CN110340910A - A kind of small-sized static load balance belt drive tool arm - Google Patents
A kind of small-sized static load balance belt drive tool arm Download PDFInfo
- Publication number
- CN110340910A CN110340910A CN201910571696.6A CN201910571696A CN110340910A CN 110340910 A CN110340910 A CN 110340910A CN 201910571696 A CN201910571696 A CN 201910571696A CN 110340910 A CN110340910 A CN 110340910A
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- Prior art keywords
- axis
- level
- belt
- small
- order
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
Abstract
A kind of small-sized static load balance belt drive tool arm, including base module, first axle driving assembly, second axis driving assembly, third axis driving assembly, large arm and forearm, balanced connecting rod, big arm link, small arm link and terminus module, the first axle driving assembly is arranged above base module and is connected with base module, the second axis driving assembly and third axis driving assembly are arranged above the first driving assembly and are distributed in two sides, the second axis driving assembly is connect with outside with large arm, inside is connected with static load balancing device, the third axis driving assembly is connect with forearm by connecting rod, the connection of one end of second driving assembly and large arm, and the other end of large arm is connect with forearm.The present invention on the inside of the second driving assembly with static load balancing device by will be connected, the gravity for directly counteracting large arm, forearm and end load is converted to the torque on the second spindle motor, significantly reduce the stress of robot the second driving assembly motor, keep robot motion more stable, expands the service life of robot.
Description
Technical field
The invention belongs to robotic technology fields, and in particular, to a kind of small-sized static load balance belt drive tool arm.
Background technique
During mankind's manufacturing industry continuous forward impelling, using mechanical arm as the intelligence manufacture concept and product of representative
It is more and more deep by modern plant and vast ruck is known and operate personally；Especially mechanical arm exists
It is quickly widely applied in industrial automation occasion, has become the mark of an enterprise intelligent and modernization.
Mechanical arm currently on the market, load weight concentrate on 3kg or more, accidentally also have and are supported on the machinery of 1kg once
Smaller driving part, smaller volume are meaned in arm, lighter load, but the manufacture for being limited by standard parts and components it is difficult and
The considerations of reducing the cost of manufacture, they have insufficient:
First aspect is the volume of motor and the layout type of total, for the mechanical arm of miniaturization, electricity
The space proportion of mechanical arm occupied by machine can increase at double, the excessive and unreasonable arrangement of the volume of motor can reduce small-sized
The aesthetic feeling for changing mechanical arm, reduces the Work space of mechanical arm；
The second aspect is the back clearance of speed reducer, and under the control of current average unit cost, the back clearance of selected speed reducer can be right
The end precision of robot causes large effect；
It is to further decrease motor volume to need to select smaller motor, smaller motor output torque in terms of third
There can be extremely important influence to the load level of mechanical arm.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of small compact type static load balancing mechanical arms, solve miniaturization
Industrial machine arm the loading demand that is unable to satisfy when too small motor torque deficiency is selected due to the limitation of outer dimension
Problem.
Technical solution: the present invention provides a kind of small compact type static load balancing mechanical arms, including base module, first axle
It is driving assembly, the second axis driving assembly, third axis driving assembly, large arm, forearm and terminus module, small arm link, tripod, big
Arm link, balanced connecting rod, big forearm shaft, end shaft.The upper surface of base module is arranged in the first axle driving assembly
On, it is consolidated by the axis second level big belt wheel in first axle driving assembly with base module, the second axis driving
Component and third axis driving assembly are arranged on first axle driving assembly, and are set to the two sides of first axle driving assembly, described
First axle driving assembly, the second axis driving assembly, third axis driving assembly are consolidated mutually, and this bind mode improves
The globality and integral strength and rigidity of mechanical arm；
Further small compact type static load balancing mechanical arm of the invention, by the control panel of mechanical arm, motor driver
Equal electrical components are placed directly in the pedestal of robot, are increased control cabinet without additional, are substantially increased space utilization rate, by the
Two axis driving assemblies and third axis driving assembly are arranged in the top of the first driving assembly and are distributed in two of the first spindle motor,
Make the second spindle motor and third spindle motor interlaced arrangement simultaneously, greatly reduces the transverse width of robot.Make mechanical arm
Moulding is more beautiful；
Further, above-mentioned small compact type static load balancing mechanical arm, the second axis in the second axis driving assembly
Movement output axis is connect with large arm, thus realize the control that the second driving assembly moves large arm, the third axis driving assembly
The rear end of middle third axis movement output axis and forearm is connected by big arm link, and the forearm and large arm are cut with scissors by big forearm shaft
It is connected together, in this way to realize control of the third axis driving assembly to arm movements.The other end of the forearm with
Terminus module by end shaft it is hinged, the terminus module is connected with one end of small arm link, small arm link it is another
One end is connected with one angle of tripod end, and tripod one angle end is connected with big forearm shaft, another angle of tripod
End is connected with one end of balanced connecting rod, and the other end of the balanced connecting rod is connected with the mounting plate in the second driving assembly, passes through
Such link mechanism realizes the constant of terminus module posture；
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, and the first axle driving assembly is by one
Axis second level driving belt, axis second level transmission big belt wheel, turntable and an axle installing plate, a spindle motor seat, an axis first order
Small belt pulley, a spindle motor, one axis first order big belt pulley of an axis first order driving belt, an axis belt drive shaft, an axis pass
Dynamic bearing seat, axis second level small belt pulley composition.The inner ring of the one axis second level transmission big belt wheel and turntable is connected in
Together, the outer ring of the turntable is consolidated with one axle installing plate of turntable,
360 ° of relative rotations, the motor shaft of a spindle motor and an axis first order may be implemented in the Internal and external cycle of the turntable
Small belt pulley is fixed together, while being fixed together with a spindle motor seat, and the spindle motor seat and an axle installing plate are connected
Together, the axis first order big belt pulley is made up of same an axis first order driving belt and an axis first order small belt pulley
V belt translation is walked, the axis first order big belt pulley is consolidated with an axis belt drive shaft, and the axis belt shaft is logical
Bearing block is crossed to be set together with an axle installing plate, the axis belt drive shaft pass through bearing block and with second level small belt pulley
It is fixed together, an axle installing plate is equipped with the first mounting hole, and the bearing block and an axle installing plate (17) are fixedly installed
At the first mounting hole, axis second level small belt pulley is big by an axis second level driving belt and axis second level transmission
Belt wheel constitutes toothed belt transmission, using two-stage belt gear reduction, to realize that a spindle motor to an axis second level is driven big band
The transmitting of the torque of wheel and 360 ° of rotations of axis second level transmission big belt pulley；
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, it is characterised in that an axis the
Secondary transmission belt, axis second level transmission big belt wheel, an axis second level small belt pulley, turntable are located under an axle installing plate
Side, a spindle motor seat, an axis first order belt lace, a spindle motor, the one axis first order of an axis first order driving belt are big
Belt pulley is placed in the upside of turntable mounting plate, and the space utilization rate of part is improved using this arrangement, steps up structure more
It gathers；
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, and the second axis driving assembly includes
The two axis second level are driven small pulley, two axis second level driving belts, two axis drive bearing blocks, two axle installing plates, the two axis first order
Driving belt, two axis belt drive shafts, two axis first order transmission big belt wheel, two axis movement output axis, the transmission of the two axis first order are small
Belt wheel, two axis second level transmission big belt wheel, two spindle motor mounting plates, two spindle motors, balancing device composition.Two spindle motor is logical
It crosses two spindle motor mounting plates to be set together with two axle installing plates, two axle installing plate is provided with the second through-hole, two axis
Motor mounting plate and two axle installing plates are fixedly installed on the second through hole, and two spindle motor is fixedly arranged at two spindle motor mounting plates
Together, the motor shaft of two spindle motor is fixed together with two axis first order transmission small pulley, the two axis first order transmission
Small pulley is driven big belt wheel by two axis first order driving belts and the two axis first order and constitutes toothed belt transmission, two axis first
Grade big belt wheel is consolidated with two axis belt drive shafts, and the two axis belt drive shaft passes through two axis drive bearing blocks and two axis
Mounting plate is set together, and third through-hole is provided in two axle installing plate, and the two axis drive bearing block and two axis are installed
Plate is fixedly installed at third through-hole, and the two axis belt drive shaft passes through two axis drive bearing blocks and two axis second level small pulleys
It is consolidated, two axis second level is driven small pulley and is driven big band by two axis second level driving belts and the two axis second level
Wheel constitutes toothed belt transmission.Two axle installing plate is provided with the 4th mounting hole, and the two axis movement output axis passes through the 4th peace
The centre bore of dress hole and two axis second level transmission big belt wheel is simultaneously affixed to together with two axis second level transmission big belt wheel, thus real
Show two spindle motors to the torque of two axis movement output axis and the transmitting of movement.The two axis transmission output shaft shaft end passes through weighing apparatus device
The centre bore of interior elastic energy storage element is simultaneously consolidated with the movable end of elastic energy storage element, the elasticity storage of the balancing device
Can element can not moved end be consolidated with two axle installing plates, this connection type can be by load, large arm, forearm and phase
The torque that the gravity of the components such as connection bar generates, which is converted to the part on two axis movement output axis, imputes to balancing device, into
One step imputes to the mechanical structure of mechanical arm, to mitigate the output torque of motor, and then improves the service life of motor, and stablize
Property；
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, and the two axis second level transmission is small
Belt wheel, the side for being located at two axle installing plates by two axis second level driving belts, two axis second level transmission big belt wheel, balancing device,
The first order driving belt, two axis first order transmission big belt wheel, two axis first order transmission small pulley are located at two axle installing plates
The other side, the space utilization rate of components is favorably promoted using this arrangement, keeps structure more compact；
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, and third axis driving assembly includes third
Spindle motor, three spindle motor mounting plates, three axle installing plates, the three axis first order are driven small pulley, three axis first order driving belts, three axis
The first order is driven big belt wheel, three axis belt drive shafts, three-axis moving output shaft, the transmission of the three axis second level big belt wheel, three axis skins
V belt translation bearing block, the three axis second level are driven small pulley, three axis second level driving belts.Described includes that third spindle motor passes through three
Spindle motor mounting plate is set together with three axle installing plates, and three axle installing plate is provided with fifth hole, three spindle motor
Mounting plate and three axle installing plates are fixedly installed at fifth hole, and three spindle motor and three spindle motor mounting plates are fixedly arranged at one
It rises, the motor shaft of the third spindle motor is consolidated with three axis first order transmission small pulley, the three axis first order transmission
Small pulley is driven big belt wheel by three axis first order driving belts and the three axis first order and constitutes Synchronous Transmission, the transmission of the three axis first order
Big belt wheel is consolidated with three axis belt drive shafts, and the 6th through-hole is provided in three axle installing plate, and three axis passes
Dynamic bearing seat and three axle installing plates are fixedly installed at third through-hole, and the three axis belt drive shaft is driven across three axis belts
Bearing block is simultaneously consolidated with three axis second level transmission small pulley, and the three axis belt drive shaft holds seat and three axle installing plates are solid
Together, three axis second level is driven small pulley and is driven big belt wheel by three axis second level driving belts and the three axis second level knot
Synchronous Transmission is constituted, three axle installing plate is provided with the 7th mounting hole, and the three-axis moving output shaft passes through the 7th mounting hole
And three the axis second level transmission big belt wheel centre bore and with the two axis second level transmission big belt wheel be affixed to together；To realize three
Spindle motor is to the torque of three-axis moving output shaft and the transmitting of movement.
Further, a kind of above-mentioned small-sized static load balances belt drive tool arm, the third spindle motor, three axis second
Grade transmission big belt wheel, three axis second level transmission small pulley, three axis second level driving belts are placed in the side of three axle installing plates, three axis
First order transmission small pulley, three axis first order driving belts, three axis first order transmission big belt wheel are placed in the another of three axle installing plates
Side；The layout for being conducive to optimize motor using this arrangement, makes two spindle motors, three spindle motor interlaced arrangements, shared by motor
Space is smaller, while taking full advantage of part itself the space occupied and meeting space required for V belt translation, makes whole
Body is more beautiful, compact；
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: a kind of small-sized static loads of the present invention
Belt drive tool arm is balanced, compact-sized, manufacture and use are low in cost, there is universality to the operation of small-sized part,
And it has the advantages that
The electrical components such as the control panel of motor are uniformly placed in base module, do not need by first aspect, the present invention
It is additional to increase control cabinet.
The second aspect, the first driving assembly of the invention, the second driving assembly, the motor of third driving assembly, which uses, to interlock
Formula layout, the further occupied space of compression motor, each driving assembly epithelium V belt translation divides two-stage, and the corresponding axis that is placed in
The utilization rate in space is improved in the two sides of mounting plate, keeps structure more compact；
In terms of third, using balancing device, part is offset using elastic energy storage element and is generated due to gravity
Conversion to corresponding sports output shaft on torque, the output torque of motor is alleviated, while improving the service life of motor
Keep manipulator motion more stable；
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of small-sized static load of the present invention balances belt drive tool arm；
Fig. 2 is the explosive view that a kind of small-sized static load of the present invention balances belt drive tool arm.
Fig. 3 is the explosive view of first axle driving assembly of the present invention.
Fig. 4 is the explosive view of the second axis driving assembly of the present invention.
Fig. 5 is the explosive view of third axis driving assembly of the present invention.
In figure: base module 1, large arm 5, forearm 9 and terminus module 6, small arm link 7, big arm link 10, are put down at tripod 8
Weigh connecting rod 11, big forearm shaft 12, end shaft 13.First axle driving assembly 2, an axis second level driving belt 14, an axis
Secondary transmission big belt wheel 15, turntable 16 and an axle installing plate 17, a spindle motor seat 18, an axis first order small belt pulley 19, an axis
Motor 20,21 1 axis first order big belt pulley 22 of an axis first order driving belt, an axis belt drive shaft 23, an axis drive bearing
Seat 24, an axis second level small belt pulley 25, the second axis driving assembly 4 are driven small pulley 26, the two axis second level by the two axis second level
Driving belt 27, two axis drive bearing blocks 28, two axle installing plates 29, two axis first order driving belts 30, two axis belt drive shafts
31, two axis first order transmission big belt wheel 32, two axis movement output axis 33, the two axis first order are driven small pulley 34, the two axis second level
It is driven big belt wheel 35, two spindle motor mounting plates 36, two spindle motors 37, balancing device 38.Three-axis drive component 3 includes third axis electricity
Machine 39, three spindle motor mounting plates 40, three axle installing plates 41, the three axis first order are driven small pulley 42, three axis first order driving belts
43, three axis first order transmission big belt wheel 44, three axis belt drive shafts 45, three-axis moving output shaft 46, the transmission of the three axis second level
Big belt wheel 47, three axis belt drive shafts hold seat 48, the transmission of the three axis second level small pulley 49, three axis second level driving belts 50.
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", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position 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
The small-sized static load as shown in Fig. 1,2,3,4,5 balances belt drive tool arm, including base module 1, first axle are driven
Dynamic component 2, the second axis driving assembly 4, third axis driving assembly 3, large arm 5, forearm 9 and terminus module 6, small arm link 7, triangle
Frame 8, big arm link 10, balanced connecting rod 11, big forearm shaft 12, end shaft 13.The first axle driving assembly 2 is arranged the bottom of at
On the upper surface of seat module 1, it is fixedly arranged at by the axis second level big belt wheel 15 in first axle driving assembly 2 with base module 1
Together, the second axis driving assembly 4 and third axis driving assembly 3 are arranged on first axle driving assembly 2, and are set to first
The two sides of axis driving assembly 2, the first axle driving assembly 2, the second axis driving assembly 4, the mutual concrete mutually of third axis driving assembly 3
Together, the second axis movement output axis 33 in the second axis driving assembly 4 is connect with large arm 5, the third axis driving group
Third axis movement output axis 46 is connect with the rear end of forearm 9 by big arm link 10 in part 3.The forearm 9 passes through big with large arm 5
Forearm shaft 12 is hinged, and the other end of the forearm 9 and terminus module 6 are hinged by end shaft 13, institute
It states terminus module 6 to be connected with one end of small arm link 7, the other end of small arm link 7 is connected with 8 one angles of tripod end, described
Tripod 8 one angles end is connected with big forearm shaft 12, another angle end of tripod is connected with one end of balanced connecting rod 11, institute
The other end for stating balanced connecting rod 11 is connected with the mounting plate 29 in the second driving assembly 4；
The present invention realizes that the primary structure of robot motion is first axle driving assembly 2, the second axis driving assembly 4, third
Axis driving 3, above-mentioned driving assembly be specific structure be respectively first axle driving assembly 2 include an axis second level driving belt 14,
The one axis second level is driven big belt wheel 15, turntable 16 and an axle installing plate 17, a spindle motor seat 18, an axis first order small belt pulley
19, a spindle motor 20,21 1 axis first order big belt pulley 22 of an axis first order driving belt, an axis belt drive shaft 23, an axis
Drive bearing block 24, an axis second level small belt pulley 25 composition.The one axis second level transmission big belt wheel 15 and turntable 16
Inner ring is fixed together, and outer ring and one axle installing plate 17 of turntable of the turntable 16 are consolidated, a spindle motor 20
Motor shaft is fixed together with an axis first order small belt pulley 19, while being fixed together with a spindle motor seat 18, an axis
Motor cabinet 18 is fixed together with an axle installing plate 17, and the axis first order big belt pulley 22 is driven skin by an axis first order
Band 21 and an axis first order small belt pulley 19 constitute toothed belt transmission, and the axis first order big belt pulley 22 and an axis belt pass
Moving axis 23 is consolidated, and the axis belt shaft 23 is set together by bearing block 24 with an axle installing plate 17, described
One axis belt drive shaft 23 passes through bearing block 24 and is fixed together with second level small belt pulley 25, in an axle installing plate 17
Equipped with the first mounting hole 111, the bearing block 24 and an axle installing plate 17 are fixedly installed at the first mounting hole 111, and described one
Axis second level small belt pulley 25 is driven big belt wheel 15 by an axis second level driving belt 14 and an axis second level and constitutes synchronous belt
Transmission.Second axis driving assembly 3 includes two axis second level transmission small pulley 26, two axis second level driving belts 27, the transmission of two axis
Bearing block 28, two axle installing plates 29, two axis first order driving belts 30, two axis belt drive shafts 31, the transmission of the two axis first order are big
Belt wheel 32, two axis movement output axis 33, two axis first order transmission small pulley 34, two axis second level transmission big belt wheel 35, two axis electricity
Machine mounting plate 36, two spindle motors 37, balancing device 38 form.Two spindle motor 37 passes through two spindle motor mounting plates 36 and two axis
Mounting plate 29 is set together, and two axle installing plate 36 is provided with the second through-hole 222, the two spindle motors mounting plate 36 and two
Axle installing plate 29 is fixedly installed at the second through-hole 222, and two spindle motor 37 is consolidated with two spindle motor mounting plates 36,
The motor shaft of two spindle motor 37 is fixed together with two axis first order transmission small pulley 34, and the two axis first order transmission is small
Belt wheel 34 is driven big belt wheel 32 by two axis first order driving belts 30 and the two axis first order and constitutes toothed belt transmission, two axis
First order big belt wheel 32 is consolidated with two axis belt drive shafts 31, and the two axis belt drive shaft 31 passes through two axis transmission shafts
It holds seat 28 to be set together with two axle installing plates 29, third through-hole 223 is provided in two axle installing plate 29, two axis passes
Dynamic bearing seat 28 and two axle installing plates 29 are fixedly installed at third through-hole 223, and the two axis belt drive shaft 31 passes through two axis
Drive bearing block 28 is consolidated with two axis second level small pulleys 26, and two axis second level is driven small pulley 26 and passes through two axis
Second level driving belt 27 and two axis second level transmission big belt wheel 35 constitute toothed belt transmission.Two axle installing plate 29 is provided with
4th mounting hole 224, the two axis movement output axis 33 passes through the 4th mounting hole 224 and the two axis second level are driven big belt wheel 35
Centre bore and with the two axis second level transmission big belt wheel 35 be affixed to together, two axis transmission output shaft, 33 shaft end pass through weighing apparatus dress
It sets the centre bore of elastic energy storage element in 38 and is consolidated with the movable end of elastic energy storage element, the balancing device 38
Elastic energy storage element can not moved end be consolidated with two axle installing plates 29.Third axis driving assembly 3 includes third spindle motor
39, three spindle motor mounting plates 40, three axle installing plates 41, the three axis first order transmission small pulley 42, three axis first order driving belts 43,
The three axis first order are driven big belt wheel 44, three axis belt drive shafts 45, three-axis moving output shaft 46, the big band of three axis second level transmission
47, three axis belt drive shafts of wheel hold seat 48, the transmission of the three axis second level small pulley 49, three axis second level driving belts 50.The packet
It includes third spindle motor 39 to be set together by three spindle motor mounting plates 40 with three axle installing plates 41, three axle installing plate 41 is set
It is equipped with fifth hole 335, the three spindle motors mounting plate 40 and three axle installing plates 41 are fixedly installed at fifth hole 335, institute
It states three spindle motors 39 to be consolidated with three spindle motor mounting plates 40, the motor shaft of the third spindle motor 39 and the three axis first order
Transmission small pulley 42 is consolidated, and the three axis first order transmission small pulley 42 passes through three axis first order driving belts 43 and three
The axis first order is driven big belt wheel 44 and constitutes Synchronous Transmission, and the three axis first order are driven big belt wheel 44 and three axis belt drive shafts 45 are solid
Knot together, is provided with the 6th through-hole 336, the three axis drive bearing block 48 and three axle installing plates in three axle installing plate 41
41 are fixedly installed at third through-hole 336, the three axis belt drive shaft 45 pass through three axis belt drive shafts hold seat 48 and with
Three axis second level transmission small pulley 49 is consolidated, and the three axis belt drive shaft holds seat 48 and is fixedly arranged at three axle installing plates 41
Together, three axis second level transmission small pulley 49 is driven big belt wheel by three axis second level driving belts 50 and the three axis second level
47 constitute Synchronous Transmissions, and three axle installing plate 41 is provided with the 7th mounting hole 337, and the three-axis moving output shaft 46 passes through the
Seven mounting holes 337 and the centre bore of three axis second level transmission big belt wheel 47 are simultaneously affixed to two axis second level transmission big belt wheel 47
Together；
Including base module 1, braced frame 2, first axle driving assembly 3, the second axis driving assembly 4, third axis driving group
Part 5, large arm 6 and forearm 7, the braced frame 2 are arranged on the upper surface of base module 1, and the first axle driving assembly 3 is set
It sets in base module 1, the second axis driving assembly 4 and third axis driving assembly 5 are arranged in braced frame 2, and described the
Two axis driving assemblies 4 are connect with large arm 6, and the third axis driving assembly 5 is connect with forearm 7, the upper end of the braced frame 2
It is connect with one end of large arm 6, and the other end of large arm 6 is connect with forearm 7, the section of the braced frame 2 is U-shaped.Wherein,
Braced frame 2 includes lower plate 21, the first side plate 22 and the second side plate 23, the section of first side plate 22 and the second side plate 23
For L-type, the lower end of first side plate 22 and the second side plate 23 is vertically set on lower plate 21, and 22 He of the first side plate
Second side plate 23 is arranged in parallel vertically, and the middle position of the lower plate 21 is equipped with first through hole 211,22 He of the first side plate
It is equipped with the second through-hole 221 on the lower end of second side plate 23, the upper end of first side plate 22 and the second side plate 23 and big
Arm 6 connects, and the second axis driving assembly 4 is arranged on the first side plate 22, and the third axis driving assembly 5 is arranged in second side
On plate 23.Braced frame 2 is set to Support large arm 6, while by the element of the second axis driving assembly 4 and third axis driving assembly 5
Set the robot that compact overall structure is formed in braced frame 2.In addition, base module 1 includes lower connecting plate 11, base module
Shell 12, turntable 13 and turntable connecting plate 14, the turntable 13 are arranged on lower connecting plate 11, and the turntable connecting plate 14 is arranged
Between base module shell 12 and turntable 13, the upper surface of base module shell 12 is arranged in the lower end surface of the lower plate 21
On.The base 1 of setting is located at the underface of braced frame 2, therefore this four axis robot substantially reduces lateral width, with
When other machines equipment is used cooperatively, installation process need to only occupy lesser area, will not interfere with other equipment, improve machine
The application of device people.
The present invention realizes that the primary structure of robot motion is first axle driving assembly 3, the second axis driving assembly 4 and third
Axis driving assembly 5, above-mentioned driving assembly be respectively for specific structure, and first axle driving assembly 3 includes the first spindle motor 31 and the
One axis speed reducer 32, first spindle motor 31 and first axle speed reducer 32 are vertically arranged in base module shell 12, described
The output shaft of first spindle motor 31 is connect with first axle speed reducer 32, and the first axle speed reducer 32 is connect with turntable 13.Second
Axis driving assembly 4 includes the second spindle motor 41, the second axis speed reducer 42, the second axis driving wheel 43, the second axis belt 44 and second
Axis driven wheel 45, second spindle motor 41 are connect with the second axis speed reducer 42, and second spindle motor 41 and the second axis slow down
Machine 42 is arranged between the first side plate 22 and the second side plate 23, and the second axis speed reducer 42 is arranged by motor pinboard 8
On first side plate 22, the motor pinboard 8 is fixed on the first side plate 22, and motor pinboard 8 is located at second
At through-hole 221, the second axis speed reducer 42 passes through the second through-hole 221 and is fixed on motor pinboard 8, and second axis is actively
The 43, second axis belt 44 of wheel and the second axis driven wheel 45 are arranged in outside of first side plate 22 far from the second side plate 23, and described the
Two axis driving wheels 43 are connect with the second axis speed reducer 42, and the second axis belt 44 is set in the second axis driving wheel 43 and the second axis
On driven wheel 45, and the second axis driving wheel 43 can drive the second axis driven wheel 45 to rotate, the second axis driven wheel 45 with it is big
Arm 6 connects, and the upper end of the first side plate 22 is arranged in the second axis driven wheel 45.Third axis driving assembly 5 includes third axis
Motor 51, third axis speed reducer 52, third axis driving wheel 53, third axis belt 54, third axis driven wheel 55 and third axis connecting rod
56, the third spindle motor 51 is connect with third axis speed reducer 52, and the third spindle motor 51 and third axis speed reducer 52 are arranged
Between the first side plate 22 and the second side plate 23, and third spindle motor 51 and third axis speed reducer 52 are located at the second spindle motor 41
With the underface of the second axis speed reducer 42, the third axis speed reducer 52 is arranged on the second side plate 23 by motor pinboard 8,
The motor pinboard 8 is fixed on the second side plate 23, and motor pinboard 8 is located at the second through-hole 221, described
Third axis speed reducer 52 passes through the second through-hole 221 and is fixed on motor pinboard 8, the third axis driving wheel 53, third axis skin
With 54 and third axis driven wheel 55, outside of second side plate 23 far from the first side plate 22 be set, the third axis driving wheel 53 with
Third axis speed reducer 52 connects, and the third axis belt 54 is set on third axis driving wheel 53 and third axis driven wheel 55, and
And third axis driving wheel 53 can drive third axis driven wheel 55 to rotate, the third axis driven wheel 55 connects with third axis connecting rod 56
It connects, and third axis connecting rod 56 is arranged between the first side plate 22 and the second side plate 23, the setting of third axis driven wheel 55 exists
The upper end of second side plate 23.Above-mentioned second spindle motor 41, third spindle motor 51 and the first spindle motor 31 are according to from top to bottom
Sequence is arranged, and second spindle motor 41 and third spindle motor 51 are reversely disposed in parallel in the first side plate 22 and the second side plate vertically
Between 23.It is reduced by the second spindle motor 41 and third spindle motor 51 that are staggered so that robot architecture is more compact
The outer dimension of whole robot.
The present invention is four axis robots, is equipped in the end of forearm and takes object structure (omit and be not shown in figure), needs to protect
The level of end is held, specific structure is, the first side plate 22 and the second side plate 23 are equipped with first level support rod 9, described first
The both ends of horizontal support bar 9 are arranged on the first side plate 22 and the second side plate 23, after the first level support rod 9 is equipped with
Connecting rod 91, the lower end of the back link 91 are hinged with connecting rod rack 92, front rod 93, institute are hinged on the connecting rod rack 92
Forearm 7 is stated equipped with the second horizontal support bar 94, the connecting rod rack 92 is set on the second horizontal support bar 94, and described second
The both ends of horizontal support bar 94 are arranged on forearm 7.
In addition, large arm 6 includes large arm side plate 1 and large arm side plate 2 62, the forearm 7 includes one 71 He of forearm side plate
Forearm side plate 2 72, the large arm side plate 1 and large arm side plate 2 62, forearm side plate 1 and forearm side plate 2 72, the first side
Plate 22 and the second side plate 23, the second axis driving wheel 43 and third axis driving wheel 53, the second axis belt 44 and third axis belt 54,
Two axis driven wheels 45 and third axis driven wheel 55 are symmetrical set centered on base module 1.It is set by symmetrical structure
It sets, ensure that whole robot stable structure, while good appearance, clear in structure to be illustrated, easy to repair and inspection.
In order to keep the stability of the first side plate 22 and the second side plate 23, in the upper end of the first side plate 22 and the second side plate 23
Portion is equipped with fixed connecting plate 10.
The concrete operating principle of vertical inverted dress compact small-sized four axis robot of the invention are as follows:
First spindle motor 31 and first axle speed reducer 32 drive base module 1 to rotate, and realize that 360 ° of four axis robots turn
It is dynamic；Second spindle motor 41 and the second axis speed reducer 42 drive the rotation of the second axis driving wheel 43, and the second axis driving wheel 43 passes through second
Axis belt 44 drives the rotation of the second axis driven wheel 45, so that the large arm 6 connecting with the second axis driven wheel 45 be driven to rotate；Third axis
Motor 51 and third axis speed reducer 52 drive third axis driving wheel 53 to rotate, and third axis driving wheel 53 passes through 54 band of third axis belt
Dynamic third axis driven wheel 55 rotates, and third axis driven wheel 55 drives third axis connecting rod 56 to rotate, to drive and third axis connecting rod
The forearm 7 of 56 connections rotates.
In robot use process of the present invention, first axle driving assembly 3, the second axis driving assembly 4 and third axis driving group
Part 5 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 (8)
1. a kind of small-sized static load balances belt drive tool arm, it is characterised in that: including base module (1), first axle driving group
Part (2), the second axis driving assembly (4), third axis driving assembly (3), large arm (5), forearm (9) and terminus module (6), forearm connect
Bar (7), tripod (8), big arm link (10), balanced connecting rod (11), big forearm shaft (12), end shaft (13).Described
One axis driving assembly (2) is arranged on the upper surface of base module (1), passes through the axis second in first axle driving assembly (2)
Grade big belt wheel (15) is consolidated with base module (1), the second axis driving assembly (4) and third axis driving assembly (3)
It is arranged on first axle driving assembly (2), and is set to the two sides of first axle driving assembly (2), the first axle driving assembly
(2), the second axis driving assembly (4), third axis driving assembly (3) are consolidated mutually.
2. a kind of small-sized static load according to claim 1 balances belt drive tool arm, it is characterised in that: second axis
The second axis movement output axis (33) in driving assembly (4) is connect with large arm (5), third in the third axis driving assembly (3)
Axis movement output axis (46) is connect with the rear end of forearm (9) by big arm link (10).The forearm (9) passes through with large arm (5)
Big forearm shaft (12) is hinged, and the other end of the forearm (9) and terminus module (6) are hinged by end shaft (13)
Together, the terminus module (6) is connected with one end of small arm link (7), the other end of small arm link (7) and tripod (8)
One angle end be connected, (8) angle ends of the tripod are connected with big forearm shaft (12), another angle end of tripod with put down
One end of weighing apparatus connecting rod (11) is connected, the mounting plate (29) in the other end and the second driving assembly (4) of the balanced connecting rod (11)
It is connected.
3. a kind of small-sized static load according to claim 1 balances belt drive tool arm, it is characterised in that: the first axle
Driving assembly (2) is pacified by an axis second level driving belt (14), axis second level transmission big belt wheel (15), turntable (16) and an axis
Loading board (17), a spindle motor seat (18), an axis first order small belt pulley (19), a spindle motor (20), an axis first order are driven skin
(21) one axis first order big belt pulleys (22) of band, an axis belt drive shaft (23), an axis drive bearing block 24, an axis second level are small
Belt pulley (25) composition.One axis second level transmission big belt wheel (15) and the inner ring of turntable (16) are fixed together, described
The outer ring of turntable (16) is consolidated with one axle installing plate of turntable (17), the motor shaft and an axis of a spindle motor (20)
Level-one small belt pulley (19) is fixed together, while being fixed together with a spindle motor seat (18), the spindle motor seat (18)
It is fixed together with an axle installing plate (17), the axis first order big belt pulley (22) passes through an axis first order driving belt
(21) toothed belt transmission, the axis first order big belt pulley (22) and an axis skin are constituted with an axis first order small belt pulley (19)
V belt translation axis (23) is consolidated, and the axis belt shaft (23) is arranged by bearing block (24) and an axle installing plate (17)
Together, the axis belt drive shaft (23) passes through bearing block (24) and is fixed together with second level small belt pulley (25),
One axle installing plate (17) is equipped with the first mounting hole (111), and the bearing block (24) sets with an axle installing plate (17) fixation
Be placed at the first mounting hole (111), axis second level small belt pulley (25) by an axis second level driving belt (14) with
The one axis second level is driven big belt wheel (15) and constitutes toothed belt transmission.
4. a kind of small-sized static load according to claim 3 balances belt drive tool arm, it is characterised in that an axis
Second level driving belt (14), an axis second level are driven big belt wheel (15), an axis second level small belt pulley (25), turntable (16) position
In the downside of an axle installing plate (17), a spindle motor seat (18), an axis first order small belt pulley (19), a spindle motor
(20), (21) one axis first order big belt pulley (22) of an axis first order driving belt is placed in the upside of turntable mounting plate.
5. a kind of small-sized static load according to claim 1 balances belt drive tool arm, it is characterised in that: second axis
Driving assembly (3) is driven small pulley (26), two axis second level driving belts (27), two axis drive bearing blocks by the two axis second level
(28), two axle installing plates (29), two axis first order driving belts (30), two axis belt drive shafts (31), the transmission of the two axis first order
Big belt wheel (32), two axis movement output axis (33), two axis first order transmission small pulley (34), the two axis second level are driven big belt wheel
(35), two spindle motor mounting plates (36), two spindle motors (37), balancing device (38) composition.Two spindle motor (37) passes through two
Spindle motor mounting plate (36) is set together with two axle installing plates (29), and two axle installing plate (36) is provided with the second through-hole
(222), the two spindle motors mounting plate (36) and two axle installing plates (29) are fixedly installed at the second through-hole (222), and described two
Spindle motor (37) is consolidated with two spindle motor mounting plates (36), the motor shaft and the two axis first order of two spindle motor (37)
Transmission small pulley (34) is fixed together, and two axis first order transmission small pulley (34) passes through two axis first order driving belts
(30) toothed belt transmission, the two axis first order big belt wheel (32) and two axis skins are constituted with two axis first order transmission big belt wheel (32)
V belt translation axis (31) is consolidated, and the two axis belt drive shaft (31) is installed by two axis drive bearing blocks (28) and two axis
Plate (29) is set together, and is provided with third through-hole (223) on two axle installing plate (29), the two axis drive bearing block
(28) it is fixedly installed at third through-hole (223) with two axle installing plates (29), the two axis belt drive shaft (31) passes through two axis
Drive bearing block (28) is consolidated with two axis second level small pulleys (26), and it is logical that two axis second level is driven small pulley (26)
It crosses two axis second level driving belts (27) and two axis second level transmission big belt wheel (35) constitutes toothed belt transmission.The two axis installation
Plate (29) is provided with the 4th mounting hole (224), and the two axis movement output axis (33) passes through the 4th mounting hole (224) and two axis
The centre bore of second level transmission big belt wheel (35) is simultaneously affixed to together with two axis second level transmission big belt wheel (35), and two axis passes
Dynamic output shaft (33) shaft end passes through the centre bore of weighing apparatus device (38) interior elastic energy storage element and the movable end with elastic energy storage element
Be consolidated, the elastic energy storage element of the balancing device (38) can not moved end and two axle installing plates (29) be fixedly arranged at one
It rises.
6. a kind of small-sized static load according to claim 5 balances belt drive tool arm, it is characterised in that described two
The axis second level is driven small pulley (26), by two axis second level driving belts (27), two axis second level transmission big belt wheel (35), balance
Device (38) is located at the side of two axle installing plates (29), and the first order driving belt (30), the two axis first order are driven big band
Wheel (32), two axis first order transmission small pulley (34) are located at the other side of two axle installing plates (29).
7. a kind of small-sized static load according to claim 1 balances belt drive tool arm, it is characterised in that: the third axis
Driving assembly (3) includes third spindle motor (39), three spindle motor mounting plates (40), three axle installing plates (41), three axis first order biography
Dynamic small pulley (42), three axis first order driving belts (43), the three axis first order are driven big belt wheel (44), three axis belt drive shafts
(45), three-axis moving output shaft (46), three axis second level transmission big belt wheel (47), three axis belt drive shafts hold seat (48), three axis
The second level is driven small pulley (49), three axis second level driving belts (50).Described includes that third spindle motor (39) pass through three axis electricity
Machine mounting plate (40) is set together with three axle installing plates (41), and three axle installing plate (41) is provided with the 5th through-hole (335),
The three spindle motors mounting plate (40) and three axle installing plates (41) are fixedly installed at fifth hole (335), three spindle motor
(39) it is consolidated with three spindle motor mounting plates (40), the motor shaft of the third spindle motor (39) and the three axis first order are driven
Small pulley (42) is consolidated, three axis first order transmission small pulley (42) by three axis first order driving belts (43) with
The three axis first order are driven big belt wheel (44) and constitute Synchronous Transmission, and the three axis first order are driven big belt wheel (44) and the transmission of three axis belts turns
Axis (45) is consolidated, and the 6th through-hole (336), the three axis drive bearing block are provided on three axle installing plate (41)
(48) it is fixedly installed at third through-hole (336) with three axle installing plates (41), the three axis belt drive shaft (45) passes through three
Axis belt drive shaft holds seat (48) and is consolidated with three axis second level transmission small pulley (49), the three axis belt drive shaft
It holds seat (48) to be consolidated with three axle installing plates (41), three axis second level is driven small pulley (49) and passes through the three axis second level
Driving belt (50) and three axis second level transmission big belt wheel (47) constitute Synchronous Transmission, and three axle installing plate (41) is provided with the
Seven mounting holes (337), the three-axis moving output shaft (46) passes through the 7th mounting hole (337) and the three axis second level are driven big band
It takes turns the centre bore of (47) and is affixed to together with two axis second level transmission big belt wheel (47).
8. a kind of small-sized static load according to claim 7 balances belt drive tool arm, it is characterised in that the third axis
Motor (39), three axis second level transmission big belt wheel (47), the three axis second level are driven small pulley (49), three axis second level driving belts
(50) be placed in the side of three axle installing plates (41), the three axis first order be driven small pulley (42), three axis first order driving belts (43),
Three axis first order transmission big belt wheel (44) is placed in the other side of three axle installing plates (41).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571696.6A CN110340910A (en) | 2019-06-28 | 2019-06-28 | A kind of small-sized static load balance belt drive tool arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571696.6A CN110340910A (en) | 2019-06-28 | 2019-06-28 | A kind of small-sized static load balance belt drive tool arm |
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| Publication Number | Publication Date |
|---|---|
| CN110340910A true CN110340910A (en) | 2019-10-18 |
Family
ID=68178185
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910571696.6A Pending CN110340910A (en) | 2019-06-28 | 2019-06-28 | A kind of small-sized static load balance belt drive tool arm |
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