CN203636817U - Wrist transmission component of selective compliance assembly robot arm - Google Patents
Wrist transmission component of selective compliance assembly robot arm Download PDFInfo
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- CN203636817U CN203636817U CN201320762426.1U CN201320762426U CN203636817U CN 203636817 U CN203636817 U CN 203636817U CN 201320762426 U CN201320762426 U CN 201320762426U CN 203636817 U CN203636817 U CN 203636817U
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Abstract
The utility model discloses a wrist transmission component of a selective compliance assembly robot arm, which comprises a servo motor, a mechanical arm, a cover, a first stage main driving belt wheel, a first stage driven belt wheel, a second stage driving belt wheel, a second stage driven belt wheel, a third stage driving belt wheel, a third stage driven belt wheel, a first stage belt wheel shaft, a second stage belt wheel shaft and an operating main shaft. The wrist transmission component provided by the utility model has the advantages that the structure is simple, and the processing and the assembling are convenient. After the use of a three-stage synchronous belt transmission device, the manufacturing cost is saved; all belt wheels keep certain distances with the operating main shaft, so that the inertia of the mechanical arm can be reduced.
Description
Technical field
The utility model relates to a kind of four-degree-of-freedom plane articulation type industrial robot, is specifically related to a kind of robot wrist's drive disk assembly, and its operation main shaft rotates take its axle center as center of rotation.
Background technology
In recent ten years, robotics development is very fast, and the robot of various uses extensively obtains application in every field.Industrial Robot Technology is as the important branch of modern science and technology, and he has related to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology at present a lot of fields.Industrial Robot Technology also combines the multi-door most advanced and sophisticated subjects such as mechanical engineering, electrical engineering, microelectronic engineering, computer engineering, Control Engineering, bionics and artificial intelligence engineering.By the application that combines of it and computer aided design system, computer aided manufacture system, be the latest development trend of modern manufacturing industry automation.
As four-degree-of-freedom selective compliance assembly robot arm, in general, certainly expect to reduce the inertia of this selective compliance assembly robot arm's mechanical arm, the stressing conditions while improving mechanical arm as cantilever beam, the while also expects to reduce this selective compliance assembly robot arm's manufacturing cost.
Utility model content
For the technical problem of above-mentioned proposition, the purpose of this utility model is to provide a kind of novel four-degree-of-freedom selective compliance assembly robot arm wrist drive disk assembly, can reduce the inertia of selective compliance assembly robot arm's mechanical arm, also can make selective compliance assembly robot arm's manufacturing cost reduce.
To achieve these goals, the utility model adopts following technical scheme:
A kind of selective compliance assembly robot arm's wrist drive disk assembly, comprise servomotor, mechanical arm, lid, first order driving pulley, first order driven pulley, second level driving pulley, second level driven pulley, third level driving pulley, third level driven pulley, one-level belt shaft, secondary belt shaft and operation main shaft, described servomotor is vertically mounted on mechanical arm by screw, the output shaft of servomotor is closely fixedly connected with by two base rice screws with first order driving pulley, first order driven pulley is closely fixedly connected with by two base rice screws with one-level belt shaft, first order driven pulley also carries out axial location by the shaft shoulder of one-level belt shaft lower end simultaneously, described second level driving pulley is fixed on one-level belt shaft stage casing, described second level driven pulley and third level driving pulley are arranged on secondary belt shaft, third level driven pulley is arranged on operation main shaft, between described first order driving pulley and first order driven pulley, between second level driving pulley and second level driven pulley, between third level driving pulley and third level driven pulley, be connected by belt drives, described lid fastens and is arranged on mechanical arm, described one-level belt shaft, secondary belt shaft and operation main shaft coordinate with the deep groove ball bearing being arranged in lid stepped hole by the shaft shoulder of its upper end, described one-level belt shaft, secondary belt shaft and the operation main shaft shaft shoulder by its lower end coordinates with the deep groove ball bearing being arranged in the stepped hole of mechanical arm, lid is closely fixedly connected with by screw with mechanical arm.
Further, the speed reducing ratio between described first order driving pulley and first order driven pulley is 4:1,3:1 between described second level driving pulley and second level driven pulley, and the speed reducing ratio between described third level driving pulley and third level driven pulley is 4:1.
Described operation main shaft is arranged between mechanical arm and lid by deep groove ball bearing and the shaft shoulder, described synchronous pulley is connected with each Timing Belt wheel shaft by base rice screw, described third level driven pulley is connected with operation main shaft by base rice screw, thereby servo motor shaft drives first order driving pulley, three grades of synchronous belt pulley transmissions are passed through, motion is sent on operation main shaft, and described operation main shaft rotates take its axle center as center of rotation.
Wrist drive disk assembly in the utility model, adopts three grades of synchronous pulleys to slow down, and its deceleration specific energy reaches 48:1, and arc tooth synchronous belt takes turns the also higher precision of tool, can complete higher precision location and the function transmitting.In the situation that space allows, use three grades of synchronous belt transmission devices can not only save manufacturing cost, due between each belt wheel and operation main shaft in a distance, this mode can reduce the inertia of mechanical arm, improves rapidity and the stability of its motion response.
The utility model has the following advantages with respect to prior art tool: this four-degree-of-freedom selective compliance assembly robot arm wrist drive disk assembly is simple in structure, and process and assemble is convenient.Use three grades of synchronous belt transmission devices can not only save manufacturing cost simultaneously, due between each belt wheel and operation main shaft in a distance, this mode can reduce the inertia of mechanical arm.
Accompanying drawing explanation
Fig. 1 is that the master of the utility model embodiment looks schematic diagram.
Fig. 2 is the cross-sectional schematic of the utility model embodiment.
Fig. 3 is the perspective view of the utility model embodiment.
Fig. 4 is the use view of the utility model embodiment.
In figure: 1. mechanical arm; 2. first order driving pulley; 3. servomotor; 4. third level driving pulley; 5. second level driven pulley; 6. the second deep groove ball bearing; 7. first order driven pulley; 8. second level driving pulley; 9. the first deep groove ball bearing; 10. operation main shaft; 11. the 3rd deep groove ball bearings; 12. third level driven pulleys; 13. lids; 14. one-level belt shafts; 15. secondary belt shafts.
The specific embodiment
In order to understand better the utility model, by reference to the accompanying drawings the utility model is further described with word below.
As shown in Figures 1 to 4, a kind of selective compliance assembly robot arm's wrist drive disk assembly, comprises servomotor 3, mechanical arm 1, lid 13, first order driving pulley 2, first order driven pulley 7, second level driving pulley 8, second level driven pulley 5, third level driving pulley 4, third level driven pulley 12, one-level belt shaft 14, secondary belt shaft 15 and operation main shaft 10, described servo electric 3 machines are vertically mounted on mechanical arm 1 by screw, the output shaft of servomotor 3 is closely fixedly connected with by two base rice screws with first order driving pulley 2, first order driven pulley 7 is closely fixedly connected with by two base rice screws with one-level belt shaft 14, first order driven pulley 7 also carries out axial location by the shaft shoulder of one-level belt shaft 14 lower ends simultaneously, described second level driving pulley 8 is fixed on one-level belt shaft 14 stage casings, described second level driven pulley 5 and third level driving pulley 4 are arranged on secondary belt shaft 15, third level driven pulley 12 is arranged on operation main shaft 10, between described first order driving pulley 2 and first order driven pulley 7, between second level driving pulley 8 and second level driven pulley 5, between third level driving pulley 4 and third level driven pulley 12, be connected by belt drives, described lid 13 fastens and is arranged on mechanical arm 1, described one-level belt shaft 14, secondary belt shaft 15 and operation main shaft 10 shaft shoulder by its upper end be arranged on the first deep groove ball bearing 9 in lid 13 stepped holes, the second deep groove ball bearing 6, the 3rd deep groove ball bearing 11 coordinates, described one-level belt shaft 14, secondary belt shaft 15 and operation main shaft 10 shaft shoulder by its lower end coordinates with the deep groove ball bearing being arranged in the stepped hole of mechanical arm 1, and lid 13 is closely fixedly connected with by screw with mechanical arm 1.
Speed reducing ratio between described first order driving pulley 2 and first order driven pulley 7 is 4:1,3:1 between described second level driving pulley 8 and second level driven pulley 5, speed reducing ratio between described third level driving pulley 4 and third level driven pulley 12 is 4:1, and the total reduction ratio of deceleration device is 48:1.
Servo motor shaft drives first order driving pulley, has passed through three grades of synchronous belt pulley transmissions, and motion is sent on operation main shaft, and described operation main shaft rotates take its axle center as center of rotation.
In the situation that space allows, use three grades of synchronous belt transmission devices can not only save manufacturing cost, due between each belt wheel and operation main shaft in a distance, this mode can reduce the inertia of mechanical arm, improves rapidity and the stability of its motion response.
Servomotor 3 in the utility model is closely fixedly connected with by screw with mechanical arm 1, servomotor 3 axles link together by base rice screw and first order driving pulley 2, all the other each belt wheels link together by base rice screw and belt shaft or operation main shaft 10, wrist transmission process: rotating speed and moment of torsion are passed to first order driving pulley 2 by the motor shaft of servomotor 3, by belt wheel and belt in three grades of synchronous pulleys, rotating speed and moment of torsion pass to operation main shaft 10 the most at last.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also giving exhaustive to all embodiments.All any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in the protection domain of the utility model claim.
Claims (2)
1. selective compliance assembly robot arm's wrist drive disk assembly, it is characterized in that: comprise servomotor (3), mechanical arm (1), lid (13), first order driving pulley (2), first order driven pulley (7), second level driving pulley (8), second level driven pulley (5), third level driving pulley (4), third level driven pulley (12), one-level belt shaft (14), secondary belt shaft (15) and operation main shaft (10), described servomotor (3) is vertically mounted on mechanical arm (1) by screw, the output shaft of servomotor (3) is closely fixedly connected with by two base rice screws with first order driving pulley (2), first order driven pulley (7) is closely fixedly connected with by base rice screw with one-level belt shaft (14), first order driven pulley (7) also carries out axial location by the shaft shoulder of one-level belt shaft (14) lower end simultaneously, described second level driving pulley (8) is fixed on one-level belt shaft (14) stage casing, described second level driven pulley (5) and third level driving pulley (4) are arranged on secondary belt shaft (15), third level driven pulley (12) is arranged on operation main shaft (10), between described first order driving pulley (2) and first order driven pulley (7), between second level driving pulley (8) and second level driven pulley (5), between third level driving pulley (4) and third level driven pulley (12), be connected by belt drives, described lid (13) fastens and is arranged on mechanical arm (1), described one-level belt shaft (14), secondary belt shaft (15) and operation main shaft (10) coordinate with the deep groove ball bearing being arranged in lid (13) stepped hole by the shaft shoulder of its upper end, described one-level belt shaft (14), secondary belt shaft (15) and operation main shaft (10) shaft shoulder by its lower end coordinates with the deep groove ball bearing being arranged in the stepped hole of mechanical arm (1), lid (13) is closely fixedly connected with by screw with mechanical arm (1).
2. selective compliance assembly robot arm's wrist drive disk assembly according to claim 1, it is characterized in that: the speed reducing ratio between described first order driving pulley (2) and first order driven pulley (7) is 4:1,3:1 between described second level driving pulley (8) and second level driven pulley (5), the speed reducing ratio between described third level driving pulley (4) and third level driven pulley (12) is 4:1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762426.1U CN203636817U (en) | 2013-11-28 | 2013-11-28 | Wrist transmission component of selective compliance assembly robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762426.1U CN203636817U (en) | 2013-11-28 | 2013-11-28 | Wrist transmission component of selective compliance assembly robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN203636817U true CN203636817U (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320762426.1U Expired - Fee Related CN203636817U (en) | 2013-11-28 | 2013-11-28 | Wrist transmission component of selective compliance assembly robot arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN203636817U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640015A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Plane joint type robot wrist transmission part |
| CN106926225A (en) * | 2015-12-23 | 2017-07-07 | 康茂股份公司 | Multi-axis industrial robot, the particularly multi-axis industrial robot of SCARA types |
| CN107738253A (en) * | 2017-11-17 | 2018-02-27 | 长沙展朔轩兴信息科技有限公司 | A kind of plane joint type robot wrist transmission part |
| CN108488336A (en) * | 2018-02-11 | 2018-09-04 | 坎德拉（深圳）科技创新有限公司 | Synchronous pulley gear for robot |
-
2013
- 2013-11-28 CN CN201320762426.1U patent/CN203636817U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640015A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Plane joint type robot wrist transmission part |
| CN106926225A (en) * | 2015-12-23 | 2017-07-07 | 康茂股份公司 | Multi-axis industrial robot, the particularly multi-axis industrial robot of SCARA types |
| CN107738253A (en) * | 2017-11-17 | 2018-02-27 | 长沙展朔轩兴信息科技有限公司 | A kind of plane joint type robot wrist transmission part |
| CN108488336A (en) * | 2018-02-11 | 2018-09-04 | 坎德拉（深圳）科技创新有限公司 | Synchronous pulley gear for robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140611 Termination date: 20141128 |
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| EXPY | Termination of patent right or utility model |