CN106826801B - Selective compliance assembly robot arm and its control system - Google Patents
Selective compliance assembly robot arm and its control system Download PDFInfo
- Publication number
- CN106826801B CN106826801B CN201710026327.XA CN201710026327A CN106826801B CN 106826801 B CN106826801 B CN 106826801B CN 201710026327 A CN201710026327 A CN 201710026327A CN 106826801 B CN106826801 B CN 106826801B
- Authority
- CN
- China
- Prior art keywords
- motor
- mechanical arm
- stator
- mover
- lead screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of selective compliance assembly robot arms, wherein the selective compliance assembly robot arm includes rack, first mechanical arm, the first motor between the rack and first mechanical arm, the manipulator for being connected to the first mechanical arm set on rack, and the first motor is embedded in the first mechanical arm and directly drives the first mechanical arm rotation.Selective compliance assembly robot arm provided by the invention and its control system working efficiency are 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 applicant's on December 28th, 2015
System processed ", application No. is the divisional applications of 201510996302.3 Chinese invention patent application.
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 systems
System.
Background technique
With the continuous development of China's economy advancing by leaps and bounds with scientific and technical, industrial robot will be applied even more extensively
In manufacturing every field.Wherein selective compliance assembly robot arm's arm applies to assembling work, this kind of robots in large quantities
There is the advantages of portable construction, fast response time.Existing selective compliance assembly robot arm's arm joint be by harmonic speed reducer or
Person RV retarder drives retarder to achieve the purpose that fast driving mechanical arm to couple by servo motor.But due to making
With harmonic speed reducer or RV retarder, and there are sideshakes for the engagement between cog in retarder, so selective compliance assembly robot arm's hand
Arm can have inevitable error when working, to influence assembly precision.
In addition, the Z axis of existing selective compliance assembly robot arm and the realization rotated about the z axis are by two servo motors point
The ball screw being placed in parallel and spline is not driven to realize, and ball screw is connected with spline by a link block.On
Stating scheme will appear inevitable fine jitter when two servo motors work at the same time, to influence the precision of assembly.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of selective compliance assembly robot arm and its control system, this is flat
Face revolute robot and its control system working efficiency are higher, assembly precision is higher and cost is relatively low.
The present invention to solve above-mentioned technical problem used by technical solution:
A kind of selective compliance assembly robot arm, wherein the selective compliance assembly robot arm includes rack, set on the first of rack
Mechanical arm, the first motor between the rack and first mechanical arm, the manipulator for being connected to the first mechanical arm, institute
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 further includes set on second between the first mechanical arm and manipulator
Mechanical arm, and the insertion second mechanical arm and the second motor for directly driving the second mechanical arm rotation.
Preferably, the first motor is inner rotor motor.
Preferably, the inner rotor motor includes mover axis, the first mover being interference fitted with the mover axis, is set to institute
State the first stator of the first mover periphery, first stator has magnetic pole, is wound with coil windings on the magnetic pole, and described the
One mover has mounting groove, and the first permanent magnet patch is equipped in the mounting groove, and the inner rotor motor further includes set on described
The first encoder on mover axis.
Preferably, first encoder includes the first lenticular lenses and circuit board, and first lenticular lenses are set to described dynamic
On sub- axis.
Preferably, the first motor is external rotor electric machine.
Preferably, the external rotor electric machine includes stator axis and the second matched stator of the stator axis, set on described
Second mover of the second stator peripheral, second stator have armature, and uniform winding has armature winding on the armature, described
The inner wall of second mover is equipped with the second permanent magnet patch, and the external rotor electric machine further includes second encoder, and described second compiles
Code device includes the second lenticular lenses with stator axis cooperation.
Preferably, the first mechanical arm is the second mover of the external rotor electric machine, when the external rotor electric machine rotates
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 feedback.
Preferably, the manipulator includes that upper hollow motor, lower hollow motor, lead screw, lead screw splined connection, straight line are led
Rail and the sliding block slided relative to the linear guide, the lead screw splined connection is set on the sliding block, described hollow
Motor and the lower concentric setting of hollow motor, the upper hollow motor have upper hollow axle, and the upper hollow axle is equipped with
Upper encoder and the flange nut being coupled with the lead screw, and the lead screw is inserted in the upper hollow axle, the lead screw connects
It is connected to the upper end of the lead screw splined connection, the lower hollow motor has lower hollow axle, sets on the lower hollow axle
There is lower encoder, spline is arranged in the lower hollow axle, the spline is set on the lead screw splined connection, and described
Linear guide 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, 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 are connected with controller by ethernet line, and can be passed through with interactive information
The computer is programmed controller, and controller sends the parameter of system feedback to Computer display and comes out, thus root
According to program respectively to first motor driver, the second motor driver, upper hollow motor driver and lower hollow motor driver
Issue corresponding pulse signal.
The invention has the advantages that RV retarder and harmonic speed reducer are not used, by motor direct-drive mechanical arm,
Speed ratio is very fast, to greatly improve work efficiency；In addition because reducing intermediate link, so as to avoid using RV to slow down
The error that device and harmonic speed reducer generate.Furthermore reduce intermediate components, to further reduced manufacturing cost.Cause
This, the selective compliance assembly robot arm and its control system working efficiency are higher, assembly precision is higher and manufacturing cost is lower.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the stereoscopic schematic diagram for the selective compliance assembly robot arm that first embodiment of the invention provides.
Fig. 2 is the partial sectional view of the first motor for the selective compliance assembly robot arm that first embodiment of the invention provides.
Fig. 3 is the cross-sectional view in Fig. 2 at A-A.
Fig. 4 is the partial sectional view of the second motor for the selective compliance assembly robot arm that first embodiment of the invention provides.
Fig. 5 is the top view of the second motor for the selective compliance assembly robot arm that first embodiment of the invention provides.
Fig. 6 is the main 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 stereoscopic schematic diagram for the selective compliance assembly robot arm that second embodiment of the invention provides.
Fig. 9 is the partial sectional view of the first motor for the selective compliance assembly robot arm that second embodiment of the invention provides.
Figure 10 is the top view of the first motor for the selective compliance assembly robot arm that second embodiment of the invention provides.
Figure 11 is the partial sectional view of the second motor for the selective compliance assembly robot arm that second embodiment of the invention provides.
Figure 12 is the top view of the second motor for the selective compliance assembly robot arm that second embodiment of the invention provides.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
As shown in Figure 1, Figure 2 and Figure 3, the first preferred embodiment of the present invention, a kind of selective compliance assembly robot arm, wherein putting down
Face revolute robot includes rack 1, set on the first mechanical arm 2 of rack 1, between rack 1 and first mechanical arm 2
One motor 3, the manipulator 4 for being connected to first mechanical arm 2, first motor 3 are embedded in first mechanical arm 2 and directly drive the first machinery
Arm 2 rotates.To which first mechanical arm 2 drives manipulator 4 mobile.
In this preferred embodiment, RV retarder and harmonic speed reducer are not used, the first machine is directly driven by first motor 3
Tool arm 2, speed ratio is very fast, to greatly improve work efficiency；In addition because reducing intermediate link, so as to avoid using
The error that RV retarder and harmonic speed reducer generate, so that the precision of the selective compliance assembly robot arm is higher.Furthermore in reducing
Between components, to further reduced manufacturing cost.Therefore the structure of the selective compliance assembly robot arm more optimizes and property
It can obtain greatly improving, so that selective compliance assembly robot arm's working efficiency is higher, assembly precision is higher and cost
It is lower.
Manipulator 4 includes the operating mechanism (not shown) for being connected to first mechanical arm 2, and operating mechanism is the end of manipulator 4
Executing agency is held, it can be with are as follows: clamping jaw, for automatically grabbing, plug-in unit etc.；Or be suction nozzle, it is cut for patch, wafer；It or is weldering
It picks, for scolding tin etc..In this preferred embodiment, first motor directly drives the high transmission accuracy of first mechanical arm 2, response
Fastly, small in size, and cost is relatively low.
Further, selective compliance assembly robot arm further includes set on the second mechanical arm between first mechanical arm 2 and manipulator 4
5, and insertion second mechanical arm 5 and the second motor 6 for directly driving the rotation of second mechanical arm 5.Second mechanical arm has been arranged such
5, the further expansion moving range of manipulator 4 adapts to more so that the opereating specification of selective compliance assembly robot arm is bigger
More use demands.
In this preferred embodiment, first motor 3 is inner rotor motor.Second motor 6 also uses inner rotor motor.Certainly,
External rotor electric machine can also be used in first motor 3 and the second motor 6.Specifically refer to the detailed description of second embodiment.
First motor 3 includes mover axis 12, the first mover 14 being interference fitted with mover axis 12, is set to outside the first mover 14
The first stator 16 enclosed.Wherein the first stator 16 has magnetic pole (not shown), is wound with coil windings 18, the first mover on magnetic pole
14 have mounting groove (not shown), and the first permanent magnet patch 20 is equipped in mounting groove, and first motor 3 further includes being set to mover axis 12
On the first encoder 22.
In this preferred embodiment, the first encoder 22 is set on mover axis 12, so that the inner rotor motor structure is simple, body
Product is smaller, cost is relatively low.
In this preferred embodiment, first mechanical arm 2 is connected to mover axis 12 by key 26, and mover axis 12 drives the first machinery
Arm 25 rotates, and wherein the location parameter of first mechanical arm 2 is fed back by the first encoder 22.Specifically, mover axis 12 is equipped with
Keyway 28, first mechanical arm 2 are equipped with groove 30, and key 26 is set in keyway 28 and groove 30, to by first mechanical arm 2 and move
Sub- axis 12 links together.
First motor 3 further includes the locked spacer 32 for preventing first mechanical arm 2 along the axial float of mover axis 12, stop pad
Piece 32 is connected to mover axis 12 by bolt 34.Locked spacer 32 is set to the end of mover axis 12 with backstop first mechanical arm 2, from
And first mechanical arm 2 links together with mover axis 12 reliable and stablely, so that mover axis 12 drives turning for first mechanical arm 2
It is dynamic steady reliable.
Further, the first encoder 22 includes lenticular lenses and circuit board, and lenticular lenses are set on mover axis 12.Lenticular lenses top
On the position responded to mover axis 12.
With further reference to Fig. 4 and Fig. 5, the second motor 6 used in second mechanical arm 5 is illustrated, specifically, the second motor 6
Also inner rotor motor is used, including mover axis 35, the first mover 36 being interference fitted with mover axis 35, is set to outside the first mover 36
The first stator 37 enclosed.In this preferred embodiment, first stator 37 of the first mechanical arm 2 as the second motor 6, so that the
Two motors are embedded in first mechanical arm 2, so that structure of the invention is compact, cost is lower.In addition, used by second mechanical arm 5
The other structures of second motor 6 are similar with first motor 3 used by first mechanical arm 2, no longer do repeat in more detail herein.
As shown in fig. 6, manipulator 4 includes upper hollow motor 44, lower hollow motor 46, lead screw 48, lead screw splined connection
50, linear guide 52 and the sliding block 54 slided relative to linear guide 52, lead screw splined connection 50 be set to sliding block 54 on, 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 equipped with
Upper encoder 56 and the flange nut 58 being coupled with lead screw 48, wherein being fixed on upper encoder 56 by holding screw upper hollow
In shaft.In addition lead screw 48 is inserted in hollow axle, and lead screw 48 is connected to the upper end of 48 splined connection 50 of lead screw.Wherein
In this preferred embodiment, lead screw 48 is fixed on the upper end of 48 splined connection 50 of lead screw by nut.In addition, being arranged on spline 62
There is outer cylinder 63, guarantees that outer cylinder 63 can the smooth rotation for driving spline 62.
Lower hollow motor 46 has lower hollow axle, and lower hollow axle is equipped with lower encoder 60.Specifically, lower encoder
60 are fixed on lower hollow axle by holding screw.Spline 62 is arranged in lower hollow axle, spline 62 is set to lead screw spline
On connector 50.And linear guide 52 is parallel with upper hollow axle and lower hollow axle.62 lowermost end of spline can be connected with flange
Operating mechanism is connect to complete clamping object and plug-in unit etc..
Further, the lead angle λ of screw rod < equivalent friction angle Φ v, self-locking to prevent, guarantee is good gearing.
In this preferred embodiment, the hollow rotor rotation of upper hollow motor 44 drives flange nut 58 and upper encoder 56,
To which flange nut 58 drives screw rod 48 to move up and down, upper encoder 56 feeds back the position signal of upper hollow motor 44, screw rod 48
Spline 62 is driven to move up and down by screw rod splined connection 50.The hollow axle of lower hollow motor 46 drives outer cylinder 63 and lower volume
Code device 60, outer cylinder 63 drive spline 62 to rotate, and lower encoder 60 feeds back the position signal of lower hollow motor 46.
In this preferred embodiment, upper hollow motor 44, lower hollow motor 46, screw rod 48 and spline 62 on same axis,
Screw rod 48 and spline 62 are directly coupled by hollow shaft, avoid hollow motor 44 and when lower hollow motor 46 works at the same time draws
The vibration risen realizes the decoupling of linear motion and rotary motion, and structure is simple, further reduces organization volume.
With further reference to Fig. 7, the control system of selective compliance assembly robot arm in this preferred embodiment comprising computer
64, controller 66, 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 can be programmed by the computer 64 to controller 66, controller with interactive information
66, which send the parameter of system feedback to computer 64, shows, thus according to program respectively to first motor driver 68,
Second motor driver 70, upper hollow motor driver 72 and lower hollow motor driver 74 issue corresponding pulse signal.
Specifically, controller 66 and first motor driver 68, the second motor driver 70, upper hollow motor driver 72
It is connected respectively by parallel bus with lower hollow motor driver 74.The umber of pulse calculated is respectively transmitted by controller 66
Into above each output from driver, each output from driver will also export corresponding signal and respectively drive respective motor.
First encoder 69, second encoder 71, upper encoder 56, lower encoder 60 respectively with first motor driver
68, the second motor driver 70, upper hollow motor driver 72 are connected with lower hollow motor driver 74 by parallel bus.The
One encoder 69, second encoder 71, upper encoder 56, lower encoder 60 feed back to the location parameter where respective motor respectively
The driver corresponding to the motor, 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 circuit can guarantee the operating accuracy of motor.To further improve
Assembly precision.
As shown in Fig. 8, Fig. 9 and Figure 10, the second preferred embodiment of the present invention, this preferred embodiment and first embodiment
It is not both that 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 for first motor 76.
First motor 76 includes stator axis 80 and the second matched stator 82 of stator axis 80, is set to outside the second stator 80
The second mover 84 enclosed, the second stator 82 have armature, and uniform winding has armature winding 86, the inner wall of the second mover 84 on armature
It is equipped with the second permanent magnet patch 88, first motor 76 further includes second encoder 90, and second encoder 90 includes and stator axis
Second lenticular lenses of 80 cooperations.
In this preferred embodiment, due to second encoder 90 the second lenticular lenses be set to stator axis 80 on so that this first
Electric machine structure is simple, small volume, cost is relatively low.
Preferably, first mechanical arm is the second mover 84 of first motor 76, and when first motor 76 rotates, first is mechanical
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 coupled by connecting key 94 and stator axis 80.Certainly, it can also be used other
Connection type.
In addition, second encoder 90 feeds back the location parameter of mechanical arm by Ethernet in this preferred embodiment.So that control
It is more convenient, accurate to make.
In this preferred embodiment, the second permanent magnet patch 88 is pasted on the inner wall of the second mover 84.Certainly, it can also be used
Its setting method.Specifically, being namely pasted on the inner wall 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 also uses outer rotor
Motor is moved including stator axis 100, with the second matched stator 102 of stator axis 100, set on the second of 100 periphery of the second stator
Son 104, in this preferred embodiment, second mover 104 of the second mechanical arm as the second motor 78, so that the second motor is embedding
Enter in second mechanical arm, so that structure of the invention is compact, cost is lower.In addition, the second motor 78 used by second mechanical arm
Other structures it is similar with first motor 76 (referring to Fig. 8) used by first mechanical arm, no longer do repeat in more detail herein.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of selective compliance assembly robot arm, it is characterised in that: the selective compliance assembly robot arm includes rack, set on rack
First mechanical arm, the first motor between the rack and first mechanical arm, the machinery for being connected to the first mechanical arm
Hand, the first motor are embedded in the first mechanical arm and directly drive the first mechanical arm rotation, and the manipulator includes
It upper hollow motor, lower hollow motor, lead screw, lead screw splined connection, linear guide and slides relative to the linear guide
Sliding block, the lead screw splined connection are set on the sliding block, the upper hollow motor and the lower concentric setting of hollow motor, institute
Hollow motor is stated with upper hollow axle, the upper hollow axle is equipped with upper encoder and the flange with lead screw mating
Nut, and the lead screw is inserted in the upper hollow axle, the lead screw is connected to the upper end of the lead screw splined connection, institute
Lower hollow motor is stated with lower hollow axle, the lower hollow axle is equipped with lower encoder, is arranged in the lower hollow axle
Have a spline, the spline is set on the lead screw splined connection, and the linear guide and the upper hollow axle and it is lower in
Pony axle is parallel, and the upper hollow motor, the lower hollow motor, the lead screw and the spline are described on same axis
First motor is external rotor electric machine, and the external rotor electric machine includes stator axis, second stator matched with the stator axis, sets
In the second mover of second stator peripheral, second stator has armature, on the armature uniform winding have armature around
Group, the inner wall of second mover are equipped with the second permanent magnet patch, and second stator passes through connecting key and the stator axis
It is matched, and in the axial direction of the stator axis, the both ends of second mover exceed second stator, the armature around
Group and the second permanent magnet patch, in the circumferential direction of the stator axis, the armature winding and the second permanent magnet patch
It is respectively positioned between second stator and the second mover, the external rotor electric machine further includes second encoder, second coding
Device includes the second lenticular lenses with stator axis cooperation, and the first mechanical arm is the second mover of the external rotor electric machine,
When external rotor electric machine rotation, the first mechanical arm is rotated around the stator axis, and the position of the first mechanical arm
Parameter is fed back by the second encoder.
2. 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 being set between the first mechanical arm and manipulator is included, and is embedded in the second mechanical arm and directly drives institute
State the second motor of second mechanical arm rotation.
3. selective compliance assembly robot arm according to claim 2, it is characterised in that: second motor is the second internal rotor
Motor, second inner rotor motor include the second mover axis, the third mover being interference fitted with the second mover axis, are set to
The third stator of the third mover periphery, the first mechanical arm are the third stator of second inner rotor motor.
4. selective compliance assembly robot arm according to claim 2, it is characterised in that: second motor is the second outer rotor
Motor, second external rotor electric machine include the second stator axis, with the 4th matched stator of second stator axis, be set to the
4th mover of four stator peripherals, the second mechanical arm are the 4th mover of second external rotor electric machine.
5. selective compliance assembly robot arm according to claim 1, it is characterised in that: the lead angle of the screw rod is less than institute
State the equivalent friction angle of lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026327.XA CN106826801B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510996302.3A CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
| CN201710026327.XA CN106826801B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510996302.3A Division CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826801A CN106826801A (en) | 2017-06-13 |
| CN106826801B true CN106826801B (en) | 2019-10-01 |
Family
ID=55548097
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510996302.3A Active CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
| 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 |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510996302.3A Active CN105437227B (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
| CN201710026326.5A Pending CN106826800A (en) | 2015-12-28 | 2015-12-28 | Selective compliance assembly robot arm and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN105437227B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437227B (en) * | 2015-12-28 | 2017-10-24 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| CN105728917B (en) * | 2016-05-11 | 2019-01-29 | 裴翌翔 | It is a kind of can automatic loading/unloading the adaptive welding industrial robot of weld seam |
| CN106272365B (en) * | 2016-11-10 | 2018-11-02 | 慧灵科技（深圳）有限公司 | A kind of transmission mechanism of flapping articulation robot Z and R axis |
| CN107433622A (en) * | 2017-08-04 | 2017-12-05 | 国网山东省电力公司电力科学研究院 | A kind of robot arm position feedback mechanism, robot arm and robot |
| CN107471247B (en) * | 2017-08-25 | 2020-10-09 | 歌尔科技有限公司 | Robot head rotating method and robot |
| CN107433584B (en) * | 2017-09-11 | 2018-11-02 | 慧灵科技（深圳）有限公司 | A kind of mechanical arm R axis rotational structure and mechanical arm using direct driving motor |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
| CN107824710A (en) * | 2017-12-22 | 2018-03-23 | 安徽机电职业技术学院 | Silicon steel sheet pick device is used in one kind production |
| EP3626406A1 (en) * | 2018-09-24 | 2020-03-25 | Fruitcore Gmbh | Robot with complementary fixture assembly for connection of modules |
| WO2020237721A1 (en) | 2019-05-30 | 2020-12-03 | 苏州大学 | Planar articulated robot and inner rotor articulation apparatus |
| CN110480622A (en) * | 2019-05-30 | 2019-11-22 | 刘吉柱 | Selective compliance assembly robot arm and outer rotor joint arrangement |
| CN110103211A (en) * | 2019-06-06 | 2019-08-09 | 深圳市秘银科技有限公司 | A kind of manipulator |
| CN110154080B (en) * | 2019-06-21 | 2024-02-13 | 中车青岛四方车辆研究所有限公司 | Joint driving module, seven-axis mechanical arm and robot |
| CN110303483A (en) * | 2019-07-29 | 2019-10-08 | 威米深智(苏州)工业技术有限公司 | Multiaxis direct-drive type manipulator |
| CN111546322A (en) * | 2020-04-14 | 2020-08-18 | 深圳市卓博机器人有限公司 | SCARA robot with high positioning precision |
| CN111979957A (en) * | 2020-09-01 | 2020-11-24 | 广东新江永安建设工程有限公司 | Automatic laying device of highway division board for municipal construction |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5327790A (en) * | 1992-06-19 | 1994-07-12 | Massachusetts Institute Of Technology | Reaction sensing torque actuator |
| CN1141775C (en) * | 2001-07-05 | 2004-03-10 | 上海交通大学 | Directly driven synchronous dragger with Nd-Fe-B permanent magnetic rotor |
| CN1209722C (en) * | 2003-04-29 | 2005-07-06 | 上海交通大学 | Control system of teaching robot based on single processor structure |
| US7531979B2 (en) * | 2006-09-18 | 2009-05-12 | Asm Technology Singapore Pte Ltd. | Direct drive robotic manipulator |
| CN100555809C (en) * | 2007-08-15 | 2009-10-28 | 北京首科凯奇电气技术有限公司 | A kind of direct drive turning device |
| CN101216711A (en) * | 2008-01-08 | 2008-07-09 | 哈尔滨工程大学 | Amphibious mechanical crab step control device and control method |
| CN101693370B (en) * | 2009-09-30 | 2011-06-22 | 东莞宏威数码机械有限公司 | Novel multi-stage transferring robot |
| CN101698301B (en) * | 2009-10-16 | 2011-12-07 | 北京工业大学 | Multi-planar-degree-of-freedom robot |
| JP2012253921A (en) * | 2011-06-03 | 2012-12-20 | Seiko Epson Corp | Motor, robot hand and robot |
| US9186799B2 (en) * | 2011-07-13 | 2015-11-17 | Brooks Automation, Inc. | Compact direct drive spindle |
| CN203266634U (en) * | 2013-04-07 | 2013-11-06 | 浙江师范大学 | Plane joint type simple manipulator |
| CN203495947U (en) * | 2013-09-23 | 2014-03-26 | 成都泛华航空仪表电器有限公司 | Horizontal multi-joint robot not driven by belt |
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN203579682U (en) * | 2013-11-28 | 2014-05-07 | 华南理工大学 | Novel plane joint type robot structure |
| CN104795958B (en) * | 2014-12-18 | 2018-12-21 | 遨博（北京）智能科技有限公司 | A kind of Brushless DC Servo System with hollow shaft motor using mechanical arm |
| CN104552329B (en) * | 2014-12-23 | 2016-04-27 | 哈尔滨工业大学深圳研究生院 | The integrated joint of drived control integral intelligent |
| CN104723333B (en) * | 2015-03-25 | 2017-02-22 | 苏州大学 | Integrated type two-degree-freedom mechanical arm and control system thereof |
| CN205254998U (en) * | 2015-12-28 | 2016-05-25 | 苏州大学 | Selective compliance assembly robot arm and control system thereof |
| CN105437227B (en) * | 2015-12-28 | 2017-10-24 | 苏州大学 | Selective compliance assembly robot arm and its control system |
-
2015
- 2015-12-28 CN CN201510996302.3A patent/CN105437227B/en active Active
- 2015-12-28 CN CN201710026326.5A patent/CN106826800A/en active Pending
- 2015-12-28 CN CN201710026327.XA patent/CN106826801B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106826801A (en) | 2017-06-13 |
| CN105437227A (en) | 2016-03-30 |
| CN105437227B (en) | 2017-10-24 |
| CN106826800A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106826801B (en) | Selective compliance assembly robot arm and its control system | |
| US11850746B2 (en) | Planar articulated robot and inner rotor joint device | |
| CN201366596Y (en) | Multi-axis linkage mechanism | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN107498580B (en) | Drive integrative two encoder structure modularization joints of accuse | |
| CN103302884B (en) | Servo direct-driven power head for press machine | |
| US9126333B2 (en) | Robot joint and robot arm using the same | |
| CN102935640B (en) | Drive module for constructing underwater electric manipulator | |
| CN202185919U (en) | Driving module for building underwater electric manipulator | |
| CN110480622A (en) | Selective compliance assembly robot arm and outer rotor joint arrangement | |
| CN205254998U (en) | Selective compliance assembly robot arm and control system thereof | |
| CN105364910A (en) | Four-freedom-degree parallel sorting robot driven by rotation pairs | |
| CN211127506U (en) | Multi-wire parallel automatic winding device for small motor stator | |
| CN109623783A (en) | Industrial production system based on man-machine collaboration robot | |
| CN201037084Y (en) | Coiling mechanism for coiling shooting machine | |
| CN203313016U (en) | Synchronous die-filling mechanism of coil winding machine | |
| CN207150368U (en) | A kind of pin correcting mechanism of motor stator inserter | |
| CN202639951U (en) | Gantry type machining center magazine tool ATC (automatic tool changer) | |
| CN210927327U (en) | Hollow electric cylinder applied to elevator special for residence | |
| CN201466820U (en) | Servo motor for hollow rotor of direct-drive industrial sewing machine | |
| US20140103762A1 (en) | Threaded rod reciprocation outer rotor direct drive mechanism | |
| CN208120597U (en) | A kind of intelligence cargo transport mechanical arm | |
| CN112757271A (en) | Plane joint four-axis arm | |
| CN204998013U (en) | Synchronous servo linear electric motor driven elbow link press of disk permanent magnetism | |
| CN108972022A (en) | A kind of low-speed big rare earth permanent magnet for five-axis linkage machine tools directly turns platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |