CN104999471A - Robot joint capable of making turns - Google Patents
Robot joint capable of making turns Download PDFInfo
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- CN104999471A CN104999471A CN201510132731.6A CN201510132731A CN104999471A CN 104999471 A CN104999471 A CN 104999471A CN 201510132731 A CN201510132731 A CN 201510132731A CN 104999471 A CN104999471 A CN 104999471A
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- pulley
- joint
- transition
- robot
- timing belt
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Abstract
The invention discloses a robot joint capable of making turns. The robot joint comprises a driving belt wheel (1) and a driven belt wheel (5); the driving belt wheel (1) and the driven belt wheel (5) are arranged in one synchronous belt (2); the robot joint is characterized in that supporting wheels (3) and transition belt wheels (6) which enable the synchronous belt (2) to conduct angle twisting are further arranged in the synchronous belt (2); the number of the supporting wheels (3) is at least one, and the number of the transition belt wheels (6) is at least one; and the supporting wheels (3) and the transition belt wheels (6) are fixed through shafts.
Description
Technical field
The present invention relates to patent of the present invention and relate to joint of robot kind of drive field, particularly relate to a kind of joint of robot of turning.
Background technology
In Robot Design, in order to the weight alleviating mechanical arm of trying one's best and rotary inertia, the way of general employing is that the drive motors in each joint and the decelerator direction to support is moved forward, but the result done like this is lengthened by the driving-chain in joint, for the joint that gyroaxis is adjacent, no matter its gyroaxis is parallel or vertical, synchronous belt can be adopted to transmit motion, for the non-conterminous joint that gyroaxis is parallel, also can adopt synchronously to bring and transmit motion, and for the mutually perpendicular non-conterminous joint of axis of rotation, generally adopt transmitter shaft to add the mode of bevel gear to transmit motion.Gear-driven complex structure, cost are high, and the requirement in processing, assembling is higher, and easily occurs drive gap, and affect the positional precision of robot, synchronous belt does not then exist the problem of this respect.
Summary of the invention
The object of this invention is to provide a kind of joint of robot of turning, can only the defect of one side security protection to solve prior art middle shell.
Equipment scheme in the present invention is achieved in that a kind of joint of robot of turning, comprise driving pulley and driven pulley, described driving pulley and driven pulley are arranged in same Timing Belt, also be provided with the support wheel and the transition pulley that make Timing Belt carry out angle distortion in described Timing Belt, support wheel and transition pulley quantity are at least a described support wheel respectively and transition pulley is fixed by axle;
General plotting of the present invention is: can the Timing Belt of distortion by adopting, and adopts transition pulley, realizes robot joints axes relative to the torsion of another joints axes in space.
In the present invention, as further improvement, be provided with at least one tensioning pulley in described Timing Belt, tensioning Timing Belt is arranged in adjustable mechanism by axle.
In invention, as further improvement, described driving pulley connection reducer output shaft; Described driven pulley connects output shaft transmission and exports.
In the present invention, as further improvement, described driving pulley, transition pulley, support wheel, driven pulley are provided with back-up ring, and described back-up ring its role is to ensure that Timing Belt can not run out of belt wheel.
In the present invention, as further improvement, described transition pulley diameter is different from driving pulley and driven pulley, described transition wheel, its role is to ensure that Timing Belt can be implemented in the distortion in space.
The present invention compared with prior art, has following beneficial effect:
The present invention is simple and compact for structure, and processing cost is low, and transmission accuracy is higher, and more existing product is compared with trial target, and reliability is strong, can apply in a large number in existing robot device.
Accompanying drawing explanation
Fig. 1, Fig. 2 are structural representations of the present invention;
Parts title in figure:
1-driving pulley, 2-Timing Belt, 3-support wheel, 4-tensioning pulley, 5-driven pulley, 6-transition pulley, 7-driving pulley outer ring, 8-driven pulley outer ring, 9-support wheel outer ring, 10-transition pulley outer ring.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described.
Embodiment 1:
As shown in Figure 1, this joint of robot that can turn, comprises driving pulley 1, Timing Belt 2, support wheel 3, tensioning pulley 4, driven pulley 5 and transition pulley 6, and support wheel 3, tensioning pulley 4, driven pulley 5 quantity are one.
Driving pulley 1 is by keyway connection reducer output shaft, driven pulley 5 connects output shaft transmission by keyway and exports, transition pulley 2 is fixed on joint and changes toothed belt transmission direction, support wheel 3 fixing joint place plays a supportive role, described regulating wheel 4 tensioning Timing Belt, described driving pulley 1 is vertical with driven pulley 5 axis of rotation, and transition pulley 6 is parallel with driven pulley 5 axis of rotation; And above-mentioned driving pulley 1, the fixed form of support wheel 3 tensioning pulley 4, driven pulley 5 and transition pulley 6, can adopt existing axle technique for fixing to realize, and is not therefore described in detail.In driving pulley 1, driven pulley 5, support wheel 3 and transition pulley 6 side, be respectively equipped with the driving pulley outer ring 7 for preventing Timing Belt 2 position from offseting, driven pulley outer ring 8, support wheel outer ring 9, transition pulley outer ring 10.
Embodiment 2:
As shown in Figure 1, this joint of robot that can turn, comprises driving pulley 1, Timing Belt 2, support wheel 3, tensioning pulley 4, driven pulley 5 and transition pulley 6, and support wheel 3, driven pulley 5 quantity are one, and tensioning pulley 4 is 2.
Driving pulley 1 is by keyway connection reducer output shaft, driven pulley 5 connects output shaft transmission by keyway and exports, described transition pulley 2 is fixed on joint and changes toothed belt transmission direction, support wheel 3 fixing joint place plays a supportive role, two regulating wheels 4 are separately positioned between support wheel 3 and driven pulley 5 as shown in Figure 2, with between driving pulley 1 and transition pulley 9, for tensioning Timing Belt 2, described driving pulley 1 and driven pulley 5 axis of rotation are the angle of any direction in space, and transition pulley 6 is parallel with driven pulley 5 axis of rotation; And above-mentioned driving pulley 1, the fixed form of support wheel 3 tensioning pulley 4, driven pulley 5 and transition pulley 6, can adopt existing axle technique for fixing to realize, and is not therefore described in detail.In driving pulley 1, driven pulley 5, support wheel 3 and transition pulley 6 side, be respectively equipped with the driving pulley outer ring 7 for preventing Timing Belt 2 position from offseting, driven pulley outer ring 8, support wheel outer ring 9, transition pulley outer ring 10.
Obviously, above-described embodiment is only used to example of the present invention is clearly described, and not to the restriction implemented.For the those of ordinary skill in described field, can also make other changes in different forms on the basis of the above description.Here without the need to also cannot to all embodiments with exhaustive.And thus the apparent change of amplifying out or variation be still among protection scope of the present invention.
Claims (6)
1.
oneplant the joint of robot that can turn, comprise driving pulley (1) and driven pulley (5), described driving pulley (1) and driven pulley (5) are arranged in same Timing Belt (2), it is characterized in that: be also provided with the support wheel (3) and the transition pulley (6) that make Timing Belt (2) carry out angle distortion in described Timing Belt (2), support wheel (3) and transition pulley (6) quantity are at least one respectively; Described support wheel (3) and transition pulley (6) are fixed by axle.
2. the joint of robot of turning according to claim 1, is characterized in that: be provided with at least one tensioning pulley (4) in described Timing Belt (2), and tensioning Timing Belt (4) is arranged in adjustable mechanism by axle.
3. the joint of robot of turning according to claim 1, is characterized in that: described driving pulley (1) connection reducer output shaft; Described driven pulley (5) connects output shaft transmission and exports.
4. the joint of robot of turning according to claim 3, is characterized in that: described decelerator exports transmission by keyway or Flange joint driving pulley (1).
5. the joint of robot of turning according to claim 1, is characterized in that: described driving pulley (1), transition pulley (2), support wheel (3), driven pulley (5) are provided with back-up ring.
6. the joint of robot of turning according to claim 1, is characterized in that: described transition pulley (6) diameter is different with driven pulley (5) from driving pulley (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132731.6A CN104999471A (en) | 2015-03-25 | 2015-03-25 | Robot joint capable of making turns |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132731.6A CN104999471A (en) | 2015-03-25 | 2015-03-25 | Robot joint capable of making turns |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104999471A true CN104999471A (en) | 2015-10-28 |
Family
ID=54372464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510132731.6A Pending CN104999471A (en) | 2015-03-25 | 2015-03-25 | Robot joint capable of making turns |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104999471A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549067A (en) * | 2020-11-26 | 2021-03-26 | 成都瑞迪机械科技有限公司 | Robot joint module |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3639747A1 (en) * | 1986-11-21 | 1988-05-26 | Zinser Textilmaschinen Gmbh | Machine for the production of twisted or twined threads |
| NL9100846A (en) * | 1991-05-16 | 1992-12-16 | Vanderlande Ind Nederland | Endless belt transporter - which includes guide rollers and diversion rollers device |
| JPH10109737A (en) * | 1996-10-04 | 1998-04-28 | Nichiraku Kikai Kk | Alignment method and device thereof |
| US20020121423A1 (en) * | 2001-03-03 | 2002-09-05 | Transnorm System Gmbh | Device for inward and/or outward transfer of material to be conveyed |
| DE60314136T2 (en) * | 2002-05-17 | 2008-01-31 | Polymer Group, Inc. | CONVEYING DEVICE FOR TURNING A MATERIAL RAIL |
| US20130341857A1 (en) * | 2012-06-21 | 2013-12-26 | Xerox Corporation | Method and apparatus for constant velocity cut-sheet inversion in a printing system |
| CN104396451A (en) * | 2014-11-28 | 2015-03-11 | 重庆华世丹机械制造有限公司 | Mower belt transmission mechanism |
-
2015
- 2015-03-25 CN CN201510132731.6A patent/CN104999471A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3639747A1 (en) * | 1986-11-21 | 1988-05-26 | Zinser Textilmaschinen Gmbh | Machine for the production of twisted or twined threads |
| NL9100846A (en) * | 1991-05-16 | 1992-12-16 | Vanderlande Ind Nederland | Endless belt transporter - which includes guide rollers and diversion rollers device |
| JPH10109737A (en) * | 1996-10-04 | 1998-04-28 | Nichiraku Kikai Kk | Alignment method and device thereof |
| US20020121423A1 (en) * | 2001-03-03 | 2002-09-05 | Transnorm System Gmbh | Device for inward and/or outward transfer of material to be conveyed |
| DE60314136T2 (en) * | 2002-05-17 | 2008-01-31 | Polymer Group, Inc. | CONVEYING DEVICE FOR TURNING A MATERIAL RAIL |
| US20130341857A1 (en) * | 2012-06-21 | 2013-12-26 | Xerox Corporation | Method and apparatus for constant velocity cut-sheet inversion in a printing system |
| CN104396451A (en) * | 2014-11-28 | 2015-03-11 | 重庆华世丹机械制造有限公司 | Mower belt transmission mechanism |
Non-Patent Citations (1)
| Title |
|---|
| ROBERT O.PARMLEY，PE: "《机械设计零件与实用装置图册》", 28 February 2013 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549067A (en) * | 2020-11-26 | 2021-03-26 | 成都瑞迪机械科技有限公司 | Robot joint module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151028 |
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| RJ01 | Rejection of invention patent application after publication |