CN107398898A - A kind of new multiple joint manipulator transmission mechanism - Google Patents
A kind of new multiple joint manipulator transmission mechanism Download PDFInfo
- Publication number
- CN107398898A CN107398898A CN201710626055.7A CN201710626055A CN107398898A CN 107398898 A CN107398898 A CN 107398898A CN 201710626055 A CN201710626055 A CN 201710626055A CN 107398898 A CN107398898 A CN 107398898A
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- CN
- China
- Prior art keywords
- arm
- transmission
- joint
- transmission arm
- shaft
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- 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.)
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of new multiple joint manipulator transmission mechanism,Including pedestal,Large joint is driven arm,Minor articulus is driven arm,Work joint transmission arm and power transmission shaft,Power transmission shaft is Double circular arc gear drive,Two gears are respectively driving pulley and driven pulley,Motor harmonic decelerator is installed in pedestal,First power transmission shaft is installed in pedestal,One end of large joint transmission arm is arranged in the driven pulley of the first power transmission shaft,The other end of large joint transmission arm is arranged in the driving pulley of second driving shaft,One end of Minor articulus transmission arm is arranged in the driven pulley of second driving shaft,The other end of Minor articulus transmission arm is arranged in the driving pulley of the 3rd power transmission shaft,One end of work joint transmission arm is arranged in the driven pulley of the 3rd power transmission shaft,The other end is connected with manipulator fixture,This is simple using new structure,Reduce the use of motor,Reduce the weight of arm,Make articulated arm running more flexible,Reduce mechanical loss.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of new multiple joint manipulator transmission mechanism.
Background technology
Three kinds of general linear motion of current industrial robot, rotary motion and the combination of two kinds of motion modes motion sides
Formula.Linear movement uses the motion mode of similar lathe, and the spatial linear for realizing three coordinates by guide rail and screw mandrel moves, rotation
Motion then adds arm mechanism to realize plane or three-dimensional space motion using more rotary joints, is the advantages of articulated arm
Make flexibly, motional inertia is small, versatile, can capture the workpiece close to support, and can bypass between body and work mechanism
Barrier is operated.With the needs of production, the flexibility to articulated arm, positioning precision and working space etc. propose
Higher and higher requirement.Articulated arm also breaches traditional concept, and its amount of articulation can be from three to more than ten very
To more, its profile is also not limited to the arm as people, and is varied from according to different occasions, in document [4]
CTARM-1 mechanical arms, exactly it is made up of eight joints, its shape is as the nose of elephant.
The premium properties of articulated arm is that other traditional robots can not compare, but the research to it is touched
The weight issue of difficulty onto many engineerings, especially arm.The more and long mechanical arm in joint is due to huge weight
And it is difficult to popularization and application in practice, and the bottleneck in weight issue is driver element.From the point of view of past experience, shape memory
Alloy, for magnetic to stretching, the application of Pneumatic extension driver element is very limited, and driving main body is motor, and the weight of motor is
One it is to be solved the problem of, the installation site and its quantity of motor are then its direct acting factors.In traditional articulated hand
All it is that motor is fixed on joint in arm design, to drive arm, for a long and heavier articulated arm, this
A kind of structure of sample can not obtain application, and because the increasing of motional inertia, the increasing of overshoot, must in motion planning
The complex designing of controller will be caused.
The content of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of new multiple joint manipulator transmission mechanism, this
It is driven in design using arc tooth synchronous belt, thoroughly solves the weight issue of motor, and realizes the simplification of transmission mechanism, by
The transmission of gear drive tendon and chaindriven advantage are combined in toothed belt transmission, its gearratio is accurate, no slippage, transmission speed model
Enclose wide, and there is higher bearing capacity, can transmit high-power, therefore, its scope of application is very wide.
The technical solution adopted for the present invention to solve the technical problems is a kind of new multiple joint manipulator transmission mechanism, bag
Pedestal, large joint transmission arm are included, Minor articulus transmission arm, work joint transmission arm and transmission shaft, the power transmission shaft are double
Circular profile gearing, two gears are respectively driving pulley and driven pulley, it is characterised in that：Motor is installed in the pedestal
Harmonic decelerator, the harmonic speed reducer are electrically connected with motor, the large joint transmission arm, Minor articulus transmission hand
The both ends of arm and work joint transmission arm are connected with by arcuation bar turns ball, and the first power transmission shaft is provided with the pedestal,
One end of the large joint transmission arm is arranged in the driven pulley of the first power transmission shaft, and the large joint is driven the another of arm
In the driving pulley of second driving shaft, one end of the Minor articulus transmission arm is arranged on the driven of second driving shaft at end
In belt wheel, the other end of the Minor articulus transmission arm is arranged in the driving pulley of the 3rd power transmission shaft, and the work joint passes
Start arm one end be arranged on the 3rd power transmission shaft driven pulley in, the other end is connected with manipulator fixture.
As a kind of preferable technical scheme of the present invention, large joint transmission arm, Minor articulus transmission arm and the work
Joint transmission arm is metal inside hollow structure, mainly for mitigating the weight of arm, increases flexibility.
As a kind of preferable technical scheme of the present invention, the motor has two, and harmonic speed reducer is two, it is described wherein
One motor is arranged in pedestal, and another is arranged in the driving pulley of second driving shaft.
As a kind of preferable technical scheme of the present invention, the second driving shaft and the 3rd power transmission shaft are equipped with outside protection
Shell, is socketed with cylindrical drum in the wheel bore of the driving pulley and driven pulley, the cylindrical drum and protection shell directly weld and
Into.
As a kind of preferable technical scheme of the present invention, the protection shell both sides are all provided with hole, are passed for large joint
Start arm, Minor articulus transmission arm and work joint transmission arm connect with transmission shaft.
As a kind of preferable technical scheme of the present invention, rotary hemispherical is equipped with the driving pulley and driven pulley,
Large joint transmission arm, Minor articulus transmission arm and the work joint transmission arm are both placed in rotary hemispherical.
As a kind of preferable technical scheme of the present invention, the arcuation bar concaves.
Compared with prior art, the beneficial effects of the invention are as follows：The new articulated arm transmission mechanism, using circular arc
Toothed timing is driven, and thoroughly solves the weight issue of motor, and realizes the simplification of transmission mechanism, due to toothed belt transmission knot
Closed gear drive tendon transmission and chaindriven advantage, its gearratio is accurate, and no slippage, transmission speed scope is wide, and with compared with
High bearing capacity, can transmit high-power, and therefore, its scope of application is very wide.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure：1- pedestals；2- large joints are driven arm；3- Minor articulus is driven arm；4- work joint transmission arms；5- is passed
Moving axis；6- driving pulleys；7- driven pulleys；8- motors；9- harmonic speed reducers；The power transmission shafts of 10- first；11- bows；12- turns
Ball；13- second driving shafts；The power transmission shafts of 14- the 3rd；15- manipulator fixtures；16- protects shell；17- cylindrical drums；18- holes；
19- rotary hemisphericals.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Embodiment：
To be passed as shown in figure 1, the invention provides a kind of new multiple joint manipulator transmission mechanism, including pedestal 1, large joint
Starting, arm 2, Minor articulus are driven arm 3, work joint transmission arm 4 and power transmission shaft 5, and the power transmission shaft 5 is that Novikov gears with double circular arc tooth profiles passes
Dynamic, two gears are respectively driving pulley 6 and driven pulley 7, and the harmonic decelerator 9 of motor 8, institute are provided with the pedestal 1
State harmonic speed reducer 9 to be electrically connected with motor 8, the first power transmission shaft 10, the large joint transmission are installed in the pedestal 1
The both ends of arm 2, Minor articulus transmission arm 3 and the joint transmission arm 4 that works are connected with by the arcuation bar 11 to concave to be turned
Ball 12, one end of the large joint transmission arm 2 are arranged in the driven pulley 7 of the first power transmission shaft 10, the large joint transmission
The other end of arm 2 is arranged in the driving pulley 6 of second driving shaft 13, and one end of the Minor articulus transmission arm 3 is arranged on
In the driven pulley 7 of second driving shaft 13, the other end of the Minor articulus transmission arm 3 is arranged on the active of the 3rd power transmission shaft 14
In belt wheel 6, one end of the work joint transmission arm 4 is arranged in the driven pulley 7 of the 3rd power transmission shaft 14, and the work is closed
The section transmission other end of arm 4 is connected with manipulator fixture 15.
Preferably, large joint transmission arm 2, Minor articulus transmission arm 3 and the work joint transmission arm 4 are gold
Belong to hollow structure inside, mainly for mitigating the weight of arm, increase flexibility.
Preferably, the motor 8 has two, and harmonic speed reducer 9 is two, and one of motor is arranged on pedestal
In 1, another is arranged in the driving pulley 6 of second driving shaft 13, with the transmission of two motor control transmission mechanisms, structure letter
It is single, weight is reduced so as to reduce mechanical friction.
Preferably, the power transmission shaft 12 of second driving shaft 11 and the 3rd is equipped with protection shell 16, the driving pulley 6
Be socketed with cylindrical drum 17 in the wheel bore of driven pulley 7, the cylindrical drum 17 is directly welded with protection shell 14, in order to
Outside isolation, reduces noise, and impurity will not be made to enter influence transmission effect.
Preferably, protection shell 16 both sides are all provided with hole 18, are passed for large joint transmission arm 2, Minor articulus
Start arm 3 and work joint transmission arm 4 connects with transmission shaft.
Preferably, rotary hemispherical 19 is equipped with the driving pulley 6 and driven pulley 7, the large joint is driven hand
Arm 2, Minor articulus transmission arm 3 and work joint transmission arm 4 are both placed in rotary hemispherical 17, make large joint transmission arm 2,
Minor articulus is driven arm 3 and the mobile applicability for the joint transmission arm 4 that works is more preferable, can be moved in vertical direction.
The present invention embodiment be：During work, motor A harmonic decelerators A drives the active of the first power transmission shaft
Belt wheel rotates, and driving pulley drives the rotation of driven pulley, the transmission of motor B harmonic decelerators B controls second by timing belt
The synchronous arcuate zone of axle and the 3rd power transmission shaft moves, so as to control the motion of work joint transmission arm 4.
The main characteristic of the invention lies in that being driven using arc tooth synchronous belt, thoroughly solve the weight issue of motor, and
The simplification of transmission mechanism is realized, because toothed belt transmission combines the transmission of gear drive tendon and chaindriven advantage, it is driven
Than accurate, no slippage, transmission speed scope is wide, and has higher bearing capacity, can transmit it is high-power, therefore, its be applicable model
Enclose very wide.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (7)
1. a kind of new multiple joint manipulator transmission mechanism, including pedestal (1), large joint transmission arm (2), Minor articulus transmission hand
Arm (3), work joint transmission arm (4) and power transmission shaft (5), the power transmission shaft (5) are Double circular arc gear drive, and two gears divide
Wei driving pulley (6) and driven pulley (7), it is characterised in that：The deceleration of motor (8) harmonic is installed in the pedestal (1)
Device (9), the harmonic speed reducer (9) are electrically connected with motor (8), and the first power transmission shaft is provided with the pedestal (1)
(10), the both ends of the large joint transmission arm (2), Minor articulus transmission arm (3) and work joint transmission arm (4) pass through
Arcuation bar (11), which is connected with, turns ball (12), one end of large joint transmission arm (2) be arranged on the first power transmission shaft (10) from
In movable belt pulley (7), the other end of the large joint transmission arm (2) is arranged in the driving pulley (6) of second driving shaft (13),
One end of the Minor articulus transmission arm (3) is arranged in the driven pulley (7) of second driving shaft (13), the Minor articulus transmission
The other end of arm (3) is arranged in the driving pulley (6) of the 3rd power transmission shaft (14), the work joint transmission arm (4)
One end is arranged in the driven pulley (7) of the 3rd power transmission shaft (14), and work joint transmission arm (4) other end connection is organic
Tool hand fixture (15).
A kind of 2. new multiple joint manipulator transmission mechanism according to claim 1, it is characterised in that：The large joint passes
Start arm (2), Minor articulus transmission arm (3) and work joint transmission arm (4) be metal inside hollow structure, mainly for
Mitigate the weight of arm, increase flexibility.
A kind of 3. new multiple joint manipulator transmission mechanism according to claim 1, it is characterised in that：The motor (8)
There are two, harmonic speed reducer (9) is two, and one of motor is arranged in pedestal (1), and another is arranged on second and passed
In the driving pulley (6) of moving axis (13).
A kind of 4. new multiple joint manipulator transmission mechanism according to claim 1, it is characterised in that：Second transmission
Axle (13) and the 3rd power transmission shaft (14), which are equipped with, protects shell (16), in the wheel bore of the driving pulley (6) and driven pulley (7)
Cylindrical drum (17) is socketed with, the cylindrical drum (17) is directly welded with protection shell (16).
A kind of 5. new multiple joint manipulator transmission mechanism according to claim 4, it is characterised in that：The protection shell
(14) both sides are all provided with hole (18), for large joint transmission arm (2), Minor articulus transmission arm (3) and work joint transmission
Arm (4) connects with transmission shaft.
A kind of 6. new multiple joint manipulator transmission mechanism according to claim 4, it is characterised in that：The driving pulley
(6) rotary hemispherical (19), the large joint transmission arm (2), Minor articulus transmission arm (3) and in driven pulley (7) are equipped with
It is both placed in work joint transmission arm (4) in rotary hemispherical (17).
A kind of 7. new multiple joint manipulator transmission mechanism according to claim 1, it is characterised in that：The arcuation bar
(11) concave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626055.7A CN107398898A (en) | 2017-07-27 | 2017-07-27 | A kind of new multiple joint manipulator transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626055.7A CN107398898A (en) | 2017-07-27 | 2017-07-27 | A kind of new multiple joint manipulator transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107398898A true CN107398898A (en) | 2017-11-28 |
Family
ID=60401663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710626055.7A Pending CN107398898A (en) | 2017-07-27 | 2017-07-27 | A kind of new multiple joint manipulator transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107398898A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5031474A (en) * | 1987-03-31 | 1991-07-16 | Siemens Aktiengesellschaft | Industrial robot |
| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
| CN103802089A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Single-arm manipulator |
| CN204076255U (en) * | 2014-09-26 | 2015-01-07 | 福建农林大学 | A kind of straight line movement driving mechanism of crops carrying |
-
2017
- 2017-07-27 CN CN201710626055.7A patent/CN107398898A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5031474A (en) * | 1987-03-31 | 1991-07-16 | Siemens Aktiengesellschaft | Industrial robot |
| CN2917979Y (en) * | 2006-07-25 | 2007-07-04 | 比亚迪股份有限公司 | Industrial mechanical arm |
| CN103802089A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Single-arm manipulator |
| CN204076255U (en) * | 2014-09-26 | 2015-01-07 | 福建农林大学 | A kind of straight line movement driving mechanism of crops carrying |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171128 |
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| RJ01 | Rejection of invention patent application after publication |