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Robot arm mechanism

A technology of robot arm and transmission mechanism, applied in the direction of robot, manipulator, program control manipulator, etc., can solve the problem of increasing the weight of the link mechanism

Inactive Publication Date: 2018-08-03
LIFE ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, the increase in the weight of this high-torque motor requires higher stiffness of the linkage mechanism, which will increase the weight of the linkage mechanism
And the weight increase will further require a high torque motor

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Deformed example 1

[0034] In the above description, the rear end of the second arm 41 of the second parallel link mechanism is pivotally supported at a position different from the front end of the first link 33 of the first parallel link mechanism. Similarly, the rear end of the second link 43 of the second parallel link mechanism is pivotally supported at a position different from the front end of the first arm 31 of the first parallel link mechanism. However, the rear end of the second arm 41 of the second parallel link mechanism may be axially supported at the same position as the front end of the first link 33 of the first parallel link mechanism, and the second parallel link mechanism The rear end of the second link 43 is axially supported at the same position as the front end of the first arm 31 of the first parallel link mechanism. In other words, the rear end of the second arm 41 of the second parallel link mechanism may also share the rotation axis with the front end of the first link 33...

Deformed example 2

[0036] In the above description, the front end support shaft of the first arm 31 of the first parallel link mechanism, the front end support shaft of the first link 33, the rear end support shaft of the second arm 41 of the second parallel link mechanism, and the second The rear end support shaft of the link 43 is arranged on the connection base 8 in a positional relationship of four corners of the rectangle, but it is not limited to this. Such as Image 6 As shown, the front end support shaft of the first arm 31 of the first parallel link mechanism, the front end support shaft of the first link 33, the rear end support shaft of the second arm 41 of the second parallel link mechanism, and the second link The rear end support shaft of 43 may be arranged on the connection base 8 in a positional relationship of four corners of a trapezoid. The trapezoid is typically an isosceles trapezoid, but it may be an isosceles trapezoid or a right-angled trapezoid. Furthermore, it is prefer...

Deformed example 3

[0039] In the above description, the driving pulley 44 and the first driven pulley 46 that constitute the transmission mechanism respectively correspond to the rotation of the rotation shaft and the front end of the first link 33 of the first parallel link mechanism. Axis and coaxially arranged. But like Picture 8 As shown, the driving pulley 44 and the first driven pulley 46 constituting the transmission mechanism may be respectively opposed to the rotation axis of the rear end of the first link 33 and the rotation axis of the front end of the first link mechanism. Instead of being set in different positions coaxially. In this case, the line connecting the rotation axis of the drive pulley 44 and the rotation axis of the first driven pulley 46 is parallel to the center line of the arm 31 and the link 33, and the rotation axis of the drive pulley 44 and the first The driving pulley 44 and the first driven pulley 46 are axially supported at a position where the distance betwe...

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PUM

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Abstract

The purpose of the present invention is to achieve a higher speed while suppressing an increase in weight of a robot arm mechanism in which a plurality of parallel link mechanisms are coupled in tandem. The robot arm mechanism has first and second parallel link mechanisms coupled in tandem. A first drive motor (30) for driving the first parallel link mechanisms (31, 33) is installed in an upper portion (22) of a support column (2). A second drive motor (40) for driving the second parallel link mechanisms (41, 43) is also arranged on the upper portion (22) of the support column (2). Rotation ofthe second drive motor is transmitted to the second parallel link mechanisms via a transmission mechanism. The transmission mechanism has a first pulley (44) coaxially supported by a support shaft atthe rear end of the first link (33), a second pulley (46) coaxially supported by a support shaft at the front end of the first link, and a transmission belt (45) bridging the first and second pulleys.

Description

Technical field [0001] The embodiment of the present invention relates to a robot arm mechanism. Background technique [0002] In recent years, there has been an increasing number of environments where robots and users are in the same space. Needless to say, nursing robots will continue to expand in the future even in industrial robots that work side by side with operators. Many such robots have multi-joint arm mechanisms. The multi-joint arm mechanism requires 3 degrees of freedom (x, y, z) for position and 3 degrees of freedom for posture (φ, θ, ψ). Generally speaking, it is composed of a rotating joint called the root 3-axis J1, J2, and J3 are respectively realized by rotating joints J4, J5, and J6 called 3-axis wrist. Rotation is achieved by the first joint part J1 arranged on the base (pillar), and the front and back movement and up and down movement of the wrist are realized by the linkage of the rotation joint parts J2 and J3 with the rotation axis arranged horizontally...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J17/00B25J17/02
CPCB25J9/046B25J9/104B25J9/1065Y10S901/28B25J17/0258B25J18/00F16H7/023F16H21/44
Inventor 尹祐根松田启明
Owner LIFE ROBOTICS CO LTD