CN103692450A - Robotic arm joint part for planar joint type robots - Google Patents
Robotic arm joint part for planar joint type robots Download PDFInfo
- Publication number
- CN103692450A CN103692450A CN201310614434.6A CN201310614434A CN103692450A CN 103692450 A CN103692450 A CN 103692450A CN 201310614434 A CN201310614434 A CN 201310614434A CN 103692450 A CN103692450 A CN 103692450A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- speed reducer
- robotic arm
- harmonic speed
- servomotor
- 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
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a robotic arm joint part for planar joint type robots, which comprises a first robotic arm, a harmonic reducer, an Oldham coupling, a second robotic arm and a servomotor, the first robotic arm is tightly and fixedly connected with the flexible gear of the harmonic reducer through screws, the second robotic arm is tightly and fixedly connected with the rigid gear of the harmonic reducer through screws, the servomotor is fixedly mounted on the second robotic arm through screws, and the motor shaft of the servomotor is tightly and fixedly connected with the wave generator of the harmonic reducer through the Oldham coupling and can drive the wave generator to rotate by means of the Oldham coupling. The robotic arm joint part can greatly reduce the inertia of the robotic arm of an industrial robot, improve the stress of the robotic arm as a cantilever and effectively increase the running speed and control stability of the robot.
Description
Technical field
The present invention relates to a kind of four-degree-of-freedom plane articulation type industrial robot, be specifically related to a kind of robot arm joint component, its second mechanical arm can rotate along horizontal plane with respect to the first mechanical arm.
Background technology
In recent ten years, robotics development is very fast, and the robot of various uses extensively obtains application in every field.Industrial Robot Technology is as the important branch of modern science and technology, and he has related to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology at present a lot of fields.Industrial Robot Technology also combines the multi-door most advanced and sophisticated subjects such as mechanical engineering, electrical engineering, microelectronic engineering, computer engineering, Control Engineering, bionics and artificial intelligence engineering.By the application that combines of it and computer aided design system, computer aided manufacture system, be the latest development trend of modern manufacturing industry automation.
As four-degree-of-freedom selective compliance assembly robot arm, in general, certainly expectation reduces the inertia of this selective compliance assembly robot arm's mechanical arm, and the stressing conditions while improving mechanical arm as cantilever beam is also expected that this selective compliance assembly robot arm is simple in structure, positioning precision is high and installs easy to assembly simultaneously.
Summary of the invention
Technical problem for above-mentioned proposition, the object of the present invention is to provide a kind of novel four-degree-of-freedom selective compliance assembly robot arm joint of mechanical arm parts, can reduce the inertia of selective compliance assembly robot arm's mechanical arm, also can make selective compliance assembly robot arm's joint of mechanical arm modular construction simple easy to assembly with installation.
To achieve these goals, the present invention adopts following technical scheme:
Selective compliance assembly robot arm's joint of mechanical arm parts, comprise the first mechanical arm, harmonic speed reducer, sliding cross coupling, the second mechanical arm and servomotor, described the first mechanical arm is fixedly connected with by screw with the flexbile gear of harmonic speed reducer, the second mechanical arm is fixedly connected with by screw with the firm wheel of harmonic speed reducer, servomotor is fixedly mounted on the second mechanical arm by screw, the motor shaft of servomotor is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer, motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer and the side set of just having taken turns, move, the second mechanical arm of installing on harmonic speed reducer, the central part of harmonic speed reducer of take rotates with respect to the first mechanical arm as center of rotation drives the part on the second mechanical arm and the second mechanical arm under the effect of servomotor.
Further, described screw is hexagon socket cap head screw.
Described decelerator is a kind of harmonic speed reducer, simple in structure, number of components is few, easy for installation, it only has three basic building blocks, and input and output shaft coaxial line, so simple in structure, easy for installation; Volume is little, lightweight, can reduce greatly like this inertia of this industrial robot mechanical arm, the stressing conditions while improving mechanical arm as cantilever beam.
The motor shaft of described servomotor is directly connected with the wave producer of harmonic speed reducer, the flexbile gear of described harmonic speed reducer is directly connected with the first mechanical arm, the advantage of this conduction pattern: the inertia that driving-chain compact conformation is simple, reduce mechanical arm, install easy to assemblyly, meet development trend.
The motor shaft of described servomotor is directly connected with the wave producer of harmonic speed reducer, the flexbile gear of described harmonic speed reducer is directly connected with the first mechanical arm, the advantage of this conduction pattern: the inertia that driving-chain compact conformation is simple, reduce mechanical arm, install easy to assembly.
Tool of the present invention has the following advantages: adopt harmonic speed reducer as its deceleration device, simultaneously again can be as support component, and driving-chain compact conformation is simple, meets development trend, and servomotor is placed near joint, can reduce the inertia of mechanical arm.
Accompanying drawing explanation
Fig. 1 is the front-view schematic diagram of robot arm joint component.
Fig. 2 is the cross-sectional schematic of robot arm joint component.
Fig. 3 is the perspective view of robot arm joint component.
Fig. 4 is the overall schematic of the robot of applied robot's joint of mechanical arm parts.
In figure: 1. the first mechanical arm; 2. screw; 3. harmonic speed reducer; 4. servomotor; 5. the second mechanical arm.
The specific embodiment
In order to understand better the present invention, with word, by reference to the accompanying drawings the present invention is further described below.
As shown in Figure 1, selective compliance assembly robot arm's joint of mechanical arm parts, comprise the first mechanical arm 1, harmonic speed reducer 3, sliding cross coupling, the second mechanical arm 5 and servomotor 4, described the first mechanical arm 1 is fixedly connected with by screw 2 with the flexbile gear of harmonic speed reducer 3, the second mechanical arm 5 is fixedly connected with by screw 2 with the firm wheel of harmonic speed reducer 3, servomotor 4 is fixedly mounted on the second mechanical arm 5 by screw 2, the motor shaft of servomotor 4 is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer 3, motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer 3 and the side set of just having taken turns, move, the second mechanical arm 5 of installing on harmonic speed reducer 3, the central part of harmonic speed reducer 3 of take rotates with respect to the first mechanical arm 1 as center of rotation drives part on the second mechanical arm 5 and the second mechanical arm 5 under the effect of servomotor 4.
Further, described screw 2 is hexagon socket cap head screw.
What the decelerator in the present invention adopted is harmonic speed reducer 3, it comprises by sliding cross coupling and is connected in the wave producer of motor shaft, the flexbile gear that is fixed on the firm wheel on harmonic speed reducer 3 bodies and is connected in mechanical arm, and the speed reducing ratio of the harmonic speed reducer in the present invention is 50:1.
The above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.
Claims (2)
1. selective compliance assembly robot arm's joint of mechanical arm parts, it is characterized in that: comprise the first mechanical arm (1), harmonic speed reducer (3), sliding cross coupling, the second mechanical arm (5) and servomotor (4), described the first mechanical arm (1) is fixedly connected with by screw (2) with the flexbile gear of harmonic speed reducer (3), the second mechanical arm (5) is fixedly connected with by screw (2) with the firm wheel of harmonic speed reducer (3), servomotor (4) is fixedly mounted on the second mechanical arm (5) by screw (2), the motor shaft of servomotor (4) is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer (3), motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer (3) and the just side set motion of wheel, the second mechanical arm (5) of installing on harmonic speed reducer, the central part of harmonic speed reducer (3) of take rotates with respect to the first mechanical arm (1) as center of rotation drives the part on the second mechanical arm (5) and the second mechanical arm (5) under the effect of servomotor (4).
2. selective compliance assembly robot arm's joint of mechanical arm parts according to claim 1, is characterized in that: described screw (2) is hexagon socket cap head screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310614434.6A CN103692450A (en) | 2013-11-28 | 2013-11-28 | Robotic arm joint part for planar joint type robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310614434.6A CN103692450A (en) | 2013-11-28 | 2013-11-28 | Robotic arm joint part for planar joint type robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103692450A true CN103692450A (en) | 2014-04-02 |
Family
ID=50354196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310614434.6A Pending CN103692450A (en) | 2013-11-28 | 2013-11-28 | Robotic arm joint part for planar joint type robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103692450A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107433214A (en) * | 2017-08-17 | 2017-12-05 | 成都润伯科技有限公司 | A kind of full-automatic liquor removing workstation and its liquid relief control method |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN109807928A (en) * | 2017-11-21 | 2019-05-28 | 沈阳新松机器人自动化股份有限公司 | A kind of internal-circulation type lubrication self-cleaning mechanism |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63180751A (en) * | 1987-01-19 | 1988-07-25 | Mitsubishi Electric Corp | Harmonic speed reducer |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN201586973U (en) * | 2010-01-05 | 2010-09-22 | 浙江大学 | Punch feeding and blanking robot |
| CN101913151A (en) * | 2010-08-26 | 2010-12-15 | 哈尔滨工业大学 | Ontract replaceable joint of large space service robot |
| US20110048157A1 (en) * | 2009-09-03 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. | Mechanical arm assembly |
| CN102085667A (en) * | 2009-12-04 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN202684927U (en) * | 2012-05-23 | 2013-01-23 | 深圳众为兴技术股份有限公司 | High-precision joint mechanism of robot |
| CN203875898U (en) * | 2013-11-28 | 2014-10-15 | 华南理工大学 | Mechanical arm joint part of selective compliance assembly robot |
-
2013
- 2013-11-28 CN CN201310614434.6A patent/CN103692450A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63180751A (en) * | 1987-01-19 | 1988-07-25 | Mitsubishi Electric Corp | Harmonic speed reducer |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| US20110048157A1 (en) * | 2009-09-03 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. | Mechanical arm assembly |
| CN102085667A (en) * | 2009-12-04 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN201586973U (en) * | 2010-01-05 | 2010-09-22 | 浙江大学 | Punch feeding and blanking robot |
| CN101913151A (en) * | 2010-08-26 | 2010-12-15 | 哈尔滨工业大学 | Ontract replaceable joint of large space service robot |
| CN202684927U (en) * | 2012-05-23 | 2013-01-23 | 深圳众为兴技术股份有限公司 | High-precision joint mechanism of robot |
| CN203875898U (en) * | 2013-11-28 | 2014-10-15 | 华南理工大学 | Mechanical arm joint part of selective compliance assembly robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107433214A (en) * | 2017-08-17 | 2017-12-05 | 成都润伯科技有限公司 | A kind of full-automatic liquor removing workstation and its liquid relief control method |
| CN109807928A (en) * | 2017-11-21 | 2019-05-28 | 沈阳新松机器人自动化股份有限公司 | A kind of internal-circulation type lubrication self-cleaning mechanism |
| CN109807928B (en) * | 2017-11-21 | 2021-08-31 | 沈阳新松机器人自动化股份有限公司 | Internal circulation type lubricating self-cleaning mechanism |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103640028B (en) | A kind of selective compliance assembly robot arm's structure | |
| CN104708619B (en) | A kind of dynamic support Three Degree Of Freedom transfer robot | |
| CN105459109A (en) | Movable five-axis robot | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN103692450A (en) | Robotic arm joint part for planar joint type robots | |
| CN103753604B (en) | A kind of Modular Flexible jockey of dynamic adjustment rigidity | |
| CN101850519A (en) | Space five-freedom parallel machine tool | |
| US9126333B2 (en) | Robot joint and robot arm using the same | |
| CN106426135A (en) | Light modular robot driving joint | |
| CN101927491A (en) | Completely isotropic three-freedom degree spatial parallel robot mechanism | |
| CN103640015A (en) | Plane joint type robot wrist transmission part | |
| CN204992903U (en) | Two electric putter structures | |
| CN103302678B (en) | A kind of wrist joint of robot | |
| CN103101048B (en) | Three-freedom-degree parallel robot adjustable in arm length | |
| CN103395061B (en) | Reconfigurable module robotic system | |
| CN203636817U (en) | Wrist transmission component of selective compliance assembly robot arm | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN107738253A (en) | A kind of plane joint type robot wrist transmission part | |
| CN203875898U (en) | Mechanical arm joint part of selective compliance assembly robot | |
| CN103978483A (en) | Industrial joint robot body | |
| CN203092550U (en) | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod | |
| CN103978475A (en) | Industrial intelligent robot body | |
| CN206140499U (en) | SCARA robot | |
| CN108326840A (en) | Plane multi-joint type robot | |
| CN201744858U (en) | Spatial parallel machine tool with five-degree-of-freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140402 |