CN109227597A - A kind of parallel robot joint all-in-one machine - Google Patents
A kind of parallel robot joint all-in-one machine Download PDFInfo
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- CN109227597A CN109227597A CN201811361727.7A CN201811361727A CN109227597A CN 109227597 A CN109227597 A CN 109227597A CN 201811361727 A CN201811361727 A CN 201811361727A CN 109227597 A CN109227597 A CN 109227597A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
Abstract
The present invention discloses a kind of parallel robot joint all-in-one machine, comprising: connection pedestal, is hollow structure；Servo motor is fixed on the connection pedestal first end, and the motor shaft of the servo motor extends in the connection pedestal, and one first synchronous pulley is arranged on the motor shaft elongated end；Retarder is fixed on the connection pedestal second end, and the high speed shaft of the retarder extends in the connection pedestal, and one second synchronous pulley is arranged on the high speed shaft elongated end；Wherein, first synchronous pulley and the second synchronous pulley are linked by one first synchronous belt.Servomotor spindle and harmonic speed reducer live spindle are arranged in parallel, and greatly reduce the axial overall length of overall mechanism, particularly suitable in service class joint of robot position, the present invention solves the technical issues of servo deceleration all-in-one machine axial length can not further decrease.
Description
Technical field
The present invention relates to motor-drive technique fields, and in particular to is with motor, retarder and driving at joint of robot
It unites integrated machine drive area, is particularly applied to the all-in-one machine driven at service class joint of robot.
Background technique
All-in-one machine is the driving executive component for being used to drive robot link motion at joint of robot, it is by servo electricity
The novel robot tailored version that machine, harmonic speed reducer, drive system and braking system integrate drives actuator.Currently,
The composed structure of all-in-one machine is there are mainly two types of form, it may be assumed that standard servo motor and harmonic speed reducer and customization servo motor with determine
Harmonic speed reducer processed, wherein standard servo motor and harmonic speed reducer are the direct servo motors using standard on the market, are passed through
The robot articular driver part that connecting flange and other bindiny mechanisms and harmonic speed reducer are formed after being combined together；Customization is watched
Taking motor and customizing harmonic speed reducer is the servo motor stator using customization plus matching rotary shaft base and customization
The robot articular driver part formed after harmonic speed reducer combination.
Standard servo motor and harmonic speed reducer and customization servo motor and customization harmonic speed reducer are all to belong to transmission shaft
Direct tandem type all-in-one machine, be exactly electric machine main shaft and retarder output face rotary shaft point-blank.Standard servo motor with
Servo motor of the harmonic speed reducer assembly due to that can only select general class on the market, final axial pattern length can only be marks
The length of alignment motor adds the axial length of harmonic speed reducer plus connecting flange width, and total length is limited to standard electromotor
It has determined that length and can not further be thinned；Although customizing servo motor and customization harmonic speed reducer assembly can oneself customization
The length of motor side, but due to consider the integrated of drive system, braking system and motor body simultaneously, total length still without
Method is further thinned.
The two kinds of all-in-one machines currently existed are mainly used on industrial multi-axis robot, to all-in-one machine axial overall length
It is required that be not very harsh, but for the service class robot industry risen at present, joint position driving element is too long
The total length demand that great limitation service class robot is high to appearance and freedom degree integrated level, this also becomes such all-in-one machine
A bigger disadvantage.
Specifically, existing joint of robot divides the integral joint of conventional machines person joint and cascade.Traditional machine
Device person joint is divided into four parts: servo motor, servo drive system, retarder, robot body, this four part is respectively independent
Components, servo motor and retarder be fixed on robot body by mechanical connection, and servo drive system is independently of machine
Except device human body, it is connected by cable with communication line with robot body.The integral joint of cascade by servo motor,
Retarder, becoming one of servo drive system joint, servomotor spindle and retarder main shaft are coupled in series.
Above two joint of robot has following problems:
The first, traditional joint of robot is by servo motor, servo drive system, retarder, four part of robot body
Composition, each section are respectively from different manufacturers, and robot needs designer to be combined together each section when researching and developing, to setting
Count that personnel requirement is high, design process is cumbersome, when design is easy to go wrong.
The second, the integral joint of cascade will especially be watched due to using motor and the concatenated mode of retarder
It takes the integrated rear overall dimensions of drive system to grow partially, individual part difficulty of processing is big, pacifies in the limited situation in mounting height space
Dress is difficult, therefore is not suitable for service class robot demanding to joint length.
Third, traditional joint of robot structurally, and servo motor and retarder are cascaded, shape
Size is also partially long, is not also suitable for the small robot of joint installation length.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
The object of the present invention is to provide a kind of parallel robot joint all-in-one machine, servomotor spindle subtracts with harmonic wave
Fast device live spindle parallel arrangement greatly reduces the axial overall length of overall mechanism, particularly suitable in service class joint of robot
Position, the present invention solve the technical issues of servo deceleration all-in-one machine axial length can not further decrease.
In order to realize these purposes according to the present invention and other advantages, a kind of parallel robot joint use is provided
All-in-one machine, comprising:
Pedestal is connected, is hollow structure；
Servo motor, is fixed on the connection pedestal first end, and the motor shaft of the servo motor extends to the company
It connects in pedestal, one first synchronous pulley is set on the motor shaft elongated end；
Retarder, is fixed on the connection pedestal second end, and the high speed shaft of the retarder extends to the linker
In seat, one second synchronous pulley is set on the high speed shaft elongated end；
Wherein, first synchronous pulley and the second synchronous pulley are linked by one first synchronous belt.
Preferably, the servo motor and retarder are fixed by screws in the same side of the connection pedestal, the electricity
Arbor elongated end and high speed shaft elongated end are connected on the connection base internal wall by bearing.
Preferably, an arrestment mechanism is connected on the motor shaft, and a high speed shaft encoder is connected on the motor shaft, it is described
A low speed shaft encoder is connected on the low speed end of retarder, and a strainer, the tensioning are set in the connection base interior
Mechanism contradicts in the outside of first synchronous belt.
Preferably, the retarder is harmonic speed reducer, axially offers hollow hole, the hollow hole in the high speed shaft
A slow-speed shaft, the low speed end synchronous rotation of the slow-speed shaft and the retarder is arranged in interior coaxial spaced.
Preferably, that a third is arranged on the motor shaft between first synchronous pulley and servo motor ontology is synchronous
Belt wheel；The slow-speed shaft outwardly protrudes one the 4th synchronous pulley of setting；The connection between the servo motor and retarder
One the first axle body is set on pedestal, and the first axle body is parallel with the motor shaft, and rotation is provided with the on the first axle body
Five synchronous pulleys and the 6th synchronous pulley, the 5th synchronous pulley and third synchronous pulley are linked by one second synchronous belt,
6th synchronous pulley and the 4th synchronous pulley are linked by a third synchronous belt, the arrestment mechanism and high speed shaft encoder
It is arranged on the first axle body of the 5th synchronous pulley neighbour side, the low speed shaft encoder setting is same the described 6th
On the first axle body for walking belt wheel neighbour side；The setting of synchronous belt parallel interval described in each item, servo-driven module are arranged in institute
It states in servo motor.
Preferably, the high speed shaft encoder, servo-driven module and arrestment mechanism are close to the servo motor end
The motor shaft periphery be sequentially arranged, the slow-speed shaft protrudes from the high speed shaft elongated end and stretches to the connection pedestal
In inner wall, the low speed shaft encoder is arranged on the connection base internal wall of slow-speed shaft protruding end periphery.
Preferably, the second axis that rotational installation one is arranged with the motor shaft parallel interval on the connection base internal wall
Body, rotation is provided with the 7th synchronous pulley of one Yu the first synchronous pulley parallelly distribute on the second axle body, and described the
Seven synchronous pulleys and the first synchronous belt parallel interval are arranged, and first synchronous pulley and the 7th synchronous pulley pass through one the
The linkage of four synchronous belts；The second axle body is outwardly protruded in the connection pedestal certain distance, the high speed shaft encoder setting
On the connection pedestal of the second axle body protruding end periphery, servo-driven module setting is adjacent in the high speed shaft encoder
On the connection pedestal of side, the high speed shaft encoder and servo-driven module are accommodated in a shell, the shell position
Between the servo motor and retarder；The slow-speed shaft protrudes from the high speed shaft elongated end and stretches to the linker
In seat inner wall, the low speed shaft encoder is arranged on the connection base internal wall of slow-speed shaft protruding end periphery；It is described
Arrestment mechanism is disposed adjacent to the motor shaft periphery of the servo motor end.
Preferably, the third axis that rotational installation one is arranged with the motor shaft parallel interval on the connection base internal wall
Body, rotation is provided with the 8th synchronous pulley of one Yu the first synchronous pulley parallelly distribute on the third axis body, and described the
One synchronous pulley and the 8th synchronous pulley are linked by one the 5th synchronous belt；The third axis body is outwardly protruded in the linker
Seat certain distance, the high speed shaft encoder are arranged on the connection pedestal of third axis body protruding end periphery；It is located at
One the 9th synchronous pulley is set on the slow-speed shaft on the outside of the connection pedestal, and the low speed shaft encoder setting is watched described
It takes between motor and retarder, 1 the tenth synchronous pulley is set on the input shaft of the low speed shaft encoder, the described 9th is synchronous
Belt wheel and the tenth synchronous pulley are linked by one the 6th synchronous belt；The setting of synchronous belt parallel interval described in each item.
Preferably, servo-driven module and the arrestment mechanism are outside the motor shaft close to the servo motor end
Week is sequentially arranged, and the low speed shaft encoder is arranged on the connection pedestal between the servo motor and retarder.
Preferably, the arrestment mechanism is positioned close to the motor shaft periphery of the servo motor end, the height
Fast shaft encoder and servo-driven module are accommodated in a shell, and the low speed shaft encoder is mounted in the inner walls,
The input shaft of the low speed shaft encoder protrudes from the shell, and the tenth synchronous pulley is arranged in the low speed shaft encoder
On input shaft protruding end.
Compared with prior art, the beneficial effect that the present invention includes is:
All-in-one machine structure of the invention is simple and compact, and design rationally, by customization servo motor, connects pedestal, synchronous pulley,
Synchronous belt, slow-speed shaft coder module customize harmonic speed reducer, brake module, servo-driven module, high speed shaft encoder
Module, the composition such as strainer, wherein servomotor spindle and harmonic speed reducer live spindle are arranged in parallel, and greatly reduce whole
The axial overall length of body mechanism, particularly suitable to have flat structure in service class joint of robot position, installation is simple, and output is steady
Calmly, the advantages that structural compatibility is high.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the cross-sectional view of all-in-one machine in embodiment one；
Fig. 2 is the overall structure diagram of all-in-one machine in embodiment one；
Fig. 3 is the mounting structure schematic diagram of strainer；
Fig. 4 is the overall structure diagram of all-in-one machine in embodiment two；
Fig. 5 is the explosive view of all-in-one machine in embodiment two；
Fig. 6 is the cross-sectional view of all-in-one machine in embodiment two；
Fig. 7 is the cross-sectional view of all-in-one machine in embodiment three；
Fig. 8 is the cross-sectional view of all-in-one machine in example IV；
Fig. 9 is the cross-sectional view of all-in-one machine in embodiment five.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to comment
It can implement accordingly.
Embodiment one
As shown in Figure 1-3, the present invention provides a kind of parallel robot joint all-in-one machine, by servo motor 1, even
Connect pedestal 2, synchronous pulley, synchronous belt, low speed shaft encoder 5, harmonic speed reducer 6, brake mechanism 7, servo-driven module
8, high speed shaft encoder 9, the equal composition of strainer 10.
Connection pedestal 2 is hollow structure；Servo motor 1 is fixed on 2 first end of connection pedestal, the servo motor 1
Motor shaft extend in the connection pedestal 2, on the motor shaft elongated end be arranged one first synchronous pulley 31.
Retarder 6 is fixed on 2 second end of connection pedestal, and the high speed shaft of the retarder 6 extends to the linker
In seat 2, one second synchronous pulley 32 is set on the high speed shaft elongated end；First synchronous pulley 31 and the second synchronous pulley
32 are linked by one first synchronous belt 41, so that servo motor 1 drives retarder 6 to rotate.
In the present invention, the servo motor 1 is fixed by screws in the same side of the connection pedestal 2 with retarder 6, with
Reduce the integral thickness of all-in-one machine, the motor shaft elongated end is connected to the connection pedestal by bearing with high speed shaft elongated end
On 2 inner walls.
A strainer 10 is set on 2 inside of connection pedestal, the strainer 10 contradicts synchronous described first
With 41 outside, first synchronous belt 41 is tightened by adjusting strainer 10.
In the present invention, the retarder 6 is axially to offer in the high speed shaft hollow using harmonic speed reducer
Hole, coaxial spaced is arranged a slow-speed shaft 61 in the hollow hole, and synchronous with the low speed end of the retarder 6 turn of the slow-speed shaft 61
Dynamic, high speed shaft is rotated in the periphery of slow-speed shaft 61.
Servo motor 1 is connected by screw with connection 2 bottom plate of pedestal, and the first synchronous pulley 31 passes through jackscrew or key and motor
Axis is connected, and motor shaft upper end is fixed by bearing with 2 upper cover plate of pedestal is connect, and harmonic speed reducer 6 is also by screw and linker
2 bottom plates of seat are connected, and the high speed hollow shaft of harmonic speed reducer 6 is connect by jackscrew with the second synchronous pulley 32, and motor side first is same
Step belt wheel 31 is connect with 6 the second synchronous pulley of high speed shaft 32 of harmonic speed reducer by the first synchronous belt 41, the strainer of two sides
10 can be tensioned the first synchronous belt 41 to centre.
A third synchronous pulley is set on the motor shaft between 1 ontology of first synchronous pulley 31 and servo motor
33；The slow-speed shaft 61 outwardly protrudes one the 4th synchronous pulley 34 of setting；It is described between the servo motor 1 and retarder 6
A first axle body is set on connection pedestal 2, the first axle body is parallel with the motor shaft, and setting is rotated on the first axle body
There are the 5th synchronous pulley 35 and the 6th synchronous pulley 36, the 5th synchronous pulley 35 passes through one second with third synchronous pulley 33
Synchronous belt 42 links, and arrestment mechanism 7 and high speed shaft encoder 9 are arranged in described the first of the adjacent side of the 5th synchronous pulley 35
On axis body, 35 synchronized links of input shaft and the 5th synchronous pulley of high speed shaft encoder 9, for acquiring speed end revolving speed and rotation
Position；6th synchronous pulley 36 and the 4th synchronous pulley 34 are linked by a third synchronous belt 43, the slow-speed shaft coding
Device 5 is arranged on the first axle body of the adjacent side of the 6th synchronous pulley 36；5 input shaft of low speed shaft encoder and the 6th is together
36 synchronized links of belt wheel are walked, for acquiring low speed end revolving speed and rotation position.
The setting of synchronous belt parallel interval described in each item, servo-driven module 8 are arranged in the servo motor 1.
Specifically, low speed shaft encoder 5 and 6 slow-speed shaft 61 of retarder pass through synchronous pulley 34,36 and third synchronous belt 43
It is connected, 6 slow-speed shaft 61 of retarder is connect with 6 flexbile gear screw of retarder, high speed shaft encoder 9 and arrestment mechanism 7 and servo motor 1
Motor shaft be connected by synchronous pulley 33,35 and the second synchronous belt 42.
For this parallel all-in-one machine after servo motor 1 starts, motor shaft passes through synchronous pulley 31,32 and the first synchronous belt 41
High speed rotary motion is transmitted to 6 high speed hollow shaft of harmonic speed reducer, by synchronous pulley 33,35 and the second synchronous belt 42 with
The high speed encoder 9 of motor axis connection is used to record the rotation position of motor shaft, and high rotary speed movement is subtracted by harmonic speed reducer 6
After speed, low-speed motion is externally exported by 6 output end face of retarder by the flexbile gear of low speed, passes through synchronous pulley 34,36 and the
The low speed encoder 5 that three synchronous belts 43 are connected with 6 slow-speed shaft 61 of retarder for record be connected with 6 output end face of retarder it is low
The rotation position of fast axis 61, then the location information of high slow-speed shaft is analyzed by driving control system, reach entire parallel one
The high-precision external output of machine.
Embodiment two
As Figure 4-Figure 6, servo motor 1 is connected by screw with connection 2 bottom plate of pedestal, and the first synchronous pulley 31 passes through top
Silk or key be connected with motor shaft, motor shaft upper end is fixed by bearing with 2 upper cover plate of pedestal is connect, harmonic speed reducer 6 also by
Screw is connected with 2 bottom plate of pedestal is connect, and the high speed hollow shaft of harmonic speed reducer 6 is connect by jackscrew with the second synchronous pulley 32,
The first synchronous pulley of motor side 31 is connect with 6 the second synchronous pulley of high speed shaft 32 of harmonic speed reducer by the first synchronous belt 41, and two
The strainer 10 of side can be tensioned the first synchronous belt 41 to centre, and low speed shaft encoder 5 and 6 slow-speed shaft 61 of retarder pass through jackscrew
Or interference connection is connected, 6 slow-speed shaft 61 of retarder is connect with 6 flexbile gear screw of retarder, high speed shaft encoder 9, servo-drive
Module 8 and arrestment mechanism 7 are sequentially arranged in motor shaft close to motor end.
Specifically, the high speed shaft encoder 9, servo-driven module 8 and arrestment mechanism 7 are close to the servo motor 1
The motor shaft periphery of end is sequentially arranged, and the slow-speed shaft 61 protrudes from the high speed shaft elongated end and stretches to the company
It connects in 2 inner wall of pedestal, the low speed shaft encoder 5 is arranged in the connection pedestal 2 of the 61 protruding end periphery of slow-speed shaft
On wall.
For this parallel all-in-one machine after customizing the starting of servo motor 1, motor shaft is synchronous with first by synchronous pulley 31,32
High speed rotary motion is transmitted to 6 high speed hollow shaft of harmonic speed reducer by band 41, and the high speed shaft encoder 9 of motor shaft end records electricity
The rotation position of arbor, after the deceleration that high rotary speed movement passes through harmonic speed reducer 6, by the flexbile gear of low speed by low-speed motion by subtracting
Fast 6 output end face of device externally exports, and the record of low speed shaft encoder 5 and the retarder 6 being mounted on 6 slow-speed shaft 61 of retarder export
The rotation position of the connected slow-speed shaft 61 in end face, then the location information of high slow-speed shaft is analyzed by driving control system, reach whole
A high-precision external output of parallel all-in-one machine.
Embodiment three
As shown in fig. 7, the second axle body that rotational installation one is arranged with the motor shaft parallel interval on connection 2 inner wall of pedestal
21, rotation is provided with the 7th synchronous pulley 37 of one Yu 31 parallelly distribute on of the first synchronous pulley on the second axle body 21,
7th synchronous pulley 37 is arranged with 41 parallel interval of the first synchronous belt, and first synchronous pulley 31 is synchronous with the 7th
Belt wheel 37 is linked by one the 4th synchronous belt 44；The second axle body 21 is outwardly protruded in 2 certain distance of connection pedestal, institute
It states high speed shaft encoder 9 to be arranged on the connection pedestal 2 of the 21 protruding end periphery of the second axle body, so that high speed shaft encodes
The input shaft of device 9 and 21 protruding end of the second axle body rotate synchronously, for acquiring the rotation position of motor shaft.
Servo-driven module 8 is arranged on the connection pedestal 2 of the adjacent side of the high speed shaft encoder 9, the high speed
Shaft encoder 9 and servo-driven module 8 are accommodated in a shell 22, and the shell 22 is located at the servo motor 1 and retarder 6
Between, shell 22 is for protecting high speed shaft encoder 9 and servo-driven module 8.
The slow-speed shaft 61 protrudes from the high speed shaft elongated end and stretches in 2 inner wall of connection pedestal, described low
Fast shaft encoder 5 is arranged on 2 inner wall of connection pedestal of the 61 protruding end periphery of slow-speed shaft, for acquiring slow-speed shaft 61
Rotation position；The arrestment mechanism 7 is disposed adjacent to the motor shaft periphery of 1 end of servo motor, so that braking
Mechanism 7 and 1 ontology of servo motor this two parts collectively constitute hollow servo motor 1.
As shown, the dotted line of servo motor 1 represents hollow hole, hollow hole is used to through power line and signal wire, similarly,
The dotted line of retarder 6 also represents hollow hole.In the course of work, servo-driven module 8 controls the rotation of 1 main shaft of servo motor, passes through
High speed rotary motion is transmitted to 6 high speed hollow shaft of harmonic speed reducer by synchronous pulley 31,32 and the first synchronous belt 41, passes through the 4th
Synchronous belt 44 drives the rotation of high speed shaft encoder 9, and the signal of high speed shaft encoder 9 is transmitted to servo-driven module 8, retarder 6
Low speed shaft encoder 5 is driven to rotate by slow-speed shaft 61, the signal of low speed shaft encoder 5 is transmitted to servo-driven module 8, to reach
To the closed-loop control of entire articular system.
The arrestment mechanism 7 of servo motor 1 plays braking action when work stops, and servo motor 1 stops rotating, after preventing power-off
Robotic arm uncontrolled rotation under torque.
Example IV
As shown in figure 8, the difference from embodiment three is: the installation site and low speed encoder of low speed shaft encoder
It is different from the connection type of slow-speed shaft.
Specifically, being located on the slow-speed shaft 61 in 2 outside of connection pedestal, one the 9th synchronous pulley 39 is set, it is described
Low speed shaft encoder 5 is arranged between the servo motor 1 and retarder 6, is arranged on the input shaft of the low speed shaft encoder 5
The tenth synchronous pulley 38, the 9th synchronous pulley 39 and the tenth synchronous pulley 38 are linked by one the 6th synchronous belt 46；Respectively
The setting of synchronous belt parallel interval described in item.
The high speed shaft encoder 9 and servo-driven module 8 are accommodated in a shell 22, and the low speed shaft encoder 5 is pacified
On 22 inner wall of shell, the input shaft of the low speed shaft encoder 5 protrudes from the shell 22, the tenth synchronous belt
Wheel 38 is arranged on the 5 input shaft protruding end of low speed shaft encoder, and the 9th synchronous pulley 39 passes through with the tenth synchronous pulley 38
The linkage of one the 6th synchronous belt 46 acquires the rotation position of slow-speed shaft 61 so that slow-speed shaft 61 drives low speed shaft encoder 5 to rotate.
Embodiment five
As shown in figure 9, the distinctive points with example IV are: the installation site and low speed shaft encoder of servo-driven module
Installation site.
Specifically, servo-driven module 8 and the arrestment mechanism 7 are in the motor close to 1 end of servo motor
Axis periphery is sequentially arranged, and in the present embodiment, is not provided with shell, the low speed shaft encoder 5 is arranged in 1 He of servo motor
On the connection pedestal 2 between retarder 6, the connection type of low speed shaft encoder 5 and slow-speed shaft 61 is identical as example IV.
From the above mentioned, the electric machine main shaft and retarder main shaft in parallel robot joint of the invention are passed by synchronous belt
It is dynamic, parallel connection arrangement, and it is integrated with high speed shaft encoder, low speed shaft encoder, retarder, servo drive system, have
Using simple, compact-sized, entire length is small, flat structure, precision are high, belongs to modular joint of robot, be more advantageous to
In service humanoid robot industrial application.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easy
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of parallel robot joint all-in-one machine characterized by comprising
Pedestal is connected, is hollow structure；
Servo motor, is fixed on the connection pedestal first end, and the motor shaft of the servo motor extends to the linker
In seat, one first synchronous pulley is set on the motor shaft elongated end；
Retarder is fixed on the connection pedestal second end, and the high speed shaft of the retarder extends in the connection pedestal,
One second synchronous pulley is set on the high speed shaft elongated end；
Wherein, first synchronous pulley and the second synchronous pulley are linked by one first synchronous belt.
2. parallel robot joint all-in-one machine as described in claim 1, which is characterized in that the servo motor with subtract
Fast device is fixed by screws in the same side of the connection pedestal, and the motor shaft elongated end and high speed shaft elongated end pass through bearing
It is connected on the connection base internal wall.
3. parallel robot joint all-in-one machine as described in claim 1, which is characterized in that connected on the motor shaft
One arrestment mechanism connects a high speed shaft encoder on the motor shaft, and slow-speed shaft volume is connected on the low speed end of the retarder
A strainer is arranged in the connection base interior for code device, and the strainer conflict is in the outside of first synchronous belt.
4. parallel robot joint all-in-one machine as claimed in claim 3, which is characterized in that the retarder is harmonic wave
Retarder axially offers hollow hole in the high speed shaft, and a slow-speed shaft, the low speed is arranged in coaxial spaced in the hollow hole
The low speed end of axis and the retarder rotates synchronously.
5. parallel robot joint all-in-one machine as claimed in claim 4, which is characterized in that first synchronous pulley
One third synchronous pulley is set on the motor shaft between servo motor ontology；The slow-speed shaft outwardly protrudes setting one the
Four synchronous pulleys；A first axle body, the first axle are set on the connection pedestal between the servo motor and retarder
Body is parallel with the motor shaft, and rotation is provided with the 5th synchronous pulley and the 6th synchronous pulley on the first axle body, and described the
Five synchronous pulleys and third synchronous pulley are linked by one second synchronous belt, and the 6th synchronous pulley and the 4th synchronous pulley are logical
Third synchronous belt linkage is crossed, the institute of the 5th synchronous pulley neighbour side is arranged in the arrestment mechanism and high speed shaft encoder
It states on the first axle body, the low speed shaft encoder is arranged on the first axle body of the 6th synchronous pulley neighbour side；Respectively
The setting of synchronous belt parallel interval described in item, servo-driven module are arranged in the servo motor.
6. parallel robot joint all-in-one machine as claimed in claim 4, which is characterized in that the high speed shaft coding
Device, servo-driven module and arrestment mechanism are sequentially arranged in the motor shaft periphery close to the servo motor end, described
Slow-speed shaft protrudes from the high speed shaft elongated end and stretches in the connection base internal wall, and the low speed shaft encoder setting exists
On the connection base internal wall of slow-speed shaft protruding end periphery.
7. parallel robot joint all-in-one machine as claimed in claim 4, which is characterized in that the connection base internal wall
Upper to be rotatablely installed a second axle body being arranged with the motor shaft parallel interval, rotation is provided with one and institute on the second axle body
State the 7th synchronous pulley of the first synchronous pulley parallelly distribute on, the 7th synchronous pulley and the first synchronous belt parallel interval
Setting, first synchronous pulley and the 7th synchronous pulley are linked by one the 4th synchronous belt；The second axle body outwardly protrudes
In the connection pedestal certain distance, the connection of the second axle body protruding end periphery is arranged in the high speed shaft encoder
On pedestal, servo-driven module is arranged on the connection pedestal of the high speed shaft encoder neighbour side, and the high speed shaft is compiled
Code device and servo-driven module are accommodated in a shell, and the shell is between the servo motor and retarder；It is described low
Fast crown of roll is for the high speed shaft elongated end and stretches in the connection base internal wall, and the low speed shaft encoder is arranged in institute
It states on the connection base internal wall of slow-speed shaft protruding end periphery；The arrestment mechanism is disposed adjacent to the servo motor end
The motor shaft periphery.
8. parallel robot joint all-in-one machine as claimed in claim 4, which is characterized in that the connection base internal wall
Upper to be rotatablely installed a third axis body being arranged with the motor shaft parallel interval, rotation is provided with one and institute on the third axis body
The 8th synchronous pulley of the first synchronous pulley parallelly distribute on is stated, first synchronous pulley and the 8th synchronous pulley pass through one the 5th
Synchronous belt linkage；The third axis body is outwardly protruded in the connection pedestal certain distance, and the high speed shaft encoder setting exists
On the connection pedestal of third axis body protruding end periphery；It is arranged on the slow-speed shaft on the outside of the connection pedestal
One the 9th synchronous pulley, the low speed shaft encoder are arranged between the servo motor and retarder, the slow-speed shaft coding
The tenth synchronous pulley is set on the input shaft of device, and the 9th synchronous pulley and the tenth synchronous pulley pass through one the 6th synchronous belt
Linkage；The setting of synchronous belt parallel interval described in each item.
9. parallel robot joint all-in-one machine as claimed in claim 8, which is characterized in that servo-driven module and institute
It states arrestment mechanism to be sequentially arranged in the motor shaft periphery close to the servo motor end, the low speed shaft encoder setting
On the connection pedestal between the servo motor and retarder.
10. parallel robot joint all-in-one machine as claimed in claim 8, which is characterized in that the arrestment mechanism is set
It sets in the motor shaft periphery close to the servo motor end, the high speed shaft encoder and servo-driven module are accommodated in
In one shell, the low speed shaft encoder is mounted in the inner walls, and the input shaft of the low speed shaft encoder protrudes from
The shell, the tenth synchronous pulley are arranged on the low speed shaft encoder input shaft protruding end.
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| CN201811361727.7A CN109227597A (en) | 2018-11-15 | 2018-11-15 | A kind of parallel robot joint all-in-one machine |
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| CN201811361727.7A CN109227597A (en) | 2018-11-15 | 2018-11-15 | A kind of parallel robot joint all-in-one machine |
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| US20220241960A1 (en) * | 2021-01-29 | 2022-08-04 | Seiko Epson Corporation | Driving Mechanism And Robot |
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