CN105041993A - Reduction gear for SCARA industrial robot - Google Patents
Reduction gear for SCARA industrial robot Download PDFInfo
- Publication number
- CN105041993A CN105041993A CN201510420171.4A CN201510420171A CN105041993A CN 105041993 A CN105041993 A CN 105041993A CN 201510420171 A CN201510420171 A CN 201510420171A CN 105041993 A CN105041993 A CN 105041993A
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- CN
- China
- Prior art keywords
- synchronous pulley
- timing belt
- motor
- ball spline
- scara
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
- F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Provided is a reduction gear for an SCARA industrial robot. A motor is arranged on a forearm, the tail end of the forearm is connected with a ball spline mechanism through a bearing, and the motor outputs torque and rotating speed to a ball spline through a first level synchronous belt and a second level synchronous belt. According to the reduction gear for the SCARA industrial robot, an alternative solution of a harmonic drive is provided, a reducing mechanism with compound transmission through the second level synchronous belt is adopted, the barycener offset distance of the SCARA robot is reduced, and the improvement of the acceleration performance of the whole machine is facilitated; meanwhile, the reduction gear for the SCARA industrial robot has the advantages of being long in service face, high in precision, high in speed, stable in transmission, high in space utilization, low in heat productivity, low in noise and the like, the use performance is improved, and the cost of the whole machine is reduced.
Description
Technical field
The invention belongs to Industrial Robot Technology field, relate to the joint braking technique of robot, be specially a kind of SCARA industrial robot speed reducer.
Background technique
Selective compliance assembly robot arm, also known as SCARA (SelectiveComplianceAssemblyRobotArm) humanoid robot, is a kind of robot arm being applied to assembling work.In industrial machine human body R&D process, joint speed reducer is a very the key link, is one of technological core of whole robotic part research and development.And the cost of joint speed reducer occupies larger ratio in mechanical part overall cost.
There are 3 rotary joints in four axle SCARA robots, and its axis is parallel to each other, and planar position and orientation.Another joint is prismatic joint, for completing end piece in the motion perpendicular to plane.Rotary joint generally near robot base is J1, is next J2, J4, until wrist.
Find in the SCARA industrial robot joint transmission scheme of the domestic independent research of investigation, SCARA industrial robot J4 articulation structure, the namely rotary joint of end, substantially be all the drive mechanism adopting " actuating motor+synchronous pulley 1+ Timing Belt+synchronous pulley 2+ speed reducer+ball spline ", the concrete scheme of this structure is that J4 axle actuating motor is placed on the mounting bracket on forearm, J4 axle actuating motor drives a synchronous pulley to drive speed reducer synchronous pulley by Timing Belt, speed reducer synchronous pulley, speed reducer and ball spline three link together, thus drive ball spline according to the speed rotary motion of specifying to the position of specifying, in the program, harmonic wave speed reducing machine selected by speed reducer, because harmonic wave speed reducing machine compare general speed reducer have transmit speed ratio large, transmitting accuracy is high, volume is little, the feature such as lightweight.But in current harmonic wave speed reducing machine product, foreign brand name harmonic wave speed reducing machine price is high, and lead time is long; With foreign brand name harmonic wave speed reducing machine, there is a big difference in material, preparation process etc. for domestic harmonic wave speed reducing machine, precision is relatively low, working life is relatively short, operation noise is relatively large, heating value is relatively high, product price cost is also higher, and domestic harmonic wave speed reducing machine series of drive is comparatively larger than general, causes J4 axle movement velocity lower.
Summary of the invention
The problem to be solved in the present invention is: it is lower that the joint speed reducer of existing SCARA industrial robot exists precision, life-span is shorter, the problems such as noise and heating value height, and home products compares external high-end product, and also to there is velocity ratio larger, cause robot movement velocity lower, no matter be from speed reducer technology itself or domestic market demand, all need to improve existing joint speed reducer.
Technological scheme of the present invention is: a kind of SCARA industrial robot speed reducer, is arranged on the forearm of robot end, and described speed reducer comprises motor, first order Timing Belt, second level Timing Belt and ball spline mechanism, and motor is arranged on forearm,
Forearm end connects ball spline mechanism by bearing, ball spline mechanism comprises spline synchronous pulley, ball spline transition axis and ball spline, described bearing connects ball spline transition axis, and ball spline transition axis one end connects ball spline, and the other end connects spline synchronous pulley;
Described first order Timing Belt comprises first order synchronous pulley, transfer synchronous pulley and first order Timing Belt, first synchronous pulley and the interlock of transfer synchronous pulley, and two synchronous pulleys are connected on forearm by switching device, first order synchronous pulley drives spline synchronous pulley by first order Timing Belt;
Described second level Timing Belt comprises motor in synchrony belt wheel and second level Timing Belt, and motor in synchrony belt wheel is arranged on the motor shaft of motor, and motor in synchrony belt wheel drives transfer synchronous pulley by second level Timing Belt.
Further, first order Timing Belt and second level Timing Belt all adopt arc tooth synchronous belt transmission.
Further, first order synchronous pulley and motor in synchrony belt wheel adopt two rib pattern, and transfer synchronous pulley and spline synchronous pulley adopt without rib pattern.
The present invention proposes a kind of replacement scheme of harmonic wave speed reducing machine, adopt the reducing gear of secondary synchronization band Composite Transmission, first, the end speed reducer quality of existing most industry robot is heavy, position is far away, reducing gear is changed into several lightweight belt wheel by the replacement scheme that the present invention proposes, not only complete machine weight can lighten, and machine gravity moves behind robot base direction, and then load reduction that motor bears, this Transmitted chains pattern makes SCARA robot centre offset distance reduce, and is conducive to the raising of complete machine acceleration performance, secondly, although harmonic wave speed reducing machine high-end abroad also has the features such as small in volume, but be subject to cost, the each side restrictions such as lead time, domestic industry demand can not be met, the speed reducer that the two-stage Timing Belt that the present invention proposes forms jointly, complete the prerequisite of deceleration at alternative harmonic wave speed reducing machine under, possessed the life-span long simultaneously, precision is high, speed is fast, stable drive, space availability ratio is high, heating value is low, the advantages such as noise is little, and compare harmonic wave speed reducing machine and greatly reduce cost, weight is reduction further than harmonic wave speed reducing machine also, more be conducive to robot performance to improve, and along with the extensive use of industrial Timing Belt and synchronous pulley, its processing quality improves constantly, cost is also more and more lower, be easy to get ready the goods and also benefit brought for the shortening of robot manufacture cycle.Therefore invention increases usability, reduce complete machine cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
The object of this invention is to provide a kind of SCARA industrial robot speed reducer, mainly for four axle SCARA industrial robots, solve in prior art:
1, J4 joint relies on harmonic wave speed reducing machine and causes the cost disadvantage that SCARA robot price is high;
2, because J4 joint harmonic wave speed reducing machine quality is heavy and be placed in arm exhibition distalmost end and cause the technological deficiency of J1, J2 shaft motor, speed reducer usability partial loss.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1, SCARA industrial robot speed reducer of the present invention, is arranged on the forearm 1 of robot end, and comprise motor 2, first order Timing Belt, second level Timing Belt and ball spline mechanism, motor 2 is arranged on forearm 1.
Forearm 1 end connects ball spline mechanism by bearing, ball spline mechanism comprises spline synchronous pulley 4, ball spline transition axis 5 and ball spline 6, described bearing connects ball spline transition axis 5, ball spline transition axis 5 one end connects ball spline 6, the other end connects spline synchronous pulley 4, this set-up mode effectively saves installing space, and can ensure that ball spline 6 is while both can moving up and down, and can realize rotary motion again.Here move up and down and refer to that the splined shaft of ball spline 6 moves up and down, rotary motion refers to ball spline entirety and synchronous pulley 4 coaxial rotation.
Described first order Timing Belt comprises first order synchronous pulley 3, transfer synchronous pulley 8 and first order Timing Belt 7, first synchronous pulley 3 and transfer synchronous pulley 8 link, and two synchronous pulleys pass through switching device, such as bearing is connected on forearm 1, this set-up mode reduces installing space, realize complete machine to minimize, first order synchronous pulley 3 drives spline synchronous pulley 4 by first order Timing Belt 7; Wherein, the first synchronous pulley 3 and transfer synchronous pulley 8 link together, both employings combination, firmly effectively, compare two-in-one type belt wheel and manufacture easy, reach usage requirement equally.
Described second level Timing Belt comprises motor in synchrony belt wheel 10 and second level Timing Belt 9, and motor in synchrony belt wheel 10 is arranged on the motor shaft of motor 2, and motor in synchrony belt wheel 10 drives transfer synchronous pulley 8 by second level Timing Belt 9.
The transmission process of speed reducer of the present invention is: motor 2 drive motor synchronous pulley 10 rotates, and second level Timing Belt 9 is meshed with motor in synchrony belt wheel 10, transfer synchronous pulley 8, thus drives transfer synchronous pulley 8 to rotate.Because the first synchronous pulley 3 and transfer synchronous pulley 8 link, and then drive first order synchronous pulley 3 to rotate, first order Timing Belt 7 is meshed with the first synchronous pulley 3, spline synchronous pulley 4, thus drives spline synchronous pulley 4 to rotate.Due to the interlock of spline synchronous pulley 4, ball spline transition axis 5 and ball spline 6 three in one, geo-stationary, so drive ball spline 6 synchronous axial system, moment of torsion and rotating speed output on ball spline thus.
As a further improvement on the present invention, in order to ensure the running state that whole speed reducer built-in system reaches best, two-stage transmission all adopts arc tooth synchronous belt transmission.
As a further improvement on the present invention, in order to ensure effective transmission of Timing Belt and at utmost improve Timing Belt working life, first order synchronous pulley 3 and motor in synchrony belt wheel 10 adopt two rib pattern, and transfer synchronous pulley 8 and spline synchronous pulley 4 adopt without rib pattern.
For prior art SCARA industrial robot to speed reducer user demand, the present invention is a kind of new speed reducer scheme, comparing domestic existing speed reducer product on the one hand has lightweight, precision is high, and cost is low, the advantages such as life-span length, stable drive, break on the other hand and the technology of external high-end harmonic wave speed reducing machine is relied on, possessing the performance of harmonic wave speed reducing machine simultaneously, no longer by the constraint such as cost and lead time, there is significant technological progress.
Claims (4)
1. a SCARA industrial robot speed reducer, be arranged on the forearm (1) of robot end, it is characterized in that described speed reducer comprises motor (2), first order Timing Belt, second level Timing Belt and ball spline mechanism, motor (2) is arranged on forearm (1)
Forearm (1) end connects ball spline mechanism by bearing, ball spline mechanism comprises spline synchronous pulley (4), ball spline transition axis (5) and ball spline (6), described bearing connects ball spline transition axis (5), ball spline transition axis (5) one end connects ball spline (6), and the other end connects spline synchronous pulley (4);
Described first order Timing Belt comprises first order synchronous pulley (3), transfer synchronous pulley (8) and first order Timing Belt (7), first synchronous pulley (3) and transfer synchronous pulley (8) interlock, and two synchronous pulleys are connected on forearm (1) by switching device, first order synchronous pulley (3) drives spline synchronous pulley (4) by first order Timing Belt (7);
Described second level Timing Belt comprises motor in synchrony belt wheel (10) and second level Timing Belt (9), motor in synchrony belt wheel (10) is arranged on the motor shaft of motor (2), and motor in synchrony belt wheel (10) drives transfer synchronous pulley (8) by second level Timing Belt (9).
2. a kind of SCARA industrial robot speed reducer according to claim 1, is characterized in that first order Timing Belt and second level Timing Belt all adopt arc tooth synchronous belt transmission.
3. a kind of SCARA industrial robot speed reducer according to claim 1 and 2, it is characterized in that first order synchronous pulley (3) and motor in synchrony belt wheel (10) adopt two rib pattern, transfer synchronous pulley (8) and spline synchronous pulley (4) adopt without rib pattern.
4. a kind of SCARA industrial robot speed reducer according to claim 1 and 2, is characterized in that the artificial four axle SCARA robots of described SCARA industrial machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420171.4A CN105041993A (en) | 2015-07-16 | 2015-07-16 | Reduction gear for SCARA industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420171.4A CN105041993A (en) | 2015-07-16 | 2015-07-16 | Reduction gear for SCARA industrial robot |
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| CN105041993A true CN105041993A (en) | 2015-11-11 |
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| CN201510420171.4A Pending CN105041993A (en) | 2015-07-16 | 2015-07-16 | Reduction gear for SCARA industrial robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710876A (en) * | 2015-12-30 | 2016-06-29 | 北京金日创科技股份有限公司 | Horizontal multi-joint industrial robot |
| CN107639631A (en) * | 2017-11-07 | 2018-01-30 | 广东省智能制造研究所 | A kind of multistation SCARA industrial robots |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN108127692A (en) * | 2017-12-28 | 2018-06-08 | 江苏木盟智能科技有限公司 | The noise-reduction method and system of a kind of mechanical arm |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN109551467A (en) * | 2019-01-11 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Industry robot comprising acting axle construction |
| CN109551515A (en) * | 2018-12-27 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Horizontal articulated industry robot |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | A kind of wrist joint structure of robot |
| CN109702723A (en) * | 2019-02-28 | 2019-05-03 | 广东力顺源智能自动化有限公司 | A kind of mechanical arm |
| CN110394792A (en) * | 2019-06-24 | 2019-11-01 | 珠海格力电器股份有限公司 | A kind of intermediate shaft device, transmission system, robot and its arm |
| CN110666784A (en) * | 2018-07-03 | 2020-01-10 | 日本电产三协株式会社 | Industrial robot |
| CN113715013A (en) * | 2021-11-04 | 2021-11-30 | 辰星（天津）自动化设备有限公司 | Acceleration mechanism of SCARA robot and SCARA robot with same |
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| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
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| JP2014233771A (en) * | 2013-05-31 | 2014-12-15 | シンフォニアテクノロジー株式会社 | Multi-joint robot |
| CN204784506U (en) * | 2015-07-16 | 2015-11-18 | 南京埃斯顿机器人工程有限公司 | Decelerator for SCARA industrial robot |
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2015
- 2015-07-16 CN CN201510420171.4A patent/CN105041993A/en active Pending
Patent Citations (5)
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| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| JP2014233771A (en) * | 2013-05-31 | 2014-12-15 | シンフォニアテクノロジー株式会社 | Multi-joint robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710876A (en) * | 2015-12-30 | 2016-06-29 | 北京金日创科技股份有限公司 | Horizontal multi-joint industrial robot |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN107639631A (en) * | 2017-11-07 | 2018-01-30 | 广东省智能制造研究所 | A kind of multistation SCARA industrial robots |
| CN107639631B (en) * | 2017-11-07 | 2024-02-20 | 广东省智能制造研究所 | Multistation SCARA industrial robot |
| CN108127692A (en) * | 2017-12-28 | 2018-06-08 | 江苏木盟智能科技有限公司 | The noise-reduction method and system of a kind of mechanical arm |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN110666784B (en) * | 2018-07-03 | 2022-06-07 | 日本电产三协株式会社 | Industrial robot |
| CN110666784A (en) * | 2018-07-03 | 2020-01-10 | 日本电产三协株式会社 | Industrial robot |
| CN109551515A (en) * | 2018-12-27 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Horizontal articulated industry robot |
| CN109551515B (en) * | 2018-12-27 | 2023-10-20 | 南京埃斯顿机器人工程有限公司 | Horizontal multi-joint industrial robot |
| CN109551467A (en) * | 2019-01-11 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Industry robot comprising acting axle construction |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | A kind of wrist joint structure of robot |
| CN109591048B (en) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | Wrist joint structure of robot |
| CN109702723A (en) * | 2019-02-28 | 2019-05-03 | 广东力顺源智能自动化有限公司 | A kind of mechanical arm |
| CN110394792A (en) * | 2019-06-24 | 2019-11-01 | 珠海格力电器股份有限公司 | A kind of intermediate shaft device, transmission system, robot and its arm |
| CN113715013A (en) * | 2021-11-04 | 2021-11-30 | 辰星（天津）自动化设备有限公司 | Acceleration mechanism of SCARA robot and SCARA robot with same |
| WO2023077721A1 (en) * | 2021-11-04 | 2023-05-11 | 辰星（天津）自动化设备有限公司 | Speed increasing mechanism for scara robot, and scara robot having speed increasing mechanism |
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Application publication date: 20151111 |
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