CN109551467A - Industry robot comprising acting axle construction - Google Patents
Industry robot comprising acting axle construction Download PDFInfo
- Publication number
- CN109551467A CN109551467A CN201910027516.8A CN201910027516A CN109551467A CN 109551467 A CN109551467 A CN 109551467A CN 201910027516 A CN201910027516 A CN 201910027516A CN 109551467 A CN109551467 A CN 109551467A
- Authority
- CN
- China
- Prior art keywords
- arm
- motor
- harmonic wave
- speed reducing
- wave speed
- 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.)
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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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
Abstract
The invention discloses a kind of industry robots comprising movement axle construction, including base station, first arm, second arm and movement axis, first arm is driven by the first motor and is rotated, second arm is driven by the second motor and is rotated, screw and spline groove are provided on movement axis, ut socket and harmonic wave speed reducing machine are provided on second arm, ut socket can be rotated relative to the second arm, harmonic wave speed reducing machine outer ring is mounted on the second arm, sliding sleeve is provided on harmonic wave speed reducing machine output shaft, internal spline corresponding with spline groove is provided in sliding sleeve along the vertical direction, movement axis sequentially passes through ut socket from top to bottom, harmonic wave speed reducing machine and sliding sleeve, movement axis is threadedly coupled with ut socket and matches with sliding sleeve, ut socket is connect with the third motor being arranged on the second arm, harmonic wave speed reducing machine It is connect with the 4th motor being arranged on the second arm.
Description
Technical field
The present invention relates to a kind of industry robots comprising movement axle construction, belong to Industrial Robot Technology field.
Background technique
Multi-spindle machining hand is used to quickly operate part along the track close to plane.E.g. pick up the transmission belt of operation
On part and terminate in situation about setting in tool for the part is anti-.
SCARA(selection compliance puts together machines arm) manipulator of type is adapted for the multiaxis machine of work in the horizontal plane
Tool hand.Routinely, SCARA manipulator includes base station, and base station can for example be placed on the table, and SCARA manipulator further includes
One arm, the first arm can at least move in a rotating manner relative to base station, and the first arm front end is also equipped with can be with respect to the first arm
Second arm of rotation, last robot are further equipped with movement axis, and movement axis can receive tool, tool be, for example, grasp pincers or
Grasping tool.
Movement axis can be rotated or be moved up and down relative to the second arm, and the outer surface for acting axis includes spiral groove and longitudinal direction
Groove, sliding sleeve and ut socket are mounted on fluted shaft by means of the ball being contained in the groove of axis, ut socket it is interior
Surface is provided with spiral groove, and sliding sleeve is provided with longitudinal groove.These sleeves individually rotate, and make fluted shaft with
And therefore also enables the tool rotation that moves axially, rotate or be combined received and move up and down.
It is essentially identical for the current different manufacturers of tool weight that can be promoted of movement axis, but the tool of same weight due to
Shape, center of gravity are different, and inertia can have difference, since current sliding sleeve is that have motor by planetary reducer or speed reducer
Structure controls the synchronous pulley on sliding sleeve by synchronous belt after slowing down.Due to current planetary reducer or other deceleration mechanisms
Speed ratio is restricted, and speed ratio all will not be very big at present.And if motor fan-out capability can be limited to synchronous belt ability again, so at present
Different manufacturers SCARA robot is lower for the inertia for acting axis energy loading tool.
The rotary shaft of YAMAHA robot is driven by speed reducer in colleague, can load inertia it is larger, but again using hollow
Motor, robot body inertia is larger, and hollow motor higher cost.
Summary of the invention
The object of the present invention is to provide a kind of industry robots comprising movement axle construction, solve industry in the prior art
The small technological deficiency of the portative tool inertia of robot motion axis.
To solve the above problems, the technical solution used in the present invention is: the industry robot comprising acting axle construction, packet
Base station, the first arm, the second arm and movement axis are included, the end of the movement axis is provided with for operating to components
One end of the end effector of movement, first arm is driven by the first motor being arranged on base station around vertical J1 axis
Rotation, one end of second arm are mounted on one end on the first arm far from base station and by being mounted on the second arm
The driving of the second motor rotated around vertical J2 axis, be provided with screw and spline groove on the movement axis, it is described
The second arm on be provided with ut socket and harmonic wave speed reducing machine, the ut socket can be rotated relative to the second arm, described
The harmonic wave speed reducing machine outer ring of harmonic wave speed reducing machine be mounted on the second arm, the harmonic wave speed reducing machine output of the harmonic wave speed reducing machine
It is provided with sliding sleeve on end, is provided with interior flower corresponding with spline groove in the sliding sleeve along the vertical direction
Key, the movement axis sequentially pass through ut socket, harmonic wave speed reducing machine and sliding sleeve, the movement axis and spiral shell from top to bottom
Mother sleeve is threadedly coupled and matches with sliding sleeve, the ut socket and the third motor being arranged on the second arm
Connection, the harmonic wave speed reducing machine are connect with the 4th motor being arranged on the second arm.The present invention uses harmonic wave speed reducing machine,
Transmission speed ratio is high, larger for the inertia for acting the portative tool of axis, can be effective especially in motor fan-out capability by prescribing a time limit
Raising bearing capacity of the invention, the present invention uses hollow motor that ordinary motor driving can be used compared to the prior art, can
Effectively reduce overall cost.
As a further improvement of the present invention, outer sleeve is arranged on the ut socket, the outer sleeve is removable
That unloads is mounted on the second arm, and the ut socket can rotate in outer sleeve, is equipped with spiral shell on the ut socket
Master tape wheel is provided with first pulley on the output shaft of the third motor, and the first pulley and nut belt wheel are by first
Synchronous band connection, is provided with harmonic wave speed reducing machine belt wheel on the input terminal of the harmonic wave speed reducing machine, the 4th motor it is defeated
The second belt wheel is provided on shaft, second belt wheel is with harmonic wave speed reducing machine belt wheel by the second synchronous band connection.The present invention adopts
With V belt translation, structure is simple, stable drive.
As a further improvement of the present invention, width of second arm close to first arm one end is greater than the other end
Width, one end that the third motor and the 4th motor are arranged close to the first arm and the two is along the second arm
Width direction arrangement, the height of the second belt wheel of height of the first pulley.Third motor and the 4th motor in the present invention
Width direction arrangement and close second motor, three motors along the second arm make the second arm internal junction at triangular arrangement
Structure is compact, the further rotary inertia for reducing robot body.
It as a further improvement of the present invention, further include the second arm housing, the second arm housing covers on the second arm
Upper and the one end of the second arm housing close to the first arm height is greater than the height of one end far from the first arm, institute
The movement axis stated upwardly penetrates through the second arm housing.The second arm housing is arranged in the present invention, and component in the second arm is covered, and guarantees
Robot degree of protection and monnolithic case.
As a further improvement of the present invention, the side of the base station be provided in the cable support worn, the line
The top of cable bracket is connect at the top of the second arm housing by flexible cord pipe, second motor, third motor and the 4th motor
Cable from base station pass through cable support and flexible cord pipe enter the second arm housing respectively with the second motor, third motor and the 4th horse
Up to be connected.The present invention effectively can prevent cable from winding.
In conclusion movement speed, acceleration are fast, cost the beneficial effects of the present invention are: load inertia of the invention is big
Lower, robot body inertia is smaller.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the A-A cut-away view of Fig. 1.
Fig. 3 is the second arm schematic internal view in the reaction present invention.
Fig. 4 is the usage state diagram that axis is acted in the present invention.
Specific embodiment
A specific embodiment of the invention is described further with reference to the accompanying drawing.
Industry robot as shown in FIG. 1 to FIG. 3 comprising movement axle construction, including base station 1, the first arm 2, the second arm
Portion 3 and movement axis 41, the end of the movement axis 41 are provided with the end effector for components to be carried out with operational motion,
Movement axis 41 in the present invention can be rotated around J3 axis, and the J3 axis in the present invention is the vertical line acted where the center line of axis,
Movement axis 41 can also be moved up and down along the centerline direction of movement axis 41, and the base station 1 is used to put of the invention whole
Be placed on desktop etc., to provide support in using the present invention for the present invention, one end of first arm 2 is by first
Motor M1 driving is rotated around vertical J1 axis, and one end of the first arm 2 in the present invention and the upper surface of base station 1 are rotatablely connected,
The specific rotation connection mode system prior art, the improvement of non-present invention, the first motor M1 in the present invention are mounted on base station 1
It is interior, and the output shaft of the first motor M1 sets up and connect with the first arm 2, the first motor M1 work, the first horse
The output shaft rotated up to M1 drives the first arm 2 to rotate on base station 1 around J1 axis, the output shaft of the first motor M1 in the present invention
With J1 axle position on same vertical line.
One end of second arm 3 is mounted on one end on the first arm 2 far from base station 1 and by being mounted on second
The second motor M2 driving on arm 3 is rotated around vertical J2 axis, the second arm in the present invention include lower plate, upper plate and
The connecting plate of lower plate and upper plate is connected, the lower plate is rotatably arranged on the upper surface of the first arm 2, and described second
Motor M2 is detachably arranged on lower plate using bolt, described and the second motor M2 output shaft straight down and with
The connection of first arm 2, the second motor M2 work, the output shaft of rotation drive the second arm 3 to turn on the first arm 1
It is dynamic.
Screw (not shown) and spline groove (not shown) are provided on the movement axis 41,
The spline groove is opened up along the length direction of movement axis, and is intersected with screw thread, i.e., between adjacent spline groove
Part movement axis on screw thread is set, the present invention is along the circumferential direction provided in screw rod multiple listens groove i.e. along screw rod length direction
It can be made into movement axis 41, be provided with ut socket 44 and harmonic wave speed reducing machine 47, the harmonic reduction on second arm 3
There is machine 47 harmonic wave speed reducing machine output end 47b, the harmonic wave speed reducing machine output end 47b to be rotatably fixed on outside harmonic wave speed reducing machine
It encloses in 47a, harmonic wave speed reducing machine 47 also has harmonic wave speed reducing machine input terminal 47c, and the harmonic wave speed reducing machine input terminal 47c is rotatable
It is fixed in harmonic wave speed reducing machine outer ring 47a and harmonic wave output end of reducer 47b.Harmonic wave speed reducing machine output end 47b internal ring gear with it is humorous
The flexbile gear outer ring tooth engagement that wave speed reducer outer ring 47a extends out, in the middle part of harmonic wave speed reducing machine input terminal 47c can rolling portion in ellipse
Circle is contacted with harmonic wave speed reducing machine outer ring 47a flexbile gear inner ring, and harmonic wave speed reducing machine input terminal 47c can be to harmonic wave speed reducing machine when rotating
Outer ring 47a flexbile gear generates harmonic motion, so that harmonic wave speed reducing machine output end 47b be driven to rotate with certain reduction ratio.
The ut socket 44 can be rotated relative to the second arm 3, and the harmonic wave speed reducing machine outer ring 47a is mounted on second
On arm 3, sliding sleeve 43 is provided on the harmonic wave speed reducing machine output end 47b, the sliding sleeve 43 is interior along vertical
Direction is provided with internal spline corresponding with spline groove, and the movement axis 41 sequentially passes through ut socket from top to bottom
44, harmonic wave speed reducing machine 47 and sliding sleeve 43, the movement axis 41 is threadedly coupled with ut socket 44 and and sliding sleeve
43 match, and the ut socket 44 is connect with the third motor M3 being arranged on the second arm 3, and third motor M3 drives spiral shell
Mother sleeve 44 rotates, and the harmonic wave speed reducing machine input terminal 47c is connect with the 4th motor M4 being arranged on the second arm 3, institute
The 4th motor M4 task driven harmonic wave speed reducing machine 47 work stated.The transmission speed ratio of heretofore described harmonic wave speed reducing machine 47 is greater than
Or it is equal to 30, the harmonic wave speed reducing machine 47 is output on movement axis 41 after can increasing the 4th motor torsional moment.And harmonic reduction
47 material of machine is made of light metal alloy (for example, aluminium or magnesium alloy), less to the ontology inertia increase of 3 end of the second arm,
Robot motion velocity and acceleration can be provided.
Outer sleeve 42 is arranged on ut socket 44 described herein, the outer sleeve 42 in the present invention includes cylindrical shape
First sleeve unit and second sleeve unit, the outer diameter of the first sleeve unit is greater than the outer diameter of second sleeve unit,
The bottom end of the second sleeve unit is fixedly connected with the top of first sleeve unit, the first sleeve unit and second
The internal diameter of cartridge unit is equal and the center line of the two is overlapped, the preferred first sleeve unit of the application and second sleeve unit
It is integrally formed, the ut socket 44 can be used bearing and be rotatably installed in first sleeve unit and second sleeve unit, institute
Multiple first fixed holes, the upper plate and lower plate are along the circumferential direction uniformly offered on the first sleeve unit stated
On have an installation through-hole and lower installation through-hole, be along the circumferential direction uniformly provided with first on the outside of the upper installation through-hole
Threaded hole, the first sleeve unit by be inserted through the first fixed hole and be threadedly coupled with the first threaded hole first
Bolt is detachably arranged on upper plate, and the bottom end of the ut socket 44 is passed down through installation through-hole and in nut
The end of the lower end of sleeve 44 along the circumferential direction uniformly offers the second threaded hole, in the bottom end of ut socket 44 by with
The second nut that two threaded holes are threadedly engaged removably is equipped with nut belt wheel 46, and the movement axis 41 passes through nut belt wheel
46 upper and lower ends.
The present invention is removably equipped with harmonic wave using third bolt in the end on the top harmonic wave speed reducing machine input terminal 47c and subtracts
Fast machine belt wheel 48, the movement axis 41 pass through the upper and lower ends of harmonic wave speed reducing machine belt wheel 48, heretofore described sliding sleeve
Cylinder 43 includes cylindric the first sliding unit and the second sliding unit, and it is sliding that the outer diameter of first sliding unit is greater than second
The outer diameter of moving cell, the top of second sliding unit and the bottom end of the first sliding unit are fixed and the center line of the two
It is overlapped, the internal diameter of first sliding unit and the second sliding unit is equal, and the internal spline setting is single in the first sliding
On the inner surface of member and the second sliding unit, multiple second fixation holes are along the circumferential direction provided on first sliding unit,
First sliding unit is by passing through the second fixation hole and the spiral shell that is threadedly coupled with the output end 47b of harmonic wave speed reducing machine 47
Mother is detachably arranged on harmonic wave speed reducing machine 47, currently preferred first sliding unit and the second sliding unit one at
Type.
Third motor M3 and the 4th motor M4 in the present invention are all made of bolt and are detachably arranged on upper plate, and
The output shaft of third motor M3 and the 4th motor M4 are passed down through upper plate, are provided with first on the output shaft of third motor M3
Belt wheel 35, the first pulley 35 is connect with nut belt wheel 46 by the first synchronous belt 33, on the output shaft of the 4th motor M4
It is provided with the second belt wheel 36, second belt wheel 36 is connect with harmonic wave speed reducing machine belt wheel 48 by the second synchronous belt 34, the present invention
Described in the second arm 3 be greater than the width of the other end, the third motor M3 and the close to the width of 2 one end of the first arm
Four motor M4 are arranged close to one end of the first arm 2 and the two is arranged along the width direction of the second arm 3, due to this hair
Nut belt wheel 46 described in bright is located at the top of harmonic wave speed reducing machine belt wheel 48, so heretofore described first pulley 35
Height is greater than the height of the second belt wheel 36, to ensure that first pulley 35 and nut belt wheel are located on sustained height, the second belt wheel 36
It is located on sustained height with harmonic wave speed reducing machine belt wheel 48.
To protect motor, the present invention is provided with the second arm housing 32, and the second arm housing 32 covers on the second arm 3
And the height of the one end of the second arm housing 32 close to the first arm 2 is greater than the height of one end far from the first arm 2,
The movement axis 41 upwardly penetrates through the second arm housing 32, the second heretofore described arm housing 32 include upper cover shell unit and
The bottom end of lower cover shell unit, the upper cover shell unit is connect with the top of lower cover shell unit, at the top of the lower cover shell unit
Length and width be respectively greater than the length and width of upper encloser unit bottom, in upper cover shell unit bottom end and lower cover shell unit top
The junction at end forms horizontal interconnecting piece, and the height of the one end of the upper cover shell unit close to the first arm is greater than for pacifying
Dress acts the height of one end of axis, when the second arm housing 32 is covered on the second arm 3, the interconnecting piece of the second arm housing 32 by
The edge of upper plate supports, and for the second arm housing 32 is fixed, the present invention can be provided with threaded hole on upper plate, even
Socket part is provided with connection through-hole, can be used across connection through-hole and the bolt that is threadedly engaged with the threaded hole on upper plate is by second
Arm housing 32 is fixed on the second arm 3, and the length and width on currently preferred lower cover shell unit top is respectively greater than bottom end
Length and width, so that entire lower cover shell unit is formed big top and small bottom structure, covered on the second arm housing 32 with facilitating
On second arm 3.
The currently preferred side in the base station 1 be provided in the cable support 6 worn, the cable support 6
32 top of top and the second arm housing connect by flexible cord pipe 7, the second motor M2, third motor M3 and the 4th motor M4
Cable from base station 1 pass through cable support 6 and flexible cord pipe 7 enter the second arm housing 32 respectively with the second motor M2, third horse
It is connected up to M3 and the 4th motor M4, heretofore described 6 inverted L-shaped of cable support, vertical portion can using bolt etc.
Disassembly is mounted on base station 1, and the horizontal component and software pipe 7 at 6 top of cable support are rotatablely connected, and the present invention can be in wheel spool
The casing of 7 end setting hard, and connect casing with the water station partial turn of cable support 6 using bearing, in the present invention
The top of the flexible cord pipe 7 and the second arm housing 32 is also rotatablely connected, connection type and flexible cord pipe 7 and cable support 7
Connection type is identical.
Third motor M3 work in the present invention, and when the 4th motor M4 does not work, 43 prevention of sliding sleeve acts axis 41
Rotation, third motor M3 drive ut socket 44 to rotate, since ut socket 44 and movement axis 41 are threadedly engaged, so nut set
44 drive actions axis 41 of cylinder move up and down；When third motor M3 does not work, and the 4th motor M4 works, the 4th motor M4 driving
Sliding sleeve 43 rotates, and since sliding sleeve 43 and movement axis 41 are keyed, sliding sleeve drive actions axis 41 is rotated, and
Ut socket 44 at this time does not rotate, therefore acts axis 41 and also move up and down while rotation；As third motor M3 and the 4th
Motor M4 is worked at the same time, and third motor M3 driving ut socket 44 rotates the revolving speed for making ut socket 44 and by the 4th motor
When the speed that the movement axis 41 of M4 driving rotates is identical, movement 41 opposing nut sleeve 44 of axis is not moved up and down, at this time dynamic
Make axis 41 only to rotate, and nothing moves up and down.
As shown in figure 4, movement 41 end of axis is connected with end flange 51, end flange 51 can fastening means 50, by with
On design, 50 mass center offset or dish of tool (i.e. the mass center of tool 50 is at a distance from the centreline space of J3 axis) L1 can be bigger,
50 inertia of end fastening means can be bigger in summary.
Not doing the part illustrated in above instructions is the prior art, or has both been able to achieve by the prior art.
And heretofore described specific implementation case is only preferable case study on implementation of the invention, and it is not for the purpose of limiting the invention
Practical range.Equivalent changes and modifications made by i.e. all contents according to scope of the present invention patent, all should be used as of the invention
Technology scope.
Claims (5)
1. a kind of industry robot comprising acting axle construction, it is characterised in that: including base station (1), the first arm (2), second
Arm (3) and movement axis (41), the end of the movement axis (41) are provided with the end for components to be carried out with operational motion
Actuator is held, one end of first arm (2) is driven by the first motor (M1) being arranged on base station (1) around vertical J1
Axis rotation, one end of second arm (3) are mounted on one end on the first arm (2) far from base station (1) and by installing
The second motor (M2) driving on the second arm (3) is rotated around vertical J2 axis, is provided with spiral shell on the movement axis (41)
Screw thread and spline groove are revolved, is provided with ut socket (44) and harmonic wave speed reducing machine (47) on second arm (3), it is described
Ut socket (44) can be rotated relative to the second arm (3), the harmonic wave speed reducing machine outer ring (47a) of the harmonic wave speed reducing machine (47)
It is mounted on the second arm (3), is provided with sliding sleeve on the harmonic wave speed reducing machine output end (47b) of the harmonic wave speed reducing machine (47)
Cylinder (43), the sliding sleeve (43) is interior to be provided with internal spline corresponding with spline groove along the vertical direction, described
Movement axis (41) sequentially passes through ut socket (44), harmonic wave speed reducing machine (47) and sliding sleeve (43) from top to bottom, and described is dynamic
Make axis (41) and ut socket (44) to be threadedly coupled and match with sliding sleeve (43), the ut socket (44) with set
Third motor (M3) connection on the second arm (3) is set, the harmonic wave speed reducing machine (47) and setting are on the second arm (3)
The 4th motor (M4) connection.
2. according to right root ask 1 described in comprising movement axle construction industry robot, it is characterised in that: the ut socket
(44) it is arranged on outer sleeve (42), the outer sleeve (42) is detachably arranged on the second arm (3), the nut
Sleeve (44) can the rotation in the outer sleeve (42), be equipped with nut belt wheel (46) on the ut socket (44), described the
It is provided on the output shaft of three motors (M3) first pulley (35), the first pulley (35) and nut belt wheel (46) are by first
Synchronous belt (33) connects, and is provided with harmonic wave speed reducing machine belt wheel (48) on the input terminal of the harmonic wave speed reducing machine (47), described
It is provided with the second belt wheel (36) on the output shaft of 4th motor (M4), second belt wheel (36) and harmonic wave speed reducing machine belt wheel
(48) it is connected by the second synchronous belt (34).
3. according to right root ask 2 described in comprising movement axle construction industry robot, it is characterised in that: second arm
(3) it is greater than the width of the other end, the third motor (M3) and the 4th motor (M4) close to the width of the first arm (2) one end
It is arranged close to one end of the first arm (2) and the two is arranged along the width direction of the second arm (3), the first band
The height for taking turns (35) is greater than the height of the second belt wheel (36).
4. the industry robot according to claim 3 comprising movement axle construction, it is characterised in that: further include the second arm cover
Shell (32), the second arm housing (32) covers on the second arm (3) and the second arm housing (32) is close to first
The height of one end of arm (2) is greater than the height of one end far from the first arm (2), and the movement axis (41) upwardly penetrates through the
Two arm housings (32).
5. according to right root ask 4 described in comprising movement axle construction industry robot, it is characterised in that: the base station (1)
Side be provided in the cable support (6) worn, the top of the cable support (6) at the top of the second arm housing (32) by soft
Spool (7) connection, the cable of second motor (M2), third motor (M3) and the 4th motor (M4) are worn from base station (1)
Cross cable support (6) and flexible cord pipe (7) enter the second arm housing (32) respectively with the second motor (M2), third motor (M3) and the
Four motors (M4) are connected.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910027516.8A CN109551467A (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
| PCT/CN2019/086717 WO2020143149A1 (en) | 2019-01-11 | 2019-05-13 | Industrial robot comprising operation shaft structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910027516.8A CN109551467A (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109551467A true CN109551467A (en) | 2019-04-02 |
Family
ID=65873008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910027516.8A Pending CN109551467A (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109551467A (en) |
| WO (1) | WO2020143149A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020143149A1 (en) * | 2019-01-11 | 2020-07-16 | 南京埃斯顿机器人工程有限公司 | Industrial robot comprising operation shaft structure |
| CN114905494A (en) * | 2022-07-15 | 2022-08-16 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020143149A1 (en) * | 2019-01-11 | 2020-07-16 | 南京埃斯顿机器人工程有限公司 | Industrial robot comprising operation shaft structure |
| CN114905494A (en) * | 2022-07-15 | 2022-08-16 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
| CN114905494B (en) * | 2022-07-15 | 2022-12-30 | 广东隆崎机器人有限公司 | Tail end shaft, tail end movement assembly and SCARA manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020143149A1 (en) | 2020-07-16 |
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