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垂直关节型机器人操作机
Alternative TitleVertical joint type robot operator
王泰耀; 齐晓东; 张学成; 任小强; 侯建平; 徐方
Department其他
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利代理有限责任公司
Country中国
Subtype实用新型
Status未缴年费 著录变更
Abstract一种垂直关节型机器人操作机。由S、L、U、R、B和T轴传动装置和末端执行器组成,其中:各轴关节由交流伺服电机和减速器构成,S轴固定在底座上,通过腰座与L、U轴相连,L轴输出端固定于下臂,U轴的输出端经拉杆与四轴座连接,R轴安装在四轴座与上臂间,B轴、T轴一端安装在上臂上,另一端固定腕端上,其中T轴的谐波减速器T的刚轮的端面做为末端执行器。它具有6个转动或摆动的自由度,完成机器人的弧焊、搬运、装配等多种作业,重量轻,动态控制性能好,重复定位精度高。
Other AbstractThe utility model relates to a vertical joint type robot operator, composed of a gearing for an S shaft, a gearing for an L shaft, a gearing for a U shaft, a gearing for an R shaft, a gearing for a B shaft, a gearing for a T shaft and an end effector, wherein, a joint of each shaft is composed of an AC servo motor and a retarder. The S shaft is fixed on a base, and connected with the L shaft and the U shaft through a waist base. The output end of the L shaft is fixed at a lower arm. The output end of the U shaft is connected with a four-shaft base through a draw rod. The R shaft is installed between the four-shaft base and an upper arm. One end of the B shaft and the T shaft is installed on the upper arm the other end of the B shaft and the T shaft is fixed at the end of a wrist, wherein, the end surfaces of steel wheels of a Harmonic speed reducer T of the T shaft serves as the end effector. The utility model has 6 freedom degrees for rotation and swing to complete the operation of arc welding, transportation, assembling, etc. of a robot. The utility model has the advantages of light weight, favorable performance for dynamic control and high precision in repeated positioning.
description.patentprioritydataCN20012011436U
PCT Attributes
Application Date2001-01-20
2001-12-19
Date Available2001-12-19
Application NumberCN01211436.7
Open (Notice) NumberCN2465893Y
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/12594
Collection其他
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
王泰耀,齐晓东,张学成,等. 垂直关节型机器人操作机[P]. 2001-12-19.
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