CN106272375A - Robot and handle configurations thereof - Google Patents
Robot and handle configurations thereof Download PDFInfo
- Publication number
- CN106272375A CN106272375A CN201610784301.7A CN201610784301A CN106272375A CN 106272375 A CN106272375 A CN 106272375A CN 201610784301 A CN201610784301 A CN 201610784301A CN 106272375 A CN106272375 A CN 106272375A
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- Prior art keywords
- gear
- shaft
- handle configurations
- reductor
- tail end
- Prior art date
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- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 84
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000007921 spray Substances 0.000 abstract description 20
- 230000007246 mechanism Effects 0.000 description 4
- 239000012141 concentrate Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
- B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides kind of robot and handle configurations thereof, the handle configurations of robot includes: support arm；Wrist, is rotatably arranged in the first end of described support arm；Tail end arm, is rotatably arranged on described wrist；First drives motor, is used for driving described support arm rotatable around its axis；3rd drives motor, is used for driving described tail end arm to rotate；Elbow joint, is arranged on the second end of described support arm, and described first drives motor and the described 3rd to drive motor to be installed in the joint housing of described elbow joint.The handle configurations of the robot in the present invention solves each driving motor of spray robot of the prior art and arranges the most scattered problem.
Description
Technical field
The present invention relates to intelligent machine field, in particular to a kind of robot and handle configurations thereof.
Background technology
Spray robot is again paint-spray robot, is can to carry out auto spray painting or spray the robot of other coating.Spraying
Robot generally comprises multiple mechanical arm being rotationally connected successively, is positioned on the mechanical arm of end and is provided with spray body and (is positioned at
Spray robot wrist) carry out spraying operation, and the spray body of end has the motion of multiple degree of freedom, in mechanical arm
It is provided with the drive mechanism for driving spray body to move along multiple degree of freedom.
But, the driving motor of each drive mechanism of existing spray robot is all mounted in and drives near each needs
The position of dynamic joint arm, so, each of spray robot drives motor distribution more to disperse, and can make spray robot
The load of support arm is relatively big, top-heavy situation easily occurs, it is impossible to ensure the job stability of spray robot, and can not
Realize the concentration to spray robot to dispel the heat.
Summary of the invention
Present invention is primarily targeted at a kind of robot of offer and handle configurations thereof, to solve spraying of the prior art
Each of robot drives motor to arrange the most scattered problem.
To achieve these goals, according to an aspect of the invention, it is provided the handle configurations of a kind of robot, wrap
Include: support arm；Wrist, is rotatably arranged in the first end of support arm；Tail end arm, is rotatably arranged on wrist；First
Drive motor, be used for driving support arm rotatable around its axis；3rd drives motor, is used for driving tail end arm to rotate；Elbow joint, if
Putting the second end at support arm, first drives motor and the 3rd to drive motor to be installed in the joint housing of elbow joint.
Further, handle configurations also includes: the first reductor, and first drives the drive shaft of motor to drive with the first reductor
Being dynamically connected, the first reductor is in transmission connection with support arm；First reductor is arranged in the joint housing of elbow joint.
Further, handle configurations also includes: the first transmission component, and the first transmission component is arranged on the first reductor and props up
Between brace, the first reductor is connected with support arm by the first transmission component.
Further, the first transmission component includes: the first gear shaft, and the output shaft of the first reductor and the first gear shaft lead to
Cross the first chuck to connect；First travelling gear, the first gear shaft and the first travelling gear are meshed, the first travelling gear and support
Arm is in transmission connection.
Further, the first transmission component also includes the first drive flange, and the first travelling gear passes through the first drive flange
It is connected with support arm.
Further, handle configurations also includes: the 3rd reductor, and the 3rd drives the drive shaft of motor to drive with the 3rd reductor
Being dynamically connected, the 3rd reductor is in transmission connection with tail end arm；3rd reductor is arranged in the joint housing of elbow joint.
Further, handle configurations also includes: the 3rd transmission component, and the 3rd transmission component is arranged on the 3rd reductor and end
Between end arms, the 3rd reductor is connected with tail end arm by the 3rd transmission component.
Further, the 3rd transmission component also includes: the 4th gear shaft, the output shaft of the 3rd reductor and the 4th gear shaft
Connected by the 3rd chuck；Second gear assembly, the 4th gear shaft and the second gear assembly be in transmission connection, the second gear assembly with
Tail end arm is in transmission connection.
Further, the second gear assembly includes: the second input gear, and the second input gear and the 4th gear shaft are nibbled mutually
Close；Second output gear, the second output gear and the second input gear are connected by the second connecting tube, the second output gear and end
End arms is in transmission connection.
Further, the second gear assembly also includes: transition disc, transition disc be arranged on the second connecting tube and tail end arm it
Between, the second connecting tube is connected by transition disc and the second output gear.
Further, the 3rd transmission component also includes: the 5th gear shaft, and the 5th gear shaft and the second output gear are nibbled mutually
Close；Second driving shaft, second driving shaft and the 5th gear shaft are connected by the 3rd shaft coupling, second driving shaft and tail end arm transmission
Connect.
Further, the 3rd transmission component also includes: the second worm screw, and the second worm screw and second driving shaft are by the 4th shaft coupling
Device connects；Second turbine, the second worm screw is meshed with the second turbine, and the second turbine is connected with tail end arm by driving gear pair.
Further, driving gear pair includes: the second travelling gear, and the second travelling gear and the second turbine pass through central shaft
Connect；3rd travelling gear, the second travelling gear and the 3rd travelling gear are meshed, and the 3rd travelling gear is arranged on tail end arm
On.
Further, the second travelling gear and the 3rd travelling gear are bevel gear.
According to a further aspect in the invention, it is provided that a kind of robot, including handle configurations, handle configurations is above-mentioned arm
Portion's structure.
The handle configurations of the robot in the present invention includes that the first driving motor and the 3rd drives motor, and first drives motor
For driving support arm rotatable around its axis, the 3rd drives motor to be used for driving tail end arm to rotate, and the first driving motor and the
Three drive motor to be installed in the elbow joint being placed on support arm, so, just can realize each driving of this handle configurations
Motor integrated, makes each drive motor centralized arrangement, and then reduces the weight that support arm is born, and can concentrate these
Driving motor to carry out radiating treatment, the most scattered asking arranged by each driving motor solving spray robot of the prior art
Topic.
Accompanying drawing explanation
The Figure of description of the part constituting the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and explanation thereof are used for explaining the present invention, are not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the structural representation of the embodiment of the robot according to the present invention；
Fig. 2 shows the structural representation at a visual angle of the handle configurations of the robot in Fig. 1；And
Fig. 3 shows the structural representation at another visual angle of the handle configurations of the robot in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, support arm；11, main cylinder；12, cylinder is supported；13, supports end cap；20, wrist；30, tail end arm；41, first
Drive motor；42, second motor is driven；43, the 3rd motor is driven；51, the first reductor；52, the second reductor；53, the 3rd
Reductor；61, the first gear shaft；62, the second gear shaft；63, the 3rd gear shaft；64, the 4th gear shaft；65, the 5th gear shaft；
71, the first chuck；72, the second chuck；73, the 3rd chuck；74, the first mounting seat；75, the second mounting seat；76, the 3rd install
Seat；81, the first travelling gear；82, the second travelling gear；83, the 3rd travelling gear；91, the first drive flange；92, second pass
Dynamic flange；101, the first input gear；102, the first output gear；103, the second input gear；104, the second output gear；
111, the first connecting tube；112, the second connecting tube；113, transition disc；121, the first power transmission shaft；122, second driving shaft；131,
One shaft coupling；132, the second shaft coupling；133, the 3rd shaft coupling；134, the 4th shaft coupling；141, the first turbine；142, the second whirlpool
Wheel；143, the first worm screw；144, the second worm screw；151, central shaft；152, hollow pipe；210, base；220, waist joint；230, pendulum
Swing arm；240, elbow joint；241, main casing；242, joint end cap.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The invention provides the handle configurations of a kind of robot, refer to Fig. 1 to Fig. 3, this handle configurations includes: support arm
10；Wrist 20, is rotatably arranged in the first end of support arm 10；Tail end arm 30, is rotatably arranged on wrist 20；First
Drive motor 41, be used for driving support arm 10 rotatable around its axis；3rd drives motor 43, is used for driving tail end arm 30 to rotate；
Elbow joint 240, is arranged on the second end of support arm 10, and first drives motor 41 and the 3rd to drive motor 43 to be installed in elbow joint
In the joint housing of 240.
The handle configurations of the robot in the present invention includes that the first driving motor 41 and the 3rd drives motor 43, and first drives
Motor 41 is used for driving support arm 10 rotatable around its axis, and the 3rd drives motor 43 to be used for driving tail end arm 30 to rotate, and first
Drive motor 41 and the 3rd to drive motor 43 to be installed in the elbow joint 240 being placed on support arm 10, so, just can realize
Each of this handle configurations drives the integrated of motor, makes each drive motor centralized arrangement, and then minimizing support arm 10 is born
Weight, and can concentrate to these drive motor carry out radiating treatment, solve spray robot of the prior art each
Motor is driven to arrange the most scattered problem.
On this basis, handle configurations also includes the second driving motor 42, and second drives motor 42 to be used for driving wrist 20
Rotate, and second drives motor 42 to be similarly installed in the joint housing of elbow joint 240.
Preferably, support arm 10 includes main cylinder 11 and supports cylinder 12, supports cylinder 12 and main cylinder 11 passes through flange
Portion docks, and wrist 20 is arranged on support cylinder 12.
The concrete kind of drive that this programme realizes driving support arm 10 to rotate is that as depicted in figs. 1 and 2, handle configurations is also
Including the first reductor 51, first drives drive shaft and first reductor 51 drive connection of motor 41, the first reductor 51 with
Support arm 10 is in transmission connection；First reductor 51 is arranged in the joint housing of elbow joint 240.By arranging the first reductor
51, the rotating speed of motor 41 output can be driven first more easily to slow down, be conducive to the driving to support arm 10.
In order to realize the transmission between the first reductor 51 and support arm 10, as depicted in figs. 1 and 2, handle configurations also wraps
Including: the first transmission component, the first transmission component is arranged between the first reductor 51 and support arm 10, and the first reductor 51 passes through
First transmission component is connected with support arm 10.
Specifically, as in figure 2 it is shown, the first transmission component includes: the first gear shaft 61, the output shaft of the first reductor 51 with
First gear shaft 61 is connected by the first chuck 71；First travelling gear 81, the first gear shaft 61 and the first travelling gear 81 phase
Engagement, the first travelling gear 81 is in transmission connection with support arm 10.So, by gear-driven mode, can slow down first
The rotating speed of machine 51 output is transferred on support arm 10.Preferably, handle configurations also includes that the first mounting seat 74, the first chuck 71 are pacified
Being contained in the first mounting seat 74, the first mounting seat 74 is fixed on the inwall of joint housing.
Further, the first transmission component also includes the first drive flange 91, and the first travelling gear 81 is by the first transmission
Flange 91 is connected with support arm 10.By arranging the first drive flange 91, can more easily by the first travelling gear 81 with
Support arm 10 connects.Preferably, support arm 10 also includes that supports end cap 13, supports end cap 13 are arranged on main cylinder 11 away from support
One end of cylinder 12, supports end cap 13 is docked by flange portion with main cylinder 11.Preferably, the first drive flange 91 and support end
Lid 13 connection.
The concrete kind of drive that this programme realizes between the second driving motor 42 and wrist 20 is, as shown in Figure 1 to Figure 3,
Handle configurations also includes: the second reductor 52, the drive shaft of the second driving motor 42 and the second reductor 52 drive connection, second
Reductor 52 is in transmission connection with wrist 20；Second reductor 52 is arranged in the joint housing of elbow joint 240.By arranging second
Reductor 52, can drive second the rotating speed of motor 42 output to slow down more easily, be conducive to driving wrist 20
Dynamic.
In order to realize the transmission between the second reductor 52 and wrist 20, handle configurations also includes: the second transmission component, the
Two transmission components are arranged between the second reductor 52 and wrist 20, and the second reductor 52 is by the second transmission component and wrist 20
Connect.
Specifically, as it is shown on figure 3, the second transmission component includes: the second gear shaft 62, the output shaft of the second reductor 52 with
Second gear shaft 62 is connected by the second chuck 72；First gear assembly, the second gear shaft 62 and the first gear assembly transmission are even
Connecing, the first gear assembly is in transmission connection with wrist 20.So, by gear-driven mode, can be by defeated for the second reductor 52
The rotating speed gone out is transferred on wrist 20.Preferably, handle configurations also includes that the second mounting seat 75, the second chuck 72 are arranged on second
In mounting seat 75, the second mounting seat 75 is fixed on the inwall of joint housing.
The concrete structure of the first gear assembly is, as it is shown on figure 3, the first gear assembly includes: the first input gear 101,
First input gear 101 is meshed with the second gear shaft 62；First output gear 102, the first output gear 102 and the first input
Gear 101 is connected by the first connecting tube 111, and the first output gear 102 is in transmission connection with wrist 20.
Further, the second transmission component also includes: the 3rd gear shaft 63, the 3rd gear shaft 63 and the first output gear
102 are meshed；First power transmission shaft 121, the first power transmission shaft 121 is connected by the first shaft coupling 131 with the 3rd gear shaft 63, and first
Power transmission shaft 121 is in transmission connection with wrist 20.By arranging the first power transmission shaft 121, can will move from support arm more easily
One end of 10 is transferred to the other end.
It addition, elbow joint 240 includes that main casing 241 and lid are located at the main casing 241 joint end away from support arm 10 one end
Lid 242.Handle configurations also includes that hollow pipe 152, hollow pipe 152 are located in main casing 241 and support arm 10, the first connecting tube
111 are set on hollow pipe 152.
In order to realize the transmission between the first power transmission shaft 121 and wrist 20, the second transmission component also includes: the first worm screw
143, the first worm screw 143 is connected by the second shaft coupling 132 with the first power transmission shaft 121；First turbine 141, the first worm screw 143 with
First turbine 141 is meshed, and the first turbine 141 is connected with wrist 20 by the second drive flange 92.
This programme realizes the concrete mode of transmission between the 3rd driving motor 43 and elbow joint 240
Showing, handle configurations also includes: the 3rd reductor 53, and the 3rd drives drive shaft and the 3rd reductor 53 drive connection of motor 43,
3rd reductor 53 is in transmission connection with tail end arm 30；3rd reductor 53 is arranged in elbow joint 240 joint housing.By arranging
3rd reductor 53, can drive the 3rd the rotating speed of motor 43 output to slow down more easily, be conducive to tail end arm
The driving of 30.
In order to realize the transmission between the 3rd reductor 53 and tail end arm 30, handle configurations also includes: the 3rd transmission component,
3rd transmission component is arranged between the 3rd reductor 53 and tail end arm 30, and the 3rd reductor 53 is by the 3rd transmission component and end
End arms 30 connects.
Specifically, such as Fig. 2 and Fig. 3, shown, the 3rd transmission component also includes: the 4th gear shaft 64, the 3rd reductor 53
Output shaft and the 4th gear shaft 64 are connected by the 3rd chuck 73；Second gear assembly, the 4th gear shaft 64 and the second gear train
Part is in transmission connection, and the second gear assembly is in transmission connection with tail end arm 30.So, by gear-driven mode, can be by the 3rd
The rotating speed of reductor 53 output is transferred in tail end arm 30.Preferably, handle configurations also includes the 3rd mounting seat 76, the 3rd chuck
73 are arranged in the 3rd mounting seat 76, and the 3rd mounting seat 76 is fixed on the inwall of joint housing.
The concrete structure of the second gear assembly is, as it is shown on figure 3, the second gear assembly includes: the second input gear 103,
Second input gear 103 is meshed with the 4th gear shaft 64；Second output gear 104, the second output gear 104 and the second input
Gear 103 is connected by the second connecting tube 112, and the second output gear 104 is in transmission connection with tail end arm 30.Preferably, second even
Adapter 112 is set in the first connecting tube 111.
In order to realize the connection between the second connecting tube 112 and the second output gear 104, the second gear assembly also includes:
Transition disc 113, transition disc 113 is arranged between the second connecting tube 112 and tail end arm 30, and the second connecting tube 112 passes through transition disc
113 are connected with the second output gear 104.
Secondly, as it is shown on figure 3, the 3rd transmission component also includes: the 5th gear shaft 65, the 5th gear shaft 65 and the second output
Gear 104 is meshed；Second driving shaft 122, second driving shaft 122 is connected by the 3rd shaft coupling 133 with the 5th gear shaft 65,
Second driving shaft 122 is in transmission connection with tail end arm 30.Can be by motion from the one of support arm 10 by arranging second driving shaft 122
End is transferred to the other end.
In order to realize the transmission between second driving shaft 122 and tail end arm 30, as shown in Figures 2 and 3, the 3rd transmission component
Also including: the second worm screw 144, the second worm screw 144 is connected by the 4th shaft coupling 134 with second driving shaft 122；Second turbine
142, the second worm screw 144 is meshed with the second turbine 142, and the second turbine 142 is connected with tail end arm 30 by driving gear pair.
The concrete structure of driving gear pair is, driving gear pair includes: the second travelling gear 82, the second travelling gear 82 with
Second turbine 142 is connected by central shaft 151；3rd travelling gear 83, the second travelling gear 82 and the 3rd travelling gear 83 phase
Engagement, the 3rd travelling gear 83 is arranged in tail end arm 30.So, just can be by motion transmission to tail end arm 30.
Owing to the pivot center of tail end arm 30 is different from the pivot center of support arm 10, the also rotary shaft of different wrists 20
Line, the second travelling gear 82 and the 3rd travelling gear 83 are bevel gear.Preferably, tail end arm 30 include connecting shaft portion and from
The Flange joint portion that connecting shaft portion outer peripheral face radially extends, connecting shaft portion is pivotably engages with in wrist 20, Flange joint portion
For installing spray body.
Specifically, support arm 10 rotates around the first rotation axis, and wrist 20 rotates around the second rotation axis, tail end arm 30 around
3rd rotation axis rotates, and wherein, the first rotation axis is perpendicular to the second rotation axis, and the 3rd rotation axis is perpendicular to the second rotation
Shaft axis, the 3rd rotation axis is parallel to the first rotation axis.
Present invention also offers a kind of robot, including handle configurations, handle configurations is above-mentioned handle configurations.
Specifically, this robot also includes base 210, waist joint 220 and swing arm 230, and waist joint 220 sets rotationally
Putting on base 210, swing arm 230 is rockably mounted on waist joint 220.Wherein, the elbow joint 240 of handle configurations can be put
Being arranged on swing arm 230, support arm 10 is installed in rotation on elbow joint 240 dynamicly.
Visible, the drive mechanism in this programme mainly includes power section and running part, for reducing spray body as far as possible
The weight at place, the rear end how power section of drive mechanism is placed in mechanical arm is positioned at elbow joint, and by power transmission shaft and position
Bevel gear driving assembly integral drive at wrist connects, and is driven the power of corresponding bevel gear driving assembly by power transmission shaft
End motion.
It addition, be contaminated for avoiding pipeline to be exposed in painting environments, how power transmission shaft is set to hollow structure, and
Driving the power transmission shaft socket that every single-degree-of-freedom rotates, spray robot arm member is internally formed a passage, and pipeline wears this and leads to
Road is connected to spray body, can effectively prevent the coating pollution to pipeline.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
The handle configurations of the robot in the present invention includes that the first driving motor and the 3rd drives motor, and first drives motor
For driving support arm rotatable around its axis, the 3rd drives motor to be used for driving tail end arm to rotate, and the first driving motor and the
Three drive motor to be installed in the elbow joint being placed on support arm, so, just can realize each driving of this handle configurations
Motor integrated, makes each drive motor centralized arrangement, and then reduces the weight that support arm is born, and can concentrate these
Driving motor to carry out radiating treatment, the most scattered asking arranged by each driving motor solving spray robot of the prior art
Topic.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (15)
1. the handle configurations of a robot, it is characterised in that including:
Support arm (10)；
Wrist (20), is rotatably arranged in the first end of described support arm (10)；
Tail end arm (30), is rotatably arranged on described wrist (20)；
First drives motor (41), is used for driving described support arm (10) rotatable around its axis；
3rd drives motor (43), is used for driving described tail end arm (30) to rotate；
Elbow joint (240), is arranged on the second end of described support arm (10), and described first drives motor (41) and the described 3rd to drive
Galvanic electricity machine (43) is installed in the joint housing of described elbow joint (240).
Handle configurations the most according to claim 1, it is characterised in that described handle configurations also includes:
First reductor (51), described first drives the drive shaft of motor (41) and described first reductor (51) drive connection,
Described first reductor (51) is in transmission connection with described support arm (10)；Described first reductor (51) is arranged on described elbow joint
(240) in joint housing.
Handle configurations the most according to claim 2, it is characterised in that described handle configurations also includes:
First transmission component, described first transmission component be arranged on described first reductor (51) and described support arm (10) it
Between, described first reductor (51) is connected with described support arm (10) by described first transmission component.
Handle configurations the most according to claim 3, it is characterised in that described first transmission component includes:
First gear shaft (61), the output shaft of described first reductor (51) and described first gear shaft (61) are by the first chuck
(71) connect；
First travelling gear (81), described first gear shaft (61) is meshed with described first travelling gear (81), and described first
Travelling gear (81) is in transmission connection with described support arm (10).
Handle configurations the most according to claim 4, it is characterised in that described first transmission component also includes the first driving method
Blue (91), described first travelling gear (81) is connected with described support arm (10) by the first drive flange (91).
Handle configurations the most according to claim 1, it is characterised in that described handle configurations also includes:
3rd reductor (53), the described 3rd drives the drive shaft of motor (43) and described 3rd reductor (53) drive connection,
Described 3rd reductor (53) is in transmission connection with described tail end arm (30)；Described 3rd reductor (53) is arranged on described elbow joint
(240) in joint housing.
Handle configurations the most according to claim 6, it is characterised in that described handle configurations also includes:
3rd transmission component, described 3rd transmission component be arranged on described 3rd reductor (53) and described tail end arm (30) it
Between, described 3rd reductor (53) is connected with described tail end arm (30) by described 3rd transmission component.
Handle configurations the most according to claim 7, it is characterised in that described 3rd transmission component also includes:
4th gear shaft (64), the output shaft of described 3rd reductor (53) and described 4th gear shaft (64) are by the 3rd chuck
(73) connect；
Second gear assembly, described 4th gear shaft (64) is in transmission connection with described second gear assembly, described second gear train
Part is in transmission connection with described tail end arm (30).
Handle configurations the most according to claim 8, it is characterised in that described second gear assembly includes:
Second input gear (103), described second input gear (103) is meshed with described 4th gear shaft (64)；
Second output gear (104), described second output gear (104) is with described second input gear (103) by second even
Adapter (112) connects, and described second output gear (104) is in transmission connection with described tail end arm (30).
Handle configurations the most according to claim 9, it is characterised in that described second gear assembly also includes:
Transition disc (113), described transition disc (113) is arranged between described second connecting tube (112) and described tail end arm (30),
Described second connecting tube (112) is connected with described second output gear (104) by described transition disc (113).
11. handle configurations according to claim 9, it is characterised in that described 3rd transmission component also includes:
5th gear shaft (65), described 5th gear shaft (65) is meshed with described second output gear (104)；
Second driving shaft (122), described second driving shaft (122) and described 5th gear shaft (65) are by the 3rd shaft coupling
(133) connecting, described second driving shaft (122) is in transmission connection with described tail end arm (30).
12. handle configurations according to claim 11, it is characterised in that described 3rd transmission component also includes:
Second worm screw (144), described second worm screw (144) is with described second driving shaft (122) by the 4th shaft coupling (134) even
Connect；
Second turbine (142), described second worm screw (144) is meshed with described second turbine (142), described second turbine
(142) it is connected with described tail end arm (30) by driving gear pair.
13. handle configurations according to claim 12, it is characterised in that described driving gear pair includes:
Second travelling gear (82), described second travelling gear (82) is with described second turbine (142) by central shaft (151) even
Connect；
3rd travelling gear (83), described second travelling gear (82) is meshed with described 3rd travelling gear (83), and described
Three travelling gears (83) are arranged in described tail end arm (30).
14. handle configurations according to claim 13, it is characterised in that described second travelling gear (82) and the described 3rd
Travelling gear (83) is bevel gear.
15. 1 kinds of robots, including handle configurations, it is characterised in that described handle configurations is any one of claim 1 to 14
Described handle configurations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784301.7A CN106272375B (en) | 2016-08-31 | 2016-08-31 | Robot and its handle configurations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784301.7A CN106272375B (en) | 2016-08-31 | 2016-08-31 | Robot and its handle configurations |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272375A true CN106272375A (en) | 2017-01-04 |
| CN106272375B CN106272375B (en) | 2019-09-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638120A (en) * | 2018-06-15 | 2018-10-12 | 广州启帆工业机器人有限公司 | Multistation spray coating mechanical wrist |
| WO2022121506A1 (en) * | 2020-12-11 | 2022-06-16 | 烟台盛利达工程技术有限公司 | Rear-mounted direct-drive type rotary mechanical arm |
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|---|---|---|---|---|
| JP2006315176A (en) * | 2006-08-28 | 2006-11-24 | Toshiba Mach Co Ltd | Robot arm |
| CN101130246A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Safe type mechanical arm |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN105216009A (en) * | 2015-11-06 | 2016-01-06 | 重庆大学 | Spray robot arm member |
| CN206011079U (en) * | 2016-08-31 | 2017-03-15 | 珠海格力智能装备有限公司 | Robot and its handle configurations |
-
2016
- 2016-08-31 CN CN201610784301.7A patent/CN106272375B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006315176A (en) * | 2006-08-28 | 2006-11-24 | Toshiba Mach Co Ltd | Robot arm |
| CN101130246A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Safe type mechanical arm |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN105216009A (en) * | 2015-11-06 | 2016-01-06 | 重庆大学 | Spray robot arm member |
| CN206011079U (en) * | 2016-08-31 | 2017-03-15 | 珠海格力智能装备有限公司 | Robot and its handle configurations |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638120A (en) * | 2018-06-15 | 2018-10-12 | 广州启帆工业机器人有限公司 | Multistation spray coating mechanical wrist |
| WO2022121506A1 (en) * | 2020-12-11 | 2022-06-16 | 烟台盛利达工程技术有限公司 | Rear-mounted direct-drive type rotary mechanical arm |
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| CN106272375B (en) | 2019-09-03 |
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