CN103640028B - A kind of selective compliance assembly robot arm's structure - Google Patents
A kind of selective compliance assembly robot arm's structure Download PDFInfo
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- CN103640028B CN103640028B CN201310625262.2A CN201310625262A CN103640028B CN 103640028 B CN103640028 B CN 103640028B CN 201310625262 A CN201310625262 A CN 201310625262A CN 103640028 B CN103640028 B CN 103640028B
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Abstract
The invention provides a kind of selective compliance assembly robot arm's structure, comprising: the base playing supporting and cushioning effect; The elevating bracket moved up and down along Z-direction under the position-limiting action of screw mandrel and optical axis; First mechanical arm, what it can rotate for center of rotation with the X-axis parallel with above-mentioned Z axis is arranged on above-mentioned elevating bracket; Second mechanical arm, what it can rotate for center of rotation with the Y-axis parallel with above-mentioned X-axis is arranged on above-mentioned first mechanical arm; Operation main shaft, what it can rotate for center of rotation with the R axle parallel with above-mentioned Y-axis is arranged on above-mentioned second mechanical arm.The Z axis that four-degree-of-freedom selective compliance assembly robot arm moves up and down is moved to the base portion of robot by the present invention, such design can reduce the inertia of this Industrial robots Mechanical's arm, improve mechanical arm as stressing conditions during cantilever beam, effectively improve the speed of service of robot and the stability of control, also increase the working space of this industrial robot simultaneously.
Description
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 relate to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology in a lot of field at present.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.Combine it and computer aided design system, computer aided manufacture system application, is the latest development trend of modern manufacturing industry automation.
For the four-degree-of-freedom plane articulation type industrial robot that small-sized, light weight component transport at a high speed, simple and compact for structure, that the rigidity of structure is high, motion flexibility and reliability, repetitive positioning accuracy are high and reliability is high requirement must be met.Four-degree-of-freedom plane articulation type industrial robot is one of best industrial robot in point-to-point motion, is usually used in distributing, carries, loads, packs, lays and among the operation such as assembling.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, the movable range of certain desired plane revolute robot becomes large, also expects the inertia reducing this selective compliance assembly robot arm's mechanical arm simultaneously, improves mechanical arm as stressing conditions during cantilever beam.And herd the SCARA model of wild ocean invention according to Japan, 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
For the technical problem of above-mentioned existence, the object of the present invention is to provide a kind of selective compliance assembly robot arm's structure, the movable range of selective compliance assembly robot arm can be made to become large, also reduce the inertia of this selective compliance assembly robot arm's mechanical arm simultaneously, effectively improve the speed of service of robot and the stability of control.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of selective compliance assembly robot arm's structure, comprising: the base playing supporting and cushioning effect; Along the elevating bracket that Z-direction moves up and down under the position-limiting action of screw mandrel and optical axis, the first mechanical arm, what it can rotate for center of rotation with the X-axis parallel with above-mentioned Z axis is arranged on above-mentioned elevating bracket; Second mechanical arm, what it can rotate for center of rotation with the Y-axis parallel with above-mentioned X-axis is arranged on above-mentioned first mechanical arm; Operation main shaft, what it can rotate for center of rotation with the R axle parallel with above-mentioned Y-axis is arranged on above-mentioned second mechanical arm; Lid, is installed on the second mechanical arm, supports work main shaft and have the through hole run through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel is the screw thread of its outside 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, thus drives elevating bracket to move up and down;
The bottom of described screw mandrel coordinates with the angular contact ball bearing be arranged in screw mandrel frame, described base is also provided with optical axis, the kinematic pair of described optical axis is the face of cylinder of its outside 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 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, namely the output shaft of X-axis servomotor drives the input motion of X-axis harmonic speed reducer, thus 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 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 servo motor shaft is linked together by base rice screw and one-level driving pulley, described one-level driving pulley and the one-level driven pulley be arranged on R axle deceleration device one axle are driven by Timing Belt and are connected, be arranged on secondary driving pulley on R axle deceleration device one axle and the secondary driven pulley be arranged on R axle deceleration device two axle to be driven by Timing Belt and be connected, be arranged on three grades of driving pulleys on R axle deceleration device two axle and the three grades of driven pulleys be connected on operation main shaft to be driven by Timing Belt and be connected, thus drive the parts on operation main shaft and operation main shaft to rotate along R axle.
Namely in R shaft drive, each belt wheel is connected with the axle of corresponding cooperation by base rice screw, thus 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 three grades of driving pulleys drive three grades of driven pulleys and operation main shaft to be that center of rotation is rotated along R axle.
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 to take turns.
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 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, the inertia of reduce engine mechanical arm.
Z axis revolute robot moved up and down is installed to the base portion of robot, such design can reduce the inertia of this Industrial robots Mechanical's arm greatly, improve mechanical arm as stressing conditions during cantilever beam, effectively improve the speed of service of robot and the stability of control, also increase the working space of this industrial robot simultaneously.
For R shaft portion, adopt three grades of synchronous pulleys to slow down, its speed reducing ratio can reach 48:1, and arc tooth synchronous belt takes turns the higher precision of also tool, the function that can complete higher precision location and transmit.So instead of speed reducing ratio in X and Y-axis transmission with 3 pairs of synchronous pulleys is the harmonic speed reducer of 50:1, harmonic speed reducer is a kind of precision speed reduction device of costliness, and such way can considerably reduce the manufacturing cost of this robot.Moreover, harmonic speed reducer is a kind of decelerator of input and output coaxial line, in order to the inertia of reduce engine mechanical arm, need motor to be placed near joint, if so this scheme also adopts harmonic speed reducer, also need to use level synchronization band, be used for transmitting the power near joint motor.Therefore, when space allows, use three grades of Timing Belts to save manufacturing cost, the inertia of the second mechanical arm can also be reduced, improve its motor imagination rapidity and stability.
Accompanying drawing explanation
Fig. 1 is the overall cross-sectional schematic of the selective compliance assembly robot arm's structure represented involved by embodiment of the present invention.
Fig. 2 is the schematic perspective view of the selective compliance assembly robot arm's structure represented involved by embodiment of the present invention.
Fig. 3 is the principle sketch of the selective compliance assembly robot arm's structure represented involved by embodiment of the present invention.
Fig. 4 is the schematic top plan view of the selective compliance assembly robot arm's structure represented involved by embodiment of the present invention.
Fig. 5 is that schematic diagram is looked on the right side of the selective compliance assembly robot arm's structure represented involved by embodiment of the present invention.
Fig. 6 is the movable range view representing four-degree-of-freedom plane articulation type Industrial robots 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 axle 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 axle harmonic speed reducer; 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 axle; 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 axle; 33. 3 grades of driving pulleys; 34.R axle servomotor; 35.Y axle servomotor; 38.X axle servomotor.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further elaborated
Shown in Fig. 5, a kind of selective compliance assembly robot arm's structure, comprising: the base 6 playing supporting and cushioning effect; Along elevating bracket 13, first mechanical arm 16 that Z-direction moves up and down under the position-limiting action of screw mandrel 9 and optical axis 3, what it can rotate for center of rotation with the X-axis parallel with above-mentioned Z axis is arranged on above-mentioned elevating bracket 13; Second mechanical arm 25, what it can rotate for center of rotation with the Y-axis parallel with above-mentioned X-axis is arranged on above-mentioned first mechanical arm 16; Operation main shaft 29, what it can rotate for center of rotation with the R axle parallel with above-mentioned Y-axis is arranged on above-mentioned second mechanical arm 25; Lid 26, is installed on the second mechanical arm 25, supports work main shaft 29 and have the through hole run through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel 9 is the screw thread of its outside 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, thus 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, Z axis driving pulley 1 is by belt drive Z axis driven pulley 5, thus 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 be arranged in screw mandrel frame 7, described base 6 is also provided with optical axis 3, the kinematic pair of described optical axis 3 is the face of cylinder of its outside 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 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, namely the output shaft of X-axis servomotor 38 drives the input motion of X-axis harmonic speed reducer 15, thus 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 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 servo motor shaft is linked together by base rice screw and one-level driving pulley 19, described one-level driving pulley 19 and the one-level driven pulley 21 be arranged on R axle deceleration device one axle 23 are driven by Timing Belt and are connected, be arranged on secondary driving pulley 31 on R axle deceleration device one axle 23 and the secondary driven pulley 22 be arranged on R axle deceleration device two axle 32 to be driven by Timing Belt and be connected, be arranged on three grades of driving pulleys 33 on R axle deceleration device two axle 32 and the three grades of driven pulleys 27 be connected on operation main shaft 29 to be driven by Timing Belt and be connected, thus drive the parts on operation main shaft 29 and operation main shaft 29 to rotate along R axle.
Namely in R shaft drive, each belt wheel is connected with the axle of corresponding cooperation by base rice screw, thus 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 three grades of driving pulleys 33 drive three grades of driven pulleys 27 and operation main shaft 29 to be that center of rotation is rotated along R axle.
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 to take turns.
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 is coordinated 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 arranged on base 6 with being equipped with the base engagement of angular contact ball bearing 8 by the shaft shoulder of screw mandrel.
Described two optical axises 3 are separately installed with slide bushing 11, slide bushing 11 is linked together by screw and elevating bracket 13, screw mandrel 9 is provided with screw mandrel nut 10, screw mandrel nut 10 is linked 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 the wave producer being connected to servo motor shaft, the flexbile gear being fixed on the firm wheel on harmonic speed reducer body and being connected to 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 top is linked together by screw and the first mechanical arm 16, and X-axis harmonic speed reducer 15 bottom is linked together by screw and elevating bracket 13.So X-axis transmission process: X-axis servo motor shaft drives wave producer to rotate, and move with the side set of flexbile gear by just taking turns, flexbile gear exports drive first mechanical arm 16 along X-axis rotation, Y-axis transmission and X-axis transmission similar.
Operation main shaft 29 is coordinated 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 distance is stretched out in operation main shaft 29 lower end, operation main shaft 29 upper end is coordinated 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 ensureing the stability of lid on the second mechanical arm 25, namely on the second mechanical arm 25, a groove is opened, 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 is linked 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: rotating speed and moment of torsion are passed to one-level driving pulley 19 by R axle servo motor shaft, by the belt wheel in three grades of synchronous pulleys and belt, 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 namely the speed reducing ratio of three grades of synchronous pulleys is 48:1.
Shown in figure 2 and 4, first mechanical arm 16 is oblong tabular, the circular depressions of bottom surface is formed in the left part of the first mechanical arm upper surface, for with being connected of X-axis servomotor 38, the circular depressions of end face is formed in the left part of the first mechanical arm 16 lower surface, for with being connected of X-axis harmonic speed reducer 15, be formed with the circular depressions of bottom surface in the right part of the first mechanical arm 16 upper surface, for being connected of Y-axis harmonic speed reducer 18; Second mechanical arm 25 is compared with the first mechanical arm 16, for the oblong tabular that long axis direction is longer, the Long Circle recess of bottom surface is formed at the second mechanical arm 25 upper surface, the installing space of Y-axis servomotor 35, R axle servomotor 34, each belt wheel and lid 26 is provided, the circular depressions of end face is formed in the left part of the second mechanical arm 25 lower surface, for with being connected of Y-axis harmonic speed reducer 18, be formed with the recess of end face in the right part of the second mechanical arm 25 lower surface, 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 relative 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 in a straight line, be the first mechanical arm brachium and the second mechanical arm brachium sum, the radius of gyration of this selective compliance assembly robot arm is maximum; When the arm of the second mechanical arm 25 is drawn close in a straight line to the brachium direction of the first mechanical arm 16, be the difference of mechanical arm brachium and the second mechanical arm 25 brachium, the radius of gyration of this selective compliance assembly robot arm 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, following action will be started: elevating bracket 13 drives the parts on elevating bracket to move up and down in perpendicular along Z axis by programme controlled four-degree-of-freedom selective compliance assembly robot arm, first mechanical arm 16 is that center of rotation rotates in the horizontal plane relative to elevating bracket with X-axis, second mechanical arm 25 is that center of rotation rotates in the horizontal plane relative to the first mechanical arm with Y-axis, operation main shaft 29 with R axle for center of rotation rotates, drive manipulating object is moved to preassigned position by programme-control by such manipulator, put down manipulating object, repeat to transport 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 the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (3)
1. selective compliance assembly robot arm's structure, is characterized in that, comprising: the base (6) playing supporting and cushioning effect; The elevating bracket (13) moved up and down along Z-direction under the position-limiting action of screw mandrel (9) and optical axis (3); First mechanical arm (16), what it can rotate for center of rotation with the X-axis parallel with above-mentioned Z axis is arranged on above-mentioned elevating bracket (13); Second mechanical arm (25), what it can rotate for center of rotation with the Y-axis parallel with above-mentioned X-axis is arranged on above-mentioned first mechanical arm (16); Operation main shaft (29), what it can rotate for center of rotation with the R axle parallel with above-mentioned Y-axis is arranged on above-mentioned second mechanical arm (25); Lid (26), is installed on the second mechanical arm (25), supports work main shaft (29) and have the through hole run through for above-mentioned operation main shaft;
The kinematic pair of described screw mandrel (9) is the screw thread of its outside 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, thus drives elevating bracket (13) to move up and down;
The bottom of described screw mandrel (9) coordinates with the angular contact ball bearing (8) be arranged in screw mandrel frame (7), described base (6) is also provided with optical axis (3), the kinematic pair of described optical axis (3) is the face of cylinder of its outside 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 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), thus 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 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 servo motor shaft is linked together by base rice screw and one-level driving pulley (19), described one-level driving pulley (19) and the one-level driven pulley (21) be arranged on R axle deceleration device one axle (23) are driven by Timing Belt and are connected, be arranged on secondary driving pulley (31) on R axle deceleration device one axle (23) and the secondary driven pulley (22) be arranged on R axle deceleration device two axle (32) to be driven by Timing Belt and be connected, be arranged on three grades of driving pulleys (33) on R axle deceleration device two axle (32) and the three grades of driven pulleys (27) be connected on operation main shaft (29) to be driven by Timing Belt and be connected, thus drive the parts on operation main shaft (29) and operation main shaft (29) to rotate along R axle.
2. a kind of selective compliance assembly robot arm's 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 to take turns.
3. a kind of selective compliance assembly robot arm's 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).
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