CN106826800A - Selective compliance assembly robot arm and its control system - Google Patents
Selective compliance assembly robot arm and its control system Download PDFInfo
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- CN106826800A CN106826800A CN201710026326.5A CN201710026326A CN106826800A CN 106826800 A CN106826800 A CN 106826800A CN 201710026326 A CN201710026326 A CN 201710026326A CN 106826800 A CN106826800 A CN 106826800A
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- motor
- mover
- mechanical arm
- stator
- axle
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of selective compliance assembly robot arm, the manipulator that wherein described selective compliance assembly robot arm includes frame, the first mechanical arm located at frame, the first motor between the frame and first mechanical arm, is connected to the first mechanical arm, first motor is embedded in the first mechanical arm and directly drives the first mechanical arm and rotates.The selective compliance assembly robot arm and its control system operating efficiency for providing of the invention is higher, assembly precision is higher and cost is relatively low.
Description
The application is entitled " selective compliance assembly robot arm and its control filed in 28 days December in 2015 of applicant
System processed ", the divisional application of the Chinese invention patent application of Application No. 201510996302.3.
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of selective compliance assembly robot arm and its control system
System.
Background technology
With the sustainable development of China's economy and advancing by leaps and bounds for science and technology, industrial robot will be applied even more extensively
In manufacturing every field.Wherein selective compliance assembly robot arm's arm applies to assembling work in large quantities, this class robot
There are portable construction, the advantage of fast response time.Existing selective compliance assembly robot arm's arm joint be by harmonic speed reducer or
Person RV decelerators couple, and by servomotor drive decelerator and reach the purpose of fast driving mechanical arm.But due to making
With harmonic speed reducer or RV decelerators, and there is sideshake in engagement between cog in decelerator, so selective compliance assembly robot arm's hand
Can there is inevitable error in arm, when working so as to influence assembly precision.
In addition, the Z axis of existing selective compliance assembly robot arm and the realization for rotating about the z axis are by two servomotors point
The ball screw that is placed in parallel and spline is not driven to realize, and ball screw and spline are connected by a contiguous block.On
State scheme and inevitable fine jitter occurs when two servomotors work simultaneously, so as to influence the precision of assembling.
The content of the invention
The technical problem to be solved in the present invention has been to provide a kind of selective compliance assembly robot arm and its control system, and this is put down
Face revolute robot and its control system operating efficiency are higher, assembly precision is higher and cost is relatively low.
The technical scheme that the present invention is used for solution above-mentioned technical problem：
A kind of selective compliance assembly robot arm, wherein the selective compliance assembly robot arm includes frame, located at frame first
Mechanical arm, the first motor between the frame and first mechanical arm, the manipulator for being connected to the first mechanical arm, institute
The first motor is stated to be embedded in the first mechanical arm and directly drive the first mechanical arm rotation.
Preferably, the selective compliance assembly robot arm is also included located at second between the first mechanical arm and manipulator
Mechanical arm, and be embedded in the second mechanical arm and directly drive the second motor that the second mechanical arm is rotated.
Preferably, first motor is inner rotor motor.
Preferably, the inner rotor motor include the first mover of mover axle and the mover axle interference fit, located at institute
The first stator of the first mover periphery is stated, first stator has magnetic pole, be wound with coil windings on the magnetic pole, described the
One mover has mounting groove, and the first permanent magnet paster is provided with the mounting groove, and the inner rotor motor is also included located at described
The first encoder on mover axle.
Preferably, first encoder includes the first lenticular lenses and circuit board, and first lenticular lenses are located at described dynamic
On sub- axle.
Preferably, first motor is external rotor electric machine.
Preferably, the external rotor electric machine is including stator axis and the second matched stator of the stator axis, located at described
Second mover of the second stator peripheral, second stator has armature, and uniform winding has armature winding on the armature, described
The inwall of the second mover is provided with the second permanent magnet paster, and the external rotor electric machine also includes second encoder, and described second compiles
Code device includes the second lenticular lenses coordinated with the stator axis.
Preferably, the first mechanical arm is the second mover of the external rotor electric machine, when the external rotor electric machine is rotated
When, the first mechanical arm is rotated around the stator axis, and the location parameter of the first mechanical arm is encoded by described second
Device feeds back.
Preferably, the manipulator includes that upper hollow motor, lower hollow motor, leading screw, leading screw splined connection, straight line are led
Rail and the sliding block slided relative to the line slideway, the leading screw splined connection are described hollow on the sliding block
Motor and the lower concentric setting of hollow motor, the upper hollow motor have upper hollow axle, and the upper hollow axle is provided with
Upper encoder and the flange nut connected with the leading screw, and the leading screw is inserted in the upper hollow axle, the leading screw connects
The upper end of the leading screw splined connection is connected to, the lower hollow motor has lower hollow axle, set on the lower hollow axle
There is lower encoder, spline is arranged with the lower hollow axle, the spline is on the leading screw splined connection and described
Line slideway is parallel with the upper hollow axle and lower hollow axle.
Correspondingly, a kind of control system of selective compliance assembly robot arm, wherein the selective compliance assembly robot arm includes the
One motor, the second motor, upper hollow motor and lower hollow motor, the control system include computer, controller, the first motor
Driver, the first encoder, the second motor driver, second encoder, upper hollow motor driver, upper encoder, under it is hollow
Motor driver, lower encoder, the computer and controller are connected by ethernet line, and can be passed through with interactive information
The computer is programmed to controller, and controller sends the parameter of system feedback to Computer display out, so that root
According to program respectively to the first motor driver, the second motor driver, upper hollow motor driver and lower hollow motor driver
Send corresponding pulse signal.
The beneficial effects of the invention are as follows, RV decelerator harmonic decelerators are not used, by motor direct-drive mechanical arm,
Speed ratio is very fast, so as to substantially increase operating efficiency；In addition because reducing intermediate link, slowed down using RV so as to avoid
The error that device harmonic decelerator is produced.Furthermore, the parts of centre are reduced, so as to reduce further manufacturing cost.Cause
This, the selective compliance assembly robot arm and its control system operating efficiency are higher, assembly precision is higher and manufacturing cost is relatively low.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic perspective view of the selective compliance assembly robot arm that first embodiment of the invention is provided.
Fig. 2 is the partial sectional view of first motor of the selective compliance assembly robot arm that first embodiment of the invention is provided.
Fig. 3 is the sectional view at A-A in Fig. 2.
Fig. 4 is the partial sectional view of second motor of the selective compliance assembly robot arm that first embodiment of the invention is provided.
Fig. 5 is the top view of second motor of the selective compliance assembly robot arm that first embodiment of the invention is provided.
Fig. 6 is the front view of the manipulator of selective compliance assembly robot arm provided in an embodiment of the present invention.
Fig. 7 is the control system schematic diagram of selective compliance assembly robot arm provided in an embodiment of the present invention.
Fig. 8 is the schematic perspective view of the selective compliance assembly robot arm that second embodiment of the invention is provided.
Fig. 9 is the partial sectional view of first motor of the selective compliance assembly robot arm that second embodiment of the invention is provided.
Figure 10 is the top view of first motor of the selective compliance assembly robot arm that second embodiment of the invention is provided.
Figure 11 is the partial sectional view of second motor of the selective compliance assembly robot arm that second embodiment of the invention is provided.
Figure 12 is the top view of second motor of the selective compliance assembly robot arm that second embodiment of the invention is provided.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
As shown in Figure 1, Figure 2 and Figure 3, first preferred embodiment of the invention, a kind of selective compliance assembly robot arm, wherein flat
Face revolute robot includes frame 1, the first mechanical arm 2 located at frame 1, between frame 1 and first mechanical arm 2 the
One motor 3, the manipulator 4 for being connected to first mechanical arm 2, the insertion first mechanical arm 2 of the first motor 3 simultaneously directly drive the first machinery
Arm 2 is rotated.So as to the driving mechanical hand 4 of first mechanical arm 2 is moved.
In this preferred embodiment, RV decelerator harmonic decelerators are not used, the first machine is directly driven by the first motor 3
Tool arm 2, speed ratio is very fast, so as to substantially increase operating efficiency；In addition because reducing intermediate link, used so as to avoid
The error that RV decelerator harmonics decelerator is produced so that the precision of the selective compliance assembly robot arm is higher.Furthermore, in reducing
Between parts, so as to reduce further manufacturing cost.Therefore the structure of the selective compliance assembly robot arm more optimizes and property
Can obtain greatly improving, so that selective compliance assembly robot arm's operating efficiency is higher, assembly precision is higher and cost
It is relatively low.
Manipulator 4 includes being connected to the operating mechanism (not shown) of first mechanical arm 2, and operating mechanism is the end of manipulator 4
End executing agency, Ke Yiwei：Clamping jaw, for automatic crawl, plug-in unit etc.；Or be suction nozzle, for paster, wafer cutting；Or be weldering
Pick, for scolding tin etc..In this preferred embodiment, the high transmission accuracy of the first motor direct-drive first mechanical arm 2, response
Hurry up, small volume, and cost is relatively low.
Further, selective compliance assembly robot arm is also included located at the second mechanical arm between first mechanical arm 2 and manipulator 4
5, and be embedded in second mechanical arm 5 and directly drive the second motor 6 of the rotation of second mechanical arm 5.It has been arranged such second mechanical arm
5, the moving range of manipulator 4 is further expanded, so that the opereating specification of selective compliance assembly robot arm is bigger, adapt to more
Many use demands.
In this preferred embodiment, the first motor 3 is inner rotor motor.Second motor 6 is also adopted by inner rotor motor.Certainly,
First motor 3 and the second motor 6 can also use external rotor electric machine.Specifically refer to the detailed description of second embodiment.
First motor 3 includes the first mover 14 of mover axle 12 and the interference fit of mover axle 12, outside the first mover 14
The first stator 16 for enclosing.Wherein the first stator 16 has magnetic pole (not shown), and coil windings 18, the first mover are wound with magnetic pole
14 have mounting groove (not shown), and the first permanent magnet paster 20 is provided with mounting groove, and the first motor 3 also includes being located at mover axle 12
On the first encoder 22.
In this preferred embodiment, the first encoder 22 is on mover axle 12 so that inner rotor motor simple structure, the body
The smaller, cost of product is relatively low.
In this preferred embodiment, first mechanical arm 2 is connected to mover axle 12 by key 26, and mover axle 12 drives the first machinery
Arm 25 is rotated, and wherein the location parameter of first mechanical arm 2 is fed back by the first encoder 22.Specifically, mover axle 12 is provided with
Keyway 28, first mechanical arm 2 is provided with groove 30, key 26 in keyway 28 and groove 30, so as to by first mechanical arm 2 with it is dynamic
Sub- axle 12 links together.
First motor 3 also includes preventing first mechanical arm 2 along the locked spacer 32 of the axial float of mover axle 12, stop pad
Piece 32 is connected to mover axle 12 by bolt 34.Locked spacer 32 located at the end of mover axle 12 with backstop first mechanical arm 2, from
And by first mechanical arm 2 it is reliable and stable linked together with mover axle 12 so that mover axle 12 drive first mechanical arm 2 turn
It is dynamic steady reliable.
Further, the first encoder 22 includes lenticular lenses and circuit board, and lenticular lenses are on mover axle 12.Lenticular lenses top
Onto the position of the response of mover axle 12.
With further reference to Fig. 4 and Fig. 5, the second motor 6 used by second mechanical arm 5 is illustrated, specifically, the second motor 6
Be also adopted by inner rotor motor, including mover axle 35 and the interference fit of mover axle 35 the first mover 36, outside the first mover 36
The first stator 37 for enclosing.In this preferred embodiment, first mechanical arm 2 as the second motor 6 the first stator 37 so that
In two motors insertion first mechanical arm 2 so that compact conformation of the present invention, cost are lower.In addition, what second mechanical arm 5 was used
The other structures of the second motor 6 are similar with the first motor 3 that first mechanical arm 2 is used, and no longer do repeat in more detail herein.
As shown in fig. 6, manipulator 4 includes upper hollow motor 44, lower hollow motor 46, leading screw 48, leading screw splined connection
50th, line slideway 52 and the sliding block 54 slided relative to line slideway 52, leading screw splined connection 50 on the sliding block 54, it is upper in
Empty motor 44 and the concentric setting of lower hollow motor 46, upper hollow motor 44 have upper hollow axle, and upper hollow axle is provided with
Upper encoder 56 and the flange nut 58 connected with leading screw 48, wherein being fixed on upper encoder 56 by holding screw upper hollow
In rotating shaft.Other leading screw 48 is inserted in hollow axle, and leading screw 48 is connected to the upper end of the splined connection 50 of leading screw 48.Wherein
In this preferred embodiment, leading screw 48 is fixed on the upper end of the splined connection 50 of leading screw 48 by nut.In addition, being arranged on spline 62
There is outer barrel 63, it is ensured that outer barrel 63 can be with the rotation of smooth drive spline 62.
Lower hollow motor 46 has lower hollow axle, and lower hollow axle is provided with lower encoder 60.Specifically, lower encoder
60 are fixed on lower hollow axle by holding screw.Spline 62 is arranged with lower hollow axle, spline 62 is located at leading screw spline
On connector 50.And line slideway 52 is parallel with upper hollow axle and lower hollow axle.The lowermost end of spline 62 can be connected with flange
Operating mechanism is connect to complete gripping object and plug-in unit etc..
Further, the lead angle λ of screw mandrel<Equivalent friction angle Φ v, to prevent self-locking, it is ensured that good gearing.
In this preferred embodiment, the hollow rotor of upper hollow motor 44 is rotated and drives flange nut 58 and upper encoder 56,
So as to flange nut 58 drives screw mandrel 48 to move up and down, the position signalling of the upper hollow motor 44 of the feedback of upper encoder 56, screw mandrel 48
Spline 62 is driven to move up and down by screw mandrel splined connection 50.The hollow axle of lower hollow motor 46 drives outer barrel 63 and lower volume
Code device 60, outer barrel 63 drives spline 62 to rotate, the position signalling of the lower lower hollow motor 46 of the feedback of encoder 60.
In this preferred embodiment, upper hollow motor 44, lower hollow motor 46, screw mandrel 48 and spline 62 on same axle,
Screw mandrel 48 and spline 62 are directly coupled by hollow shaft, it is to avoid upper hollow motor 44 and lower hollow motor 46 are drawn when working simultaneously
The vibrations for rising, realize the decoupling of linear motion and rotary motion, simple structure, organization volume is further reduced.
With further reference to Fig. 7, the control system of this preferred embodiment midplane revolute robot, it includes computer
64th, controller 66, the first motor driver 68, the first encoder 69, the second motor driver 70, second encoder 71, it is upper in
Empty motor driver 72, upper encoder 56, lower hollow motor driver 74, lower encoder 60, the computer 64 and controller
66 are connected by ethernet line, and controller 66 can be programmed by the computer 64, controller with interactive information
66 send the parameter of system feedback to computer 64 shows, so as to according to program respectively to the first motor driver 68,
Second motor driver 70, upper hollow motor driver 72 and lower hollow motor driver 74 send corresponding pulse signal.
Specifically, the motor driver 68 of controller 66 and first, the second motor driver 70, upper hollow motor driver 72
Connected by parallel bus respectively with lower hollow motor driver 74.The umber of pulse that controller 66 will be calculated is respectively transmitted
More than in each output from driver, each output from driver will also export corresponding signal and drive respective motor respectively.
First encoder 69, second encoder 71, upper encoder 56, lower encoder 60 respectively with the first motor driver
68th, the second motor driver 70, upper hollow motor driver 72 and lower hollow motor driver 74 are connected by parallel bus.The
One encoder 69, second encoder 71, upper encoder 56, lower encoder 60 feed back to respectively the location parameter where respective motor
Driver corresponding to motor, so as to judge whether motor moves to corresponding position.Wherein, each output from driver, motor, volume
Code device constitutes a close loop control circuit, and such loop can ensure the operating accuracy of motor.So as to further increase
Assembly precision.
As shown in Fig. 8, Fig. 9 and Figure 10, the second preferred embodiment of the invention, this preferred embodiment and first embodiment
It is not both, the first motor 76 and the second motor 78 are external rotor electric machine.Therefore other parts be no longer described in detail, below first with
It is described in detail as a example by first motor 76.
First motor 76 is including stator axis 80 and the second matched stator 82 of stator axis 80, outside the second stator 80
The second mover 84 for enclosing, the second stator 82 has armature, and uniform winding has armature winding 86, the inwall of the second mover 84 on armature
The second permanent magnet paster 88 is provided with, the first motor 76 also includes second encoder 90, and second encoder 90 includes and stator axis
80 the second lenticular lenses for coordinating.
In this preferred embodiment, because the second lenticular lenses of second encoder 90 are in stator axis 80 so that this first
Electric machine structure is simple, small volume, cost are relatively low.
Preferably, first mechanical arm is the second mover 84 of the first motor 76, when the first motor 76 is rotated, the first machinery
Arm is rotated around stator axis 80, and the location parameter of first mechanical arm is fed back by second encoder 90.
In this preferred embodiment, the second stator 82 is connected by connecting key 94 with stator axis 80.Certainly, other can also be used
Connected mode.
In addition, in this preferred embodiment, second encoder 90 feeds back the location parameter of mechanical arm by Ethernet.So that control
System is more convenient, accurate.
In this preferred embodiment, the second permanent magnet paster 88 is pasted on the inwall of the second mover 84.Certainly, it can also be used
Its method to set up.Specifically, being namely pasted on the inwall of mechanical arm.
Such as Figure 11 and Figure 12, the second motor 78 (referring to Fig. 8) is illustrated, specifically, the second motor 78 is also adopted by outer rotor
Motor, including stator axis 100 and the second matched stator 102 of stator axis 100, moved located at the second of the periphery of the second stator 100
Son 104, in this preferred embodiment, second mechanical arm as the second motor 78 the second mover 104 so that the second motor is embedding
In entering second mechanical arm so that compact conformation of the present invention, cost are lower.In addition, the second motor 78 that second mechanical arm is used
Other structures it is similar with the first motor 76 (referring to Fig. 8) that first mechanical arm is used, no longer do repeat in more detail herein.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (9)
1. a kind of selective compliance assembly robot arm, it is characterised in that：The selective compliance assembly robot arm is including frame, located at the machine
The first mechanical arm of frame, the first motor between the frame and the first mechanical arm, be connected to it is described first machinery
The manipulator of arm, first motor is embedded in the first mechanical arm and simultaneously directly drives the first mechanical arm and rotates, and described the
One motor is the first external rotor electric machine, and first external rotor electric machine includes that the first stator axis and first stator axis match
The second stator, the second mover located at second stator peripheral for connecing, second stator have armature, on the armature
Even to be wound with armature winding, the inwall of second mover is provided with the second permanent magnet paster, and first external rotor electric machine is also
Including second encoder, the second encoder includes the second lenticular lenses coordinated with first stator axis.
2. selective compliance assembly robot arm according to claim 1, it is characterised in that：First motor is the first internal rotor
Motor.
3. selective compliance assembly robot arm according to claim 2, it is characterised in that：First inner rotor motor includes the
First mover of one mover axle and the first mover axle interference fit, the first stator located at first mover periphery, institute
Stating the first stator has magnetic pole, and coil windings are wound with the magnetic pole, and first mover has mounting groove, the mounting groove
Inside it is provided with the first permanent magnet paster, the inner rotor motor also includes the first encoder on the mover axle, described the
One encoder includes the first lenticular lenses and circuit board, and first lenticular lenses are on the first mover axle.
4. selective compliance assembly robot arm according to claim 1, it is characterised in that：The first mechanical arm is described first
Second mover of external rotor electric machine, when first external rotor electric machine is rotated, the first mechanical arm is around first stator
Axle is rotated, and the location parameter of the first mechanical arm is fed back by the second encoder.
5. selective compliance assembly robot arm according to claim 1, it is characterised in that：The selective compliance assembly robot arm also wraps
The second mechanical arm between the first mechanical arm and manipulator is included, and is embedded in the second mechanical arm and is directly driven institute
State the second motor of second mechanical arm rotation.
6. selective compliance assembly robot arm according to claim 5, it is characterised in that：Second motor is the second internal rotor
Motor, second inner rotor motor includes the 3rd mover of the second mover axle and the second mover axle interference fit, is located at
3rd stator of the 3rd mover periphery, the first mechanical arm is the 3rd stator of second inner rotor motor.
7. selective compliance assembly robot arm according to claim 5, it is characterised in that：Second motor is the second outer rotor
Motor, second external rotor electric machine includes the second stator axis and the 4th matched stator of second stator axis, located at the
4th mover of four stator peripherals, the second mechanical arm is the 4th mover of second external rotor electric machine.
8. selective compliance assembly robot arm according to claim 1, it is characterised in that：The manipulator includes upper hollow electricity
Machine, lower hollow motor, leading screw, leading screw splined connection, line slideway and the sliding block slided relative to the line slideway, it is described
Leading screw splined connection is on the sliding block, and the upper hollow motor and the lower concentric setting of hollow motor are described hollow
Motor has upper hollow axle, and the upper hollow axle is provided with encoder and the flange nut connected with the leading screw, and
The leading screw is inserted in the upper hollow axle, and the leading screw is connected to the upper end of the leading screw splined connection, it is described it is lower in
Empty motor has lower hollow axle, and the lower hollow axle is provided with lower encoder, spline is arranged with the lower hollow axle,
The spline is on the leading screw splined connection, and the line slideway is flat with the upper hollow axle and lower hollow axle
OK.
9. selective compliance assembly robot arm according to claim 8, it is characterised in that：The lead angle of the screw mandrel is less than institute
State the equivalent friction angle of leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026326.5A CN106826800A (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026326.5A CN106826800A (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
| CN201510996302.3A CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
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| CN201510996302.3A Division CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
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| CN106826800A true CN106826800A (en) | 2017-06-13 |
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| CN201710026326.5A Pending CN106826800A (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
| CN201710026327.XA Active CN106826801B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
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| CN105437227B (en) * | 2015-12-28 | 2017-10-24 | 苏州大学 | Selective compliance assembly robot arm and its control system |
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Also Published As
| Publication number | Publication date |
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| CN105437227B (en) | 2017-10-24 |
| CN105437227A (en) | 2016-03-30 |
| CN106826801B (en) | 2019-10-01 |
| CN106826801A (en) | 2017-06-13 |
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