Symmetric robot joint

A robot joint, symmetrical technology, applied in the field of robots, can solve the problems of large volume, complex structure, bloated wrist joint structure, etc., and achieve the effect of small transmission viscous resistance, low control difficulty, and increased hollowness.

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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Embodiment Construction

[0026] 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.

[0027] Such as Figure 1-2 , Figure 5 As shown, a symmetrical robot joint provided by the present invention includes a base 1, a waist seat 2, a big arm 3, a three-axis assembly 4, a small arm 5, a wrist shaft assembly 6, and an end flange 7 that are sequentially connected in rotation, wherein A five-axis drive mechanism and a six-axis drive mechanism are symmetrically arranged inside the forearm 5, the five-axis drive mechanism is connected with the wrist shaft assembly 6, and is used to drive the wrist shaft assembly 6 to rotate around the fifth axis 22 relative to the forearm 5, and the six-axis drive mechanism It is connected with the end flange 7 and is used to drive the end flange 7 to rotate around the sixth axis 15 , and the sixth axis 1...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a symmetrical robot joint. The symmetrical robot joint comprises a base, a waist seat, a big arm, a three-axis assembly, a small arm, a wrist shaft assembly, and an end flange which are rotatably connected in sequence, wherein a five-axis driving mechanism and a six-axis driving mechanism are symmetrically arrangedin the small arm, the five-axis driving mechanism is connected with the wrist shaft assembly and used for driving the wrist shaft assembly to rotate around a fifth axis relative to the small arm, thesix-axis driving mechanism is connected with the end flange and used for driving the end flange to rotate around a sixth axis, and the sixth axis is perpendicular to the fifth axis. A precision speedreducer of the symmetrical robot joint is transferred from the six-axis axis position to the five-axis axis position, the hollow performance, the miniaturization and the flexibility of the six-axis are improved, and therefore, the transmission viscous resistance is small, the energy-saving and environment-friendly efficiency is high, the inertia is small, and the control difficulty is low.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a symmetrical 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. [0004] Conventionally, an industrial robot has been propo...

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 王凤利朱维金王金涛孙宝龙陈立博张书生杨建国陈为廉
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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