CN117921743A - Robot adopting combined speed reducer - Google Patents
Robot adopting combined speed reducer Download PDFInfo
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- CN117921743A CN117921743A CN202410212844.6A CN202410212844A CN117921743A CN 117921743 A CN117921743 A CN 117921743A CN 202410212844 A CN202410212844 A CN 202410212844A CN 117921743 A CN117921743 A CN 117921743A
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- output shaft
- fixedly connected
- transmission mechanism
- synchronous pulley
- coaxially arranged
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims description 57
- 210000000245 forearm Anatomy 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010923 batch production Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The invention relates to the technical field of mechanical automation, and discloses a robot adopting a combined speed reducer. Comprising the following steps: the speed reducer comprises three input shafts and three output shafts; the driving motor is the same as the input shafts in number and drives the three input shafts to rotate respectively; a grip; the big arm, the small arm, the swing arm and the connecting rod form a four-bar mechanism; the first synchronous pulley, the second secondary synchronous pulley, the third synchronous pulley, the first synchronous belt bypassing the first synchronous pulley and the second synchronous pulley, and the second synchronous belt bypassing the second secondary synchronous pulley and the third synchronous pulley; according to the invention, the grippers can be driven to translate and rotate through three output shafts.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a robot adopting a combined speed reducer.
Background
Robots are important mechanical equipment in industrial automation, are widely applied to various industries such as food, medical treatment, daily chemicals, mechanical assembly and the like, and are installed on various stations of a production line according to the requirements of production processes to finish production work.
At present, a transmission structure of the robot mainly dispersedly installs a plurality of standard speed reducers at driving positions of arms, and then drives each arm to operate respectively, and the speed reducers have various structures, loose layout and large external dimensions; because of the different structural dimensions, standardized mass production cannot be realized.
The invention aims to solve the problems of a transmission structure of a multi-axis robot, fully refers to the design structure and experience of the industry of the speed reducers, adopts the structure of a combined speed reducer, designs and integrates a plurality of speed reducers into one speed reducer, is arranged on the multi-axis robot, drives each arm to operate, and has the advantages of safe and reliable transmission structure, small external dimension, compact structure and capability of realizing standardization, serialization and batch production.
Disclosure of Invention
In order to solve the technical problems, the invention provides a robot adopting a combined speed reducer.
In order to solve the technical problems, the invention adopts the following technical scheme:
a robot employing a combination decelerator, comprising:
The speed reducer comprises three input shafts and three output shafts; the three output shafts are coaxially arranged; the three output shafts are a first output shaft, a second output shaft and a third output shaft respectively; the first output shaft is positioned in the second output shaft, and the second output shaft is positioned in the third output shaft; the three input shafts respectively drive the three output shafts to rotate;
the driving motor is the same as the input shafts in number and drives the three input shafts to rotate respectively;
A grip;
the big arm, the small arm, the swing arm and the connecting rod form a four-bar mechanism; one end of the large arm is fixedly connected with the second output shaft, and the other end of the large arm is hinged with one end of the small arm; one end of the swing arm is fixedly connected with the third output shaft, and the other end of the swing arm is hinged with one end of the connecting rod; one end of the connecting rod, which is far away from the swing arm, is hinged with the middle part of the forearm; one end of the small arm far away from the large arm is hinged with the gripper;
The first synchronous pulley, the second secondary synchronous pulley, the third synchronous pulley, the first synchronous belt bypassing the first synchronous pulley and the second synchronous pulley, and the second synchronous belt bypassing the second secondary synchronous pulley and the third synchronous pulley; the first synchronous belt pulley is fixedly connected with the first output shaft and is coaxially arranged; the second synchronous pulley and the second secondary synchronous pulley are coaxially and fixedly connected; the third synchronous belt wheel is coaxially arranged with the rotating shaft of the gripper and is fixedly connected with the rotating shaft of the gripper.
Further, the input shaft drives the output shaft to rotate through the transmission mechanism.
Further, the transmission mechanism is a gear transmission mechanism; the gear transmission mechanism comprises driven gears which are fixedly connected with each output shaft and coaxially arranged, and driving gears which are fixedly connected with each input shaft and coaxially arranged, wherein the driving gears and the driven gears can be meshed.
Further, the gear transmission mechanism comprises a worm gear transmission mechanism, a cylindrical gear rotation mechanism, a circular arc gear transmission mechanism and a bevel gear transmission mechanism.
Further, the transmission mechanism is a belt transmission mechanism; the belt transmission mechanism comprises driven wheels fixedly connected with the output shafts and coaxially arranged, driving wheels fixedly connected with the input shafts and coaxially arranged, and belts bypassing the driving wheels and the driven wheels.
Further, the transmission mechanism is a chain transmission mechanism; the chain transmission mechanism comprises driven gears fixedly connected with each output shaft and coaxially arranged, driving gears fixedly connected with each input shaft and coaxially arranged, and a chain bypassing the driven gears and the driving gears.
Further, the transmission mechanism is a roller cam transmission mechanism; the roller cam transmission mechanism comprises roller cams fixedly connected with each output shaft and coaxially arranged, and arc-shaped worms fixedly connected with each input shaft and coaxially arranged.
Compared with the prior art, the invention has the beneficial technical effects that:
The invention adopts the combined speed reducer, so that the robot has compact structure, small outline dimension, safety, reliability, small outline dimension and compact structure; can realize standardization, serialization and batch production. In addition, the parts inside the reduction gearbox are all industry universal parts and standard parts, and the purchasing and maintenance costs are low.
According to the invention, the tail ends of the four-bar mechanisms can be respectively driven to translate and drive the grippers to rotate through the three coaxially arranged output shafts.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the overall structure of the decelerator of the present invention;
FIG. 4 is a schematic illustration of the structure of the input shaft assembly of the present invention;
FIG. 5 is a schematic structural view of an output shaft assembly of the present invention;
fig. 6 is a schematic structural view of the reducer casing of the present invention.
Detailed Description
A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the robot according to the present invention includes a speed reducer 3, a drive motor 4, a gripper 7, a four-bar linkage, a first timing pulley 61, a second timing pulley 62, a second secondary timing pulley 63, a third timing pulley 64, a first timing belt that bypasses the first timing pulley 61 and the second timing pulley 62, and a second timing belt that bypasses the second secondary timing pulley 63 and the third timing pulley 64.
As shown in fig. 3, the combined type speed reducer of the present invention includes a speed reducer case 3a, an input shaft assembly 1, and an output shaft assembly 2.
As shown in fig. 6, the reducer casing 3a is a housing of the reducer, and is also a supporting structure of other components of the reducer, and the reducer casing 3a is further provided with a vent plug 302, an oil level 303, a plug 304, and other structures.
As shown in fig. 4, the input shaft assembly 1 includes an input shaft 101, an input bearing 102 and an input bearing block 103, wherein the input shaft 101 is connected with a power source, for example, is fixedly connected with a rotating end of a motor, the input shaft 101 is fixedly connected with an inner ring of the input bearing 102, and an outer ring of the input bearing 102 is fixedly connected with the input bearing block 103; the input bearing housing 103 is mounted on the reducer casing 3 a.
In this embodiment, there are three input shafts 101, namely, a first input shaft, a second input shaft, and a third input shaft.
As shown in fig. 5, the output shaft assembly 2 includes a first output shaft 205, a second output shaft 206, a third output shaft 207, a second output shaft inner bearing 210, a third output shaft inner bearing 211, a second output shaft outer bearing, a third output shaft outer bearing, a second bearing housing 208, and a third bearing housing 209.
The three output shafts are coaxially arranged, the first output shaft 205 is arranged inside the second output shaft 206, the second output shaft 206 is arranged inside the third output shaft 207, a second output shaft inner bearing 210 is arranged between the first output shaft 205 and the second output shaft 206, the first output shaft 205 is fixedly connected with the inner ring of the second output shaft inner bearing 210, and the second output shaft 206 is fixedly connected with the outer ring of the second output shaft inner bearing 210; a third output shaft inner bearing 211 is arranged between the second output shaft 206 and the third output shaft 207, the second output shaft 206 is fixedly connected with the inner ring of the third output shaft inner bearing 211, and the third output shaft 207 is fixedly connected with the outer ring of the third output shaft inner bearing 211.
The second output shaft outer bearing is disposed outside the second output shaft 206, the second output shaft 206 is fixedly connected with an inner ring of the second output shaft outer bearing, an outer ring of the second output shaft outer bearing is fixedly connected with the second bearing seat 208, and the second bearing seat 208 is fixedly connected with the reducer casing 3 a.
The outer bearing of the third output shaft is arranged outside the third output shaft 207, the third output shaft 207 is fixedly connected with the inner ring of the outer bearing of the third output shaft, the outer ring of the outer bearing of the third output shaft is fixedly connected with the third bearing seat 209, and the third bearing seat 209 is fixedly connected with the speed reducer box 3 a.
The second output shaft outer bearing, second bearing 208, third output shaft outer bearing, third bearing mount 209 are capable of providing support to the second output shaft 206 and third output shaft 207, securing the entire output shaft assembly 2 in the reducer housing 3 a.
The first input shaft drives the first output shaft 205 to rotate, the second input shaft drives the second output shaft 206 to rotate, and the third input shaft drives the third output shaft 207 to rotate through the transmission mechanism.
The transmission mechanism between each input shaft 101 and each output shaft may be belt transmission, chain transmission, roller cam transmission or gear transmission; the gear transmission comprises worm gear transmission, cylindrical gear transmission, circular arc gear transmission and bevel gear transmission; the belt transmission comprises flat belt transmission, V-shaped belt transmission, synchronous belt transmission and V-shaped belt transmission; the chain drive includes roller chain drive and toothed chain drive. It is noted that the above transmission modes are common transmission mechanisms well known to those skilled in the art.
In this embodiment, the transmission mechanism is a worm gear transmission, specifically, includes a first worm gear 201 coaxially and fixedly connected with a first output shaft 205, a second worm gear 202 coaxially and fixedly connected with a second output shaft 206, a third worm gear 203 coaxially and fixedly connected with a third output shaft 207, a first worm coaxially and fixedly connected with a first input shaft, a second worm coaxially and fixedly connected with a second input shaft, and a third worm coaxially and fixedly connected with a third input shaft. In order to facilitate the connection of the worm wheel and the output shaft, the non-outermost output shaft needs to axially protrude a part to form a protruding part, and the worm wheel is fixedly connected with the protruding part. In this embodiment, three input shafts and three output shafts are arranged orthogonally.
The first worm wheel 201 is meshed with a first worm, the second worm wheel 202 is meshed with a second worm, and the third worm wheel 203 is meshed with a third worm.
In the present invention, the number of driving motors 4 is the same as the number of input shafts, i.e., each driving motor 4 drives one input shaft, and the driving motor 4 is connected to the input shaft through a coupling flange 41 and a coupling 42.
The four-bar mechanism comprises a large arm 51, a small arm 52, a swing arm 54 and a connecting rod 53, wherein one end of the large arm 51 is fixedly connected with any one output shaft, and the other end of the large arm is hinged with one end of the small arm 52; one end of the swing arm 54 is fixedly connected with any one of the other output shafts, and the other end of the swing arm is hinged with one end of the connecting rod 53; one end of the connecting rod 53 far away from the swing arm 54 is hinged with the middle part of the small arm 52; the end of the small arm 52 far away from the large arm 51 is hinged with the gripper 7; the gripper 7 can be driven to translate through the two output shafts and the four-bar mechanism.
In this embodiment, the large arm is fixedly connected with the second output shaft, and the swing arm is fixedly connected with the third output shaft.
The present invention further includes a first timing pulley 61, a second timing pulley 62, a second sub-timing pulley 63, a third timing pulley 64, and a first timing belt that bypasses the first timing pulley 61 and the second timing pulley 62, and a second timing belt that bypasses the second sub-timing pulley 63 and the third timing pulley 64.
The first synchronous pulley 61 is fixedly connected with the first output shaft, when the first output shaft rotates, the first synchronous pulley 61 is driven to rotate, the second synchronous pulley 62 is driven to rotate by the synchronous belt, the second synchronous pulley 62 and the second auxiliary synchronous pulley 63 are coaxially and fixedly connected, and when the second synchronous pulley 62 rotates, the second auxiliary synchronous pulley rotates, and the third synchronous pulley 64 is driven to rotate by the synchronous belt II; the third synchronous pulley 64 is fixedly connected with the rotating shaft of the gripper 7 coaxially, and when the third synchronous pulley 64 rotates, the gripper 7 can be driven to rotate. In this embodiment, the second synchronous pulley and the second secondary synchronous pulley are fixedly connected with one end of the large arm away from the second output shaft.
Therefore, the hand grip 7 of the present invention can be rotated in addition to being translated.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a single embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to specific embodiments, and that the embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
Claims (7)
1. A robot using a combination type decelerator, comprising:
The speed reducer comprises three input shafts and three output shafts; the three output shafts are coaxially arranged; the three output shafts are a first output shaft, a second output shaft and a third output shaft respectively; the first output shaft is positioned in the second output shaft, and the second output shaft is positioned in the third output shaft; the three input shafts respectively drive the three output shafts to rotate;
the driving motor is the same as the input shafts in number and drives the three input shafts to rotate respectively;
A grip;
the big arm, the small arm, the swing arm and the connecting rod form a four-bar mechanism; one end of the large arm is fixedly connected with the second output shaft, and the other end of the large arm is hinged with one end of the small arm; one end of the swing arm is fixedly connected with the third output shaft, and the other end of the swing arm is hinged with one end of the connecting rod; one end of the connecting rod, which is far away from the swing arm, is hinged with the middle part of the forearm; one end of the small arm far away from the large arm is hinged with the gripper;
The first synchronous pulley, the second secondary synchronous pulley, the third synchronous pulley, the first synchronous belt bypassing the first synchronous pulley and the second synchronous pulley, and the second synchronous belt bypassing the second secondary synchronous pulley and the third synchronous pulley; the first synchronous belt pulley is fixedly connected with the first output shaft and is coaxially arranged; the second synchronous pulley and the second secondary synchronous pulley are coaxially and fixedly connected; the third synchronous belt wheel is coaxially arranged with the rotating shaft of the gripper and is fixedly connected with the rotating shaft of the gripper.
2. The robot of claim 1, wherein the input shaft rotates the output shaft via a transmission mechanism.
3. The robot of claim 2, wherein the transmission is a gear transmission; the gear transmission mechanism comprises driven gears which are fixedly connected with each output shaft and coaxially arranged, and driving gears which are fixedly connected with each input shaft and coaxially arranged, wherein the driving gears and the driven gears can be meshed.
4. A robot employing a combination type decelerator according to claim 3 wherein the gear transmission mechanism includes a worm gear transmission mechanism, a cylindrical gear rotation mechanism, a circular arc gear transmission mechanism and a bevel gear transmission mechanism.
5. The robot using a combination type decelerator according to claim 2, wherein: the transmission mechanism is a belt transmission mechanism; the belt transmission mechanism comprises driven wheels fixedly connected with the output shafts and coaxially arranged, driving wheels fixedly connected with the input shafts and coaxially arranged, and belts bypassing the driving wheels and the driven wheels.
6. The robot using a combination type decelerator according to claim 2, wherein: the transmission mechanism is a chain transmission mechanism; the chain transmission mechanism comprises driven gears fixedly connected with each output shaft and coaxially arranged, driving gears fixedly connected with each input shaft and coaxially arranged, and a chain bypassing the driven gears and the driving gears.
7. The robot using a combination type decelerator according to claim 2, wherein: the transmission mechanism is a roller cam transmission mechanism; the roller cam transmission mechanism comprises roller cams fixedly connected with each output shaft and coaxially arranged, and arc-shaped worms fixedly connected with each input shaft and coaxially arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410212844.6A CN117921743A (en) | 2024-02-27 | 2024-02-27 | Robot adopting combined speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410212844.6A CN117921743A (en) | 2024-02-27 | 2024-02-27 | Robot adopting combined speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117921743A true CN117921743A (en) | 2024-04-26 |
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ID=90763124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410212844.6A Pending CN117921743A (en) | 2024-02-27 | 2024-02-27 | Robot adopting combined speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117921743A (en) |
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2024
- 2024-02-27 CN CN202410212844.6A patent/CN117921743A/en active Pending
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