CN208697427U - A kind of parallel robot retarder transmission scheme - Google Patents
A kind of parallel robot retarder transmission scheme Download PDFInfo
- Publication number
- CN208697427U CN208697427U CN201821390676.6U CN201821390676U CN208697427U CN 208697427 U CN208697427 U CN 208697427U CN 201821390676 U CN201821390676 U CN 201821390676U CN 208697427 U CN208697427 U CN 208697427U
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- China
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- planetary reducer
- motor
- parallel robot
- synchronous pulley
- silent flatform
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Abstract
The utility model relates to a kind of parallel robot retarder transmission schemes.Silent flatform is as parallel robot fixed pedestal, motor is flush-mounted in silent flatform, motor synchronous pulley and motor shaft are keyed, planetary reducer fixing axle and fixing seat are keyed, fixing seat is bolted with silent flatform, planetary reducer input shaft matches to merge with brearing bore to be installed in bearing block, and bearing block is bolted with silent flatform, and planetary reducer synchronous pulley and planetary reducer input shaft are keyed.Synchronous belt is installed on motor synchronous pulley and planetary reducer synchronous pulley.Master arm is connect with planetary reducer housing bolts, and slave arm kinematic chain and master arm spherical surface are articulated and connected, and moving platform and slave arm kinematic chain spherical surface are articulated and connected.The utility model can make the structure of parallel robot more compact, and the volume of robotic arm is smaller.
Description
Technical field
The utility model relates to parallel robot transmission technical fields, are made more particularly to one kind by planetary reducer
For the transmission scheme of parallel robot retarder.
Background technique
Parallel robot has the advantages that high speed, the rigidity of structure are strong, is widely used in the equipment such as sorting and virtual reality.
In traditional parallel robot, retarder is to be co-axially mounted with motor, the output flange or axis connection of master arm and retarder,
This transmission scheme layout, keeps the structure size of drive part excessive, and can not efficiently use equipment inner space, causes to set
Standby volume is larger, inconvenient in some use occasion applications for requiring compact.
Summary of the invention
The purpose of this utility model is to provide a kind of New Parallel Manipulator retarder transmission schemes, efficiently use equipment
Inner space keeps parallel robot structure more compact.
The utility model adopts the following technical solution:
A kind of parallel robot retarder transmission scheme, including silent flatform, motor, planetary reducer, motor synchronous pulley,
Planetary reducer synchronous pulley, synchronous belt, bearing block, fixing seat, bearing, master arm, slave arm kinematic chain, moving platform are special
Sign is: for silent flatform as parallel robot fixed pedestal, motor is flush-mounted in silent flatform, and motor synchronous pulley and motor axle key connect
It connects, planetary reducer fixing axle and fixing seat are keyed, and fixing seat is bolted with silent flatform, planetary reducer input shaft and axis
It holds inner hole and is installed in bearing block, bearing block is bolted with silent flatform, and planetary reducer synchronous pulley subtracts with planet
Fast machine input shaft key connection, synchronous belt are installed on motor synchronous pulley and planetary reducer synchronous pulley, master arm and planet
Decelerator shell is bolted, and slave arm kinematic chain and master arm spherical surface are articulated and connected, moving platform and slave arm kinematic chain spherical surface
Articulated connection.Torque is passed to planetary reducer by synchronous belt by motor, and planetary reducer shell drives as revolute pair and leads
Movable arm swinging is articulated and connected by spherical surface and is swung with the slave arm that master arm connects with master arm, and is driven and passed through with it
The moving platform movement of spherical surface articulated connection.
Compared with prior art, robotic arm volume is smaller, and structure is more stepped up for the utility model by adopting the above technical scheme
It gathers.
The preferred embodiment of the utility model is:
Planetary reducer and electrical axis are parallelly mounted in silent flatform, and straight line is always perpendicular to planet where active arm axle
Straight line where reductor shaft；Motor and planetary reducer are transmitted by synchronous belt to be rotated, and planetary reduction gear arbor is fixed seat and fixes,
Planetary reducer shell is set to rotate；Planetary reducer shell as revolute pair drive active arm swing, master arm by from
Swing arm kinematic chain passes motion to moving platform；The input shaft of planetary reducer carries out mechanical position limitation by bearing.
Detailed description of the invention:
Fig. 1 is the top view of the utility model
Fig. 2 is the shaft side figure of the utility model
Fig. 3 is the portion B enlarged view in Fig. 2
Fig. 4 is A-A cross-sectional view in Fig. 1.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and embodiments:
Attached drawing 1 is into attached drawing 4: silent flatform 1, master arm 2, slave arm kinematic chain 3, moving platform 4, motor 5, planetary reducer
6, synchronous belt 7, motor synchronous pulley 8, planetary reducer synchronous pulley 9, bearing block 10, bearing 11, fixing seat 12.
Silent flatform 1 is used as parallel robot fixed pedestal, and motor 5 is flush-mounted in silent flatform 1, motor synchronous pulley 8 and motor 5
Axle key connection, 6 fixing axle of planetary reducer and fixing seat 12 are keyed, and fixing seat 12 is bolted with silent flatform 1, planetary reduction gear
6 input shaft of machine and 11 inner hole of bearing are simultaneously installed in bearing block 10, and bearing block 10 is bolted with silent flatform 1, and planet subtracts
Fast machine synchronous pulley 9 is keyed with 6 input shaft of planetary reducer, and synchronous belt 7 is installed on motor synchronous pulley 8 and planetary reducer
On synchronous pulley 9, master arm 2 is connect with 6 housing bolts of planetary reducer, and slave arm kinematic chain 3 and 2 spherical hinge of master arm are in succession
It connects, moving platform 4 and 3 spherical surface of slave arm kinematic chain are articulated and connected.
Planetary reducer 6 and 5 axis of motor are parallelly mounted in silent flatform 1, and motor 5 passes through synchronous with planetary reducer 6
The transmitting rotation of band 7,6 shell of planetary reducer drive master arm 3 to swing as revolute pair, and the input shaft of planetary reducer 6 passes through
Bearing 11 carries out mechanical position limitation.
The present embodiment effect utilizes equipment inner space, keeps parallel robot structure more compact, volume is smaller.
Claims (5)
1. a kind of parallel robot retarder transmission scheme, including silent flatform, motor, planetary reducer, motor synchronous pulley, row
Star speed reducer synchronous pulley, synchronous belt, bearing block, fixing seat, bearing, master arm, slave arm kinematic chain, moving platform, feature
Be: for silent flatform as parallel robot fixed pedestal, motor is flush-mounted in silent flatform, and motor synchronous pulley and motor axle key connect
It connects, planetary reducer fixing axle and fixing seat are keyed, and fixing seat is bolted with silent flatform, planetary reducer input shaft and axis
It holds inner hole and is installed in bearing block, bearing block is bolted with silent flatform, and planetary reducer synchronous pulley subtracts with planet
Fast machine input shaft key connection, synchronous belt are installed on motor synchronous pulley and planetary reducer synchronous pulley, master arm and planet
Decelerator shell is bolted, and slave arm kinematic chain and master arm spherical surface are articulated and connected, moving platform and slave arm kinematic chain spherical surface
Articulated connection.
2. a kind of parallel robot retarder transmission scheme according to claim 1, it is characterised in that: planetary reducer with
Electrical axis is parallelly mounted in silent flatform.
3. a kind of parallel robot retarder transmission scheme according to claim 1, it is characterised in that: motor subtracts with planet
Fast machine is transmitted by synchronous belt and is rotated.
4. a kind of parallel robot retarder transmission scheme according to claim 1, it is characterised in that: outside planetary reducer
Shell drives active arm swing as revolute pair.
5. a kind of parallel robot retarder transmission scheme according to claim 1, it is characterised in that: planetary reducer
Input shaft carries out mechanical position limitation by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821390676.6U CN208697427U (en) | 2018-08-28 | 2018-08-28 | A kind of parallel robot retarder transmission scheme |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821390676.6U CN208697427U (en) | 2018-08-28 | 2018-08-28 | A kind of parallel robot retarder transmission scheme |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208697427U true CN208697427U (en) | 2019-04-05 |
Family
ID=65944304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821390676.6U Active CN208697427U (en) | 2018-08-28 | 2018-08-28 | A kind of parallel robot retarder transmission scheme |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208697427U (en) |
-
2018
- 2018-08-28 CN CN201821390676.6U patent/CN208697427U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230920 Address after: No.55 Qingbei West Road, High tech Industrial Development Zone, Tangshan City, Hebei Province, 063000 Patentee after: TANGSHAN BAICHUAN INTELLIGENT MACHINE Co.,Ltd. Address before: No. 1698 Weiguo Road, Tangshan High tech Development Zone, Tangshan City, Hebei Province, 063000 Patentee before: TANGSHAN BAICHUAN INNOVATION TECHNOLOGY Co.,Ltd. |