CN107972020A - Horizontal articulated industrial robot - Google Patents
Horizontal articulated industrial robot Download PDFInfo
- Publication number
- CN107972020A CN107972020A CN201711254229.8A CN201711254229A CN107972020A CN 107972020 A CN107972020 A CN 107972020A CN 201711254229 A CN201711254229 A CN 201711254229A CN 107972020 A CN107972020 A CN 107972020A
- Authority
- CN
- China
- Prior art keywords
- ball spline
- industrial robot
- horizontal
- swing arm
- articulated industrial
- 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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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
- B25J9/02—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
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of horizontal articulated industrial robot.The horizontal articulated industrial robot includes：Pedestal；Horizontal swing arm unit, is rotatably installed on pedestal；Ball spline leading screw positioning component, including ball spline lead screw shaft and for drive ball spline lead screw shaft horizontally rotate He or along horizontal swing arm unit short transverse move up and down driving device, driving device includes driven subassembly, driven subassembly is installed in ball spline lead screw shaft, and the one end of horizontal swing arm unit away from pedestal is fixed on by supporting rack, wherein, supporting rack includes support plate and supporting rod, they sup-port is in the bottom of support plate, ball spline lead screw shaft is threaded through in support plate and horizontal swing arm unit, driven subassembly is located at support plate, supporting rod and horizontal swing arm unit are enclosed and set in the space to be formed.Horizontal articulated industrial robot in the present invention easily assembles, and compact-sized, inertia is small, is easy to implement the lightweight of horizontal articulated industrial robot.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of horizontal articulated industrial robot.
Background technology
The horizontal articulated industrial robots of SCARA are suitable for plane positioning, are widely used to need at present efficient
Assembling, welding, sealing and numerous application fields such as carry, there is high rigidity, high accuracy, high speed, installation space is small, work is empty
Between it is big the advantages that, simultaneously because the component of composition is few, therefore it is relatively reliable to work, and safeguards simple.
The horizontal articulated robot maximum features of SCARA are at a high speed and high-precision.Therefore, the lightweight of its body construction is
The emphasis and difficult point of structure design.Since the SCARA robots speed of service is fast, positioning accuracy is high, to ensure that it is good that robot has
Good kinematics and dynamics performance designs, it is necessary to resolve robot architecture's design with driving-chain.In design basic machine knot
During structure, it is desirable to which structure is slim and graceful and compact, while also to make that robot body is light-weight, rigidity is good and inertia is small.
The content of the invention
It is a primary object of the present invention to provide a kind of horizontal articulated industrial robot, to solve water of the prior art
The problem of volume of flat articulated robot is big, weight is big, inertia is big.
To achieve these goals, the present invention provides a kind of horizontal articulated industrial robot, including：Pedestal；It is horizontal
Swing arm unit, horizontal swing arm unit are rotatably installed on pedestal；Ball spline leading screw positioning component, ball spline leading screw are determined
Hyte part includes ball spline lead screw shaft and for driving ball spline lead screw shaft to horizontally rotate He or along horizontal swing arm unit
The driving device that short transverse moves up and down, driving device include driven subassembly, and driven subassembly is installed on ball spline lead screw shaft
On, and the one end of horizontal swing arm unit away from pedestal is fixed on by supporting rack, wherein, supporting rack includes support plate and support
Bar, they sup-port are threaded through in support plate and horizontal swing arm unit in the bottom of support plate, ball spline lead screw shaft, driven group
Part is located at support plate, supporting rod and horizontal swing arm unit and encloses and set in the space to be formed.
Further, ball spline leading screw positioning component further includes the ball-screw spiral shell being set in ball spline lead screw shaft
Mother, ball-screw nut are directly anchored in support plate by the first fastener.
Further, ball spline leading screw positioning component further includes the ball spline spiral shell being set in ball spline lead screw shaft
Mother, sets on horizontal swing arm unit fluted, and ball spline nuts are fixed in groove by the second fastener.
Further, supporting rack is made using aluminum alloy materials.
Further, support plate is set square, and ball-screw nut, which is inscribed, to be fixed on set square, three angles of set square
It is both provided with rounded corner.
Further, horizontal swing arm unit includes：Large arm, the first end of large arm are installed in rotation on pedestal；Forearm,
The first end of forearm is installed in rotation on one end of the remote pedestal of large arm, and supporting rack and groove are arranged at the remote of forearm
One end of large arm.
Further, forearm includes strip plate and the reinforcing rib for being disposed around strip plate periphery, between reinforcing rib and strip plate
It is provided with diagonal bar.
Further, driving device further includes driving component, and driving component includes the first motor and the second motor, driven group
Part includes first pulley and the second belt wheel, and the first motor is drivingly connected by the first synchronous belt and first pulley, and the second motor leads to
Cross the second synchronous belt and the second belt wheel is drivingly connected.
Further, the first motor and the second motor are installed in forearm close to one end of large arm.
Further, horizontal articulated industrial robot further includes accurate planet-gear speed reducer, accurate planet-gear speed reducer
For slowing down to the second motor.
Apply the technical scheme of the present invention, since the ball spline lead screw shaft in the present invention is to be threaded through the support of supporting rack
On plate and horizontal swing arm unit, and for drive ball spline lead screw shaft rotate driving device slave unit be installed on by
Support plate, supporting rod and horizontal swing arm unit are enclosed and set in the space to be formed, during actual assembled, supporting rack hollow out
Space is big, and weight is small, for driven subassembly to be installed on to the structure of outside of supporting rack in the past, the level in the present invention
Multi-joint industrial robot is more prone to assemble, and compact-sized, light-weight, and inertia is small, is easily worked, and it is more to be easy to implement level
The lightweight of joint industrial robot, saves the processing and manufacturing cost of horizontal articulated industrial robot.
Brief description of the drawings
The accompanying drawings which form a part of this application are used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 diagrammatically illustrates the first stereogram of the horizontal articulated industrial robot of the present invention；
Fig. 2 diagrammatically illustrates the second stereogram of the horizontal articulated industrial robot of the present invention；
Fig. 3 diagrammatically illustrates the front view of the horizontal articulated industrial robot of the present invention；
Fig. 4 diagrammatically illustrates the side view of the horizontal articulated industrial robot of the present invention；
Fig. 5 diagrammatically illustrates the top view of the horizontal articulated industrial robot of the present invention；
Fig. 6 diagrammatically illustrates the front view of the end of the horizontal articulated industrial robot of the present invention；And
Fig. 7 diagrammatically illustrates the exploded view of the end of the horizontal articulated industrial robot of the present invention.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, pedestal；20th, horizontal swing arm unit；21st, large arm；22nd, forearm；221st, groove；23rd, the 3rd motor；30th, ball
Spline leading screw positioning component；31st, ball spline lead screw shaft；32nd, driving device；321st, first pulley；322nd, the second belt wheel；323、
First motor；324th, the second motor；325th, the first synchronous belt；326th, the second synchronous belt；33rd, ball spline nuts；34th, ball wire
Thick stick nut；40th, supporting rack；41st, support plate；42nd, supporting rod；50th, accurate planet-gear speed reducer；60th, cable；70th, cable support.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below with reference to the accompanying drawings and the present invention will be described in detail in conjunction with the embodiments.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so that presently filed embodiment described herein for example can be with except herein
Order beyond those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Be necessarily limited to those steps or the unit clearly listed, but may include not list clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For the ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Referring to shown in Fig. 1 to Fig. 7, according to an embodiment of the invention, there is provided a kind of horizontal articulated industrial robot, this
The horizontal articulated industrial robot of invention includes pedestal 10, horizontal swing arm unit 20 and ball spline leading screw positioning component
30。
Horizontal swing arm unit 20 is rotatably installed on pedestal 10；Ball spline leading screw positioning component 30 is spent including ball
Key lead screw shaft 31 and for driving ball spline lead screw shaft 31 to horizontally rotate He or the short transverse along horizontal swing arm unit 20
The driving device 32 of lower movement, driving device 32 include driven subassembly, and driven subassembly is installed in ball spline lead screw shaft 31, and
The horizontal one end of swing arm unit 20 away from pedestal 10 is fixed on by supporting rack 40, wherein, supporting rack 40 includes 41 He of support plate
Supporting rod 42, supporting rod 42 are supported on the bottom of support plate 41, and ball spline lead screw shaft 31 is threaded through support plate 41 and horizontal pendulum
On arm component 20, driven subassembly is located at support plate 41, supporting rod 42 and horizontal swing arm unit 20 and encloses and set in the space to be formed.
It is the support plate 41 for being threaded through supporting rack 40 and horizontal swing arm by ball spline lead screw shaft 31 in this present embodiment
On component 20, and for driving the slave unit of the driving device 32 of the rotation of ball spline lead screw shaft 31 to be installed on by support plate
41st, supporting rod 42 and horizontal swing arm unit 20 are enclosed and set in the space to be formed, and during actual assembled, supporting rack 40 is engraved
Absolutely empty big, weight is small, for driven subassembly to be installed on to the structure of outside of supporting rack 40 in the past, in the present embodiment
Horizontal articulated industrial robot be more prone to assemble, and compact-sized, light-weight, inertia is small, is easily worked, and is easy to implement
The lightweight of horizontal articulated industrial robot, saves the processing and manufacturing cost of horizontal articulated industrial robot.
Ball spline leading screw positioning component 30 in the present embodiment further includes the rolling being set in ball spline lead screw shaft 31
Screw nut 34, during installation, ball-screw nut 34 is directly anchored in support plate 41 by the first fastener, and then will rolling
Spline lead screw shaft 31 is installed in support plate 41, compact-sized, easy to reduce the body of whole horizontal articulated industrial robot
Product.Preferably, the first fastener in the present embodiment can be the structures such as screw, pin or bolt.
For the ease of the ball spline lead screw shaft 31 in the present embodiment is fixed on horizontal swing arm unit 20, the present embodiment
In ball spline leading screw positioning component 30 further include the ball spline nuts 33 being set in ball spline lead screw shaft 31, it is horizontal
Fluted 221 are set on swing arm unit 20, ball spline nuts 33 are directly anchored in groove 221 by the second fastener, into
And ball spline lead screw shaft 31 is installed on horizontal swing arm unit 20, by the way that ball spline nuts 33 are passed through in the present embodiment
Second fastener is directly anchored in groove 221, can further improve the horizontal articulated industrial robot in the present embodiment
Structural compactness, while reduce the weight of whole horizontal articulated industrial robot, it is whole horizontal articulated easy to reduce
The volume and weight of industrial robot, reduces the inertia of horizontal articulated industrial robot, and the level improved in the present embodiment is more
Joint industrial robot precision.Similarly, the second fastener in the present embodiment can also be the knot such as screw, pin or bolt
Structure.
Supporting rack 40 in the present embodiment is made using aluminum alloy materials, and not only volume compares tradition and wants light, but also
Part itself is simple in structure, convenient processing and manufacturing.
Preferably, the support plate 41 in the present embodiment is set square, and ball-screw nut 34 is inscribed on set square, and should
Three angles of set square are both provided with rounded corner, can be while the installation requirements of ball-screw nut 34 are met, maximum limit
Degree ground reduces the weight of whole support plate 41.As it can be seen that the ball spline lead screw shaft 31 in the present embodiment uses triangular support plate
41 lightweight supporting structure, ball spline nuts 33, which are mounted directly, to be fixed on horizontal swing arm unit 20.Horizontal swing arm unit
20 upper surfaces are fixed with 3 supporting rods 42, and 42 upper surface of supporting rod is connected with support plate 41.Ball-screw nut 34 is installed on branch
On fagging 41.31 supporting structure of ball spline lead screw shaft of the present invention is simple, occupied space very little, and very light in weight, installation letter
Singly, conveniently.
Further in conjunction with shown in Fig. 1 to Fig. 7, the horizontal swing arm unit 20 in the present embodiment includes large arm 21 and forearm 22, greatly
The first end of arm 21 is installed in rotation on pedestal 10, in order to drive large arm 21 to rotate, is set on the pedestal 10 in the present embodiment
Driving motor (not shown) is equipped with, it is simple in structure, it is reliable and stable.The first end of forearm 22 is installed in rotation on large arm 21
Remote pedestal 10 one end, easy to improve the range of movement of the horizontal articulated industrial robot in the present embodiment, specifically set
When putting, supporting rack 40 and groove 221 are arranged at one end of the remote large arm 21 of forearm 22, prevent horizontal articulated industrial machine
Interfered during people's work.
Preferably, forearm 22 includes strip plate and is disposed around the reinforcing rib of strip plate periphery in the present embodiment, reinforcing rib and
Diagonal bar (not shown) is provided between strip plate, such structure, can cause knot of the forearm 22 in a boring
Structure, reduces the weight of whole forearm 22, easy to be precisely controlled to forearm 22, and by the effect of reinforcing rib and diagonal bar, carries
The intensity of high whole forearm 22.
Driving device 32 in the present embodiment further includes driving component, which includes the first motor 323 and second
Motor 324, the first motor 323 and the second motor 324 are installed in forearm 22 close to one end of large arm 21, and driven subassembly includes the
One belt wheel 321 and the second belt wheel 322, the first motor 323 are drivingly connected by the first synchronous belt 325 with first pulley 321, and second
Motor 324 is drivingly connected by the second synchronous belt 326 and the second belt wheel 322.
During work, when the first motor 323 drive the first synchronous belt 325 rotate, and then drive first pulley 321 rotate, drive
Dynamic ball spline lead screw shaft 31 rotates, and when the second motor 324 drives the second synchronous belt 326 to rotate, and then drives the second belt wheel 322
Rotate, driving ball spline lead screw shaft 31 moves up and down along the short transverse of forearm 22, when the first motor 323 and the second motor
During 324 synchronous rotation, easy to drive ball spline lead screw shaft 31 to drive ball spline lead screw shaft 31 to move up and down while rotation,
Realize efficient assembling, welding, sealing and the carrying to other structures.
The first motor 323 and the second motor 324 are installed on forearm 22 close to large arm by motor rack in the present embodiment
21 one end, makes 10 pivot of centroidal distance pedestal of the first motor 323 and the second motor 324 nearest, be able to can bear compared with
Big load, improve rigidity and ensure high positioning accuracy, reduces the influence due to conducting oneself with dignity to precision, speed.
Preferably, horizontal articulated industrial robot further includes accurate planet-gear speed reducer 50, which slows down
Machine 50 is used to slow down to the second motor 324, there is provided the moment of torsion of bigger, ensures reliability of operation.
321 and second belt wheel 322 of first pulley in the present embodiment is installed on support plate 41, support using face-to-face mode
Bar 42 and horizontal swing arm unit 20 are enclosed and set in the space to be formed, and substitute traditional back-to-back mounting structure, and it is high to shorten installation
Size L is spent, installation space is saved, has particular/special requirement to end installation space particularly suitable for horizontal articulated industrial robot
Occasion.
Horizontal articulated industrial robot in the present embodiment further includes cable 60 and cable support 70, during installation, cable
Stent 70 is connected between cable support 70 and pedestal 10 installed in forearm 22 close to one end of large arm 21, and by cable 60, just
Power in the first motor 323, the second motor 324 and the 3rd motor 23.
The horizontal articulated industrial robot end structure of the present invention can be used as module, directly apply to identical serial production
Among product, due to its good rigidity and lightweight, it is only necessary to big arm configuration is redesigned, without redesigning end structure,
It can meet the performance of identical series of products.
It can be seen from the above description that the above embodiments of the present invention realize following technique effect：
1st, the end structure of horizontal articulated industrial robot of the invention is compact, lightweight, installation parts are small, zero
Part handling ease；
2nd, ball spline lead screw shaft uses triangular supports structure, simple in structure, light-weight, easy for installation.
3rd, the first motor and the second motor and belt wheel installation site rotate its centroidal distance pedestal close to one end of large arm
Center is nearest, can bear compared with big load, raising rigidity and ensure high positioning accuracy；
4th, the terminus moduleization of horizontal articulated industrial robot of the invention designs, is versatile.It can realize difference
Large arm and the invention end structure collocation.It is not much different available for identical series SCARA robot performance's parameters, but total arms
It is long to require different close type products, save R＆D costs.
In conclusion the horizontal articulated industrial robot of the present invention disclosure satisfy that lightweight, compact-sized, smaller installation
Required space, amount of parts is few, is easily worked, and saves processing and manufacturing cost.Horizontal articulated industrial robot end can also
Enough realize modularization, can be used in the identical series of products of different brachium requirements, save R＆D costs.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. horizontal articulated industrial robot, it is characterised in that including：Pedestal (10)；Horizontal swing arm unit (20), the horizontal swing arm unit (20) are rotatably installed on the pedestal (10)；Ball spline leading screw positioning component (30), the ball spline leading screw positioning component (30) include ball spline lead screw shaft (31) and for driving the ball spline lead screw shaft (31) to horizontally rotate He or the height along the horizontal swing arm unit (20) The driving device (32) that direction moves up and down, the driving device (32) include driven subassembly, and the driven subassembly is installed on institute State in ball spline lead screw shaft (31), and the horizontal swing arm unit (20) is fixed on away from the pedestal by supporting rack (40) (10) one end, wherein,Support frame as described above (40) includes support plate (41) and supporting rod (42), and the supporting rod (42) is supported on the support plate (41) bottom, the ball spline lead screw shaft (31) are threaded through the support plate (41) and the horizontal swing arm unit (20) On, the driven subassembly is located at the support plate (41), the supporting rod (42) and the horizontal swing arm unit (20) and encloses and set In the space of formation.
- 2. horizontal articulated industrial robot according to claim 1, it is characterised in that the ball spline leading screw positioning Component (30) further includes the ball-screw nut (34) being set on the ball spline lead screw shaft (31), the ball-screw spiral shell Female (34) are directly anchored in the support plate (41) by the first fastener.
- 3. horizontal articulated industrial robot according to claim 1, it is characterised in that ball spline leading screw positioning component (30) ball spline nuts (33) being set on the ball spline lead screw shaft (31), the horizontal swing arm unit are further included (20) set on fluted (221), the ball spline nuts (33) are fixed on the groove (221) by the second fastener It is interior.
- 4. horizontal articulated industrial robot according to claim 1, it is characterised in that support frame as described above (40) uses aluminium Alloy material is made.
- 5. horizontal articulated industrial robot according to claim 2, it is characterised in that the support plate (41) is triangle Plate, the ball-screw nut (34) is inscribed to be fixed on the set square, and three angles of the set square are both provided with rounding Angle.
- 6. horizontal articulated industrial robot according to claim 3, it is characterised in that the horizontal swing arm unit (20) Including：Large arm (21), the first end of the large arm (21) are installed in rotation on the pedestal (10)；Forearm (22), the first end of the forearm (22) are installed in rotation on the remote pedestal (10) of the large arm (21) One end, support frame as described above (40) and the groove (221) are arranged at the remote large arm (21) of the forearm (22) One end.
- 7. horizontal articulated industrial robot according to claim 6, it is characterised in that the forearm (22) includes strip Plate and the reinforcing rib for being disposed around the strip plate periphery, diagonal bar is provided between the reinforcing rib and the strip plate.
- 8. horizontal articulated industrial robot according to claim 6, it is characterised in that the driving device (32) is also wrapped Driving component is included, the driving component includes the first motor (323) and the second motor (324), and the driven subassembly includes first Belt wheel (321) and the second belt wheel (322), first motor (323) pass through the first synchronous belt (325) and the first pulley (321) it is drivingly connected, second motor (324) is connected by the second synchronous belt (326) and second belt wheel (322) driving Connect.
- 9. horizontal articulated industrial robot according to claim 8, it is characterised in that first motor (323) and Second motor (324) is installed in the forearm (22) close to one end of the large arm (21).
- 10. horizontal articulated industrial robot according to claim 8, it is characterised in that the horizontal articulated industry Robot further includes accurate planet-gear speed reducer (50), and the precision planet-gear speed reducer (50) is used for second motor (324) slow down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711254229.8A CN107972020A (en) | 2017-11-30 | 2017-11-30 | Horizontal articulated industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711254229.8A CN107972020A (en) | 2017-11-30 | 2017-11-30 | Horizontal articulated industrial robot |
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| CN107972020A true CN107972020A (en) | 2018-05-01 |
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| CN201711254229.8A Pending CN107972020A (en) | 2017-11-30 | 2017-11-30 | Horizontal articulated industrial robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436967A (en) * | 2017-02-16 | 2018-08-24 | 发那科株式会社 | Horizontal articulated robot and its inversion setting method |
| CN109483588A (en) * | 2018-12-31 | 2019-03-19 | 浙江元邦智能装备有限公司 | Articulated robot is used in a kind of injection molding |
| CN110065053A (en) * | 2019-05-30 | 2019-07-30 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
| CN110421548A (en) * | 2019-07-18 | 2019-11-08 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
| CN111409063A (en) * | 2020-03-26 | 2020-07-14 | 深圳市卓博机器人有限公司 | SCARA robot |
| CN111546311A (en) * | 2020-03-31 | 2020-08-18 | 深圳市卓博机器人有限公司 | Small-sized inverted robot |
| JP2020142309A (en) * | 2019-03-04 | 2020-09-10 | 株式会社アイエイアイ | Rotation/linear motion mechanism, rotation/linear motion mechanism positioning jig, rotation/linear motion mechanism positioning method and scalar robot |
| CN111775139A (en) * | 2019-04-03 | 2020-10-16 | 库卡机器人(广东)有限公司 | Robot |
| CN112757268A (en) * | 2020-12-31 | 2021-05-07 | 肇庆学院 | Intelligent mechanical arm and control method thereof |
| JP6887581B1 (en) * | 2020-06-11 | 2021-06-16 | 三菱電機株式会社 | Horizontal articulated robot |
| CN113400343A (en) * | 2021-05-25 | 2021-09-17 | 广东科佩克机器人有限公司 | Robot |
| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
| 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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| CN110065053A (en) * | 2019-05-30 | 2019-07-30 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
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| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
| 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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