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专利名称: 垂直关节型机器人操作机
其他题名: Vertical joint type robot operator
作者: 王泰耀; 齐晓东; 张学成; 任小强; 侯建平; 徐方
所属部门: 其他
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利代理有限责任公司
专利国别: 中国
专利类型: 实用新型
专利状态: 失效,著录变更
摘要: 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。
英文摘要: The 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.
优先权数据: CN20012011436U
是否PCT专利:
申请日期: 2001-01-20
公开日期: 2001-12-19
授权日期: 2001-12-19
专利申请号: CN01211436.7
公布/公告号: CN2465893Y
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/12594
Appears in Collections:其他_专利

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格式: Adobe PDF
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