CN110421548A - Robot forearm structure and robot - Google Patents
Robot forearm structure and robot Download PDFInfo
- Publication number
- CN110421548A CN110421548A CN201910651507.6A CN201910651507A CN110421548A CN 110421548 A CN110421548 A CN 110421548A CN 201910651507 A CN201910651507 A CN 201910651507A CN 110421548 A CN110421548 A CN 110421548A
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- CN
- China
- Prior art keywords
- synchronous
- retainer
- lead screw
- synchronous piece
- arm body
- 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.)
- Pending
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- 210000000245 forearm Anatomy 0.000 title claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims abstract description 107
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000005484 gravity Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 244000138939 Ricinodendron heudelotii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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
- B25J9/0009—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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to robotic technology fields, specifically, it is related to a kind of robot forearm structure and robot; forearm structure includes small arm body, lead screw shaft and the synchronous pulley with the lead screw axis connection; the lead screw shaft is rotatably connected the small arm body; it is characterized in that, further including latch assembly, the latch assembly includes synchronous piece and retainer；The synchronous piece connects the synchronous pulley, and it is rotated with the synchronous pulley, the retainer connects the small arm body, the retainer is used to limit the rotation of the synchronous piece, lead screw shaft stop can be prevented lead screw shaft from falling under the effect of gravity and cause collision by this programme in lead screw splined member installation, maintenance, the precision for guaranteeing lead screw splined member, improves the safety and convenience of forearm structure.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of robot forearm structure and robot.
Background technique
SCARA (Selective Compliance Assembly Robot Arm) is a kind of applied to assembling work
Robot arm is used for plane positioning.Three joint of SCARA robot or four joint main components are lead screw splined member, the group
Part structure is more complex, precision is higher.When lead screw splined member installation and replacement, lead screw shaft not with have brake synchronous motor
It is connected, lead screw shaft is easy initiation collision of falling suddenly under the effect of gravity, and collision can destroy the precision of lead screw splined member and whole
The service life of machine.
Summary of the invention
The purpose of the present invention is to provide a kind of robot forearm structure and robots, are able to solve lead screw splined member
When installation and replacement, lead screw shaft is easy the problem of the causing collision that fall suddenly under the effect of gravity.
The embodiment of the present invention is achieved in that
A kind of robot forearm structure, including small arm body, lead screw shaft and synchronous pulley with the lead screw axis connection, institute
It states lead screw shaft to be rotatably connected the small arm body, further includes latch assembly, the latch assembly includes synchronous piece and retainer；
The synchronous piece connects the synchronous pulley, and rotates with the synchronous pulley, and the retainer connection is described small
Arm body, the retainer are used to limit the rotation of the synchronous piece.
Further, in an embodiment of the present invention, above-mentioned retainer has mounting base and removable installation in institute
State the locking rod of mounting base；
The mounting base is fixedly connected with the small arm body, by the movement locking rod, is switched to the synchronous piece
Locking and unlock.
Further, in an embodiment of the present invention, above-mentioned mounting base has driving portion, and the driving portion is used for band
The locking rod is moved to move back and forth.
Further, in an embodiment of the present invention, above-mentioned driving portion includes mutually matched nut and screw rod, institute
Nut is stated to be fixedly connected with the small arm body.
Further, in an embodiment of the present invention, the rotation of the axis of above-mentioned locking rod and the synchronous pulley
Axis is parallel.
Further, in an embodiment of the present invention, above-mentioned locking rod include the unlock section that axially sets gradually and
The diameter of locking section, the unlock section is less than the locking section diameter；
By moving axially the locking rod, it is switched to and synchronous piece is aligned with the unlock section or with locking section alignment
The synchronous piece switches unlock or locking to the synchronous piece with this.
Further, in an embodiment of the present invention, above-mentioned retainer further includes being fixedly connected with the mounting base
Mounting plate, the small arm body is provided with the erecting bed for installing the mounting plate.
Further, in an embodiment of the present invention, above-mentioned small arm body corresponds to the locking rod and is provided with boss,
The boss is provided with the pin hole for slidably limiting the locking section.
Further, in an embodiment of the present invention, above-mentioned synchronous piece is gear structure, and has at least one same
The gear teeth are walked, the retainer limits the rotation of the synchronous pulley by the synchronous gear teeth described in block.
Further, in an embodiment of the present invention, above-mentioned synchronous piece is arranged in the synchronous pulley axial direction
End, and the synchronous piece outer diameter be greater than the synchronous pulley outer diameter.
Further, in an embodiment of the present invention, above-mentioned retainer has the outer profile of synchronous piece described in block
The linear distance at position, the outer profile position to the synchronous piece pivot center is less than the synchronous piece outer diameter.
A kind of robot, including above-mentioned forearm structure.
The beneficial effect of the embodiment of the present invention is:
In lead screw splined member installation, maintenance, can lead screw shaft stop be prevented lead screw shaft from falling under the effect of gravity and be drawn
Hair collision, guarantees the precision of lead screw splined member, improves the safety and convenience of forearm structure.
Latch assembly includes synchronous piece and retainer, and synchronous piece connects synchronous pulley, and rotates with synchronous pulley, retainer
Small arm body is connected, retainer has lockup state and unlocked state relative to synchronous piece, when retainer is in the unlocked state, together
Step part can be rotated with synchronous pulley, and when retainer is in lockup state, retainer can limit the rotation of synchronous piece, to limit
The rotation of synchronous pulley prevents lead screw shaft rotation from falling.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is partial cutaway of embodiment of the present invention schematic perspective view；
Fig. 2 is partial cutaway of embodiment of the present invention planar structure schematic diagram；
Fig. 3 is unlocked state of embodiment of the present invention partial structural diagram；
Fig. 4 is lockup state of embodiment of the present invention partial structural diagram；
Fig. 5 is the shell mechanism schematic diagram of the small arm body of the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of synchronous piece of the embodiment of the present invention；
Fig. 7 is retainer of embodiment of the present invention unlocked state structural schematic diagram；
Fig. 8 is retainer of embodiment of the present invention lockup state structural schematic diagram.
Icon: the small arm body of 100-；200- lead screw splined member；300- latch assembly；
110- axis hole；120- erecting bed；130- boss；140- pin hole；
210- lead screw shaft；220- synchronous pulley；230- limited block；
310- synchronous piece；320- retainer；
311- synchronizes the gear teeth；
321- mounting base；322- mounting plate；323- locking rod；
321 ' 1- nuts；321 ' 2- screw rods；321 ' 3- swingles；
323 ' 1- unlock section；323 ' 2- locking sections.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment 1:
It please refers to shown in Fig. 1 and Fig. 2, the present embodiment provides a kind of robot forearm structures, including small arm body 100, silk
Thick stick splined member 200 and latch assembly 300, lead screw splined member 200 include lead screw shaft 210 and synchronous pulley 220, latch assembly
300 include synchronous piece 310 and retainer 320.
Lead screw shaft 210 is rotatably connected small arm body 100, and synchronous pulley 220 is connect with lead screw shaft 210, synchronous pulley 220
Rotation drives lead screw shaft 210 to rotate, to keep lead screw shaft 210 mobile.Synchronous piece 310 is fixedly connected with synchronous pulley 220, works as synchronization
Synchronous piece 310 is driven to rotate when belt wheel 220 rotates, retainer 320 connects small arm body 100, and retainer 320 is used for limits synchronization
Part 310 rotates, and retainer 320 in actual use, has lockup state and unlocked state, and retainer 320 is in the unlocked state
When, synchronous piece 310 can be rotated with synchronous pulley 220, and when retainer 320 is in lockup state, retainer 320 can limit synchronization
The rotation of part 310, thus the rotation of limits synchronization belt wheel 220.It, can be by lead screw shaft in lead screw 200 installation, maintenance of splined member
210 stop prevent lead screw shaft 210 from falling under the effect of gravity and cause collision, guarantee the precision of lead screw splined member 200, improve
The safety and convenience of forearm structure.
With reference to Fig. 3-5, one end of small arm body 100 is for connecting forearm driving assembly, the other end of small arm body 100
The axis hole 110 for installing lead screw shaft 210 is offered, small arm body 100 is provided with erecting bed 120 and boss close to axis hole 110
130, pin hole 140 is offered on boss 130.Retainer 320 includes mounting base 321, mounting plate 322 and locking rod 323, mounting base
321 include driving portion, and driving portion includes mutually matched nut 321 ' 1 and screw rod 321 ' 2, and locking rod 323 has axially successively
The diameter of the unlock section 323 ' 1 and locking section 323 ' 2 of setting, unlock section 323 ' 1 is less than the diameter of locking section 323 ' 2.
The side of synchronous pulley 220 is arranged in mounting plate 322, and mounting plate 322 is fixed on peace in such a way that screw fastens
It fills on platform 120, when lead screw shaft 210 is vertically arranged, mounting plate 322 is horizontally disposed relative to lead screw shaft 210.Mounting base 321 is fixed
Being installed on mounting plate 322, i.e. nut 321 ' 1 is fixedly connected with mounting plate 322, and screw rod 321 ' 2 is threadedly engaged with nut 321 ' 1,
Forward and reverse rotary screw 321 ' 2, screw rod 321 ' 2 can be moved back and forth relative to nut 321 ' 1, the axis of screw rod 321 ' 2 with
The axis of lead screw shaft 210 is parallel, and the axis of screw rod 321 ' 2 is parallel with the axis of axis hole 110, the axis of screw rod 321 ' 2 with it is synchronous
The pivot center of belt wheel 220 is parallel.Screw rod 321 ' 2 is axially connect with the unlock section 323 ' 1 of locking rod 323, and locking section 323 ' 2 is sliding
Dynamic to be arranged in pin hole 140, pin hole 140 can be further ensured that the structural strength of locking section 323 ' 2.Synchronous piece 310 is fixed on together
The axial one end directed downwardly of belt wheel 220 is walked, synchronous piece 310 is extended in the radial direction of synchronous pulley 220, and relative to synchronization
Belt wheel 220 extends radially out, and the diameter that synchronous piece 310 rotates profile is greater than the diameter that synchronous pulley 220 rotates profile.
Fig. 3 is 320 unlocked state structural schematic diagram of the present embodiment retainer, the locking section of screw rod 321 ' 2 and locking rod 323
323 ' 2 are located at about 310 two sides of synchronous piece, the corresponding synchronous piece 310 of the unlock section 323 ' 1 of locking rod 323, locking rod 323
Unlock section 323 ' 1 and synchronous piece 310 between have gap, synchronous piece 310 can follow synchronous pulley 220 rotate.
Fig. 4 is 320 lockup state structural schematic diagram of the present embodiment retainer, and rotary screw 321 ' 2, screw rod 321 ' 2 is separate
Synchronous piece 310 is mobile, and screw rod 321 ' 2 moves up in Fig. 4.Screw rod 321 ' 2 drives locking rod 323 to rotate, while driving locking
Bar 323 moves up, and 323 ' 2 part of locking section skids off pin hole 140 and is aligned with synchronous piece 310.323 ' 2 radius ratio solution of locking section
Lock 1 radius of section 323 ' is big, is T, the unlock section of locking rod 323 by 323 ' 2 radius of locking section and the difference for unlocking 1 radius of section 323 '
There is gap to be defined as t, T is greater than t between 323 ' 1 and synchronous piece 310；Or, retainer 320 has the outer of block synchronous piece 310
Profile position, the linear distance at the outer profile position to 310 pivot center of synchronous piece are less than half that synchronous piece 310 rotates profile
Diameter.After locking section 323 ' 2 is aligned with synchronous piece 310, locking section 323 ' 2 can stop synchronous piece 310 to rotate, thus limits synchronization
Belt wheel 220 rotates, and prevents lead screw shaft 210 mobile.
Refering to what is shown in Fig. 6, synchronous piece 310 can be gear structure in the present embodiment, synchronous piece 310 has at least one
The synchronous gear teeth 311, synchronous piece 310 and synchronous pulley 220 are coaxially connected, and the outer diameter of synchronous piece 310 is greater than the outer of synchronous pulley 220
Diameter, when the locking section 323 ' 2 of locking rod 323 is on the rotation path of the synchronous gear teeth 311, locking section 323 ' 2 can limit synchronization
The gear teeth 311 rotate.One, two or more, synchronous piece 310 and any one synchronous pulley 220 has can be set in synchronous pulley 220
Connection.
With reference to shown in Fig. 7-8, Fig. 7 is 320 unlocked state structural schematic diagram of retainer；Fig. 8 is 320 locking shape of retainer
State structural schematic diagram.Nut 321 ' 1 is mounted on mounting plate 322, and the corresponding nut 321 ' 1 of mounting plate 322 opens up hole.Screw rod
321 ' 2 and nut 321 ' 1 match, screw rod 321 ' 2 relative to vertical mounting plate 322, and screw rod 321 ' 2 by hole through peace
Loading board 322, screw rod 321 ' 2 axially connect the unlock section 323 ' 1 of locking rod 323, and screw rod 321 ' 2 can also connect in the present embodiment
Swingle 321 ' 3 facilitates the rotation of screw rod 321 ' 2, and forward and reverse rotary screw 321 ' 2, screw rod 321 ' 2 can drive locking rod
323 do reciprocating linear movement.Screw pitch in settable nut 321 ' 1 makes 3 half rotation of swingle 321 ' realize locking section 323 ' 2
Switching with unlock section 323 ' 1 relative to synchronous piece 310.
In the present solution, limited block 230 limits lead screw shaft 210 in the axial ends mountable limited block 230 of lead screw shaft 210
Mobile extreme position, it is convenient that the lead screw shaft 210 for being moved to extreme position is operated.Mounting base 321 is as drive locking
The force piece that bar 323 moves linearly, mounting base 321 may be provided above or below synchronous piece 310.The driving of mounting base 321
Portion is manual 321 ' 1 structure of feed screw nut, i.e. 2 fit structure of nut 321 ' 1 and screw rod 321 '.The driving portion of mounting base 321 is also
It can be the straight line dynamic structure of electric control, such as electromagnetic elasticity structure, electric-controlled hydraulic structure or automatically controlled screw structure.In lead screw shaft
In 210 installation processes, since lead screw shaft 210 is not connect with the synchronous motor with brake, first synchronous piece 310 is fixedly connected
The synchronous pulley 220 of lead screw shaft 210 to be replaced or to be installed, then installs retainer 320 on forearm, and retainer 320 is arranged
For lockup state, the lead screw splined member 200 with synchronous piece 310 is mounted in small arm body 100, when 310 turns of synchronous piece
When moving to the locking section 323 ' 2 of locking rod 323, the rotation of 323 limits synchronization part 310 of locking rod prevents lead screw shaft 210 from making in gravity
It is fallen with lower rotation and causes collision, guaranteed the precision of lead screw splined member 200, improve the safety and convenience of forearm structure.
The present embodiment also provides a kind of robot, including above-mentioned forearm structure.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of robot forearm structure, including small arm body (100), lead screw shaft (210) and it is connect with the lead screw shaft (210)
Synchronous pulley (220), the lead screw shaft (210) is rotatably connected the small arm body (100), which is characterized in that further includes
Latch assembly (300), the latch assembly (300) include synchronous piece (310) and retainer (320)；
The synchronous piece (310) connects the synchronous pulley (220), and rotates with the synchronous pulley (220), the retainer
(320) the small arm body (100) is connected, the retainer (320) is used to limit the rotation of the synchronous piece (310).
2. robot forearm structure according to claim 1, which is characterized in that the retainer (320) has mounting base
(321) and removable installation is in the locking rod (323) of the mounting base (321)；
The mounting base (321) is fixedly connected with the small arm body (100), passes through the movement locking rod (323), switching pair
The locking of the synchronous piece (310) and unlock.
3. robot forearm structure according to claim 2, which is characterized in that the mounting base (321) has driving portion,
The driving portion is for driving the locking rod (323) to move back and forth.
4. robot forearm structure according to claim 3, which is characterized in that the driving portion includes mutually matched spiral shell
Female (321 ' 1) and screw rod (321 ' 2), the nut (321 ' 1) are fixedly connected with the small arm body (100).
5. robot forearm structure according to claim 2, which is characterized in that the axis of the locking rod (323) and institute
The pivot center for stating synchronous pulley (220) is parallel.
6. robot forearm structure according to claim 3, which is characterized in that the locking rod (323) have it is axial according to
The diameter of the unlock section (323 ' 1) and locking section (323 ' 2) of secondary setting, unlock section (323 ' 1) is less than the locking section
(323 ' 2) diameter；
By moving axially the locking rod (323), be switched to the unlock section (323 ' 1) be aligned synchronous piece (310) or with
The locking section (323 ' 2) is aligned the synchronous piece (310), switches unlock or the locking to the synchronous piece (310) with this.
7. robot forearm structure according to claim 6, which is characterized in that the retainer (320) further includes and institute
The mounting plate (322) that mounting base (321) is fixedly connected is stated, the small arm body (100) is provided with for installing the mounting plate
(322) erecting bed (120).
8. robot forearm structure according to claim 6, which is characterized in that described in the small arm body (100) is corresponding
Locking rod (323) is provided with boss (130), and the boss (130) is provided with the pin for slidably limiting the locking section (323 ' 2)
Hole (140).
9. robot forearm structure according to claim 1, which is characterized in that the synchronous piece (310) is gear structure,
And there is at least one to synchronize the gear teeth (311), the retainer (320) is by the gear teeth (311) synchronous described in block to limit
State the rotation of synchronous pulley (220).
10. robot forearm structure according to claim 1, which is characterized in that the synchronous piece (310) is arranged described
The end of synchronous pulley (220) axial direction, and the synchronous piece (310) outer diameter is greater than the synchronous pulley (220) outer diameter.
11. robot forearm structure according to claim 1, which is characterized in that the retainer (320) has block institute
The outer profile position of synchronous piece (310) is stated, the linear distance of the outer profile position to the synchronous piece (310) pivot center is less than
Synchronous piece (310) outer diameter.
12. a kind of robot, including any forearm structure of claim 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651507.6A CN110421548A (en) | 2019-07-18 | 2019-07-18 | Robot forearm structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651507.6A CN110421548A (en) | 2019-07-18 | 2019-07-18 | Robot forearm structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110421548A true CN110421548A (en) | 2019-11-08 |
Family
ID=68411137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910651507.6A Pending CN110421548A (en) | 2019-07-18 | 2019-07-18 | Robot forearm structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110421548A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248028A (en) * | 2020-09-10 | 2021-01-22 | 珠海格力电器股份有限公司 | Articulated arm structure and robot |
| CN117245639A (en) * | 2023-11-08 | 2023-12-19 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm with self-locking function, control method and robot |
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| JP2015147286A (en) * | 2014-02-10 | 2015-08-20 | 株式会社アイエイアイ | actuator and robot |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN109366522A (en) * | 2018-11-13 | 2019-02-22 | 国机智能(苏州)有限公司 | A kind of method that joint of robot avoids normal danger starting |
| CN109895080A (en) * | 2019-04-25 | 2019-06-18 | 珠海格力电器股份有限公司 | SCARA robot forearm structure and SCARA robot |
| CN210633663U (en) * | 2019-07-18 | 2020-05-29 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
-
2019
- 2019-07-18 CN CN201910651507.6A patent/CN110421548A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015147286A (en) * | 2014-02-10 | 2015-08-20 | 株式会社アイエイアイ | actuator and robot |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN109366522A (en) * | 2018-11-13 | 2019-02-22 | 国机智能(苏州)有限公司 | A kind of method that joint of robot avoids normal danger starting |
| CN109895080A (en) * | 2019-04-25 | 2019-06-18 | 珠海格力电器股份有限公司 | SCARA robot forearm structure and SCARA robot |
| CN210633663U (en) * | 2019-07-18 | 2020-05-29 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248028A (en) * | 2020-09-10 | 2021-01-22 | 珠海格力电器股份有限公司 | Articulated arm structure and robot |
| CN112248028B (en) * | 2020-09-10 | 2022-04-01 | 珠海格力电器股份有限公司 | Articulated arm structure and robot |
| CN117245639A (en) * | 2023-11-08 | 2023-12-19 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm with self-locking function, control method and robot |
| CN117245639B (en) * | 2023-11-08 | 2024-04-23 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm with self-locking function, control method and robot |
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