CN110328659A - A kind of compact belt transmission four axis robot of sealed type small-sized - Google Patents
A kind of compact belt transmission four axis robot of sealed type small-sized Download PDFInfo
- Publication number
- CN110328659A CN110328659A CN201910723747.2A CN201910723747A CN110328659A CN 110328659 A CN110328659 A CN 110328659A CN 201910723747 A CN201910723747 A CN 201910723747A CN 110328659 A CN110328659 A CN 110328659A
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- axis
- level
- side plate
- axle
- driven
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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
- 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
- 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
Abstract
A kind of compact belt transmission four axis robot of sealed type small-sized, including pedestal, support frame, large arm, forearm, first axle driving assembly, second axis driving assembly and third axis driving assembly, support frame as described above is in the top of pedestal, the connection of the upper end of the large arm and support frame, the connection of the upper end of the forearm and large arm, support frame as described above includes lower plate, first side plate, second side plate, the first axle driving assembly is located on lower plate, the second axis driving assembly and the second shaft dust protector are located on the first side plate, and second axis driving assembly connect with large arm, the third axis driving assembly and third shaft dust protector are located on the second side plate, and third axis driving assembly is connect with forearm, the present invention is by first axle driving assembly, second axis driving assembly and third axis driving assembly are horizontally staggered, it accommodates on the support frame, add dust-proof Cover, proofing dust and protecting greatly reduce motor peripheral hardware the space occupied, robot compact overall structure relative to traditional small scale robot.
Description
Technical field
The invention belongs to robotic technology fields, and in particular, to a kind of compact belt transmission four axis of sealed type small-sized
Robot.
Background technique
In modern industry and other daily work life fields, the application of mechanical arm or robot becomes in universalness
Gesture, and via industrially using gradually being spread into daily life.
Currently, small-sized industrial robot in the market, end load weight concentrates on 3-10kg, and such robot is main
It applies in automobile and the field 3C.However, being less than the subdivision field of 1kg towards end load weight, only exists be supplied in the market
The consumer level products of robot fan, there are the deficiencies of three aspects for the robot of this type:
First aspect is derived from the opened loop control of motor, and the precision of robot end is millimeter rank, it is difficult to meet work
The application demand of industry occasion.
The second aspect is the back clearance of speed reducer, under the limitation of consumer level products average unit cost, the back of selected speed reducer
Gap can the end precision to robot cause large effect.
It is the location arrangements of motor in terms of third, compared to the overall dimensions of robot, two motors are formed by width
It spends oversized, higher requirement is proposed to the practical application place of user.
For small scale robot, the requirement for size is higher and higher, and consumer is desirable to using compact-sized,
Robot small in size saves space, is convenient for carrying, disposes while the good appearance for improving robot is spent.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of compact belts to be driven four axis robot of sealed type small-sized, solution
Small scale robot determined since motor sets the technical issues of occupying larger width, has improved the end precision of robot, saves
Space improves robot good appearance degree.
Technical solution: the present invention provides a kind of compact belt be driven four axis robot of sealed type small-sized, including pedestal,
Support frame, large arm, forearm, first axle driving assembly, the second axis driving assembly and third axis driving assembly, support frame as described above is the bottom of at
The upper end of the top of seat, the large arm and support frame connects, and the upper end of the forearm and large arm connects, support frame as described above packet
Lower plate, the first side plate, the second side plate are included, the first axle driving assembly is located on lower plate, the second axis driving assembly
It being located on the first side plate, and the second axis driving assembly is connect with large arm, the third axis driving assembly is located on the second side plate,
And third axis driving assembly is connect with forearm.First shaft dust protector is located on the lower end surface of lower plate, and the second axis is dust-proof
It is located on the outside of the first side plate, third shaft dust protector is located on the outside of the second side plate.Compact belt transmission of the invention is closed
The motor of the motor of second axis driving assembly and third axis driving assembly is located in support frame by small-sized four axis robot, by
The synchronous belt deceleration device of two axis driving assemblies and the synchronous belt deceleration device of third axis driving assembly are located at outside support frame, are passed through
First axle driving assembly, the second axis driving assembly and third axis driving assembly are horizontally staggered setting, by by the width of support frame
Degree is widened, and the effect for accommodating the motor of first axle driving assembly, the motor of the second axis driving assembly and third axis driving assembly is reached
Fruit is located at support by the synchronous belt deceleration device of the second axis driving assembly and the synchronous belt deceleration device of third axis driving assembly
Outside frame, and dust cover is covered on synchronous belt deceleration device, has achieved the effect that dust-proof beauty, relative to traditional minicomputer
Device people greatly reduces due to motor peripheral hardware the space occupied, and dust cover can also protect synchronous belt deceleration device, so that
Robot compact overall structure, good appearance.
Further, above-mentioned compact belt is driven four axis robot of sealed type small-sized, first side plate and second
Side plate is vertically located at the two sides of lower plate, and the first axle driving assembly is located on lower plate, the second axis driving assembly and
Third axis driving assembly is located at the first side plate and the second side plate two sides.The lower plate of setting, the first side plate and the second side plate are formed
The cavity that first axle driving assembly, the second axis driving assembly and third axis driving assembly can be accommodated, by first axle driving assembly,
Two axis driving assemblies and third axis driving assembly are staggeredly located at wherein, so that robot monnolithic case is simple and beautiful.
Further, above-mentioned compact belt is driven four axis robot of sealed type small-sized, the first axle driving assembly
Including the first spindle motor, first axle level-one driving wheel, first axle level-one belt, first axle level-one driven wheel, adapter, first axle
Second level driving wheel, first axle second belt, first axle second level driven wheel, floating bearing, first spindle motor pass through adapter
It is fixed on lower plate, the adapter is connected on the upper surface of lower plate, first spindle motor and first axle level-one master
Driving wheel connection, the first axle level-one belt are set on the outer wall of first axle level-one driving wheel and first axle level-one driven wheel,
And first axle level-one driving wheel can drive first axle level-one driven wheel to rotate by first axle level-one belt, the first axle two
Grade driving wheel is connect by adapter with first axle level-one driven wheel, and first axle level-one driven wheel drives first axle second level master
Wheel rotation, the first axle second belt are set on the outer wall of first axle second level driving wheel and first axle second level driven wheel,
The lower end surface of the upper surface connection lower plate of the floating bearing outer ring, the lower end surface of floating bearing inner ring connects first axle second level
The lower end surface of the upper surface of driven wheel, the first axle second level driven wheel is fixed on the upper surface of pedestal.By the first spindle motor
It is connect with first axle level-one driving wheel, first axle level-one driving wheel drives first axle level-one driven wheel by first axle level-one belt
It is rotated with first axle second level driving wheel, first axle second level driving wheel drives floating bearing rotation by first axle second belt, makes
Obtaining large arm and forearm can rotate within the scope of 360 °.
Further, above-mentioned compact belt is driven four axis robot of sealed type small-sized, and the second axis driving assembly includes
Second spindle motor, the second axis level-one driving wheel, the second axis level-one belt, the second axis level-one driven wheel, the second axis second level driving wheel,
Second axis second belt, the second axis second level driven wheel and adapter, second spindle motor and the second axis driving assembly other
Component distribution is in the two sides of the first side plate, and second spindle motor is fixed on the top of lower plate, and the second spindle motor is located at
Between first side plate and the second side plate, the output end of second spindle motor is arranged towards the first side plate, the second axis level-one
Driving wheel is connect with the second spindle motor, the second axis level-one belt be set in the second axis level-one driving wheel and the second axis level-one from
On driving wheel, and the second axis level-one driving wheel can drive the second axis level-one driven wheel to rotate, and the second axis second level driving wheel is logical
Adapter to be crossed to connect with the second axis level-one driven wheel, the second axis second level driving wheel follows the second axis level-one driven wheel to rotate synchronously,
The second axis second belt is set on the second axis second level driving wheel and the second axis second level driven wheel, and the second axis second level master
Driving wheel can drive the second axis second level driven wheel to rotate.Second spindle motor is located between the first side plate and the second side plate, the second axis
Level-one driving wheel, the second axis level-one belt, the second axis level-one driven wheel, the second axis second level driving wheel, the second axis second belt and
Second axis second level driven wheel is located at the outside of the first side plate, reduces the second spindle motor being located at space on the outside of the first side plate,
It is driven by multi-stage, belt wheel, realizes the purpose of driving large arm rotation.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: the third
Axis driving assembly includes third spindle motor, third axis level-one driving wheel, third axis level-one belt, third axis level-one driven wheel,
Three axis second level driving wheels, third axis second belt and third axis second level driven wheel, the third spindle motor and third axis driving group
The other component of part is distributed in the two sides of the second side plate, and the third spindle motor is fixed on the top of lower plate, and third axis
Between the first side plate and the second side plate, the output end of the third spindle motor is arranged motor towards the second side plate, and described the
Two spindle motors and third spindle motor are reversely located between the first side plate and the second side plate side by side, the third axis level-one driving wheel with
The connection of third spindle motor, the third axis level-one belt are set in third axis level-one driving wheel and third axis level-one driven wheel
On, and third axis level-one driving wheel can drive third axis level-one driven wheel to rotate, the third axis second level driving wheel and third
The connection of axis level-one driven wheel realizes that third axis second level driving wheel and third axis level-one driven wheel rotate synchronously, the third axis two
Grade belt is set on third axis second level driving wheel and third axis second level driven wheel, and third axis second level driving wheel can drive the
The rotation of three axis second level driven wheels.Third spindle motor is set with the second spindle motor side by side, third axis level-one driving wheel, third axis level-one
Belt, third axis level-one driven wheel, third axis level-one driving wheel, third axis second belt and third axis second level driven wheel are far from
The side of side plate is arranged, and reduces the space that third spindle motor is located on the outside of the first side plate, by Multistage belt drive variable, realizes
The purpose of forearm rotation is driven, the first spindle motor, the second spindle motor and third spindle motor are on the center line of lower plate, and
Second spindle motor and third spindle motor are staggered, and greatly reduce motor the space occupied, so that this robot overall structure
It is compact.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: the third
Axis second level driven wheel is equipped with third axis connecting rod one, and the third axis connecting rod one is equipped with third axis connecting rod two, and third axis
Connecting rod one and third axis connecting rod two are hinged, and the third axis connecting rod two is connect with forearm.The third axis connecting rod one and third of setting
Axis connecting rod two is moved by the driving of third axis driving assembly, so that forearm be driven to rotate around with the hinge joint of large arm.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: described first
Side plate and the second side plate are equipped with first level support rod, and the both ends of the first level support rod are respectively provided at the first side plate
On the second side plate, the first level support rod is equipped with adapter, and the lower end surface of adapter is supported in first level
On the upper surface of bar, the adapter is equipped with lower link, and the lower end of adapter and lower link is hinged, the lower link
Upper end be hinged with connecting rod rack, the large arm is equipped with the second horizontal support bar, and the connecting rod rack is set in the second water
On flat support rod, upper connecting rod is hinged on the connecting rod rack.Lower link, connecting rod rack and the upper connecting rod of setting are for keeping small
The robot of arm end setting takes the holding of object structure horizontal.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: described first
Side plate and the second side plate are vertically located at the both sides of the edge of lower plate, and the center line of the first side plate and the following bottom plate of the second side plate
It is set for symmetrical axial symmetry, the output end of first spindle motor is located at downward vertically on the center line of lower plate, second axis
Motor and third spindle motor are reversely located between the first side plate and the second side plate side by side, and the second spindle motor and third spindle motor
Level is located on lower plate.The set-up mode of above-mentioned first spindle motor, the second spindle motor and third spindle motor, ensure that facet
In long-pending the first side plate and the second side plate space, the first spindle motor, the second spindle motor and third spindle motor can be accommodated, is dropped significantly
The low occupancy in space, so that compact overall structure.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: described first
The upper end of side plate is equipped with Step Shaft, and Step Shaft is connect with the second axis second level driven wheel, and the upper end of the second side plate is equipped with step
Axis, Step Shaft are connect with third axis second level driven wheel.The Step Shaft of setting by the second axis second level driven wheel and third axis second level from
Driving wheel is separately positioned on the first side plate and the second side plate.
Further, the compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: the large arm
Including large arm side plate one, large arm side plate two, big cantilever crane, the large arm side plate one is parallel with large arm side plate two be located at the first side plate and
Between second side plate, the large arm side plate one is connect with the second axis second level driven wheel, the large arm side plate two by Step Shaft with
Second side plate is hinged, and first side plate and the second side sheet room have support rod, and the big cantilever crane, forearm are the integrated design.
By the way that big cantilever crane, forearm design to be integrated, intensity is increased.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: compact belt of the present invention biographies
Dynamic four axis robot of sealed type small-sized, it is reasonable in design, it has the advantages that
First aspect, the present invention does not use only the stepper motor with encoder and does closed-loop control, and uses
Motor driver with subdivision function largely improves the kinematic accuracy of robot.
The second aspect, the present invention give full play to the small advantage of synchronous belt back clearance, are subtracted by the realization of multistage toothed belt transmission
The function of fast torque increase in the comparable situation of cost, reduces speed reducer back clearance bring instead of current speed reducer scheme
End precision problem.
In terms of third, the present invention uses the motor arrangement of alternating expression, and three motors are all dexterously contracted in base
In seat, the size of width direction is not only reduced, and makes whole compact-sized, the field condition of user is proposed more
Loose requirement.
4th aspect, the present invention is using dust cover and multistage synchronous belt transmission device, proofing dust and protecting, structure beauty.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that compact belt of the present invention is driven four axis robot of sealed type small-sized；
Fig. 2 is the explosive view one that compact belt of the present invention is driven four axis robot of sealed type small-sized；
Fig. 3 is the explosive view two that compact belt of the present invention is driven four axis robot of sealed type small-sized.
In figure: pedestal 1, support frame 2, lower plate 21, the first side plate 22, the second side plate 23, large arm 3, large arm side plate 1,
Large arm side plate 2 32, big cantilever crane 33, forearm 4, first axle driving assembly 5, the first spindle motor 51, first axle level-one driving wheel 52,
First axle level-one belt 53, first axle level-one driven wheel 54, adapter 551, adapter 552, first axle second level driving wheel 56,
One axis second belt 57, first axle second level driven wheel 58, floating bearing 59, the second axis driving assembly 6, the second spindle motor 61,
Two axis level-one driving wheels 62, the second axis level-one belt 63, the second axis level-one driven wheel 64, the second axis second level driving wheel 65, second
Axis second belt 66, the second axis second level driven wheel 67, adapter 68, third axis driving assembly 7, third spindle motor 71, third axis
Level-one driving wheel 72, third axis level-one belt 73, third axis level-one driven wheel 74, third axis second level driving wheel 75, third axis two
Grade belt 76, third axis connecting rod 1, third axis connecting rod 2 79, first level support rod 8, turns third axis second level driven wheel 77
Fitting 81, lower link 82, connecting rod rack 83, the second horizontal support bar 84, upper connecting rod 85, support rod 86, Step Shaft 91, Step Shaft
92, Step Shaft 93.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment
Compact belt as shown in Figs. 1-3 is driven four axis robot of sealed type small-sized, including pedestal 1, support frame 2, big
Arm 3, forearm 4, first axle driving assembly 5, the second axis driving assembly 6 and third axis driving assembly 7, support frame as described above 2 is in pedestal 1
Top, the large arm 4 connect with the upper end of support frame 2, and the forearm 4 is connect with the upper end of large arm 3, wherein support
Frame includes lower plate 21, the first side plate 22, the second side plate 23, and the first axle driving assembly 5 is located on lower plate 21, and described
Two axis driving assemblies 6 are located on the first side plate 22, and the second axis driving assembly 6 is connect with large arm 3, the third axis driving group
Part 7 is located on the second side plate 23, and third axis driving assembly 7 is connect with forearm 4.First shaft dust protector 01 is located at bottom
On the lower end surface of plate 21, the second shaft dust protector 02 is located at 22 outside of the first side plate, and third shaft dust protector 03 is located at the second side plate 23
Outside.First side plate 22 and the second side plate 23 are vertically located at the two sides of lower plate 21, and the first axle driving assembly 5 is located at
On lower plate 21, the second axis driving assembly 6 and third axis driving assembly 7 are located at 23 liang of the first side plate 22 and the second side plate
Side.The specific structure of first axle driving assembly 5 of the invention, the second axis driving assembly 6 and third axis driving assembly 7 is respectively as follows:
First axle driving assembly 5 includes the first spindle motor 51, first axle level-one driving wheel 52, first axle level-one belt 53, first axle one
Grade driven wheel 54, adapter 551, adapter 552, first axle second level driving wheel 56, first axle second belt 57, first axle second level
Driven wheel 58, floating bearing 59, first spindle motor 51 are fixed on lower plate 21 by adapter 551, the adapter
551 are connected on the upper surface of lower plate 21, and first spindle motor 51 is connect with first axle level-one driving wheel 52, and described first
Axis level-one belt 53 is set on the outer wall of first axle level-one driving wheel 52 and first axle level-one driven wheel 54, and first axle one
Grade driving wheel 52 can drive first axle level-one driven wheel 54 to rotate by first axle level-one belt 53, and the first axle second level is actively
Wheel 56 is connect by adapter 552 with first axle level-one driven wheel 54, and first axle level-one driven wheel 54 drives first axle two
Grade driving wheel 56 rotates, and the first axle second belt 57 is set in first axle second level driving wheel 56 and first axle second level driven wheel
On 58 outer wall, the lower end surface of the upper surface of 59 outer ring of floating bearing connection lower plate 21, under 59 inner ring of floating bearing
End face connects the upper surface of first axle second level driven wheel 58, and the lower end surface of the first axle second level driven wheel 58 is fixed on pedestal 1
Upper surface on.Second axis driving assembly 6 includes the second spindle motor 61, the second axis level-one driving wheel 62, the second axis level-one belt
63, the second axis level-one driven wheel 64, the second axis second level driving wheel 65, the second axis second belt 66, the second axis second level driven wheel 67
With adapter 68, the other component of second spindle motor 61 and the second axis driving assembly 6 is distributed in the two sides of the first side plate 22,
Second spindle motor 61 is fixed on the top of lower plate 21, and the second spindle motor 61 is located at the first side plate 22 and the second side plate
Between 23, the output end of second spindle motor 61 is arranged towards the first side plate 22, the second axis level-one driving wheel 62 and the
The connection of two spindle motors 61, the second axis level-one belt 63 are set in the second axis level-one driving wheel 62 and the second axis level-one driven wheel
On 64, and the second axis level-one driving wheel 62 can drive the second axis level-one driven wheel 64 to rotate, the second axis second level driving wheel
65 are connect by adapter 68 with the second axis level-one driven wheel 64, and the second axis second level driving wheel 65 follows the second axis level-one driven wheel
64 rotate synchronously, and the second axis second belt 66 is set in the second axis second level driving wheel 65 and the second axis second level driven wheel 67
On, and the second axis second level driving wheel 65 can drive the second axis second level driven wheel 67 to rotate.Third axis driving assembly 7 includes third
Spindle motor 71, third axis level-one driving wheel 72, third axis level-one belt 73, third axis level-one driven wheel 74, third axis second level master
Driving wheel 75, third axis second belt 76 and third axis second level driven wheel 77, the third spindle motor 71 and third axis driving assembly 7
Other component be distributed in the two sides of the second side plate 23, the third spindle motor 71 is fixed on the top of lower plate 21, and
Three spindle motors 71 are between the first side plate 22 and the second side plate 23, output end the second side plate of direction of the third spindle motor 71
23 settings, second spindle motor 61 and third spindle motor 71 are reversely located between the first side plate 22 and the second side plate 23 side by side,
The third axis level-one driving wheel 72 is connect with third spindle motor 71, and the third axis level-one belt 73 is set in third axis level-one
Driving wheel 72 and third axis level-one driven wheel 74 it is upper, and third axis level-one driving wheel 72 can drive third axis level-one driven wheel
74 rotations, the third axis second level driving wheel 75 are connect with third axis level-one driven wheel 74, realize third axis second level driving wheel 75
It is rotated synchronously with third axis level-one driven wheel 74, the third axis second belt 76 is set in third axis second level driving wheel 75 and the
On three axis second level driven wheels 77, and third axis second level driving wheel 75 can drive third axis second level driven wheel 77 to rotate.Third axis
Second level driven wheel 77 is equipped with third axis connecting rod 1, and the third axis connecting rod 1 is equipped with third axis connecting rod 2 79, and
Third axis connecting rod 1 and third axis connecting rod 2 79 are hinged, and the third axis connecting rod 2 79 is connect with forearm 4.If third axis connect
Bar 1 and third axis connecting rod 2 79 are the link mechanisms for driving forearm.The present invention is four axis robots, is set in the end of forearm
Object structure (omit and be not shown in figure) is taken, needs to keep the level of end, specific structure is the first side plate 22 and second side
Plate 23 is equipped with first level support rod 8, and the both ends of the first level support rod 8 are respectively provided at the first side plate 22 and second
On side plate 23, the first level support rod 8 is equipped with adapter 81, and the lower end surface of adapter 81 is supported in first level
On the upper surface of bar 8, the adapter 81 is equipped with lower link 82, and adapter 81 and the lower end of lower link 82 are hinged,
The upper end of the lower link 82 is hinged with connecting rod rack 83, and the large arm 3 is equipped with the second horizontal support bar 84, the connecting rod
Bracket 83 is set on the second horizontal support bar 84, and upper connecting rod 85 is hinged on the connecting rod rack 83, and upper connecting rod 84 passes through hinge
For chain link in end, this set link mechanism is to guarantee that the end for being located at forearm 4 takes object structure to remain horizontal.
The present invention achievees the purpose that compact design, the first spindle motor 51, the second axis to reduce the size of whole robot
Motor 61 and third spindle motor 71 are designed specifically to: the first side plate 22 and the second side plate 23 are vertically located at the two sides of lower plate 21
Edge, and the first side plate 22 and the second side plate 23 are symmetrical arranged by symmetry axis of the center line of lower plate 21, the first axle
The output end of motor 51 is located at downward vertically on the center line of lower plate 21, and second spindle motor 61 and third spindle motor 71 are anti-
To being located between the first side plate 22 and the second side plate 23 side by side, and the second spindle motor 61 and 71 level of third spindle motor are located at down
On bottom plate 21.
In order to which the second axis second level driven wheel 67 and third axis second level driven wheel 77 are supported, the upper end of the first side plate 22
Portion is equipped with Step Shaft 91, and Step Shaft 91 is connect with the second axis second level driven wheel 67, and the upper end of the second side plate 23 is equipped with Step Shaft
92, Step Shaft 92 is connect with third axis second level driven wheel 77.
In addition, large arm 3 of the invention includes large arm side plate 1, large arm side plate 2 32, big cantilever crane 33, the large arm side plate
1 and large arm side plate 2 32 be located between the first side plate 22 and the second side plate 23 in parallel, the large arm side plate 1 and the second axis
Second level driven wheel 67 connects, and the large arm side plate 2 32 is hinged by Step Shaft 93 and the second side plate 23, first side plate 22
And second have support rod 86 between side plate 23, the big cantilever crane 33, forearm 4 are the integrated design.
The concrete operating principle of compact belt transmission four axis robot of sealed type small-sized of the invention are as follows:
First spindle motor 51 drives first axle level-one driving wheel 52 to rotate, and first axle level-one driving wheel 52 passes through first axle one
Grade belt 53 drives first axle level-one driven wheel 54 to rotate, and first axle second level driving wheel 56 is synchronous with first axle level-one driven wheel 54
Rotation, first axle second level driving wheel 56 drives first axle second belt 57 to move in a circle with floating bearing 59, to realize
The first axle of four axis robots rotates；Second spindle motor 61 drives the rotation of the second axis level-one driving wheel 62, and the second axis level-one is actively
Wheel 62 drives the rotation of the second axis level-one driven wheel 64 by the second axis level-one belt 63, and the second axis level-one driving wheel 65 is with the second axis
Level-one driven wheel 64 rotates synchronously, and the second axis level-one driving wheel 65 drives the second axis second level driven by the second axis second belt 66
67 rotation of wheel；Third spindle motor 71 drives third axis level-one driving wheel 72 to rotate, and third axis level-one driving wheel 72 passes through third axis
Level-one belt 73 drives third axis level-one driven wheel 74 to rotate, and third axis second level driving wheel 75 is same with third axis level-one driven wheel 74
Step rotation, third axis second level driving wheel 75 drive third axis second level driven wheel 77 to rotate by third axis second belt 76；Wherein,
It above by Multistage belt drive variable, can either guarantee the rotation of large arm and forearm, while reduce speed reducer back clearance bring end
Hold precision problem.
In robot use process of the present invention, first axle driving assembly 5, the second axis driving assembly 6 and third axis driving group
Part 7 works independently, non-interference, ensure that and robot stabilized reliably completes various movements.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. a kind of compact belt is driven four axis robot of sealed type small-sized, it is characterised in that: including pedestal (1), support frame
(2), large arm (3), forearm (4), first axle driving assembly (5), the second axis driving assembly (6) and third axis driving assembly (7), institute
Support frame (2) is stated in the top of pedestal (1), the large arm (4) connect with the upper end of support frame (2), the forearm (4) and big
The upper end of arm (3) connects, and support frame as described above (2) includes lower plate (21), the first side plate (22), the second side plate (23), described
First axle driving assembly (5) is located on lower plate (21), and the second axis driving assembly (6) is located on the first side plate (22), and
And second axis driving assembly (6) connect with large arm (3), the third axis driving assembly (7) is located on the second side plate (23), and
Third axis driving assembly (7) is connect with forearm (4).First shaft dust protector (01) is located on the lower end surface of lower plate (21),
Second shaft dust protector (02) is located on the outside of the first side plate (22), and third shaft dust protector (03) is located on the outside of the second side plate (23).
2. compact belt according to claim 1 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Side plate (22) and the second side plate (23) are vertically located at the two sides of lower plate (21), and the first axle driving assembly (5) is located at down
On bottom plate (21), the second axis driving assembly (6) and third axis driving assembly (7) are located at the first side plate (22) and the second side plate
(23) two sides.
3. compact belt according to claim 2 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
One axis driving assembly (5) includes the first spindle motor (51), first axle level-one driving wheel (52), first axle level-one belt (53), the
One axis level-one driven wheel (54), adapter (551), adapter (552), first axle second level driving wheel (56), first axle second level skin
Band (57), first axle second level driven wheel (58), floating bearing (59), first spindle motor (51) are solid by adapter (551)
It is scheduled on lower plate (21), the adapter (551) is connected on the upper surface of lower plate (21), first spindle motor (51)
Connect with first axle level-one driving wheel (52), the first axle level-one belt (53) be set in first axle level-one driving wheel (52) and
On the outer wall of first axle level-one driven wheel (54), and first axle level-one driving wheel (52) can by first axle level-one belt (53)
First axle level-one driven wheel (54) rotation is driven, the first axle second level driving wheel (56) passes through adapter (552) and first axle
Level-one driven wheel (54) connection, and first axle level-one driven wheel (54) drives first axle second level driving wheel (56) rotation, it is described
First axle second belt (57) is set on the outer wall of first axle second level driving wheel (56) and first axle second level driven wheel (58), institute
State the lower end surface of upper surface connection lower plate (21) of floating bearing (59) outer ring, the lower end surface connection of floating bearing (59) inner ring
The lower end surface of the upper surface of first axle second level driven wheel (58), the first axle second level driven wheel (58) is fixed on pedestal (1)
On upper surface, first axle second level driving wheel (56) drive first axle second belt (57) is with the axis of floating bearing (59)
Center moves in a circle.
4. compact belt according to claim 3 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Two axis driving assemblies (6) include the second spindle motor (61), the second axis level-one driving wheel (62), the second axis level-one belt (63), the
Two axis level-one driven wheels (64), the second axis second level driving wheel (65), the second axis second belt (66), the second axis second level driven wheel
(67) and adapter (68), second spindle motor (61) and the other component of the second axis driving assembly (6) are distributed in the first side
The two sides of plate (22), second spindle motor (61) is fixed on the top of lower plate (21), and the second spindle motor (61) is located at
Between first side plate (22) and the second side plate (23), the output end of second spindle motor (61) is set towards the first side plate (22)
It sets, the second axis level-one driving wheel (62) connect with the second spindle motor (61), and the second axis level-one belt (63) is set in
On second axis level-one driving wheel (62) and the second axis level-one driven wheel (64), and the second axis level-one driving wheel (62) can drive
The rotation of two axis level-one driven wheels (64), the second axis second level driving wheel (65) are driven by adapter (68) and the second axis level-one
(64) connection is taken turns, the second axis second level driving wheel (65) follows the second axis level-one driven wheel (64) to rotate synchronously, second axis two
Grade belt (66) is set on the second axis second level driving wheel (65) and the second axis second level driven wheel (67), and the second axis second level master
Driving wheel (65) can drive the second axis second level driven wheel (67) to rotate.
5. compact belt according to claim 4 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Three-axis drive component (7) includes third spindle motor (71), third axis level-one driving wheel (72), third axis level-one belt (73),
Three axis level-one driven wheels (74), third axis second level driving wheel (75), third axis second belt (76) and third axis second level driven wheel
(77), the other component of the third spindle motor (71) and third axis driving assembly (7) is distributed in the two sides of the second side plate (23),
The third spindle motor (71) is fixed on the top of lower plate (21), and third spindle motor (71) be located at the first side plate (22) and
Between second side plate (23), the output end of the third spindle motor (71) is arranged towards the second side plate (23), the second axis electricity
Machine (61) and third spindle motor (71) are reversely located between the first side plate (22) and the second side plate (23) side by side, the third axis one
Grade driving wheel (72) is connect with third spindle motor (71), and the third axis level-one belt (73) is set in third axis level-one driving wheel
(72) and on third axis level-one driven wheel (74), and third axis level-one driving wheel (72) can drive third axis level-one driven wheel
(74) it rotates, the third axis second level driving wheel (75) connect with third axis level-one driven wheel (74), realizes third axis second level master
Driving wheel (75) and third axis level-one driven wheel (74) rotate synchronously, and the third axis second belt (76) is set in third axis second level
On driving wheel (75) and third axis second level driven wheel (77), and third axis second level driving wheel (75) can drive third axis second level from
Driving wheel (77) rotation.
6. compact belt according to claim 5 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Three axis second level driven wheels (77) are equipped with third axis connecting rod one (78), and the third axis connecting rod one (78) is equipped with third axis connecting rod
Two (79), and third axis connecting rod one (78) and third axis connecting rod two (79) are hingedly, third axis connecting rod two (79) and the forearm
(4) it connects.
7. compact belt according to claim 2 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Side plate (22) and the second side plate (23) are equipped with first level support rod (8), the both ends of the first level support rod (8)
It being respectively provided on the first side plate (22) and the second side plate (23), the first level support rod (8) is equipped with adapter (81), and
And the lower end surface of adapter (81), on the upper surface of first level support rod (8), the adapter (81) is equipped with lower link
(82), and adapter (81) and the lower end of lower link (82) are hinged, and the upper end of the lower link (82) is hinged with connecting rod
Bracket (83), the large arm (3) are equipped with the second horizontal support bar (84), and the connecting rod rack (83) is set in the second horizontal branch
On strut (84), upper connecting rod (85) are hinged on the connecting rod rack (83).
8. compact belt according to claim 5 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
Side plate (22) and the second side plate (23) are vertically located at the both sides of the edge of lower plate (21), and the first side plate (22) and second side
Plate (23) is symmetrical arranged by symmetry axis of the center line of lower plate (21), and the output end of first spindle motor (51) is downward vertically
It is located on the center line of lower plate (21), second spindle motor (61) and third spindle motor (71) are reversely located at the first side side by side
Between plate (22) and the second side plate (23), and the second spindle motor (61) and third spindle motor (71) level are located at lower plate (21)
On.
9. compact belt according to claim 8 is driven four axis robot of sealed type small-sized, it is characterised in that: described the
The upper end of side plate (22) is equipped with Step Shaft (91), and Step Shaft (91) is connect with the second axis second level driven wheel (67), second side
The upper end of plate (23) is equipped with Step Shaft (92), and Step Shaft (92) is connect with third axis second level driven wheel (77).
10. compact belt according to claim 1 is driven four axis robot of sealed type small-sized, it is characterised in that: described
Large arm (3) includes large arm side plate one (31), large arm side plate two (32), big cantilever crane (33), the large arm side plate one (31) and large arm
Side plate two (32) is located between the first side plate (22) and the second side plate (23) in parallel, the large arm side plate one (31) and the second axis two
Grade driven wheel (67) connects, and the large arm side plate two (32) passes through Step Shaft (93) and the second side plate (23) hingedly, and described first
Have between side plate (22) and the second side plate (23) support rod (86), the big cantilever crane (33), forearm (4) are the integrated design.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910723747.2A CN110328659A (en) | 2019-08-07 | 2019-08-07 | A kind of compact belt transmission four axis robot of sealed type small-sized |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910723747.2A CN110328659A (en) | 2019-08-07 | 2019-08-07 | A kind of compact belt transmission four axis robot of sealed type small-sized |
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| CN201910723747.2A Pending CN110328659A (en) | 2019-08-07 | 2019-08-07 | A kind of compact belt transmission four axis robot of sealed type small-sized |
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| CN113799112A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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| CN110948470A (en) * | 2019-12-27 | 2020-04-03 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
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| CN113799112A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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| CN113799112B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
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| EP4049804A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4049803A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4049802A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4026660A4 (en) * | 2020-11-11 | 2023-01-18 | Shenzhen Yuejiang Technology Co., Ltd. | Desktop robotic arm driving structure, desktop robotic arm, and robot |
| CN113650050A (en) * | 2021-07-28 | 2021-11-16 | 杭州太希智能科技有限公司 | Synchronous belt drive's high-efficient transmission efficiency arm |
| CN114434431A (en) * | 2022-02-11 | 2022-05-06 | 浙江大丰实业股份有限公司 | Mechanical arm motor driving device for stage LED screen |
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