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Front-loaded drive type robot joint

A robot joint and driving technology, applied in the field of robots, can solve the problems of complex structure, bloated wrist joint structure, large volume, etc., and achieve the effects of small transmission viscous resistance, increased hollowness, and small inertia.

Inactive Publication Date: 2020-06-16
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing industrial robots have complex structures, need to rely on precision reducers, bloated wrist joints, and large volumes

Method used

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  • Front-loaded drive type robot joint
  • Front-loaded drive type robot joint
  • Front-loaded drive type robot joint

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Experimental program
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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Such as Figure 1-5 As shown, a front-drive robot joint provided by the present invention includes a base 1, a waist seat 2, a large arm 3, a three-axis assembly 4, a small arm 5, a wrist axis assembly 6, and an end flange 7 that are sequentially connected in rotation. , where the forearm 5 is provided with a five-axis drive mechanism connected to the wrist shaft assembly 6, the five-axis drive mechanism is used to drive the wrist shaft assembly 6 to rotate around the five-axis axis 15, and the wrist shaft assembly 6 is provided with a terminal flange 7 The connected six-axis drive mechanism is used to drive the end flange 7 to rotate around the six-axis axis 24 , and the six-axis axis 24 is perpendicular to the five-axis axis 15 .

[0030...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a front-loaded drive type robot joint. The front-loaded drive type robot joint comprises a base, a lumbar seat, a big arm, a three-shaft component, a small arm, a wrist shaft component and a tail end flange which are connected in sequence, wherein a five-shaft driving mechanism connected to the wrist shaft component is arranged in the small arm and is used for driving the wrist shaft component to rotate around a fix-shaft axis; a six-shaft driving mechanism connected to the tail end flange is arranged in the wrist shaft component and is used for driving the tail end flange to rotate around a six-shaft axis; and the six-shaft axis is perpendicular to the fix-shaft axis. A six-shaft motor is transferred fromthe position of a conventional small arm to the position of the wrist shaft component, so that the hollowness, miniaturization and flexibility of six shafts are improved; and the front-loaded drive type robot joint has small transmission viscosity resistance, high energy saving and environmental protection efficiency, small inertia and low control difficulty.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a front-drive robot joint. Background technique [0002] Conventionally, an industrial robot has an arm and a wrist, and the wrist is rotatably connected to the arm, and the industrial robot is configured to drive the rotation of the wrist by an actuator while being attached to the terminal The end effector (such as a welding torch for arc welding, etc.) performs specified operations. In the past, the following industrial robots have been disclosed: it has a plurality of joints connected to each other in a rotatable manner. Use a welding torch, etc.) to perform the specified work. [0003] Conventionally, an industrial robot has been proposed which includes a plurality of links rotatably connected to each other and which can A predetermined operation is performed while rotatably driving the link by using the actuator. Existing industrial robots have complex structures, need to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J17/02
CPCB25J17/00B25J17/02
Inventor 孙宝龙朱维金王金涛王凤利陈立博关盛楠郭海冰王永胜
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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