CN204277999U - A kind of novel four-degree-of-freedom plane articulation robot architecture - Google Patents

Abstract

The utility model discloses a novel four-degree-of-freedom planar joint robot structure, comprising a base, a lifting seat that moves up and down along the Z-axis direction under the limit action of a screw rod, a screw nut and a guide rail pair; a first mechanical arm , which 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 axis, and has a through hole for the Y-axis servo motor shaft, the first axis of the Y-axis deceleration device and the second axis of the Y-axis deceleration device; the second mechanical arm, which can rotate with the Y-axis parallel to the X-axis as the center of rotation On the first mechanical arm; a 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 novel four-degree-of-freedom planar joint robot provided by the utility model has the advantages of simple structure, low cost, large working space and high working precision.

Description

A new four-degree-of-freedom planar joint robot structure

technical field

The utility model belongs to the technical field of industrial robots, in particular to a novel four-degree-of-freedom planar joint robot structure.

Background technique

Robot technology is a comprehensive application of multiple disciplines. Industrial robots realize autonomous movement through robot joints. Among many types of robots, planar joint robots are small in size, simple in transmission principle, and have greater flexibility in movement in the plane. The movement of the axes is very rigid, making them ideal for repetitive tasks such as handling, welding and assembly, so they are widely used in industrial production. Industrial robotics also integrates many cutting-edge disciplines such as mechanical engineering, electrical engineering, microelectronics engineering, computer engineering, control engineering, bionics and artificial intelligence engineering. Combining it with computer-aided design system and computer-aided manufacturing system is the latest development trend of modern manufacturing automation.

Joint robot, also known as joint arm robot or joint robot arm, is one of the most common forms of industrial robots in the industrial field today. It is suitable for mechanical automation operations in many industrial fields, such as automatic assembly, painting, handling, welding and other work. Joint robots can be divided into many types according to the nature of their work, such as: handling robots, spot welding robots, arc welding robots, painting robots, laser cutting robots and so on.

As a four-degree-of-freedom planar articulated robot, generally speaking, it is expected that the manufacturing cost of the planar articulated robot is low, and at the same time it is also expected that the planar articulated robot has a large movable range, high positioning accuracy, simple structure, and can adapt to small spaces. environment of use. However, the traditional four-degree-of-freedom articulated robot has a complex structure and high manufacturing costs, and the price is still a factor restricting its wide application in society.

Utility model content

In view of the above-mentioned technical problems, the purpose of this utility model is to provide a new four-degree-of-freedom planar joint robot structure, which can make the planar joint robot have a large movable range, high positioning accuracy, simple structure and can adapt to the narrow space. environment, and also reduces the manufacturing cost of the planar joint robot.

In order to solve the above-mentioned technical problems, the utility model adopts the following technical solutions:

A new four-degree-of-freedom planar joint robot structure, including: 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 the screw, the screw nut and the guide rail pair; the first A mechanical arm, which 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 Y axis The second axis of the reduction device has a through hole for the shaft of the Y-axis servo motor, the first axis of the Y-axis reduction device, and the second axis of the Y-axis reduction device; the second mechanical arm can use the Y-axis parallel to the X-axis as the rotation center. Rotatingly installed on the first mechanical arm; the working spindle is rotatably installed on the above-mentioned 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 on, supporting the working spindle, and having a through hole for the working spindle to pass through;

The base includes a front vertical plate and a rear vertical plate arranged in parallel vertically, and a top plate and a bottom plate respectively connected to the top and bottom of the front vertical plate and the rear vertical plate, and the lower end of the screw rod is installed on the The first angular contact ball bearing in the base bearing fixing plate cooperates, the base bearing fixing plate is fixed on the bottom plate, the upper end of the screw rod is connected with the Z-axis servo motor installed on the top plate through a coupling, and the The upper part of the screw rod is also provided with a third angular contact ball bearing fixed on the upper part of the inner side of the rear vertical plate through the bearing fixing plate. The seat connecting plate is fixedly connected; the guide rail pair includes two guide rails vertically fixed between the bearing fixing plate and the base bearing fixing plate, and a slider fixed on the lifting seat connecting plate and slidingly matched with the guide rails;

The X-axis servo motor is connected to the input end of the X-axis harmonic reducer, and is fixed on the first mechanical arm through the second screw, and the output end of the X-axis harmonic reducer is connected to the lifting seat through the first screw, Thereby driving the first mechanical arm and the components on the first mechanical arm to rotate around the X axis;

The Y-axis servo motor is fixed on the Y-axis cover, and the Y-axis cover is installed on the first mechanical arm. The Y-axis servo motor is connected with the Y-axis primary driving pulley, and the Y-axis primary driving pulley is connected to the Y-axis primary driving pulley. The Y-axis primary driven pulley on the second shaft of the Y-axis reduction device is connected by a synchronous belt drive, and the Y-axis secondary driving pulley arranged on the second shaft of the Y-axis reduction device is connected to the Y-axis on the first axis of the Y-axis reduction device. The secondary driven pulley is driven and connected through a synchronous belt, and the Y-axis tertiary driving pulley set on the first axis of the Y-axis reduction device is connected with the tertiary driven pulley set on the joint shaft through a synchronous belt drive, thereby driving The second mechanical arm and the components on the second mechanical arm rotate around the Y axis. The first axis of the Y-axis reduction device and the second axis of the Y-axis reduction device are respectively arranged in parallel through the first deep groove ball bearing and the second deep groove ball bearing. Between the first mechanical arm and the Y-axis cover;

The lower part of the joint shaft is matched with the second angular contact ball bearing installed in the first mechanical arm through the shaft shoulder. The joint shaft and the second angular contact ball bearing adopt an interference fit, and the installation hole on the first mechanical arm is matched with the The second angular contact ball bearing adopts a transition fit, a bearing baffle plate is tightly and fixedly connected with the first mechanical arm through a third screw at the bottom of the installation hole of the first mechanical arm, and a bearing sleeve is arranged at the upper part of the installation hole of the first mechanical arm The cover is tightly and fixedly connected with the first mechanical arm, the second mechanical arm and the Y-axis three-stage driven pulley are connected with the joint shaft through the first flat key for torque transmission, and the upper part of the joint shaft is passed through the second flat key. The key is fixedly connected with the second mechanical arm, and at the same time, a round nut is installed on the top of the joint shaft, and a sleeve is provided on the joint shaft between the Y-axis three-stage driven pulley and the second mechanical arm for the second mechanical arm. Axial positioning;

The R-axis cover is fixedly connected to the second mechanical arm, the R-axis servo motor is fixed on the second mechanical arm through the motor bracket, and the working spindle is connected to the third arm respectively installed in the R-axis cover and the second mechanical arm. The deep groove ball bearing is matched with the fourth deep groove ball bearing, the R-axis servo motor is driven and connected with the R-axis driving pulley, and the R-axis driving pulley is driven by the R-axis driven pulley fixedly connected to the upper part of the working spindle through a synchronous belt. connected, thereby driving the working spindle and components on the working spindle to rotate along the R axis.

Further, the Y-axis three-stage driving pulley, the Y-axis secondary driven pulley, the Y-axis secondary driving pulley, the Y-axis three-stage driven pulley, the R-axis driving pulley, and the R-axis driven belt The first-stage driven pulley of the Y-axis and the first-stage driving pulley of the Y-axis all use arc-toothed synchronous pulleys. The pulley can meet high-power transmission, and its transmission power is 3-5 times larger than that of trapezoidal teeth and T-shaped teeth.

Further, a synchronously moving baffle is set on the connecting plate of the lifting seat, and a travel switch matched with the baffle is fixed on the rear vertical plate of the base to automatically limit the travel range of the lifting seat when it moves up and down. , to prevent overloading.

Further, the guide rail is symmetrically provided with four sliders that slide and cooperate with the guide rail, which greatly improves the stability of the up and down movement of the lifting base and other components on the lifting base, and also improves the positioning accuracy of the planar joint robot.

Further, the reduction ratio of the X-axis harmonic reducer is 50:1; the reduction ratio of the Y-axis primary driving pulley and the Y-axis primary driven pulley is 4:1, and the Y-axis secondary driving pulley The reduction ratio of the pulley and the Y-axis secondary driven pulley is 3:1, the reduction ratio of the Y-axis third-stage driving pulley and the Y-axis third-stage driven pulley is 4:1; the R-axis driven belt The reduction ratio of the pulley and the R-axis driving pulley is 4:1.

Further, balls are arranged between the threads of the screw rod and the screw nut to form a ball screw pair. The ball screw pair uses balls to move, so the starting torque is extremely small, and there will be no crawling phenomenon like sliding motion. , can ensure accurate micro-feeding.

Further, the second mechanical arm is provided with an oblong through hole for installing and adjusting the relative position of the motor frame and the working spindle, so that the tension of the synchronous belt can be adjusted by moving the motor frame.

Further, the side of the Y-axis cover is provided with an oblong through hole, and the inner side of the Y-axis cover is provided with a synchronous belt idler wheel fixed on the oblong through hole by bolts, and the synchronous belt idler includes a idler frame, fixed on The wheel shaft on the wheel frame, the inner ring is fixed on the wheel shaft and the outer ring is provided with a circlip bearing. By moving the timing belt wheel, it is convenient to adjust the tension of each synchronous pulley, eliminating the need for installation The relaxation phenomenon during the process and the vibration and noise generated during the movement.

Further, the Y-axis three-stage driven pulley, the R-axis driven pulley, the Y-axis primary driven pulley, and the Y-axis two-stage driven pulley are all provided with a number of circular channels for reducing their own weight. holes to reduce the moments of inertia of the first mechanical arm and the second mechanical arm and the power of the R-axis servo motor and the Y-axis servo motor.

Compared with the prior art, the utility model has the following advantages:

Harmonic reducer is used as its deceleration device, and at the same time it can be used as a supporting element. The structure of the transmission chain is compact and simple, which conforms to the development trend. It adopts the form of synchronous pulley deceleration, which is conducive to the arrangement of parts. The motor can be placed close to the joint. Reduce the inertia of the robotic arm;

As a kind of four-degree-of-freedom planar joint robot, the new four-degree-of-freedom planar joint robot in the utility model designs the lifting link of the up and down movement in the base part, which greatly reduces the lifting seat, the first mechanical arm and the second mechanical arm. The moment of inertia improves the stability and positioning accuracy of the planar joint robot;

In the utility model, the transmission link of the Y-axis servo motor and the R-axis servo motor adopts the form of synchronous pulley deceleration, because the light-load plane joint robot in the utility model faces the work object is a semiconductor material, because its weight is very heavy Small, the required rotational torque is very small, so the first-stage synchronous pulley deceleration device can be used for the deceleration device of the R-axis servo motor. For the deceleration device link of the Y-axis servo motor, because the total weight of the second mechanical arm and other components on the second mechanical arm is relatively large, the required rotational torque is also large, so the deceleration device link of the Y-axis servo motor adopt The form of three-stage synchronous pulley deceleration, the reduction ratio can reach 48:1, to meet the torque requirements of the second mechanical arm and other components on the second mechanical arm.

Description of drawings

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

Fig. 2 is a schematic top view of the synchronous belt deceleration planar joint robot related to the embodiment of the present invention.

Fig. 3 is a three-dimensional schematic diagram of a synchronous belt deceleration planar joint robot related to an embodiment of the present invention.

Fig. 4 is an exploded schematic diagram of the base and the internal structure of the synchronous belt deceleration planar joint robot involved in the embodiment of the utility model.

Fig. 5 is a structural schematic diagram of the synchronous belt roller of the utility model synchronous belt deceleration planar joint robot.

Fig. 6 is a schematic diagram of 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. Screw nut; 2. First angular contact ball bearing; 3. Base; 4. Base bearing fixing plate; 5. Nut fixing plate; 6. Screw rod; 7. Lifting seat connecting plate; 8 .First screw; 9. Lifting seat; 10. X-axis harmonic reducer; 11. Second screw; 12. Y-axis three-stage driving pulley; 13. First deep groove ball bearing; 14. First mechanical arm ; 15. The second deep groove ball bearing; 16. The third screw; 17. Bearing cover; 18. The second angular contact ball bearing; 19. Bearing baffle; 20. Joint shaft; 21. The first flat key; 22 .Y-axis three-stage driven pulley; 23. Second robotic arm; 24. Fourth deep groove ball bearing; 25. Working spindle; 26. R-axis cover; 27. R-axis driven pulley; 28. Third Deep groove ball bearing; 29. R-axis driving pulley; 30. Motor frame; 31. R-axis servo motor; 32. Sleeve; 33. Second flat key; 34. Y-axis primary driven pulley; 35. Y-axis two-stage driving pulley; 36. Y-axis reducer two-axis; 37. Y-axis cover; 38. Y-axis reducer one-axis; 39. Y-axis two-stage driven pulley; 40. Y-axis primary drive Pulley; 41. Y-axis servo motor; 42. X-axis servo motor; 43. Bearing fixing plate; 44. Coupling; 45. Third angular contact ball bearing; 46. Z-axis servo motor; 47-top plate; 48- Front vertical plate; 49-rear vertical plate; 50. slide block; 51. guide rail; 52. baffle plate; 53. travel switch; 54. base plate.

55. by the wheel frame; 56. by the wheel shaft; 57. by the wheel bearing; 58. by the elastic retaining ring.

Detailed ways

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

As shown in Figures 1 to 4, a novel four-degree-of-freedom planar joint robot structure includes: a base 3 for support and shock absorption; under the limiting action of the screw 6, screw nut 1 and guide rail The lifting seat 9 that moves up and down along the Z axis; the first mechanical arm 14, which is rotatably mounted on the lifting seat 9 with the X axis parallel to the Z axis as the center of rotation; the Y axis cover 37 is installed on the On the first mechanical arm 14, the Y-axis deceleration device one shaft 38 and the Y-axis deceleration device two shafts 36 are supported, and there are holes for the Y-axis servo motor shaft, the Y-axis deceleration device one shaft 38 and the Y-axis deceleration device two shafts 36 to penetrate Through hole; the second mechanical arm 23, which is rotatably mounted on the first mechanical arm 14 with the Y axis parallel to the X axis as the center of rotation; the working spindle 25, which is rotated with the R axis parallel to the Y axis The center is rotatably installed on the above-mentioned second mechanical arm 23; the R-axis cover 26 is installed on the second mechanical arm 23, supports the working spindle 25, and has a through hole for the working spindle 25 to pass through;

Described base 3 comprises the front vertical board 48 that vertical parallel is arranged, rear vertical board 49, and is respectively connected and is arranged on the top board 47 and the bottom board 54 that are arranged on front vertical board 48 and rear vertical board 49 top and bottom, described The lower end of the screw mandrel 6 cooperates with the first angular contact ball bearing 2 installed in the base bearing fixing plate 4, the base bearing fixing plate 4 is fixed on the bottom plate 54, and the upper end of the screw mandrel 6 is connected with the shaft coupling 44 The Z-axis servo motor 46 installed on the top plate 47 is connected, and the upper section of the screw mandrel 6 is also provided with the third angular contact ball bearing 45 fixed on the upper section of the inner side of the rear vertical plate 49 by the bearing fixing plate 43, and the lifting seat 9 Connected with the lifting seat connecting plate 7, the screw nut 1 is fixedly connected with the lifting seat connecting plate 7 through the nut fixing plate 5, a ball is arranged between the thread of the screw mandrel 6 and the screw nut 1, A ball screw pair is formed to reduce the starting moment, prevent the crawling phenomenon of sliding movement, and ensure accurate micro-feeding. The guide rail pair includes two vertically fixed bearing fixing plates 43 and the base bearing fixing plate 4. The guide rail 51 and the slider 50 fixed on the lifting seat connecting plate 7 and slidingly matched with the guide rail 51 are four in total, two on each guide rail 51, symmetrically distributed, improving the stability of the up and down movement, positioning precision.

At the same time, the connecting plate 7 of the lift seat is provided with a baffle plate 52 which moves synchronously, and the rear vertical plate 49 of the base 3 is fixed with a travel switch 53 matched with the baffle plate 52, which can be lowered on the lift seat. When it reaches the preset position, it will stop automatically, so as to prevent the Z-axis servo motor 46 from being overloaded and damaged.

The X-axis servo motor 42 is connected to the input end of the X-axis harmonic reducer 10, and is fixed on the first mechanical arm 14 by the second screw 11, and the output end of the X-axis harmonic reducer 10 is passed through the first screw 8 Connected with the lifting seat 13, so as to drive the first mechanical arm 14 and the components on the first mechanical arm 14 to rotate around the X axis;

The Y-axis servo motor 41 is fixed on the Y-axis cover 37, and the Y-axis cover 37 is installed on the first mechanical arm 14. The Y-axis servo motor 41 is connected with the Y-axis primary drive pulley 40, and the Y-axis primary drive The belt pulley 40 is connected with the Y-axis primary driven pulley 34 arranged on the second shaft 36 of the Y-axis reduction device through a synchronous belt driving connection, and the Y-axis secondary driving pulley 35 arranged on the second shaft 36 of the Y-axis reduction device is connected with the The Y-axis secondary driven pulley 39 arranged on the first shaft 38 of the Y-axis reduction device is connected by a synchronous belt drive, and the Y-axis three-stage driving pulley 12 arranged on the first shaft 38 of the Y-axis reduction device is connected with the joint shaft 20 The three-stage driven pulley 22 on the top is driven and connected by a synchronous belt, so as to drive the second mechanical arm 23 and the parts on the second mechanical arm 23 to rotate around the Y axis. The first shaft 38 of the Y-axis reduction device and the Y-axis reduction device The two shafts 36 are arranged in parallel between the first mechanical arm 14 and the Y-axis cover 37 through the first deep groove ball bearing 13 and the second deep groove ball bearing 15 respectively;

The lower part of the joint shaft 20 is matched with the second angular contact ball bearing 18 installed in the first mechanical arm 14 through a shaft shoulder. The joint shaft 20 and the second angular contact ball bearing 18 adopt an interference fit. The first mechanical arm The installation hole on 14 adopts transition fit with the second angular contact ball bearing 18, and a bearing baffle plate 19 is tightly fixedly connected with the first mechanical arm 14 through the third screw 16 at the bottom of the installation hole of the first mechanical arm. A bearing sleeve cover 17 is tightly and fixedly connected with the first mechanical arm 14 on the top of the installation hole of a mechanical arm 14. The second mechanical arm 23 and the Y-axis three-stage driven pulley 22 are connected to the joint shaft 20 through the first flat key 21. connection, used to transmit torque, the upper part of the joint shaft 20 is fixedly connected with the second mechanical arm 23 through the second flat key 33, and a round nut is installed on the top of the joint shaft 20, and the Y-axis three-stage driven pulley 22 A sleeve 32 is provided on the joint shaft 20 between the second mechanical arm 23 for the axial positioning of the second mechanical arm 23;

The R-axis cover 26 is fixedly connected to the second mechanical arm 23, the R-axis servo motor 31 is fixed on the second mechanical arm 23 through the motor bracket 30, and the working spindle 25 is installed on the R-axis cover 26 and the second mechanical arm respectively. The third deep groove ball bearing 28 in the second mechanical arm 23 is matched with the fourth deep groove ball bearing 24, and the R-axis servo motor 31 is drivingly connected with the R-axis driving pulley 29, and the R-axis driving pulley 29 is connected to the fixed belt through a timing belt. The R-axis driven pulley 27 connected to the upper segment of the working main shaft 25 is driven and connected, thereby driving the working main shaft 25 and the components on the working main shaft 25 to rotate along the R-axis.

The Y-axis three-stage driving pulley 12, the Y-axis secondary driven pulley 39, the Y-axis secondary driving pulley 35, the Y-axis three-stage driven pulley 22, the R-axis driving pulley 29, and the R-axis slave pulley The driving pulley 27, the Y-axis primary driven pulley 34, and the Y-axis primary driving pulley 40 all adopt arc tooth synchronous pulleys.

The reduction ratio of the X-axis harmonic reducer 10 is 50:1; the reduction ratio of the Y-axis primary driving pulley 40 and the Y-axis primary driven pulley 34 is 4:1, and the Y-axis secondary driving pulley The reduction ratio of pulley 35 and Y-axis secondary driven pulley 39 is 3:1, and the reduction ratio of Y-axis three-stage driving pulley 12 and Y-axis three-stage driven pulley 22 is 4:1; the R The reduction ratio of the shaft driven pulley 27 and the R-axis driving pulley 29 is 4:1.

The second mechanical arm 23 is provided with an oblong through hole for installing and adjusting the relative position of the motor frame 30 and the working spindle 25 .

The side of the Y-axis cover 37 is provided with an oblong through hole, and the inner side of the Y-axis cover 37 is provided with a synchronous belt idler wheel fixed on the oblong through hole by bolts. The wheel shaft 56 on the wheel frame 55, the inner ring is fixed on the wheel shaft 56 and the outer ring is provided with the wheel bearing 57 of the circlip 58.

The Y-axis three-stage driven pulley 22, the R-axis driven pulley 27, the Y-axis primary driven pulley 34, and the Y-axis secondary driven pulley 39 are all provided with some circular rings for reducing dead weight. The through holes are used to reduce the moments of inertia of the first mechanical arm 14 and the second mechanical arm 23 and the power of the R-axis servo motor 31 and the Y-axis servo motor 41 .

The synchronous belt transmission of this embodiment is composed of an endless belt with equidistant teeth on the inner peripheral surface 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 uses an X-axis harmonic reducer 10, which is mainly composed of three basic component groups: a wave generator, a flexible gear and a rigid gear. It is a controllable elastic deformation of the flexible gear by the wave generator. , and gear transmission with rigid gears to transmit motion and power. The upper part of the X-axis harmonic reducer 10 is tightly fixedly connected with the first mechanical arm 14 through screws, the lower part of the X-axis harmonic reducer 10 is tightly fixedly connected with the lifting seat 9 through screws, and the output shaft of the X-axis servo motor 42 drives the X The input end of the shaft harmonic reducer 10 moves, thereby driving the first mechanical arm 14 and other components on the first mechanical arm 14 to rotate around the X axis within a certain range.

The output shaft of the Z-axis servo motor 46 drives the screw rod 6 to rotate through the coupling 44, and the screw rod cooperates with the ball of the screw nut 1 to convert the rotational motion of the screw rod 6 into the up and down linear motion of the screw nut 1, Thereby drive the lifting seat connecting plate 7, the lifting seat 9 and other parts on the lifting seat 9 to move up and down along the Z axis.

The joint shaft 20 is installed in the through hole at the right end of the first mechanical arm 14 through the bearing and the second angular contact ball bearing 18, and the bearing baffle 19 is tightly and fixedly connected with the first mechanical arm 14 by screws for the second angular contact. The axial positioning of the contact ball bearing 18, the bearing cover 17 is connected with the first mechanical arm 14, and is used for the axial positioning of the second angular contact ball bearing 18, and the Y-axis three-stage driven pulley 22 is connected with the joint The shaft 20 is connected through the first flat key 21, and the first mechanical arm 14 is installed on the joint shaft 20 through the second flat key 33. Two round nuts are installed on the upper section of the joint shaft 20 for the first mechanical arm 14 axial positioning. Thus, the Y-axis three-stage driven pulley 22 drives the joint shaft 20 and other components on the joint shaft 20 to rotate around the Y-axis within a certain range.

The Y-axis servo motor 41 drives the Y-axis primary driving pulley 40 to rotate, the Y-axis primary driving pulley 40 drives the Y-axis primary driven pulley 34 and the Y-axis secondary driving pulley 35 to rotate, and the Y-axis secondary driving pulley 40 rotates. The first-stage driving pulley 35 drives the Y-axis second-stage driven pulley 39 and the Y-axis third-stage driving pulley 12 to rotate, and the Y-axis third-stage driving pulley 12 drives the Y-axis third-stage driven pulley 22 and the joint shaft 20 around the Y axis. The shaft rotates as the center of rotation.

The R-axis servo motor 31 transmits the rotational speed and torque to the R-axis driving pulley 29, and the R-axis driving pulley 29 transmits the rotational speed and torque to the R-axis driven pulley 27 through the synchronous belt, driving the working main shaft 25 to rotate The R axis rotates.

Referring to Figure 5, in view of the slack phenomenon of the synchronous pulley and the synchronous belt during installation and the characteristics of vibration and noise during the movement, the utility model adopts a synchronous belt pulley for tensioning, The synchronous belt idler is installed in the oblong hole on the Y-axis cover 37 through bolts. When the synchronous belt idler is moved to press the synchronous belt between the two synchronous belt pulleys, tighten the nut on the bolt to fix the synchronous belt idler A certain position on the oblong through hole of the Y-axis cover 37.

The second mechanical arm 23 of this embodiment is also provided with an oblong through hole for fixing the motor frame 30. When the motor frame 30 is moved along the oblong through hole, the R-axis driving pulley 29 also moves thereupon. When the R-axis driving belt When the wheel and the R-axis driven pulley 27 are in a suitable relative position, tighten the nuts on the bolts to fix the motor frame 30 at a certain position on the oblong through hole of the second mechanical arm 23.

As shown in Figures 1 to 3, the first mechanical arm 14 is an oblong connecting rod, and a circular groove with a certain depth is machined on the left side area of the upper surface of the first mechanical arm 14 for connecting with the X-axis servo. To fix the motor 42, a circular groove with a certain depth is machined on the left side of the lower surface of the first mechanical arm 14 for fixing with the X-axis harmonic reducer 10. On the upper surface of the first mechanical arm 14 A circular groove with a through hole is processed in the right side area for fixing and positioning with the joint shaft 20; the second mechanical arm 23 is also an oblong connecting rod, on the left side of the upper surface of the second mechanical arm 23 A circular groove with a through hole is processed in the area, which is used for fixing the joint shaft 20 and transmitting a certain torque and speed to the second mechanical arm 23. The circular groove of hole is used for the fixing of working main shaft 25. The first mechanical arm 14 and the second mechanical arm 23 are equal in size in the length direction, which is an empirical application of bionics, so that the movement of the joint robot is more flexible.

Referring to Fig. 6, in the synchronous belt deceleration planar joint robot of the present utility model, when the arm of the second mechanical arm 23 draws close to the arm length direction of the first mechanical arm 14 to form a straight line, it is the length of the mechanical arm and The difference between the arm lengths 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 23, 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 (9)

1. A novel four-degree-of-freedom planar joint robot structure, is characterized in that, comprises: The base (3) that plays support and damping effect; The lifting seat (9) moves up and down along the Z-axis direction under the position action; the first mechanical arm (14), which is rotatably installed on the lifting seat (9) with the X-axis parallel to the Z-axis as the rotation center ; The Y-axis cover (37) is installed on the first mechanical arm (14), supports the Y-axis deceleration device one shaft (38) and the Y-axis deceleration device two shafts (36), and has a shaft for the Y-axis servo motor, The through hole through which the first shaft (38) of the Y-axis reduction device and the second shaft (36) of the Y-axis reduction device pass through; the second mechanical arm (23), which can be rotated with the Y-axis parallel to the X-axis as the rotation center, is installed on the on the first mechanical arm (14); the working spindle (25), which is rotatably mounted on the second mechanical arm (23) with the R axis parallel to the Y axis as the rotation center; the R axis cover (26), It is installed on the second mechanical arm (23), supports the working main shaft (25), and has a through hole for the working main shaft (25) to pass through; The base (3) includes a front vertical board (48) and a rear vertical board (49) arranged vertically and in parallel, and the top and rear vertical boards (49) are respectively connected and arranged The top plate (47) and the bottom plate (54) at the bottom, the lower end of the screw rod (6) cooperates with the first angular contact ball bearing (2) installed in the base bearing fixing plate (4), and the base bearing fixing plate (4) fixed on the bottom plate (54), the upper end of the screw rod (6) is connected with the Z-axis servo motor (46) installed on the top plate (47) through a coupling (44), the screw rod (6) The upper section is also provided with a third angular contact ball bearing (45) fixed on the inner upper section of the rear vertical plate (49) through the bearing fixing plate (43), the lifting seat (9) and the lifting seat connecting plate (7) connected, the screw nut (1) is fixedly connected with the lifting seat connecting plate (7) through the nut fixing plate (5); the guide rail pair includes two vertically fixed bearing fixing plates 43 and a base bearing fixing plate (4) between the guide rail (51) and the slider (50) fixed on the connecting plate (7) of the lifting seat and slidingly matched with the guide rail (51); The X-axis servo motor (42) is connected to the input end of the X-axis harmonic reducer (10), and is fixed on the first mechanical arm (14) by the second screw (11), and the X-axis harmonic reducer ( 10) The output end is connected with the lifting seat (13) through the first screw (8), thereby driving the first mechanical arm (14) and the components on the first mechanical arm (14) to rotate around the X axis; The Y-axis servo motor (41) is fixed on the Y-axis cover (37), and the Y-axis cover (37) is installed on the first mechanical arm (14). The Y-axis servo motor (41) and the Y-axis primary driving belt The pulley (40) is connected, and the Y-axis first-stage driving pulley (40) is connected with the Y-axis first-stage driven pulley (34) arranged on the second shaft (36) of the Y-axis reduction device through a synchronous belt drive connection. The Y-axis secondary driving pulley (35) on the second shaft (36) of the Y-axis reduction device is connected to the Y-axis secondary driven pulley (39) on the first shaft (38) of the Y-axis reduction device through a synchronous belt drive connection , the Y-axis three-stage driving pulley (12) set on the first axis (38) of the Y-axis reduction device is connected with the three-stage driven pulley (22) set on the joint shaft (20) through a synchronous belt drive, so that Drive the second mechanical arm (23) and the components on the second mechanical arm (23) to rotate around the Y axis, and the first shaft (38) of the Y-axis reduction device and the second shaft (36) of the Y-axis reduction device pass through the first deep The groove ball bearing (13) and the second deep groove ball bearing (15) are arranged in parallel between the first mechanical arm (14) and the Y-axis cover (37); The lower part of the joint shaft (20) cooperates with the second angular contact ball bearing (18) installed in the first mechanical arm (14) through the shaft shoulder, and the joint shaft (20) and the second angular contact ball bearing (18) adopt Interference fit, the installation hole on the first mechanical arm (14) adopts a transition fit with the second angular contact ball bearing (18), and a bearing baffle (19) passes through the lower part of the first mechanical arm installation hole Three screws (16) are tightly and fixedly connected with the first mechanical arm (14), and a bearing sleeve cover (17) is tightly and fixedly connected with the first mechanical arm (14) on the upper part of the installation hole of the first mechanical arm (14). The second mechanical arm (23) and the Y-axis three-stage driven pulley (22) are connected to the joint shaft (20) through the first flat key (21) for torque transmission, and the upper part of the joint shaft (20) The second flat key (33) is fixedly connected with the second mechanical arm (23), and a round nut is installed on the top of the joint shaft (20), and the Y-axis three-stage driven pulley (22) is connected with the second mechanical arm ( 23) The joint shaft (20) between is provided with a sleeve 32 for the axial positioning of the second mechanical arm (23); The R-axis cover (26) is fixedly connected to the second mechanical arm (23), the R-axis servo motor (31) is fixed on the second mechanical arm (23) through the motor bracket 30, and the working spindle (25) Cooperate with the third deep groove ball bearing (28) and the fourth deep groove ball bearing (24) respectively installed in the R-axis cover (26) and the second mechanical arm (23), the R-axis servo motor (31) and The R-axis driving pulley (29) is driven and connected, and the R-axis driving pulley (29) is driven and connected with the R-axis driven pulley (27) fixedly connected to the upper section of the working main shaft (25) through a synchronous belt, thereby driving the working main shaft ( 25) and the parts on the working main shaft (25) rotate along the R axis. 2. The new four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: the Y-axis three-stage driving pulley (12), the Y-axis two-stage driven pulley (39), the Y-axis two Level driving pulley (35), Y-axis third-level driven pulley (22), R-axis driving pulley (29), R-axis driven pulley (27), Y-axis first-level driven pulley (34) , Y-axis primary driving belt pulley (40) all adopts circular arc tooth synchronous belt pulley. 3. The new four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: the connecting plate (7) of the lifting seat is provided with a baffle plate (52) that moves synchronously, and the base (3) A travel switch (53) matched with the baffle (52) is fixed on the rear vertical plate (49). 4. The novel four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: the reduction ratio of the X-axis harmonic reducer (10) is 50:1; the Y-axis first-stage driving pulley The reduction ratio of (40) and the Y-axis primary driven pulley (34) is 4:1, and the reduction ratio of the Y-axis secondary driving pulley (35) and the Y-axis secondary driven pulley (39) is 3 :1, the reduction ratio of the Y-axis three-stage driving pulley (12) and the Y-axis three-stage driven pulley (22) is 4:1; the R-axis driven pulley (27) and the R-axis driving pulley (29) has a reduction ratio of 4:1. 5 . The novel four-degree-of-freedom planar joint robot structure according to claim 1 , characterized in that four sliders ( 50 ) are symmetrically arranged on the guide rail ( 51 ) to slide and cooperate with the guide rail ( 51 ). 5 . 6. The new four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: balls are arranged between the threads of the screw (6) and the screw nut (1), forming a ball screw pair . 7. The new four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: the second mechanical arm (23) is provided with a device for installing and adjusting the motor frame (30) relative to the working spindle (25). position of the oblong through hole. 8. The new four-degree-of-freedom planar joint robot structure according to claim 1 or 7, characterized in that: the side of the Y-axis cover (37) is provided with an oblong through hole, and the inside of the Y-axis cover (37) is provided with The synchronous belt idler fixed on the oblong through hole by bolts, the synchronous belt idler includes the idler frame (55), the idler shaft (56) fixed on the idler frame (55), the inner ring is fixed on the idler shaft (56) and the outer ring is provided with a circlip (58) of the roller bearing (57). 9. The new four-degree-of-freedom planar joint robot structure according to claim 1, characterized in that: the Y-axis three-stage driven pulley (22), the R-axis driven pulley (27), the Y-axis one-stage The driven pulley (34) and the Y-axis secondary driven pulley (39) are all provided with some circular through holes for reducing dead weight.