CN208729826U - A kind of two-degree-of-freedom industrial robot articulated driving equipment - Google Patents

A kind of two-degree-of-freedom industrial robot articulated driving equipment Download PDF

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Publication number
CN208729826U
CN208729826U CN201820937866.9U CN201820937866U CN208729826U CN 208729826 U CN208729826 U CN 208729826U CN 201820937866 U CN201820937866 U CN 201820937866U CN 208729826 U CN208729826 U CN 208729826U
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bevel gear
speed shaft
harmonic
degree
high speed
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CN201820937866.9U
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赵彬
范元勋
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Abstract

The utility model discloses a kind of two-degree-of-freedom industrial robot articulated driving equipments, first motor passes through the first synchronous hollow wave producer axis of band connection, hollow wave producer axis passes through in the middle part of first harmonic decelerator, first motor drives first harmonic decelerator work by hollow wave producer axis, the second half casings are passed motion to, realize the freedom degree movement in first joint;Second motor passes through the second synchronous band connection bevel gear high speed shaft, bevel gear high speed shaft passes through hollow wave producer axis inner cavity, in bevel gear high speed shaft one end, drive bevel gear is set, driven wheel of differential and second harmonic retarder are set on bevel gear slow-speed shaft, second motor drives drive bevel gear rotation by bevel gear high speed shaft, drive bevel gear and driven wheel of differential engagement band dynamic bevel gear slow-speed shaft rotate, and then the work of second harmonic retarder is driven to pass motion to output flange, realize disarthrial freedom degree movement.The utility model arthritic volume is small, and light weight is compact-sized.

Description

A kind of two-degree-of-freedom industrial robot articulated driving equipment
Technical field
The invention belongs to Industrial Robot Technology field, especially a kind of two degrees of freedom work based on accurate harmonic speed reducer Industry joint of robot driving device.
Background technique
Industrial robot has a wide range of applications on various automatic production lines and assembly line, with science and technology into Step, the freedom degree of industrial robot is more and more, and the movement that can be completed also becomes increasingly complex, and substantially increases production efficiency.
Although multivariant industrial robot can complete more complicated job action, its price also doubles at geometry It is long, often one or two of freedom degree is only needed to can be completed when doing the work of some simple motions, and present robot is basic On at least three degree of freedom, when carrying out simple motion, sexual valence is relatively low.
Summary of the invention
The purpose of the present invention is to provide a kind of two-degree-of-freedom industrial robot articulated driving equipments.
The technical solution for realizing the aim of the invention is as follows: a kind of two-degree-of-freedom industrial robot articulated driving equipment, packet Include base flange, the first motor, the second motor, the first synchronous belt, the second synchronous belt, bevel gear high speed shaft, hollow wave hair Raw device axis, first half-shell body, first harmonic decelerator, the second half shell, second harmonic retarder, output flange, from mantle tooth Wheel, bevel gear slow-speed shaft, drive bevel gear and bearing, wherein base flange, inside setting first is arranged in first half-shell body bottom Motor, the second motor, the first synchronous belt, the second synchronous belt;Output flange is set at the top of the second half shell, inside setting the Two harmonic speed reducers, driven wheel of differential, bevel gear slow-speed shaft, drive bevel gear, the second harmonic retarder and first harmonic Retarder axis is vertical;First motor is occurred by the first synchronous hollow wave producer axis of band connection, the hollow wave Device axis passes through in the middle part of first harmonic decelerator, and the first motor drives first harmonic decelerator work by hollow wave producer axis Make, pass motion to the second half casings, realizes the freedom degree movement in first joint;Second motor is same by second Band connection bevel gear high speed shaft is walked, the bevel gear high speed shaft passes through hollow wave producer axis inner cavity and is positioned by bearing fit, Drive bevel gear is set in bevel gear high speed shaft one end, driven wheel of differential is set on the bevel gear slow-speed shaft and second harmonic subtracts Fast device, the first motor drive drive bevel gear rotation, drive bevel gear and driven wheel of differential engagement by bevel gear high speed shaft Band dynamic bevel gear slow-speed shaft rotates, and then the work of second harmonic retarder is driven to pass motion to output flange, realizes second The freedom degree in a joint moves.
Compared with the existing technology, the present invention has the following advantages: 1) present invention utilizes hollow type harmonic speed reducer, biasing is devised The drive mechanism of formula reduces industrial robot joint volume, alleviates quality, and overall structure is more compact;2) present invention is logical It crosses synchronous belt and realizes power transmission, so that electrical axis deviates first harmonic decelerator axis, facilitate first harmonic decelerator The installation of installation and first half-shell body;3) motor of the invention arranges lower section, whole center of gravity decline, and the movement in joint is not necessarily to Motor is overcome to be self-possessed, it is more stable safe and reliable.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the overall structure diagram of two-degree-of-freedom industrial robot articulated driving equipment of the present invention.
Specific embodiment
A kind of two-degree-of-freedom industrial robot articulated driving equipment, including base flange 1, the first motor 2, second are electronic Machine 3, the first synchronous belt 4, the second synchronous belt 5, bevel gear high speed shaft 6, hollow wave producer axis 7, first half-shell body 8, first are humorous Wave retarder 9, the second half shell 10, second harmonic retarder 11, output flange 12, driven wheel of differential 13, bevel gear slow-speed shaft 14, drive bevel gear 15 and bearing 16, wherein 8 bottom of first half-shell body be arranged base flange 1, inside setting the first motor 2, Second motor 3, the first synchronous belt 4, the second synchronous belt 5 and first harmonic decelerator 9;Output is set at the top of the second half shell 10 Flange 12, inside setting second harmonic retarder 11, driven wheel of differential 13, bevel gear slow-speed shaft 14, drive bevel gear 15 are described Second harmonic retarder 11 is vertical with 9 axis of first harmonic decelerator;First motor 2 is connected by the first synchronous belt 4 Hollow wave producer axis 7, the hollow wave producer axis 7 pass through the middle part of first harmonic decelerator 9, during the first motor 2 passes through Empty wave producer axis 7 drives first harmonic decelerator 9 to work, and passes motion to the second half casings 10, realizes first joint Freedom degree movement;Second motor 3 connects bevel gear high speed shaft 6, the bevel gear high speed shaft by the second synchronous belt 5 6 pass through hollow 7 inner cavity of wave producer axis by the cooperation positioning of bearing 16, and drive bevel gear is arranged in 6 one end of bevel gear high speed shaft 15, driven wheel of differential 13 and second harmonic retarder 11 are set on the bevel gear slow-speed shaft 14, and the first motor 2 passes through cone tooth Taking turns high speed shaft 6 drives drive bevel gear 15 to rotate, drive bevel gear 15 and the engagement band dynamic bevel gear slow-speed shaft of driven wheel of differential 13 14 rotations, and then the work of second harmonic retarder 11 is driven to pass motion to output flange 12, realize the it is disarthrial from It is moved by degree.
As a kind of specific embodiment, the bearing 16 is a pair of anti-angular contact ball bearing filled.
As a kind of specific embodiment, bushing 17, the lining are set between the bearing 16 and first harmonic decelerator 9 Set 17 passes through screw and the second half fixations of casing 10.
As a kind of specific embodiment, the firm gear of the first harmonic decelerator 9 is solid by screw and first half-shell body 8 Fixed, the flexbile gear of the first harmonic decelerator 9 is fixed by screw and the second half shell 10,.
As a kind of specific embodiment, the firm gear of the second harmonic retarder 11 passes through screw and the second half shell 10 Fixed, the flexbile gear of the second harmonic retarder 11 is fixed by screw and output flange 12,.
As a kind of specific embodiment, the driving wheel of the output shaft of the first motor 2 and the first synchronous belt 4 passes through key Connection, the driven wheel of first synchronous belt 4 are connected by key with hollow wave producer axis 7.
As a kind of specific embodiment, the output shaft of second motor 3 and the driving wheel of the second synchronous belt 5 pass through Key connection, driven wheel and the bevel gear high speed shaft 6 of the second synchronous belt 5 are connected by key.
As a kind of specific embodiment, the drive bevel gear 15 is connected by key with bevel gear high speed shaft 6.
As a kind of specific embodiment, driven wheel of differential 13 is connected by key with bevel gear slow-speed shaft 14.
The working principle of the present apparatus are as follows: the rotation of the first motor 2 passes motion to hollow wave by the first synchronous belt 4 Generator axis 7, hollow wave producer axis 7 pass motion to first harmonic decelerator 9 by key, and first harmonic decelerator 9 is adopted It is fixed with firm gear, passes motion to first half casing 10 in such a way that wave producer inputs flexbile gear output, realize first pass The freedom degree of section moves.
The rotation of second motor 3, passes motion to bevel gear high speed shaft 6, bevel gear high speed shaft by the second synchronous belt 5 6 pass through hollow wave producer axis 7, and it is low with the engagement of driven wheel of differential 13 to pass motion to bevel gear by drive bevel gear 15 Fast axis 14, bevel gear slow-speed shaft 14 pass motion to second harmonic retarder 11 by key, and second harmonic retarder 11 is also adopted It is fixed with firm gear, passes motion to output flange 12 in such a way that wave producer inputs flexbile gear output, realize second pass The freedom degree of section moves.
Embodiment 1
As shown in Figure 1, a kind of two-degree-of-freedom industrial robot articulated driving equipment, including base flange 1, the first motor 2, the second motor 3, the first synchronous belt 4, the second synchronous belt 5, bevel gear high speed shaft 6, hollow wave producer axis 7, first half-shell Body 8, first harmonic decelerator 9, the second half shell 10, second harmonic retarder 11, output flange 12, driven wheel of differential 13, cone Gear slow-speed shaft 14, drive bevel gear 15 and bearing 16, wherein first half-shell body 8 includes vertical part and the horizontal part, vertical portion bottom Base flange 1, the first motor 2 of setting and the second motor 3 inside vertical portion is arranged in portion, and horizontal part is arranged first harmonic and slows down Device 9;Second half shell 10 includes vertical part and the horizontal part, and output flange 12 is arranged at the top of vertical portion, setting the inside vertical portion Two harmonic speed reducers 11, driven wheel of differential 13 and bevel gear slow-speed shaft 14, the second harmonic retarder 11 subtract with first harmonic Fast 9 axis of device is vertical, and drive bevel gear 15 is arranged inside horizontal part;First motor 2 passes through in the connection of the first synchronous belt 4 Empty wave producer axis 7, the hollow wave producer axis 7 pass through 9 middle part of first harmonic decelerator, and the first motor 2 passes through hollow Wave producer axis 7 drives first harmonic decelerator 9 to work, and passes motion to the second half casings 10, realizes first joint Freedom degree movement;Second motor 3 connects bevel gear high speed shaft 6, the bevel gear high speed shaft 6 by the second synchronous belt 5 Across hollow 7 inner cavity of wave producer axis by the cooperation positioning of bearing 16, it is arranged between the bearing 16 and first harmonic decelerator 9 Bushing 17 is arranged drive bevel gear 15 in 6 one end of bevel gear high speed shaft, driven wheel of differential is arranged on the bevel gear slow-speed shaft 14 13 and second harmonic retarder 11, the second motor 3 drives drive bevel gear 15 to rotate by bevel gear high speed shaft 6, initiative taper Gear 15 and the engagement band dynamic bevel gear slow-speed shaft 14 of driven wheel of differential 13 rotate, and then drive the work of second harmonic retarder 11 will Movement passes to output flange 12, realizes disarthrial freedom degree movement.Embodiment 2
Embodiment 2 on the basis of embodiment 1, limits the bearing 16 as a pair of anti-angular contact ball bearing filled.
Embodiment 3
For embodiment 3 on the basis of embodiment 1,2, the firm gear of the bushing 17 and second harmonic retarder 11 passes through screw Fixed with the second half casings 10, the flexbile gear of the second harmonic retarder 11 is fixed by screw and output flange 12, and described the The firm gear of one harmonic speed reducer 9 is fixed by screw and first half-shell body 8, and the flexbile gear of the first harmonic decelerator 9 passes through spiral shell Nail is fixed with the second half shell.
Embodiment 4
Embodiment 4 is on the basis of embodiment 1,2,3, the active of the output shaft of the first motor 2 and the first synchronous belt 4 Wheel is connected by key, and the driven wheel of first synchronous belt 4 is connected by key with hollow wave producer axis 7.Described second is electronic The output shaft of machine 3 and the driving wheel of the second synchronous belt 5 are connected by key, the driven wheel and bevel gear high speed shaft 6 of the second synchronous belt 5 It is connected by key.The drive bevel gear 15 is connected by key with bevel gear high speed shaft 6.Driven wheel of differential 13 and bevel gear low speed Axis 14 is connected by key.

Claims (9)

1. a kind of two-degree-of-freedom industrial robot articulated driving equipment, which is characterized in that including base flange (1), first electronic Machine (2), the second motor (3), the first synchronous belt (4), the second synchronous belt (5), bevel gear high speed shaft (6), hollow wave producer Axis (7), first half-shell body (8), first harmonic decelerator (9), the second half shell (10), second harmonic retarder (11), output Flange (12), driven wheel of differential (13), bevel gear slow-speed shaft (14), drive bevel gear (15) and bearing (16), wherein the first half Shell (8) bottom be arranged base flange (1), inside setting the first motor (2), the second motor (3), the first synchronous belt (4), Second synchronous belt (5) and first harmonic decelerator (9);Output flange (12) are set at the top of second half shell (10), inside setting Second harmonic retarder (11), driven wheel of differential (13), bevel gear slow-speed shaft (14), drive bevel gear (15), described second is humorous Wave retarder (11) is vertical with first harmonic decelerator (9) axis;First motor (2) is connected by the first synchronous belt (4) Hollow wave producer axis (7) is connect, the hollow wave producer axis (7) passes through in the middle part of first harmonic decelerator (9), the first motor (2) first harmonic decelerator (9) work is driven by hollow wave producer axis (7), passes motion to the second half shell (10), Realize the freedom degree movement in first joint;Second motor (3) connects bevel gear high speed shaft by the second synchronous belt (5) (6), the bevel gear high speed shaft (6) passes through hollow wave producer axis (7) inner cavity by bearing (16) cooperation positioning, in bevel gear Drive bevel gear (15) are arranged in high speed shaft (6) one end, and driven wheel of differential (13) and the are arranged on the bevel gear slow-speed shaft (14) Two harmonic speed reducers (11), the second motor (3) drive drive bevel gear (15) rotation by bevel gear high speed shaft (6), actively Bevel gear (15) and driven wheel of differential (13) engagement band dynamic bevel gear slow-speed shaft (14) rotate, and then drive second harmonic retarder (11) work passes motion to output flange (12), realizes disarthrial freedom degree movement.
2. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that the bearing It (16) is a pair of anti-angular contact ball bearing filled.
3. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that the bearing (16) bushing (17) are set between first harmonic decelerator (9), the bushing (17) passes through screw and the second half shell (10) It is fixed.
4. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that described first is humorous The firm gear of wave retarder (9) is fixed by screw and first half-shell body (8), and the flexbile gear of the first harmonic decelerator (9) passes through Screw and the second half shell (10) are fixed.
5. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that described second is humorous The firm gear of wave retarder (11) is fixed by screw and the second half shell (10), and the flexbile gear of the second harmonic retarder (11) is logical It crosses screw and output flange (12) is fixed.
6. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that first electricity The output shaft of motivation (2) and the driving wheel of the first synchronous belt (4) are connected by key, the driven wheel of first synchronous belt (4) with Hollow wave producer axis (7) is connected by key.
7. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that second electricity The output shaft of motivation (3) and the driving wheel of the second synchronous belt (5) are connected by key, the driven wheel and cone tooth of the second synchronous belt (5) Wheel high speed shaft (6) is connected by key.
8. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that the initiative taper Gear (15) is connected by key with bevel gear high speed shaft (6).
9. two-degree-of-freedom industrial robot articulated driving equipment according to claim 1, which is characterized in that driven wheel of differential (13) it is connected by key with bevel gear slow-speed shaft (14).
CN201820937866.9U 2018-06-14 2018-06-14 A kind of two-degree-of-freedom industrial robot articulated driving equipment Active CN208729826U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820937866.9U CN208729826U (en) 2018-06-14 2018-06-14 A kind of two-degree-of-freedom industrial robot articulated driving equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820937866.9U CN208729826U (en) 2018-06-14 2018-06-14 A kind of two-degree-of-freedom industrial robot articulated driving equipment

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112743568A (en) * 2020-12-29 2021-05-04 杨秀平 Industrial robot wrist and corresponding robot
WO2022163789A1 (en) * 2021-01-28 2022-08-04 川崎重工業株式会社 Arm robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112743568A (en) * 2020-12-29 2021-05-04 杨秀平 Industrial robot wrist and corresponding robot
WO2022163789A1 (en) * 2021-01-28 2022-08-04 川崎重工業株式会社 Arm robot

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