CN113414759A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN113414759A CN113414759A CN202110749722.7A CN202110749722A CN113414759A CN 113414759 A CN113414759 A CN 113414759A CN 202110749722 A CN202110749722 A CN 202110749722A CN 113414759 A CN113414759 A CN 113414759A
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- CN
- China
- Prior art keywords
- robot
- base flange
- mechanical arm
- speed reducer
- motor
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- 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
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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
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a robot, wherein, the robot includes: a base flange for mounting a first motor; a first speed reducer connected to the first motor; a first robot arm connected to the first reduction gear; and the force transfer mechanism is connected with the base flange and the first mechanical arm so as to transfer the acting force on the first speed reducer to the base flange. The robot can directly transfer the bending moment and the centrifugal force borne by the first speed reducer to the base flange through the force transfer mechanism, so that the bending moment and the centrifugal force borne by the first speed reducer are reduced, and the service life of the speed reducer is prolonged to a certain extent.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot.
Background
A first speed reducer of the SCARA (horizontal multi-joint) industrial robot generally uses a harmonic speed reducer, and the connection mode is that a first mechanical arm is connected with an outer ring of a rigid bearing of the first speed reducer, and a base flange is connected with a steel wheel of the first speed reducer. The first reduction gear is thus subjected to both torque and bending moments and centrifugal forces, which considerably reduces the reduction gear life. When the robot moves, due to the action of bending moment, centrifugal force and the like, parts such as the base flange, the first speed reducer and the like can generate certain deformation, so that the speed reducer wave generator and the speed reducer flexible gear generate eccentricity, the harmonic speed reducer flexible gear and the steel gear are meshed abnormally, vibration noise is generated, and the service life is prolonged.
In order to overcome the defects of the prior art, a robot needs to be provided.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a robot, which can directly transfer the bending moment and the centrifugal force borne by a first speed reducer to a base flange through a force transfer mechanism, so that the bending moment and the centrifugal force borne by the first speed reducer are reduced, and the service life of the speed reducer is prolonged to a certain extent.
The application provides a robot, wherein, the robot includes:
a base flange for mounting a first motor;
a first speed reducer connected to the first motor;
a first robot arm connected to the first reduction gear; and the force transfer mechanism is connected with the base flange and the first mechanical arm so as to transfer the acting force on the first speed reducer to the base flange.
In one possible embodiment, the force transfer mechanism comprises:
the first mechanical arm fixing ring is sleeved on the outer side of the base flange and can be in rotating connection with the base flange, and the first mechanical arm fixing ring is fixedly connected with the first mechanical arm.
In a possible embodiment, the force transfer mechanism further includes a rolling member, wherein a first rolling groove is formed in an inner side wall of the first arm fixing ring, a second rolling groove corresponding to the first rolling groove is formed in an outer side wall of the base flange, and the rolling member is matched with the first rolling groove and the second rolling groove.
In a possible embodiment, the base flange includes a flange plate and a hollow cylinder protruding from the flange plate, and the second rolling groove is opened on an outer wall of the hollow cylinder.
In one possible embodiment, the force transfer mechanism further comprises: and the elastic washer is arranged between the first mechanical arm and the first mechanical arm fixing ring.
In one possible embodiment, the first robot arm, the elastic washer, and the first robot arm fixing ring are connected by a bolt.
In a possible embodiment, the first arm is provided with a first through hole, the elastic washer is provided with a second through hole, the first arm fixing ring is provided with an opening, and the bolt sequentially passes through the first through hole, the second through hole and the opening to connect the first arm, the elastic washer and the first arm fixing ring.
In one possible embodiment, the base further comprises a base, wherein the base is connected with the base flange to support the base flange.
In a possible embodiment, the first mechanical arm is further provided with a second speed reducer, and the second motor is connected with the second mechanical arm through the second speed reducer.
In one possible embodiment, the second robot arm is provided with a third motor and a fourth motor which are independent of each other, wherein the third motor is connected to the ball screw spline body shaft through a first timing belt so as to move the ball screw spline body shaft up and down, and the fourth motor is connected to the ball screw spline body shaft through a second timing belt, an intermediate shaft assembly and a third timing belt in sequence so as to drive the ball screw spline body shaft to rotate.
The features mentioned above can be combined in various suitable ways or replaced by equivalent features as long as the object of the invention is achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings, in which:
FIG. 1 shows a schematic view of a robot of the present invention;
FIG. 2 shows an enlarged view of section A of FIG. 1;
fig. 3 shows a schematic view of the elastic gasket of the present invention in a first operating condition;
fig. 4 shows a schematic view of the elastic gasket of the present invention in a second operating condition;
FIG. 5 shows a schematic view of a stand flange of the present invention;
FIG. 6 shows a schematic view of the elastomeric gasket of the present invention; and
fig. 7 shows a schematic view of a first robot arm securing ring of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Reference numerals:
1-a machine base;
2-a first electric machine;
3-a machine base flange, 31-a second rolling groove;
4-a first mechanical arm fixing ring, 41-an opening, 42-a first rolling groove;
5-rolling the piece;
6-elastic washer, 61-second through hole;
7-a first robot arm;
8-a first reducer;
9-bolt;
10-bolt;
11-a bolt;
12-a bolt;
13-a second reducer;
14-a second electric machine;
15. a fourth motor;
16-a mid-shaft assembly;
17-a third motor;
18-a second synchronous belt;
19-a third synchronous belt;
20-a first synchronization belt;
21-a second mechanical arm;
22-ball screw spline integral shaft.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the present application provides a robot, and particularly, as shown in fig. 1 to 7, the robot of the present invention includes: the device comprises a base flange 3, a first speed reducer 8, a first mechanical arm 7 and a force transfer mechanism, wherein the base flange 3 is used for mounting a first motor 2, the first speed reducer 8 is connected with the first motor 2, and the first mechanical arm 7 is connected with the first speed reducer 8; and the force transfer mechanism is connected with the base flange 3 and the first mechanical arm 7 so as to transfer the acting force on the first speed reducer 8 to the base flange 3.
Specifically, in the prior art, in a general robot, a first mechanical arm is connected to a first speed reducer, which is in turn connected to a base flange. In the connection mode, the first speed reducer bears all bending moments generated by the loads of the first mechanical arm and the tail end body of the first mechanical arm and centrifugal force generated during movement, and the service life of the first speed reducer is reduced to a certain extent by the bending moments and the centrifugal force; on the other hand, the connection positions of the first mechanical arm, the base flange and the first speed reducer are deformed by bending moment and centrifugal force, so that a wave generator of the first speed reducer is eccentric, a flexible gear and a steel gear of the first speed reducer are meshed abnormally, vibration noise is generated, and meanwhile, the service life of the speed reducer is also shortened due to the meshing abnormality of the flexible gear and the steel gear.
The robot directly transfers the acting force such as bending moment and centrifugal force borne by the first speed reducer 8 to the base flange 3 through the force transfer mechanism, so that the bending moment and the centrifugal force borne by the first speed reducer 8 are reduced, the service life of the speed reducer is prolonged to a certain extent, part deformation caused by the bending moment and the centrifugal force is reduced, the eccentricity of a wave generator is weakened, and vibration noise caused by abnormal meshing of a flexible gear and a steel gear of the speed reducer is avoided.
Specifically, the force transfer mechanism includes: the first mechanical arm fixing ring 4 is sleeved on the outer side of the base flange 3 and can be rotatably connected with the base flange 3, and the first mechanical arm fixing ring 4 is fixedly connected with the first mechanical arm 7. In addition, the force transfer mechanism further includes a rolling member 5 (also referred to as a roller), wherein the inner side wall of the first arm fixing ring 4 is provided with a first rolling groove 42, the outer side wall of the base flange 3 is provided with a second rolling groove 31 corresponding to the first rolling groove 42, and the rolling member 5 is matched with the first rolling groove 42 and the second rolling groove 31.
Further, the force transfer mechanism further comprises: and the elastic washer 6 is arranged between the first mechanical arm 7 and the first mechanical arm fixing ring 4, and the elastic washer 6 is arranged between the first mechanical arm 7 and the first mechanical arm fixing ring 4.
Specifically, the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3 are in contact fit. The first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 are locked by a bolt 10 and can rotate around the base flange 3 through the rolling piece 5; during operation, the bending moment and the centrifugal force borne by the first speed reducer 8 (without the structure mentioned in the invention, the transmission process of the bending moment and the centrifugal force is the first mechanical arm 7 → the first speed reducer 8 → the machine base flange 3), and the bending moment and the centrifugal force can be applied to the machine base flange 3 through the first mechanical arm 7 → the first mechanical arm fixing ring 4 → the rolling piece 5 → the machine base flange 3, so that the effect of the centrifugal force and the bending moment on the first speed reducer 8 is weakened.
Specifically, the base flange 3 includes a flange 32 and a hollow cylinder 33 protruding from the flange 32, and the outer wall of the hollow cylinder 33 is provided with a second rolling groove 31.
The first mechanical arm 7 is provided with a first through hole, the elastic washer 6 is provided with a second through hole 61, the first mechanical arm fixing ring 4 is provided with an opening 41, and the bolt 10 sequentially penetrates through the first through hole, the second through hole 62 and the opening 41 to connect the first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4.
In one embodiment, the robot further comprises a base 1, the base 1 being connected to a base flange 3 for supporting the base flange 3.
Further, a second speed reducer 13 is further provided on the first robot arm 7, and the second motor 14 is connected to the second robot arm 21 through the second speed reducer 13. Further, a third motor 14 and a fourth motor 15 which are independent of each other are provided on the second robot arm 21, wherein the third motor 14 is connected to the ball screw spline body shaft 22 through a first synchronous belt 20 so as to move the ball screw spline body shaft 22 up and down, the fourth motor 15 is connected to the ball screw spline body shaft 22 sequentially through a second synchronous belt 18, an intermediate shaft assembly 16, and a third synchronous belt 19 (wherein, the second synchronous belt 16 and the third synchronous belt 19 of the present invention are connected to the intermediate shaft, the intermediate shaft has two belt pulleys with different sizes and arranged concentrically, i.e., the same rotation center, one side of the second synchronous belt 18 is connected to the intermediate shaft assembly 16, the other side of the second synchronous belt 18 is connected to the fourth motor 18, one side of the third synchronous belt 19 is connected to the intermediate shaft assembly 16, and the other side of the third synchronous belt 19 is connected to the ball screw spline body shaft 22), to drive the ball screw splined unitary shaft 22 into rotational motion.
The device comprises a machine base 1, a first motor 2, a rolling piece 5, a first mechanical arm 7, a first speed reducer 8, a bolt 10, a second speed reducer 13, a second motor 14, a fourth motor 15, an intermediate shaft 16 and a third motor 17; the structures of the second timing belt 18, the third timing belt 19, the first timing belt 20, the second mechanical arm 21 and the ball screw spline integral shaft 22 are well known to those skilled in the art and will not be described in detail herein.
A specific embodiment of the robot of the present invention will now be described in detail with reference to fig. 1 to 7 to make the present invention clearer, which is not intended to limit the present invention.
The present invention will be described by taking a horizontal articulated robot (SCARA) as an example, but it is needless to say that the present invention may be a robot of other types, and is not limited herein.
The invention provides a SCARA robot, which comprises a first speed reducer stress transfer structure, wherein a first mechanical arm 7 is connected with a base flange 3 through a first mechanical arm fixing ring 4 (such as a first mechanical arm fixing steel ring), an elastic gasket 6 and a rolling piece 5, so that the effect of the centrifugal force and bending moment of the robot on a first speed reducer 8 is weakened, the vibration is reduced, and the service life is prolonged.
In the SCARA robot, the first speed reducer directly transfers bending moment and centrifugal force borne by the first speed reducer to the base flange through the stress transfer structure, and the SCARA robot has the advantages that on one hand, the bending moment and the centrifugal force borne by the first speed reducer are reduced, and the service life of the speed reducer of the harmonic speed reducer is prolonged to a certain extent; on the other hand, the eccentricity of the wave generator is reduced, abnormal meshing of a flexible gear and a steel gear of the harmonic speed reducer is avoided, vibration noise is reduced, and meanwhile the service life is prolonged.
In the best mode of the invention, as shown in fig. 1 and 2, a first mechanical arm fixing ring 4, a rolling piece 5 and a base flange 3 are in contact fit. The first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 are locked by a bolt 10, a first rolling groove 42 is formed in the inner side wall of the first mechanical arm fixing ring 4, a second rolling groove 31 corresponding to the first rolling groove 42 is formed in the outer side wall of the base flange 3, the rolling piece 5 is matched with the first rolling groove 42 and the second rolling groove 31, and the first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 can rotate around the base flange 3 through the rolling piece 5; during operation, the bending moment and the centrifugal force borne by the first speed reducer 8 can sequentially pass through the first mechanical arm 7, the first mechanical arm fixing steel ring 4, the rolling piece 5 and the base flange 3 and finally act on the base flange 3, so that the effect of the centrifugal force and the bending moment on the first speed reducer 8 is weakened.
As shown in fig. 3 and 4, the working mechanism of the elastic washer 6 is schematically illustrated. In general, the first arm 7, the elastic washer 6, and the first arm fixing ring 4 are locked by the bolt 10, and at this time, the thickness of the elastic washer is C (which may also be considered as the distance between the upper end surface of the first arm fixing ring 4 and the lower end surface of the first arm 7), and due to machining errors and the like, there is a gap (and/or play) between the roller 5 and the roller rolling grooves on the first arm fixing ring 4 and the stand flange 3, and as shown in fig. 3, the gap (and/or play) affects the force transfer between the first arm fixing ring 4 and the stand flange 3. The torque of the bolt 10 is increased, so that the first mechanical arm fixing steel ring 4 moves upwards l, the thickness of the elastic washer 6 is compressed to C-l, the relative position of the upper surface of the machine base flange 3 and the lower surface of the first mechanical arm 7 does not change before and after adjustment, the distance is constant to A, and as shown in figure 4, the roller 5 is in full contact with the first mechanical arm fixing ring 4 and the roller groove in the machine base flange 3.
As shown in fig. 5, which is a schematic structural diagram of the base flange 3, unlike a conventional base flange, the base flange 3 includes a flange 32 and a hollow cylinder 33 protruding from the flange 32, and a second rolling groove 31 is formed on an outer wall of the hollow cylinder 33.
As shown in fig. 6, which is a schematic structural view of the elastic washer 6, the elastic washer 6 is provided with a second through hole 61 for passing a bolt. The elastic gasket 6 can be a gasket of special structure and/or special material, and has the functions of: firstly, a gap between the first mechanical arm 7 and the first mechanical arm fixing ring 4 is avoided (if the gap exists between the first mechanical arm 7 and the first mechanical arm fixing ring, the force transfer between the first mechanical arm 7 and the first mechanical arm fixing ring is realized only through the bolt 10, and the reliability cannot be guaranteed); second, the clearance (and/or play) between the first robot collar 4, the stand flange 3 and the roller 5 is adjusted.
As shown in fig. 7, the first arm fixing ring 4 is configured such that a screw hole 41 is provided in the first arm fixing ring 4 to fix the first arm 7 and the elastic washer 6, and a first ball groove 42 (which may also be referred to as a ball groove) is provided inside the first arm fixing ring 4.
The roller grooves (the first roller groove 42 and the second roller groove 31) in fig. 6 and 7 do not necessarily have a circular arc shape, and the roller 5 does not necessarily have a spherical shape, and the most important functions are: the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3 are matched, and axial force and radial force can be transmitted among the first mechanical arm fixing ring 4, the rolling piece 5 and the base flange 3, so that transfer and transmission of bending moment and centrifugal force of the first speed reducer of the robot are realized.
In addition, the SCARA industrial robot of the present embodiment includes a base 1, a first motor 2, a first speed reducer 8, a first robot arm 7, a second speed reducer 13, a second motor 14, a second robot arm 21, a third motor 17, a fourth motor 15, a ball spline integrated shaft 22, a second timing belt 18, a third timing belt 19, a first timing belt 20, and a first robot arm ring 4, a roller 5, and an elastic washer 6; the first motor 2 is fixed on the base 1 through the base flange 3 (the first motor 2 is fixed on the base flange 3 through a bolt 12 for example, and the base flange 3 is fixed on the base 1 through a bolt 11 for example), the input end of the first speed reducer 8 is connected with the base flange 3, the output end is connected with the first mechanical arm 7 (the first speed reducer 8 and the first mechanical arm 7 are connected through a bolt 9 for example) and the first mechanical arm 7 rotates around the axis of the first motor 2 under the driving of the first motor 2 through the speed reducing action of the first speed reducer 8; the second motor 14 is fixed on the second mechanical arm 21, the input end of the second speed reducer 13 is connected with the second mechanical arm 21, the output end of the second speed reducer 13 is connected with the first mechanical arm 7, and the second mechanical arm 21 rotates around the axis of the second motor 14 through speed reduction of the second speed reducer 13 under the driving of the second motor 14; the third motor 17 is fixed on the second mechanical arm 21 and is driven by a third synchronous belt 20 to drive the ball screw spline integral shaft 22 to vertically move up and down; the fourth motor 15 is fixed on the second mechanical arm 21 and is driven by the second synchronous belt 18, the intermediate shaft assembly 16 and the third synchronous belt 19 to drive the ball screw spline integral shaft 22 to rotate; the third motor 17 and the fourth motor 15 are driven in combination to move the ball screw spline body shaft 22 as required. The first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 are locked by the bolt 10, and the first mechanical arm 7, the elastic washer 6 and the first mechanical arm fixing ring 4 can rotate around the base flange 3 through the rolling piece 5.
The SCARA robot of the present invention comprises: the first mechanical arm, the first mechanical arm fixing ring and the elastic washer are fixed together through bolts, and the first mechanical arm fixing ring and the base flange realize force transmission through the rollers. The clearance (and/or play) among the first mechanical arm fixing ring, the roller and the base flange is adjusted through the elastic washer, so that the first mechanical arm fixing ring, the roller and the base flange can be in close contact, and the force transmission is effectively realized; in the invention, the bending moment and the centrifugal force born by the first speed reducer are directly transmitted to the base flange through the first mechanical arm fixing ring and the roller. The beneficial effects are as follows: on one hand, the effect of bending moment and centrifugal force on the first speed reducer is reduced, and the service life of the first speed reducer is prolonged; on the other hand, the part deformation caused by bending moment and centrifugal force is reduced, the eccentricity of the wave generator is weakened, and the vibration noise caused by abnormal meshing of a flexible gear and a steel gear of the harmonic speed reducer is avoided.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A robot, characterized in that the robot comprises:
a base flange for mounting a first motor;
a first speed reducer connected to the first motor;
a first robot arm connected to the first reduction gear; and
and the force transfer mechanism is connected with the base flange and the first mechanical arm so as to transfer the acting force on the first speed reducer to the base flange.
2. The robot of claim 1, wherein the force transfer mechanism comprises:
the first mechanical arm fixing ring is sleeved on the outer side of the base flange and can be in rotating connection with the base flange, and the first mechanical arm fixing ring is fixedly connected with the first mechanical arm.
3. The robot of claim 2, wherein the force transfer mechanism further comprises a roller, wherein a first roller slot is formed on an inner side wall of the first arm fixing ring, a second roller slot corresponding to the first roller slot is formed on an outer side wall of the base flange, and the roller is matched with the first roller slot and the second roller slot.
4. The robot of claim 3, wherein the base flange includes a flange plate and a hollow cylinder protruding from the flange plate, and the second rolling groove is formed in an outer wall of the hollow cylinder.
5. The robot of claim 2, wherein the force transfer mechanism further comprises: and the elastic washer is arranged between the first mechanical arm and the first mechanical arm fixing ring.
6. The robot of claim 5, wherein the first robot arm, the resilient washer, and the first robot arm securing ring are bolted together.
7. The robot of claim 6, wherein the first arm has a first through hole, the elastic washer has a second through hole, the first arm fixing ring has an opening, and the bolt sequentially passes through the first through hole, the second through hole, and the opening to connect the first arm, the elastic washer, and the first arm fixing ring.
8. A robot as claimed in any of claims 1 to 7, further comprising a base interfacing with the base flange to support the base flange.
9. The robot according to claim 8, wherein the first robot arm is further provided with a second speed reducer, and the second motor is connected to the second robot arm through the second speed reducer.
10. The robot according to claim 9, wherein the second robot arm is provided with a third motor and a fourth motor which are independent of each other, the third motor is connected to the ball screw spline body shaft through a first timing belt so as to move the ball screw spline body shaft up and down, and the fourth motor is connected to the ball screw spline body shaft through a second timing belt, a middle shaft assembly, and a third timing belt in sequence so as to drive the ball screw spline body shaft to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110749722.7A CN113414759B (en) | 2021-07-02 | 2021-07-02 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110749722.7A CN113414759B (en) | 2021-07-02 | 2021-07-02 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113414759A true CN113414759A (en) | 2021-09-21 |
| CN113414759B CN113414759B (en) | 2023-07-04 |
Family
ID=77720113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110749722.7A Active CN113414759B (en) | 2021-07-02 | 2021-07-02 | Robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113414759B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454210A (en) * | 2022-03-24 | 2022-05-10 | 珠海格力电器股份有限公司 | Horizontal multi-joint robot |
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| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| JP2010076024A (en) * | 2008-09-25 | 2010-04-08 | Seiko Epson Corp | Wrist shaft rotating and driving mechanism for scara robot |
| CN102001095A (en) * | 2009-09-03 | 2011-04-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN103802090A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Dual-arm carrying manipulator |
| CN108839012A (en) * | 2018-08-07 | 2018-11-20 | 上海大学 | A kind of sixdegree-of-freedom simulation |
| CN210910088U (en) * | 2019-10-23 | 2020-07-03 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
| CN111409064A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | Three-axis and four-axis joint structure of SCARA robot and SCARA robot |
| CN112847427A (en) * | 2021-02-02 | 2021-05-28 | 昆明理工大学 | Five-degree-of-freedom folding mechanical arm |
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2021
- 2021-07-02 CN CN202110749722.7A patent/CN113414759B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| JP2010076024A (en) * | 2008-09-25 | 2010-04-08 | Seiko Epson Corp | Wrist shaft rotating and driving mechanism for scara robot |
| CN102001095A (en) * | 2009-09-03 | 2011-04-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN103802090A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Dual-arm carrying manipulator |
| CN108839012A (en) * | 2018-08-07 | 2018-11-20 | 上海大学 | A kind of sixdegree-of-freedom simulation |
| CN210910088U (en) * | 2019-10-23 | 2020-07-03 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
| CN111409064A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | Three-axis and four-axis joint structure of SCARA robot and SCARA robot |
| CN112847427A (en) * | 2021-02-02 | 2021-05-28 | 昆明理工大学 | Five-degree-of-freedom folding mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454210A (en) * | 2022-03-24 | 2022-05-10 | 珠海格力电器股份有限公司 | Horizontal multi-joint robot |
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| Publication number | Publication date |
|---|---|
| CN113414759B (en) | 2023-07-04 |
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