CN110394789B - Robot arm, robot and robot arm mounting method - Google Patents
Robot arm, robot and robot arm mounting method Download PDFInfo
- Publication number
- CN110394789B CN110394789B CN201910810667.0A CN201910810667A CN110394789B CN 110394789 B CN110394789 B CN 110394789B CN 201910810667 A CN201910810667 A CN 201910810667A CN 110394789 B CN110394789 B CN 110394789B
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- motor
- mounting plate
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- speed reducer
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 62
- 210000000245 forearm Anatomy 0.000 claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention relates to the technical field of robots, and discloses a robot arm, a robot and a robot arm installation method. The robot arm comprises a first component, a second component and a small arm, wherein the first component comprises a speed reducer, a speed reducer mounting plate and a large arm, the speed reducer is connected with the speed reducer mounting plate, the speed reducer is accommodated in an accommodating cavity on the large arm, and the large arm is connected with the speed reducer; the second component comprises a motor, a motor mounting plate and a wave generator, the motor is connected with the motor mounting plate, and the wave generator is connected with a transmission shaft of the motor; the motor mounting plate is connected with the speed reducer mounting plate so that the second component is connected with the first component to form a combination body; the forearm is connected with the combination body. The robot arm provided by the invention can separate the speed reducer from the direct connection relation between the motor mounting plate and the forearm, so that each part can be separately and independently mounted, the modularized dismounting is realized, the dismounting speed and the dismounting efficiency are improved, and the maintenance efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot arm, a robot and a robot arm installation method.
Background
In the existing robot arm, the degree of dependence of assembly between each part is higher, and each part is required to be installed in sequence generally, so that the installation speed and the installation efficiency are reduced, the production cost is increased, and meanwhile, when maintenance and disassembly are required, each part is required to be disassembled in sequence, so that the disassembly and the maintenance efficiency are greatly reduced.
Therefore, a new type of robot arm is needed to solve the above problems.
Disclosure of Invention
Based on the foregoing, a first object of the present invention is to provide a robot arm, which, compared with the prior art, can disengage a decelerator from a direct connection relationship between a motor mounting plate and a forearm, so that a first component, a second component and the forearm can be separately and independently mounted, thereby improving a mounting speed and a mounting efficiency, reducing a production cost, and simultaneously realizing modularized dismounting, and improving a mounting precision and dismounting and maintenance efficiency.
A second object of the present invention is to provide a robot, which can improve installation efficiency, reduce production cost, and improve installation accuracy and disassembly and maintenance efficiency by using the robot arm.
A third object of the present invention is to provide a robot arm mounting method capable of modularly mounting a robot arm, improving a mounting speed and a mounting efficiency, reducing a production cost, and simultaneously being advantageous to improve a mounting accuracy and a dismounting and maintenance efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a robotic arm comprising:
the first assembly comprises a speed reducer, a speed reducer mounting plate and a big arm, wherein the speed reducer is connected with the speed reducer mounting plate, a containing cavity is formed in the big arm, and the speed reducer is contained in the containing cavity and is connected with the big arm;
the second assembly comprises a motor, a motor mounting plate and a wave generator, wherein the motor is connected with the motor mounting plate, and the wave generator is connected with a transmission shaft of the motor;
the motor mounting plate is connected with the speed reducer mounting plate so as to enable the second component to be connected with the first component to form a combined body, and meanwhile, the wave generator is in transmission connection with the speed reducer;
and the forearm is connected with the combination body.
Further, the device also comprises a base, and one end of the big arm is connected with the base.
Further, the cable assembly comprises a cable tube assembly, the cable is arranged in the cable tube assembly in a penetrating mode, and the cable tube assembly is detachably connected with the base.
Further, the cable tube assembly comprises a cable tube and a connecting plate, one end of the cable tube is connected with the connecting plate, and the connecting plate is detachably connected with the base.
Further, the cable tube assembly further comprises a pipe joint, and the cable tube is connected with the connecting plate through the pipe joint.
Further, the second assembly further comprises a motor cover plate, and the wave generator is connected with a transmission shaft of the motor through the motor cover plate.
Further, the first assembly further includes a lock washer through which a fastener can be threaded through the large arm and the decelerator.
A robot comprising a robot arm as described above.
A robotic arm mounting method, the robotic arm comprising a first assembly, a second assembly and a forearm, the first assembly comprising a decelerator, a decelerator mounting plate and a boom, the second assembly comprising a motor, a motor mounting plate and a wave generator, the robotic arm mounting method comprising:
mounting the first component: connecting the speed reducer with the speed reducer mounting plate, accommodating the speed reducer in the accommodating cavity of the big arm, and connecting the speed reducer with the big arm;
mounting the second assembly: connecting the motor with the motor mounting plate, and connecting the wave generator with a transmission shaft of the motor;
installing the first assembly and the second assembly: connecting the motor mounting plate with the reducer mounting plate to connect the second component with the first component to form a combination, and simultaneously connecting the wave generator with the reducer in a transmission manner;
mounting the forearm: and connecting the small arm with the combination body.
Further, the robot arm further includes a base and a cable tube assembly, and after the forearm is connected with the assembly, further includes:
installing the base: connecting the large arm with the base;
installing the cable tube assembly: and the cable is arranged in the cable tube assembly in a penetrating way, and then the cable tube assembly is detachably connected with the base.
The beneficial effects of the invention are as follows:
according to the robot arm provided by the invention, the speed reducer is firstly arranged on the speed reducer mounting plate, the speed reducer is accommodated in the accommodating cavity of the big arm, the speed reducer can be separated from the direct connection relation between the motor mounting plate and the small arm, and further, the first component comprising the speed reducer, the speed reducer mounting plate and the big arm can be independently arranged; in addition, through separately installing first subassembly, second subassembly and forearm, can realize modularized design, be favorable to improving the installation accuracy, can realize the modularization dismantlement simultaneously when dismantling, can only dismantle the trouble subassembly when breaking down, need not to dismantle whole structure in proper order to be favorable to improving dismantlement and maintenance efficiency.
According to the robot provided by the invention, the first component, the second component and the forearm can be separately and independently installed by applying the robot arm, so that the installation efficiency is improved, the production cost is reduced, the modularized design is realized, the installation precision is improved, and the modularized disassembly can be realized during the disassembly, so that the disassembly and maintenance efficiency is improved.
According to the robot arm installation method provided by the invention, the first component and the second component are separated and independently installed, so that the first component and the second component can be installed simultaneously, then the first component and the second component are assembled to form the combined body, and finally the small arm and the combined body are installed, so that the modularized installation of the robot arm is realized, the installation speed and the installation efficiency are improved, and the production cost is reduced; in addition, the modularized design is also beneficial to improving the installation accuracy, and meanwhile, the modularized disassembly can be realized when the disassembly is performed, so that only the fault assembly can be disassembled when the fault occurs, and each part is not required to be disassembled in sequence, thereby being beneficial to improving the disassembly and maintenance efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;
FIG. 2 is a partial cross-sectional view of a robotic arm provided by an embodiment of the invention;
fig. 3 is a schematic structural view of a base and a cable tube assembly in a robot arm according to an embodiment of the present invention.
In the figure:
1-a first component; 11-a decelerator; 12-a reducer mounting plate; 13-big arm; 131-a receiving chamber; 132—a first crash block; 14-a lock washer; 15-large arm washers;
2-a second component; 21-an electric motor; 22-a motor mounting plate; a 23-wave generator; 24-motor cover plate;
3-forearm;
4-a base; 41-a second crash block;
5-a cable tube assembly; 51-cable tube; 52-connecting plates; 53-pipe joint;
6-forearm washer.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only, or to distinguish between different structures or components, and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1-2, the present embodiment provides a robot arm, which includes a first component 1, a second component 2 and a forearm 3, the first component 1 includes a decelerator 11, a decelerator mounting plate 12 and a big arm 13, the decelerator 11 is connected with the decelerator mounting plate 12, a containing cavity 131 is provided on the big arm 13, and the decelerator 11 is contained in the containing cavity 131 and connected with the big arm 13; the second component 2 comprises a motor 21, a motor mounting plate 22 and a wave generator 23, wherein the motor 21 is connected with the motor mounting plate 22, and the wave generator 23 is connected with a transmission shaft of the motor 21; the motor mounting plate 22 is connected with the speed reducer mounting plate 12 so as to connect the second component 2 with the first component 1 to form a combination, and simultaneously, the wave generator 23 is in transmission connection with the speed reducer 11; the forearm 3 is connected with the assembly.
The robot arm provided in this embodiment, firstly, by installing the decelerator 11 on the decelerator mounting plate 12 and accommodating the decelerator 11 in the accommodating cavity 131 of the large arm 13, the decelerator 11 can be separated from the direct connection relationship between the motor mounting plate 22 and the small arm 3, and thus the first component 1 including the decelerator 11, the decelerator mounting plate 12 and the large arm 13 can be independently installed, and in addition, the second component 2 and the small arm 3 can be separately installed as two independent parts, so that during installation, the first component 1 including the decelerator 11, the decelerator mounting plate 12 and the large arm 13 can be installed at the first station, the second component 2 including the motor 21, the motor mounting plate 22 and the wave generator 23 can be simultaneously installed at the second station, and the first component 1 and the second component 2 can be installed at the third station to form a combined body (the first component 1 and the second component 2 are connected through a fastener, but the fastener is not shown in section in the figure), and the small arm 3 and the combined body can be installed at the fourth station, and the independent components can be installed at the same time, and the installation speed of the production efficiency can be remarkably reduced; in addition, through separately installing first subassembly 1, second subassembly 2 and forearm 3, can realize modularized design, be favorable to improving the installation accuracy, can realize the modularization dismantlement simultaneously when dismantling, can only dismantle the trouble subassembly when breaking down, need not to dismantle whole structure in proper order to be favorable to improving dismantlement and maintenance efficiency.
Specifically, in the present embodiment, the forearm 3 is connected to the motor mounting plate 22 and the decelerator mounting plate 12 in the combination. According to the connection mode, the stressed contact area of the small arm 3 can be increased, the robot precision reduction caused by the deformation of the small arm 3 is prevented, and meanwhile, the connection stability of the second component 2 and the first component 1 can be further reinforced.
Preferably, the first assembly 1 further comprises a lock washer 14, the lock washer 14 being located between the reducer 11 and the reducer mounting plate 12, and a fastener being threadably engaged with the lock washer 14 through the large arm 13 and the reducer 11. The mounting hole of the reducer 11 through which the fastener passes is a through hole, and by additionally arranging the locking washer 14, the fastener can be in threaded fit with the locking washer 14 after passing through the large arm 13 and the reducer 11, so that the large arm 13 and the reducer 11 are connected. To facilitate the connection of the large arm 13 to the reducer 11, the reducer 11 may be connected to the lock washer 14 with a shorter fastener and then threaded through the large arm 13 and reducer 11 with the lock washer 14 with a longer fastener. Specifically, in the present embodiment, the fastener is a bolt.
Optionally, the first assembly 1 further comprises a large arm washer 15, through which large arm washer 15 fasteners can be passed to connect the large arm 13 and the reducer 11. The fastener can be threaded through the large arm washer 15, large arm 13 and speed reducer 11 in sequence with the lock washer 14. By providing the large arm washer 15, the force contact area of the large arm 13 can be increased, and the robot accuracy is prevented from being reduced due to the deformation of the large arm 13.
Optionally, the second assembly 2 further comprises a motor cover 24, the wave generator 23 being connected to the drive shaft of the motor 21 by means of the motor cover 24. By providing the motor cover plate 24, it is advantageous to ensure the stability and reliability of the connection of the wave generator 23 with the transmission shaft of the motor 21. Specifically, the middle part of the motor cover plate 24 is connected with the transmission shaft of the motor 21 through a fastener, and the motor cover plate 24 is connected with the wave generator 23 through a fastener in the circumferential direction.
Optionally, the robotic arm further comprises a forearm washer 6, through which a fastener can be passed to connect the forearm 3 and the combination. Specifically, the fastener can pass through the forearm washer 6, the forearm 3, and the motor mounting plate 22 in order, and be screw-fitted with the decelerator mounting plate 12, connecting the forearm 3 with the motor mounting plate 22 and the decelerator mounting plate 12.
Preferably, as shown in fig. 1 and 3, the robot arm provided in this embodiment further includes a base 4, and an end of the large arm 13 away from the small arm 3 is connected to the base 4. By arranging the base 4, the working stability of the robot arm is guaranteed.
Preferably, the large arm 13 is provided with a first anti-collision block 132, the base 4 is provided with a second anti-collision block 41, and the first anti-collision block 132 can abut against the second anti-collision block 41. The first impact block 132 abuts against the second impact block 41, thereby limiting the rotation angle of the large arm 13. Further, two second anti-collision blocks 41 are symmetrically arranged on both sides of the base 4 in a splayed shape. The second anti-collision block 41 is arranged in a splayed shape, so that on one hand, the second anti-collision block 41 can be attached to the outer contour of the base 4, the stability of fixing the second anti-collision block 41 is guaranteed, and on the other hand, the clockwise rotation angle and the anticlockwise rotation angle of the large arm 13 can be limited simultaneously.
Preferably, the robot arm provided in this embodiment further includes a cable tube assembly 5, the cable is threaded in the cable tube assembly 5, and the cable tube assembly 5 is detachably connected with the base 4. The cable tube assembly 5 is detachable, on the one hand, the modularization degree of the robot arm can be further improved, the cable and the cable tube assembly 5 can be separately and independently installed, the cable can be firstly arranged in the cable tube assembly 5 in a penetrating mode, then the cable tube assembly 5 is fixed on the base 4, on the other hand, the threading difficulty is reduced, the threading efficiency is improved, the production cost is reduced, the safety protection level is improved, the later maintenance of the cable is facilitated, and abnormal sound and cable abrasion are reduced.
Specifically, the cable tube assembly 5 includes a cable tube 51 and a connection plate 52, one end of the cable tube 51 is connected to the connection plate 52, and the connection plate 52 is detachably connected to the base 4. The cable tube 51 can protect the cable. After the cable is inserted into the cable tube 51, the connecting plate 52 is fixed to the base 4. Optionally, the cable tube 51 is a bellows.
Preferably, the cable tube assembly 5 further includes a pipe joint 53, and the cable tube 51 is connected to the connection plate 52 through the pipe joint 53. The pipe joint 53 is beneficial to ensuring the stability of the connection between the cable tube 51 and the connecting plate 52, preventing the cable from being damaged and improving the protection effect of the cable.
The embodiment also provides a robot, which comprises the robot arm.
The robot that this embodiment provided through using above-mentioned robot arm, can make first subassembly 1, second subassembly 2 and forearm 3 separately independent installation, has improved installation effectiveness, has reduced manufacturing cost, has realized modularized design simultaneously, is favorable to improving the installation accuracy, can realize the modularization dismantlement moreover when dismantling to be favorable to improving dismantlement and maintenance efficiency.
The present embodiment also provides a robot arm mounting method, the robot arm including a first component 1, a second component 2 and a forearm 3, the first component 1 including a decelerator 11, a decelerator mounting plate 12 and a large arm 13, the second component 2 including a motor 21, a motor mounting plate 22 and a wave generator 23, the robot arm mounting method including:
mounting the first component 1: the reducer 11 is connected with the reducer mounting plate 12, the reducer 11 is accommodated in the accommodating cavity 131 of the big arm 13, and the big arm 13 is connected with the reducer 11;
mounting a second component 2: the motor 21 is connected with the motor mounting plate 22, and the wave generator 23 is connected with a transmission shaft of the motor 21;
mounting the first assembly 1 and the second assembly 2: connecting the motor mounting plate 22 with the reducer mounting plate 12 to connect the second assembly 2 with the first assembly 1 to form a combination, while connecting the wave generator 23 with the reducer 11 in a driving manner;
mounting a forearm 3: the forearm 3 is connected to the assembly.
According to the robot arm installation method provided by the embodiment, the first component 1 and the second component 2 are firstly separated and independently installed, so that the first component 1 and the second component 2 can be installed simultaneously, then the first component 1 and the second component 2 are assembled to form the combined body, and finally the small arm 3 and the combined body are installed, so that the modularized installation of the robot arm is realized, the installation speed and the installation efficiency are improved, and the production cost is reduced; in addition, the modularized design is also beneficial to improving the installation accuracy, and meanwhile, the modularized disassembly can be realized when the disassembly is performed, so that only the fault assembly can be disassembled when the fault occurs, and each part is not required to be disassembled in sequence, thereby being beneficial to improving the disassembly and maintenance efficiency.
Preferably, the first assembly 1 further comprises a lock washer 14 and a large arm washer 15, and in the robot arm installation method provided in this embodiment, in installing the first assembly 1, a fastener is threaded through the lock washer 14, the large arm 13 and the decelerator 11 in sequence to engage the lock washer 14, so that the large arm 13 is connected with the decelerator 11.
Optionally, the second assembly 2 further includes a motor cover 24, and in the robot arm installation method provided in this embodiment, after the wave generator 23 is installed on the transmission shaft of the motor 21 in the second assembly 2, the motor cover 24 is covered on an end portion of the transmission shaft of the motor 21, and the motor cover 24 is connected to the transmission shaft of the motor 21 by using a fastener, and the motor cover 24 is connected to the wave generator 23 by using a fastener.
Optionally, the robot arm further includes a small arm washer 6, and in the method for installing the robot arm provided in this embodiment, in installing the small arm 3, a fastener can sequentially pass through the small arm washer 6, the small arm 3, the motor mounting plate 21 and the reducer mounting plate 12, so that the small arm 3 is connected with the motor mounting plate 21 and the reducer mounting plate 12 in the combination.
Optionally, the robotic arm further includes a base 4 and a cable tube assembly 5, and the robotic arm mounting method provided in this embodiment further includes, after the forearm 3 is connected to the assembly:
and (4) mounting a base 4: connecting the large arm 13 with the base 4;
the cable tube assembly 5 is mounted: the cable is threaded into the cable tube assembly 5, and then the cable tube assembly 5 is detachably connected with the base 4.
Alternatively, the cable tube assembly 5 includes the cable tube 51, the connection plate 52 and the pipe joint 53, the cable tube 51 is connected with the connection plate 52 through the pipe joint 53, and the robot arm installation method provided in the present embodiment, in installing the cable tube assembly 5, the cable is threaded into the cable tube 51, and then the connection plate 52 is fixed on the base 4.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A robotic arm, comprising:
the first assembly (1) comprises a speed reducer (11), a speed reducer mounting plate (12) and a big arm (13), wherein the speed reducer (11) is connected with the speed reducer mounting plate (12), a containing cavity (131) is formed in the big arm (13), and the speed reducer (11) is contained in the containing cavity (131) and is connected with the big arm (13);
a second component (2) comprising a motor (21), a motor mounting plate (22) and a wave generator (23), wherein the motor (21) is connected with the motor mounting plate (22), and the wave generator (23) is connected with a transmission shaft of the motor (21);
the motor mounting plate (22) is connected with the speed reducer mounting plate (12) so as to enable the second component (2) to be connected with the first component (1) to form a combined body, and meanwhile, the wave generator (23) is connected with the speed reducer (11) in a transmission way;
and the forearm (3) is connected with the combination body.
2. A robotic arm as claimed in claim 1, further comprising a base (4), one end of the large arm (13) being connected to the base (4).
3. The robotic arm of claim 2, further comprising a cable tube assembly (5), a cable being threaded into the cable tube assembly (5), the cable tube assembly (5) being detachably connected to the base (4).
4. A robotic arm as claimed in claim 3, characterized in that the cable tube assembly (5) comprises a cable tube (51) and a connection plate (52), one end of the cable tube (51) being connected with the connection plate (52), the connection plate (52) being detachably connected with the base (4).
5. The robotic arm of claim 4, wherein the cable tube assembly (5) further comprises a tube joint (53), the cable tube (51) being connected to the connection plate (52) by the tube joint (53).
6. The robotic arm according to claim 1, wherein the second assembly (2) further comprises a motor cover plate (24), the wave generator (23) being connected to a drive shaft of the motor (21) via the motor cover plate (24).
7. A robotic arm as claimed in claim 1, characterized in that the first assembly (1) further comprises a lock washer (14), a fastener being threadably engaged with the lock washer (14) through the large arm (13) and the decelerator (11).
8. A robot comprising a robot arm according to any of claims 1-7.
9. A robot arm installation method, the robot arm including a first component (1), a second component (2) and a forearm (3), the first component (1) including a decelerator (11), a decelerator mounting plate (12) and a forearm (13), the second component (2) including a motor (21), a motor mounting plate (22) and a wave generator (23), characterized in that the robot arm installation method includes:
-mounting the first assembly (1): connecting the speed reducer (11) with the speed reducer mounting plate (12), accommodating the speed reducer (11) in an accommodating cavity (131) of the large arm (13), and connecting the speed reducer (11) with the large arm (13);
-mounting the second assembly (2): connecting the motor (21) with the motor mounting plate (22), and connecting the wave generator (23) with a transmission shaft of the motor (21);
-mounting the first component (1) and the second component (2): -connecting the motor mounting plate (22) with the reducer mounting plate (12) to connect the second assembly (2) with the first assembly (1) to form a combination, while connecting the wave generator (23) with the reducer (11) in a driving manner;
-mounting the forearm (3): -connecting the forearm (3) to the assembly.
10. The robotic arm mounting method of claim 9, further comprising a base (4) and a cable tube assembly (5), wherein after the forearm (3) is connected to the assembly, further comprising:
-mounting the base (4): -connecting the large arm (13) with the base (4);
-mounting the cable tube assembly (5): the cable is arranged in the cable tube assembly (5) in a penetrating mode, and then the cable tube assembly (5) is detachably connected with the base (4).
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| CN102114630A (en) * | 2009-12-30 | 2011-07-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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|---|---|---|---|---|
| CN104227732A (en) * | 2014-09-01 | 2014-12-24 | 汕头大学 | SCARA (Selective Compliance Assembly Robot Arm) with large arm/small arm capable of being replaced quickly |
| CN204725509U (en) * | 2015-06-09 | 2015-10-28 | 威海新北洋正棋机器人股份有限公司 | Industrial robot joint decelerator installing plate |
| CN105563477A (en) * | 2016-01-29 | 2016-05-11 | 坚毅机械工程(高要)有限公司 | Rotary adapter and mechanical hand with same |
| CN205835337U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of six-joint robot |
| CN109664282A (en) * | 2019-01-18 | 2019-04-23 | 广东拓斯达科技股份有限公司 | Two axle construction of robot and robot |
| CN210879654U (en) * | 2019-08-29 | 2020-06-30 | 广东拓斯达科技股份有限公司 | Robot arm and robot |
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| CN110394789A (en) | 2019-11-01 |
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