Robot front-end arm based on rear-mounted wrist point motor

A robot and wrist point technology, applied in the field of intelligent robots, can solve the problems of complicated controller design, unavailability of application, increased overshoot, etc., to achieve the effect of light weight, improved flexibility, and small movement space

Active Publication Date: 2015-04-08
NANJING PANDA ELECTRONICS +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For a long and heavy multi-joint arm, such a structure cannot be applied, and due to the increase of motion inertia and overshoot, it will inevitably complicate the controller design in motion planning

Method used

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  • Robot front-end arm based on rear-mounted wrist point motor
  • Robot front-end arm based on rear-mounted wrist point motor

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Experimental program
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Effect test

Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] like figure 1 As shown, a kind of robot front-end arm 10 based on the rear of the wrist point motor, the wrist point of the front-end arm 10 (wrist point: the robot arm joint is driven by a motor and a reducer, and the two robot joints rotate around this point. .) The robot end effector 11 is set at the front. The front end arm includes a speed reducer 8 and a motor 7 . The reducer 8 and the motor 7 are coaxially arranged, and the axis passes the wrist point of the front end arm; the reducer 8 is arranged behind the wrist point, the motor 7 is arranged after the reducer 8, and the motor 7 and the reducer 8 are connected by the motor shaft. The distance between the wrist point and the front end of the reducer 8 is 23.5 mm. The distance between the rear end face of the reducer 8 and the front end face of the motor 7 is 25mm. The distance between the front end...

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Abstract

The invention provides a robot front-end arm based on a rear-mounted wrist point motor. A robot terminal executor is arranged at the forefront of the front-end arm; the front-end arm comprises a speed reducer and a motor; the speed reducer and the motor are coaxial; the axis of the speed reducer and the axis of the motor pass through a wrist point of the front-end arm; the speed reducer is arranged at the rear of the wrist point; the motor is arranged at the rear of the speed reducer; and the motor is connected with the speed reducer through a motor shaft. The driving motor of the front-end arm is placed at the rear end of the wrist point of a wrist of the front-end arm, the center of gravity moves backwards, the stability of a whole structure of a robot is improved, and the problem of instability due to over-large inertia and over-large overshooting in a moving process is solved, and the robot is lightweight in structure and is intelligent.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a front-end arm of a robot based on a rear wrist point motor. Background technique [0002] Intelligent robots, as high-precision, highly flexible and agile processing equipment, act as human assistants in different fields, or replace human beings to work independently in harsh environments (heavy workload and strong danger), ensuring product quality and production efficiency. At present, the industry is developing rapidly, and the application field has begun to expand to non-manufacturing and service industries. With the rapid development of industrial robots and the improvement of the intelligence level of robots, industrial robots have been applied in many fields at present, but in many domestic factories, manual work is still the main method. The vast market and high-speed development of industrial robots accelerate the domestic automation field. A new era adva...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J18/00
Inventor 哲境丁朝景杨睿张亚何杏兴
Owner NANJING PANDA ELECTRONICS
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