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1. WO2022011797 - LARGE-INERTIA LOAD ROBOT BASED ON MODULAR DESIGN

Publication Number WO/2022/011797
Publication Date 20.01.2022
International Application No. PCT/CN2020/111846
International Filing Date 27.08.2020
IPC
B25J 9/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian co-ordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 9/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 11/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 17/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
CPC
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 17/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
B25J 17/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 9/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 9/0009
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0009Constructional details, e.g. manipulator supports, bases
Applicants
  • 南京埃斯顿机器人工程有限公司 NANJING ESTUN ROBOTICS CO LTD [CN]/[CN]
Inventors
  • 付杰 FU, Jie
  • 吕健 LV, Jian
  • 耿羚彪 GENG, Lingbiao
  • 王杰高 WANG, Jiegao
Agents
  • 南京睿之博知识产权代理有限公司 NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
202010692116.117.07.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) LARGE-INERTIA LOAD ROBOT BASED ON MODULAR DESIGN
(FR) ROBOT DE CHARGE À GRANDE INERTIE BASÉ SUR UNE CONCEPTION MODULAIRE
(ZH) 一种基于模块化设计的大惯量负载机器人
Abstract
(EN) Disclosed in the present invention is a large-inertia load six-axis robot based on a modular design. The robot comprises a base module, a large arm module, a small arm module and a wrist module, wherein the modules are detachably connected by means of interfaces. According to the industrial robot of the present invention, parameters such as a robot rod length, the power of a driving electric motor, a speed ratio of a transmission mechanism, and a speed ratio of a speed reducer can be flexibly selected according to the requirements of customers, so as to achieve product technical indexes of a load of 8 kg to 20 kg, an arm spread of 1.9 m to 2.3 m, and allowable load inertia of a wrist of 2.5 kg.m3 to 6.5 kg.m2, thereby meeting the special requirements for the load, arm spread and inertia when carrying large inertia plate workpieces in industries such as photovoltaic arranging, sheet metal bending, and PCB carrying.
(FR) Un robot de charge à six axes et à grande inertie basé sur une conception modulaire est divulgué dans la présente invention. Le robot comprend un module base, un grand module bras, un petit module bras et un module poignet, les modules étant reliés amovibles au moyen d'interfaces. Selon le robot industriel de la présente invention, des paramètres tels qu'une longueur de tige de robot, la puissance d'un moteur électrique d'entraînement, un rapport de vitesse d'un mécanisme de transmission, et un rapport de vitesse d'un réducteur de vitesse peuvent être sélectionnés de manière flexible en fonction des exigences des clients, de manière à obtenir des indices techniques de produit d'une charge de 8 kg à 20 kg, un déploiement des bras de 1,9 m à 2,3 m, et une inertie de charge admissible d'un poignet de 2,5 kg.m3 à 6,5 kg.m2, ce qui permet de satisfaire aux exigences particulières de charge, de déploiement des bras et d'inertie lors du transport de pièces plates à grande inertie dans des industries telles que l'agencement photovoltaïque, le cintrage de métal en feuille et le transport de PCB.
(ZH) 本发明公开了一种基于模块化设计的大惯量负载六轴机器人,包括底座模块、大臂模块、小臂模块以及手腕模块,各模块通过接口可拆卸式连接。本发明的工业机器人可根据客户需要灵活选择机器人杆长参数、驱动电机功率、传动机构速比、减速机速比等参数,以达到负载8kg~20kg、臂展1.9m~2.3m、手腕部许用负载惯量2.5kg.m 3~6.5kg.m 2的产品技术指标,从而满足光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运对于负载、臂展、惯量的特殊要求。
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