CN103640028A - Novel plane articulated robot structure - Google Patents

Novel plane articulated robot structure Download PDF

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Publication number
CN103640028A
CN103640028A CN201310625262.2A CN201310625262A CN103640028A CN 103640028 A CN103640028 A CN 103640028A CN 201310625262 A CN201310625262 A CN 201310625262A CN 103640028 A CN103640028 A CN 103640028A
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China
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axis
mechanical arm
screw
axle
closely
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CN201310625262.2A
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CN103640028B (en
Inventor
王念峰
郑超超
刘景辉
李志斌
张宪民
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SHENZHEN XINANGHUI TECHNOLOGY Co Ltd
South China University of Technology SCUT
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SHENZHEN XINANGHUI TECHNOLOGY Co Ltd
South China University of Technology SCUT
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Priority to CN201310625262.2A priority Critical patent/CN103640028B/en
Publication of CN103640028A publication Critical patent/CN103640028A/en
Application granted granted Critical
Publication of CN103640028B publication Critical patent/CN103640028B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention provides a novel plane articulated robot structure which comprises a base, a lifting seat, a first mechanical arm, a second mechanical arm and an operation spindle. The base functions in supporting and reducing vibration; the lifting seat vertically moves along a Z-axis direction under the limiting action of a lead screw and a polished shaft; the first mechanical arm is rotatably mounted on the lifting seat by taking an X axis parallel to a Z axis as a rotating center; the second mechanical arm is rotatably mounted on the first mechanical arm by taking a Y axis parallel to the X axis as a rotating center; the operation spindle is rotatably mounted on the second mechanical arm by taking an R axis parallel to the Y axis as a rotating center. The vertically moving Z axis of a plane articulated robot with four degrees of freedom moves to the base of the robot, so that the inertia of the mechanical arms of the industrial robot can be decreased by the design, stress of the mechanical arms serving as cantilever beams is improved, the running speed and control stability of the robot are effectively improved, and the working space of the industrial robot is enlarged.

Description

A kind of novel planar revolute robot structure
Technical field
The invention belongs to Industrial Robot Technology field, particularly relate to a kind of four-degree-of-freedom selective compliance assembly robot arm structure.
Background technology
Industrial Robot Technology is as the important branch of modern science and technology, and he has related to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology at present a lot of fields.Industrial Robot Technology also combines the multi-door most advanced and sophisticated subjects such as mechanical engineering, electrical engineering, microelectronic engineering, computer engineering, Control Engineering, bionics and artificial intelligence engineering.By the application that combines of it and computer aided design system, computer aided manufacture system, be the latest development trend of modern manufacturing industry automation.
For the four-degree-of-freedom plane articulation type industrial robot of small-sized, light weight component high speed conveyance, must meet simple and compact for structure, the rigidity of structure is high, motion flexibility and reliability, repetitive positioning accuracy is high and reliability is high requirement.Four-degree-of-freedom plane articulation type industrial robot is one of best industrial robot in point-to-point motion, be usually used in distributing, carry, load, pack, lay and the operation such as assembling among.Simultaneously it also have that action is fast, parts are few, the advantage such as multiple mounting modes and basic freedom from repairs.
As four-degree-of-freedom selective compliance assembly robot arm, in general, desired plane revolute robot's movable range becomes large certainly, also expects to reduce the inertia of this selective compliance assembly robot arm's mechanical arm, the stressing conditions while improving mechanical arm as cantilever beam simultaneously.And herd according to Japan the SCARA model that invent in wild ocean, and the four-degree-of-freedom revolute robot of design research and development, the movable range on its vertical direction is little, and the inertia of mechanical arm is larger.
Summary of the invention
Technical problem for above-mentioned existence, the object of the present invention is to provide a kind of novel planar revolute robot structure, can make selective compliance assembly robot arm's movable range become large, also the inertia that reduces this selective compliance assembly robot arm's mechanical arm, improves the speed of service of robot and the stability of control effectively.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A novel planar revolute robot structure, comprising: the base that plays supporting and cushioning effect; Under the position-limiting action of screw mandrel and optical axis along the elevating bracket moving up and down in Z-direction, the first mechanical arm, it take the X-axis parallel with above-mentioned Z axis as being arranged on above-mentioned elevating bracket that center of rotation can be rotated; The second mechanical arm, it take the Y-axis parallel with above-mentioned X-axis as being arranged on above-mentioned the first mechanical arm that center of rotation can be rotated; Operation main shaft, it take the R axle parallel with above-mentioned Y-axis as being arranged on above-mentioned the second mechanical arm that center of rotation can be rotated; Lid, is installed on the second mechanical arm, supports operation main shaft and has the through hole running through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel is its outside screw thread and the screw mandrel nut that matches with this screw thread, and described screw mandrel nut is also closely fixedly connected with by the first screw with elevating bracket; Z axis servomotor is arranged on Z axis motor rack by screw, Z axis servo motor shaft on it is connected with Z axis driving pulley by base rice screw, Z axis driven pulley is connected with screw mandrel by base rice screw, described Z axis driving pulley drives Z axis driven pulley to drive screw mandrel to rotate by Timing Belt, thereby drives elevating bracket to move up and down;
The bottom of described screw mandrel coordinates with the angular contact ball bearing being arranged in screw mandrel frame, optical axis is also installed on described base, the kinematic pair of described optical axis is its outside face of cylinder and the slide bushing that matches with this face of cylinder, described slide bushing is also closely fixedly connected with by the first screw with elevating bracket, can improve the stability of base;
Described X-axis servomotor is closely fixedly connected with the first mechanical arm by the second screw, described the first mechanical arm is closely fixedly connected with X-axis harmonic speed reducer by the second screw, described X-axis harmonic speed reducer is closely fixedly connected with elevating bracket by the second screw, described X-axis servomotor drives the first mechanical arm to rotate by X-axis harmonic speed reducer, the output shaft that is X-axis servomotor drives the input motion of X-axis harmonic speed reducer, thereby drives the parts on the first mechanical arm and the first mechanical arm to rotate together;
Described Y-axis servomotor is closely fixedly connected with the second mechanical arm by screw, and described the second mechanical arm is closely fixedly connected with Y-axis harmonic speed reducer by the second screw, and described Y-axis harmonic speed reducer is closely fixedly connected with the first mechanical arm by the second screw;
Described operation main shaft is arranged between the second mechanical arm and lid by deep groove ball bearing and the shaft shoulder, described lid is closely fixedly connected with the second mechanical arm by screw, described R axle servomotor is closely fixedly connected with the second mechanical arm by screw, R axle servomotor is driven and is connected by Timing Belt with one-level driving pulley, described one-level driving pulley is driven and is connected by Timing Belt with the one-level driven pulley being arranged on R axle deceleration device one axle, the secondary driving pulley being arranged on R axle deceleration device one axle is driven and is connected by Timing Belt with the secondary driven pulley being arranged on R axle deceleration device two axles, three grades of driving pulleys that are arranged on R axle deceleration device two axles are driven and are connected by Timing Belt with three grades of driven pulleys that are connected on operation main shaft, thereby drive the parts on operation main shaft and operation main shaft to rotate along R axle.
Be that in R shaft drive, each belt wheel connects with the axle of corresponding cooperation by base rice screw, thereby R axle servomotor drives one-level driving pulley to rotate, one-level driving pulley drives one-level driven pulley and secondary driving pulley to rotate, secondary driving pulley drives secondary driven pulley and three grades of driving pulleys to rotate, and it is that center of rotation is rotated along R axle that three grades of driving pulleys drive three grades of driven pulleys and operation main shaft.
Further, described one-level driving pulley, one-level driven pulley, secondary driven pulley, secondary driving pulley, three grades of driven pulleys, three grades of driving pulleys all adopt arc tooth synchronous belt wheel.
Further, the speed reducing ratio of described one-level driving pulley and one-level driven pulley is 4:1, and the speed reducing ratio of described secondary driving pulley and secondary driven pulley is 3:1, and the speed reducing ratio of described three grades of driving pulleys and three grades of driven pulleys is 4:1.
Tool of the present invention has the following advantages: adopt X-axis harmonic speed reducer and Y-axis harmonic speed reducer as its deceleration device, simultaneously again can be as support component, driving-chain compact conformation is simple, meet development trend, Z axis servomotor and R axle servo motor transmission device adopt the form of synchronous belt pulley transmission, be conducive to the arrangement of parts, motor can be placed near joint, reduces the inertia of mechanical arm.
The Z axis that revolute robot is moved up and down is installed to the base portion of robot, such design can reduce the inertia of this industrial robot mechanical arm greatly, stressing conditions while improving mechanical arm as cantilever beam, effectively improve the speed of service of robot and the stability of control, also increased the working space of this industrial robot simultaneously.
For R shaft portion, adopt three grades of synchronous pulleys to slow down, its deceleration specific energy reaches 48:1, and arc tooth synchronous belt takes turns the also higher precision of tool, can complete higher precision location and the function transmitting.So replaced with 3 pairs of synchronous pulleys the harmonic speed reducer that speed reducing ratio is 50:1 in X and Y-axis transmission, harmonic speed reducer is a kind of precision speed reduction device of costliness, and such way can greatly reduce the manufacturing cost of Liao Gai robot.Moreover, harmonic speed reducer is a kind of decelerator of input and output coaxial line, in order to reduce the inertia of mechanical arm, motor need to be placed near joint, so if this scheme also adopts harmonic speed reducer, also need to use one-level Timing Belt, be used for transmitting the power near joint motor.Therefore, the in the situation that of permission in space, use three grades of Timing Belts can not only save manufacturing cost, can also reduce the inertia of the second mechanical arm, improve its motion response rapidity and stability.
Accompanying drawing explanation
Fig. 1 means the whole cross-sectional schematic of selective compliance assembly robot arm's structure that embodiment of the present invention is related.
Fig. 2 means the schematic perspective view of selective compliance assembly robot arm's structure that embodiment of the present invention is related.
Fig. 3 means the principle sketch of selective compliance assembly robot arm's structure that embodiment of the present invention is related.
Fig. 4 means the schematic top plan view of selective compliance assembly robot arm's structure that embodiment of the present invention is related.
Fig. 5 means that the right side of selective compliance assembly robot arm's structure that embodiment of the present invention is related looks schematic diagram.
Fig. 6 means the movable range view of four-degree-of-freedom plane articulation type industrial robot mechanical arm of the present invention.
In figure: 1.Z axle driving pulley; 2.Z axle servomotor; 3. optical axis; 4.Z spindle motor frame; 5. Z axis driven pulley; 6. base; 7. screw mandrel frame; 8. angular contact ball bearing; 9. screw mandrel; 10. screw mandrel nut; 11. slide bushings; 12. first screws; 13. elevating brackets; 14. second screws; 15.X axle harmonic speed reducer; 16. first mechanical arms; 18. Y-axis harmonic speed reducers; 19. one-level driving pulleys; 20. deep groove ball bearings; 21. one-level driven pulleys; 22. secondary driven pulleys; 23. R axle deceleration device one axles; 25. second mechanical arms; 26. lids; 27. 3 grades of driven pulleys; 29. operation main shafts; 31. secondary driving pulleys; 32. R axle deceleration device two axles; 33. 3 grades of driving pulleys; 34.R axle servomotor; 35.Y axle servomotor; 38.X axle servomotor.
 
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further elaborated
Shown in Fig. 5, a kind of novel planar revolute robot structure, comprising: the base 6 that plays supporting and cushioning effect; Under the position-limiting action of screw mandrel 9 and optical axis 3, along elevating bracket 13, the first mechanical arms 16 that move up and down in Z-direction, it take the X-axis parallel with above-mentioned Z axis as being arranged on above-mentioned elevating bracket 13 that center of rotation can be rotated; The second mechanical arm 25, it take the Y-axis parallel with above-mentioned X-axis as being arranged on above-mentioned the first mechanical arm 16 that center of rotation can be rotated; Operation main shaft 29, it take the R axle parallel with above-mentioned Y-axis as being arranged on above-mentioned the second mechanical arm 25 that center of rotation can be rotated; Lid 26, is installed on the second mechanical arm 25, supports operation main shaft 29 and has the through hole running through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel 9 is its outside screw thread and the screw mandrel nut 10 that matches with this screw thread, and described screw mandrel nut 10 is also closely fixedly connected with by the first screw 12 with elevating bracket 13; Z axis servomotor 2 is arranged on Z axis motor rack 4 by screw, Z axis servo motor shaft on it is connected with Z axis driving pulley 1 by base rice screw, Z axis driven pulley 5 is connected with screw mandrel 9 by base rice screw, described Z axis driving pulley 1 drives Z axis driven pulley 5 to drive screw mandrel 9 to rotate by Timing Belt, thereby drives elevating bracket 13 to move up and down;
So Z-axis transmission process is: Z axis servomotor 2 drives Z axis driving pulley 1, and Z axis driving pulley 1 drives Z axis driven pulley 5 by belt, thereby screw mandrel 9 rotates, and drives the parts on elevating bracket 13 and elevating bracket to move up and down along Z axis.
The bottom of described screw mandrel 9 coordinates with the angular contact ball bearing 8 being arranged in screw mandrel frame 7, on described base 6, optical axis 3 is also installed, the kinematic pair of described optical axis 3 is its outside face of cylinder and the slide bushing 11 that matches with this face of cylinder, described slide bushing 11 is also closely fixedly connected with by the first screw 12 with elevating bracket 13, can improve the stability of base;
Described X-axis servomotor 38 is closely fixedly connected with the first mechanical arm 16 by the second screw 14, described the first mechanical arm 16 is closely fixedly connected with X-axis harmonic speed reducer 15 by the second screw 14, described X-axis harmonic speed reducer 15 is closely fixedly connected with elevating bracket 13 by the second screw 14, described X-axis servomotor 38 drives the first mechanical arm 16 to rotate by X-axis harmonic speed reducer 15, the output shaft that is X-axis servomotor 38 drives the input motion of X-axis harmonic speed reducer 15, thereby drives the parts on the first mechanical arm 16 and the first mechanical arm 16 to rotate together;
Described Y-axis servomotor 35 is closely fixedly connected with the second mechanical arm 25 by screw, described the second mechanical arm 25 is closely fixedly connected with Y-axis harmonic speed reducer 18 by the second screw 14, and described Y-axis harmonic speed reducer 18 is closely fixedly connected with the first mechanical arm 16 by the second screw 14;
Described operation main shaft 29 is arranged between the second mechanical arm 25 and lid 26 by deep groove ball bearing 20 and the shaft shoulder, described lid 26 is closely fixedly connected with the second mechanical arm 25 by screw, described R axle servomotor 34 is closely fixedly connected with the second mechanical arm 25 by screw, R axle servomotor 34 is driven and is connected by Timing Belt with one-level driving pulley 19, described one-level driving pulley 19 is driven and is connected by Timing Belt with the one-level driven pulley 21 being arranged on R axle deceleration device one axle 23, the secondary driving pulley 31 being arranged on R axle deceleration device one axle 23 is driven and is connected by Timing Belt with the secondary driven pulley 22 being arranged on R axle deceleration device two axles 32, three grades of driving pulleys 33 that are arranged on R axle deceleration device two axles 32 are driven and are connected by Timing Belt with three grades of driven pulleys 27 that are connected on operation main shaft 29, thereby drive the parts on operation main shaft 29 and operation main shaft 29 to rotate along R axle.
Be that in R shaft drive, each belt wheel connects with the axle of corresponding cooperation by base rice screw, thereby R axle servomotor 34 drives one-level driving pulley 19 to rotate, one-level driving pulley 19 drives one-level driven pulley 21 and secondary driving pulley 31 to rotate, secondary driving pulley 31 drives secondary driven pulley 22 and three grades of driving pulleys 33 to rotate, and it is that center of rotation is rotated along R axle that three grades of driving pulleys 33 drive three grades of driven pulleys 27 and operation main shaft 29.
Described one-level driving pulley 19, one-level driven pulley 21, secondary driven pulley 22, secondary driving pulley 31, three grades of driven pulleys 27, three grades of driving pulleys 33 all adopt arc tooth synchronous belt wheel.
Described one-level driving pulley 19 is 4:1 with the speed reducing ratio of one-level driven pulley 21, and described secondary driving pulley 31 is 3:1 with the speed reducing ratio of secondary driven pulley 22, and the speed reducing ratio of described three grades of driving pulleys 33 and three grades of driven pulleys 27 is 4:1.
Shown in figure 1, base 6 is fixedly set on floor or table top, and the bottom of two optical axises 3 and base are arranged on base 6 by the shaft shoulder; The bottom of screw mandrel 9 coordinates with the screw mandrel frame 7 that angular contact ball bearing 8 is housed by the shaft shoulder of screw mandrel, screw mandrel frame 7 is closely fixedly connected with base 6 by screw, and the top of screw mandrel 9 is coordinated and is arranged on base 6 with the base that angular contact ball bearing 8 is housed by the shaft shoulder of screw mandrel.
On described two optical axises 3, be separately installed with slide bushing 11, slide bushing 11 links together by screw and elevating bracket 13, screw mandrel nut 10 is installed on screw mandrel 9, screw mandrel nut 10 links together by screw and elevating bracket 13, so, elevating bracket 13, slide bushing 11 and screw mandrel nut 10 are fixed together.
What the decelerator in the present invention adopted is X-axis harmonic speed reducer 15 and Y-axis harmonic speed reducer 18, it comprises and is connected in the wave producer of servo motor shaft, the flexbile gear that is fixed on the firm wheel on harmonic speed reducer body and is connected in mechanical arm, and in the present invention, the speed reducing ratio of X-axis harmonic speed reducer 15 and Y-axis harmonic speed reducer 18 is all 50:1.
X-axis servomotor 38 is fixed by screws on the first mechanical arm 16, and X-axis harmonic speed reducer 15 tops link together by screw and the first mechanical arm 16, and X-axis harmonic speed reducer 15 bottoms link together by screw and elevating bracket 13.So X-axis transmission process: X-axis servo motor shaft drives wave producer rotation, the side set by firm wheel and flexbile gear moves, and flexbile gear output drives the first mechanical arm 16 along X-axis rotation, and Y-axis transmission and X-axis transmission are similar.
Operation main shaft 29 coordinates with the second mechanical arm 25 that deep groove ball bearing 20 is housed by its shaft shoulder, the second mechanical arm 25 cooperation position place one segment distances are stretched out in operation main shaft 29 lower ends, operation main shaft 29 upper ends coordinate with the lid 26 that deep groove ball bearing 20 is housed by its shaft shoulder, lid 26 is closely fixedly connected with the second mechanical arm 25 by screw, for guaranteeing the stability of lid on the second mechanical arm 25, on the second mechanical arm 25, open a groove, lid is arranged in the groove of the second mechanical arm, therefore operation main shaft 29 is pressed on the second mechanical arm 25, can only be that center of rotation is rotated along R axle.
R axle servomotor 34 is closely fixedly connected with by screw with the second mechanical arm 25, and R axle servo motor shaft links together by base rice screw and one-level driving pulley 19, and all the other each belt wheels are by base rice screw
Link together with the axle of corresponding cooperation, R through-drive process: R axle servo motor shaft passes to one-level driving pulley 19 by rotating speed and moment of torsion, by belt wheel and belt in three grades of synchronous pulleys, rotating speed and moment of torsion pass to operation main shaft 29 the most at last.
The speed reducing ratio of first pair of belt wheel in the present invention is 4:1, and the speed reducing ratio of second pair of belt wheel is 3:1, and the speed reducing ratio of the 3rd pair of belt wheel is 4:1, and the speed reducing ratio of three grades of synchronous pulleys is 48:1.
Shown in figure 2 and 4, the first mechanical arm 16 is oblong tabular, in the left part of the first mechanical arm upper surface, be formed with the circular depressions of bottom surface, for with being connected of X-axis servomotor 38, in the left part of the first mechanical arm 16 lower surfaces, be formed with the circular depressions of end face, for with being connected of X-axis harmonic speed reducer 15, in the right side of the first mechanical arm 16 upper surfaces, divide the circular depressions that is formed with bottom surface, for being connected of Y-axis harmonic speed reducer 18; The second mechanical arm 25 is compared with the first mechanical arm 16, for long oblong tabular of long axis direction, at the second mechanical arm 25 upper surfaces, be formed with the Long Circle recess of bottom surface, the installing space of Y-axis servomotor 35, R axle servomotor 34, each belt wheel and lid 26 is provided, in the left part of the second mechanical arm 25 lower surfaces, be formed with the circular depressions of end face, for with being connected of Y-axis harmonic speed reducer 18, the recess that is formed with end face is divided in right side at the second mechanical arm 25 lower surfaces, and the installing space of one-level driving pulley 19 and one-level driven pulley 21 is provided.
Shown in figure 6, in four-degree-of-freedom selective compliance assembly robot arm of the present invention, the brachium of the second mechanical arm 25 is longer with respect to the brachium of the first mechanical arm 16, when the arm of the first mechanical arm 16 and the arm of the second mechanical arm 25 extend while being a straight line, be the first mechanical arm brachium and the second mechanical arm brachium sum, this selective compliance assembly robot arm's the radius of gyration is maximum; When the arm of the second mechanical arm 25, to the brachium direction of the first mechanical arm 16, draw close while being a straight line, be the poor of mechanical arm brachium and the second mechanical arm 25 brachiums, this selective compliance assembly robot arm's the radius of gyration is minimum.
For small-sized, the conveyance of light weight object, at manipulator (clamp-type manipulator, holding type manipulator and absorbent-type manipulator) effect under, manipulating object will move together with operation main shaft 29, by programme controlled four-degree-of-freedom selective compliance assembly robot arm, following action will be started: elevating bracket 13 drives the parts on elevating bracket to move up and down along Z axis in perpendicular, the first mechanical arm 16 be take X-axis with respect to elevating bracket and on horizontal plane, is rotated as center of rotation, the second mechanical arm 25 be take Y-axis with respect to the first mechanical arm and on horizontal plane, is rotated as center of rotation, operation main shaft 29 be take R axle as center of rotation rotation, manipulator moves to preassigned position by drive manipulating object by programme-control like this, put down manipulating object, repeat conveyance next time.
The above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.

Claims (3)

1. a novel planar revolute robot structure, is characterized in that, comprising: the base (6) that plays supporting and cushioning effect; The elevating bracket (13) moving up and down along Z-direction under the position-limiting action of screw mandrel (9) and optical axis (3); The first mechanical arm (16), it take the X-axis parallel with above-mentioned Z axis as being arranged on above-mentioned elevating bracket (13) that center of rotation can be rotated; The second mechanical arm (25), it take the Y-axis parallel with above-mentioned X-axis as being arranged on above-mentioned the first mechanical arm (16) that center of rotation can be rotated; Operation main shaft (29), it take the R axle parallel with above-mentioned Y-axis as being arranged on above-mentioned the second mechanical arm (25) that center of rotation can be rotated; Lid (26), is installed in the second mechanical arm (25) upper, supports operation main shaft (29) and has the through hole running through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel (9) is its outside screw thread and the screw mandrel nut (10) that matches with this screw thread, and described screw mandrel nut (10) is also closely fixedly connected with by the first screw (12) with elevating bracket (13); Z axis servomotor (2) is arranged on Z axis motor rack (4) by screw, Z axis servo motor shaft on it is connected with Z axis driving pulley (1) by base rice screw, Z axis driven pulley (5) is connected with screw mandrel (9) by base rice screw, described Z axis driving pulley (1) drives Z axis driven pulley (5) to drive screw mandrel (9) to rotate by Timing Belt, thereby drives elevating bracket (13) to move up and down;
The bottom of described screw mandrel (9) coordinates with the angular contact ball bearing (8) being arranged in screw mandrel frame (7), optical axis (3) is also installed on described base (6), the kinematic pair of described optical axis (3) is its outside face of cylinder and the slide bushing (11) that matches with this face of cylinder, and described slide bushing (11) is also closely fixedly connected with by the first screw (12) with elevating bracket (13);
Described X-axis servomotor (38) is closely fixedly connected with the first mechanical arm (16) by the second screw (14), described the first mechanical arm (16) is closely fixedly connected with X-axis harmonic speed reducer (15) by the second screw (14), described X-axis harmonic speed reducer (15) is closely fixedly connected with elevating bracket (13) by the second screw (14), the output shaft of described X-axis servomotor (38) drives the input motion of X-axis harmonic speed reducer (15), thereby drives the parts on the first mechanical arm (16) and the first mechanical arm (16) to rotate together;
Described Y-axis servomotor (35) is closely fixedly connected with the second mechanical arm (25) by screw, described the second mechanical arm (25) is closely fixedly connected with Y-axis harmonic speed reducer (18) by the second screw (14), and described Y-axis harmonic speed reducer (18) is closely fixedly connected with the first mechanical arm (16) by the second screw (14);
Described operation main shaft (29) is arranged between the second mechanical arm (25) and lid (26) by deep groove ball bearing (20) and the shaft shoulder, described lid (26) is closely fixedly connected with the second mechanical arm (25) by screw, described R axle servomotor (34) is closely fixedly connected with the second mechanical arm (25) by screw, R axle servomotor (34) is driven and is connected by Timing Belt with one-level driving pulley (19), described one-level driving pulley (19) is driven and is connected by Timing Belt with the one-level driven pulley (21) being arranged on R axle deceleration device one axle (23), the secondary driving pulley (31) being arranged on R axle deceleration device one axle (23) is driven and is connected by Timing Belt with the secondary driven pulley (22) being arranged on R axle deceleration device two axles (32), the three grades of driving pulleys (33) that are arranged on R axle deceleration device two axles (32) are driven and are connected by Timing Belt with the three grades of driven pulleys (27) that are connected on operation main shaft (29), thereby drive the parts on operation main shaft (29) and operation main shaft (29) to rotate along R axle.
2. a kind of novel planar revolute robot structure according to claim 1, is characterized in that: described one-level driving pulley (19), one-level driven pulley (21), secondary driven pulley (22), secondary driving pulley (31), three grades of driven pulleys (27), three grades of driving pulleys (33) all adopt arc tooth synchronous belt wheel.
3. a kind of novel planar revolute robot structure according to claim 2, it is characterized in that: described one-level driving pulley (19) is 4:1 with the speed reducing ratio of one-level driven pulley (21), described secondary driving pulley (31) is 3:1 with the speed reducing ratio of secondary driven pulley (22), and described three grades of driving pulleys (33) are 4:1 with the speed reducing ratio of three grades of driven pulleys (27).
CN201310625262.2A 2013-11-28 2013-11-28 A kind of selective compliance assembly robot arm's structure Expired - Fee Related CN103640028B (en)

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CN105313133A (en) * 2014-07-29 2016-02-10 盛美半导体设备(上海)有限公司 Lifting and rotating mechanism in semiconductor device
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CN107738253A (en) * 2017-11-17 2018-02-27 长沙展朔轩兴信息科技有限公司 A kind of plane joint type robot wrist transmission part
CN107745393A (en) * 2017-10-15 2018-03-02 无锡市盛宝嘉科技有限公司 Plane joint manipulator for bearing ring forging and stamping loading and unloading
CN107775632A (en) * 2017-09-07 2018-03-09 山东科技大学 A kind of forearm vein Needle-driven Robot
CN108312132A (en) * 2018-04-25 2018-07-24 阜阳盛东智能制造技术研发有限公司 A kind of multi-joint mechanical arm
CN108527342A (en) * 2018-04-20 2018-09-14 深圳市欧力克斯科技有限公司 A kind of novel SCARA robot architectures
CN109202879A (en) * 2017-06-29 2019-01-15 日本电产三协株式会社 The hand and industrial robot of industrial robot
CN109366498A (en) * 2018-11-23 2019-02-22 芜湖电工机械有限公司 A kind of four axial plane formula robots for high speed slot-puncher

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CN106363614A (en) * 2016-11-21 2017-02-01 上海健石智能科技有限公司 Motion platform with five degrees of freedom
CN109202879A (en) * 2017-06-29 2019-01-15 日本电产三协株式会社 The hand and industrial robot of industrial robot
CN107322564A (en) * 2017-09-04 2017-11-07 苏州优银机械有限公司 A kind of constitutionally stable industrial cantilever
CN107498584A (en) * 2017-09-04 2017-12-22 苏州优银机械有限公司 A kind of swing angle accurately industrial cantilever
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CN107738253A (en) * 2017-11-17 2018-02-27 长沙展朔轩兴信息科技有限公司 A kind of plane joint type robot wrist transmission part
CN108527342A (en) * 2018-04-20 2018-09-14 深圳市欧力克斯科技有限公司 A kind of novel SCARA robot architectures
CN108312132A (en) * 2018-04-25 2018-07-24 阜阳盛东智能制造技术研发有限公司 A kind of multi-joint mechanical arm
CN109366498A (en) * 2018-11-23 2019-02-22 芜湖电工机械有限公司 A kind of four axial plane formula robots for high speed slot-puncher

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