一种手拖动示教机器人

Hand drags teaching robot

Abstract

本实用新型提供一种手拖动示教机器人,包括基座、旋转座、与旋转座连接的多关节臂,多关节臂与旋转座的连接关节、两两关节臂之间的连接关节处均通过旋转关节轴转动连接,每个旋转关节轴上均设有用于抵消扭矩的链轮拉簧机构,链轮拉簧机构包括链轮、链条和拉簧,链轮固定在当前链轮拉簧机构所对应的旋转关节轴上随其一起旋转,链条的主体与链轮啮合,拉簧的一端连接链条,其另一端连接前一级链轮拉簧机构所对应的关节臂。本实用新型的示教机器人,完全用机械的方式,采用链轮拉簧机构在一定范围内抵消扭矩的不平衡,让拖动示教变得更轻便,同时可以确保末端触点能够轻易、顺利的到达任何一个工作位置,相较于传统的示教机器人能够最大程度的降低成本。
The utility model provides a hand drags teaching robot, which comprises a base, the roating seat, the multi -joint arm who is connected with the roating seat, the joint of being connected of multi -joint arm and roating seat, connection joint department between two liang of articulated arms all rotates the connection through the rotary joint axle, the epaxial sprocket extension spring mechanism that is used for offsetting the moment of torsion that all is equipped with of every rotary joint, sprocket extension spring mechanism includes the sprocket, chain and extension spring, the sprocket is fixed at the rotary joint who corresponds when front chain wheel extension spring mechanism epaxial rotatoryly along with it, the main part and the sprocket meshing of chain, the one end cable of extension spring, the articulated arm that one -level sprocket extension spring mechanism corresponded before its other end was connected. The utility model discloses a teaching robot uses mechanical mode completely, adopts the sprocket extension spring in certain extent of mechanism to offset the disequilibrium of moment of torsion, lets drag the teaching and become lighter, can ensure simultaneously terminal contact can be easily, smooth any one operating position of arrival, it can maximum reduce cost in traditional teaching robot to compare.

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