20171128 Address after: 831100 Standard Room No. 3, No. 8, middle and small business enterprise of Tengfei Avenue, Changji high tech Industrial Development Zone, Changji, the Xinjiang Uygur Autonomous Region Applicant after: XINJIANG SANLI INTELLIGENT TECHNOLOGY CO., LTD. Address before: Quan Lu and Lu Lu in Hunan province high tech Development Zone 410000 Changsha Pine Road interchange of agricultural extension venture building 14 Building 1463 room Applicant before: Changsha Shuanghesheng Enterprise Management Limited |
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TA01 | Transfer of patent application right | ||
GR01 | Patent grant |