CN105965499A - Transmission gear of horizontal multi-joint robot wrist rotating shaft - Google Patents
Transmission gear of horizontal multi-joint robot wrist rotating shaft Download PDFInfo
- Publication number
- CN105965499A CN105965499A CN201610509090.6A CN201610509090A CN105965499A CN 105965499 A CN105965499 A CN 105965499A CN 201610509090 A CN201610509090 A CN 201610509090A CN 105965499 A CN105965499 A CN 105965499A
- Authority
- CN
- China
- Prior art keywords
- wrist
- shaft
- belt wheel
- belt pulley
- belt
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a transmission gear of a horizontal multi-joint robot wrist rotating shaft. The transmission gear comprises a base, wherein the base is provided with a lower arm and an upper arm connected with the lower arm, a motor is fixed on the upper arm, a wrist flange and a spline shaft connected with the wrist flange are arranged below the upper arm, the spline shaft is connected with the motor by a transmission mechanism; the transmission mechanism comprises a first belt pulley connected with the output shaft of the motor, a second belt pulley located in the upper arm, a third belt pulley coaxially connected with the second belt pulley and a fourth belt pulley sleeved on the outside of the spline shaft; the first belt pulley is connected with the second belt pulley by a first belt; and the third belt pulley is connected with the fourth belt pulley by a second belt. According to the device, rotation of the wrist rotating shaft is realized by transmission of two stages of synchronous belts, and the transmission ratio can reach 10-25, thus ensuring enough wrist torque and increasing the rotating speed of the wrist rotating shaft; and lubrication is not needed for the transmission manner, thus reducing maintenance workload.
Description
Technical field
The present invention relates to a kind of horizontal articulated robot, particularly relate to a kind of horizontal articulated robot
Wrist rotates shaft drive.
Background technology
Existing level articulated robot the 4th axle is wrist rotary shaft, its kind of drive many employings planetary reduction gear
Machine adds the kind of drive of Timing Belt or individually uses the kind of drive of harmonic wave speed reducing machine.With upper type due to
Speed reducing ratio is relatively big, causes wrist rotary shaft rotating speed relatively slow, affects mass motion beat, and reductor needs
Periodically grease up, adds maintenance workload, and which is relatively costly.
Summary of the invention
The invention aims to the defect existing for wrist transmission of rotary axis mode in solution prior art,
A kind of horizontal articulated robot wrist is provided to rotate shaft drive.
To achieve these goals, the technical solution used in the present invention is:
A kind of horizontal articulated robot wrist rotates shaft drive, including base, is provided with on base
Underarm and the upper arm being connected with underarm, described upper arm is fixed with motor, and the lower section of upper arm is provided with wrist method
Orchid and the splined shaft with wrist Flange joint, splined shaft is connected by drive mechanism with described motor.
The horizontal articulated robot wrist of above-mentioned one rotates shaft drive, and described drive mechanism includes
The first belt wheel being connected with the output shaft of motor, is positioned at the second belt wheel of described upper arm, same with the second belt wheel
The 3rd belt wheel that axle connects and be set in the 4th belt wheel outside described splined shaft, described first belt wheel and the
Two belt wheels are connected by the first belt, and the 3rd belt wheel and the 4th belt wheel are connected by the second belt.
The horizontal articulated robot wrist of above-mentioned one rotates shaft drive, the outside of described splined shaft
Being arranged with power transmission shaft and spline is female, power transmission shaft is connected with described 4th belt wheel.
The horizontal articulated robot wrist of above-mentioned one rotates shaft drive, and described wrist flange also connects
It is connected to wrist rotary shaft.
The invention have the benefit that employing two-stage toothed belt transmission, can to realize the rotation of wrist rotary shaft
Make gear ratio reach 10～25, both ensure that enough wrist moments of torsion, also improve turning of wrist rotary shaft
Speed, additionally this kind of drive is also without lubrication, decreases maintenance workload.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the schematic diagram of drive mechanism of the present invention.
Detailed description of the invention
As shown in Figure 1 and Figure 2, a kind of horizontal articulated robot wrist rotates shaft drive, the end of including
Seat 1, is provided with underarm 2 and the upper arm 3 being connected with underarm 2 on base 1, upper arm 3 is fixed with electricity
Machine 4, the lower section of upper arm 3 is provided with wrist flange 5 and the splined shaft 6 being connected with wrist flange 5, spline
Axle 6 is connected by drive mechanism with motor 4, and drive mechanism includes first be connected with the output shaft of motor 4
Belt wheel 7, is positioned at the second belt wheel 8 of upper arm 3, threeth belt wheel 9 coaxially connected with the second belt wheel 8 with
And it being set in the 4th belt wheel 10 outside splined shaft 6, the first belt wheel 7 and the second belt wheel 8 are by the first belt
11 connect, and the 3rd belt wheel 9 and the 4th belt wheel 10 are connected by the second belt 12.
The outer sheath of splined shaft 6 is provided with power transmission shaft 13 and spline mother 14, power transmission shaft 13 and the 4th belt wheel 10
Connecting, wrist flange 5 is also associated with wrist rotary shaft.
After motor 4 axle rotates, drive the first belt wheel 7 to rotate, and drive the second band by the first belt 11
Wheel 8 and the 3rd belt wheel 9 rotate, and the 3rd belt wheel 9 drives the 4th belt wheel 10, transmission by the second belt 12
Axle 13 and spline female 14 rotate, and spline female 14 and then driving splined shaft 6 and wrist flange 5 rotate.
This device uses two-stage toothed belt transmission to realize the rotation of wrist rotary shaft, and gear ratio can be made to reach
10～25, both ensure that enough wrist moments of torsion, also improve the rotating speed of wrist rotary shaft, additionally this transmission
Mode, also without lubrication, decreases maintenance workload.
The present invention is not limited to above-mentioned preferred forms, and anyone can draw it under the enlightenment of the present invention
His various forms of products, no matter but in its shape or structure, make any change, every have and the application
Technical scheme as same or like, within all falling within protection scope of the present invention.
Claims (4)
1. horizontal articulated robot wrist rotates a shaft drive, including base, sets on base
There are underarm and the upper arm being connected with underarm, it is characterised in that on described upper arm, be fixed with motor, upper arm
Lower section is provided with wrist flange and the splined shaft with wrist Flange joint, and splined shaft and described motor pass through transmission
Mechanism connects.
The horizontal articulated robot wrist of one the most according to claim 1 rotates shaft drive,
It is characterized in that, described drive mechanism includes the first belt wheel that the output shaft with motor is connected, and is positioned on described
The second belt wheel in arm, threeth belt wheel coaxially connected with the second belt wheel and being set in outside described splined shaft
The 4th belt wheel, described first belt wheel and the second belt wheel connected by the first belt, the 3rd belt wheel and the 4th band
Take turns and connected by the second belt.
The horizontal articulated robot wrist of one the most according to claim 2 rotates shaft drive,
It is characterized in that, the outer sheath of described splined shaft is provided with power transmission shaft and spline is female, power transmission shaft and described 4th band
Wheel connects.
The horizontal articulated robot wrist of one the most according to claim 1 rotates shaft drive,
It is characterized in that, described wrist flange is also associated with wrist rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610509090.6A CN105965499A (en) | 2016-06-29 | 2016-06-29 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610509090.6A CN105965499A (en) | 2016-06-29 | 2016-06-29 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105965499A true CN105965499A (en) | 2016-09-28 |
Family
ID=56955110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610509090.6A Pending CN105965499A (en) | 2016-06-29 | 2016-06-29 | Transmission gear of horizontal multi-joint robot wrist rotating shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965499A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5587637A (en) * | 1994-01-10 | 1996-12-24 | Tatsumo Kabushiki Kaisha | Robot arm device capable of conveying an article in circumferential and radial directions |
| DE10246499A1 (en) * | 2002-10-04 | 2004-04-29 | Wilfried Strothmann Gmbh & Co. Kg Maschinenbau- Und Handhabungstechnik | Turning-arm robot for transporting objects has fourth drive wheel on outer end of second turning arm |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| 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 |
| CN104552241A (en) * | 2013-10-28 | 2015-04-29 | 精工爱普生株式会社 | Scara robot |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN205799509U (en) * | 2016-06-29 | 2016-12-14 | 佛山市西岭机电设备有限公司 | A kind of horizontal articulated robot wrist rotates shaft drive |
-
2016
- 2016-06-29 CN CN201610509090.6A patent/CN105965499A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5587637A (en) * | 1994-01-10 | 1996-12-24 | Tatsumo Kabushiki Kaisha | Robot arm device capable of conveying an article in circumferential and radial directions |
| DE10246499A1 (en) * | 2002-10-04 | 2004-04-29 | Wilfried Strothmann Gmbh & Co. Kg Maschinenbau- Und Handhabungstechnik | Turning-arm robot for transporting objects has fourth drive wheel on outer end of second turning arm |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| 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 |
| CN104552241A (en) * | 2013-10-28 | 2015-04-29 | 精工爱普生株式会社 | Scara robot |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN205799509U (en) * | 2016-06-29 | 2016-12-14 | 佛山市西岭机电设备有限公司 | A kind of horizontal articulated robot wrist rotates shaft drive |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
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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 | ||
| CB02 | Change of applicant information |
Address after: 528099 Guangdong Province, Foshan city Chancheng District Temple Road No. 1 A five layer 509, 511, 513 (only for office use) Applicant after: Guangdong Xiling Technology Co., Ltd. Address before: 528099 Guangdong Province, Foshan city Chancheng District Temple Road No. 1 A five layer 509, 511, 513 (only for office use) Applicant before: Foshan Xiling Electrical Equipment Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160928 |
|
| RJ01 | Rejection of invention patent application after publication |