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Horizontal multi-joint robot

A horizontal multi-joint, robot technology, applied in the field of robotics, can solve the problems of reducing the robot's running speed and beat, increasing the weight and moment of inertia of the robot arm, etc., to reduce the weight and moment of inertia, improve the running speed and beat, and reduce the volume Effect

Pending Publication Date: 2020-04-03
NANJING ESTUN ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This patent solves the motion interference problem between the big arm and the forearm, but each driving motor of the robot is installed on each joint or in the forearm assembly, which increases the weight and moment of inertia of the robot arm and reduces the operation of the robot. tempo and tempo

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] Example 1 works like this:

[0061] The first motor 11 drives the first transmission shaft 222 to rotate through the first synchronous belt 15 and the first transmission pulley 226, and drives the driving arm 3 to rotate around the J1 axis; the driving arm 3 drives the small arm assembly 5 to rotate around the J2 axis through the attached rod 31.

[0062] The second motor 12 drives the second transmission shaft 223 to rotate through the second synchronous belt 16 and the second transmission pulley 227, and drives the boom assembly 4 to rotate around the J1 axis.

[0063] The third motor 13 drives the third transmission shaft 224 to rotate through the third synchronous belt 17 and the third transmission pulley 228. The arm driven pulley 441, the second connecting shaft 72, the first small arm driving pulley 54, the first small arm synchronous belt 52, and the first small arm driven pulley 541 drive the lifting nut 62 to rotate, and drive the execution shaft 61 to move up...

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Abstract

The invention discloses a horizontal multi-joint robot which comprises a base, a large arm component, a small arm component and an action shaft, wherein the base comprises a pedestal and an arm cylinder; a driving unit is arranged in the pedestal; a transmission unit is arranged in the arm cylinder; the large arm component is connected with the pedestal through the arm cylinder and can rotate around the axis J1; a driving arm is arranged between the large arm component and the arm cylinder and rotates around the axis J1; the front end of the driving arm is connected with an attached rod; the other end of the attached rod is connected with the small arm component; the small arm component rotates around an axis J2 under the driving of a planar four-link mechanism; and the action shaft is arranged at the other end of the small arm component and can rotate around an axis J3 and move up and down. The invention realizes low manufacturing cost and high-speed movement of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a horizontal multi-joint robot. Background technique [0002] Horizontal articulated robot SCARA (Selective Compliance Assembly Robot Arm) is a horizontal articulated robot with four axes and four degrees of freedom of motion: translational degrees of freedom in X, Y, and Z directions and rotational degrees of freedom around the Z axis . It has compliance in the X and Y directions, and has good rigidity in the Z-axis direction. The upper arm and the lower arm are two-bar structures in series, similar to human arms, which can be extended into a limited space for operations and then retracted. . Its first, second, and fourth axes have the characteristics of rotation, and the third axis has the characteristics of linear movement, and the third and fourth axes can be manufactured into a variety of different forms according to different work needs. Therefore, SCARA robots are widely...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10B25J9/12
CPCB25J9/06B25J9/104B25J9/126
Inventor 何杰凡秀敏吕健耿羚彪
Owner NANJING ESTUN ROBOTICS CO LTD
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