CN106064387A - Dual Drive formula industrial robot joint structure - Google Patents
Dual Drive formula industrial robot joint structure Download PDFInfo
- Publication number
- CN106064387A CN106064387A CN201610689931.6A CN201610689931A CN106064387A CN 106064387 A CN106064387 A CN 106064387A CN 201610689931 A CN201610689931 A CN 201610689931A CN 106064387 A CN106064387 A CN 106064387A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- power transmission
- drive
- industrial robot
- pedestal
- 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.)
- Pending
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
Abstract
The invention discloses a kind of Dual Drive formula industrial robot joint structure, it includes joint pedestal, two power transmission shafts it are arranged with on described pedestal, one end of each power transmission shaft is all connected with mechanical arm, the other end of power transmission shaft is connected with drive shaft by bearing holder (housing, cover), bearing respectively, and drive shaft is connected with driving source.The present invention respectively arranges a drive shaft in the both sides of joint pedestal, drive shaft is connected with power transmission shaft by bearing, and power transmission shaft is connected with mechanical arm, can provide power for mechanical arm by two drive shafts simultaneously, ultimate load can reach 500 kilograms, substantially increases the lifting capacity of mechanical arm；Two drive shafts in the present invention, according to the size of mechanical arm load capacity, can start, it is possible to be activated individually simultaneously, has both saved the energy, disclosure satisfy that again the requirement of loading capacity；Can accurate, convenient, efficiently control the displacement of mechanical arm；Present configuration is the compactest, and symmetrical attractive in appearance, installation, maintenance is convenient.
Description
Technical field
The present invention relates to automated machine equipment technical field, a kind of Dual Drive formula industrial robot joint
Structure.
Background technology
In modern industry processing and manufacturing, for alleviating the labor intensity of manual work, use the equipment such as robot, mechanical hand
For carrying, piling, the operation such as loading and unloading.In the articulation structure of mechanical arm, power is mostly driven by one and provides, mechanical arm
Load is general at 10-30 kilogram.And workpiece weight is frequently larger than 30 kilograms in actual production, existing mechanical arm lifting capacity is not
The requirement of actual production can be met.
Summary of the invention
It is an object of the invention to provide a kind of Dual Drive formula industrial robot joint structure, only to solve existing mechanical arm
Possess an articulation structure driven and cannot meet the problem that actual production load-carrying requires.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of Dual Drive formula industrial robot joint structure, it includes joint pedestal, described pedestal is arranged with two transmissions
Axle, one end of each power transmission shaft is all connected with mechanical arm, and the other end of power transmission shaft is respectively by bearing holder (housing, cover), bearing and drive shaft
Being connected, drive shaft is connected with driving source.
Preferably, two overlap in the endoporus that described bearing holder (housing, cover)s, bearing lay respectively at pedestal both sides.
Preferably, described pedestal, the center of mechanical arm are equipped with through wires hole.
Preferably, described driving source is electric drive or hydraulic-driven or gas drive is dynamic or Electromagnetic Drive.
In use, after driving source to start, two drive shafts drive two drive axis to the present invention, transmit torque to
Mechanical arm, mechanical arm rotates around the line of centres of two power transmission shafts, and two drive shafts provide power simultaneously, it is possible to meet machinery
The torque that arm is required when big load load-carrying；When mechanical arm loading capacity is lighter, it is only necessary to the driving source starting side rotates i.e.
Can.
The invention have the benefit that
(1) present invention respectively arranges a drive shaft in the both sides of joint pedestal, and drive shaft is connected with power transmission shaft by bearing, passes
Moving axis is connected with mechanical arm, can provide power for mechanical arm by two drive shafts simultaneously, and it is public that ultimate load can reach 500
Jin, substantially increases the lifting capacity of mechanical arm；
(2) two drive shafts in the present invention are according to the size of mechanical arm load capacity, can start, it is possible to be activated individually, both simultaneously
Save the energy, disclosure satisfy that again the requirement of loading capacity；
(3) drive shaft is connected with driving source respectively, can accurate, convenient, efficiently control the displacement of mechanical arm；
(4) present invention arranges through wires hole at pedestal and robot central, it is possible to is easy to the layout of electric wire, beautifies operation ring
Border；
(5) present configuration is the compactest, and symmetrical attractive in appearance, installation, maintenance is convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
In figure: 1, drive shaft, 2, bearing holder (housing, cover), 3, bearing, 4, power transmission shaft, 5, mechanical arm, 6, endoporus, 7, through wires hole, 8, pedestal.
Detailed description of the invention
The present invention is further detailed explanation below in conjunction with the accompanying drawings.
A kind of Dual Drive formula industrial robot joint structure as shown in Figure 1, it includes joint pedestal 8, symmetrical on pedestal 8
Being provided with two power transmission shafts 4, one end of each power transmission shaft 4 is all connected with mechanical arm 5, and the other end of power transmission shaft 4 is respectively by dividing
Be not positioned at the bearing holder (housing, cover) 2 in the endoporus 6 of pedestal 8 both sides, bearing 3 is connected with drive shaft 1, and drive shaft 1 is connected with driving source.
Pedestal 8, the center of mechanical arm 5 are equipped with through wires hole 7.
In use, after driving source to start, two drive shafts 1 drive two power transmission shafts 4 to rotate to the present invention, torque are transmitted
To mechanical arm 5, mechanical arm 5 rotates around the line of centres of two power transmission shafts 4, and two drive shafts 1 provide power simultaneously, it is possible to full
The torque that foot mechanical arm is required when big load load-carrying；When mechanical arm loading capacity is lighter, it is only necessary to start the drive shaft 1 of side
Rotate.
Described driving source is electric drive or hydraulic-driven or gas drive is dynamic or Electromagnetic Drive.
Present configuration is the compactest, and symmetrical attractive in appearance, installation, maintenance is convenient.
Claims (4)
1. a Dual Drive formula industrial robot joint structure, it includes joint pedestal (8), it is characterised in that: described pedestal (8)
On be arranged with two power transmission shafts (4), one end of each power transmission shaft (4) is all connected with mechanical arm (5), power transmission shaft (4) another
One end is connected with drive shaft (1) by bearing holder (housing, cover) (2), bearing (3) respectively, and drive shaft (1) is connected with driving source.
Dual Drive formula industrial robot joint structure the most according to claim 1, it is characterised in that: two overlap described bearing holder (housing, cover)
(2) during, bearing (3) lays respectively at the endoporus (6) of pedestal (8) both sides.
Dual Drive formula industrial robot joint structure the most according to claim 1 and 2, it is characterised in that: described pedestal
(8), the center of mechanical arm (5) is equipped with through wires hole (7).
Dual Drive formula industrial robot joint structure the most according to claim 3, it is characterised in that: described driving source is electricity
Driving or hydraulic-driven or gas drive are moved or Electromagnetic Drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610689931.6A CN106064387A (en) | 2016-08-19 | 2016-08-19 | Dual Drive formula industrial robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610689931.6A CN106064387A (en) | 2016-08-19 | 2016-08-19 | Dual Drive formula industrial robot joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106064387A true CN106064387A (en) | 2016-11-02 |
Family
ID=57206866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610689931.6A Pending CN106064387A (en) | 2016-08-19 | 2016-08-19 | Dual Drive formula industrial robot joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106064387A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189073A (en) * | 2018-01-19 | 2018-06-22 | 东北大学 | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm |
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
| CN110587653A (en) * | 2019-08-15 | 2019-12-20 | 浙江树人学院（浙江树人大学） | Dual drive formula industrial robot joint structure |
Citations (7)
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|---|---|---|---|---|
| EP1738880A1 (en) * | 2005-06-27 | 2007-01-03 | Fill Gesellschaft m.b.H. | Manipulator with swivel drives and linear drives for handling tools or workpieces |
| US20120020754A1 (en) * | 2010-07-20 | 2012-01-26 | Industrial Technology Research Institute | Rotary spindle head for machine tool |
| TW201347934A (en) * | 2012-05-16 | 2013-12-01 | Jung-Tang Huang | Robotic arm |
| CN103419196A (en) * | 2013-08-13 | 2013-12-04 | 武汉科恒工控工程有限责任公司 | Manipulator stacker driven by double-gear speed reducer |
| CN104607982A (en) * | 2013-11-05 | 2015-05-13 | 财团法人工业技术研究院 | Dual rotation driving device |
| CN105415395A (en) * | 2016-01-14 | 2016-03-23 | 于海滨 | Two-shaft mechanical clamping device capable of achieving free direction changing |
| CN205989343U (en) * | 2016-08-19 | 2017-03-01 | 兰州兰石集团有限公司 | Dual drive formula industrial robot joint structure |
-
2016
- 2016-08-19 CN CN201610689931.6A patent/CN106064387A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1738880A1 (en) * | 2005-06-27 | 2007-01-03 | Fill Gesellschaft m.b.H. | Manipulator with swivel drives and linear drives for handling tools or workpieces |
| US20120020754A1 (en) * | 2010-07-20 | 2012-01-26 | Industrial Technology Research Institute | Rotary spindle head for machine tool |
| TW201347934A (en) * | 2012-05-16 | 2013-12-01 | Jung-Tang Huang | Robotic arm |
| CN103419196A (en) * | 2013-08-13 | 2013-12-04 | 武汉科恒工控工程有限责任公司 | Manipulator stacker driven by double-gear speed reducer |
| CN104607982A (en) * | 2013-11-05 | 2015-05-13 | 财团法人工业技术研究院 | Dual rotation driving device |
| CN105415395A (en) * | 2016-01-14 | 2016-03-23 | 于海滨 | Two-shaft mechanical clamping device capable of achieving free direction changing |
| CN205989343U (en) * | 2016-08-19 | 2017-03-01 | 兰州兰石集团有限公司 | Dual drive formula industrial robot joint structure |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189073A (en) * | 2018-01-19 | 2018-06-22 | 东北大学 | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm |
| CN108189073B (en) * | 2018-01-19 | 2020-11-10 | 东北大学 | Double-motor-driven modular joint and mechanical arm |
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
| CN110587653A (en) * | 2019-08-15 | 2019-12-20 | 浙江树人学院（浙江树人大学） | Dual drive formula industrial robot joint structure |
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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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Pan Youwu Inventor after: Dong Xiaoli Inventor before: Pan Youwu Inventor before: Dong Xiaoli Inventor before: Bai Binrong |
|
| COR | Change of bibliographic data | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161102 |
|
| RJ01 | Rejection of invention patent application after publication |