CN203579658U - Synchronous belt speed reducing plane joint robot - Google Patents

Abstract

The utility model discloses a synchronous belt deceleration planar joint robot, comprising: a base, a Z-axis motor frame, a Z-axis servo motor, a screw rod, a screw rod frame, a lifting seat, a first mechanical arm, a second mechanical arm, an X-axis Harmonic reducer, Y-axis cover, joint shaft, R-axis cover and working spindle, the screw rod is installed between the angular contact ball bearing on the base and the angular contact ball bearing on the screw frame, that is, the Z axis, and the Z axis As the rotation center, under the action of the Z-axis servo motor and the Z-axis master and slave pulleys, the lifting seat and the components on the lifting seat are driven to move axially along the Z-axis; the X-axis harmonic reducer is installed at the rear end of the lifting seat. The first mechanical arm and the components on the first mechanical arm are driven to rotate along the X axis with the center of the X-axis harmonic reducer as the center of rotation. Compared with general planar articulated robots, the utility model can not only ensure higher precision and larger movement space, but also greatly reduce the manufacturing cost of the planar articulated robots.

Description

A synchronous belt deceleration planar joint robot

technical field

The utility model belongs to the technical field of industrial robots, in particular to a synchronous belt deceleration planar joint robot. the

Background technique

The development of general-purpose and relatively simple planar articulated robot system also has certain reference significance for the research and development of robots. It has been more than forty years since the first utility-model robot in Japan, but planar articulated robots are still considered an indispensable element in automatic machining production. Planar articulated robots are the best robots for point-to-point movements, and are often used in tasks such as distribution, handling, loading, packaging, placement, and assembly.

The trajectory of the planar articulated robot is cylindrical. Compared with the six-degree-of-freedom robot, it can complete the reciprocating motion more efficiently and accurately. Its movement imitates the human arm, using the connection of the shoulder joint and the elbow joint to increase the movement of the wrist joint and the vertical direction, which is more suitable for those working environments that need to do back and forth movement.

Generally speaking, as a planar articulated robot, it is of course desired to increase the movable range of the planar articulated robot, and at the same time, it is also desired to reduce the inertia of the manipulator of the planar articulated robot to reduce the manufacturing cost of the robot.

Utility model content

In view of the existing technical problems, the purpose of this utility model is to provide a synchronous belt deceleration planar articulated robot, which can increase the movable range of the planar articulated robot and reduce the inertia of the planar articulated robot arm at the same time. At the same time, the manufacturing cost of the planar articulated robot can also be reduced.

In order to solve the technical problems described, the utility model adopts the following technical solutions:

A synchronous belt deceleration planar joint robot, comprising: a base for support and shock absorption; a lifting seat that moves up and down along the Z-axis direction under the limit action of a screw rod and two optical axes; a first mechanical arm, whose It is rotatably installed on the lifting seat with the X axis parallel to the Z axis as the rotation center; the Y axis cover is installed on the first mechanical arm, supporting the first axis of the Y axis reduction device and the second axis of the Y axis reduction device, And there is a through hole for the shaft of the Y-axis servo motor, the first axis of the Y-axis deceleration device and the second axis of the Y-axis deceleration device; on the first mechanical arm; the working spindle, which is rotatably mounted on the second mechanical arm with the R axis parallel to the Y axis as the rotation center; the R axis cover is installed on the second mechanical arm to support the working spindle , and has a through hole for the working spindle to pass through;

The upper and lower ends of the two optical axes are positioned through the shoulders and the base, the upper and lower ends of the optical axis and the matching inner holes on the base adopt a clearance fit, and the sliding bush on the optical axis and the lifting seat pass through the first The screws are tightly and fixedly connected, the lower part of the screw rod is matched with the first angular contact ball bearing installed in the screw rod frame, the lifting seat is tightly connected with the screw nut on the screw rod through the first screw, and the sliding bush is used to Reduce the friction coefficient during the movement process, and the optical axis is used to increase the stability of the Z-axis when moving up and down;

The X-axis servo motor and the first mechanical arm are connected together by screws, and the first mechanical arm, X-axis harmonic reducer and lifting seat are connected together by the second screw and the third screw, thus driving the first mechanical arm and the first The parts on the robotic arm rotate along the X axis;

The Y-axis servo motor is tightly and fixedly connected to the Y-axis cover through screws. The Y-axis cover is installed on the first mechanical arm through screws. The first-stage driving pulley is connected to the Y-axis first-stage driven pulley set on the second shaft of the Y-axis reduction device through a synchronous belt drive connection, and the Y-axis secondary driving pulley set on the second shaft of the Y-axis reduction device is connected to the Y-axis second-stage driving pulley set on the Y-axis The Y-axis secondary driven pulley on the first shaft of the Y-axis reduction device is driven and connected by a synchronous belt, and the Y-axis third-stage driving pulley arranged on the first shaft of the Y-axis reduction device and the third-stage driven pulley arranged on the joint shaft The second mechanical arm and the components on the second mechanical arm are driven to rotate along the Y axis through a synchronous belt drive connection. The first axis of the Y-axis reduction device and the second axis of the Y-axis reduction device are arranged in parallel on the first axis through deep groove ball bearings. Between the robotic arm and the Y-axis cover;

Thus, the Y-axis servo motor transmits motion and torque to the Y-axis primary driving pulley, and the Y-axis primary driving pulley transmits motion and torque to the Y-axis primary driven pulley and the Y-axis secondary driving pulley. The pulley, the Y-axis secondary driving pulley transmits motion and torque to the Y-axis secondary driven pulley and the Y-axis tertiary driving pulley, and the Y-axis tertiary driving pulley transmits motion and torque to the Y-axis 3rd The stage driven pulley and the second mechanical arm, thereby driving the second mechanical arm and the components on the second mechanical arm to rotate along the Y axis;

The joint shaft and the second angular contact ball bearing installed in the first mechanical arm are matched through the shaft shoulder, and the joint shaft and the second angular contact ball bearing adopt an interference fit, and the installation hole on the first mechanical arm and the second angular contact ball bearing The two angular contact ball bearings adopt a transition fit. The lower part of the first mechanical arm mounting hole has a bearing baffle that is tightly and fixedly connected with the first mechanical arm through screws. The upper part of the first mechanical arm mounting hole has a bearing sleeve that is connected with the screw The first mechanical arm is tightly and fixedly connected. The second mechanical arm and the Y-axis three-stage driven pulley are connected to the joint shaft through a flat key for torque transmission. A round nut is installed on the upper part of the joint shaft for the first Axial positioning of the second mechanical arm;

The R-axis cover is tightly fixedly connected with the second mechanical arm through screws, the R-axis servo motor is tightly fixedly connected with the second mechanical arm through screws, and the working spindle cooperates with the deep groove ball bearing installed in the R-axis cover , the R-axis servo motor is driven and connected with the R-axis first-level driving pulley, and the R-axis first-level driving pulley is connected with the R-axis first-level driven pulley set on the second shaft of the R-axis reduction device through a synchronous belt drive connection, which is set at The R-axis secondary driving pulley of the second shaft of the R-axis reduction device is connected to the R-axis secondary driven pulley arranged on the first shaft of the R-axis reduction device through a synchronous belt drive connection, and the R shaft arranged on the first shaft of the R-axis reduction device The three-stage driving pulley of the shaft is driven and connected with the three-stage driven pulley of the R-axis fixedly connected to the working main shaft, so as to drive the working main shaft and the components on the working main shaft to rotate along the R-axis. The two shafts of the shaft reduction device and the working main shaft are arranged in parallel between the second mechanical arm and the R-axis cover through deep groove ball bearings.

Thus, the R-axis servo motor transmits motion and torque to the R-axis primary driving pulley, and the R-axis primary driving pulley transmits motion and torque to the R-axis primary driven pulley and the R-axis secondary driving pulley. , the R-axis secondary driving pulley transmits motion and torque to the R-axis secondary driven pulley and the R-axis tertiary driving pulley, and the R-axis tertiary driving pulley transmits motion and torque to the R-axis tertiary slave On the driving pulley and the working main shaft, thereby driving the working main shaft and the parts on the working main shaft to rotate along the R axis.

Further, the Y-axis three-stage driving pulley, the Y-axis two-stage driven pulley, the Y-axis two-stage driving pulley, the Y-axis three-stage driven pulley, the R-axis one-stage driving pulley, and the R-axis one Stage driven pulley, R axis secondary driven pulley, R axis secondary driven pulley, R axis tertiary driven pulley, R axis tertiary driven pulley, Y axis primary driven pulley, Y axis The primary drive pulley of the shaft adopts arc-toothed synchronous pulley.

Further, the reduction ratio of the R-axis primary driving pulley to the R-axis primary driven pulley is 4:1, and the reduction ratio of the R-axis secondary driving pulley to the R-axis secondary driven pulley is 3:1, and the reduction ratio of the R-axis three-stage driving pulley and the R-axis three-stage driven pulley is 4:1.

The Z-axis servo motor is tightly and fixedly connected to the motor frame through hexagon socket head screws, the Z-axis servo motor shaft is tightly connected to the Z-axis synchronous pulley driving wheel through Kimi screws, and the Z-axis synchronous pulley driven wheel is through Kimi screws and The shoulder of the screw shaft is installed with the screw, the screw is matched with the angular contact ball bearing installed in the screw frame and the angular contact ball bearing installed in the base, the lifting seat and the screw nut on the screw are tightly connected by screws Fixed connection, so the Z-axis transmission process: Z-axis synchronous pulley driven wheel transmits the speed and torque to the screw, and the screw drives the lifting seat and the components on the lifting seat to move up and down along the Z-axis direction through the screw nut.

The X-axis servo motor and the first mechanical arm are tightly connected with the hexagon socket head screw, the first mechanical arm and the harmonic reducer are tightly connected with the hexagon socket head screw, and the harmonic reducer and the lifting seat are connected through the hexagon socket head. The screws are tightly fixed and connected, and the X servo motor shaft drives the reducer to move through the Oldham coupling, that is, the output shaft of the X servo motor drives the input end of the reducer to move, thereby driving the second mechanical arm and the components on the second mechanical arm Turn together.

The utility model has the following advantages: the three-stage synchronous pulley is used as its deceleration device, the transmission precision is high and there is no slippage in the working process, the transmission range is large and the structure is compact, the servo of Z axis, Y axis and R axis in the utility model The motor shaft adopts the form of synchronous pulley transmission, which is beneficial to the arrangement of parts. The motor can be placed close to the joint to reduce the inertia of the mechanical arm.

In the robot of the utility model, the Y-axis deceleration link is designed in the form of three-stage synchronous pulley transmission, one of which is that the power of the Y-axis servo motor is relatively small compared with the power of the X-axis and R-axis servo motors, and is used for three The shape and quality of each synchronous pulley of the three-stage synchronous pulley reduction device are also relatively small; the length and width of the second first mechanical arm are relatively large, which can effectively provide installation space for the three-stage synchronous pulley reduction device, which not only reduces the The moment of inertia on the second mechanical arm is reduced, and the cost of manufacturing the robot is greatly reduced.

For the Y-axis and R-axis parts, a three-stage synchronous pulley is used for deceleration, and its reduction ratio can reach 48:1, and the arc-toothed synchronous pulley also has high precision, which can complete high-precision positioning and transmission functions .

Therefore, three pairs of synchronous pulleys are used to replace the harmonic reducer with a reduction ratio of 50:1 in the X-axis transmission. For the Y-axis and R-axis deceleration links, it is feasible to use a three-stage synchronous pulley set for deceleration. , the power of the Y-axis servo motor and R-axis servo motor is smaller than that of the Z-axis servo motor and X-axis servo motor, so the size and weight of the synchronous pulley used to transmit the speed and torque of the servo motor are small and will not This results in an increase in the moment of inertia of the mechanical arm; secondly, the size of the first mechanical arm and the second mechanical arm is larger, which can provide an installation space for installing the synchronous pulley set. Harmonic reducer is an expensive reducer, so the use of three-stage synchronous pulley group deceleration can greatly reduce the manufacturing cost of the robot.

Description of drawings

FIG. 1 is a schematic cross-sectional view showing a synchronous belt deceleration planar joint robot according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view showing a synchronous belt deceleration planar joint robot according to an embodiment of the present invention.

Fig. 3 is a schematic diagram showing the Y-axis synchronous belt deceleration device of the synchronous belt deceleration planar joint robot according to the embodiment of the present invention.

Fig. 4 is a schematic top view showing the synchronous belt deceleration planar joint robot of the present invention.

Fig. 5 is a schematic left view showing the synchronous belt deceleration planar joint robot of the present invention.

Fig. 6 is a state diagram showing the state of the movable range of the mechanical arm of the synchronous belt deceleration planar joint robot of the present invention.

In the figure: 1. Z-axis driving pulley; 2. Z-axis servo motor; 3. Optical axis; 4. Z-axis motor frame; 5. Z-axis driven pulley; 6. Base; 7. Screw frame; 8 .First angular contact ball bearing; 9. Screw rod; 10. Screw nut; 11. Sliding bush; 12. First screw; 13. Lifting seat; 14. Second screw; 15. X-axis harmonic deceleration 16. The third screw; 17. The X-axis servo motor; 18. The first mechanical arm; 19. The third-stage driving pulley of the Y-axis; 20. The second-stage driven pulley of the Y-axis; 21. Deep groove ball bearings; 22. Y-axis secondary driving pulley; 23. Bearing baffle; 24. Second angular contact ball bearing; 25. Bearing jacket; 26. Y-axis three-stage driven pulley; 27. R-axis primary driving pulley ; 28. The first shaft of R-axis deceleration device; 29. The first-stage driven pulley of R-axis; 30. The second-stage driven pulley of R-axis; 31. The second-axis of R-axis deceleration device; 32. The second-stage driving pulley of R-axis ; 34. Second mechanical arm; 35. R-axis cover; 36. R-axis three-stage driven pulley; 38. Working spindle; 41. R-axis three-stage driving pulley; 42. Round nut; 43. R-axis servo Motor; 44. Joint shaft; 45. Y-axis primary driven pulley; 46. Y-axis cover; 47. Y-axis deceleration device two-axis; 48. Y-axis deceleration device one-axis; 49. Y-axis primary driving belt wheel; 50. Y-axis servo motor.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further elaborated

As shown in Figures 1 to 5, a synchronous belt deceleration planar joint robot includes: a base 6 for support and shock absorption; under the limit action of the screw rod 9 and two optical axes 3, along the Z-axis direction The lifting seat 13 that moves up and down; the first mechanical arm 18, which is rotatably mounted on the lifting seat 13 with the X axis parallel to the Z axis as the rotation center; the Y-axis cover 46 is installed on the first mechanical arm 18 On the top, it supports the first shaft 48 of the Y-axis deceleration device and the second shaft 47 of the Y-axis deceleration device, and has a through hole for the Y-axis servo motor shaft, the first shaft 48 of the Y-axis deceleration device, and the second shaft 47 of the Y-axis deceleration device; the second Mechanical arm 34, which is rotatably mounted on the first mechanical arm 18 with the Y axis parallel to the X axis as the rotation center; the working spindle 38 is rotatably mounted with the R axis parallel to the Y axis as the rotation center On the above-mentioned second mechanical arm 34; the R-axis cover 35 is installed on the second mechanical arm 34, supports the working spindle 38, and has a through hole for the working spindle 38 to pass through;

The upper and lower ends of the two optical shafts 3 are positioned with the base 6 through shoulders, the upper and lower ends of the optical shaft 3 and the matching inner holes on the base 6 adopt a clearance fit, and the sliding bush 11 on the optical shaft 3 It is tightly and fixedly connected with the lifting seat 13 through the first screw 12, and the lower part of the screw mandrel 9 cooperates with the first angular contact ball bearing 8 installed in the screw mandrel frame 7, and the lifting seat 13 is connected with the screw mandrel 9 through the first screw 12. The screw nut 10 on the top is tightly and fixedly connected, the sliding bush is used to reduce the friction coefficient during the movement process, and the optical axis is used to increase the stability of the Z-axis when moving up and down;

The X-axis servo motor 17 is connected together with the first mechanical arm 18 by screws, and the first mechanical arm 18, the X-axis harmonic reducer 15 and the lifting seat 13 are connected together by the second screw 14 and the third screw 16, thereby driving The components on the first mechanical arm and the first mechanical arm 18 rotate along the X axis;

The Y-axis servo motor 50 is tightly and fixedly connected with the Y-axis cover 46 through screws, and the Y-axis cover 46 is installed on the first mechanical arm 18 through screws, and the Y-axis servo motor 50 and the Y-axis primary driving pulley 49 pass through the timing belt Drive connection, the Y-axis primary driving pulley 49 is connected with the Y-axis primary driven pulley 45 arranged on the second shaft 47 of the Y-axis deceleration device through a synchronous belt drive connection, and the Y-axis primary pulley 49 arranged on the second shaft 47 of the Y-axis deceleration device is connected by driving. The shaft secondary driving pulley 22 is connected with the Y-axis secondary driven pulley 20 arranged on the first shaft 48 of the Y-axis reduction device through a synchronous belt drive connection, and the Y-axis three-stage driving belt arranged on the first shaft 48 of the Y-axis reduction device The wheel 19 is connected with the three-stage driven pulley 26 arranged on the joint shaft 44 through a synchronous belt driving connection, thereby driving the second mechanical arm 34 and the components on the second mechanical arm 34 to rotate along the Y axis, and the Y axis reduction device The first shaft 48 and the second shaft 47 of the Y-axis deceleration device are arranged in parallel between the first mechanical arm 18 and the Y-axis cover 46 through the deep groove ball bearing 21;

Thus, the Y-axis servo motor 50 transmits motion and torque to the Y-axis primary driving pulley 49, and the Y-axis primary driving pulley 49 transmits motion and torque to the Y-axis primary driven pulley 45 and the Y-axis primary driven pulley 49. On the secondary driving pulley 22 of the axis, the secondary driving pulley 22 of the Y axis transmits motion and torque to the secondary driven pulley 20 of the Y axis and the third driving pulley 19 of the Y axis, and the three driving pulleys of the Y axis 19. Transmit motion and torque to the Y-axis three-stage driven pulley 26 and the second mechanical arm 34, thereby driving the second mechanical arm and the components on the second mechanical arm 34 to rotate along the Y-axis;

The joint shaft 44 and the second angular contact ball bearing 24 installed in the first mechanical arm 18 are matched through a shaft shoulder, and the joint shaft 44 and the second angular contact ball bearing 24 adopt an interference fit, and the first mechanical arm 18 The upper mounting hole and the second angular contact ball bearing 24 adopt a transition fit, and the bottom of the first mechanical arm mounting hole has a bearing baffle 23 tightly fixedly connected with the first mechanical arm 18 through screws, and the first mechanical arm 18 The upper part of the mounting hole has a bearing sleeve 25 tightly fixedly connected with the first mechanical arm 18 through screws, and the second mechanical arm 34 and the Y-axis three-stage driven pulley 26 are connected with the joint shaft 44 through a flat key for torque transmission. , the upper part of the joint shaft is equipped with a round nut 42 for the axial positioning of the second mechanical arm 34;

The R-axis cover 35 is tightly fixedly connected with the second mechanical arm 34 through screws, the R-axis servo motor 43 is tightly fixedly connected with the second mechanical arm 34 through screws, and the working spindle 38 is installed in the R-axis cover 35 The deep groove ball bearing 21 cooperates, the R-axis servo motor 43 is drivingly connected with the R-axis primary driving pulley 27, and the R-axis primary driving pulley 27 is connected with the R-axis primary driving pulley 27 arranged on the second shaft 31 of the R-axis reduction device. The driving pulley 29 is driven and connected by a synchronous belt, and the R-axis secondary driving pulley 32 arranged on the second shaft 31 of the R-axis reduction device passes through the R-axis secondary driven pulley 30 arranged on the first shaft 28 of the R-axis reduction device. Synchronous belt driving connection, the R-axis three-stage driving pulley 41 arranged on the first shaft 28 of the R-axis deceleration device is drivingly connected with the R-axis three-stage driven pulley 36 fixedly connected on the working main shaft 38, thereby driving the working main shaft 38 and the parts on the working main shaft 38 rotate along the R axis. The first shaft 28 of the R-axis deceleration device, the second shaft 31 of the R-axis decelerating device and the main shaft 38 are arranged on the second mechanical arm 34 and the R-axis in parallel through the deep groove ball bearing 21. Between the lids 35 .

Thereby the R-axis servo motor 43 transmits motion and torque to the R-axis primary driving pulley 27, and the R-axis primary driving pulley 27 transmits motion and torque to the R-axis primary driven pulley 29 and the R-axis secondary On the driving pulley 32, the R-axis secondary driving pulley 32 transmits motion and torque to the R-axis secondary driven pulley 30 and the R-axis three-stage driving pulley 41, and the R-axis three-stage driving pulley 41 will move And the torque is transmitted to the R-axis three-stage driven pulley 36 and the work main shaft 38, thereby driving the work main shaft and the parts on the work main shaft 38 to rotate along the R-axis.

Further, the Y-axis three-stage driving pulley 19, the Y-axis secondary driven pulley 20, the Y-axis secondary driving pulley 22, the Y-axis three-stage driven pulley 26, and the R-axis primary driving pulley 27. R-axis first-stage driven pulley 29, R-axis second-stage driven pulley 30, R-axis second-stage driving pulley 32, R-axis third-stage driven pulley 36, R-axis third-stage driving pulley 41, The first-stage driven pulley 45 of the Y axis and the first-order driving pulley 49 of the Y-axis all adopt arc tooth synchronous pulleys.

Further, the reduction ratio of the R-axis primary driving pulley 27 and the R-axis primary driven pulley 29 is 4:1, and the R-axis secondary driving pulley 32 and the R-axis secondary driven pulley The reduction ratio of 30 is 3:1, and the reduction ratio of the R-axis three-stage driving pulley 41 and the R-axis three-stage driven pulley 36 is 4:1.

Referring to Fig. 1, the upper part of the screw rod 9 is installed with an interference fit with the inner ring of the angular contact ball bearing installed on the base 6, and the transition between the outer ring of the upper angular contact ball bearing and the inner hole on the base Cooperate installation, the lower part of the screw rod is installed with an interference fit with the inner ring of the angular contact ball bearing installed on the screw rod frame 7, and the transition between the outer ring of the lower angular contact ball bearing and the stepped hole on the screw rod frame Cooperate with the installation. The bottom of the screw mandrel 9 is also equipped with a Z-axis synchronous belt driven wheel 5, which is used to transmit the rotating speed and torque to the screw mandrel. The screw nut 10 on the screw mandrel is tightly connected with the lifting seat 13 by screws, thereby driving the lifting seat and the lifting seat 13. The parts on the lifting seat 13 move up and down along the Z axis.

The deceleration device in the utility model mainly adopts a three-stage synchronous pulley deceleration device, and the synchronous belt is an important part of the three-stage synchronous pulley deceleration device. It is composed of endless belt and corresponding matching wheels. It combines the advantages of belt drive, chain drive and gear drive. When turning, the power is transmitted by meshing the teeth with the tooth grooves of the wheel. Synchronous belt drive for transmission has accurate transmission ratio, no slip, can obtain constant speed ratio, stable transmission, can absorb vibration, low noise, and wide range of transmission ratio.

The synchronous pulley adopts arc tooth synchronous pulley. The arc tooth synchronous pulley is because its tooth shape has the characteristics of arc, which is different from the square tooth and arc of trapezoidal tooth synchronous pulley and T-shaped synchronous pulley. Tooth synchronous pulley can meet high-power transmission, and its transmission power is 3-5 times larger than that of trapezoidal and T-shaped teeth.

The X-axis joint part of the robot of the utility model adopts a harmonic reducer 15, which is mainly composed of three basic component groups: a wave generator, a flexible gear and a rigid gear. It is a gear transmission that controls elastic deformation and transmits motion and power with rigid gears. The upper part of the harmonic reducer and the first mechanical arm 18 are tightly fixedly connected by screws, and the lower part of the harmonic reducer 15 is tightly fixedly connected with the lifting seat 13 by screws, so as to drive the first mechanical arm 18 and the components on the first mechanical arm 18 Rotate along the X axis.

The Y-axis servo motor 50 is tightly fixedly connected with the Y-axis cover 46 through screws, and the Y-axis cover 46 is tightly fixedly connected with the first mechanical arm 18 through screws. 46 is matched with the first mechanical arm 18, the inner ring of the deep groove ball bearing and the synchronous pulley shaft are interference fit, the outer ring is transitionally fitted with the Y-axis cover or the inner hole on the first mechanical arm, and the synchronous pulley on the synchronous pulley shaft Cooperate with the synchronous pulley shaft through the shaft shoulder and Kimi screws. Therefore, the Y-axis transmission process: the Y-axis servo motor 50 transmits the rotational speed and torque to the first pair of synchronous pulley driving wheels 49 of the Y-axis, and transmits the rotational speed and torque to the Y-axis joint shaft 44 through each synchronous pulley and synchronous belt. Drive the second mechanical arm 34 and the components on the second mechanical arm 34 to rotate.

The R-axis servo motor 43 is tightly fixedly connected with the second mechanical arm 34 by screws, and the R-axis servo motor shaft is connected together with the R-axis first-stage driving pulley 27 in the three-stage synchronous pulleys through Kimi screws, and the rest of the synchronous belts The wheel is connected together with the synchronous belt pulley shaft or the working main shaft 38 through Kimi screws. The R-axis transmission process: the R-axis motor shaft transmits the rotational speed and torque to the first pair of synchronous belt driving wheels 27 in the three-stage synchronous belt pulley, through the three-stage synchronous belt pulley. The pulley and the belt in the synchronous pulley finally transmit the rotating speed and torque to the working main shaft 38. The reduction ratio of the first pair of pulleys in the utility model is 4:1, the reduction ratio of the second pair of pulleys is 3:1, and the reduction ratio of the third pair of pulleys is 4:1, that is, the three-stage synchronous pulley The reduction ratio is 48:1.

In the Y-axis joint of the synchronous belt deceleration planar joint robot of the present invention, a pair of angular contact balls supporting the joint shaft 44 and the friction coefficient of the mechanical load in the transmission process are installed in the inner hole at one end of the first mechanical arm 18. Bearing, a bearing baffle 23 is installed at the lower end of the lower bearing of the joint shaft 44 for the axial positioning of the bearing. A bearing jacket 25 is installed on the upper end for the axial positioning of the bearing. The bearing jacket is tightly fixedly connected with the first mechanical arm 18 through screws, and the third pair of synchronous pulley driven wheels cooperate with the joint shaft 44 through flat keys and shaft shoulders. An axle sleeve is installed on the axial direction of the 3rd pair of synchronous pulley driven wheel 26 and the second mechanical arm 34, in order to the axial location of the 3rd pair of synchronous pulley driven wheel 26, the second mechanical arm 34 is by flat key and The shaft shoulder cooperates with the joint shaft, and a pair of round nuts 42 are installed in the axial direction of the second mechanical arm 34 for axial positioning of the second mechanical arm.

With reference to shown in Figure 6, in the synchronous belt deceleration planar joint robot of the present utility model, when the arm of the second mechanical arm 34 draws close to the arm length direction of the first mechanical arm 18 to form a straight line, it is the length of the mechanical arm and The difference between the length of the second mechanical arm is that the radius of gyration of the planar articulated robot is the smallest; length and the length of the second mechanical arm 34, the radius of gyration of this planar articulated robot is the largest.

The above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims (3)

1. A synchronous belt deceleration planar joint robot, characterized in that it comprises: a base (6) for support and shock absorption; under the limit action of the screw mandrel (9) and 2 optical axes (3) along the Z The lifting seat (13) that moves up and down in the axial direction; the first mechanical arm (18), which is rotatably installed on the lifting seat (13) with the X axis parallel to the Z axis as the rotation center; the Y axis cover ( 46), is installed on the first mechanical arm (18), supports the first axis (48) of the Y-axis reduction device and the second axis (47) of the Y-axis reduction device, and has a shaft for the Y-axis servo motor, a Y-axis reduction device The shaft (48) and the through hole through which the two shafts (47) of the Y-axis deceleration device pass through; the second mechanical arm (34), which is rotatably installed on the first mechanical arm with the Y-axis parallel to the X-axis as the rotation center (18); the working spindle (38), which is rotatably mounted on the above-mentioned second mechanical arm (34) with the R-axis parallel to the Y-axis as the rotation center; the R-axis cover (35), is installed on the second On the mechanical arm (34), the working main shaft (38) is supported, and there is a through hole for the working main shaft (38) to pass through; The upper and lower ends of the two optical axes (3) are positioned with the base (6) through the shoulders, and the upper and lower ends of the optical axes (3) and the matching inner holes on the base (6) adopt a clearance fit, and the optical The sliding bush (11) on the shaft (3) is tightly and fixedly connected with the lifting seat (13) through the first screw (12), and the lower part of the screw rod (9) is connected with the first screw rod mounted in the screw rod frame (7). An angular contact ball bearing (8) cooperates, and the lifting seat (13) is tightly and fixedly connected with the screw nut (10) on the screw rod (9) through the first screw (12); The X-axis servo motor (17) and the first mechanical arm (18) are connected together by screws, and the first mechanical arm (18), the X-axis harmonic reducer (15) and the lifting seat (13) are connected by the second screw (14) ) and the third screw (16) are connected together, so as to drive the first mechanical arm and the components on the first mechanical arm (18) to rotate along the X axis; The Y-axis servo motor (50) is tightly and fixedly connected with the Y-axis cover (46) through screws, and the Y-axis cover (46) is installed on the first mechanical arm (18) through screws, and the Y-axis servo motor (50) is connected to the Y-axis cover (46) through screws. The first-stage driving pulley (49) of the shaft is driven and connected by a synchronous belt, and the first-stage driving pulley (49) of the Y-axis is connected to the first-stage driven pulley (45) of the Y-axis arranged on the second shaft (47) of the Y-axis reduction device. Through synchronous belt drive connection, the Y-axis secondary driving pulley (22) arranged on the second shaft (47) of the Y-axis reduction device and the Y-axis secondary driven pulley arranged on the first shaft (48) of the Y-axis reduction device (20) Driven and connected by a synchronous belt, the Y-axis three-stage driving pulley (19) set on the first axis (48) of the Y-axis reduction device and the three-stage driven pulley (26) set on the joint shaft (44) ) is driven and connected by a synchronous belt, thereby driving the second mechanical arm (34) and the components on the second mechanical arm (34) to rotate along the Y-axis, the first axis (48) of the Y-axis reduction device and the second axis of the Y-axis reduction device (47) is arranged in parallel between the first mechanical arm (18) and the Y-axis cover (46) through the deep groove ball bearing (21); The joint shaft (44) cooperates with the second angular contact ball bearing (24) installed in the first mechanical arm (18) through the shaft shoulder, and the joint shaft (44) and the second angular contact ball bearing (24) adopt the Ying fit, the installation hole on the first mechanical arm (18) adopts a transition fit with the second angular contact ball bearing (24), and there is a bearing baffle (23) in the lower part of the first mechanical arm installation hole through the screw and the second angular contact ball bearing (24). The first mechanical arm (18) is tightly and fixedly connected, and the upper part of the installation hole of the first mechanical arm (18) has a bearing sleeve (25) tightly and fixedly connected with the first mechanical arm (18) through screws, and the second mechanical arm (34) and the Y-axis three-stage driven pulley (26) are connected with the joint shaft (44) through a flat key for torque transmission, and a round nut (42) is installed on the upper part of the joint shaft for the second mechanical Axial positioning of the arm (34); The R-axis cover (35) is tightly fixedly connected with the second mechanical arm (34) by screws, the R-axis servo motor (43) is tightly fixedly connected with the second mechanical arm (34) by screws, and the working spindle ( 38) Cooperate with the deep groove ball bearing (21) installed in the R-axis cover (35), the R-axis servo motor (43) is drivingly connected with the R-axis primary driving pulley (27), and the R-axis primary driving pulley (27) is connected with the R-axis primary driven pulley (29) arranged on the second shaft (31) of the R-axis deceleration device through a synchronous belt drive, and is set on the R-axis secondary shaft (31) of the R-axis deceleration device. The driving pulley (32) is connected with the R-axis secondary driven pulley (30) arranged on the first shaft (28) of the R-axis reduction device through a synchronous belt drive connection, and the first shaft (28) of the R-axis reduction device is arranged on the The R-axis three-stage driving pulley (41) is drivingly connected with the R-axis three-stage driven pulley (36) that is fixedly connected on the work main shaft (38), thereby driving the work main shaft (38) and the work main shaft (38) The components rotate along the R-axis, and the first shaft (28) of the R-axis reduction device, the second shaft (31) of the R-axis reduction device and the working main shaft (38) are arranged in parallel on the second mechanical arm (34) through deep groove ball bearings (21). ) and the R-axis cover (35). 2. The synchronous belt deceleration planar joint robot according to claim 1, characterized in that: the Y-axis three-stage driving pulley (19), the Y-axis two-stage driven pulley (20), the Y-axis two-stage driving pulley Pulley (22), Y-axis three-stage driven pulley (26), R-axis primary driving pulley (27), R-axis primary driven pulley (29), R-axis secondary driven pulley ( 30), R-axis second-stage driving pulley (32), R-axis third-stage driven pulley (36), R-axis third-stage driving pulley (41), Y-axis first-stage driven pulley (45), Y Axle primary driving belt pulley (49) all adopts circular arc tooth synchronous belt pulley. 3. The synchronous belt deceleration planar joint robot according to claim 2, characterized in that: the reduction ratio of the R-axis primary driving pulley (27) and the R-axis primary driven pulley (29) is 4: 1. The reduction ratio between the R-axis secondary driving pulley (32) and the R-axis secondary driven pulley (30) is 3:1, and the R-axis third-stage driving pulley (41) and the R-axis three-stage The reduction ratio of the stage driven pulley (36) is 4:1.

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