CN106426104A - Direct-driven horizontal-joint four-axis robot - Google Patents
Direct-driven horizontal-joint four-axis robot Download PDFInfo
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- CN106426104A CN106426104A CN201610987456.0A CN201610987456A CN106426104A CN 106426104 A CN106426104 A CN 106426104A CN 201610987456 A CN201610987456 A CN 201610987456A CN 106426104 A CN106426104 A CN 106426104A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a direct-driven horizontal-joint four-axis robot comprising a first robot joint, a second robot joint, a first arm body and a second arm body. A Z and R axis transmission mechanism is arranged in the second arm body. The second robot joint comprises a rotor, a stator shaft, a first bearing and a second bearing, wherein the first bearing and the second bearing are arranged in the stator shaft. A rotor shaft capable of being inserted in the stator shaft is arranged on the middle portion of the rotor. By means of the Z and R axis transmission mechanism, three different operation modes can be achieved. A rotor in the first robot joint, a stator shaft in the first robot joint, the rotor in the second robot joint and the stator shaft in the second robot joint can stably operate under the condition that the pre-tightening force is enough. The angles by which the upper portions and the lower portions of the joints rotate are more precisely controlled, wiring is simplified for users, installation is convenient, and the first robot joint and the second robot joint can be directly assembled in the first arm body and the second arm body as standard pieces. By changing the length of the rotors and stators, direct-driven robot joints of various different torsion moments can be obtained, the direct-driven horizontal-joint four-axis robot can be applied to robots of different loads, and the performance-cost ratio is high.
Description
[technical field]
The present invention relates to robot device's technical field, more particularly to a kind of compact conformation, easy for installation, accurately can control
The four axle robot of flapping articulation of the straight drive of controlling angle.
[background technology]
Four axle robot of flapping articulation is widely applied at present, is had non-in the environment such as carrying, processing, assembling
Often important effect, the features such as itself has flexible movements, compact conformation, space requirement is little, repetitive positioning accuracy is high, can
Accurately and fast reach space a bit.Four axle robot of flapping articulation with small volume for six-shaft industrial robot,
Flexibly, the low advantage of cost, is widely used in futurity industry streamline and would is that inexorable trend.Increase to flapping articulation four
The research of axle robot is also very necessary, and at present both at home and abroad the major brand of four axle robot of flapping articulation includes Epson, refined
Horse breathes out, Ku Kadeng enterprise.
Four axle robot of existing flapping articulation great majority all adopt AC servo motor as power source in the market,
Mounting flange high-precision positioning in end is realized using RV decelerator or harmonic speed reducer.RV decelerator harmonic decelerator mesh
Before be main flow decelerator, with driving torque is big, gear ratio big, impact resistance, the features such as return difference little or zero return difference, thus quilt
It is widely used on industrial robot.But RV decelerator harmonic decelerator processing technique is complicated, high transmission accuracy, price is non-
Chang Anggui.
In order to solve the problems, such as decelerator high cost, those skilled in the art has carried out substantial amounts of research and development and has tested, than
Propose a kind of straight drive four axle robot of flapping articulation.
[content of the invention]
For overcoming the problems of prior art, the present invention provides a kind of compact conformation, easy for installation, accurately can control
The four axle robot of flapping articulation of the straight drive of controlling angle.
It is the four axle robot of flapping articulation for providing a kind of straight drive that the present invention solves the scheme of technical problem, including control
Device, base, the first joint of robot, the second joint of robot, one end be flexibly connected with the first joint of robot and the other end with
The second arm body that first arm body of the second joint of robot connection and one end are connected with the second joint of robot；Second arm
Z and R shaft transmission is set in body；
Second joint of robot includes rotor, stator axis and is arranged inside stator axis relative for ensureing rotor
Clutch shaft bearing and second bearing that stator axis stably rotate, clutch shaft bearing and second bearing lean against back contacts setting；The rotor
Edge arranges boss, and boss is inserted in stator axis；Second bearing is arranged at armature spindle bottom, and second bearing inner ring and rotor
Axle interference fit；The outer ring of the clutch shaft bearing and second bearing and stator axis interference fit；It is provided with and this on the downside of stator axis
The stator of the stator axis interference fit；The rotor inner surface ring-type is evenly arranged with several Magnet；
Z the and R shaft transmission includes drive fixed mount, the first motor being fixedly installed on drive fixed mount and
Two motors, by the first motor-driven splined shaft and by the second motor-driven ball-screw；The splined shaft and ball wire
Thick stick is coaxially disposed and in the internal running-deep-hole for axially offering for inserting splined shaft of ball screw.
Preferably, axle sleeve is installed on the upside of the second bearing, and the axle mistake of the axle sleeve and clutch shaft bearing all with rotor
It is full of cooperation；The top of the axle of the rotor is provided with photoelectric encoder.
Preferably, joint top line outlet is additionally provided with the outside of the stator axis, and the centre position of stator axis is also installed
Live conductor plate, is provided with pcb board fixed plate, offers several screwed holes, by tightening in pcb board fixed plate on the upside of tension disc
Screw is fixed to pcb board fixed plate in stator axis；Restriction stator shaft orientation movement is additionally provided between the stator and stator axis
Stator shaft orientation fix back-up ring.
Preferably, the stator axis lower edge offers several screwed holes, is tightened in stator using screw
In stator axis；Pcb board and photoelectric encoder read head is provided with pcb board fixed plate；
The pcb board is fixed in pcb board fixed plate by lock screw；Lid is installed on the upside of the pcb board, and on
Lid is fixed in stator axis by screw.
Preferably, Z the and R shaft transmission also includes to be arranged on splined shaft the flower for mating with ball-screw one end
Key nut component；The splined nut component includes splined nut and the splined nut fixed cover for fixing splined nut；
When first Motor drive splined shaft is rotated, by the transmission of splined nut component, ball-screw is driven while rotating；
Also include to mate with ball-screw, by the second motor-driven ball-screw nut；The second Motor drive rolling
Screw nut rotation when, with ball-screw nut with ball-screw and drive ball-screw produce axial movement.
Preferably, between first motor and splined shaft and the second motor and ball-screw pass through gear drive；Institute
State and the first driving gear is set on the first motor, the first driven gear on splined shaft, is fixedly installed, by the first driving gear and
The ratcheting transmission of one driven gear；On second motor, the second driving gear is set, and second is fixedly installed on ball-screw driven
Gear, by the second driving gear and the ratcheting transmission of the second driven gear；
First driving gear and the first driven gear and the second driving gear and the second driven gear have same biography
Dynamic ratio.
Preferably, the stator axis top surface edge is further opened with several lock screw holes, by lock screw with fixed
Lock screw hole on sub- axle coordinates, and realizes the first joint of robot and the first arm body is flexibly connected；The rotor lower surface side
Edge position is again provided with several lock screw holes, is locked by lock screw, realizes the first joint of robot and the first arm
Body is flexibly connected.
Preferably, the second arm external body arranges the protection shell for shielding, and protects shell upper to be connected with
The control line being electrically connected with the controller of protection enclosure.
Preferably, arranging at least one between the drive fixed mount and splined shaft is used for preventing splined shaft axial float
Splined shaft angular contact bearing；Arranging at least one between the arm body and ball-screw is used for preventing ball-screw axial direction play
Ball-screw angular contact bearing；Ball-screw angular contact bearing is fixed on arm body；Each splined shaft angular contact bearing and ball
Leading screw angular contact bearing is fixed by bearing (ball) cover；
The ball-screw nut side is provided with the feed screw nut fixed cover for fixing the ball-screw nut；Flower
Key shaft angle contact bearing is fixed on splined shaft bearing (ball) cover by locking nut；Ball-screw angular contact bearing passes through locking screw
Mother is fixed on arm body, and is fixed by ball-screw bearing end lid.
Preferably, the ball-screw is fixedly installed ring flange with respect to the other end of splined nut component, and in arm body
Bottom be provided with mate with ball-screw, for preventing portion ball-screw angular contact bearing inner space in dust arm entry body
Dust-proof end cap.
Compared with prior art, a kind of four axle robot of flapping articulation of straight drive of the present invention by and meanwhile arrange base, the
One joint of robot, the second joint of robot, one end are flexibly connected with the first joint of robot and the other end and the second robot
The second arm body that first arm body of joint connection and one end are connected with the second joint of robot, and Z and R is set in the second arm body
Shaft transmission, Z with R shaft transmission can achieve three kinds of different operational modes, and the first joint of robot, the second robot are closed
The stable operating in the case of enough pretightning forces of rotor and stator axis in section, is precisely controlled joint top and the bottom and is turned
The angle that crosses, simplifies user's wiring, easy for installation, and the first joint of robot and the second joint of robot can be straight as standard component
Tipping is fitted in the first arm body and the second arm body, and structure tightly promotees, can precise control angle, by changing the length of rotor and stator
Degree, it is possible to achieve the straight drive joint of robot of various difference moments of torsion, is applied in unequally loaded robot, cost performance height.
[description of the drawings]
Fig. 1 is a kind of stereoscopic-state structural representation of the four axle robot of flapping articulation of straight drive of the present invention.
Fig. 2 is a kind of explosive state structural representation of the four axle robot of flapping articulation of straight drive of the present invention.
Fig. 3 be a kind of straight drive of the present invention four axle robot of flapping articulation in the second joint of robot explosive state structure
Schematic diagram.
Fig. 4 be a kind of straight drive of the present invention four axle robot of flapping articulation in Z and R shaft transmission stereoscopic-state structure
Schematic diagram.
Fig. 5 be a kind of straight drive of the present invention four axle robot of flapping articulation in Z and R shaft transmission cross section structure illustrate
Figure.
Fig. 6 be a kind of straight drive of the present invention four axle robot of flapping articulation in Z and R shaft transmission explosive state structure
Schematic diagram.
[specific embodiment]
For making the purpose of the present invention, technical scheme and advantage become more apparent, below in conjunction with drawings and Examples, to this
Invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, not
For limiting this invention.
Refer to Fig. 1 to Fig. 6, a kind of four axle robot 1 of flapping articulation of straight drive of the present invention include controller, base 11,
First joint of robot 12, the second joint of robot 14, one end are flexibly connected with the first joint of robot 12 and the other end and
The first arm body 13 that two joint of robot 14 connects and the second arm body 15 that one end is connected with the second joint of robot 14；Described
Z and R shaft transmission is set in the second arm body 15；
Second joint of robot 14 include rotor 148, stator axis 146 and be arranged inside stator axis 146 for
Clutch shaft bearing 144 and second bearing 145 that guarantee 148 relative stator axle 146 of rotor stably rotates, clutch shaft bearing 144 and second
Bearing 145 leans against back contacts setting；148 edge of the rotor arranges boss, and boss is inserted in stator axis 146；Second bearing
145 are arranged at 1481 bottom of armature spindle, and 145 inner ring of second bearing and 1481 interference fit of armature spindle；The clutch shaft bearing 144
Outer ring and 146 interference fit of stator axis with second bearing 145；146 downside of stator axis is provided with and 146 mistake of stator axis this described
It is full of the stator 147 of cooperation；148 inner surface ring-type of the rotor is evenly arranged with several Magnet 1481；
Z the and R shaft transmission includes drive fixed mount 153, first for being fixedly installed on drive fixed mount 153 electricity
Machine 151 and the second motor 152, the splined shaft 154 for being driven by the first motor 151 and the ball wire for being driven by the second motor 152
Thick stick 156；The splined shaft 154 is coaxially disposed with ball-screw 156 and offers for inserting in the internal axial direction of ball-screw 156
The running-deep-hole of splined shaft 154, for empty avoiding splined shaft 154.
By while arranging base 11, the first joint of robot 12, the second joint of robot 14, one end and the first robot
Joint 12 is flexibly connected and the other end is connected with the second joint of robot 14 the first arm body 13 and one end and the second robot
The second arm body 15 that joint 14 connects, and Z and R shaft transmission is set in the second arm body 15, Z and R shaft transmission can achieve
Three kinds of different operational modes, the rotor 148 in the first joint of robot 12, the second joint of robot 14 and stator axis 146 exist
Operating stable in the case of pretightning force enough, is precisely controlled the angle turned over by joint top and the bottom, simplifies user's cloth
Line, easy for installation, the first joint of robot 12 and the second joint of robot 14 can be directly assembled to the first arm as standard component
In body 13 and the second arm body 15, structure tightly promotees, can precise control angle, by changing the length of rotor 148 and stator 147,
The straight drive joint of robot of various difference moments of torsion can be realized, is applied in unequally loaded robot, cost performance height.
Preferably, 145 upside of the second bearing is provided with axle sleeve 1451, and the axle sleeve 1451 and clutch shaft bearing 144
Axle interference fit all with rotor 148；The top of the axle of the rotor 148 is provided with photoelectric encoder.
Preferably, 146 outside of the stator axis is additionally provided with joint top line outlet, and the centre position of stator axis 146
Tension disc 1421 is also installed on, and 1421 upside of tension disc is provided with pcb board fixed plate, offers several in pcb board fixed plate
Screwed hole, is fixed to pcb board fixed plate in stator axis 146 by screw；Between the stator 147 and stator axis 146
Being additionally provided with stator axis 146 is limited to mobile stator shaft orientation fixation back-up ring 1461.
Preferably, 146 lower edge of the stator axis offers several screwed holes, using screw by stator 147
It is tightened in stator axis 146；Pcb board 142 and photoelectric encoder read head 143 is provided with pcb board fixed plate；Using clamp screw
Silk is tightened in stator axis 146 stator 147 to prevent from skidding.
The pcb board 142 is fixed in pcb board fixed plate by lock screw；142 upside of the pcb board is provided with
141 are covered, and upper lid 141 is fixed in stator axis 146 by screw.
Preferably, Z the and R shaft transmission also includes to be arranged on splined shaft 154 and 156 one end of ball-screw
The splined nut component 155 that joins；The splined nut component 155 includes splined nut 1551 and for fixing splined nut
1551 splined nut fixed cover 1553；When first motor 151 drives splined shaft 154 to rotate, by splined nut component 155
Transmission, drives ball-screw 156 while rotating；
Also include the ball-screw nut 1561 for mating with ball-screw 156, being driven by the second motor 152；Described second
When motor 152 drives ball-screw nut 1561 to rotate, with ball-screw nut 1561 with ball-screw 156 and rolling is driven
Ballscrew 156 produces axial movement.
Preferably, between first motor 151 and splined shaft 154 and the second motor 152 is passed through with ball-screw 156
Gear drive；First driving gear is set on first motor 151, the first driven gear on splined shaft 154, is fixedly installed
1511, by the first driving gear and the 1511 ratcheting transmission of the first driven gear；On second motor 152, the second driving tooth is set
Wheel, is fixedly installed the second driven gear 1521 on ball-screw 156, ratcheting with the second driven gear 1521 by the second driving gear
Transmission；
First driving gear is had with the second driven gear 1521 with the first driven gear 1511 and the second driving gear
Same gear ratio.During actually used, gear drive can also adopt the synchronous pulley of same speed reducing ratio to replace.
Preferably, 146 top surface edge of the stator axis is further opened with several lock screw holes, by lock screw with
Lock screw hole in stator axis 146 coordinates, and realizes the first joint of robot 12 and the first arm body 13 is flexibly connected；The rotor
148 lower surface edge positions are again provided with several lock screw holes, are locked by lock screw, realize the first robot pass
Section 12 is flexibly connected with the first arm body 13.
Preferably, the second arm body 15 is outside arranges the protection shell 16 for shielding, and protects 16 top of shell
The control line 17 being connected with the controller electric connection inside protection shell 16.
Preferably, arranging at least one between the drive fixed mount 153 and splined shaft 154 is used for preventing splined shaft 154
The splined shaft angular contact bearing 1541 of axial float；Arranging at least one between the arm body 158 and ball-screw 156 is used for preventing
The only ball-screw angular contact bearing 1563 of 156 axial float of ball-screw；Ball-screw angular contact bearing 1563 is fixed on arm
On body 158；Each splined shaft angular contact bearing 1541 and ball-screw angular contact bearing 1563 are fixed by bearing (ball) cover 1565；
1561 side of the ball-screw nut is provided with the feed screw nut for fixing the ball-screw nut 1561
Fixed cover；Splined shaft angular contact bearing 1541 is fixed on splined shaft bearing (ball) cover 1543 by locking nut；Ball-screw angle
Contact bearing 1563 is fixed on arm body 158 by locking nut, and is fixed by ball-screw bearing end lid 1565.
Preferably, the other end of the relative splined nut component 155 of the ball-screw 156 is fixedly installed ring flange 157,
And be provided with 158 bottom of arm body mate with ball-screw 156, for preventing the internal ball-screw angle of dust arm entry body 158
The dust-proof end cap 1567 of 1563 inner space of contact bearing.
Second joint of robot 14 can be adopted and 12 identical structure of the first joint of robot.
148 edge of the rotor is provided with boss (not shown), and boss is inserted in stator axis 146, and stator axis 146 are installed
In the upside of rotor 148, using boss be designed to effectively prevent dust etc. from entering joint of robot, to improve joint
Reliability and life-span；The height of the axle sleeve 1451 is slightly above the step for installing second bearing 145, ensure that during to install
Corresponding surplus compressing clutch shaft bearing 144 and second bearing 145, to ensure axial compression amount；First joint of robot, 12 He
Second joint of robot, 14 built-in drive and encoder, compact conformation, easy for installation, being capable of precise control angle.By more
Change the length of rotor 148 and stator 147, it is possible to achieve the straight drive joint of robot of various difference moments of torsion, be applied to different loads
Robot on.
Compared with prior art, a kind of four axle robot 1 of flapping articulation of straight drive of the present invention by and meanwhile arrange base 11,
First joint of robot 12, the second joint of robot 14, one end are flexibly connected with the first joint of robot 12 and the other end and
The first arm body 13 that two joint of robot 14 connects and the second arm body 15 that one end is connected with the second joint of robot 14, and the
Z and R shaft transmission is set in two arm bodies 15, Z with R shaft transmission can achieve three kinds of different operational modes, the first machine
The stable fortune in the case of enough pretightning forces of rotor 148 and stator axis 146 in person joint 12, the second joint of robot 14
Turn, the angle turned over by joint top and the bottom is precisely controlled, simplify user's wiring, easy for installation, the first joint of robot
12 and second joint of robot 14 can be directly assembled in the first arm body 13 and the second arm body 15 as standard component, structure is tight
Promote, can precise control angle, by changing the length of rotor 148 and stator 147, it is possible to achieve the straight drive of various difference moments of torsion
Joint of robot, is applied in unequally loaded robot, cost performance height.
Invention described above embodiment, does not constitute limiting the scope of the present invention.Any in the present invention
Spirit and principle within modification, equivalent and improvement for being made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (10)
1. the four axle robot of flapping articulation of a kind of straight drive, it is characterised in that：Including controller, base, the first joint of robot,
Second joint of robot, one end are flexibly connected with the first joint of robot and the other end is connected with the second joint of robot first
Arm body and one end are closed with the second robot
Second arm body of section connection；Z and R shaft transmission is set in the second arm body；
Second joint of robot includes rotor, stator axis and is arranged inside stator axis for ensureing rotor relative stator
Clutch shaft bearing and second bearing that axle stably rotates, clutch shaft bearing and second bearing lean against back contacts setting；The rotor edge
Boss is set, and boss is inserted in stator axis；
Second bearing is arranged at armature spindle bottom, and second bearing inner ring and armature spindle interference fit；The clutch shaft bearing and
The outer ring of two bearings and stator axis interference fit；The stator being provided with the downside of stator axis with stator axis interference fit this described；Institute
State rotor inner surface ring-type and be evenly arranged with several Magnet；
Z the and R shaft transmission includes drive fixed mount, the first motor being fixedly installed on drive fixed mount and the second electricity
Machine, by the first motor-driven splined shaft and by the second motor-driven ball-screw；The splined shaft is same with ball-screw
Axle is arranged and in the internal running-deep-hole for axially offering for inserting splined shaft of ball screw.
2. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 1, it is characterised in that：In the second bearing
Side is provided with axle sleeve, and the axle interference fit of the axle sleeve and clutch shaft bearing all with rotor；The top of the axle of the rotor is installed
There is photoelectric encoder.
3. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 2, it is characterised in that：On the outside of the stator axis
Joint top line outlet is additionally provided with, and the centre position of stator axis is also installed on tension disc, pcb board is installed on the upside of tension disc
Fixed plate, offers several screwed holes in pcb board fixed plate, by screw, pcb board fixed plate is fixed to stator axis
On；The stator shaft orientation fixation back-up ring for limiting stator shaft orientation movement is additionally provided between the stator and stator axis.
4. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 3, it is characterised in that：On the downside of the stator axis
Edge has several screwed holes, using screw, stator is tightened in stator axis；It is provided with pcb board fixed plate
Pcb board and photoelectric encoder read head；
The pcb board is fixed in pcb board fixed plate by lock screw；Lid is installed on the upside of the pcb board, and upper lid is logical
Cross screw to be fixed in stator axis.
5. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 1, it is characterised in that：Z the and R through-drive
Mechanism also includes to be arranged on splined shaft the splined nut component for mating with ball-screw one end；The splined nut component bag
Include splined nut and the splined nut fixed cover for fixing splined nut；When first Motor drive splined shaft is rotated, pass through
The transmission of splined nut component, drives ball-screw while rotating；
Also include to mate with ball-screw, by the second motor-driven ball-screw nut；The second motor driven ball silk
Thick stick nut rotation when, with ball-screw nut with ball-screw and drive ball-screw produce axial movement.
6. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 5, it is characterised in that：First motor with
Between splined shaft and the second motor and ball-screw pass through gear drive；On first motor, the first driving gear is set,
The first driven gear is fixedly installed on splined shaft, by the first driving gear and the ratcheting transmission of the first driven gear；Second electricity
Second driving gear is set on machine, the second driven gear on ball-screw, is fixedly installed, driven with second by the second driving gear
Gear mesh is driven；
First driving gear and the first driven gear and the second driving gear and the second driven gear have same gear ratio.
7. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 4, it is characterised in that：The stator axis upper table
Face edge is further opened with several lock screw holes, is coordinated by the lock screw hole in lock screw and stator axis, realizes the
One joint of robot and the first arm body are flexibly connected；The rotor lower surface edge position is again provided with several lock screws
Hole, is locked by lock screw, is realized the first joint of robot and is flexibly connected with the first arm body.
8. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 1, it is characterised in that：Second arm is external
Portion arranges the protection shell for shielding, and protects shell upper to be connected with the controller electric connection with protection enclosure
Control line.
9. the four axle robot of flapping articulation of a kind of straight drive as claimed in claim 5, it is characterised in that：The drive fixed mount
At least one splined shaft angular contact bearing for being used for preventing splined shaft axial float is set between splined shaft；The arm body and rolling
At least one ball-screw angular contact bearing for being used for preventing ball-screw axial direction play is set between ballscrew；Ball-screw angle
Contact bearing is fixed on arm body；Each splined shaft angular contact bearing and ball-screw angular contact bearing are fixed by bearing (ball) cover；
The ball-screw nut side is provided with the feed screw nut fixed cover for fixing the ball-screw nut；Splined shaft
Angular contact bearing is fixed on splined shaft bearing (ball) cover by locking nut；Ball-screw angular contact bearing is solid by locking nut
On arm body, and fixed by ball-screw bearing end lid.
10. the four axle robot of flapping articulation of a kind of straight drive as described in claim 5 or 9, it is characterised in that：The ball wire
Thick stick is fixedly installed ring flange with respect to the other end of splined nut component, and be provided with arm body bottom mate with ball-screw,
For preventing the dust-proof end cap of portion ball-screw angular contact bearing inner space in dust arm entry body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987456.0A CN106426104A (en) | 2016-11-10 | 2016-11-10 | Direct-driven horizontal-joint four-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987456.0A CN106426104A (en) | 2016-11-10 | 2016-11-10 | Direct-driven horizontal-joint four-axis robot |
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| Publication Number | Publication Date |
|---|---|
| CN106426104A true CN106426104A (en) | 2017-02-22 |
Family
ID=58207342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987456.0A Pending CN106426104A (en) | 2016-11-10 | 2016-11-10 | Direct-driven horizontal-joint four-axis robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676594A (en) * | 2019-01-02 | 2019-04-26 | 深圳市领略数控设备有限公司 | A kind of four axis robot of high-precision |
| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| WO2021056337A1 (en) * | 2019-09-26 | 2021-04-01 | 睿信科机器人服份有限公司 | Robot joint driver and arrangement method therefor, device, and robot joint |
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| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN204794551U (en) * | 2015-06-16 | 2015-11-18 | 锕玛科技股份有限公司 | Motor is driven to straightening of reduction gears of utensil |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN105553170A (en) * | 2016-01-29 | 2016-05-04 | 陈云飞 | Hub motor free of output shaft |
| CN206140497U (en) * | 2016-11-10 | 2017-05-03 | 慧灵科技（深圳）有限公司 | Horizontal joint four -axis robot that directly drives |
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| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| US11014228B2 (en) | 2017-12-12 | 2021-05-25 | Huiling-Tech Robotic Co., Ltd | High-performance four-axis robot with horizontal joint |
| CN109676594A (en) * | 2019-01-02 | 2019-04-26 | 深圳市领略数控设备有限公司 | A kind of four axis robot of high-precision |
| WO2021056337A1 (en) * | 2019-09-26 | 2021-04-01 | 睿信科机器人服份有限公司 | Robot joint driver and arrangement method therefor, device, and robot joint |
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Application publication date: 20170222 |