Industrial robot with action shaft

Abstract

The invention discloses an industrial robot with an action shaft. The industrial robot comprises a base, a first arm part, a second arm part and an action shaft, the first arm part is driven by a first motor to rotate, the second arm part is driven by a second motor to rotate, a spiral thread and a spline groove are formed in the action shaft, a nut sleeve and a harmonic reducer are arranged on the second arm part, the nut sleeve rotates relative to the second arm part, the outer ring of the harmonic reducer is installed on the second arm part, the output shaft of the harmonic reducer is provided with a sliding sleeve, an inner spline corresponding to the spline groove is arranged in the sliding sleeve in the vertical direction, the action shaft penetrates through the nut sleeve, the harmonic reducer and the sliding sleeve sequentially from top to bottom, the action shaft is in threaded connection with the nut sleeve and is matched with the sliding sleeve, the nut sleeve is connected with a third motor arranged on the second arm part, and the harmonic reducer is connected with a fourth motor arranged on the second arm part.

Description

technical field [0001] The invention relates to an industrial robot including an action axis structure, belonging to the technical field of industrial robots. Background technique [0002] Multi-axis manipulators are used to quickly manipulate parts along near-planar trajectories. This is the case, for example, of picking up a part on a running belt and keeping the part in a holder. [0003] SCARA (Selectively Compliant Assembly Robotic Arm) type manipulators are multi-axis manipulators adapted to work on horizontal surfaces. Conventionally, the SCARA manipulator includes a base, which can be placed on a desktop, for example, and the SCARA manipulator also includes a first arm, which can move at least in a rotational manner relative to the base, and the front end of the first arm is also equipped with a relatively The second arm that the first arm rotates, finally the robot is also equipped with an action axis capable of receiving a tool, such as a grasping pliers or a gri...

AI Technical Summary

Problems solved by technology

And if the motor output capacity will be limited by the synchronous belt capacity, so the current inertia of SCARA robots from different manufacturers for the action axis can load tools is relatively low

[0006] The rotation axis of the YAMAHA robot in the same industry is driven by a reducer, and the load inertia is relatively large, but the hollow motor is used, the inertia of the robot body is relatively large, and the cost of the hollow motor is relatively high

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